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 77

PCIe-8154

*Speed

: Variable to get current speed (pulse/sec).

B.6 Single Axis Position Mode

@ Name

_8154_start_tr_move

 – Begin a relative trapezoidal profile

move

_8154_start_ta_move

 – Begins absolute trapezoidal profile

move

_8154_start_sr_move

 – Begin a relative S-curve profile move

_8154_start_sa_move

 – Begins absolute S-curve profile move

_8154_set_move_ratio

 – Set the ration of command pulse

and feedback pulse

_8154_position_override

 – Change position on the fly

_8154_set_max_override_speed

 – Set the maximum over-

ride speed

@ Description

General

:

The moving direction is determined by the sign of the Pos or
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.

_8154_start_tr_move

:

This function causes the axis to accelerate form a starting
velocity (StrVel), rotate at constant velocity (MaxVel), and
decelerate to stop at the 

relative

 

distance

 with 

trapezoidal

profile. The acceleration (Tacc) and deceleration (Tdec) time is
specified independently–it does not let the program wait for
motion completion but immediately returns control to the pro-
gram.

Summary of Contents for PCIe-8154

Page 1: ...Advance Technologies Automate the World PCIe 8154 4 Axis Servo Stepper Motion Control Card User s Manual Manual Rev 2 00 Revision Date Oct 7 2015 Part No 50 11258 1000 ...

Page 2: ...ii Revision History Revision Release Date Description of Change s 2 00 Oct 7 2015 Initial Release ...

Page 3: ...ven 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 Euro pean Union s Restriction of Hazardous Substances RoHS direc tive and Waste Electrical and Electronic Equipment WEEE directive Environmental protection is a top priority for ADLINK We have enforc...

Page 4: ...NOTE NOTE Additional information aids and tips that help users perform tasks CAUTION Information to prevent minor physical injury component dam age data loss and or program corruption when trying to com plete 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: ...ctor 7 1 7 K1 K2 Pin Assignments Simultaneous Start Stop 10 1 8 P1 Manual Pulse Generator 10 1 9 CN5 Pin Assignments TTL I O 11 2 Getting Started 13 2 1 Package Contents 13 2 2 PCIe 8154 Hardware Installation 13 Hardware Configuration 13 PCIe Slot Selection 13 Installation Procedures 14 Troubleshooting 14 2 3 Software Driver Installation 14 2 4 JP2 to JP8 Jumper Setting for Pulse Output 15 2 5 SW1...

Page 6: ... LTC SD PCS CLR EMG 29 2 6 12 Manual Pulse Generator Input Signals PA and PB 30 2 6 13 Simultaneous Start Stop Signals STA and STP 31 2 6 14 General Purpose TTL I O EDI And EDO 33 A Appendix MotionCreatorPro 35 A 1 About MotionCreatorPro 35 A 2 Initiating MotionCreatorPro 35 A 3 MotionCreatorPro Introduction 36 Main Menu 36 Select Menu 37 Card Information Menu 38 Configuration Menu 39 Single Axis ...

Page 7: ...otion Interface I O 106 B 14 Interrupt Control 114 B 15 Position Control and Counters 117 B 16 Position Compare and Latch 123 B 17 Continuous motion 127 B 18 Multiple Axes Simultaneous Operation 129 B 19 General Purpose DIO 132 B 20 Soft Limit 134 B 21 Backlash Compensation Vibration Suppression 136 B 22 Speed Profile Calculation 138 B 23 Extended General Purpose TTL Input Output 141 B 24 Return C...

Page 8: ...viii Table of Contents This page intentionally left blank ...

Page 9: ...Table 2 5 Device Encoder Power Connection 20 Table 2 6 ORG0 ORG3 Pin Assignments 21 Table 2 7 End Limit Signal Pin Assignment 22 Table 2 8 INP Signal Connection 23 Table 2 9 Alarm Signal Connection 24 Table 2 10 ERC Connection 25 Table 2 11 SVON Connection 26 Table 2 12 RDY Signal Connection 27 Table 2 13 DO CMP Connection 28 Table 2 14 DI LTC SD PCS CLR EMG Connection 29 Table 2 15 Manual Pulse G...

Page 10: ...x List of Tables This page intentionally left blank ...

Page 11: ...ine Driver Connection Output Circuit 20 Figure 2 6 Device Encoder Connection Circuit 21 Figure 2 7 ORG Input Circuit 22 Figure 2 8 End Limit Signals Circuit 23 Figure 2 9 INP Signal Circuit 24 Figure 2 10 Input Alarm Circuit 25 Figure 2 11 ERC Circuit 26 Figure 2 12 SVON Circuit 27 Figure 2 13 RDY Circuit 28 Figure 2 14 DO CMP Circuit 29 Figure 2 15 DI LTC SD PCS CLR EMG Circuit 30 Figure 2 16 Man...

Page 12: ...xii List of Figures This page intentionally left blank ...

Page 13: ...function Like the line scan application the appli cation needs motion controller to generate high speed triggering pulse and gain the high resolution images In this situation you can adopt a DB 8150 to extend the function on PCIe 8154 In addition to motion control sensors and actuators are key elements in machine automation There typically needs to I O to integrate the sensors and actuators in the...

Page 14: ...ing pulse output once activated 3 Software s Security Protection To secure applications a 16 bit value can be set in the EEPROM to prevent copying of custom programs Figure 1 1 PCIe 8154 Block Diagram PCIe Bus Servo Driver Interface Mechanical Interface Pulse I O Latch Input Compare Output PCI Bus Controller FPGA Pulser P1 STA STP K1 K2 PCL 6046 Isolation DC DC CN1 Ext 24V Ext 5V 5V CN2 OUT DIR EA...

Page 15: ...lling stepping or servomotor X Maximum output frequency of 6 55MPPS X Pulse output options OUT DIR CW CCW AB phase X Pulse input options CW CCW AB phase x1 x2 x4 X Maximum pulse input frequency of 3 2Mhz in CW CCW or AB phase X1 mode AB phase x4 can reach 6 5Mhz X Programmable acceleration and deceleration time for all modes X Trapezoidal and S curve velocity profiles for all modes X 2 to 4 axes l...

Page 16: ...Windows based application development software X PCIe 8154 libraries and utilities for Windows XP 7 8 1 1 2 Specifications Applicable Motors X Stepping motors X AC or DC servomotors with pulse train input servo drivers Performance X Number of controllable axes 4 X Maximum pulse output frequency 6 55MPPS linear trape zoidal or S Curve velocity profile drive X Internal reference clock 19 66MHz X 28 ...

Page 17: ...ce 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 X 16 TTL level DO and 16TTL level DI 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 ...

Page 18: ...ftware prob lems Users can set I O logic parameters to be loaded in their own program For more information please see MotionCreatorPro on page 35 1 4 Available Terminal Board ADLINK provides steppers with the DIN 100S pin to pin terminal board For servo users the DIN 814M DIN 814M J3A DIN 814Y and DIN 814P A4 are provided with suitable servos as follows Mitsubishi J2 Super DIN 814M Mitsubishi J3A ...

Page 19: ...ultaneous Start Stop Connector X P1 Manual Pulse generator X SW1 DIP switch for card index selection 0 15 X J1 J8 Pulse output selection jumper Line Driver Open Collector X CN5 TTL I O Connector 1 6 CN2 Pin Assignments Main Connector NOTE NOTE All dimensions shown are in millimeters mm unless otherwise stated 98 4 185 ...

Page 20: ...gnal 9 ALM0 I Alarm signal 59 ALM2 I Alarm signal 10 INP0 I In position signal 60 INP2 I In position signal 11 RDY0 I Multi purpose Input signal 61 RDY2 I Multi purpose Input signal 12 EXGND Ext power ground 62 EXGND Ext power ground 13 EA0 I Encoder A phase 63 EA2 I Encoder A phase 14 EA0 I Encoder A phase 64 EA2 I Encoder A phase 15 EB0 I Encoder B phase 65 EB2 I Encoder B phase 16 EB0 I Encoder...

Page 21: ...I Encoder A phase 81 EA3 I Encoder A phase 32 EA1 I Encoder A phase 82 EA3 I Encoder A phase 33 EB1 I Encoder B phase 83 EB3 I Encoder B phase 34 EB1 I Encoder B phase 84 EB3 I Encoder B phase 35 EZ1 I Encoder Z phase 85 EZ3 I Encoder Z phase 36 EZ1 I Encoder Z phase 86 EZ3 I Encoder Z phase 37 PEL0 I End limit signal 87 PEL2 I End limit signal 38 MEL0 I End limit signal 88 MEL2 I End limit signal...

Page 22: ...DO3 O General Output 3 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 Isolation power Input 24V 50 EXGND Ext power ground 100 E_24V Isolation power Input 24V No Name Function 1 N C 2 STA Simultaneous start signal input output 3 STP Simultaneous stop signal input output 4 GND PCIe bus power ground Name Function ...

Page 23: ...ital Input 2 6 EDI3 I Digital Input 3 7 EDI4 I Digital Input 4 8 EDI5 I Digital Input 5 9 VCC O Power 3 3V 10 DGND N A Power ground 11 EDI6 I Digital Input 6 12 EDI7 I Digital Input 7 13 EDI8 I Digital Input 8 14 EDI9 I Digital Input 9 15 EDI10 I Digital Input 10 16 EDI11 I Digital Input 11 17 DGND N A Power ground 18 DGND N A Power ground 19 EDI12 I Digital Input 12 20 EDI13 I Digital Input 13 21...

Page 24: ... O Digital Output 2 5 EDI3 I Digital Input 3 24 EDO3 O Digital Output 3 6 EDI4 I Digital Input 4 25 EDO4 O Digital Output 4 7 EDI5 I Digital Input 5 26 EDO5 O Digital Output 5 8 EDI6 I Digital Input 6 27 EDO6 O Digital Output 6 9 EDI7 I Digital Input 7 28 EDO7 O Digital Output 7 10 EDI8 I Digital Input 8 29 EDO8 O Digital Output 8 11 EDI9 I Digital Input 9 30 EDO9 O Digital Output 9 12 EDI10 I Dig...

Page 25: ...shipping materials and carton to ship or store the product in the future 2 2 PCIe 8154 Hardware Installation Hardware Configuration The PCIe 8154 is fully Plug and Play compliant Hence memory allocation I O port locations and IRQ channel of the PCIe card are assigned by the system BIOS Addresses are assigned on a board by board basis for all PCIe cards in the system PCIe Slot Selection The PCIe 81...

Page 26: ...rd into the selected PCIe slot 6 Secure the card in place at the rear panel of the system unit using screws removed from the slot Troubleshooting If the system doesn t boot or erratic operations occur with the PCIe board in place an interrupt conflict is likely Please consult the BIOS documentation Ensure the Control Panel lists the card If not check PCIe set tings in BIOS or change PCIe slots 2 3...

Page 27: ... as follows Figure 2 1 Jumper Settings 2 5 SW1 Card Index Selection The SW1 switch is used to set the card index For example if 1 is set to ON and the others are OFF that card index is 1 The index value can be from 0 to 15 Refer to the following table for details JP1 JP2 Axis 0 JP3 JP4 Axis 1 JP5 JP6 Axis 2 JP7 JP8 Axis 3 Card ID Switch Setting ON 1 0 0000 1 0001 2 0010 3 0011 4 0100 5 0101 6 0110...

Page 28: ...ists of a pair of differential signals For example OUT0 consists of OUT0 and OUT0 signals 11 1011 12 1100 13 1101 14 1110 15 1111 CN2 Pin Signal Name Description Axis 3 OUT0 Pulse signals 0 4 OUT0 Pulse signals 0 5 DIR0 Direction signal 0 6 DIR0 Direction signal 0 21 OUT1 Pulse signals 1 22 OUT1 Pulse signals 1 23 DIR1 Direction signal 1 24 DIR1 Direction signal 1 53 OUT2 Pulse signals 2 54 OUT2 P...

Page 29: ... J1 to J8 as follows Table 2 3 OUT or DIR Output by Jumper The default setting of OUT and DIR is differential line driver mode Figure 2 2 OUT and DIR Axis Signals 74 DIR3 Direction signal 3 Output Signal For differential line driver output close 1 and 2 on For open collector output close 2 and 3 on OUT0 J1 J1 DIR0 J2 J2 OUT1 J3 J3 DIR1 J4 J4 OUT2 J5 J5 DIR2 J6 J6 OUT3 J7 J7 DIR3 J8 J8 CN2 Pin Sign...

Page 30: ...e A EA phase B EB and index EZ inputs EA and EB are used for position counting and EZ is used for zero position indexing Its relative sig nal names pin numbers and axis numbers are as follows NOTE NOTE If the pulse output is set to open collector output mode OUT and DIR transmit OUT and DIR signals with sink current not exceeding 20mA on the OUT and DIR pins and default set ting 1 2 shorted CAUTIO...

Page 31: ...r driver feedback as not to over drive the source The differential signal pairs are converted to digital signals EA EB and EZ then feed to the motion control ASIC Examples of connecting the input signals with an external circuit include the input circuit connected to an encoder or motor driver if 15 EB0 0 16 EB0 0 17 EZ0 0 18 EZ0 0 31 EA1 1 32 EA1 1 33 EB1 1 34 EB1 1 35 EZ1 1 36 EZ1 1 63 EA2 2 64 ...

Page 32: ...r more depends on wiring dis tance and signal conditioning Figure 2 5 Line Driver Connection Output Circuit Connection to Open Collector Output To connect with an open collector output an external power sup ply is necessary Some motor drivers can provide the power source The connection between the PCIe 8154 encoder and the power supply is as shown Note that an external current limiting resistor R ...

Page 33: ...f the mechanism The following table lists signal names pin numbers and axis numbers Table 2 6 ORG0 ORG3 Pin Assignments With the input circuit of the ORG signals a limit switch is normally used to indicate the origin on one axis The specifications of the limit switch should have contact capacity of 24V 6mA mini CN2 Pin Signal Name Axis 41 ORG0 0 47 ORG1 1 91 ORG2 2 97 ORG3 3 ...

Page 34: ...output signals OUT and DIR For detailed operations of the ORG signal refer to sec tion 4 3 3 2 6 4 End Limit Signals PEL and MEL The end limit signals for each axis can be in the plus direction PEL or the minus direction MEL configured as follows Table 2 7 End Limit Signal Pin Assignment CN2 Pin Signal Name Axis CN2 Pin Signal Name Axis 37 PEL0 0 38 MEL0 0 43 PEL1 1 44 MEL1 1 87 PEL2 2 88 MEL2 2 9...

Page 35: ...al closed contact switches can be used Figure 2 8 End Limit Signals Circuit 2 6 5 In Position Signal INP The in position signal INP from a servo motor driver indicates its deviation error If there is no deviation error then the servo s posi tion indicates zero Table 2 8 INP Signal Connection CN2 Pin Signal Name Axis 10 INP0 0 28 INP1 1 60 INP2 2 78 INP3 3 ...

Page 36: ...signal 2 6 6 Alarm Signal ALM The alarm signal ALM is used to indicate the alarm status from the servo driver Table 2 9 Alarm Signal Connection The ALM signal is normally an open collector output signal gener ated by the servomotor driver An external circuit must provide at least 8mA current sink capabilities to drive the ALM signal CN2 Pin Signal Name Axis 9 ALM0 0 27 ALM1 1 59 ALM2 2 77 ALM3 3 I...

Page 37: ...ignal ERC is active when X Home return is complete X End limit switch is active X An alarm signal stops OUT and DIR signals X An emergency stop command is issued by software opera tor Table 2 10 ERC Connection CN2 Pin Signal Name Axis 8 ERC0 0 26 ERC1 1 58 ERC2 2 76 ERC3 3 ALM PCL6046 EXGND EX 5V ALM CN2 3 3V If 12mA Max If 5mA Min ...

Page 38: ...cuit is an open collector with a maximum of 35V at 50mA driving capacity Figure 2 11 ERC Circuit 2 6 8 General purpose Signal SVON The SVON signal can be used as a servomotor on control or gen eral purpose output signal Table 2 11 SVON Connection CN2 Pin Signal Name Axis 7 SVON0 0 25 SVON1 1 57 SVON2 2 75 SVON3 3 CN2 ...

Page 39: ... General purpose Signal RDY The RDY signals can be used as motor driver ready input or gen eral purpose input signals Table 2 12 RDY Signal Connection CN2 Pin Signal Name Axis 11 RDY0 0 29 RDY1 1 61 RDY2 2 79 RDY3 3 SVON 3 3V SVON PCL6046 CN2 EXGND 35V 50mA Max ...

Page 40: ...s Each output pin can be individually configured as Digit Output DO or as Compar ison Output CMP When configured as a Comparison Output pin the pin generates a pulse signal when the encoder counter matches a preset value Table 2 13 DO CMP Connection CN2 Pin Signal Name Axis 40 DO CMP0 0 46 DO CMP1 1 90 DO CMP2 2 96 DO CMP3 3 RDY PCL6046 EXGND EX 5V RDY CN2 3 3V If 12mA Max If 5mA Min ...

Page 41: ... CN2 can be configured as DI Digit Input LTC Latch SD Slow down PCS Target position override CLR Counter clear or EMG Emergency Table 2 14 DI LTC SD PCS CLR EMG Connection CN2 Pin 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 95 DI LTC SD PCS CLR EMG_3 3 DO CMP 3 3V From FPGA CN2 EXGND 35V 50mA Max ...

Page 42: ...acts as an encoder with A B phase signals gen erating positioning information to guide the motor Table 2 15 Manual Pulse Generator Input Signal Connection The manual pulse generator signals are used for axes 0 to 3 where each axis manual pulse generator can be disabled with the _8154_disable_pulser_input function P1 Pin Signal Name Axis P1 Pin Signal Name Axis 2 PA 0 3 3 PA 0 3 4 PB 0 3 5 PB 0 3 E...

Page 43: ... output signals To start and stop simultaneously both software control and external control are needed With software control the signals can be gen erated from any connected PCIe 8154 Alternatively an external open collector or switch can drive the STA STP signals for simul taneous start and stop If there are two or more PCIe 8154 cards connect the K2 connec tor on the previous card to K1 connecto...

Page 44: ...onnection External start and stop signals can initiate simultaneous cross card motor operations when connected to STA and STP pins on the K1 connector Figure 2 18 STA STP Connection With External Start Stop PCIe 8154 1 PCIe 8154 2 PCIe 8154 3 ...

Page 45: ...rted 33 PCIe 8154 2 6 14 General Purpose TTL I O EDI And EDO 32 general purpose TTL digital input outputs are provided on CN5 Figure 2 19 EDI And EDO Circuit 3 3V EDO0 15 CN5 EDI0 15 FPGA DGND EDI0 15 EDO0 15 3 3V ...

Page 46: ...34 Getting Started This page intentionally left blank ...

Page 47: ...utomatically loaded the next time MotionCreatorPro is executed Two files 8154 ini and 8154MC ini in the windows root directory are used to save all settings and configurations 3 To duplicate configurations from one system to another copy 8154 ini and 8154MC ini into the Windows root directory 4 If multiple 8154 cards use the same MotionCreatorPro saved configuration files the DLL function call _81...

Page 48: ...36 MotionCreatorPro A 3 MotionCreatorPro Introduction Main Menu The main menu opens after starting MotionCreatorPro Reloads All Menus Opens Help Menus Exits MotionCreatorPro ...

Page 49: ... starting MotionCreatorPro and enables selection of operating card and axis Opens Card Information Menu Opens Configuration Menu Opens Single Axis Operation Menu Opens Two Axis Operation Menu Opens Four Axis Operation Menu Opens 2D Motion Menu Displays Version Information ...

Page 50: ...38 MotionCreatorPro Card Information Menu Provides Information about the card ...

Page 51: ...ed function call is _8154_set_alm 2 INP Logic and Enable Disable selection Select logic and Enable Disable the INP signal The related function call is _8154_set_inp 3 ERC Logic Active timing and ERC mode Select the Logic Active timing and mode of the ERC signal The related function call is _8154_set_erc 4 EL Response mode Select the response mode of the EL signal The related function call is _8154...

Page 52: ...call is _8154_set_home_config 7 Buttons Z Next Card Change operating card Z Next Axis Change operating axis Z Save Config Save current configuration to 8154 ini and 8154MC ini 8 I O Status The status of motion I O Light On means Active while Light Off indicates inactive The related function is _8154_get_io_status In the IO_Config_2 menu users can configure LTC SD PCS and Select_Input ...

Page 53: ...of the SelectNo signal The related function call is _8154_set_pcs_logic 5 Set gpio input Select the configurations of the gpio input The related function call is _8154_set_gpio_input_function 6 Gpio Logic Select the logic of the gpio The related function call is _8154_set_gpio_input_function 7 Buttons Z Next Card Change operating card Z Next Axis Change operating axis Z Save Config Save current co...

Page 54: ...T DIR The related function call is _8154_set_pls_outmode 2 Pulse Input Sets the configurations of the Pulse input signal EA EB The related function calls are _8154_set_pls_iptmode _8154_set_feedback_src 3 INT Factor Select factors to initiate the event int The related function call is _8154_set_int_factor 4 Buttons Z Next Card Change operating card Z Next Axis Change operating axis ...

Page 55: ...e Light Off indicates inactive The related function is _8154_get_io_status Single Axis Operation Menu In this menu users can change the settings for a specific axis such as velocity mode motion preset relative absolute motion manual pulse move and home return 1 Position Z Command displays the value of the command counter The related function is _8154_get_command ...

Page 56: ...plays the returned value of the _8154_motion_done function The related function is _8154_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 _8154_wait_motion_interrupt Z Error INT display of Error INT status The related func tion is _8154_wait_error_interrupt Z GPIO INT display of GPIO INT status The related func tion i...

Page 57: ...lution target positions for motion The related func tions are _8154_start_ta_move _8154_start_sa_move Z Relative Mode Distance is used as relative displace ment for motion The related function is _8154_start_tr_move _8154_start_sr_move Z Cont Move Velocity motion mode The related function is _8154_tv_move _8154_start_sv_move ...

Page 58: ...tion window The related function is _8154_set_home_config If the check box ATU is checked it will execute auto homing when motion starts ERC Output Select if the ERC signal will be sent when home move completes EZ Count Set the EZ count 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...

Page 59: ...repeat mode forward backward or position1 position2 It is only effective when Rela tive Mode or Absolute Mode is selected 11 Vel Profile Select the velocity profile Both Trapezoidal and S Curve are available for Absolute Mode Relative Mode and Cont Move 12 FA Speed ATU Sets the configurations of the FA Speed The related function calls are _8154_set_fa_speed If the check box ATU is checked it will ...

Page 60: ...bsolute 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 value and ...

Page 61: ...ange during deceleration in units of PPS Z Move Delay This setting is effective only when repeat mode is set On It will cause the 8154 to delay for a specified time before it continues to the next motion 14 Speed_Profile Clicking this button will show the Speed Profile 15 Digital I O Display and set Digital I O The related func tions are _8154_get_gpio_output _8154_get_gpio_input _8154_set_gpio_ou...

Page 62: ...it causes the axis to go into pulse move The speed limit is the value set by Maximum Velocity Right play button Causes the 8154 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 opposit...

Page 63: ...tes inactive The related function is _8154_get_io_status 20 Buttons Z Next Card Change operating card Z Next Axis Change operating axis Z Save Config Save current configuration to 8154 ini And 8154MC ini Z Close Close the menu Two Axis and Four Axis Operation Menu In two axis and four axis menu users can change the settings of two or four selected axis including velocity mode motion preset relativ...

Page 64: ...52 MotionCreatorPro axis operation menu are similarly that s because we just introduce two axis menu ...

Page 65: ...ond Z Sacc Set the S curve range during acceleration in units of PPS Z Sdec Set the S curve range during deceleration in units of PPS 2 Repeat Mode When On is selected the motion will become repeat mode forward backward or position1 position2 It is only effective when Rela tive Mode or Absolute Mode is selected 3 Vel Profile Select the velocity profile Both Trapezoidal and S Curve are available fo...

Page 66: ...e command counter The related function is _8154_get_position 11 Velocity The absolute value of velocity in units of PPS The related function is _8154_get_current_speed 12 Play Key Left play button Causes the 8154 start to outlet pulses according to previous setting Z In Absolute Mode it causes the axis to move to position1 Z In Relative Mode it causes the axis to move forward Z Right play button C...

Page 67: ...o The related functions are _8154_set_position _8154_set_command _8154_reset_error_counter _8154_reset_target_pos Z Axis1 Reset clicking this button will set all positioning counters of selected axis to zero Z ClearPlots Clear the Motion Graph Z Save Config Save current configuration to 8154 ini and 8154MC ini Z Close Close the menu ...

Page 68: ...Menu Press 2 D button in operating window will enter this window This is for 2 D motion test It includes the following topics Z Linear Interpolation Z Circular Interpolation Z Incremental Jog Z Continuous Jog Z Other Control Objects ...

Page 69: ...emental Jog When one directional button is pressed the axis steps the distance entered 2 Jog Setting Sets parameters for single axis motion Inactive if Jog Mode is selected since velocity and moving distance are decided by pulse input Z Start Velocity Sets start velocity of motion in PPS Z Maximum Velocity Sets the maximum velocity of motion in PPS Z Tacc Sets the acceleration time in seconds ...

Page 70: ..._move _8154_start_sr_move 4 DIR Specified direction of arc CW CCW only effective when Circular Interpolation Mode is selected 5 Vel Profile Selects velocity profile Both Trapezoidal and S Curve are available for Linear Interpolation Mode and Circular Interpolation Mode 6 Speed Parameters Sets the parameters for single axis motion This parameter is meaningless if Linear Interpo lation Mode or Circu...

Page 71: ...nd Pressing one directional button gener ates a move 10 Velocity The absolute value of velocity in PPS The related function is _8154_get_current_speed 11 Interpolation Command Z Command displays the value of the command counter The related function is _8154_get_command 12 Current Position Z Feedback displays the value of the feedback position counter The related function is _8154_get_position 13 H...

Page 72: ...splays the returned value of the _8154_motion_done function The related function is _8154_motion_done 16 Play Key Play button Causes the 8154 to outlet pulses according to previous settings Z In Linear Mode the axis moves to Distance The related function is _8154_start_tr_move_xy _8154_start_sr_move_xy Z In Circular Mode the axis moves to Distance By Pos Dist pulse The related function is _8154_st...

Page 73: ...e Frame Z Clear Clears the Motion Graph Z Center Displays the Motion Graph in center position 19 Graph Range controls X or Y axis display range 20 Origin Position allows panning of display location Help Menu Right clicking shows Help Information ...

Page 74: ...62 MotionCreatorPro This page intentionally left blank ...

Page 75: ...e function Naming conventions are as follows In a C programming environment _ hardware_model _ action_name e g _8154_initial To differentiate between a C library and a VB library a capital B is placed at the beginning of each function name e g B_8154_initial Type 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 ...

Page 76: ...t Output Configuration _8154_set_pls_outmode _8154_set_pls_iptmode _8154_set_feedback_src Velocity Mode Motion _8154_set_pls_outmode _8154_set_pls_iptmode _8154_set_feedback_src _8154_set_pls_outmode _8154_set_pls_iptmode _8154_set_feedback_src _8154_set_pls_outmode Single Axis Position Mode _8154_start_tr_move _8154_start_ta_move _8154_start_sr_move _8154_start_sa_move _8154_set_move_ratio _8154_...

Page 77: ...a_line2 _8154_start_tr_line3 _8154_start_ta_line3 _8154_start_sr_line3 _8154_start_sa_line3 _8154_start_tr_line4 _8154_start_ta_line4 _8154_start_sr_line4 _8154_start_sa_line4 Circular Interpolated Motion _8154_start_tr_arc_xy _8154_start_ta_arc_xy _8154_start_sr_arc_xy _8154_start_sa_arc_xy _8154_start_tr_arc_zu _8154_start_ta_arc_zu _8154_start_sr_arc_zu _8154_start_sa_arc_zu _8154_start_tr_arc2...

Page 78: ...ulser_vmove _8154_pulser_pmove _8154_set_pulser_ratio Motion Status Section _8154_motion_done Motion Interface I O _8154_set_servo _8154_set_pcs_logic _8154_set_pcs _8154_set_clr_mode _8154_set_inp _8154_set_alm _8154_set_erc _8154_set_erc_out _8154_clr_erc _8154_set_sd _8154_enable_sd _8154_set_limit_logic _8154_set_limit_mode _8154_get_io_status Interrupt Control _8154_int_control _8154_wait_err...

Page 79: ...ng_counter _8154_set_ring_counter _8154_escape_home Position Compare and Latch _8154_set_trigger_logic _8154_set_error_comparator _8154_set_general_comparator _8154_set_trigger_comparator _8154_set_latch_source _8154_set_ltc_logic _8154_get_latch_data Continuous Motion _8154_set_continuous_move _8154_check_continuous_buffer _8154_dwell_move Multi Axis Simultaneous Operation _8154_set_tr_move_all _...

Page 80: ...ut _8154_get_gpio_input _8154_set_gpio_input_function Soft Limit _8154_disable_soft_limit _8154_enable_soft_limit _8154_set_soft_limit Backlash Compensation Vibration Suppression _8154_backlash_comp _8154_suppress_vibration _8154_set_fa_speed Speed Profile Calculation _8154_get_tr_move_profile _8154_get_ta_move_profile _8154_get_sr_move_profile _8154_get_sa_move_profile Extended General Purpose TT...

Page 81: ...card and release its resources which should be called at the end of your applica tions _8154_get_version Lets users read back the firmware s driver s and DLL s version information _8154_set_security_key This function is used to set a security code to the PCIe card See also _8154_check_security_key _8154_reset_security_key _8154_check_security_key This function is used to verify the security code w...

Page 82: ...o parameters recorded in 8154 ini _8154_set_limit_logic _8154_set_pcs_logic _8154_set_ltc_logic _8154_set_inp _8154_set_erc _8154_set_alm _8154_set_pls_iptmode _8154_set_pls_outmode _8154_set_move_ratio _8154_set_latch_source _8154_set_feedback_src _8154_set_home_config _8154_set_soft_limit _8154_set_fa_speed _8154_set_sd Syntax C C Windows XP 7 8 1 I16 _8154_initial U16 CardID_InBit I16 Manual_ID...

Page 83: ...r ByVal secu_code As Integer As Integer B_8154_reset_security_key ByVal card_id As Integer B_8154_config_from_file As Integer Argument CardID_InBit Manual_ID Enable the On board dip switch SW1 to decide the Card ID The CardID could be decided by 0 the sequence of PCIe slot 1 on board DIP switch SW1 card_id Specify the PCIe 8154 card index The card_id could be decided by DIP switch SW1 or depend on...

Page 84: ...154_set_feedback_src function is enabled _8154_set_pls_outmode Configure the output modes of command pulses There are 6 modes for command pulse output _8154_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 _8154_set_pls_iptmod...

Page 85: ...Integer B_8154_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 Not...

Page 86: ...stant velocity with S curve profile _8154_emg_stop Immediately stop _8154_sd_stop Decelerate to stop _8154_get_current_speed Get current speed _8154_speed_override Change speed on the fly 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 DI...

Page 87: ...154_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 _8154_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 move or...

Page 88: ...top ByVal AxisNo As Integer As Integer B_8154_sd_stop ByVal AxisNo As Integer ByVal Tdec As Double As Integer B_8154_get_current_speed ByVal AxisNo As Integer ByRef Speed As Double As Integer Argument AxisNo Axis number designated to move or stop StrVel Starting velocity in units of pulse per second MaxVel Maximum velocity in units of pulse per second Tacc Specified acceleration time in units of s...

Page 89: ...ion General The moving direction is determined by the sign of the Pos or 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 _8154_start_tr_move This function causes the axis to acce...

Page 90: ...tion but immediately returns con trol to the program _8154_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 completion but immedia...

Page 91: ...Val Dist As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8154_start_ta_move ByVal AxisNo As Integer ByVal Pos As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8154_start_sr_move ByVal AxisNo As Integer ByVal Dist As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal ...

Page 92: ... pulse per second Tacc Specified acceleration time in units of seconds 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 t...

Page 93: ... linear inter polation for Z U axis with S curve profile _8154_start_sa_move_zu Begins absolute 2 axis linear interpolation for Z U axis with S curve profile _8154_start_ta_line2 Begins absolute 2 axis linear inter polation for any 2 of 4 axes with trapezoidal profile _8154_start_sr_line2 Begin a relative 2 axis linear interpo lation for any 2 of 4 axes with S curve profile _8154_start_sa_line2 Be...

Page 94: ...isons of those functions are described by fol low table Note The target two axes of linear interpolation are the 2 of 4 axes on a card Function Total axes Velocity Profile Relative Absolute Target Axes _8154_start_tr_move_xy 2 T R Axes 0 1 _8154_start_ta_move_xy 2 T A Axes 0 1 _8154_start_sr_move_xy 2 S R Axes 0 1 _8154_start_sa_move_xy 2 S A Axes 0 1 _8154_start_tr_move_zu 2 T R Axes 2 3 _8154_st...

Page 95: ... F64 Tacc F64 Tdec I16 _8154_start_ta_move_xy I16 Card_id F64 PosX F64 PosY F64 StrVel F64 MaxVel F64 Tacc F64 Tdec Function Total axes Velocity Profile Relative Absolute Target Axes _8154_start_tr_line3 3 T R Any 3 of 4 axes _8154_start_ta_line3 3 T A Any 3 of 4 axes _8154_start_sr_line3 3 S R Any 3 of 4 axes _8154_start_sa_line3 3 S A Any 3 of 4 axes Function Total axes Velocity Profile Relative...

Page 96: ...4 Tdec F64 SVacc F64 SVdec I16 _8154_start_tr_line2 I16 AxisArray F64 DistArray F64 StrVel F64 MaxVel F64 Tacc F64 Tdec I16 _8154_start_ta_line2 I16 AxisArray F64 PosArray F64 StrVel F64 MaxVel F64 Tacc F64 Tdec I16 _8154_start_sr_line2 I16 AxisArray F64 DistArray F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec I16 _8154_start_sa_line2 I16 AxisArray F64 PosArray F64 StrVel F64 MaxVel F...

Page 97: ...s Double ByVal PosY As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8154_start_sr_move_xy ByVal Card_id As Integer ByVal DistX As Double ByVal DistY 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_8154_start_sa_move_xy ByVal Card_...

Page 98: ...le ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8154_start_sr_line2 AxisArray As Integer DistArray 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_8154_start_sa_line2 AxisArray As Integer PosArray As Double ByVal StrVel As Double ByVal M...

Page 99: ...uble ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8154_start_sr_line4 AxisArray As Integer DistArray 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_8154_start_sa_line4 AxisArray As Integer PosArray As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal...

Page 100: ...Vacc Specified velocity interval in which S curve acceleration is performed Note SVacc 0 for pure S Curve For more details see sec tion 4 2 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 AxisArray Array of axis number to perform interpolation Example I16 AxisArray 2 0 3 axis 0 axis 3 correct I16 AxisA...

Page 101: ..._8154_start_tr_arc_zu Begin a T curve relative circular interpolation for Z U axis _8154_start_ta_arc_zu Begin a T curve absolute circular interpolation for Z U axis _8154_start_sr_arc_zu Begin a S curve relative circular interpolation for Z U axis _8154_start_sa_arc_zu Begin a S curve absolute circular interpolation for Z U axis _8154_start_tr_arc2 Begin a T curve relative circular inter polation...

Page 102: ...ec F64 SVacc F64 SVdec I16 _8154_start_sa_arc_xy I16 card_id F64 Cx F64 Cy F64 Ex F64 Ey I16 CW_CCW F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec Function Total axes Velocity Profile Relative Absolute Target Axes _8154_start_tr_arc_xy 2 trapezoidal R Axes 0 1 _8154_start_ta_arc_xy 2 trapezoidal A Axes 0 1 _8154_start_sr_arc_xy 2 S curve R Axes 0 1 _8154_start_sa_arc_xy 2 S curve A Ax...

Page 103: ...axVel F64 Tacc F64 Tdec I16 _8154_start_ta_arc2 I16 AxisArray F64 CenterPos F64 EndPos I16 CW_CCW F64 StrVel F64 MaxVel F64 Tacc F64 Tdec I16 _8154_start_sr_arc2 I16 AxisArray F64 OffsetCenter F64 OffsetEnd I16 CW_CCW F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec I16 _8154_start_sa_arc2 I16 AxisArray F64 CenterPos F64 EndPos I16 CW_CCW F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVac...

Page 104: ...Double ByVal OffsetCy As Double ByVal OffsetEx As Double ByVal OffsetEy As Double ByVal CW_CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double B_8154_start_ta_arc_zu ByVal card_id As Integer ByVal Cx As Double ByVal Cy As Double ByVal Ex As Double ByVal Ey As Double ByVal CW_CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc A...

Page 105: ...rc2 AxisArray As Integer OffsetCenter As Double OffsetEnd As Double Byval CW_CCW As Integer 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_8154_start_sa_arc2 AxisArray As Integer CenterPos As Double EndPos As Double Byval CW_CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Do...

Page 106: ...is second axis of target axes absolute position of end of arc CW_CCW Specified direction of arc StrVel Starting velocity of a velocity profile in units of pulse per second MaxVel Maximum velocity in units of pulse per second Tacc Specified acceleration time in units of seconds Tdec Specified deceleration time in units of seconds SVacc Specified velocity interval in which S curve acceleration is pe...

Page 107: ... point for 1st 2nd axes OffsetEnd Array of the offset to end of arc relative to the start position Example F 64 OffsetEnd 2 4000 0 0 0 offset from start position initial point for 1st 2nd axes CenterPos Array of the center of arc absolute position Example F64 CenterPos 2 2000 0 0 0 absolute center position for 1st 2nd axes EndPos Array of the end point of arc absolute position Example F64 EndPos 2...

Page 108: ...ll be a dummy motion and it cannot be used for any other purpose Syntax C C Windows XP 7 8 1 I16 _8154_start_tr_helical I16 card_id F64 OffsetCx F64 OffsetCy F64 OffsetEx F64 OffsetEy F64 PitchDist I16 CW_CCW F64 StrVel F64 MaxVel F64 Tacc F64 Tdec I16 _8154_start_ta_helical I16 card_id F64 Cx F64 Cy F64 Ex F64 Ey F64 PitchPos I16 CW_CCW F64 StrVel F64 MaxVel F64 Tacc F64 Tdec I16 _8154_start_sr_h...

Page 109: ...Double ByVal PitchPos As Double ByVal CW_CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8154_start_sr_helical Lib 8154 dll Alias _8154_start_sr_helical ByVal card_id As Integer ByVal OffsetCx As Double ByVal OffsetCy As Double ByVal OffsetEx As Double ByVal OffsetEy As Double ByVal PitchDist As Double ByVal CW_CCW As Integer ByVa...

Page 110: ...o end of arc OffsetEy Y axis offset to end of arc PitchDist Z axis specified relative distance to move Cx X axis first axis of target axes absoult position of center of arc Cy Y axis second axis of target axes absoult position of center of arc Ex X axis first axis of target axes absoult position of end of arc Ey Y axis second axis of target axes absoult position of end of arc PitchPos Z axis speci...

Page 111: ...Note SVdec 0 for pure S Curve For more details see sec tion 4 2 4 B 10 Home Return Mode Name _8154_set_home_config Set the configuration for home return move motion _8154_home_move Perform a home return move _8154_home_search Perform an auto search home Description _8154_set_home_config Configures the home return mode origin ORG and index sig nal EZ logic EZ count and ERC output options for the ho...

Page 112: ...ers 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 11 Syntax C C Windows XP 7 8 1 I16 _8154_set_home_config I16 AxisNo I16 home_mode I16 org_logic I16 ez_logic I16 ez_count I16 erc_out I16 _8154_home_move I16 AxisNo F64 StrVel F64 MaxVel F64 Tacc I16 _8154_home_se...

Page 113: ... logic configuration for EZ ez_count 0 15 Please refer to section 4 2 10 erc_out Set ERC output options StrVel Starting velocity of a velocity profile unit pulse sec MaxVel Maximum velocity unit pulse sec Tacc Specified acceleration time Unit sec card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 Active low 1 Active high Value Meaning 0 Active low 1 Active high Value Meaning ...

Page 114: ...se generator Description _8154_disable_manual pulse generator_input This function is used to set the manual pulse generator input disable or enable _8154_manual pulse generator_pmove With this command the axis begins to move according to the manual pulse input The axis will output one pulse when it receives one manual pulse until the _8154_disable_manual pulse generator_input func tion disables th...

Page 115: ...dLimit I16 _8154_manual pulse generator_vmove I16 AxisNo F64 SpeedLimit I16 _8154_set_manual pulse generator_ratio I16 AxisNo I16 DivF I16 MultiF I16 _8154_set_manual pulse generator_iptmode I16 AxisNo I16 InputMode I16 Inverse Visual Basic Windows XP 7 8 1 B_8154_disable_manual pulse generator_input ByVal AxisNo As Integer ByVal Disable As Integer As Integer B_8154_manual pulse generator_pmove By...

Page 116: ...set to be 100pps then the axis can move at fastest 100pps even the input manual pulse gen erator signal rate is more then 100pps DivF Divide factor 1 2047 Note When 0 or 2048 is entered the division circuit will be OFF MultiF Multiplication factor 0 31 InputMode Setting of manual pulse input mode from the PA and PB pins card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 1X AB...

Page 117: ...no inverse 1 Reverse moving direction 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 Speed 13 Decelerating 14 Wait I...

Page 118: ...or stop B 13 Motion Interface I O Name _8154_set_servo Set the ON OFF state of the SVON signal _8154_set_pcs_logic Set the logic of PCS signal _8154_set_pcs Enable the PCS for position override _8154_set_clr_mode Set the mode of CLR signal _8154_set_inp Set the logic of INP signal and operating mode 18 SMEL 19 SEMG 20 SSTP 21 SERC card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Table 1 ...

Page 119: ...nal and operating mode _8154_enable_sd Enable SD signal _8154_set_limit_logic Set the logic of PEL MEL signal _8154_set_limit_mode Set PEL MEL operating mode _8154_get_io_status Get all the motion I O statuses of each 8154 Description _8154_set_servo You can set the ON OFF state of the SVON signal with this function The default value is 1 OFF which means the SVON is open to GND _8154_set_pcs_logic...

Page 120: ... _8154_set_alm Set the active logic of the ALARM signal input from the servo driver Two reacting modes are available when the ALARM sig nal is active _8154_set_erc Users can set the logic and on time of the ERC with this func tion It also can set the manual pulse generator width of ERC signal _8154_set_erc_out This function is used to output the ERC singal manually _8154_clr_erc This function is u...

Page 121: ... I16 pcs_logic I16 _8154_set_pcs I16 AxisNo I16 enable I16 _8154_set_clr_mode I16 AxisNo I16 clr_mode I16 targetCounterInBit I16 _8154_set_inp I16 AxisNo I16 inp_enable I16 inp_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 status 7 PCS PCS signal input 8 ERC ERC pin output 9 EZ ...

Page 122: ...ByVal pcs_logic As Integer As Integer B_8154_set_pcs ByVal AxisNo As Integer ByVal enable As Integer As Integer B_8154_set_clr_mode ByVal AxisNo As Integer ByVal clr_mode As Integer ByBal targetCounterInBit as Integer As Integer B_8154_set_inp ByVal AxisNo As Integer ByVal inp_enable As Integer ByVal inp_logic As Integer As Integer B_8154_set_alm ByVal AxisNo As Integer ByVal alm_logic As Integer ...

Page 123: ...l limit_mode As Integer As Integer I16 _8154_get_io_status ByVal AxisNo As Integer io_sts As Integer As Integer Argument AxisNo Axis number designated to move or stop on_off ON OFF state of SVON signal pcs_logic PCS signal input logic enable enable or disable 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 Mean...

Page 124: ...ic Set the active logic for the INP signal alm_logic Setting of active logic for ALARM signals alm_mode Reacting modes when receiving an ALARM signal 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 input turns ON Value Meaning 0 Negat...

Page 125: ... for the SD signal Value Mmeaning 0 Negative logic 1 Positive logic Value Meaning 0 12 μs 1 102 μs 2 409 μs 3 1 6 ms 4 13 ms 5 52 ms 6 104 ms 7 Level output 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 ...

Page 126: ... INT service _8154_set_motion_int_factor Set the factors of motion related interrupts _8154_wait_error_interrupt Wait error related interrupts _8154_wait_motion_interrupt Wait motion related inter rupts Description _8154_int_control 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 no...

Page 127: ...wait_motion_interrupt When user enabled the Interrupt function by _8154_int_control and set the interrupt factors by _8154_set_motion_int_factor User could use this function to wait the specific interrupt When this function was running the process would never stop until evens were trig gered or the function was time out Syntax C C Windows XP 7 8 1 I16 _8154_int_control I16 card_id I16 intFlag I16 ...

Page 128: ...itch SW1 or depend on slot sequence Please refer to _8154_initial intFlag Enable Disable the Interrupt function AxisNo Axis number designated to move or stop int_factor interrupt factor motion INT factors Value 0 Disable 1 Enable Value Meaning 0 Disable 1 Enable card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Bit Description 0 Normal stop 1 Next command in buffer starts 2 Command pre regi...

Page 129: ...ack position counter _8154_set_position Set the feedback position counter _8154_get_command Get the value of command position counter _8154_set_command Set the command position counter 6 Deceleration Start 7 Deceleration End 8 Soft limit or comparator 1 is ON 9 Soft limit or comparator 2 is ON 10 Error comparator or comparator 3 is ON 11 General comparator or comparator 4 is ON 12 Trigger comparat...

Page 130: ...lses record _8154_get_ring_counter Acquires limitation value of ring counter _8154_set_ring_counter Sets ring counter limitation and enables ring counter function _8154_escape_home Leaves from the home position with positivity of negative move set by the MaxVel Description _8154_get_position This function is used to read the feedback position counter value Note that this value has already been pro...

Page 131: ...8154_reset_error_counter This function is used to clear the position error counter _8154_get_general_counter This function is used to read the value of the general counter _8154_set_general_counter This function is used to set the counting source of and change the value of general counter By default the source is manual pulse generator input _8154_get_target_pos This function is used to read the v...

Page 132: ...s disabled As shown when ring counter limitation I32 RingVal is set to four command and feedback counters count up until counter value equals four at which point command and feedback coun ters reset to zero and the operation is repeated Accordingly as is further shown when ring counter limitation I32 RingVal is set to four command and feedback counters count down until counter value equals zero co...

Page 133: ...et_pos I16 AxisNo F64 T_pos I16 _8154_reset_target_pos I16 AxisNo F64 T_pos I16 _8154_get_res_distance I16 AxisNo F64 Res_Distance I16 _8154_set_res_distance I16 AxisNo F64 Res_Distance I16 _8154_set_ring_counter I16 AxisNo I32 RingVal I16 _8154_get_ring_counter I16 AxisNo I32 RingVal I16 _8154_escape_home I16 AxisNo F64 StrVel F64 MaxVel F64 Tacc Visual Basic Windows XP 7 8 1 B_8154_get_position ...

Page 134: ... Integer ByVal Res_Distance As Double As Integer B_8154_get_res_distance ByVal AxisNo As Integer ByRef Res_Distance As Double As Integer B_8154_set_ring_counter ByVal AxisNo As Integer ByVal RingVal As Long As Integer B_8154_get_ring_counter ByVal AxisNo As Integer RingVal As Long As Integer B_8154_escape_home ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Doub...

Page 135: ...o disable ring counter function StrVel Starting velocity of a velocity profile in pulses per second MaxVel Maximum velocity in pulses per second Tacc Specified acceleration time in seconds B 16 Position Compare and Latch Name _8154_set_trigger_logic Set the CMP signal s logic _8154_set_trigger_comparator Set the trigger compara tor _8154_set_error_comparator Set the error comparator _8154_set_gene...

Page 136: ...parator When the comparison conditions are met there is one of the 4 reactions will be done The detail setting see the argument description _8154_set_trigger_comparator This function is used to set the comparing source counter com paring method and value for the trigger comparator When the comparison source counter s value reaches the comparing value the 8154 will generate a pulse output via CMP a...

Page 137: ...yVal AxisNo As Integer ByVal Logic As Integer As Integer B_8154_set_error_comparator ByVal AxisNo As Integer ByVal CmpMethod As Integer ByVal CmpAction As Integer ByVal Data As Long As Integer B_8154_set_general_comparator ByVal AxisNo As Integer ByVal CmpSrc As Integer ByVal CmpMethod As Integer ByVal CmpAction As Integer ByVal Data As Long As Integer B_8154_set_trigger_comparator ByVal AxisNo As...

Page 138: ...on card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 Negative logic 1 Positive logic 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 ...

Page 139: ... motion _8154_check_continuous_buffer Check if the buffer is empty _8154_dwell_move Set a dwell move Value Meaning 0 No action 1 Stop immediately 2 Slow down then stop 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...

Page 140: ...ell_move This function is used to start a dwell move that means the move does not cause real motion for a specific time Example _8154_set_continuous_move 2 1 start continuous move _8154_start_tr_move 2 20000 0 10 0 10000 0 0 1 0 1 _8154_dwell_move 2 2000 dwell move for 2 sec _8154_start_sr_move 2 20000 0 10 0 10000 0 0 1 0 1 0 0 _8154_set_continuous_move 2 0 end continuous move Syntax C C Windows ...

Page 141: ...me _8154_set_tr_move_all Multi axis simultaneous operation setup _8154_set_ta_move_all Multi axis simultaneous operation setup _8154_set_sr_move_all Multi axis simultaneous operation setup _8154_set_sa_move_all Multi axis simultaneous operation setup _8154_start_move_all Begin a multi axis trapezoidal profile motion card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 continuou...

Page 142: ...otion Starting Stopping on all specified axes are at the same time Note that it is necessary to make connections accord ing to Section 1 7 on page 10 if these two functions are needed The following code demos how to utilize these functions This code moves axis 0 and axis 1 to distance 80000 0 and 120000 0 respectively If we choose velocities and accelerations that are proportional to the ratio of ...

Page 143: ...e ByRef TdecA As Double As Integer B_8154_set_sa_move_all ByVal TotalAxes As Integer ByRef AxisArray As Integer ByRef PosA As Double ByRef StrVelA As Double ByRef MaxVelA As Double ByRef TaccA As Double ByRef TdecA As Double ByRef SVaccA As Double ByRef SVdecA As Double As Integer B_8154_set_ta_move_all ByVal TotalAxes As Integer ByRef AxisArray As Integer ByRef PosA As Double ByRef StrVelA As Dou...

Page 144: ...d velocity interval array in which S curve accel eration is performed SvdecA Specified velocity interval array in which S curve decel eration is performed FirstAxisNo The first element in AxisArray B 19 General Purpose DIO Name _8154_set_gpio_output Set digital output _8154_get_gpio_output Get digital output _8154_get_gpio_input Get digital input _8154_set_gpio_input_function Set the signal types ...

Page 145: ...function I16 card_id I16 Channel I16Select I16 Logic Visual Basic Windows XP 7 8 1 B_8154_set_gpio_output ByVal card_id As Integer ByVal DoValue As Integer As Integer B_8154_get_gpio_output ByVal card_id As Integer DoValue As Integer As Integer B_8154_get_gpio_input ByVal card_id As Integer DiValue As Integer As Integer B_8154_set_gpio_input_function ByVal card_id As Integer ByVal Channel As Integ...

Page 146: ... This function is used to disable the soft limit function _8154_enable_soft_limit This function is used to enable the soft limit function Once enabled the action of soft limit will be exactly the same as physical limit _8154_set_soft_limit This function is used to set the soft limit value Value Meaning 0 General DI default 1 LTC active low 2 SD active low 3 PCS active low 4 CLR active low 5 EMG ac...

Page 147: ..._enable_soft_limit ByVal AxisNo As Integer ByVal Action As Integer As Integer B_8154_set_soft_limit ByVal AxisNo As Integer ByVal PlusLimit As Long ByVal MinusLimit As Long As Integer Argument AxisNo Axis number designated to move 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 AxisN...

Page 148: ...rs _8154_suppress_vibration This function is used to suppress vibration of mechanical sys tems by outputting a single pulse for negative direction and the single pulse for positive direction right after completion of com mand movement _8154_set_fa_speed This function is used to specify the low speed for backlash cor rection or slip correction It also used as a reverse low speed for home return ope...

Page 149: ... B_8154_set_fa_speed ByVal AxisNo As Integer ByVal FA_Speed As Double As Integer Argument AxisNo Axis number designated to move or stop CompPulse Specified number of corrective pulses 12 bit Mode ReverseTime Specified Reverse Time 0 65535 unit 1 6 us ForwardTime Specified Forward Time 0 65535 unit 1 6 us FA_Speed fa speed unit pulse sec card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Valu...

Page 150: ...et the actual speed profile before running _8154_get_ta_move_profile This function is used to get the absolute trapezoidal speed pro files By this function user can get the actual speed profile before running _8154_get_sr_move_profile This function is used to get the relative S curve speed profiles By this function user can get the actual speed profile before running _8154_get_sa_move_profile This...

Page 151: ...xVel As Double ByVal Tacc As Double ByVal Tdec As Double ByRef pStrVel As Double ByRef pMaxVel As Double ByRef pTacc As Double ByRef pTdec As Double ByRef pTconst As Double As Integer B_8154_get_ta_move_profile ByVal AxisNo As Integer ByVal Pos As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByRef pStrVel As Double ByRef pMaxVel As Double ByRef pTa...

Page 152: ...e As Integer Argument AxisNo Axis number designated to move or stop Dist Specified relative distance unit pulse Pos Specified absolute position unit pulse StrVel Starting velocity unit pulse sec MaxVel Maximum velocity unit pulse sec Tacc time for acceleration unit sec Tdec time for deceleration unit sec SVacc S curve region during acceleration unit pulse sec Note SVacc 0 for pure S Curve For more...

Page 153: ...peed time maximum speed B 23 Extended General Purpose TTL Input Output Name _8154_set_gpio_output_ex Set digital output _8154_get_gpio_output_ex Get digital output _8154_get_gpio_input_ex Get digital input _8154_set_gpio_output_ex_CH Set digital output by chan nel _8154_get_gpio_output_ex_CH Get digital output by chan nel _8154_get_gpio_input_ex_CH Get digital input by channel Description _8154_se...

Page 154: ...t_ex_CH I16 CardNo U16 Channel U16 Value I16 _8154_get_gpio_input_ex_CH I16 CardNo U16 Channel U16 Value Visual Basic Windows XP 7 8 1 B_8154_set_gpio_output_ex ByVal CardNo As Integer ByVal DoValue As Integer As Integer B_8154_get_gpio_output_ex ByVal CardNo As Integer DoValue As Integer As Integer B_8154_get_gpio_input_ex ByVal CardNo As Integer DiValue As Integer As Integer B_8154_set_gpio_outp...

Page 155: ...umber 10001 Error operation system version 10002 Error card s ID conflict 10300 Error other process exist 10301 Error card not found 10302 Error Open driver failed 10303 Error ID mapping failed 10304 Error trigger channel 10305 Error trigger type 10306 Error event already enabled 10307 Error event not enable yet 10308 Error on board FIFO full 10309 Error unknown command type 10310 Error unknown ch...

Page 156: ...enable range 10325 Error auto accelerate time 10326 Error dwell time 10327 Error dwell distance 10328 Error new position 10329 Error motion not in running 10330 Error velocity change time 10331 Error speed target 10332 Error velocity percent 10333 Error position change backward 10334 Error counter number 10335 Error gpio input function parameter 10336 Error channel number 10337 Error ERC mode 1033...

Page 157: ... an exemplary integration of the PCIe 8154 and DIN 814M J3A C 2 Terminal Board User Guide Please refer to the individual terminal board s User Guide Sup ported 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 ...

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Page 159: ... 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 near a...

Page 160: ... 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 Please pay strict attention to all warnings and advisories appearing on the device to avoid injury or damage WARNING Risk of explosion if...

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