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PCI1040

User’s Manual

Beijing ART Technology Development Co., Ltd.

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Summary of Contents for PCI1040

Page 1: ...PCI1040 User s Manual Beijing ART Technology Development Co Ltd...

Page 2: ...e Input Output Signal 17 3 5 The Output of Sensor 17 3 6 The Output of CLR 17 3 7 Synchronous Action 18 3 8 External start up and origin search setting 18 3 8 1 Return to Origin Operation 18 3 8 2 Ext...

Page 3: ...pose output 1 2 Features CPU interface Applicable microcomputers 80 series 68 series etc Address occupancy 6 bits 64 bytes for X7083 Data bit width 8 bits Drive commands Index drive Continuous pulse d...

Page 4: ...al speed drive speed acceleration and deceleration vary directly with multiplication If multiplication 1 then Acceleration 125 2047875 Deceleration 125 2047857 Initial Speed Linear movement 1 16383 S...

Page 5: ...convenient for users to distinguish and visit each board in the progress of the hardware configuration and software programming The following four place numbers are expressed by the binary system When...

Page 6: ...ove chart shows 1111 so it means that the physical ID is 15 The above chart shows 0111 so it means that the physical ID is 7 The above chart shows 0101 so it means that the physical ID is 5 ID3 ID2 ID...

Page 7: ...PCI1040 Motion Control Card 2 2 Pin Layout BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 7...

Page 8: ...PCI1040 Motion Control Card BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 8...

Page 9: ...PCI1040 Motion Control Card BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 9...

Page 10: ...nput MARK1 MARk8 Sensor positioning start input INO IN7 General purpose input CLRA1 CLRA8 Clear Counter A POUT1 POUT8 Instruction pulse output PDIR1 PDIR8 Direction output or instruction pulse output...

Page 11: ...PCI1040 Motion Control Card OGND Ground 5VD 5V Power Supply DGND Ground NC No Connection BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 11...

Page 12: ...on and driving terminates at completion of the output of the specified output pulses For fixed pulse driving in linear acceleration the following parameters must be set Parameter name Comment Accelera...

Page 13: ...preset before the startup Offset Setting Deceleration for Acceleration Deceleration Driving The offset function can be used for compensating the pulses when the decelerating speed does not reach the...

Page 14: ...n increasing rate individually for S shaped deceleration fixed pulse driving S shaped acceleration deceleration In the S shaped acceleration deceleration mode two kinds of acceleration deceleration sh...

Page 15: ...shows the operation of S shaped acceleration deceleration driving where the acceleration and the deceleration are symmetrical When driving starts the acceleration increases on a straight line at the s...

Page 16: ...s long axis Axes 1 to 4 of the 8 axes can be set for linear interpolation To execute the linear interpolation the user can according to the present point coordinates set the finish point coordinates F...

Page 17: ...ewritten simultaneously while the bit operation of each bit is possible 3 5 The Output of Sensor Servo ON output for the servo driver Can be used as the general purpose output SON1 to SON8 are output...

Page 18: ...nput sensitivity is 1 or 16 times the reference clock period 3 8 2 External Start up When the sensor positioning drive is used the set number of pulses are output when the MARK input becomes active Th...

Page 19: ...ng drive from the position where the MARK input terminal goes active Acceleration and deceleration are not performed 4 Return to origin Return to origin accompanied with acceleration and deceleration...

Page 20: ...nd stops when EZ goes active after reaching startup speed 6 Return to origin Return to origin at the startup speed Immediate stop occurs when ORG goes active 7 Return to origin Return to origin at the...

Page 21: ...PCI1040 Motion Control Card BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 21...

Page 22: ...e result once higher lower the border lines of the position counter range An interrupt signal can be also generated during the interpolation driving 4 1 Pulse Oscillation Interrupt In pulse oscillatio...

Page 23: ...upt modes Counter A carry interrupt disabled Counter A borrow interrupt disabled Counter B carry interrupt disable and Counter B borrow interrupt disabled Table3 3 Counter Interrupt Mask Register Tabl...

Page 24: ...e there are four interrupt modes ORG interrupt disabled EZ interrupt disabled IN0 interrupt disabled and MARK interrupt disabled Table 3 5 Sensor Interrupt Mask Register Table 3 6 Sensor Interrupt Fla...

Page 25: ...comparator interrupt mode there are two interrupt modes P Q interrupt disabled and P Q interrupt disabled Table 3 7 Comparator Interrupt Mask Register Table 3 8 Comparator Interrupt Flag BUY ONLINE at...

Page 26: ...ing the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active The active pulse width should be more than 2CLK Decelerating stop sudden stop and...

Page 27: ...occurs when this command is written during drive However the pulse duration of the last pulse is assured In interpolation mode only one axis stops Deceleration stop the drive deceleration and stops w...

Page 28: ...status deceleration status termination status and interrupt status Through the indicator light changes we can determine the movement of servo motor ELP hardware limit status ELM hardware limit status...

Page 29: ...is shipped from ART s factory For products containing storage devices hard drives flash cards etc please back up your data before sending them for repair ART is not responsible for any loss of data P...

Page 30: ...lse output mode pulse out direction logic level of direction signal initial speed acceleration drive speed deceleration The parameters for each axis independent not affect each other In the right box...

Page 31: ...of the box Axes 1 to 4 of the 8 axes can be set for linear interpolation If choose axes 1 as main axis we should set initial speed drive speed acceleration and deceleration for axes 1 To execute the l...

Page 32: ...t or stop immediately 5 Over Limit Signal ELM ELP Positive Rotation Positive logic direction of movement is positive rotation starts when ELP is low level ELP from low level to high level the hardware...

Page 33: ...ter P and Q can not both select the same register if you choose Comparator register comparator values need to be set when meet conditions generate interrupt P Q is similar with the P Q 9 Status Displa...

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