ADLINK Technology PCI-8132, Руководство пользователя

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Operation Theorem
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4.2 Motor Driver Interface
The PCI-8132 provides the INP, ERC and ALM signals for servomotor
driver’s control interface. The INP and ALM are used for feedback the
servo driver’s status. The ERC is used to reset the servo driver’s
deviation counter under special conditions.
4.2.1 INP
Usually, servomotor driver with pulse train input has a deviation (position
error) counter to detect the deviation between the input pulse command
and feedback counter. The driver 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 outputting pulses, the servomotor does
not stop but keep running until the deviation counter become zero. At
this moment, the servo driver sends out the in-position signal (INP) to the
pulse generator to i ndicate the motor stops running.
Usually, the PCI-8132 stops outputting pulses upon completion of
outputting designated pulses. But by setting
inp_enable parameter in
_8132_ set_inp_logic() function , you can delay the completion of
operation to the time when the INP signal is turned on. Status of
_8132_motion_done() and INT signal are also delayed. That is, when
performing under position control mode, the completion of
_8132_start_a_move() , _8132_start_r_move() , start_s_move() …
functions are delayed until INP signal is turned ON.
However, EL or ALM signal or the completion of home return does not
cause the INP signal to delay the timing of completion. The INP signal
may be a pulse signal, of which the shortest width is 5 micro seconds.
The in-position function can be enable or disable. The input logic polarity
isalso programmable by software function:
_8132_set_inp_logic() . The
signal status can be monitored by software function:
_8132_get_io_status() .
4.2.2 ALM
The ALM pin receives the alarm signal output from the servo driver. The
signal immediately stops the PCI-8132 from generating pulses or stops it
after deceleration. If the ALM signal is in the ON status at the start, the
PCI-8132 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 micro seconds.