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Chapter 5

5.3.2 Motion Slave Homing Operation

“Motion Slave Homing Operation” sets/enables the “go home” operation
for your remote motors.

5.3.3 Motion Slave Velocity Motion

“Motion Slave Velocity Motion” controls your remote motors by
“Velocity Control” mode.

5.3.4 Motion Slave Point-to-Point Motion

_mnet_m1_set_home_config

Set The Home/Index Logic Configu-

ration

_mnet_m1_start_home_move

Begin A Home Return Action

_mnet_m1_set_tmove_speed

Set A Trapezoidal Velocity Profile

_mnet_m1_set_smove_speed

Set A S-Curve Velocity Profile

Move

_mnet_m1_v_change

Speed Change

_mnet_m1_fix_speed_range

Immediately Stop

_mnet_m1_unfix_speed_range

Release The Speed Range Con-

strain

_mnet_m1_v_move

Accelerate An Axis To A Constant

Velocity With Trapezoidal Profile,

See Description

_mnet_m1_sd_stop

Slow Down To Stop

_mnet_m1_emg_stop

Immediately Stop

_mnet_m1_get_current_speed

Get Current Speed

_mnet_m1_start_r_move

Begin An RelativeMove

_mnet_m1_start_a_move

Begin An AbsoluteMove

Содержание PCI-1202

Страница 1: ...PCI 1202 2 Port AMONet RS 485 Master Card User Manual...

Страница 2: ...ior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reli able However Advantech Co Ltd assumes no responsibility for its use nor for any infri...

Страница 3: ...lacement materials service time and freight Please consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem enc...

Страница 4: ...cus tomer service center for technical support if you need additional assistance Please have the following information ready before you call Product name and serial number Description of your peripher...

Страница 5: ...tion 9 2 3 3 Installation Procedure 10 2 3 4 Troubleshooting 10 2 4 Driver Installation 10 2 5 Connector Descriptions 11 2 5 1 AMONet Extension 11 Figure 2 2 AMONet Extension 11 Figure 2 3 RS 485 Exte...

Страница 6: ...TP Pins 33 Table 3 5 PEL and MEL Pins 34 Table 3 6 ORG Pins 34 Table 3 7 SLD Pins 35 Table 3 8 Table 3 8 ALM Pins 35 Table 3 9 INP Pins 35 Table 3 10 RDY Pins 35 Table 3 11 DI Pins 36 Figure 3 7 PNP N...

Страница 7: ...50 4 1 8 1 axis Motion Slave 51 Figure 4 16 Operation of 1 axis Motion Slave 51 Figure 4 17 Configuration of 1 Axis Motion Slave 51 Figure 4 18 Pulse I O Configuration 52 Figure 4 19 Home Function Set...

Страница 8: ...PCI 1202 User Manual viii...

Страница 9: ...ntroduction This chapter gives an overview of the product features applications and specifications for PCI 1202 Sections include Card Description Features Specifications Supported Software Application...

Страница 10: ...as quickly as possible AMONet is a new series of products designed for versatile automation applications especially with distributed motion control requirements PCI 1202 is equipped with 2 master rin...

Страница 11: ...1 2 PCI 1202 Applications 1 2 Features 2 Rings of AMONet master Programmable baud rate up to 20 Mbps transfer rate Max 128 AMONet digital slave modules support Easy installation with RJ45 phone jack a...

Страница 12: ...Ch isolated open collector type 5 30 V DC voltage Max 10 mA sink current open collector PCI Specification 2 2 supports 32 bit 3 3 or 5 V DC operation Power Consumption 5 V DC at 0 5 A typical Working...

Страница 13: ...5 Chapter1 1 5 Application Development Figure 1 3 Application Development...

Страница 14: ...6 Fig 1 4 is a flow chart that illustrates the recommended process in using this manual to develop an application Refer to the related chapters for details of each step Figure 1 4 Flow Chart for Buil...

Страница 15: ...2 CHAPTER 2 Installation This chapter describes how to install PCI 1202 Sections include Check What You Have PCB Board Layout Hardware Installation Driver Installation Connector Descriptions...

Страница 16: ...4 Understanding the connectors pin assignments the rest of the sections and wiring the connections 2 1 Check What You Have In addition to this User Manual the package should also include the fol lowin...

Страница 17: ...ystem such as the memory allocation I O port loca tions and the address assignment should be setup by following the man ual 2 3 2 PCI Slot Socket Selection Most PCs have both PCI and ISA slots Don t f...

Страница 18: ...ews removed from the socket 6 When removing the product be sure to cut off the power first Then take PCI 1202 out of the system board 2 3 4 Troubleshooting If your system doesn t boot correctly please...

Страница 19: ...Figure 2 2 AMONet Extension Figure 2 3 RS 485 Extension Port Pin Label Description 1 FG Filed Ground 2 FG Filed Ground 3 RS485 High Speed RS 485 protocol 4 FG Filed Ground 5 FG Filed Ground 6 RS485 H...

Страница 20: ...NPUT2 Digital Input 2 3 INPUT3 Digital Input 3 4 INPUT4 Digital Input 4 5 GND Power Ground 6 INPUT5 Digital Input 5 7 INPUT6 Digital Input 6 8 INPUT7 Digital Input 7 9 INPUT8 Digital Input 8 10 N C Re...

Страница 21: ...13 Chapter2 Figure 2 5 Digital Input Circuit Figure 2 6 Digital Output Circuit 2 5 3 AMONet Extension Interface Figure 2 7 AMONet Slave Module Address Setting...

Страница 22: ...PCI 1202 User Manual 14...

Страница 23: ...2 CHAPTER 3 AMONet Extension Modules Sections include Installation and Removal of Exten sion Modules DIO Slave Module Motion Slave Modules...

Страница 24: ...ssible 3 1 2 Removal Please refer to figure 3 1 and proceed with the following steps 1 Use a flat screwdriver 2 Plug this screwdriver into the bar on the right end 3 Push the screwdriver to pull out t...

Страница 25: ...net cable Surge Protection 10 kV Transmission Speed 2 5 5 10 and 20 Mbps On line module insertion and removal I O Isolation Voltage 2 5 kVrms Input Impedance 2 4 k 0 5 Input current 10 mA Max Output T...

Страница 26: ...integration and quick devel opment of machine prototypes ADAM 37xxF is an economic option for a DIO slave modules that is designed for customers that have their own I O terminal boards 3 2 4 Common Co...

Страница 27: ...ngs PinLabel Description ON OFF 1 B1 Baud Rate Setting 1 0 2 B0 Baud Rate Setting 1 0 3 TD Time out Status Latch 4 TM Watchdog Mode 5 BK Reserved 6 TR Terminate Resistance Enable Disable How to use Ba...

Страница 28: ...1 30 OUT_31 13 IN_12 31 OUT_32 14 IN_13 32 OUT_33 15 IN_14 33 OUT_34 16 IN_15 34 OUT_35 17 IN_16 35 OUT_36 18 IN_17 36 OUT_37 ADAM 3756 Pin Label Pin Label 1 IN_00 19 OUT_20 2 IN_01 20 OUT_21 3 IN_02...

Страница 29: ...24V 19 OUT_31 20 GND 21 OUT_32 22 24V 23 OUT_33 24 GND 25 OUT_34 26 24V 27 OUT_35 28 GND 29 OUT_36 30 24V 31 OUT_37 32 GND 33 FG 34 FG ADAM 3752F CN1 Pin Label Pin Label 1 IN_00 2 24V 3 IN_01 4 GND 5...

Страница 30: ...17 IN_10 18 24V 19 IN_11 20 GND 21 IN_12 22 24V 23 IN_13 24 GND 25 IN_14 26 24V 27 IN_15 28 GND 29 IN_16 30 24V 31 IN_17 32 GND 33 FG 34 FG ADAM 3756F CN2 Pin Label Pin Label 1 OUT_00 2 24V 3 OUT_01...

Страница 31: ...4 x 72 x 53 mm Max 20 Mbps transfer rate Max 6 5 MHz 1 Axis pulse output 28 bit counter for incremental encoder Programmable acceleration and deceleration time T curve and S curve velocity profiles su...

Страница 32: ...pulses Home return mode 13 types Velocity profiles T curve S curve Counter for encoder feedback signals 28 bits up down Position latch input LTC Position compare output CMP Incremental encoder input E...

Страница 33: ...omation applications AMONet supports driver specific motion slave modules such as the motion slave module for Mitsubishi J2 Super series Driver Motor and Panasonic Minas A type servo driver motor Plea...

Страница 34: ...Pin Definitions Communication Connector RJ 45 Pin Label Description 1 NC Filed Ground 2 NC Filed Ground 3 RS 485 High Speed RS 485 protocol 4 NC Filed Ground 5 NC Filed Ground 6 RS 485 High Speed RS 4...

Страница 35: ...27 Chapter3 External Power Input Connector Pin Label Description 1 24V DC 24V 2 GND DC 24V Ground 3 FG Field Ground 4 24V DC 24V 5 GND DC 24V Ground 6 FG Field Ground...

Страница 36: ...PCI 1202 User Manual 28 Slave ID Setting DIP Switch Note Node Number 32xA5 16xA4 8xA3 4xA2 2xA1 A0 Pin Label ON OFF 1 A5 1 0 2 A4 1 0 3 A3 1 0 4 A2 1 0 5 A1 1 0 6 A0 1 0...

Страница 37: ...ime Out Sta tus Latch Enable Disable 4 TM Watchdog Mode Enable Enable 5 BK Break and Rescan Com munication Enable Disable 6 TR Terminate Resistance Enable Disable BK function is reserved How to Use th...

Страница 38: ...Input LTC Latch Signal Input EMG Emergency Stop Input EMG Emergency Stop Input PCS Position Change Signal Input Reserved CLR Clear Position Command Counter Signal Input Reserved Label ADAM 3210 Descri...

Страница 39: ...ery Break Signal Input 106 M131 J2S BRK Machinery Break Signal Input BRK Mechanical Brake Release Signal Input IN1 Digital Input Signal 1 IN2 Digital Input Signal 2 OUT1 Digital Output Signal 1 OUT2 D...

Страница 40: ...PCI 1202 User Manual 32 3 3 5 1 to 1 Cable Information ADAM 3211 PMA ADAM 3212 J2S ADAM 3213 YS2...

Страница 41: ...he motors connected to the same ring simulta neously Please refer to table 3 3 for detailed information STP Simultaneous Stop STP is used to stop all the motors connected to the same ring simulta neou...

Страница 42: ...ls from external sensors Can be set by SW2 PEL indicates the limit of motion in the plus direction and MEL indicates the limit of motion in the minus direction The relative signal names pin number are...

Страница 43: ...Position INP is an input signal at PCI 1202 and is used to read the INP status inside servo driver Please refer to table 3 9 for descriptions RDY Driver Ready RDY is an input signal and is used to rea...

Страница 44: ...igital Input Digital input is shown in table 3 11 Digital Input 2 This section includes LTC LTC EMG EMG BRK and BRK sig nal Figure 3 7 PNP NPN Sinking Type Input Table 3 11 DI Pins Label Description D...

Страница 45: ...ry Break Release Signal BRK and BRK is used to control the motor break function Table 3 14 lists the signal name pin number and axis number Table 3 12 LTC Pins Label Description LTC LTC Input LTC LTC...

Страница 46: ...able 3 15 ERC Reset Driver error counter Deviation Counter Clear ERC output will be active when the following conditions are activated Homing is complete PEL MEL is active ALM is active User issues EM...

Страница 47: ...nal name and pin number OUT1 OUT2 Digital Output Digital output is designed for general purpose output function Please refer to the following table 3 19 BSY Motion Busy Signal Output BSY signals indic...

Страница 48: ...hen select DIR OUT or CW CCW Refer to table 3 21 for the pin definition of the DIR OUT pins You can also refer to the dipswitch setting in chapter 2 Figure 3 9 DDA Pulse Output Encoder Feedback Signal...

Страница 49: ...41 Chapter3 Table 3 22 Encoder Pins Label Description EA Encoder A EA Encoder A EB Encoder B EB Encoder B EZ Encoder Z EZ Encoder Z _...

Страница 50: ...PCI 1202 User Manual 42...

Страница 51: ...2 CHAPTER 4 Utility Software Sections include EzLink...

Страница 52: ...tware programming engi neers and hardware engineers You do not have to do any coding during the system configuration testing with EzLink It is a really helpful tool to both hardware and software engin...

Страница 53: ...Cards Click on the first button on the tool bar to scan master cards in the system All master cards will be identified after the scanning is completed as shown in figure 4 2 to 4 5 and all master car...

Страница 54: ...PCI 1247 User Manual 46 Figure 4 3 Scanning Master Figure 4 4 Scan is Completed Figure 4 5 Scan Results...

Страница 55: ...nd remote slaves by clicking on the connect button on the tool bar as shown in figure 4 6 and figure 4 7 Whether the slave is connected or not connected with the master cards can be read from the bott...

Страница 56: ...ou can scan the slave modules that are installed in this ring of the master card Both the number and types of slave modules will be dis played on the left The slave modules can be either DIO slave or...

Страница 57: ...he master and slave and scanned all slaves Please refer to figure 4 11 Figure 4 11 Scan Results You can click on each individual slave module in the menu the informa tion about the selected slave modu...

Страница 58: ...ave mod ule The green lamp is for input signal the red button is for output signal User can click on the red button and send output signals thereafter User can read the input status from the green lam...

Страница 59: ...7 Before proceeding to the operation menu please check the settings in the configuration menus first Correct I O configura tion settings are necessary for successful operations Figure 4 16 Operation o...

Страница 60: ...PCI 1247 User Manual 52 Figure 4 18 Pulse I O Configuration You can also set the home function setting in the following dialog box Figure 4 19 Home Function Setting...

Страница 61: ...2 CHAPTER 5 AMONet API...

Страница 62: ...Guide pdf 5 1 Data Definitions Name Description Range U8 8 bit ASCII character 0 to 255 I16 16 bit signed integer 32768 to 32767 U16 16 bit unsigned integer 0 to 65535 I32 long integer 2147483648 to...

Страница 63: ...er rings and enable disable the functionality of the rings Function Name Description _1202_open Initialize system resource _1202_close Release all resources Function Name Description _1202_lio_read Re...

Страница 64: ...t_m1_initial Initial The Remote Axis Resource _mnet_m1_set_pls_iptmode Set Encoder Input Mode _mnet_m1_set_pls_outmode Set Pulse Command Output Mode _mnet_m1_set_feedback_src Set The Counters Input So...

Страница 65: ...Begin A Home Return Action _mnet_m1_set_tmove_speed Set A Trapezoidal Velocity Profile _mnet_m1_set_smove_speed Set A S Curve Velocity Profile Move _mnet_m1_v_change Speed Change _mnet_m1_fix_speed_ra...

Страница 66: ..._reset_position Reset The Position Value To Zero _mnet_m1_get_error_counter Get The Command Value _mnet_m1_reset_error_counter Reset The Error Counter To Zero _1202_set_ltc_logic Set Latch Logic _mnet...

Страница 67: ...modules 5 3 8 Motion Slave Status Motion Slave Status functions give you the information of your remote devices _mnet_m1_dio_output Set TTL Output Status _mnet_m1_dio_input Set TTL Input Status _mnet_...

Страница 68: ...PCI 1202 User Manual 60...

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