Advantech PCI-1241 User Manual Download

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PCI-1241

4-Axis Voltage-type Servo Motor
Control Card

PCI-1242

4-Axis Pulse-type Servo motor
Control Card

User Manual

Summary of Contents for PCI-1241

Page 1: ...PCI 1241 4 Axis Voltage type Servo Motor Control Card PCI 1242 4 Axis Pulse type Servo motor Control Card User Manual...

Page 2: ...is manual is intended to be accurate and reli able However Advantech Co Ltd assumes no responsibility for its use nor for any infringements of the rights of third parties which may result from its use...

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: ...energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to ca...

Page 5: ...our dealer immediately The package should contain the following items PCI 1241 or PCI 1242 motor control card User Manual Driver CD ROM DLL driver and Utility included 10 pin horn female connector to...

Page 6: ...PCI 1241 1242 User Manual vi...

Page 7: ...3 1 J1 Remote I O Connector Pin Assignments 14 Table 3 1 PCI 1241 1242 I O J1 Conn Signal Descrip tion Remote I O 15 Figure 3 2 J2 Remote I O Connector Pin Assignments 15 Table 3 2 PCI 1241 1242 I O...

Page 8: ...mote I O DB 9 Connector Pin Assignment 36 Figure 3 16 Remote I O Wiring Diagram in PCI 1241 36 Figure 3 17 Remote I O Wiring Diagram in PCI 1242 37 3 6 3 Field Wiring Considerations 38 Chapter 4 Confi...

Page 9: ...21 Motion Profile Display Window 55 Chapter 5 Software Startup Guide 58 5 1 Card Index Manager 58 Figure 5 1 Card Index Manager 58 5 2 Sample Program Usage 59 Table 5 1 Sample Program Usage 59 Append...

Page 10: ...Home Mode6 85 Figure C 7 Velocity Profile of Home Mode6 85 C 9 Home Mode7 85 Figure C 8 Velocity Profile of Home Mode7 85 C 10 Home Mode8 86 Figure C 9 Velocity Profile of Home Mode8 86 C 11 Home Mode...

Page 11: ...HAPTER 1 General Information This chapter provides general informa tion on the PCI 1241 42 Sections include Introduction Features Applications How to get Started Software Programming Choices Accessori...

Page 12: ...terface PCI 1241 provides a proportional control algorithm which generates voltage output signals between 10V and 10V to drive velocity type servo motors This means it can be used for multi axis preci...

Page 13: ...each axis Equipped with 5 encoder input channels each encoder channel can be used as MPG or stand alone encoder input channel when its corre sponding axis is in pulse command mode 3 encoder input typ...

Page 14: ...1242 motor control card PCI 1241 1242 User Manual Driver Software Advantech PCI 1241 1242 DLL drivers Included in the companion CD ROM Motion Utility Advantech PCI 1241_42_61 Motion Utility Included i...

Page 15: ...Install Driver from CD ROM then power off PC Install Hardware and power on PC Use PCI 1241_42_61 Utility to configure hardware Use PCI 1241_42_61 Utility to test hardware Read Examples Hardware Softwa...

Page 16: ...motion control cards to provide high resistance to noise To achieve a better signal quality the signal wires are twisted in such a way as to form a twisted pair cable reducing cross talk and noise fr...

Page 17: ...2 CHAPTER 2 Installation This chapter provides information on the installation of PCI 1241 42 Sections include Software Installation Hardware Installation...

Page 18: ...n CD ROM into your CD ROM drive Step 2 The Setup program will be launched automatically if you have the auto play function enabled on your system When the Setup Program is launched you ll see the foll...

Page 19: ...your system Step 1 Turn off your computer and unplug the power cord and cables Step 2 Remove the cover of your computer Step 3 Remove the slot cover on the back panel of your computer Step 4 Touch th...

Page 20: ...Jumper Switch Settings Figure 2 2 shows the names and locations of jumpers and VRs on the PCI 1241 1242 There are 5 jumpers and 4 VRs on PCI 1241 1242 Table 2 1 shows jumpers and VRs functionalities F...

Page 21: ...nerator MPG 10 pin simple horn female connector type JP1 Set pin 9 of J3 as 5V power for MPG wiring Default Setting Set pin 9 of J3 as 12 V power for MPG wiring JP2 JP3 JP2 Open JP3 Short Use on board...

Page 22: ...sink type On board Common Input of Local Input Channel connects to VEX_GND pin VR1 VR4 PCI 1241 only Variable resistors to adjust voltage output channels OFFSET voltage VR1 is for channel A0_VO OFFSE...

Page 23: ...ma tion about how to connect input and output signals to the PCI 1241 1242 via the I O connector Sections include I O Connector Pin Assignments Voltage Output Connection Pulse Output Connection Local...

Page 24: ...ded by PCI 1241 only J3 is also a internal on board 10 pin simple horn connector to provide encoder input channel for manual pulse generator MPG device and the final one is a SCSI II 68 pin connector...

Page 25: ...1 Clock Output 7 RIO1_SCSP Output RI O Ch 1 Slave Module Acti vation Signal 2 RIO1_SCSN Output RI O Ch 1 Slave Module Acti vation Signal 8 RIO1_SDIP Input RI O Ch 1 Data Input 3 RIO1_SDIN Input RI O...

Page 26: ...Clock Output 7 RIO2_SCSP Output RI O Channel 2 Slave Module Activation Signal 2 RIO2_SCSN Output RI O Channel 2 Slave Module Activation Signal 8 RIO2_SDIP Input RI O Channel 2 Data Input 3 RIO2_SDIN...

Page 27: ...ECAP Input MPG Encoder Input Phase A 6 MPG_ECAN Input MPEG Encoder Input Phase A 2 MPG_ECBP Input MPG Encoder Input Phase B 7 MPG_ECBN Input MPG Encoder Input Phase B 3 MPG_ECZP Input MPG Encoder Inpu...

Page 28: ...ECBN 58 24 A2_ECBN A3_ECBP 57 23 A2_ECBP A3_ECAN 56 22 A2_ECAN A3_ECAP 55 21 A2_ECAP A1_ECZN 54 20 A0_ECZN A1_ECZP 53 19 A0_ECZP A1_ECBN 52 18 A0_ECBN A1_ECBP 51 17 A0_ECBP A1_ECAN 50 16 A0_ECAN A1_EC...

Page 29: ...Axis 1 Pulse Output Phase A 62 A1_PAN Output Axis 1 Pulse Output Phase A 63 A1_PBP Output Axis 1 Pulse Output Phase B 64 A1_PBN Output Axis 1 Pulse Output Phase B 31 A2_PAP Output Axis 2 Pulse Output...

Page 30: ...ut Axis 1 Encoder Input Phase B 52 A1_ECBN Input Axis 1 Encoder Input Phase B 53 A1_ECZP Input Axis 1 Encoder Input Phase Z 54 A1_ECZN Input Axis 1 Encoder Input Phase Z 21 A2_ECAP Input Axis 2 Encode...

Page 31: ...it Input 44 A1_SERVON VEX_GND Output Axis 1 Servo On Output 11 A2_HOME VEX_GND Input Axis 2 Home Sensor Input 12 A2_LMT VEX_GND Input Axis 2 Direction Limit Input 13 A2_LMT VEX_GND Input Axis 2 Direct...

Page 32: ...gnal Desc Voltage Output Others Pin No Signal Name Reference Direction Description 36 A0_VO GND Output Axis 0 Voltage Output 3 A1_VO GND Output Axis 1 Voltage Output 37 A2_VO GND Output Axis 2 Voltage...

Page 33: ...ls are velocity command output for connecting with Vcmd input channels of SERVO MOTOR DRIVER accordingly Be noted that PCI 1241 ground channel GND must be connected to ground pin of SERVO MOTOR DRIVER...

Page 34: ...PCI 1241 1242 User Manual 24 Figure 3 5 Wiring Diagram between PCI 1241 and Servo Motor Driver...

Page 35: ...signal transmission method is that it eliminates common mode noise Please note that the reference point for the trans mitter and the receiver must be connected to prevent current leakage from damagin...

Page 36: ...iver The four pulse output channels of PCI 1241 42 are A _PAP A _PAN A _PBP and A _PBN These channels are pulse command outputs for connecting with P P P and P channels of the pulse type servo motor d...

Page 37: ...dicated input channels There are four types of local input channels 4 channel Positive direction Limit Switch Inputs A0_LMT A1_LMT A2_LMT and A3_LMT 4 channel Negative direction Limit Switch Signal A0...

Page 38: ...If an emergency stop occurs value is 1 pulse outputs will be disabled voltage output values become 0 V and PCI 1241 42 s built in LATCH will latch the status of the emergency stop channel Bouncing St...

Page 39: ..._SERVON A1_SERVON A2_SERVON and A3_SERVON 1 channel Position Ready Output P_RDY Local Output Specifications Output voltage Open collector 5 40 VDC Sink current 100mA max channel 500mA max total 2500VD...

Page 40: ...ity is 500 mA Connecting RELAY When the load is a RELAY it s not necessary for you to connect an exter nal diode to absorb pulse noise because there is an instant over voltage protection diode onboard...

Page 41: ...in 2 of JP6 Please refer to A zone When the first axis moves through the limit switch LS_A1_LMT the RELAY indicated as R_A1_LMT will be activated At this time the NORMAL OPEN switch R_A1_LMT in zone B...

Page 42: ...t and enable driver to servo on For the definition of SERVO On please refer to the SERVO MOTOR DRIVER manual Zone I is the 24 VDC power for wiring on site Beware that if more than two 24 V power sourc...

Page 43: ...e electromagnetic contactor The control activa tion coil is labeled MC Zone N The ALARM signal of SERVO MOTOR DRIVER Zone O In zone J if the E_STOP switch is not pressed down the linked switch R_E_STO...

Page 44: ...I 1241 1242 we offer accessories such as a conversion bracket with flat cable One side of the flat cable is a 10 pin simple horn female connector for connecting to the J3 on PCI 1241 1242 The other en...

Page 45: ...5 Chapter3 Figure 3 13 MPG Encoder Input DB 9 Connector Pin Assignment Figure 3 14 MPG Encoder Input Wiring Diagram 9 6 5 1 MPG_GND MPG_GND MPG_ECZP MPG_ECBP MPG_ECAP MPG_ECAN MPG_ECBN MPG_ECZN MPG_VC...

Page 46: ...PCLD 8241 has 64 channels of isolated digital inputs and 64 channels of isolated digital outputs For PCI 1241 42 we offer a conversion bracket accessory with flat cable for remote I O wiring Figure 3...

Page 47: ...37 Chapter3 Figure 3 17 Remote I O Wiring Diagram in PCI 1242...

Page 48: ...cquisition system If the cable travels through an area with significant electromagnetic interference you should adopt individually shielded twisted pair wires as the analog input cable This type of ca...

Page 49: ...ty This chapter provides information on the configuration utility for PCI 1241 and PCI 1242 Sections include Utility Main Page Select Device Set Parameters Initializing the Card Servo On Operate Motor...

Page 50: ...tion functions can be operated in the utility such as line arc circle jog and home You can also find digital input points status easily in the utility Further more the remote IO and motion profile fun...

Page 51: ...on a new dialog box will popup In the dialog box all the installed PCI 1241 1242 1261 cards are listed and you can pick one for configuration and operation If more than one motion card is installed yo...

Page 52: ...Mechanism General PtP Motion System and Home 4 3 1 Mechanism Configuration Advantech provides a convenient tool design the moving patterns in physical units like mm or mm s Define the entire mechanic...

Page 53: ...if the motor is driving a table you can define the maximum speed here for safety considerations And the DLL driver will check every output command to make sure the table does not exceed this speed Mec...

Page 54: ...ions can be input here You can define the motion card s pulse output mode according to the motor driver types PCI 1241 42 supports CW CCW A B and Pulse Direction output modes You can even choose no pu...

Page 55: ...ment Deceleration Curve Time The Deceleration curve can be T Pattern or S Pattern For a detailed explanation of deceleration patterns please refer to the software manual s chapter 2 Deceleration time...

Page 56: ...erpolation time defines how often the motion card will raise interpolation requests to the CPU of the system If users set the interpolation time to be smaller the velocity profile will be smoother How...

Page 57: ...set the initial direction to move towards when the home command is issued 0 means positive direction and 1 means negative direction Index Count Used in home mode 2 3 4 7 8 10 11 and 12 If the index c...

Page 58: ...e to high speed FH as it goes towards the home sensor Once the home sensor has been reached the motor will decelerate and then stop when the speed is down to FL If the home sensor was active when star...

Page 59: ...ds to the PCI 1241 42 If the card is correctly plugged the message Card is active will show on the top of utility and the Close card button will be enabled Figure 4 9 The Card Is Now Active 4 5 Servo...

Page 60: ...ic operations in the main page You can perform Motion Command Jog and Home here In the mean time the digital input signals are also displayed in the main page so you can check the status of sensors if...

Page 61: ...e same time As to the moving speed it is defined as a percentage of the maxi mum motor rotation speed of each axis Figure 4 11 Point to Point Motion Configuration Window Line All axes are defined as t...

Page 62: ...y the UVW axes will perform line movement along with XY axes The movement of all axes will start and stop at the same time Figure 4 14 2D Circle with Line Motion Configuration Window ArcXYZ A 3D arc w...

Page 63: ...operate each axis separately by simply pressing a button In the operation buttons X means to move the X axis in a posi tive direction and X means to move in a negative direction The moving speed is g...

Page 64: ...Order col umn Then the system will follow the order from 0 to 5 Figure 4 19 Home Motion Configuration Window 4 7 Remote IO Page PCI 1241 42 supports powerful remote IO functions The high density IO mo...

Page 65: ...Profile This is a user aid tool in this page users can check the position profile and velocity profile of each axis Then they can easily clarify if the parameters were set correctly Figure 4 21 Motion...

Page 66: ...PCI 1241 1242 User Manual 56...

Page 67: ...APTER 5 Software Startup Guide In this chapter you can get detailed information about card index configu rations and some samples of program usage Sections include Card Index Manager Sample Program Us...

Page 68: ...in one system it can be difficult to identity the cards without an additional identifier In PCI 1241 42 a special utility called Card Index Manager is provided along with the software driver With thi...

Page 69: ...and VB can be found in following folder Disk program files Advantech Motion PCI 1241_42_61 example Each sample program is designed for demonstrating different motion operation Users can test motion ca...

Page 70: ...trates how to use a cyclic interrupt facility includ ing designing a cycle inter rupt service routine ISR DACOutput Yes Yes Demonstrates how to use D A converter DelayMotion Yes Yes Yes Yes Demonstrat...

Page 71: ...on Yes Yes Yes Yes Demonstrates how to perform the jog motion LIOTrigger Yes Yes Yes Yes Demonstrates how to design a local I O ISR and enable local I O signals to trigger this ISR MotionFinished Yes...

Page 72: ...ISR and enable some specific signals of remote I O inputs to trigger this ISR RIOStatus Yes Yes Yes Yes Checks transmission sta tuses of master and slave cards SetBlend Yes Yes Yes Yes Enables disable...

Page 73: ...X A Specifications This chapter provides information on the specifications of PCI 1241 42 Sections include Axes Pulse Output Input Pulse for Encoder Interface Local Input Output Other Motion Functions...

Page 74: ...s Speed 1 PPS 4M PPS Precision 1 LSB Continuous Interpolation Speed 1 PPS 4M PPS Motion Function Command Type Jog Point to Point Line Arc Circle Helical Speed Curve T S Curve Acceleration Deceleration...

Page 75: ...lution 16 bits Output Range 10V 10V Max Update Rate 625 KHz Relative Accuracy 1 LSB Differential Non linearity 0 001 FSR Offset 1 LSB Slew Rate 10 V us Driving Capability 5mA Output Impedance 0 1 max...

Page 76: ...ion Deceleration 125 500 x 106 PPS sec Initial Velocity 1 PPS 4M PPS Drive Speed 1 PPS 4M PPS can be changed during driving Number of Output Pulses 0 268 435 455 fixed pulse driv ing Pulse Output Type...

Page 77: ...0 x1 x2 x4 A B phase only Interface Differential with Photo Coupler Max Input Frequency 2 MHz Input Voltage Single Ended Configuration Logic High CH 3V CH 0V GND Logic Low CH 0 8V CH 0V GND CH Max inp...

Page 78: ...Frequency 20KHz Input Voltage Low 18 VDC min 30 VDC max High 0 VDC min 1 VDC max Input Current 1 VDC 0 5 uA typical 18 VDC 3 3 mA typical 30 VDC 5 8 mA typical Protection 2 500 Vrms photo coupler iso...

Page 79: ...ons Trigger Defined Functions Interrupt Condition All conditions could be enable disable individ ually Local Input Encoder Index Encoder Comparison Programmable Timer Software Board ID 4 bits ID 0 15...

Page 80: ...PCI 1241 1242 User Manual 70...

Page 81: ...2 APPENDIX B Block Diagram This chapter provides information on the block diagram for PCI 1241 1242...

Page 82: ...x B Block Diagram Figure B 1 shows PCI 1241 1242 system block diagram Circuits of block 13 14 16 17 and 18 are hardware close loop control func tion provided by PCI 1241 only and PCI 1242 doesn t supp...

Page 83: ...dback to command and state register 5 through photo coupler isolator 20 and then entering encoder interface 19 for CPU to read B 2 1 Digital Differential Analyzer DDA DDA generator receives the positi...

Page 84: ...r signal processing including filtering The signal then enters close loop mechanism 13 for calculation The close loop mechanism 13 uses a proportional control algorithm Figure B 3 shows P type control...

Page 85: ...isola tion 22 are amplified by a Darlington output stage Inputs are also entered to local IO 21 through photo coupling isolation 21 Besides Local I O can be operated by the CPU independently from oth...

Page 86: ...PCI 1241 1242 User Manual 76...

Page 87: ...r to manage the various require ments for the home position PCI 1241 and PCI 1242 each provide a total of 14 home modes This chapter gives users an overview of each home mode and its characteristics A...

Page 88: ...ents the status of the home sensor and the raising edge means the home sensor was trig gered LMT means limit switch and the raising edge means the limit switch was activated ECZ represents the index s...

Page 89: ...will decelerate And then stop when the speed is down to FL If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the lim...

Page 90: ...tor will go back and approach the home again with low speed FL This makes the stop point even closer to the raising edge of the home sensor If the home sensor was active at start up or the limit switc...

Page 91: ...n EIC is 1 this means one index will be ignored and the motor will stop at the second index after the home sensor is triggered Like case 1 in the following diagram If the home sensor was active at sta...

Page 92: ...ignored with parameter EIC When EIC is 1 this means one index will be ignored and the motor will stop at the second index after the home sensor was triggered Like case 1 in following diagram If the h...

Page 93: ...before stopping with parameter EIC When EIC is 1 it means one index will be ignored and the motor will stop at the second index after turning around Like case 1 in the following diagram If the home se...

Page 94: ...y index counts will be ignored before stopping with parameter EIC When EIC is 1 it means one index will be ignored and the motor will stop at the second index after turning around Like case 1 in follo...

Page 95: ...igh speed FH towards the limit switch Once the limit switch is reached the motor will stop and then go backwards at speed FL After changing direction the motor will stop when the index signal conditio...

Page 96: ...speed FH After chang ing direction the motor will decelerate to FL then stop when the index signal condition was met Meanwhile you can configure how many index counts will be ignored before stopping...

Page 97: ...eed FL Once the motor leave the triggered area of home sensor it will stop immediately If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite dir...

Page 98: ...met Meanwhile you can configure how many index counts will be ignored when passing the home sensor with parame ter EIC When EIC is 1 it means one index will be ignored and the motor will stop at the...

Page 99: ...with speed FL Meanwhile you can configure how many index counts will be ignore before stopping with parameter EIC When EIC is 1 it means one index will be ignore and the motor will stop at the sec on...

Page 100: ...ill be ignored and the motor will stop at the second index after turning around Like case 1 in figure 4 13 If the home sensor was active at start up or the limit switch was met first the motor will go...

Page 101: ...2 APPENDIX D Remote I O This chapter provides information on the remote I O function of PCI 1241 42 and the PCLD 8241 I O Module...

Page 102: ...D 8241 is a remote IO module that can work with PCI 1241 1242 and 1261 without extra configuration You simply con nect the PCLD 8241 and PCI 1241 42 with a 9 pin cable and they can operate remote IO p...

Page 103: ...s Figure D 1 Figure D 1 Bi directional photo coupler with current limit resistor One independent COM for every 8 input points Isolation 2500 Vrms Interrupt points configurable Input 0 3 Operation Logi...

Page 104: ...e refer to following table for the effective Remote IO distance Since the effective distance is related to the communication base frequency users can configure the base frequency with function API EP_...

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