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PCI-1240

4-Axis PCI Stepping/Pulse-type
Servo Motor Control Card

PCI-1240U

4-Axis Universal PCI Stepping/
Pulse-type Servo Motor Control
Card

User Manual

Summary of Contents for PCI-1240

Page 1: ...PCI 1240 4 Axis PCI Stepping Pulse type Servo Motor Control Card PCI 1240U 4 Axis Universal PCI Stepping Pulse type Servo Motor Control Card User Manual...

Page 2: ...any infringements of the rights of third parties which may result from its use Acknowledgments PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machin...

Page 3: ...lacement materials service time and freight Please consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem enc...

Page 4: ...oblem The exact wording of any error messages Packing List Before setting up the system check that the items listed below are included and in good condition If any item does not accord with the table...

Page 5: ...on part 2 17 Table 3 1 PCI 1240 PCI 1240U I O Connector Signal Description part 3 18 Figure 3 2 Location of Jumpers and DIP switch on PCI 1240 PCI 1240U 19 Table 3 2 BoardID register 19 Table 3 3 Boar...

Page 6: ...28 3 12 Interrupt Setting 29 Figure 3 17 Circuit diagram of interrupt setting 29 3 13 Connection Examples for Motor Drivers 30 3 13 1 Connection to Step Motor Drivers 30 Figure 3 18 Example of Connect...

Page 7: ...1 PCI 1240 PCI 1240U WRITE register func tion 49 Table C 2 PCI 1240 PCI 1240U WRITE register format 50 Table C 3 PCI 1240 PCI 1240U READ register function 51 Table C 4 PCI 1240 PCI 1240U READ registe...

Page 8: ...ty Motor Drivers 60 Figure E 1 Wiring Diagram with Mitsubishi MR J2S Se ries Motor Driver 60 Figure E 2 Wiring Diagram with Oriental LIMO EZMC Series Motor Driver 61 Figure E 3 Wiring Diagram with Pan...

Page 9: ...2 CHAPTER 1 Introduction This chapter introduces PCI 1240 and PCI 1240U and lists their features and detailed specifications...

Page 10: ...ome function PCI 1240 and PCI 1240U performs these motion control functions with out processor load during driving For advanced applications we supply Windows DLL drivers and user friendly examples to...

Page 11: ...through the NOVA MCX314 MCX314AS motion ASIC design concept Linear and Circular Interpolation Any two or three axes can be selected to execute linear interpolation driv ing and any two axes can be sel...

Page 12: ...performs a constant vector speed During the interpolation driving MCX314 MCX314AS can set a 1 414 times pulse cycle for 2 axis simultaneous pulse output and a 1 732 time pulse cycle for 3 axis simulta...

Page 13: ...uch as in posi tioning close loop positioning control and servo alarm Interrupt Signals Interrupt signals can be generated when 1 The start finish of a con stant speed drive during the trapezoidal dri...

Page 14: ...be some accesso ries for enhanced operation of your Motion card you can then begin the installation procedure 1 4 Accessories Advantech offers a complete set of accessory products to support the PCI 1...

Page 15: ...2 CHAPTER 2 Installation This chapter gives users a package item checklist proper instructions about unpacking and step by step procedures for both driver and card installation...

Page 16: ...ble ESD damage Touch the metal part of your computer chassis with your hand to discharge static electricity accumulated on your body Or one can also use a grounding strap Touch the antistatic bag to a...

Page 17: ...ve Step 2 The Setup program will be launched automatically if you have the autoplay function enabled on your system When the Setup Program is launched you ll see the following Setup Screen Whenever yo...

Page 18: ...en of Advantech Automation Software Step 3 Select the PCI 1240 PCI 1240U DLL Drivers option Step 4 Select the proper Windows OS option according to your operating system Just follow the installation i...

Page 19: ...her information on driver related issues an online version of Software Manual is available by accessing the following path Start Advantech Automation Motion PCI 1240 The example source codes could be...

Page 20: ...static electricity that might be on your body Step 5 Insert the PCI 1240 PCI 1240U card into a PCI slot Hold the card only by its edges and carefully align it with the slot Insert the card firmly int...

Page 21: ...2 CHAPTER 3 Signal Connections This chapter provides useful informa tion about how to connect input and output signals to the PCI 1240 PCI 1240U via the I O connector...

Page 22: ...4 Output Pulse Definition and Section 3 11 Emergency Stop Input for more information about JP1 8 and JP9 configurations BoardID Switch PCI 1240 and PCI 1240U have a built in DIP switch SW1 which is u...

Page 23: ...15 Chapter3 Figure 3 1 I O Connector Pin Assignments for PCI 1240 PCI 1240U...

Page 24: ...n Position input at X axis XALARM Input Servo Error at X axis XECAP Input Encoder Phase A at X axis XECAN Input Encoder Phase A at X axis XECBP Input Encoder Phase B at X axis XECBN Input Encoder Phas...

Page 25: ...P P GND Output Output pulse CCW DIR of Y axis YP N GND Output Output pulse CCW DIR of Y axis VEX Input External Power DC12 24V ZLMT Input Direction Limit at Z axis ZLMT Input Direction Limit at Z axis...

Page 26: ...U axis GND Ground ZOUT4 GND Output Common Output at Z axis CMP ZOUT5 GND Output Common Output at Z axis ZOUT6 GND Output Common Output at Z axis Server on ZOUT7 GND Output Common Output at Z axis Rese...

Page 27: ...bit LSB of Board ID ID3 the most significant bit MSB of Board ID Table 3 2 BoardID register SW1 Board ID register Base Add 12h 3 2 1 0 Abbreviation BDID3 BDID2 BDID1 BDID Table 3 3 BoardID setting Bo...

Page 28: ...put mode is Up Down User can change the output mode into Pulse Direction mode by writing specified command system register Figure 3 3 Output Signal Loop for Drive Pulses From the circuit shown above F...

Page 29: ...he following figure 3 4 and 3 5 show the examples of input circuitry connection for both photo coupler and motor driver respectively Figure 3 4 Photo Coupler Input Interface Figure 3 5 Line Driver Inp...

Page 30: ...for driving position counter and the status of comparison register as your output during driving 3 5 Over Traveling Limit Switch Input nLMT nLMT Over traveling limit switches are used for system prot...

Page 31: ...rface of encoder feedback and nIN1 nIN2 and nIN3 are use as input signals near the original point If run mode is active the output of driving pulse is terminated after those signals are enabled The de...

Page 32: ...ormal condition they active this signal to note PCI 1240 PCI 1240U to stop output pulses When enable the nALARM function of PCI 1240 PCI 1240U the D14 bit of RR2 will set to 1 after nALARM active If P...

Page 33: ...dback is available after setting the input pule mode nIN0P N is used for encoder phase Z signal feedback and also can be used as general purposed input or instantaneous stop input Figure 3 11 Circuit...

Page 34: ...for encoder with differential output linear driver Figure 3 12 Example of Connection Diagram for Differential output Line Driver The following figure is an example of connection for the encoder with o...

Page 35: ...eel mode it is corresponding to the Fixed Pulse Output Mode These functions are progressed without CPU involved on host PC When the input signal is enabled during fixed pulse drive the pulse specified...

Page 36: ...se time of circuitry should take about 0 25 msec because of the delay of photo coupled and RC filter 3 11 External Power Input VEX External power is necessary for all input signals of each axis Please...

Page 37: ...shows the interrupt structure of the PCI 1240 PCI 1240U We suggest users who want to program their own interrupt service routine ISR should follow the procedures Step 1 When interrupt occurs Hardware...

Page 38: ...8 of PCI 1240 PCI 1240U are set to 5V output side 5V output for output terminals XP P and XP P Setting JP1 8 as single ended output will output 5V of PCI 1240 PCI 1240U to external devices this will i...

Page 39: ...gure 3 19 Example of Connecting to UPK Step Drive Note The differential pulse output of PCI 1240 PCI 1240U is connected to CW CCW input of UPK drive XOUT4 can control UPK drive to hold by setting D8 o...

Page 40: ...CI 1240 PCI 1240U con nected to MINAS X series AC servo motor drive Figure 3 20 Example of MINAS X series AC servo Motor Drive Note The servo drive must be set in pulse control drive mode and the type...

Page 41: ...isted pair wires as the analog input cable This type of cable has its signal wires twisted together and shielded with a metal mesh The metal mesh should only be connected to one point at the signal so...

Page 42: ...e determined after 250 nsec from power on reset User can access PCI 1240 PCI 1240U only after 500 nsec from power on reset 3 15 2 Individual Axis Driving Figure 3 22 Timing diagram of Individual Axis...

Page 43: ...is valid in 125 nsec of high level pulse signal 3 15 4 Input Pulse Timing Quadrature Pulse of Encoder Input Figure 3 24 Timing diagram of Quadrature Pulse of Encoder Input The minimum difference time...

Page 44: ...uction When the Stop instruction is issued during driving at most one pulse will be output and then stopped 3 15 6 Deceleration Stop Timing External Deceleration Stop Signal Figure 3 28 Timing diagram...

Page 45: ...cting with JP10 you can choose the XOUT4 pin as original design as PCI 1240 or TTL level output While the JP10 is in CMP position the output of XOUT4 is XOUT4 XOUT5 With this special design you can ge...

Page 46: ...PCI 1240 PCI 1240U User Manual 38...

Page 47: ...2 APPENDIX A Specifications...

Page 48: ...terpolation Speed 1 PPS 2 MPPS Output Signal nP P N nP P N Range 1 PPS 4 MPPS Precision 0 1 Change of Acceler ation for S Curve 954 31 25 x 109 PPS sec Acceleration Deceleration 125 500 x 106 PPS sec...

Page 49: ...Fre quency 4 kHz Input Voltage Low 3 V DC max High 10 V DC min 50 V DC max Input Current 10 V DC 1 70 mA typical 12 V DC 2 10 mA typical 24 V DC 4 40 mA typical 48 V DC 9 00 mA typical 50 V DC 9 40 mA...

Page 50: ...Encoder Cycle x1 x2 x4 A B phase only Max Input Frequency 1 MHz Input Voltage Low 2 V DC max High Min PCI 1240 10 V DC PCI 1240U 5 V DC Max 30 V DC Protection 2 500 V DC Isolation Protection Input Sig...

Page 51: ...pt Condition All conditions could be enabled disabled indi vidually Position Counter COMP Position Counter COMP Position Counter COMP Position Counter COMP Constant speed begins or ends during acceler...

Page 52: ...PCI 1240 PCI 1240U User Manual 44...

Page 53: ...2 APPENDIX B Block Diagram...

Page 54: ...photo coupler XECA XECB XINPO Photo coupler RC filter XEXOP XEXOP Y Axis Interface Identical to the Input Output interface of X AXIS Z Axis Interface Identical to the Input Output interface of X AXIS...

Page 55: ...2 APPENDIX C Register Structure and Format...

Page 56: ...O Port Address Map The PCI 1240 PCI 1240U requires 20 consecutive addresses in the PC s I O space The address of each register is specified as an offset from the card s base address For example BASE 0...

Page 57: ...eleration deceleration mode of each axis Setting for external operation mode Setting for general output OUT7 4 BP1M BP1M Register Setting for the direction bit data of the first axis for bit pattern i...

Page 58: ...er 3 WR3 OUT7 OUT6 OUT5 OUT4 OUTSL EXOP1EXOP0 SACC DSNDEMANLD 8 W Output Register WR4 UOUT3UOUT2UOUT1UOUT0ZOUT3 ZOUT2 ZOUT1ZOUT0YOUT3YOUT2YOUT1YOUT0XOUT3XOUT2XOUT1XOUT0 A W Interpolation Mode Register...

Page 59: ...tatus Register 2 Y Axis Status Register 2 Z Axis Status Register 2 U Axis Status Register 2 Error message 6 XRR3 YRR3 ZRR3 URR3 X Axis Status Register 3 Y Axis Status Register 3 Z Axis Status Register...

Page 60: ...STA C ENDP C P C P C P C PULSE 8 R Input Register 1 RR4 Y ALM Y INP Y EX Y EX Y IN3 Y IN2 Y IN1 Y IN0 X ALM X INP X EX X EX X IN3 X IN2 X IN1 X IN0 A R Input Register 2 RR5 U ALM U INP U EX U EX U IN...

Page 61: ...ator Mode Status Register PGM PGSTA The pulse generator function is powerful for users to drive specific axis by Jog or Hand wheel There are two operation modes Jog mode and Hand wheel mode In Jog mod...

Page 62: ...efer to the pin assignment Table C 6 Pulse Generator Mode Status Register PGM PGMSTA Write Read BASE 14 Table C 7 Pulse Generator Mode PGMn3 Base Add D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1...

Page 63: ...PGMn2 PGMn1 PGMn0 Meaning 0 0 0 Function disabled 0 0 1 Signal from pins nEXOP for driving n axis 0 1 0 Software programmable mode Signal from pins XEXOP for driving Axis selected by pins U_IN2 and U_...

Page 64: ...urred C 8 Board ID Register BDID BDID shows the Board ID of the PCI 1240 PCI 1240U Table C 10 Interrupt Status Register INTSTA Read BASE 10 Table C 11 Board ID Register BDID Read BASE 12 Base Add 15 1...

Page 65: ...2 APPENDIX D Cable Pin Assignments...

Page 66: ...PCI 1240 PCI 1240U User Manual 58 Appendix D Cable Pin Assignments...

Page 67: ...2 APPENDIX E Wiring with Third Party Motor Drivers...

Page 68: ...PCI 1240 PCI 1240U User Manual 60 Appendix E Wiring with Third Party Motor Drivers Figure E 1 Wiring Diagram with Mitsubishi MR J2S Series Motor Driver...

Page 69: ...61 ChapterE Figure E 2 Wiring Diagram with Oriental LIMO EZMC Series Motor Driver...

Page 70: ...PCI 1240 PCI 1240U User Manual 62 Figure E 3 Wiring Diagram with Panasonic MINAS A Series Motor Driver...

Page 71: ...63 ChapterE Figure E 4 Wiring Diagram with Yaskawa SGDM Series Motor Driver...

Page 72: ...PCI 1240 PCI 1240U User Manual 64...

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