Table of Content
s
Precision MicroControl Corp.
ii
Defining Motion Limits ........................................................................................................................... 102
Homing Axes ......................................................................................................................................... 105
Motion Complete Indicators................................................................................................................... 117
On the Fly changes ............................................................................................................................... 119
Feed Forward (Velocity, Acceleration, Deceleration)............................................................................ 120
Save and Restore Axis Configuration Settings ..................................................................................... 122
Application Solutions ............................................................................................................................. 123
Backlash Compensation........................................................................................................................ 123
Emergency Stop .................................................................................................................................... 125
Encoder Rollover ................................................................................................................................... 127
Flash Memory Firmware Update ........................................................................................................... 128
Saving and Restoring Axis Configuration Settings................................................................................ 129
Learning/Teaching Points...................................................................................................................... 133
Building MCCL Macro Sequences ........................................................................................................ 135
MCCL Multi-Tasking .............................................................................................................................. 137
Position Capture .................................................................................................................................... 140
Position Compare .................................................................................................................................. 141
Position Verification of an Open Loop Pulse Axis ................................................................................. 143
PWM Servo Command.......................................................................................................................... 147
Record Motion Data............................................................................................................................... 150
Resetting the Controller......................................................................................................................... 151
Single Stepping MCCL Programs ......................................................................................................... 152
Torque Mode Output Control................................................................................................................. 154
Turning off Integral gain during a move................................................................................................. 156
Defining User Units................................................................................................................................ 159
Watchdog Circuit ................................................................................................................................... 163
General Purpose I/O................................................................................................................................ 165
Digital I/O ............................................................................................................................................... 165
Configuring and Exercising the Digital I/O............................................................................................. 167
Using the Digital I/O............................................................................................................................... 168
A/D Inputs .............................................................................................................................................. 170
Specifications .......................................................................................................................................... 173
Motion Control Board............................................................................................................................. 173
Analog Command Axis Specifications................................................................................................... 174
Pulse Command Axis Specifications..................................................................................................... 175
Connectors, I/O and Schematics........................................................................................................... 177
VHDCI Connectors ................................................................................................................................ 178
Controller Status LED Indicators ........................................................................................................... 179
Controller Potentiometers...................................................................................................................... 180
Connector Pinout – MultiFlex PCI 1440 ................................................................................................ 181
Connector Pinout – MultiFlex PCI 1040 ................................................................................................ 185
Signal Descriptions................................................................................................................................ 190
Motor Command Signals ....................................................................................................................... 190
Encoder Feedback Signals.................................................................................................................... 191
Default Axis Inputs................................................................................................................................. 191
Default Axis Outputs.............................................................................................................................. 193
Default Configuration of General Purpose I/O ...................................................................................... 195
Circuit Schematics................................................................................................................................. 197
Troubleshooting...................................................................................................................................... 201
Controller Error Codes ........................................................................................................................... 211
Motion Control API Error Codes............................................................................................................ 212
MCCL Error Codes ................................................................................................................................ 213
Glossary ................................................................................................................................................... 215
Appendix .................................................................................................................................................. 219
Default Axis Configuration Settings....................................................................................................... 219
Index ......................................................................................................................................................... 221
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
