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I8094A &I8094HGetting Started manual

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3.7.5 Basic Motion of Muti-Axes Interpolation

1. 2-axes linear interpolation:

Perform 2-axes linear interpolation.

Please refer to Manual “

i8094H_Manual_1.3tc.pdf” section 6.2.10, function

i8094H_LINE_2D() for detail settings.

2. 3-axes linear interpolation:

Perform 3-axes linear interpolation.

Please refer to Manual “

i8094H_Manual_1.3tc.pdf” section 6.2.11, function

i8094H_LINE_3D() for detail settings.

3. 2-axes ARC interpolation:

Perform 2-axes ARC interpolation.

Please refer to Manual “

i8094H_Manual_1.3tc.pdf” section 6.2.12, function

i8094H_ARC_CW() for detail settings.

Please refer to Manual “

i8094H_Manual_1.3tc.pdf” section 6.2.12, function

i8094H_ARC_CCW() for detail settings.

4. 2-axesCircular interpolation:

Perform 2-axes Circular interpolation.

Please refer to Manual “

i8094H_Manual_1.3tc.pdf” section 6.2.13, function

i8094H_CIRCLE_CW() for detail settings.

Please refer to Manual “

i8094H_Manual_1.3tc.pdf” section 6.2.13, function

i8094H_CIRCLE_CCW() for detail settings.

Summary of Contents for i8094A

Page 1: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 1 i8094A i 8094H Getting Started Version 1 3 PAC WinCon 8000 Series Controllers Applied to i8094A i8094H...

Page 2: ...tice The information furnished by ICPDAS Inc is believed to be accurate and reliable However no responsibility is assumed by ICPDAS Inc for its use or for any infringements of patents or other rights...

Page 3: ...1 2 10 Emergency Stop Signal Input 10 1 2 11 General Output Signal 10 1 2 12 Integral Input Signal Filters 10 1 2 13 Software Limit 10 1 2 14 Manual Pulse Generator 11 1 2 15 Module status LED Indica...

Page 4: ...nals 35 3 2 3 Configure the Limit Switch Signals EL 36 3 2 4 Configure the Software Limit SEL 36 3 3 Error Checking GET_ERROR 36 3 5 Manual Pulse Generator Testing Optional 38 3 6 Home Search 40 3 6 1...

Page 5: ...4 2 Program execution 65 APPENDIX A 66 A 1 Setup the Development Environment of I8094A I8094H 66 A 1 1 eVC 4 0 66 A 2 Appearance and Dimension 67 APPENDIX B DN 8468 SERIES DAUGHTER BOARD 68 B 1 DN 846...

Page 6: ...ed manualVer 1 3 6 B 4 2 Signal Connections for DN 8468D 95 B 4 3 Jumper and Switch Settings 103 B 5 DN 8468FB Daughter Board 106 B 5 1 Board Layout for DN 8468FB 106 B 5 2 Signal Connections for DN 8...

Page 7: ...others In addition i8094H equips with built in ICP DAS s unique FRnet distributed DI DO control functions it could connect externally to 128 DI and 128 DO control points each with cycle time of 0 74ms...

Page 8: ...6 Vectors speed of interpolation 1 PPS 4M PPS Precision of interpolation 0 5 LSB Circular interpolation Interpolation range 2 147 483 646 2 147 483 646 Vectors Speed of interpolation 1 PPS 4M PPS Rela...

Page 9: ...ge 1 2 4 Encoder Input Encoder option A B phase Up Down Programmable A B phase mode 1 1 2 and 1 4 A B phase 1 2 5 Position counter Command counter range 2 147 483 648 2 147 483 647 Encoder counter ran...

Page 10: ...ld be used for other applications for example as a trigger of synchronal control etc 1 2 10 Emergency Stop Signal Input There is an Emergency stop signal for Each module 1 2 11 General Output Signal T...

Page 11: ...se mode 1 2 15 Module status LED Indicators Red LED Power Indicator will turn on when power is on Orange LED Servo Alarm Indicator Ex Misuibishi driver No Alm Orange LED will turn on Green LED Running...

Page 12: ...put 24V DC connect to terminal board 1 4 Ordering Information W 8x31 GM1 PAC controllers i8094A i8094H 4 axes motion control module DN 8468GB i8094A i8094H interface board DN 8468DB i8094A i8094H inte...

Page 13: ...d CA SCSI15 68 pin SCSI II cable length 1 5 m 2 1 2 i8094A i8094H Installation Before Installation 1 You will need a ICP DAS W 8000series PAC controller with I O expansion slot currently we offer a va...

Page 14: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 14 I 8094A H...

Page 15: ...ted manualVer 1 3 15 2 2 DN 8468GB Terminal Board 2 2 1 DN 8468GB Board Layout CON6 RJ1 CON2 CON4 CON3 CON5 CON1 68 PIN SCSI EMG SW TB2 JP7 JP5 JP6 X Y Z U DN 8468G 107mm 162mm JP8 JP9 JP13 JP12 JP11...

Page 16: ...icpdas com I8094A I8094HGetting Started manualVer 1 3 16 2 2 2 Pin Assignment CON1 68 pin SCSI II Pin Assignment connector to connect modules and wiring terminal board Fig 2 1 CON1 I O connector pin a...

Page 17: ...axis UALARM 65 Alarm signal 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 in...

Page 18: ...Driver enable signal for Z axis 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 5...

Page 19: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 19 CON2 CON5 AXIS X Y Z U I O connector Wiring information...

Page 20: ...se input and FRnet connectors i8094H only of the motor drivers enables to connect with external DI DO modules etc FRnet i8094HF connectors could connect to FRnet series IO modules such as FR 2053 FR 2...

Page 21: ...in RJ45 connector FRnet i8094HF connector could connect to FRnet series IO modules such as FR 2053 FR 2057 For more information please refer to ICP DAS website http www icpdas com products Remote_IO f...

Page 22: ...of the CON6 connector The following diagram shows the jumper positions and its corresponding states Fig 2 6 Jumper 7 setting JP8 9 JP10 11 JP12 13 JP14 15 Jumper 8 15 are used to set the signal type o...

Page 23: ...3 4 on EMG SW are denoted as axis X Y Z U respectively Fig 2 7 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...

Page 24: ...94HGetting Started manualVer 1 3 24 2 3 Input Output Connections 2 3 1 Pulse output signals Differential Type pulse output circuit Fig 2 8 Differential Type pulse output circuit Open collector output...

Page 25: ...ted manualVer 1 3 25 Pulse Signal Wiring Example I8094A I8094H pulse output signal could be sent out by CW CCW mode or PULSE DIR mode The user could choose Differential Type and Open Collector Type by...

Page 26: ...witch Signal can be used to prevent over traveling appearance of the motion system User can set up the hardware limit switch to be normal open or normal close by the Function Library The following fig...

Page 27: ...nput signal for servo driver in Position control User could enable or disable this function by Function Library nALARM is a digital input signal for servo driver alarm signal The output pulse will be...

Page 28: ...following diagram shows Differential Type encoder signals Connect the Phase A signal to A and A pins and connect Phase B signal to B and B pins After the high speed photo coupler isolation the isolate...

Page 29: ...3 29 2 3 5 External pulse signal The following diagram shows an example for external pulse signal After the high speed photo coupler isolation the isolated encoder signals are connected to motion IC o...

Page 30: ...am shows a wiring example for Emergency STOP signal When received emergency stop signal all axes will be stopped and the error flag will be set as 1 After the high speed photo coupler isolation the is...

Page 31: ...is signal for external input driver The following diagram shows an external signal input wiring User can set the signals as fixed pulse CW CCW mode continuous pulse CW CCW mode or A B phase manual pu...

Page 32: ...ignal This output signal could be applied to enable or disable the driver Fig 2 17 Wiring Diagram for Servo On Off Output Signal 2 3 9 Compare Trigger Output The following diagram is a wiring example...

Page 33: ...Ver 1 3 33 2 4 Connection Example for Motor Driver The following diagram is the connection example between MITSUBISH MR J2S AC servo driver and the extension boardDN 8468G Fig 2 18 The connection betw...

Page 34: ...opment 3 1 Software development Overview For detail information please refer to i8094H_star sample code R E G IS T R A T IO N IO 1 2 A L A R M 3 4 G E T _E R R O R Y es M otion 1 P U L S E 2 3 4 5 N o...

Page 35: ...op Motion action to ensure human machine safety If you would like to disable Emergency Stop Signal please close breaks between 2 and 3 pin of JP1 If you would like to enable Emergency Stop Signal plea...

Page 36: ...re limit switches are placed at the both ends of machine traveling range However you could also set up software limits for earlier detection before hardware limit can take effect When it reaches the s...

Page 37: ...mitation for each axis Please refer to Manual i8094H_Manual_1 3tc pdf section 2 5 function i8094H_SET_MAX_V for detail settings 3 Encoder input setting optional Please refer to Manual i8094H_Manual_1...

Page 38: ...H_Manual_1 3tc pdf section 2 18 1 function i i8094H_EXD_MP for detail settings 2 Fixed pulse driving Manual Pulse Generator The users could preset the driving pulses at a fixed intensity and when pres...

Page 39: ...alVer 1 3 39 4 Disable external pulse input This command is for disabling the external pulse input operated by any of the three functions above Please refer to Manual i8094H_Manual_1 3tc pdf section 2...

Page 40: ...teps by software functions adjustments that offers home search direction configurations and with the variations being made by skipping certain steps there are actually more than 10 home search modes p...

Page 41: ...4H_Manual_1 3tc pdf section 5 4 function i8094H_HOME _START for detail settings 2 Waiting for completing homing operation Please refer to Manual i8094H_Manual_1 3tc pdf section 6 5 3 function i8094H_S...

Page 42: ...Started manualVer 1 3 42 3 7 Basic Motion 3 7 1 Speed Profile of the Motion Control 1 Symmetrical T profile of motion velocity If SV is larger than V or equal to V perform constant velocity driving 2...

Page 43: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 43 3 Symmetrical S curve of motion velocity 4 Asymmetrical S curve of motion velocity...

Page 44: ...settings 2 Setting the start velocity Set lowest speed Please refer to Manual i8094H_Manual_1 3tc pdf section 6 1 2 function i8094H_SET_SV for detail settings 3 Setting the Velocity Set the speed at...

Page 45: ...s 2 Continuous pulse driving output Perform continuous pulse output of single axis Please refer to Manual i8094H_Manual_1 3tc pdf section 6 1 10 function i8094H_CONTIUNE_MOVE for detail settings 3 Wai...

Page 46: ...VV 8 3 axes linear symmetrical T profile VSV VV VA VAO 9 3 axes linear symmetrical S curve VSV VV VK VAO 10 3 axes linear asymmetrical T profile VSV VV VA VD VAO 11 3 axes linear asymmetrical S curve...

Page 47: ...2 11 function i8094H_LINE_3D for detail settings 3 2 axes ARC interpolation Perform 2 axes ARC interpolation Please refer to Manual i8094H_Manual_1 3tc pdf section 6 2 12 function i8094H_ARC_CW for d...

Page 48: ...ntinuous interpolation of line Please refer to Manual i8094H_Manual_1 3tc pdf section 6 4 2 function i8094H_LINE_2D_CONTINUE for detail settings 3 3 axes continuous interpolation of line Initial setti...

Page 49: ...lVer 1 3 49 3 9 Motion Synchronization Action i8094A i8094H provides a lot of functions that support Synchronization Action such as comparison of EP LATCH and so on Please refer to Manual i8094H_Manua...

Page 50: ...the latest version from ICPDAS s website http www icpdas com download download list htm 4 1 2 Create a new eVC Application Project 1 Install and execute Microsoft eVC 4 0 2 Click File New to create a...

Page 51: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 51 8 Choose Dialog based and click NEXT 9 Click Finish to end establishment of the new project...

Page 52: ...Options popup menu will appears B Click on tab Directories choose Platform to be WINCON_MA select Win32 WCE ARMV4 in the CPUs list C Specify the path of Include files and Library files To add the path...

Page 53: ...8094A I8094HGetting Started manualVer 1 3 53 4 1 4 Start the eVC Sample Add a BUTTON on Dialog as below Double click on BUTTON to create a subprogram declare the following header files include WinConS...

Page 54: ...1 3 54 On the Tools menu click Options The Options popup menu will appears Select menu Project Setting will bring up a dialog box as below click on tab Link key in WinConSDK lib i8094 lib showing as...

Page 55: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 55 4 2 WinCon Microsoft Visual Studio NET 2003 VB NET C Reserved 4 3 I 8000 Turbo C Reserved...

Page 56: ...click on EzMake to start the program 2 Go to CompactFlash EzProg I EzMake EzMake exe double click on the file EzMake exe to start the program 5 2 Specify the I 8094H to be used All the I 8094H module...

Page 57: ...e Diagram Main Menu Control Button Function Library Groups Menu Function Display Menu Function Parameter Editor Message Status 5 3 1 Tree Diagram There are four branches under the Tree Diagram Initial...

Page 58: ...e type to open or create a file you could select the operations to be performed from Main Menu or buttons on toolbar 5 3 2 1 Create a File Please follow the steps to create a file In Initial Table you...

Page 59: ...Fig 5 3 2 Select the MP you would like to add on MP1 MP157 among158 MP there are totally 5 categories stacks 8 16 32 128 512 add them according to requirements For ISR it is similar to MP however the...

Page 60: ...I8094HGetting Started manualVer 1 3 60 5 3 2 2 Open a file The default path for saving files will be CompactFlash EzProg I EzMake If you select MacroProgram in Tree Diagram you could only open the fi...

Page 61: ...it the functions displayed but you could not add or delete the functions To edit the functions double click on the function you would like to edit will bring up a editor window input the parameters yo...

Page 62: ...eed In Function Library Groups Menu you could select the Functions by groups or choose the last one Full Functions to select all functions 5 3 5 Function Display Menu When you click on the Function gr...

Page 63: ...mouse cursor over any button the detail function information will be displayed in this window 5 3 6 2 Axis Status After you execute MP or ISR various statuses will be shown in the window 5 3 6 3 Hardw...

Page 64: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 64 5 3 6 4 Debug After you execute MP or ISR this window will display the location where the executed functions being made a change of...

Page 65: ...les and programs execution 5 4 1 Download the file Select the file it mp isr md you d like to download click to download the program Fig 5 7 Fig 5 7 Downloading 5 4 2 Program execution Select the file...

Page 66: ...APPENDIX A A 1 Setup the Development Environment of I8094A I8094H A 1 1 eVC 4 0 1 Microsoft eVC 4 0 ServicPack2 or above current version ServicPack4 2 WinCon8000_EVC4_SP1 WinCon in eVC Development En...

Page 67: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 67 A 2 Appearance and Dimension...

Page 68: ...d The DN 8468M is the daughter board for Mitsubitch J2 Series Amplifier 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...

Page 69: ...http www icpdas com I8094A I8094HGetting Started manualVer 1 3 69...

Page 70: ...connect to the PISO PS400 motion card Please refer to the section 2 2 1 page 15 TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 1 3 shows...

Page 71: ...CN YA CN ZA and CN UA are 20 pin connectors 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 t...

Page 72: ...XB CN YB CN ZB and CN UB are 20 pin connectors that enable you to connect to the CNB connector of your motor drivers Fig 1 6 shows the pin assignment for the 20 pin connector on the DN 8468M and the...

Page 73: ...Table 1 8 shows its I O connector signal description Table 1 8 CN1 4 Signal Connection Name Number Description ERC 12 Error Count Clear EXT_PWR 11 EXT POWER 24V EMG 10 Emergent Stop LMT 9 Limit switch...

Page 74: ...U AXIS The connectors CN5 CN8 are 15 pin connectors that enable users 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...

Page 75: ...gnals of the FRnet The connectors RJ1 is an 8 pin RJ45 connector that enable you to connect to the signals of FRnet Fig 1 9 shows the pin assignment for the 8 pin connector on the DN 8468M and the Tab...

Page 76: ...ndition of the jumper 5 Fig 1 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 1 11 shows that the encoder signals a...

Page 77: ...denoted as axis X Y Z U respectively 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...

Page 78: ...e DN 8468P is the daughter board for Panasonic A4 Series Ampilifier 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 SC...

Page 79: ...connect to the PISO PS400 motion card Please refer to the section 2 2 1 page 15 TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 1 3 shows...

Page 80: ...or for each AXIS in Driver The connectors CNX CNY CNZ and CNU are 50 pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers Fig 1 5 shows the pin assignment for th...

Page 81: ...e I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 11 pin connectors that enable you to connect to the signals of your motor drivers Fig 1 7 shows the pin assignment for the 20 pin connector...

Page 82: ...escription Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CNX and the other is from CN5 In Y axis one is from CNY and the other is from CN6 Users can select encoder s...

Page 83: ...or that enable you to connect to the signals of FRnet Fig 1 9 shows the pin assignment for the 8 pin connector on the DN 8468P and the Table 1 10 shows its I O connector signal description Fig 1 9 Pin...

Page 84: ...hown the selection condition of the jumper 5 Fig 1 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 1 11 shows that...

Page 85: ...2 3 4 on EMG SW are denoted as axis X Y Z U respectively 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 disconnec...

Page 86: ...ard The DN 8468Y is the daughter board for Yaskawa Ampilifier It has 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...

Page 87: ...connect to the PISO PS400 motion card Please refer to the section 2 2 1 page 15 TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 3 3 shows...

Page 88: ...or for each AXIS in Driver The connectors CNX CNY CNZ and CNU are 50 pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers Fig 3 5 shows the pin assignment for th...

Page 89: ...e I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 11 pin 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...

Page 90: ...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 external motor drivers Fig 3 8 shows the pin assignment for the 15 pin connecto...

Page 91: ...RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 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 84...

Page 92: ...ndition of the jumper 5 Fig 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 a...

Page 93: ...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 94: ...is the daughter board for Delta ASDA A Series Ampilifier It has 4 axis I O signals B 4 1 Board Layout for DN 8468D TB1 RJ1 JP1 JP2 CNX CNZ CN1 CN7 CN3 CNY CNU CN6 CN2 CN8 CN4 CON1 68 PIN SCSI EMG SW...

Page 95: ...n system is sending and receiving data correctly Pin Assignment for 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 s...

Page 96: ...axis UALARM 65 Alarm signal 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 i...

Page 97: ...Driver enable signal for Z axis 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 5...

Page 98: ...Fig 3 3 shows the pin assignment for the 7 pin connector on the DN 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 conne...

Page 99: ...or each AXIS in Driver The connectors CNX CNY CNZ and CNU are 50 pin connectors that enable you to connect to the CN1 connector of Delta ASDA A series motor drivers Fig 3 5 shows the pin assignment fo...

Page 100: ...e I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 11 pin 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...

Page 101: ...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 external motor drivers Fig 3 8 shows the pin assignment for the 15 pin connect...

Page 102: ...2 RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 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 8...

Page 103: ...ollowing diagram is shown the selection condition of the jumper 5 Fig 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...

Page 104: ...http www icpdas com I8094A I8094HGetting Started manual Ver 1 3 104 Fig 3 11 Primary encoder signals setting Fig 3 12 External encoder signals setting...

Page 105: ...ngals to GND The EMG signals from CN1 CN4 will not take effect If the 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...

Page 106: ...Getting Started manual Ver 1 3 106 B 5 DN 8468FB Daughter Board The DN 8468FB is the daughter board for FUJI FALDIC W Series Ampilifier It has 4 axis I O signals B 5 1 Board Layout for DN 8468FB Fig 3...

Page 107: ...n system is sending and receiving data correctly Pin Assignment for CON1 The I O connector on the DN 8468FB is a 68 pin SCSI II connector that enables you to connect to the I 8094 motion card Fig 3 2...

Page 108: ...Z axis UALARM 65 Alarm signal 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...

Page 109: ...1 Driver enable signal for Z axis 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...

Page 110: ...ig 3 3 shows the pin assignment for the 7 pin connector on the DN 8468FB and the Table 3 4 shows its I O connector signal description TB2 The connector TB2 is 5 pin connector that enables you to conne...

Page 111: ...ervo Motor default ALARM RESET CONT3 4 CONT3 of Servo Motor CONT4 5 CONT4 of Servo Motor CONT5 6 CONT5 of Servo Motor P 7 Positive Direction Pulse P 8 Positive Direction Pulse A 9 Encoder A phase A 10...

Page 112: ...e Table 3 8 shows its I O connector signal description Name Number Description CONT4 12 CONT4 of Servo Motor EXT_PWR 11 EXT POWER 24V CONT3 10 CONT3 of Servo Motor LMT 9 Limit switch Input Signal LMT...

Page 113: ...he Table 3 9 shows its I O connector signal description Name Number Description P 1 Positive Direction Pulse N 2 Negative Direction Pulse EXT_GND 3 EXT POWER Ground A 4 Encoder A phase B 5 Encoder B p...

Page 114: ...RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 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 84...

Page 115: ...ndition of the jumper 5 Fig 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 a...

Page 116: ...as axis X Y Z U respectively Fig 3 13 is the default setting to connect the CONT3 singals to GND The CONT3 signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 3 14...

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