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Function Library

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137

6.8 Circular Interpolation Motion

@ Name
_7443_start_r_arc_xy – Begin a relative circular interpolation for X & Y
_7443_start_a_arc_xy – Begin a absolute circular interpolation for X & Y
_7443_start_r_arc_zu – Begin a relative circular interpolation for Z & U
_7443_start_a_arc_zu – Begin a absolute circular interpolation for Z & U
_7443_start_r_arc2 – Begin a relative circular interpolation for any 2 axes
_7443_start_a_arc2 – Begin a absolute circular interpolation for any 2 axes

_7443_start_tr_arc_xyu – Begin a Trapezoidal relative circular interpolation
_7443_start_ta_arc_xyu – Begin a Trapezoidal absolute circular interpolation
_7443_start_sr_arc_xyu – Begin a S-curve relative circular interpolation
_7443_start_sa_arc_xyu – Begin a S-curve absolute circular interpolation
_7443_start_tr_arc_yzu – Begin a Trapezoidal relative circular interpolation
_7443_start_ta_arc_yzu – Begin a Trapezoidal absolute circular interpolation
_7443_start_sr_arc_yzu – Begin a S-curve relative circular interpolation
_7443_start_sa_arc_yzu – Begin a Trapezoidal absolute circular interpolation

_7443_start_tr_arc2 – Begin a Trapezoidal relative circular interpolation
_7443_start_ta_arc2 – Begin a Trapezoidal absolute circular interpolation
_7443_start_sr_arc2– Begin a S-curve relative circular interpolation
_7443_start_sa_arc2– Begin a S-curve absolute circular interpolation
_7443_start_tr_arc_xy – Begin a Trapezoidal relative circular interpolation
_7443_start_ta_arc_xy – Begin a Trapezoidal absolute circular interpolation
_7443_start_tr_arc_zu – Begin a Trapezoidal relative circular interpolation
_7443_start_ta_arc_zu – Begin a Trapezoidal absolute circular interpolation
_7443_start_sr_arc_xy – Begin a S-curve relative circular interpolation
_7443_start_sa_arc_xy – Begin a S-curve absolute circular interpolation
_7443_start_sr_arc_zu – Begin a S-curve relative circular interpolation
_7443_start_sa_arc_zu – Begin a S-curve absolute circular interpolation

@ Description

Function

Relative/
Absolute

Speed Profile

Target Axes

Hardware

version bit 12

_7443_start_r_arc_xy

R

Flat

Axis 0 & 1

0 or 1

_7443_start_a_arc_xy

A

Flat

Axis 0 & 1

0 or 1

_7443_start_r_arc_zu

R

Flat

Axis 2 & 3

0 or 1

_7443_start_a_arc_zu

A

Flat

Axis 2 & 3

0 or 1

_7443_start_r_arc2

R

Flat

Any 2 of 4

0 or 1

_7443_start_a_arc2

A

Flat

Any 2 of 4

0 or 1

_7443_start_tr_arc_xyu

R

Trapezoidal

Axis 0 & 1

0 or 1

_7443_start_ta_arc_xyu

A

Trapezoidal

Axis 0 & 1

0 or 1

_7443_start_sr_arc_xyu

R

S-curve

Axis 1 & 2

0 or 1

_7443_start_sa_arc_xyu

A

S-curve

Axis 1 & 2

0 or 1

_7443_start_tr_arc_xy

R

Trapezoidal

Axis 0 & 1

1

_7443_start_ta_arc_xy

A

Trapezoidal

Axis 0 & 1

1

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Summary of Contents for PPCI7443

Page 1: ...PPCI7443 Advanced 4 Axes Servo Stepper Motion Control Card User s Guide Version 2 00...

Page 2: ......

Page 3: ...2 8 CN4 PIN ASSIGNMENTS SIMULTANEOUS START STOP 12 2 9 CN5 PIN ASSIGNMENT TTL OUTPUT 13 2 10 JUMPER SETTING FOR PULSE OUTPUT 13 2 11 SWITCH SETTING FOR EL LOGIC 14 SIGNAL CONNECTIONS 15 3 1 PULSE OUTP...

Page 4: ...HE LIMIT SWITCH INTERFACE AND I O STATUS 72 4 3 1 SD PCS 72 4 3 2 EL 73 4 3 3 ORG 73 4 4 THE COUNTERS 75 4 4 1 Command position counter 75 4 4 2 Feedback position counter 75 4 4 3 Position error count...

Page 5: ...SITION MODE 126 6 7 LINEAR INTERPOLATED MOTION 131 6 8 CIRCULAR INTERPOLATION MOTION 137 6 9 HOME RETURN MODE 143 6 10 MANUAL PULSER MOTION 145 6 11 MOTION STATUS 148 6 12 MOTION INTERFACE I O 149 6 1...

Page 6: ......

Page 7: ...cribes the connectors pin assignment and how to connect the outside signal and devices with the PPCI7443 Chapter 4 Operation Theorem describes detail operations of the PPCI7443 Chapter 5 PPCI7443 Util...

Page 8: ......

Page 9: ...purpose I O signals are provided for system integration Figure 1 1 shows the function block diagram of PPCI7443 card PPCI7443 uses one ASICs PCL6045 to perform 4 axes motion control These ASICs are ma...

Page 10: ...ng this manual to develop an application Please also refer the relative chapters for the detail of each step Figure 1 1 Block Diagram of PPCI7443 PCI Bus PCI Bus Controller FPGA FIFO PCL6045 Pulser CN...

Page 11: ...application Hardware Instllation Jumper Setting Wiring Run PPCI7443 Utility To Configure System Run PPCI7443 Utility To Verify Operation Use Function Library To develop Applications System is OK END C...

Page 12: ...rn modes with searching Hardware backlash compensator and vibration suppression 2 Software end limits for each axes to save I O switches 28 bit up down counter for incremental encoder feedback Home sw...

Page 13: ...535 0 1 PPS to 6553 5 PPS Multiplier 0 1 1 PPS to 65535 PPS Multiplier 1 100 PPS to 6553500 PPS Multiplier 100 I O Signales Input Output Signals for each axis All I O signal are optically isolated wit...

Page 14: ...Supporting 1 3 1 Programming Library For the customers who are writing their own programs we provide MS DOS Borland C C Version 3 1 programming library and Windows 95 98 NT 2000 XP DLL for PPCI7443 Th...

Page 15: ...nections 2 1 What You Have In addition to this User s Guide the package includes the following items PPCI7443 advanced 4 Axes Servo Stepper Motion Control Card Install CD ROM 24V power input cable for...

Page 16: ...CI7443 CN1 External Power Input Connector CN2 Input Output Signal Connector CN3 Manual Pulser Signal Connector CN4 Simultaneous Start Stop Connector CN5 TTL Output Connector S1 End limit switch logic...

Page 17: ...c connected to computer Remove the cover from your computer 3 Select a 32 bit PCI expansion slot PCI slots are shorter than ISA or EISA slots and are usually white or ivory 4 Before handling the PPCI7...

Page 18: ...circuit is configured as follows 3 Wires for connection to CN1 Solid wire 0 32mm to 0 65mm AWG28 to AWG22 Twisted wire 0 08mm 2 to 0 32mm 2 AWG28 to AWG22 Naked wire length 10mm standard The following...

Page 19: ...l 23 DIR2 O Dir signal 73 DIR4 O Dir signal 24 DIR2 O Dir signal 74 DIR4 O Dir signal 25 SVON2 O Multi purpose signal 75 SVON4 O Multi purpose signal 26 ERC2 O Dev ctr clr signal 76 ERC4 O Dev ctr clr...

Page 20: ...signal input 11 PA1 Pulser A phase signal input 12 5V Bus power 5V Note 5V and GND pins are directly given by the PCI Bus power Therefore these signals are not isolated 2 8 CN4 Pin Assignments Simult...

Page 21: ...e driver output or open collector output Please refer to section 3 1 for details of the jumper setting The default setting is the differential line driver mode Line Driver Open Collector Line Driver O...

Page 22: ...ontact type The switch on is to use the normal closed type limit switch or B contact type The default setting is set as normal open type For safety reason users must set a type which will make the end...

Page 23: ...ck signals EA EB and EZ Section 3 3 Origin signal ORG Section 3 4 End Limit signals PEL and MEL Section 3 5 Ramping down PCS Section 3 6 In position signal INP Section 3 7 Alarm signal ALM Section 3 8...

Page 24: ...consisted of OUT2 and OUT2 signals The following table shows all the pulse output signals on CN2 CN2 Pin No Signal Name Description Axis 3 OUT1 Pulse signals 4 OUT1 Pulse signals 5 DIR1 Direction sign...

Page 25: ...differential line driver mode The following wiring diagram is for the OUT and DIR signals of the 4 axes OUT DIR EXGND from PCL6045 R VCC OUT DIR EX 5V 3 2 1 J1 J8 OUT DIR 2631 CN2 Inside PPCI7443 NOTE...

Page 26: ...EB4 CN2 Pin No Signal Name Axis CN2 Pin No Signal Name Axis 17 EZ1 67 EZ3 18 EZ1 68 EZ3 35 EZ2 85 EZ4 36 EZ2 86 EZ4 The input circuits of the EA EB and EZ signals are shown as follows EA EB EZ PCL6045...

Page 27: ...Single Connections 19 which are equipped with 1 differential line driver or 2 open collector output...

Page 28: ...er supply is necessary Some motor drivers also provide the power source The connection between PPCI7443 encoder and the power supply is shown in the following diagram Please note that the external cur...

Page 29: ...a limit switch is used to indicate the origin of one axis The specifications of the limit switches should with contact capacity of 24V 6mA minimum An internal filter circuit is used to filter out the...

Page 30: ...PEL3 38 MEL1 88 MEL3 43 PEL2 93 PEL4 44 MEL2 94 MEL4 The signals connection and relative circuit diagram is shown in the following diagram The external limit switches featuring a contact capacity of 2...

Page 31: ...xis 40 SD1 PCS1 46 SD2 PCS2 90 SD3 PCS3 96 SD4 PCS4 The signals connection and relative circuit diagram is shown in the following diagram Usually limit switches are used to generate the slow down sign...

Page 32: ...o Signal Name Axis 10 INP1 28 INP2 60 INP3 78 INP4 The input circuit of the INP signals is shown in the following diagram To PCL6045 R CN2 Inside PPCI7443 EX 5V If 12mA Max If 5mA Min INP The in posit...

Page 33: ...ALM1 27 ALM2 59 ALM3 77 ALM4 The input circuit of alarm circuit is shown in the following diagram The ALM signals are usually from servomotor drivers which usually provide open collector output signal...

Page 34: ...sued by software operator The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name Axis 8 ERC1 26 ERC2 58 ERC3 76 ERC4 The ERC signal is used to clea...

Page 35: ...or general purpose output signals The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name Axis 7 SVON1 25 SVON2 57 SVON3 75 SVON4 The output circui...

Page 36: ...or general purpose input signals The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name Axis 11 RDY1 29 RDY2 61 RDY3 79 RDY4 The input circuit of R...

Page 37: ...mber are shown in the following table CN2 Pin No Signal Name Axis 39 CMP1 45 CMP2 The following wiring diagram is for the CMP of the first 2 axes R2 CN2 Inside PPCI7443 CMP1 CMP2 VCC From PLD GND VPP...

Page 38: ...ll trigger the counter value capturing functions which gives a precise position determination The LTC channel is in CN2 The relative signal name pin number and axis number are shown in the following t...

Page 39: ...Name Axis CN3 Pin No Signal Name Axis 2 PA1 8 PA3 3 PB1 9 PB3 4 PA2 10 PA4 5 PB2 11 PB4 PA and PB pins of connector CN3 are directly connected to PA and PB pins of PCL6045 The interface circuits are...

Page 40: ...both software control and external control are possible By the software control the signals can be generated from any one of the PCL6045 and other chip will start and stop simultaneously if proper pro...

Page 41: ...TTL output is in CN5 The relative signal name pin number and axis number are shown in the following table The General purposed TTL Output signals is shown in the following diagram Pin No Name Function...

Page 42: ...34 Single Connections...

Page 43: ...7 Position compare and Latch Section 4 8 Hardware backlash compensator Section 4 9 Software limit function Section 4 10 Interrupt Control Section 4 11 Idling control 4 1 Motion Control Modes In this...

Page 44: ...pin Dual pulse output CW CCW Pulse signal in plus or CW direction Pulse signal in minus or CCW direction Single pulse output OUT DIR Pulse signal Direction signal level The interface characteristics...

Page 45: ...DIR pins represent CW clockwise and CCW counter clockwise pulse output respectively Pulses output from CW pin makes motor move in positive direction whereas pulse output from CCW pin makes motor move...

Page 46: ...s_outmode 4 pls_outmode 5 Relative Function _7443_set_pls_optmode Refer to section 6 4 CW OUT DIR Negative direction OUT DIR Positive direction OUT DIR Negative direction OUT DIR Positive direction CC...

Page 47: ...g Before this function is applied be sure to call _7443_fix_speed_range Please refer to section 4 6 for more detail explanation The _7443_sd_stop is used to decelerate the motion to stop The _7443_emg...

Page 48: ...driver and the mechanism includes the motor Since absolute move mode needs the information of current actual position the External encoder feedback EA EB pins should be set in _7443_set_feedback_src...

Page 49: ...swer MaxVel 3600 60 2000 4 48000pps The reason why 4 is because there are four states per AB phase See Figures in Section 4 4 Usually the axes need to set the move ratio if their mechanical resolution...

Page 50: ...the start of the acceleration ramp and the transition to the constant velocity produce less wear and tear than a trapezoidal profile motion The smoother performance increases the life of the motors an...

Page 51: ...than 0 5 MaxVel StrVel Remember that the SVacc SVdec is in unit of PPS and it should always keep in the range of 0 MaxVel Strvel 2 where 0 means no linear region The S curve profile motion functions a...

Page 52: ...simultaneously and reach their ending points at the same time Linear means the ratio of speed of every axis is a constant value Notice that you can t use 2 groups of 2 axes linear interpolation in one...

Page 53: ...first group divides the 4 axes into XY axis 0 axis 1 and ZU axis 2 axis 3 By calling these functions the target axes are already assigned _7443_start_tr_move_xy _7443_start_tr_move_zu _7443_start_ta_...

Page 54: ...46 Operation Theorem axes 0 1 2 are selected and assigned to be X Y Z respectively position from P0 to P1 and start and stop simultaneously The path is a straight line in space...

Page 55: ...velocity StrVel and maximum velocity MaxVel Both trapezoidal and S curve profile are available For example _7443_start_tr_line3 1000 0 X 2000 0 3000 0 DistZ 100 0 StrVel 5000 0 MaxVel 0 1 sec 0 2 sec...

Page 56: ...ed below _7443_start_tr_line4 _7443_start_sr_line4 _7443_start_ta_line4 _7443_start_sa_line4 Refer to section 6 7 The characters t s r a after _7443_start means t Trapezoidal profile s S curve profile...

Page 57: ...set radius or angle of arc since the information above gives enough constrains The arc motion stopped when either of the 2 axes reached end point There are two groups of functions that provide 2 axes...

Page 58: ...d profile They can use _7443_start_tr_arc_xyu to run it The function name tells users not only Axis0 and Axis1 but also Axis3 will be used Axis0 x Axis1 y Axis2 z Axis3 u For the full lists of these f...

Page 59: ...ou want For example You want to have 1ms acceleration time from velocity 0 to velocity 5000 pps but the setting can t match this specification You can use this function with a higher velocity setting...

Page 60: ...T maxAccT 140000 The value of miniAccT will be 0 000948sec and maxAccT will be 31 08sec This minimum acceleration time can match our requirements So the motion command will be like this _7443_fix_spee...

Page 61: ...we must change the MaxV MiniT relationship to a higher one MaxV1 MiniT1 Finally the command would be _7443_fix_speed_range AxisNo MaxV1 _7443_start_tr_move AxisNo Distance 0 MaxV2 Target T Target T R...

Page 62: ...user can call a second pressed motion _7443_start_tr_move 0 20000 0 100 0 30000 0 0 0 0 2 The second function call won t affect the first one actually it will be executed and write into the pre regis...

Page 63: ...When the first function finished the Register becomes empty and data in pre register1 is allowed to move to register then executed instantly by ASIC and data in pre register2 is moved to pre register...

Page 64: ...ter2 2 To get a continuity of velocity between 2 motions the end velocity of previous and starting velocity of next must be the same There are several methods to achieve this The easiest way is to set...

Page 65: ...en them 1 Continuous motion between different axes is meaningless for different axis get its own register and pre register system 2 Continuous motion between different number of axes is not allowed fo...

Page 66: ...f 2 is the same with max velocity of 1 so that the velocity continuity exists at A At point B the Tacc of 3 is set to be 0 so the velocity continuity is also built 2 2 axis continuous interpolation Th...

Page 67: ...Feedback position counter To count the number of pulse input Position error counter To count the error between command and feedback pulse number General Purposed counter The source could be configured...

Page 68: ...Slow down Stop When SD Ramp down signal is inactive When SD Ramp down signal is active home_mode 1 ORG Slow down Stop at end of ORG ORG EL Case 1 Case 2 Case 3 Reset ORG EL Case 1 Case 2 Case 3 SD Res...

Page 69: ...home_mode 2 ORG Slow down Stop on EZ signal home_mode 3 ORG EZ Slow down Stop ORG EL Case 1 Case 3 Case 4 EZ Case 2 EZ_Count 1 EZ_Count 2 Reset Reset ORG EL Case 1 Case 3 Case 4 EZ Case 2 EZ_Count 1 E...

Page 70: ...wn Go back at FA speed EZ Stop home_mode 5 ORG Slow down Go back Accelerate to MaxVel EZ Slow down Stop ORG EL Case 1 Case 3 Case 4 EZ Case 2 EZ_Count 1 EZ_Count 0 FA FA Reset Reset ORG EL Case 1 Case...

Page 71: ...Theorem 63 home_mode 6 EL only home_mode 7 EL Go back Stop on EZ signal home_mode 8 EL Go back Accelerate to MaxVel EZ Slow down Stop EL Case 1 Reset EL Case 1 EZ FA EZ_Count 1 Reset EL Case 1 EZ EZD...

Page 72: ...rem home_mode 9 ORG Slow down Go back Stop at beginning edge of ORG home_mode 10 ORG EZ Slow down Go back Stop at beginning edge of EZ ORG EL Case 1 Case 2 Case 3 Reset ORG EL Case 1 Case 3 Case 4 EZ...

Page 73: ...Z Slow down Go back again forward Stop at beginning edge of EZ home_mode 12 EL Stop Go back backward Accelerate to MaxVel EZ Slow down Go back again forward Stop at beginning edge of EZ ORG EL Case 1...

Page 74: ...EL touches slow down and reverse moving 3 ORG touches slow down 4 Escape from ORG according to ORG offset 5 Start searching again 6 ORG touches slow down then using searching speed to escape ORG 7 Aft...

Page 75: ...signals AB phase from the pulser at PA and PB pins To set the input signal modes of pulser use _7443_set_pulser_iptmode function The 90 phase difference signals can be input through multiplication by...

Page 76: ...1 No 3 axes can be used as interpolation axes Any of two axes for linear interpolation Referring to the above diagram by executing _7443_pulser_r_line2 command it is possible to execute linear interpo...

Page 77: ...controls the motion of servomotor to minimize the deviation until it becomes 0 Theoretically the servomotor operates with some time delay from command pulses Accordingly when the pulse generator stops...

Page 78: ...the ON status at the start the PPCI7443 outputs the INT signal without generating any command pulse The ALM signal may be a pulse signal of which the shortest width is a time length of 5 microseconds...

Page 79: ...deviation counter to zero The ERC signal is output as an one shot signal The pulse width is a time length defined by function call _7443_set_erc The ERC signal will automatically output when EL signal...

Page 80: ...e kept in low level And while as PCS is selected the SD signal will be kept in low level Users need to take care the logic and enable disable attributes for signal not used The slow down signals are u...

Page 81: ...pulse can be generated for moving the motor to negative minus direction The EL signal can generate IRQ if the interrupt service is enabled please refer to section 4 7 You can use either a contact swit...

Page 82: ...74 Operation Theorem _7443_set_home_config _7443_home_move Refer to section 6 9...

Page 83: ...erent from target position The command position increases or decreases as pulse output while the target position changes only when a new motion command was executed The target position is recorded by...

Page 84: ...mode is the same as Dual Pulse Output Mode in Pulse Command Output section expect that the input pins are EA and EB In this mode pulse from EA causes the counter to count up whereas EB caused the cou...

Page 85: ...error counter automatically calculate the difference between pulse output and pulse feedback it is inevitable to get error if the motion ratio is not equal to 1 To get the position error use the func...

Page 86: ...counters input source _7443_set_positi on Set a new value for feedback position Feedback position To count the number of pulse input EA EB or pulse output _7443_get_positi on Read current feedback po...

Page 87: ...It is very important to know that the target position recorder is handled by software Every time when a new motion command is executed the displacement is added automatically into the target position...

Page 88: ...ct the corresponding axis number on the cards And the axis number is the first argument for most functions called in the library So it is important to identify the axis number before writing applicati...

Page 89: ...operating theory The following functions are related to change speed on the fly function _7443_v_change change the MaxVel on the fly _7443_cmp_v_change change velocity when general comparator comes i...

Page 90: ...t StrVel speed accelerates to MaxVel and then keeps at MaxVel until entering deceleration region If user changes the MaxVel it will force the axis to accelerate or decelerate to a new speed in a perio...

Page 91: ...ld work correctly If not the MaxVel set by _7443_v_move or _7443_start_ta_move becomes automatically the maximum velocity which _7443_v_change could not exceed 2 _7443_v_change during acceleration or...

Page 92: ...Low _7443_v_change axis 25000 0 02 else if Sensor1 Low Sensor2 High Sensor3 Low _7443_v_change axis 50000 0 02 else if Sensor1 Low Sensor2 Low Sensor3 High _7443_v_change axis 100000 0 02 Where the i...

Page 93: ...only It is to change the target position defined originally by these two functions After changing position the axis will move to the new target position and totally forget the original position If the...

Page 94: ...eeds enough space to finish deceleration For example A trapezoidal absolute motion is applied _7443_start_ta_move 0 10000 0 1000 0 5 1 It cause axis 0 to move to pulse 10000 position and the maximum v...

Page 95: ...g motor lost pulses To enable disable the step losing detection and set the allowed tolerance _7443_set_error_counter_check The PPCI7443 will generate an interrupt if step losing is enabled and occurr...

Page 96: ...n continuous comparing this data will be ignored automatically since the compare data will be build by other functions Continuously compare For user who wants to compare multiple data continuously fun...

Page 97: ...gram Settings Table starts moving from 0 to 36000 Compare points are on 1001 35000 total 34000 pts points to points interval 1pulse Moving Speed is 6000 pps Compare condition is Program codes _7443_se...

Page 98: ...till load a after final point into the value block Please fill a dummy point into the compare table array at the final position and this value must be far away from table s stroke If using _build_comp...

Page 99: ...all counters refer to section 4 4 data in that instant The latency between occurring of latch signal and finishing of position capturing is extremely short for the latching procedure is made by hardwa...

Page 100: ...t the pulse number In order to minimize vibration when a motor stops The PPCI7443 can output single pulse for negative direction and then single pulse for positive direction right after completion of...

Page 101: ...counter reached the limit value the PPCI7443 reacts as the physical limit switch is touched Thus it stops immediately or decelerates to stop pulse output To set the soft limit _7443_set_softlimit To e...

Page 102: ...peration and this kind of INT status can be masked by _7443_set_int_factor The error_int_status is for abnormal stop of PPCI7443 For example EL ALM etc these kind of INT can not be masked The followin...

Page 103: ..._7443_int_enable 0 hEvent _7443_set_int_factor 0 0x01 Normal Stop interrupt _7443_int_control 0 1 error_int_status can not be masked if interrupt service is activated Bit Description 0 Soft Limit on a...

Page 104: ...recommended to write programs according to the following example for applications should work with ISR Since PCI bus has the ability to do IRQ sharing when multiple PPCI7443 are applied each PPCI7443...

Page 105: ..._status 0 irq_status Check if this card s int if irq_status for i 0 i 4 i _7443_enter_isr i enter isr for i 0 i 4 i _7443_get_int_type i int_type check int type if int_type 0x1 _7443_get_error_int i i...

Page 106: ..._isr8 void void interrupt _7443_isr9 void void interrupt _7443_isra void void interrupt _7443_isrb void So with the sample user can get the interrupt signal about each axis in the motion control syste...

Page 107: ...rameter of _7443_set_idle_pulse command define the delay time of acceleration Even when this function is used on position mode the total moving distance will remain unchanged The timing diagram of Idl...

Page 108: ......

Page 109: ...lines for establishing a control system and manually exercising the PPCI7443 cards to verify correct operation PPCI7443 Utility provides a simple yet powerful means to setup configure test and debug m...

Page 110: ...800x600 environment It can not run on DOS 2 PPCI7443 Utility allows users to save settings or configurations for PPCI7443 cards and those saved configurations will be loaded automatically when PPCI74...

Page 111: ...user can set the configuration of EL ORG EZ ERC ALM INP SD and LTC Select operating card and axis Go to operation forms refer to section 5 3 4 Go to Interface I O configuration form refer to section...

Page 112: ...ll is _7443_set_home_config 6 EZ Logic Select the logic of EZ signal The related function call is _7443_set_home_config 7 SD Configuration Configuration of SD signal The related function call is _7443...

Page 113: ...ors to initiate the event int The related function call is _7443_set_int_factor 4 Buttons Next Axis Click this button to change operating axis Save Config Click this button to save current configurati...

Page 114: ...nter _7443_reset_target_pos 3 Motion Status display return value of _7443_motion_done function The related function is _7443_motion_done 4 INT Status Event display of event_int_status in Hex value The...

Page 115: ...Home Mode Home return motion Click this button will invoke the home move configuration form The related function is _7443_set_home_config 8 Position Set the absolute position for Absolute Mode It is...

Page 116: ...curve range during acceleration in unit of PPS SVdec Set the S curve range during deceleration in unit of PPS Move Delay This setting is effective only when repeat mode is set On It will cause PPCI744...

Page 117: ...Button Click this button will cause PPCI7443 to decelerate to stop The deceleration time is defined in Decel Time The related function is _7443_sd_stop 19 I O Status The status of motion I O Light On...

Page 118: ......

Page 119: ...scription _7443_initial Software initialization _7443_close Software Close _7443_get_base_addr Get base address of PPCI7443 _7443_get_irq_channel Get the PPCI7443 card s IRQ number _7443_delay_time De...

Page 120: ..._verify_speed Check the min max acceleration time under max speed Function Name Description _7443_start_tr_move Begin a relative trapezoidal profile move _7443_start_ta_move Begin an absolute trapezoi...

Page 121: ...trapezoidal profile _7443_start_sr_line2 Begin a relative 2 axis linear interpolation for any 2 axes with S curve profile _7443_start_ta_line2 Begin a absolute 2 axis linear interpolation for any 2 ax...

Page 122: ...e circular interpolation for X Y _7443_start_sr_arc_xy Begin a s curve relative circular interpolation for X Y _7443_start_sa_arc_xy Begin a s curve absolute circular interpolation for X Y _7443_start...

Page 123: ...utput pulse rate _7443_pulser_r_line2 Pulser mode for 2 axis linear interpolation _7443_pulser_r_arc2 Pulser mode for 2 axis arc interpolation Function Name Description _7443_motion_done Return the mo...

Page 124: ...RQ status For DOS only _7443_not_my_irq Not My IRQ For DOS only _7443_isr0 9 a b Interrupt service routine For DOS only _7443_set_axis_stop_int Enable axis stop int _7443_mask_axis_stop_int Mask axis...

Page 125: ...ata source for auto loading _7443_build_compare_function Build compare data via constant interval _7443_build_compare_table Build compare data via compare table _7443_cmp_v_change Speed change by comp...

Page 126: ...ed integer 0 to 65535 I32 32 bit signed long integer 2147483648 to 2147483647 U32 32 bit unsigned long integer 0 to 4294967295 F32 32 bit single precision floating point 3 402823E38 to 3 402823E38 F64...

Page 127: ..._7443_get_irq_channel This function is used to get the PPCI7443 card s IRQ number _7443_get_base_addr This function is used to get the PPCI7443 card s base address _7443_delay_time This function is u...

Page 128: ...As Integer As Integer B_7443_delay_time ByVal AxisNo As Integer ByVal MiniSec As Long As Integer B_7443_config_from_file ByVal filename As string as integer B_7443_version_info ByVal CardNo As Intege...

Page 129: ...n is enabled _7443_set_feedback_src If external encoder feedback is available in the system set the Src parameter in this function to Enabled state Then internal 28 bit up down counter will count acco...

Page 130: ...s high level 2 OUT DIR OUT Falling edge DIR is low level 3 OUT DIR OUT Rising edge DIR is low level 4 CW CCW Falling edge 5 CW CCW Rising edge pls_iptmode setting of encoder feedback pulse input mode...

Page 131: ...velocity until the velocity is changed or the axis is commanded to stop The direction is determined by the sign of velocity parameter _7443_v_change This function changes the moving velocity with tra...

Page 132: ...nt_speed I16 AxisNo F64 speed F64 _7443_verify_speed F64 StrVel F64 MaxVel F64 minAccT F64 maxAccT F64 MaxSpeed Visual Basic Windows 95 NT B_7443_tv_move ByVal AxisNo As Integer ByVal StrVel As Double...

Page 133: ...city interval in which S curve acceleration is performed Note SVacc 0 for pure S curve NewVel New velocity in unit of pulse per second Tdec specified deceleration time in unit of second Speed Variable...

Page 134: ...ecome shorter while the dV dt acceleration deceleration and d dV dt dt jerk keep unchanged _7443_start_tr_move This function causes the axis to accelerate from a starting velocity slew at constant vel...

Page 135: ...s function Please refer to section 4 6 2 before use it _7443_set_pcs_logic This function is used to set the logic of Position Change Signal pcs The PCS share the same pin with SD signal Only when the...

Page 136: ...F64 Tdec I16 _7443_start_sr_move I16 AxisNo F64 Dist F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec I16 _7443_start_sa_move I16 AxisNo F64 Pos F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64...

Page 137: ...ByVal AxisNo As Integer ByVal Pos As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double As Integer B_7443_set_mo...

Page 138: ...S curve acceleration is performed Note SVacc 0 for pure S curve SVdec specified velocity interval in which S curve deceleration is performed Note SVdec 0 for pure S curve Move_ratio ratio of feedback...

Page 139: ...ofile _7443_start_sr_line2 Begin a relative 2 axis linear interpolation for any 2 axes with S curve profile _7443_start_ta_line2 Begin a absolute 2 axis linear interpolation for any 2 axes with trapez...

Page 140: ...4 Trapezoidal R Any 4 of 4 _7443_start_ta_ line4 4 Trapezoidal A Any 4 of 4 _7443_start_sr_ line4 4 S curve R Any 4 of 4 _7443_start_sa_ line4 4 S curve A Any 4 of 4 _7443_set_line_move_tmode There i...

Page 141: ...4 DistZ F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec I16 _7443_start_sa_line3 I16 CardNo I16 AxisArray F64 PosX F64 PosY F64 PosZ F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 S...

Page 142: ...Tdec As Double As Integer B_7443_start_ta_line2 ByVal CardNo As Integer AxisArray As Integer ByVal PosX As Double ByVal PosY As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Doubl...

Page 143: ...ByVal PosU As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_7443_start_sr_line4 ByVal CardNo As Integer ByVal DistX As Double ByVal DistY...

Page 144: ...ng velocity of a velocity profile in unit of pulse per second Tacc specified acceleration time in unit of second Tdec specified deceleration time in unit of second SVacc specified velocity interval in...

Page 145: ...ute circular interpolation _7443_start_sr_arc2 Begin a S curve relative circular interpolation _7443_start_sa_arc2 Begin a S curve absolute circular interpolation _7443_start_tr_arc_xy Begin a Trapezo...

Page 146: ...tCx F64 OffsetCy F64 OffsetEx F64 OffsetEy I16 DIR F64 MaxVel I16 _7443_start_a_arc2 I16 CardNo I16 AxisArray F64 Cx F64 Cy F64 Ex F64 Ey I16 DIR F64 MaxVel I16 _7443_start_tr_arc_xyu I16 CardNo F64 O...

Page 147: ...16 CardNo F64 OffsetCx F64 OffsetCy F64 OffsetEx F64 OffsetEy I16 DIR F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec I16 _7443_start_sa_arc_xy I16 CardNo F64 Cx F64 Cy F64 Ex F64 Ey I16 D...

Page 148: ...Val Cy As Double ByVal Ex As Double ByVal Ey As Double ByVal DIR As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal SVacc As Double As Integer B_7443_start_tr_arc_yzu...

Page 149: ...eger ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_7443_start_tr_arc_zu ByVal CardNo As Integer ByVal OffsetCx As Double ByVal OffsetCy As Double...

Page 150: ...Ex specified X axis absolute position end of arc Ey specified Y axis absolute position end of arc DIR Specified direction of arc CW 0 CCW 1 StrVel starting velocity of a velocity profile in unit of pu...

Page 151: ...le causing the axis to stop Executing v_stop function during home_move can also cause the axis to stop _7443_escape_home After homing use this function to leave home switch _7443_home_search Auto Sear...

Page 152: ...l org_logic 0 active low org_logic 1 active high EZ_logic Action logic configuration for EZ signal EZ_logic 0 active low EZ_logic 1 active high ez_count 0 15 Please refer to section 4 1 8 erc_out Set...

Page 153: ..._stop or emg_stop command is written _7443_pulser_pmove As this command is written the axis begins to move the axis according to manual pulser input The axis will output one pulse when receive one pul...

Page 154: ...al InputMode As Integer ByVal Inverse As Integer As Integer B_7443_pulser_vmove ByVal AxisNo As Integer ByVal SpeedLimit As Double As Integer B_7443_pulser_pmove ByVal AxisNo As Integer ByVal Dist As...

Page 155: ...s more then 100 pps Dist specified relative distance to move HomeType specified home move type HomeType 0 Command Origin that means axis stops when command counter becomes 0 HomeType 1 ORG pin PDV PMG...

Page 156: ...ows 95 NT B_7443_motion_done ByVal AxisNo As Integer As Integer Argument AxisNo axis number designated to start manual move Return Value 0 Stop 1 Reserved 2 Reserved 3 Reserved 4 Wait other axis 5 Wai...

Page 157: ...ich means the SVON is open to GND _7443_set_sd_logic Set the active logic latch control and operating mode of SD signal input from mechanical system Users can select whether they want to enable this f...

Page 158: ...ault inp_enable 1 Enabled inp_logic setting of active logic for INP signal inp_logic 0 active LOW inp_logic 1 active HIGH erc_logic setting of active logic for ERC signal erc_logic 0 active LOW erc_lo...

Page 159: ...6 Reserved 7 PCS PCS signal input 8 ERC ERC pin output 9 EZ Index signal 10 Reserved 11 Latch Latch signal input 12 SD Slow Down signal input 13 INP In Position signal input 14 SVON Servo ON output s...

Page 160: ...443_isr0 9 a b Interrupt service routine For DOS only _7443_set_axis_stop_int enable axis stop int _7443_mask_axis_stop_int mask axis stop int Description _7443_int_control This function is used to en...

Page 161: ...CSTA Sync Start on 20 31 Reserved _7443_int_enable For Window only This function is used to assign the window INT event _7443_int_disable For Window only This function is used to disable the window I...

Page 162: ...input signal error 18 31 Reserved The second is for event_int_status which can be masked by _7443_set_int_factor The definition for bit of event_int_status is as following event_int_status can be mask...

Page 163: ...DOS only This function allows user to confirm if the designated card generates the INT signal to host PC _7443_not_my_irq This function is for DOS only This function must be called after knowing not...

Page 164: ...actor I16 AxisNo U32 int_factor I16 _7443_int_enable I16 CardNo HANDLE phEvent I16 _7443_int_disable I16 CardNo I16 _7443_get_int_status I16 AxisNo U32 error_int_status U32 event_int_status I16 _7443_...

Page 165: ...r to previous table error_int error_int_status refer to previous table sts 0 not this card s IRQ 1 this card s IRQ phEvent event handler Windows error_int_status refer to previous table event_int_stat...

Page 166: ...ratio If move ratio is 0 5 than the value read will be twice as the counter value The source of feedback counter is selectable by function _7443_set_feedback_src to be external EA EB or pulse output o...

Page 167: ...d the ramping down point data The ramping down point is the position where deceleration starts The data is stored as pulse count and it cause the axis start to decelerate when remaining pulse count re...

Page 168: ...o As Integer Pos As Double As Integer B_7443_reset_target_pos ByVal AxisNo As Integer ByVal Pos As Double As Integer B_7443_get_rest_command ByVal AxisNo As Integer rest_command As Long As Integer B_7...

Page 169: ...ogic of latch input This function is applicable only for last two axes in every PPCI7443 card _7443_get_latch_data After the latch signal arrived this function is used to read the latched value of cou...

Page 170: ...a function or a table _7443_build_compare_function This function is used to build comparing function by defining the start end point and interval There is no limitation on the max number of comparing...

Page 171: ...xisNo F64 TableArray I16 Size I16 Device C C Dos I16 _7443_build_compare_function I16 AxisNo F64 Start F64 End F64 Interval I16 _7443_build_compare_table I16 AxisNo F64 TableArray I16 Size Visual Basi...

Page 172: ...ltc_logic 0 means active low 1 means active high AxisNo Axis number LatchNo or Counter Specified Counter to latch Counter 1 Command counter Counter 2 Feedback counter Counter 3 Error Counter Counter...

Page 173: ...r Bit Meaning 0 Softlimit On 1 SoftLimit On 2 Error counter comparator On 3 General comparator On 4 Trigger comparator On for 0 1 axis only SelectSrc The comparing data source SelectSrc 0 disable auto...

Page 174: ...ERR_CompareNoError ERR_CompareMethodError ERR_CompareAxisError ERR_CompareTableSizeError ERR_CompareFunctionError ERR_CompareTableNotReady ERR_CompareLineNotReady ERR_HardwareCompareAxisWrong ERR_Auto...

Page 175: ...xisNo I16 conti_flag I16 _7443_check_continuous_buffer I16 AxisNo Visual Basic Windows 95 NT B_7443_set_continuous_move ByVal AxisNo As Integer ByVal conti_flag As Integer As Integer B_7443_check_cont...

Page 176: ...d the number of axes are defined by parameter TotalAxes in _7443_set_tr_move_all When properly setup with _7443_set_xx_move_all the function _7443_start_move_all will cause all specified axes to begin...

Page 177: ...xVelA F64 TaccA F64 TdecA F64 SVaccA F64 SVdecA I16 _7443_start_move_all I16 FirstAxisNo I16 _7443_stop_move_all I16 FirstAxisNo I16 _7443_set_sync_option I16 AxisNo I16 sync_stop_on I16 cstop_output_...

Page 178: ...array in which S curve acceleration is performed SVdecA specified velocity interval array in which S curve deceleration is performed FirstAxisNo the first element in AxisArray Sync_stop_on Axis will s...

Page 179: ...CardNo I16 Ch_No I16 value I16 _7443_get_dio_status I16 CardNo U16 dio_sts Visual Basic Windows 95 NT B_7443_d_output ByVal CardNo As Integer ByVal Ch_No As Integer ByVal value As Integer As Integer B...

Page 180: ...cription of Wiring CN1 Receives 24V power from external power supply CN2 Main connection between PPCI7443 and pulse input servo driver or stepping driver CN3 Receive pulse command from manual pulser C...

Page 181: ...2 show the wiring Note that 1 For convenience sake the drawing shows connections for one axis only 2 Default pulse output mode is OUT DIR mode default input mode is 1X AB phase mode Anyway user can se...

Page 182: ...7 38 39 40 41 OUT1 OUT1 DIR DIR EX GND EX 24V SVON 1 ERC 1 ALM 1 INP 1 EA1 EA1 EB1 EB1 EZ1 EZ1 EX GND PEL1 MEL1 CMP1 SD1 ORG1 RDY 1 EX GND 11 12 EX 5V 19 PPCI7443 Axis 1 Servo Driver Panasonic MSC CNI...

Page 183: ...GND EX 24V SVON 1 ERC 1 ALM 1 INP 1 EA1 EA1 EB1 EB1 EZ1 EZ1 EX GND PEL1 MEL1 CMP1 SD1 ORG1 RDY 1 EX GND 11 12 EX 5V 19 PPCI7443 Axis 1 Servo Driver SANYO BL Super P Series Table MEL ORG MSD PSD PEL E...

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