ICP DAS USA I-8094 Getting Started Manual Download Page 57

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4.3 I-8000 Turbo C Guideine

4.3.1 Confirm the Relative Files

Please confirm you have the following relevance files:

I8094.lib
I8094.h
I8000.lib
I8000.h
If you don’t have, please look for CD or download the latest edition from
ICPDAS’s website

http://www.icpdas.com/download/download-list.htm

4.3.2 Create a new TC ++ Application Project

Execute the TC.EXE in the demo100 folder, then create a new

Project( demo100.prj).

Add the contents of project

：

demo100.cpp and ..\lib\8000l.lib

，

I8094.lib

3. Setting the relevance option

http:/www.icpdas.com I8094Getting Started ManualVer.2.3 2008/4/28

Summary of Contents for I-8094

Page 1: ...I 8094 and I 8094F Getting Started Manual Version 2 3 Hardware Software Application Using I 8094 I 8094F PAC Motion Control Module http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 1...

Page 2: ...urate and reliable However no responsibility is assumed by ICPDAS Inc for its use or for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 1997 2...

Page 3: ...13 Software Limit 10 1 2 14 Manual Pulse Generator 10 1 2 15 LED for Module status 10 1 2 16 FRnet i8094F only 10 1 3 Environment 11 1 4 Ordering Information 11 2 HARDWARE INSTALLATION 12 2 1 Checkin...

Page 4: ...erator Testing 33 3 6 Home Search 34 3 6 1 Home Search Configuration 34 3 6 2 Running the Home Search 35 3 7 Basic Motion 36 3 7 1 Speed Profie of the Motion Control 36 3 7 2 Basic Setting of Single A...

Page 5: ...TUP TOOLS OTHERS 67 A 1 Setup the Development Environment of I8094 67 A 1 1 eVC 4 0 67 A 1 2 Visual Studio NET 2003 VB NET C 67 A 1 3 Turbo C 67 A 2 I8094 Surface 68 A 3 Dimensions 69 A 4 The Version...

Page 6: ...h Settings 90 B 4 DN 8468D Daughter Board 92 B4 1 Board Layout for DN 8468D 92 B4 2 Signal Connections for DN 8468D 94 B4 3 Jumper and Switch Settings 102 http www icpdas com I8094Getting Started Manu...

Page 7: ...rt of FRnet The FRnet port allows this module to expand its fast remote I O easily This two wired FRnet can automatically scan its 128 DI and 128 DO with a period of 0 72 2 88ms In addition most of th...

Page 8: ...ion 1 PPS 4M PPS Relative interpolation function Any 2 axes or 3 axes interpolation Fixed vectors speed Continuous interpolation 1 2 3 Pulse Output Output speed range 1 PPS 4 MPPS Output precision 0 1...

Page 9: ...ing counter Programmable direction of counter Using DI IN3 to Clear feedback counter Programmable read write counter 1 2 6 Auto Homing Four Steps Step 1 High speed Near Home searching Step 2 Low speed...

Page 10: ...h an integral type filter in the input step of each input signal User can be selected a filter time constant 1 2 13 Software Limit There are two software limit for each axis SLimit SLimit Setting rang...

Page 11: ...midity 5 90 non condensing I O optically isolated 2500Vrms External Power supply Input 24V DC connect to terminal board 1 4 Ordering Information I 8000 W 8000 PAC controllers i8094 4 axes motion contr...

Page 12: ...94 i8094F G S includes the following item i8094 i8094F 4 axes motion module DN 8468 Terminal board for i8094 and i8094F CA SCSI15 68 pin SCSI II cable length 1 5 m 2 1 2 Installation Prepare controlle...

Page 13: ...http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 13...

Page 14: ...Figure i8094 with PAC controller WinCon 8000 and I 8000 http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 14...

Page 15: ...ons for DN 8468G Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly Pin Assignment for CON1 The I O co...

Page 16: ...Fig 2 1 I O connector pin assignment for the CON1 http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 16...

Page 17: ...ignal for X axis YLMTP 40 Limit switch input signal for Y axis ZLMTP 29 Limit switch input signal for Z axis ULMTP 64 Limit switch input signal for U axis XLMTM 6 Limit switch input signal for X axis...

Page 18: ...U axis XPP 14 Driving pulsar signal for X axis YPP 49 Driving pulsar signal for Y axis ZPP 20 Driving pulsar signal for Z axis UPP 55 Driving pulsar signal for U axis XPM 15 Driving pulsar signal for...

Page 19: ...s that enable you to connect to the I O signals for general purpose motor drivers Fig 2 2 shows the pin assignment for the 20 pin connector on the DN 8468G and the Table 2 3 shows its I O connector si...

Page 20: ...a I O module of FRnet series as FR 2053 FR 2057 The more information please refer to web site of ICPDAS http www icpdas com products Remote_IO frnet frnet_introduction htm Fig 2 3 shows the pin assig...

Page 21: ...RJ45 connector that enable you to connect to the signals of FRnet The FRnet connectors FR A and FR B can be used to serially connect a I O module of FRnet series as FR 2053 FR 2057 The more informatio...

Page 22: ...set the signal type of the pulse output signals The output signal type could be differential line driver output or open collector output The JP8 JP9 are set XPP XPM for X axis CON1 JP10 JP11 are for...

Page 23: ...ting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 2 8 the emergency stop signals can be controlled from EMG signals...

Page 24: ...ulse output signal Differential Type and Open Collector Type can be selected from JP8 9 JP10 11 JP12 13 and JP14 15 and are described in section 2 2 3 The following wiring diagram is for the CW and CC...

Page 25: ...ame time the driving direction is determined directly The following diagram is example signal of CW CCW pulse output mode P N Positive Command Negative Command P N 2 3 2 Connection for Limit switch Si...

Page 26: ...O PS400 receives the ALARM signal User can enable or disable the signal from the software instruction in I8094 I8094F software manual Fig 2 12 General Digital Input circuit 2 3 4 Encoder Signals The f...

Page 27: ...ion IC Fig 2 14 Emergency Stop Signal connection 2 3 6 Manual Pulse Generator Input Signal EXP EXP The signals EXP and EXP are used for manual pulsar signals The following diagram is an example connec...

Page 28: ...Off The following diagram is a digital output signal for driver Servo On Off signal The output signal enable or disable the driver Fig 2 16 Servo On Off signal connection diagram http www icpdas com I...

Page 29: ...agram is the connection example between MITSUBISH MR J2S AC servo driver and the extension boardDN 8468G Fig 2 17 The connection between MR J2S AC servo driver and DN 8468G extension board http www ic...

Page 30: ...3 Software Development Overview 3 1 Software development Overview Please refer to the demo_start sample http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 30...

Page 31: ...ver for each axis These signals are able to perform the emergency stop function immediately for each driver during driving User have to switch the EMG SW to normal ON and connect external signal sourc...

Page 32: ...eck the reason and remove it Please refer to GET_ERROR_CODE function the section 3 6 of I8094 I8094F manual User also can use i8094MF_GET_DI function to check the all of DI status Please refer to i809...

Page 33: ...d backward moving i8094MF_EXD_MP Please refer to the section 2 18 1 of I8094 I8094F user manual 2 Fixed pulse driving Manual Pulse Generator User have to preset fixed driving pulses After setting user...

Page 34: ...tion It performs automatically that economize the CPU resource and program code reducing Although there are four home search steps but user can create more than 10 types of different home search mode...

Page 35: ...l 3 6 2 Running the Home Search 1 Start homing i8094MF_HOME _START Please refer to section 5 4 of I8094 I8094F user manual 2 Waiting for homing completion i8094 _HOME_WAIT Please refer to section 5 5...

Page 36: ...mmetrical T profile of motion volicety If SV is larger than V or equal to V perform constant velocity driving 2 Asymmetrical T profile of motion velocity 3 Symmetrical S curve of motion velocity http...

Page 37: ...094F user manual 2 Setting the start velocity Set lowest speed i8094MF_SET_SV Please refer to section 6 1 2 of I8094 I8094F user manual 3 Setting the Velocity Set the desired speed i8094MF_SET_V Pleas...

Page 38: ...There are twelve mode as below 0 2 axes Linear ARC Circular Fixed vector velocity VV 1 2 axes linear symmetrical T profile VSV VV VA VAO 2 2 axes linear symmetrical S curve VSV VV VK VAO 3 2 axes line...

Page 39: ...LINE_2D Please refer to section 6 2 10 of I8094 I8094F user manual 2 3 axes linear interpolation Perform 3 axes linear interpolation i8094MF_LINE_3D Please refer to section 6 2 11 of I8094 I8094F user...

Page 40: ...continuous interpolation of line Initial setting continuous interpolation of line symmetrical T profile i8094MF_LINE_3D_INITIAL Please refer to section 6 4 3 of I8094 I8094F user manual Perform 3 axes...

Page 41: ...4 1 2 Create a new eVC Application Project Please execute the Microsoft eVC 4 0 Then click File New to create a new application project In the Projects property page choose WCE MFC AppWizard exe opti...

Page 42: ...Click Finish and finish the new project establishment http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 42...

Page 43: ...the WorkSpace of application project as below Click the right key of mouse on Header Files then choose Add Files to Folder It will appear on a dialog of selecting file find out the I8094 h and click...

Page 44: ...the rectangle in the buttom of Directories List Box Please key in the specific path that your header files located For instance C DAQPRO Wincon inc as below snapshot D Then select the Library files i...

Page 45: ...nConSDK h and declare CI8094MF I8094MF bool Driver_Open BYTE cardNo 0 in start point as below snapshot Because we have built a class CI8094MF For Macro function it is convenient to guide in designing...

Page 46: ...cardNo AXIS_XYZU 2 set the pulse output mode I8094MF SET_ALARM cardNo AXIS_XYZU 0 0 disable the SERVO ALARM Input I8094MF SET_ENCODER cardNo AXIS_XYZU 0 0 0 set the encoder input type I8094MF SET_MAX...

Page 47: ...peed 0 PS I8094MF FIXED_MOVE cardNo axis 10000 run the fixed 10000 Pulse move while I8094MF STOP_WAIT cardNo axis NO DoEvents Sleep 1 wait for axis to stop long AA I8094MF GET_LP cardNo axis Get X Now...

Page 48: ...below snapshot into the Object library modules box and the click OK 4 1 6 Build the Project Please select the Build Build All in the menu then you will be finished this example program if there isn t...

Page 49: ...Run Please copy the i8094Demo exe and I8094 dll into the same floder of WinCon User can use the eVC Online Download FTP USB disk to do then execute it http www icpdas com I8094Getting Started ManualVe...

Page 50: ...dll If you don t have please look for CD or download the latest edition from ICPDAS s website http www icpdas com download download list htm 4 2 2 Create a new VB NET C Application Project Please exec...

Page 51: ...Select the WinDows CE and Windows Application then click OK http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 51...

Page 52: ...4 2 3 Add the DLL into Application Project Click the right key of mouse on Solution Explorer add Reference Select Browse button http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 52...

Page 53: ...Select the i8904 _NET DLL Select the Open button as above snapshot http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 53...

Page 54: ...N then it will appear a code of Form1 vb then add the imports i8094MF_NET in top as below snapshot Add the i8094MF into the Button1_Click then it will appear a windows guide to help user to select a r...

Page 55: ...the Servo_ON to servo motors Step 3 Check ERROR Dim KK As Long 0 KK i8094MF i8094MF_GET_ERROR cardNo Dim MSGG As String If KK YES Then No ERROR Step 4 Move X axis Dim axis As UInt16 AXIS_X for AXIS_X...

Page 56: ...nt32 i8094MF i8094MF_GET_ERROR_CODE cardNo AXIS_U End If Please refer to a example demo_First 4 2 5 Build the Project Please select the Build Build Solution in pull down menu then you will be finished...

Page 57: ...download the latest edition from ICPDAS s website http www icpdas com download download list htm 4 3 2 Create a new TC Application Project 1 Execute the TC EXE in the demo100 folder then create a new...

Page 58: ...piler Code Generation item as below Compiler Advance Code Generation item as below Debugger setting as below close the Source debugging http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28...

Page 59: ...ram Please refer to demo100 cpp void main I 8000 Set slot0 slot7 cardNO 1 8 BYTE slot int Found 0 for slot 0 slot 8 slot cardNo slot 1 if i8094MF_REGISTRATION cardNo slot YES Found Axis Card i8094MF_R...

Page 60: ...Print n Print LOGIC AND REAL POSITION COUNTER n x_value i8094MF_GET_LP cardNo AXIS_X y_value i8094MF_GET_LP cardNo AXIS_Y z_value i8094MF_GET_LP cardNo AXIS_Z u_value i8094MF_GET_LP cardNo AXIS_U Pri...

Page 61: ...dNo AXIS_XYZU 1600000L ret1 i8094MF_HELIX_3D cardNo AXIS_Y AXIS_Z AXIS_U 1 v 0 25000 10 3600 Delay 2000 Print HELIX_3D_2 r n Print ret1 d r n ret1 break case 3 sv 300 PPS v 30000 PPS a 500000 PPS s in...

Page 62: ...WORD wSA WORD data Print FRnet wSA r n Scanf d wSA Print FRnet 16 bits data r n Scanf d data i8094MF_FRNET_SA cardNo wSA data break case 5 WORD wRA Print FRnet wRA r n Scanf d wRA long data1 i8094MF_F...

Page 63: ...F_EXD_MP cardNo AXIS_X 100 i8094MF_EXD_DISABLE cardNo AXIS_Y i8094MF_EXD_DISABLE cardNo AXIS_Z i8094MF_EXD_DISABLE cardNo AXIS_U break case 89 case 121 m_Axis AXIS_Y i8094MF_SET_MAX_V cardNo m_Axis 32...

Page 64: ...5 case 117 m_Axis AXIS_U i8094MF_SET_MAX_V cardNo m_Axis 32000 i8094MF_NORMAL_SPEED cardNo m_Axis 0 set axis as Symmetrical T curve mode i8094MF_SET_A cardNo m_Axis 50000 set Acc 50000 PPS S i8094MF_S...

Page 65: ...COM PORT that assign to COM1 ALT_1 or COM2 ALT_2 and set the transmission speed to 115200 N 8 1 3 Turn on the power of I 8000 It will have two situation o It will appear a version of MiniOs7 message i...

Page 66: ...eyboard then key in demo100 exe then press the F10 button to download and execute demo100 exe as following drawing Please refer to the 7188 getting started manual http www icpdas com I8094Getting Star...

Page 67: ...ronment SA_IA 3 WinConSDK WinCon Software Tool inc lib dll demo A 1 2 Visual Studio NET 2003 VB NET C 1 Above Microsoft Visual Studio NET 2003 professional including a SmartDeviceApplication item 2 De...

Page 68: ...A 2 I8094 Surface http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 68...

Page 69: ...A 3 Dimensions http www icpdas com I8094Getting Started ManualVer 2 3 2008 4 28 69...

Page 70: ...All Macro Function i8094_MF DLL i8094 DLL i8094_MF h i8094 h i8094_MF_NET DLL i8094_NET DLL i8094 Macro Function Manual Getting Start manual of i8094 motion controlmodule Demo_First Changed eVC and V...

Page 71: ...r It has 4 axis I O signals B 1 1 Board Layout for DN 8468M TB1 RJ1 JP1 JP2 CN XA CN XB CN ZB CN ZA CN1 CN7 CN3 CN YA CN YB CN UB CN UA CN6 CN2 CN8 CN4 CON1 68 PIN SCSI EMG SW TB2 JP5 JP4 JP3 X Y Z U...

Page 72: ...r TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 1 3 shows the pin assignment for the 7 pin connector on the DN 8468M and the Table 1 4 shows its I O conne...

Page 73: ...nnectors that enable you to connect to the CNA connector of Mitsubishi motor drivers Fig 1 5 shows the pin assignment for the 20 pin connector on the DN 8468M and the Table 1 6 shows its I O connector...

Page 74: ...ription Table 1 7 CNB Signal Connection Fig 1 6 Pin definition for CN XB CN YB CN ZB CN UB CN1 CN4 The I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 11 pin connectors that enable you to c...

Page 75: ...rs to connect the signals to external motor drivers Fig 1 8 shows the pin assignment for the 15 pin connector on the DN 8468M and the Table 1 9 shows its I O connector signal description Table 1 9 CN5...

Page 76: ...witch Settings JP5 Jumper 5 controls the EMG A signal of the TB1 connector The following diagram is shown the selection condition of the jumper 5 Fig 1 10 Jumper 5 setting JP1 JP2 The encoder signals...

Page 77: ...spectively Fig 1 13 is the default setting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 1 14 the emergency stop sig...

Page 78: ...It has 4 axis I O signals B 2 1 Board Layout for DN 8468P TB1 RJ1 JP1 JP2 CNX CNZ CN1 CN7 CN3 CNY CNU CN6 CN2 CN8 CN4 CON1 68 PIN SCSI EMG SW TB2 JP5 JP4 JP3 X Y Z U DN 8468P 107mm 162mm CN5 Fig 1 1...

Page 79: ...2 2 2 page 14 TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 1 3 shows the pin assignment for the 7 pin connector on the DN 8468P and th...

Page 80: ...0 pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers Fig 1 5 shows the pin assignment for the 50 pin connector on the DN 8468P and the Table 1 6 shows its I O...

Page 81: ...68P and the Table 1 8 shows its I O connector signal description CN5 CN8 The I O signals of the X Y Z U AXIS The connectors CN5 CN8 are 15 pin connectors that enable users to connect the signals to ex...

Page 82: ...ote 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 connec...

Page 83: ...r signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 1 11 shows that the encoder signals are selected from servo driver encoder In meantime Fig 1 12 shows tha...

Page 84: ...g to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 1 14 the emergency stop signals can be controlled from EMG signals i...

Page 85: ...s 4 axis I O signals B 3 1 Board Layout for DN 8468Y TB1 RJ1 JP1 JP2 CNX CNZ CN1 CN7 CN3 CNY CNU CN6 CN2 CN8 CN4 CON1 68 PIN SCSI EMG SW TB2 JP5 JP4 JP3 X Y Z U DN 8468Y 107mm 162mm CN5 Fig 3 1 Board...

Page 86: ...2 2 2 page 14 TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 3 3 shows the pin assignment for the 7 pin connector on the DN 8468Y and th...

Page 87: ...0 pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers Fig 3 5 shows the pin assignment for the 50 pin connector on the DN 8468Y and the Table 3 6 shows its I O...

Page 88: ...68Y and the Table 3 8 shows its I O connector signal description CN5 CN8 The I O signals of the X Y Z U AXIS The connectors CN5 CN8 are 15 pin connectors that enable users to connect the signals to ex...

Page 89: ...45 connector that enable you to connect to the signals of FRnet Fig 3 9 shows the pin assignment for the 8 pin connector on the DN 8468Y and the Table 3 10 shows its I O connector signal description h...

Page 90: ...g 3 10 Jumper 5 setting JP1 JP2 The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 3 11 shows that the encoder signals are selected from servo dri...

Page 91: ...denoted as axis X Y Z U respectively Fig 3 13 is the default setting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 3...

Page 92: ...rolled signals B 4 DN 8468D Daughter Board The DN 8468D is the daughter board for Delta ASDA A Series Ampilifier It has 4 axis I O signals B4 1 Board Layout for DN 8468D http www icpdas com I8094Getti...

Page 93: ...N7 CN3 CNY CNU CN6 CN2 CN8 CN4 CON1 68 PIN SCSI EMG SW TB2 JP5 JP4 JP3 X Y Z U DN 8468D 107mm 162mm CN5 JP10 JP11 JP12 JP13 Fig 3 1 Board layout for the DN 8468D http www icpdas com I8094Getting Start...

Page 94: ...CON1 The I O connector on the DN 8468D is a 68 pin SCSI II connector that enables you to connect to the I 8094 motion card Fig 3 2 shows the pin assignment for the 68 pin I O connector on the DN 8468D...

Page 95: ...for U axis XLMTP 5 Limit switch input signal for X axis YLMTP 40 Limit switch input signal for Y axis ZLMTP 29 Limit switch input signal for Z axis ULMTP 64 Limit switch input signal for U axis XLMTM...

Page 96: ...xis UDRIVE 56 Driver enable signal for U axis XPP 14 Driving pulsar signal for X axis YPP 49 Driving pulsar signal for Y axis ZPP 20 Driving pulsar signal for Z axis UPP 55 Driving pulsar signal for U...

Page 97: ...8468D and the Table 3 4 shows its I O connector signal description TB2 The connector TB2 is 5 pin connector that enables you to connect to the signals of your motor drivers Fig 3 4 shows the pin assig...

Page 98: ...n connectors that enable you to connect to the CN1 connector of Delta ASDA A series motor drivers Fig 3 5 shows the pin assignment for the 50 pin connector on the DN 8468D and the Table 3 6 shows its...

Page 99: ...connectors that enable you to connect to the signals of your motor drivers Fig 3 7 shows the pin assignment for the 20 pin connector on the DN 8468D and the Table 3 8 shows its I O connector signal d...

Page 100: ...onnectors that enable users to connect the signals to external motor drivers Fig 3 8 shows the pin assignment for the 15 pin connector on the DN 8468D and the Table 3 9 shows its I O connector signal...

Page 101: ...45 connector that enable you to connect to the signals of FRnet Fig 3 9 shows the pin assignment for the 8 pin connector on the DN 8468D and the Table 3 10 shows its I O connector signal description h...

Page 102: ...signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 3 11 shows that the encoder signals are selected from servo driver encoder In meantime Fig 3 12 shows that...

Page 103: ...e switch is disconnected as shown in Fig 3 14 the emergency stop signals can be controlled from EMG signals in CN1 CN4 Fig 3 13 SW1 setting for normally GND Default setting Fig 3 14 SW1 setting for us...

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