Advantech PCI-1243U User Manual Download

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Chapter 1

1.2 Features

• One on-board pulse generator that enables simultaneous independent

control of four stepping motors

• Two operating modes - two-pulse (+ and - direction pulse) or one-pulse

(pulse-direction) mode

• Programmable step rate from 1 to 400k pps (pulses per second).
• Programmable initial speed, final speed and time duration. Automatic

trapezoidal acceleration/deceleration tamping is performed

16 I/O TTL Compatible Channels

• All inputs/outputs are optically isolated, providing 5000Vrms isolation

protection

• Command Interpreter provided that eases learning the PCI-1243U com-

mand set

1.3 Applications

•  Precise X-Y-Z position control
•  Precise rotation control
•  Robotics and assembly equipment
•  Other stepping-motor applications

Summary of Contents for PCI-1243U

Page 1: ...PCI 1243U 4 Axis Stepping Motor Control Card User Manual ...

Page 2: ...ual 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 Acknowledgements PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machines Corpora tion MS DOS Microsoft C and Quick Basic are trademarks of Microsoft Cor p...

Page 3: ...placement 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 encountered For example CPU speed Advantech products used other hardware and software used etc Note anything abnormal and list any onscreen messages you get when the problem occurs 2 Call your dealer an...

Page 4: ...ibutor sales representative or Advantech s cus tomer service center for technical support if you need additional assistance Please have the following information ready before you call Product name and serial number Description of your peripheral attachments Description of your software operating system version appli cation software etc A complete description of the problem The exact wording of any...

Page 5: ...Wiring Configuration 12 2 3 Limit Switch Configuration 13 Figure 2 6 Limit Switches 13 2 3 1 Lim Lim 14 Figure 2 7 Lim Switch Test Configuration 14 2 3 2 SD SD 14 Figure 2 8 SD Switch Test Configuration 14 2 3 3 ORG 15 Figure 2 9 ORG Switch Test Configuration 15 2 4 Jumper Settings 16 Table 2 1 JP1 Settings 16 Figure 2 10 EMG Tri_STA Test Configuration 16 2 5 Setting the BoardID Switch SW1 17 Tabl...

Page 6: ...Register 10 bits 35 4 1 6 R5 Ramping Down Point Register 16 bits 36 Figure 4 3 Setting the Ideal Ramping Down Point 37 Figure 4 4 Pulse Calculation 38 4 1 7 R6 Idling Pulse Register 3 bit 39 4 1 8 R7 Environmental Data Register 1 bit 39 4 2 Programming PCI 1243U 40 4 2 1 I O Control Register Map 40 4 2 2 Command Buffer Register Format 44 4 3 Command Modes 45 4 3 1 Start Stop Commands 45 4 3 2 Oper...

Page 7: ...zation 63 4 7 2 Setting Speed Data 64 4 7 3 Constant Speed Preset Model 65 4 7 4 High Speed Preset Model 66 4 7 5 Constant Speed Continuous Mode 67 4 7 6 High Speed Continuous Mode 68 4 7 7 Constant Speed Origin Return Model 69 4 7 8 High Speed Origin Return Model 70 Appendix A Diagrams 72 A 1 Jumper and Switch Layout 72 A 2 PCI 1243U Block Diagram 73 A 3 Output Circuit Diagram 73 Appendix B Simpl...

Page 8: ...PCI 1243U User Manual viii ...

Page 9: ...ormation If you have just purchased the PCI 1243U or just need to brush up on its features or specifications you would want to read this chapter Sections include Introduction Features Applications Specifications Block Diagram ...

Page 10: ...rectional control and for each stepping motor axis User Friendly Interface PCI 1243U has been designed to act as a user friendly solution for your stepping motor control applications Programming the PCI 1243U is very easy Windows DLL drivers and a utility are provided and they contain all the command functions needed for total control of your stepping motors Digital I O PCI 1243U features 8 isolat...

Page 11: ... second Programmable initial speed final speed and time duration Automatic trapezoidal acceleration deceleration tamping is performed 16 I O TTL Compatible Channels All inputs outputs are optically isolated providing 5000Vrms isolation protection Command Interpreter provided that eases learning the PCI 1243U com mand set 1 3 Applications Precise X Y Z position control Precise rotation control Robo...

Page 12: ...ection 1 1 A all channels Output Type Open Collector 150 mA ch Vmax 30 V DC Limit 5 EMG 1 All Isolated Ref DOC Limit switch input voltage external 12V to 24V Limit ORG SD EL NC NO Control By Register EMG Tri Start Isolated NC NO Control By Jumper 1 4 1 Digital Input Output Input channels 8 Isolated DI Output channels 8 Isolated open collector DO Input voltage range DC 12V 24V Output capability Ope...

Page 13: ...s Stepping Motor Control Card P C B U S Address Address Decoder Buffer IRQ Selecteor DATA BUS PCD 4541 2 Phase Stepping Motor Controller System DIO BLOCK OUTPUT ISOLATOR DIR PULSE OUTPUT S INPUT ISOLATOR ORG EL EL SD SD INPUTS DIGITAL OUTPUTS DIGITAL INPUTS ...

Page 14: ...PCI 1243U User Manual 6 ...

Page 15: ...yet configured and or installed your PCI 1243U or need to change the configuration this chapter will give you the information you require Sections include Hardware Installation Pin Assignments Limit Switch Configuration Jumper Settings BoardID ...

Page 16: ...unused slot 5 Remove the screw that secures the expansion slot cover to the chas sis Save the screw to secure PCI 1243U 6 Carefully grasp the upper edge of the PCI 1243U card Align the hole in the retaining bracket with the hole on top of the expansion slot and align the gold striped edge connector with the expansion slot socket Press the board firmly into the socket 7 Replace the screw in the exp...

Page 17: ... 1 PCI 1243U Pin Assignment Note Output circuit diagrams of the stepping motor can be found in Appendix B 57 30 35 BDIR EXT_COM 2 CSD DLCOM 26 16 53 59 45 EXT_GND 52 31 60 36 IDO_COM 38 15 CLIM 62 BLIM 42 IDI2 56 ASD EXT_GND 24 BSD CPulse 11 IDO6 47 IDI5 IDI0 AORG 39 25 Tri_STA reversed 21 IDO1 DORG 7 EXT_GND 13 46 58 48 EXT_GND 43 BORG CORG 22 1 6 9 CLCOM 41 8 NC IDI7 27 ALIM 55 DLIM 20 51 DSD BL...

Page 18: ...future usage EXT_COM Isolated inputs common point for EMG and Tri_STA channel Limit Switch Pins Lim Direction limit switch input Lim Direction limit switch input SD Direction slowdown limit switch input SD Direction slowdown limit switch input ORG Original home point limit switch input LCOM Limit switch common point for each channel Isolated Digital Input Pins IDIx Isolated Digital Input channels ...

Page 19: ... Figure 2 2 Output Connections Example The following figure illustrates the connection of the pulse output pin to the external device Figure 2 3 Pulse Output Test Configuration Open Collector Type 5V 390 Ohm CW 390 Ohm CW EXT_GND CCW CCW GND CW PULSE PCI 1243 KR 5MC 5M Motor Driver CCW DIR V OUTx DIRx IVCC 5V Load Imax 100mA Driver EXT_GND Vmax 30V DC ...

Page 20: ...ol and monitor peripheral sensors in their applications The following figures illustrate how the I O points are connected Figure 2 4 Isolated Digital Input Wiring Configuration Figure 2 5 Isolated Digital Output Wiring Configuration IDI0 7 IDI_COM 4 7k V V 12 24 Vdc V V IDO_COM Load IDO0 7 EXT_GND Imax 200 mA CH 1 1A all IVCC 5V Vmax 30 V DC ...

Page 21: ...Switch Configuration PCI 1243U features 5 limit switches for additional control of output Figure 2 6 Limit Switches TABLE MOTOR DRIVER INPUT ISOLATOR OUTPUT ISOLATOR PCI 1243U Lim SD Lim SD ORG DIR PULSE DIRECTION DIRECTION ...

Page 22: ...low Down signal inputs which are in operation in the SD enable mode refer to the control select modes If there is a signal in the same direction as the pulse output in direction or pulse mode that becomes active during high speed start the frequency ramps down When the signal becomes inactive the frequency ramps up again Figure 2 8 SD Switch Test Configuration nLIM nLIM nLCOM nLCOM ALCOM BLCOM CLC...

Page 23: ...tput stops immediately Although PCI 1243U caters for five limit switches on each axis not all of them have to be operated in one application Refer to following figure for an example of the usage of limit switches Figure 2 9 ORG Switch Test Configuration nORG nLCOM nLCOM ALCOM BLCOM CLCOM DLCOM V nSwitchIn xLIM xLIM xSD xSD xORG 4 7k V 12 24 V DC ...

Page 24: ...he Keep position 2 3 pin shorted to store configurations JP11 and JP12 set the polarity for Emergency stop and Tri_STA pin respectively When the jumper is set to pin 2 and 3 factory default the input channel is in normally open When the jumper is set to pin 1 and 2 the input channel is normally closed Figure 2 10 EMG Tri_STA Test Configuration Table 2 1 JP1 Settings Normal reset register default K...

Page 25: ...ory If you need to adjust this setting please see below 2 5 1 BoardID Register You can determine the BoardID setting in the register as shown below Table 2 2 BoardID Setting SW1 BoardID DEC Switch Position ID3 ID2 ID1 ID0 0 ON ON ON ON 1 ON ON ON OFF 2 ON ON OFF ON 3 ON ON OFF OFF 4 ON OFF ON ON 5 ON OFF ON OFF 6 ON OFF OFF ON 7 ON OFF OFF OFF 8 OFF ON ON ON 9 OFF ON ON OFF 10 OFF ON OFF ON 11 OFF...

Page 26: ...electing Installation Individual Driver PCI Series PCI 1243U When the Setup Program is launched you will see the following Setup Screen 4 Follow the installation instructions step by step to complete your DLL driver setup 5 Set up the PCI 1243U Motion Utility by referring to chapter 3 For further information on driver related issues an online version of Software Manual is available by accessing th...

Page 27: ...2 CHAPTER 3 Motion Utility This chapter introduces the Advantech Motion Manager utility Sections include Introduction Configuration Motion Operations ...

Page 28: ... profile display function is also implemented in this software package In the following section all the functions will be introduced one by one 3 1 1 Main Page You can launch the utility from Start Program Files Advan tech Automation Motion Manager Motion Manager Once the utility is initialed it will scan the system and list the existing PCI 1243U cards on the system with their BoardID number If t...

Page 29: ...formation page all DLL driver versions are listed so that you can easily check if the current driver in the system is up to date Figure 3 3 Information Page Note You may download the driver from Advantech s web site if necessary http www advantech com tw support ...

Page 30: ...mally be in low status and the output pulse will start from a rising edge While the logic mode is set to Negative Logic the pulse output channels will nor mally be high The choice depends on the type of motor driver Pulse Mode The output of PCI 1243U can be set as CW CCW mode or Pulse Direction mode in this column Max Speed rpm You need to input the maximum rotation speed of the motor here The uni...

Page 31: ...ware limitation switch mode in negative direction It can be Normal Open or Normal Close SD_P The Slow Down switch can be enabled by checking the dialog box above And Users can set the hardware slow down switch mode in positive direction as Normal Open or Normal Close in this column SD_N The hardware slow down switch mode in negative direction It can be Normal Open or Normal Close Figure 3 5 Motion...

Page 32: ...e limit switch was reached first ORG Mode The hardware ORG sensor switch mode in original point It can be Normal Open or Normal Close Reset Mode While the setting is Reset Counter the counter value will be reset after homing is accomplished If the Do not reset counter mode was chosen the counter value will stay as it was even when the homing process is finished SV The start up speed while homing D...

Page 33: ...te site by e mail so several sites can easily have the same configuration Figure 3 7 Save and Load Configuration Files 3 3 Motion Operations 3 3 1 Testing Motion Movement The motion utility provides operational functions as well as configuration functions You can test motion movement without writing any software program However please do apply the parameters you set for the axes in the configurati...

Page 34: ...oned above is calculated on the basis of an absolute coordinate system That means the distance is from the original starting point PtP INC In Point to Point movement the Distance mentioned above is calculated on the basis of a relative coordinate system That means the distance is from the current location CW In continuous movement press the CW button to make the motor turn clockwise CCW In continu...

Page 35: ...27 Chapter3 Figure 3 8 Point to Point Movement ...

Page 36: ...3U supports four different Home modes they are mode0 1 6 and 9 Users can choose the best fit mode to get the proper homing accuracy Please refer to Appendix C for the detail definition of each Home mode and 3 2 3 for parameter information Figure 3 9 Home Function ...

Page 37: ... is not set the output command will not affect the output status of the specific bit DO State Checking the box under the bit number can issue the status change command to the specific bit DI State In this column it shows the status of digital input bits and you can change the polling time interval Figure 3 10 Digital I O Operation ...

Page 38: ...PCI 1243U User Manual 30 ...

Page 39: ...ures that will assist you in program design This chapter is a good place to start getting to know and use the capabilities of the PCI 1243U to best suit your applica tion Sections include PCI 1243U Registers Programming PCI 1243U Command Modes Status Registers General I O Registers Motion Status Register Typical Operational Procedures ...

Page 40: ...o a 24 bit read buffer In preset operation PCI 1243U places a number of positioning pulses in this register and then starts the operation Once the operation has started the counter value is decremented with each pulse that is output When the number of pulses that have been output is equal to the value originally entered in the preset counter the value in the counter will be zero and PCI 1243U will...

Page 41: ...actually stop Make sure to set the FL speed to a number greater than 1 The allowable range is 1 to 8 191 1FFF HEX The relationship between the value entered and the output pulse speed varies with the value placed in R4 Please refer to 4 1 5 4 1 3 R2 FH Speed Register 13 bits This register is used to set the FH final high speed The allowable range is 1 to 8 191 1FFF HEX The relationship between the...

Page 42: ...ing patterns using the accel decel rate setting register The acceleration rate of the linear accel decel is equal to the maximum accel eration rate of the S curve acceleration deceleration pattern If the reference clock period is TCLK sec TSUD the time required for the ramping up ramping down is TSUD R2 R1 x R3 x TCLK x Multiplier sec Alternatively if the ramping up ramping down time is known R3 c...

Page 43: ...t R1 and R2 the frequency outputted at the PULSE OUTPUT terminal FPOUT is FPOUT Reference clock freq Hz x Rf 8192 x R4 Rf x Reference clock freq 8192 x R4 When reference clock 8192 x R4 1 1x mode When reference clock 8192 x R4 2 2x mode For PCI 1243U the reference clock frequency is 4 9152 MHz There fore R4 600 258 hex 1x mode R4 300 12C hex 2x mode The setting range is 002 hex to 3FF hex which co...

Page 44: ...tomatically Entering inappropriate values may stop the output of pulses during decel eration or cause PCI 1243U to operate longer at the FL speed after decel eration The allowable range is 0 to 65 535 FFFF HEX of pulses remaining at which to start deceleration Calculating the Ramping Down Point R5 set value pulses R2 set value 2 R1 set value 2 x R3 set value x Multiplier R4 set value x 8192 The va...

Page 45: ...Figure 4 3 Setting the Ideal Ramping Down Point FH FL time Speed A R5 setting value is too small FH FL time Speed B R5 setting value is optimal several pulses at FL FH FL time Speed C R5 setting value is too large ...

Page 46: ...lation TSD sec the time required for the deceleration is TSD R2 R1 x R3 x Multiplier CLOCK 1 where CLOCK 4 9152 MHz The relationship between the set value on speed register Rf and output frequency F PPS is F Rf x CLOCK 8192 x R4 2 Therefore FL output frequency FL PPS and FH output frequency FH PPS are FL R1 x CLOCK 8192 x R4 3 FH R2 x CLOCK 8192 x R4 4 Note Multiplier 1 while in Linear Accel Decel...

Page 47: ...ted from the output pulse frequency will be higher than the FL speed that is set If FL is set to a value lower than the self start frequency the motor will not start Therefore in order to be able to start from near the self start frequency the acceleration using the FL speed can be started from 1 to 7 pulses after the start command The pulses that the start is delayed by are referred to as idling ...

Page 48: ...fset Address R W Definition X 0 0x00 Write Command Buffer Read Status0 0x01 Write Data Register LowerBit7 To Bit0 Read Internal Data Lower 0x02 Write Data Register MiddleBit15 To Bit8 Read Internal Data Middle 0x03 Write Data Register UpperBit23 To Bit16 Read Internal Data Upper Y 1 0x04 Write Command Buffer Read Status0 0x05 Write Data Register LowerBit7 To Bit0 Read Internal Data Lower 0x06 Writ...

Page 49: ...rBit7 To Bit0 Read Internal Data Lower 0x0E Write Data Register MiddleBit15 To Bit8 Read Internal Data Middle 0x0F Write Data Register UpperBit23 To Bit16 Read Internal Data Upper 0x10 Write NA Read Board ID Version Code 0x11 Write IDO Port D7 D0 Read Read Back IDO Setting 0x12 Write NA Read IDI Port D7 D0 0x13 Write IDI Control REG Read IDI Control REG 0x14 Write IRQ Control REG_L Read IRQ Status...

Page 50: ...C Write STA_Mode Read STA_Mode Status 0x1D Write SW STA Trigger Read NA 0x1E Write Reset PCD4541 Command Read NA 0x1F Write NA Read NA 0x20 Write X Axis Limit Switch Control Register Read X Axis Limit Switch Control Status 0x21 Write Y Axis Limit Switch Control Register Read Y Axis Limit Switch Control Status 0x22 Write Z Axis Limit Switch Control Register Read Z Axis Limit Switch Control Status 0...

Page 51: ...annel 1 channel 2 channel 3 and chan nel 4 respectively During writing output these buffers contain data bits 0 7 of the respective channels Middle Data Buffers WR2 WR6 WR10 and WR14 Middle data buffer for each channel is found at BASE 2 BASE 6 BASE 10 and BASE 14 for channel 1 channel 2 channel 3 and chan nel 4 respectively When writing output these buffers contain data bits 8 15 of the respectiv...

Page 52: ...ommand that will be executed The remaining six bits contain command parame ters The command modes available are as follows Please refer to section 4 3 for details on each command mode Register format D7 D6 D5 D4 D3 D2 D1 D0 C1 C0 Mode Command Selection modes C1 C0 0 0 Start Stop Command selection 0 1 Operation Mode Select command 1 0 Register Select command 1 1 Output Mode select command ...

Page 53: ...ster High speed mode operation with the FH register Frequency ramps up halfway from the rate of FL to that of FH During high speed start this command lets the frequency ramp up down to the rate of the FH speed 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 7 6 5 4 3 2 1 0 Frequency Selection 0 Use FL frequency 1 Use FH frequency 0 Constant speed mode 1 High Speed mode 1 Start stop control 0 Stop in...

Page 54: ...ation under any condition If you start with the start command be sure to reset with the reset command before the next start This gives INT signal and the start command has to be reset Contents in registers R0 through R7 are not changed 0 no output of INT signal at stop 1 output of INT signal at stop 1 The start command is set to standby It will wait for the external start trigger to start motion 0...

Page 55: ...n in the high speed start mode ramps down when the remaining quantity of the counter is less than the quantity set for register R5 0 direction 1 direction PCI 1243U supports two acceleration deceleration modes You can choose linear accel decal mode by setting bit5 as 0 On the other hand if bit6 is set to 1 then the acdel decal profile will be S curve 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 1 0 0 0 1 0...

Page 56: ...it to 0 If you want to mask this operation leave this bit set to 0 The INT terminal output is the result of an logical OR of this signal with the interrupt signal when stopped To determine which source has caused the INT signal to be out put check Status0 1 0 7 6 5 4 3 2 1 0 Register Selection 0 0 0 0 0 1 0 1 0 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1 R0 Preset Counter Data R1 FL register R2 FH register R3 A...

Page 57: ...ister 13 W R 1 to 8 191 1FFF R2 FH register 13 W R 1 to 8 191 1FFF R3 Acceleration deceleration rate register 10 W R 2 to 1 023 3FF R4 Multiplier register 10 W R 2 to 1 023 3FF R5 Set ramping down point 16 W R 0 to 65 535 FFFF R6 Set idling pulse 3 W R 0 to 7 R7 Output type register 1 W R 0 to 1 Note1 R W Read Write register W R Write only register However it can be read using the extension monito...

Page 58: ...DIRECTION logic control PULSE dir and DIR dir output logic be changed as follows 1 1 0 7 6 5 4 3 2 1 0 Logic setting of PO output 0 Negative logic 1 Positive logic Pulse output 0 Output 1 No output Intermediate stop accel decel operation 0 Enable accel decel operation continuous 1 Disable accel decel operation change to constant speed Monitor mode selection 0 Standard monitor 1 Extension monitor I...

Page 59: ...r operation has stopped if the start mode command is read with the extension monitor the start control mode bit will be 0 When reading using the register select command the register selection is limited to R3 only Mode Addr ess Regi ster RD0 RD4 RD8 RD12 RD1 RD5 RD9 RD13 RD2 RD6 RD10 RD14 RD3 RD7 RD11 RD15 Standard Monitor R0 Status0 R0 lower byte R0 middle byte R0 upper byte R1to R7 Status0 Statu...

Page 60: ...by assigning the register with register selection command and then read the specific address respectively Also Status1 Status2 and Status3 can be read in the extension monitor mode On the following page are the definitions of each status register 7 6 5 4 3 2 1 0 Monitor INT output when operation is stopped 0 INT is being output Status 0 bit configuration Monitor INT output at ramping down point 0 ...

Page 61: ...l 0 Off 1 On Status 1 bit configuration Monitor EL terminal 0 Off 1 On Monitor ORG terminal 0 Off 1 On NA Monitor SD terminal 0 Off 1 On Monitor SD terminal 0 Off 1 On NA NA 7 6 5 4 3 2 1 0 NA Monitor PO terminal 0 Off 1 On Monitor PO terminal 0 Off 1 On NA NA NA NA Monitor interrupt each axis 0 No interrupt 1 Interrupt occurred ...

Page 62: ...tep 2 BoardID inportb base 0x10 4 5 2 Base 11h Read Write IDO Port This Register Is Read Write IDO Output D7 D0 4 5 3 Base 12h Read Write IDI Port This Register Read IDI Port D7 D0 Write D7 D6 D5 D4 D3 D2 D1 D0 Read D7 D6 D5 D4 D3 D2 D1 D0 ID3 ID2 ID1 ID0 Write D7 D6 D5 D4 D3 D2 D1 D0 IDO7 IDO6 IDO5 IDO4 IDO3 IDO2 IDO1 IDO0 Read D7 D6 D5 D4 D3 D2 D1 D0 IDO7 IDO6 IDO5 IDO4 IDO3 IDO2 IDO1 IDO0 Write...

Page 63: ...ll channels INT_Motion INT_Timer 0 Disable INT for Motion or Timer functions 1 Enable INT for Motion or Timer functions Write D7 D6 D5 D4 D3 D2 D1 D0 IDI_Ctl7 IDI_Ctl6 IDI_Ctl5 IDI_Ctl4 IDI_Ctl3 IDI_Ctl2 IDI_Ctl1 IDI_Ctl0 Read D7 D6 D5 D4 D3 D2 D1 D0 IDI_Ctl7 IDI_Ctl6 IDI_Ctl5 IDI_Ctl4 IDI_Ctl3 IDI_Ctl2 IDI_Ctl1 IDI_Ctl0 Write D7 D6 D5 D4 D3 D2 D1 D0 INT_IDI7 INT_IDI6 INT_IDI5 INT_IDI4 INT_IDI3 IN...

Page 64: ... Timer functions 1 INT is active for Motion or Timer functions 4 5 9 Timer Function Specification Clock Base 1 MHz On Board OSC Timer Tick Base 10 Clock Base 100 kHz Timer Tick Width 10 µs Write D7 D6 D5 D4 D3 D2 D1 D0 Clear interrupt flag Read D7 D6 D5 D4 D3 D2 D1 D0 IDI_Sta7 IDI_Sta6 IDI_Sta5 IDI_Sta4 IDI_Sta3 IDI_Sta2 IDI_Sta1 IDI_Sta0 Write D7 D6 D5 D4 D3 D2 D1 D0 Clear interrupt flag Read D7 ...

Page 65: ... 13 Base 1Bh Counter Load Trigger Write D7 D6 D5 D4 D3 D2 D1 D0 Counter DATA Low Byte Read D7 D6 D5 D4 D3 D2 D1 D0 Counter DATA Low Byte Write D7 D6 D5 D4 D3 D2 D1 D0 Counter DATA High Byte Read D7 D6 D5 D4 D3 D2 D1 D0 Counter DATA High Byte Write D7 D6 D5 D4 D3 D2 D1 D0 CNT_EN Read D7 D6 D5 D4 D3 D2 D1 D0 CNT_EN Write D7 D6 D5 D4 D3 D2 D1 D0 Load counter setting value into chip Read D7 D6 D5 D4 D...

Page 66: ...A Software Source Trigger Writing to Base 1D to start the synchronous motion 4 6 3 Base 1Eh Software Reset PCD4541 D0 1 Reset PCD4541 Chip 0 Active PCD4541 Chip Note For the Reset Process the time Interval must 100 us Outportb Base 0x1E 0x01 wait 100us Outportb Base 0x1E 0x00 Write D7 D6 D5 D4 D3 D2 D1 D0 NA U Axes Z Axes Y Axes X Axes Read D7 D6 D5 D4 D3 D2 D1 D0 0 0 0 0 U Axes Z Axes Y Axes X Ax...

Page 67: ... 6 Base 22h Z Axis Limit Switch Control Reg Status D0 D4 1 Normal Close Input 0 Normal Open Input Write D7 D6 D5 D4 D3 D2 D1 D0 NA NA SD SD LMT LMT ORG Read D7 D6 D5 D4 D3 D2 D1 D0 0 0 0 SD SD LMT LMT ORG Write D7 D6 D5 D4 D3 D2 D1 D0 NA NA SD SD LMT LMT ORG Read D7 D6 D5 D4 D3 D2 D1 D0 0 0 0 SD SD LMT LMT ORG Write D7 D6 D5 D4 D3 D2 D1 D0 NA NA SD SD LMT LMT ORG Read D7 D6 D5 D4 D3 D2 D1 D0 0 0 0...

Page 68: ...rmal Open Input 4 6 8 Base 24h Limit Switch Status D0 D7 1 Limit Switch Active 0 Limit Switch In Active Write D7 D6 D5 D4 D3 D2 D1 D0 NA NA SD SD LMT LMT ORG Read D7 D6 D5 D4 D3 D2 D1 D0 0 0 0 SD SD LMT LMT ORG Write D7 D6 D5 D4 D3 D2 D1 D0 NA Read D7 D6 D5 D4 D3 D2 D1 D0 ULMT ULMT ZLMT ZLMT YLMT YLMT XLMT XLMT ...

Page 69: ...dard and Extension monitor mode is workable In this case we set the monitor mode as Extension outportb base CH 4 CommandBufferIndex DATA CH Axes 0 2 CommandBufferIndex 0 DATA is just setting The Output Mode Command Monitor Mode Selection Bit5 DATA CurrentAxesOutputModeCommandValue FORCE_EXTENSION_MODE FORCE_EXTENSION_MODE Step2 Select R7 Register If you want to read another status such as R0 R1 or...

Page 70: ...refer to the Table in section 4 6 Status0 Of n Axes inportb base CH 4 0 Status1 Of n Axes inportb base CH 4 1 Status2 Of n Axes inportb base CH 4 2 Status3 Of n Axes inportb base CH 4 3 Step4 Get the EL EL status For EL Status1 BIT0 EL Status1 BIT1 EL Of n Axes Status1 Of n Axes 0x01 0 EL Of n Axes Status1 Of n Axes 0x02 1 ...

Page 71: ... Clocks 4 Clocks Immediate stop Immediate stop Immediate stop Immediate stop Command buffer 11010010 D2H Command buffer 11000010 C2H Command buffer 11010000 D0H Command buffer 11000000 C0H Command buffer 11010011 D3H Command buffer 11000011 C3H Command buffer 11010001 D1H Command buffer 11000001 C1H Note Before following the flow chart user need to define the output mode first by setting R7 If use...

Page 72: ...et middle byte 8 15 Set lower byte 0 7 Wait 400 ns The order is important Command Buffer 10000010 82H Set middle byte 8 15 Set lower byte 0 7 Wait 400 ns The order is important Command Buffer 10000011 83H Set middle byte 8 15 Set lower byte 0 7 Wait 400 ns The order is important Command Buffer 10000101 85H Set middle byte 8 15 Set lower byte 0 7 Wait 400 ns setting is not required if automatic ram...

Page 73: ... 08H For direction command buffer 01000100 44H For direction command buffer 01001100 4CH Command Buffer 10000000 80H Register bits 23 16 data high order 8 bits Register bits 15 8 data mid order 8 bits Register bits 7 0 data low order 8 bits Wait for 400ns The order is important Command Buffer 00010101 15H Waiting for completion of operation Stop at pre set count Bit 3 0 YES Completion of operation...

Page 74: ...01000 08H For direction command buffer 01000100 44H For direction command buffer 01001100 4CH Command Buffer 10000000 80H Register bits 23 16 data high order 8 bits Register bits 15 8 data mid order 8 bits Register bits 7 0 data low order 8 bits Wait for 400ns The order is important Command Buffer 00010101 15H Waiting for completion of operation Stop at pre set count Bit 3 0 YES Completion of oper...

Page 75: ...nter the start command Enter the immediate stop command Command buffer 00001000 08H For direction command buffer 01000000 40H For direction command buffer 01001000 48H For FL Command Buffer 00010000 10H For FH Command Buffer 00010001 11H Immediate stop command Completion of operation Command buffer 00001000 08H reset command ...

Page 76: ...mmand Enter the deceleration stop command The status 0 is read Command buffer 00001000 08H For direction command buffer 01000000 40H For direction command buffer 01001000 48H For FH Command Buffer 00010101 15H Command Buffer 00011100 1CH Waiting for deceleration stop Stop after deceleration Bit 3 0 YES Completion of operation Deceleration stop command NO ...

Page 77: ...t command Command buffer 00001000 08H For direction command buffer 01000001 41H For direction command buffer 01001001 49H For FH Command Buffer 00010000 10H For FL Command Buffer 00010001 11H Stop by origin switch ON The status 0 is read Bit 3 0 YES Completion of operation NO When the ORG signal is ON pulse output stops and bit 3 of status 0 becomes 0 ...

Page 78: ... buffer 01000011 43H For direction command buffer 01001011 4BH For FH Command Buffer 00010101 15H The status 0 is read Bit 3 0 YES Completion of operation NO When the SD limit switch of the same direction as the preset direction in ON the frequency ramps down to the rate of FL f Stop by origin switch ON Ramp down by SD switch ON t When the ORG limit switch is ON pulse output stops and bit 3 of sta...

Page 79: ...2 APPENDIX A Diagrams This chapter provides diagrams for some of the major functions of PCI 1243U Sections include Jumper and Switch Layout PCI 1243U Block Diagram Output Circuit Diagram ...

Page 80: ...PCI 1243U User Manual 72 Appendix A Diagrams A 1 Jumper and Switch Layout ...

Page 81: ...P C B U S Address Address Decoder Buffer IRQ Selecteor DATA BUS PCD 4541 2 phase stepping controller system DIO BLOCK OUTPUT ISOLATOR DIR PULSE OUTPUT S INPUT ISOLATOR ORG EL EL SD SD INPUTS DIGITAL OUTPUTS DIGITAL INPUTS 5V PULSE DIR 1K 1K EXT VCC PULSE dir DIR dir COM ...

Page 82: ...PCI 1243U User Manual 74 ...

Page 83: ...2 APPENDIX B Simple Stepping Motor Driver This chapter provides extra diagrams related to the simple stepping motor driver ...

Page 84: ...coder Connection Pattern Encoder Power Control Circuit Stepping Motor PULSE DIRECTION Full Halfstep select DCPowerof ControlCircuit DCPower of Motor 1 2 3 4 5 6 7 8 9 10 20 19 18 17 16 15 14 13 12 11 Pulse Direction HALFFULL JP 1 5V 10 K 1uF CLK CLR FH FB EN_ D EN_ C EN_ B EN_ A GND 4 7K 5V OD OC OB OA T O POWER CONTROL CIRCUIT 18CV8 ...

Page 85: ...77 AppendixB Figure B 3 JP1 at Full Step Control 0001 1000 0010 0100 FB 0 FB 0 FB 0 FB 0 FB 1 FB 1 FB 1 FB 1 OutputPattern ODOCOBOA FH 1 in allstates ...

Page 86: ...User Manual 78 Figure B 4 JP1 at Half Step Control 0001 1001 0011 1000 0010 1100 0100 0110 FB 0 FB 0 FB 0 FB 0 FB 0 FB 0 FB 0 FB 0 FB 1 FB 1 FB 1 FB 1 FB 1 FB 1 FB 1 FB 1 OutputPattern ODOCOBOA FH 0 In allstates ...

Page 87: ...79 AppendixB Figure B 5 4 Phase Stepping Motor Power Control Circuit 5V RL 5V RL 5V RL 5V RL RF PH A RF PH B RF RF PH C PH D RD Motor s Power OA OB OC OD From Pattern Encoder ...

Page 88: ...PCI 1243U User Manual 80 ...

Page 89: ...e In order to manage the various require ments for the home position PCI 1243U provides a total of 4 home modes This chapter gives users an overview of each home mode and its characteristics After reading this chapter it should be easier to choose the most suitable home mode for your application ...

Page 90: ...he 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 signal of the encoder The pattern in each case shows the velocity profile of the motor It starts from a solid dot and the arrow represents the direction of movement which then ends up at a hollow dot There a...

Page 91: ... 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 limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again Figure C 1 Velocity Profile of Home Mode0 HOME LMT Case 1 Case 3 Case 2 ...

Page 92: ...or 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 switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again Figure C 2 ...

Page 93: ... In Home mode6 the motor will start up at low speed FL and accelerate to high speed FH towards the limit switch Once the limit switch is reached the motor will stop immediately Figure C 3 Velocity Profile of Home Mode6 LMT Case 1 ...

Page 94: ...d at speed 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 direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again Figure C 4 Velocity Profile of Home Mode9 HOME LMT Case ...

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