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PCI-1240/PCI-1240U User Manual

Table C.2: PCI-1240/PCI-1240U WRITE register format

Base Add. D15 D14 D13 D12 D11 D10 D9

Command Register: WR0

RESET

Axis Assignments

Command Code

Mode Register 1: WR1

D-END C-STA C-ENDP

≥

C+ P < C+ P < C- P

≥

C- PULSE IN3-E IN3-L IN2-E IN2-L IN1-E IN1-L IN0-E IN0-L

Interrupt Enable/Disable

Driving Stop Input Signal Enable/Disable

Mode Register 2: WR2

INP-E INP-L ALM-EALM-L PIND1 PIND0 PINMD DIR-L PLS-L PLSMDCMPSLHLMT- HLMT+

LMTMD

SLMT- SLMT+

Mode Register 3: WR3

OUT7 OUT6 OUT5 OUT4 OUTSL

EXOP1EXOP0 SACC DSNDE

MANLD

Output Register: WR4

UOUT3UOUT2UOUT1UOUT0ZOUT3 ZOUT2 ZOUT1 ZOUT0 YOUT3YOUT2YOUT1YOUT0XOUT3XOUT2XOUT1XOUT0

Interpolation Mode Register: WR5

BPINT CINT

CMPLSEXPLS

LSPD1 LSPD0

AX31 AX30 AX21 AX20 AX11 AX10

Interrupt

Step Output

Constant Vector Speed

ax3

ax2

ax1

Data Writing Register 1: WR6

WD15 WD14 WD13 WD12 WD11 WD10 WD9 WD8 WD7 WD6 WD5 WD4 WD3 WD2 WD1 WD0

Data Writing Register 2: WR7

WD31 WD30 WD29 WD28 WD27 WD26 WD25 WD24 WD23 WD22 WD21 WD20 WD19 WD18 WD17 WD16

Clear Interrupt Register: CLRINT

Clear Interrupt Register

Pulse Generator Mode Register: PGM

PGMU3PGMU2PGMU1PGMU0PGMZ3 PGMZ2 PGMZ1 PGMZ0PGMY3PGMY2PGMY1PGMY0PGMX3PGMX2PGMX1PCMX0

Содержание PCI-1240

Страница 1: ...PCI 1240 4 Axis PCI Stepping Pulse type Servo Motor Control Card PCI 1240U 4 Axis Universal PCI Stepping Pulse type Servo Motor Control Card User Manual...

Страница 2: ...any infringements of the rights of third parties which may result from its use Acknowledgments PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machin...

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: ...oblem The exact wording of any error messages Packing List Before setting up the system check that the items listed below are included and in good condition If any item does not accord with the table...

Страница 5: ...on part 2 17 Table 3 1 PCI 1240 PCI 1240U I O Connector Signal Description part 3 18 Figure 3 2 Location of Jumpers and DIP switch on PCI 1240 PCI 1240U 19 Table 3 2 BoardID register 19 Table 3 3 Boar...

Страница 6: ...28 3 12 Interrupt Setting 29 Figure 3 17 Circuit diagram of interrupt setting 29 3 13 Connection Examples for Motor Drivers 30 3 13 1 Connection to Step Motor Drivers 30 Figure 3 18 Example of Connect...

Страница 7: ...1 PCI 1240 PCI 1240U WRITE register func tion 49 Table C 2 PCI 1240 PCI 1240U WRITE register format 50 Table C 3 PCI 1240 PCI 1240U READ register function 51 Table C 4 PCI 1240 PCI 1240U READ registe...

Страница 8: ...ty Motor Drivers 60 Figure E 1 Wiring Diagram with Mitsubishi MR J2S Se ries Motor Driver 60 Figure E 2 Wiring Diagram with Oriental LIMO EZMC Series Motor Driver 61 Figure E 3 Wiring Diagram with Pan...

Страница 9: ...2 CHAPTER 1 Introduction This chapter introduces PCI 1240 and PCI 1240U and lists their features and detailed specifications...

Страница 10: ...ome function PCI 1240 and PCI 1240U performs these motion control functions with out processor load during driving For advanced applications we supply Windows DLL drivers and user friendly examples to...

Страница 11: ...through the NOVA MCX314 MCX314AS motion ASIC design concept Linear and Circular Interpolation Any two or three axes can be selected to execute linear interpolation driv ing and any two axes can be sel...

Страница 12: ...performs a constant vector speed During the interpolation driving MCX314 MCX314AS can set a 1 414 times pulse cycle for 2 axis simultaneous pulse output and a 1 732 time pulse cycle for 3 axis simulta...

Страница 13: ...uch as in posi tioning close loop positioning control and servo alarm Interrupt Signals Interrupt signals can be generated when 1 The start finish of a con stant speed drive during the trapezoidal dri...

Страница 14: ...be some accesso ries for enhanced operation of your Motion card you can then begin the installation procedure 1 4 Accessories Advantech offers a complete set of accessory products to support the PCI 1...

Страница 15: ...2 CHAPTER 2 Installation This chapter gives users a package item checklist proper instructions about unpacking and step by step procedures for both driver and card installation...

Страница 16: ...ble ESD damage Touch the metal part of your computer chassis with your hand to discharge static electricity accumulated on your body Or one can also use a grounding strap Touch the antistatic bag to a...

Страница 17: ...ve Step 2 The Setup program will be launched automatically if you have the autoplay function enabled on your system When the Setup Program is launched you ll see the following Setup Screen Whenever yo...

Страница 18: ...en of Advantech Automation Software Step 3 Select the PCI 1240 PCI 1240U DLL Drivers option Step 4 Select the proper Windows OS option according to your operating system Just follow the installation i...

Страница 19: ...her information on driver related issues an online version of Software Manual is available by accessing the following path Start Advantech Automation Motion PCI 1240 The example source codes could be...

Страница 20: ...static electricity that might be on your body Step 5 Insert the PCI 1240 PCI 1240U card into a PCI slot Hold the card only by its edges and carefully align it with the slot Insert the card firmly int...

Страница 21: ...2 CHAPTER 3 Signal Connections This chapter provides useful informa tion about how to connect input and output signals to the PCI 1240 PCI 1240U via the I O connector...

Страница 22: ...4 Output Pulse Definition and Section 3 11 Emergency Stop Input for more information about JP1 8 and JP9 configurations BoardID Switch PCI 1240 and PCI 1240U have a built in DIP switch SW1 which is u...

Страница 23: ...15 Chapter3 Figure 3 1 I O Connector Pin Assignments for PCI 1240 PCI 1240U...

Страница 24: ...n Position input at X axis XALARM Input Servo Error at X axis XECAP Input Encoder Phase A at X axis XECAN Input Encoder Phase A at X axis XECBP Input Encoder Phase B at X axis XECBN Input Encoder Phas...

Страница 25: ...P P GND Output Output pulse CCW DIR of Y axis YP N GND Output Output pulse CCW DIR of Y axis VEX Input External Power DC12 24V ZLMT Input Direction Limit at Z axis ZLMT Input Direction Limit at Z axis...

Страница 26: ...U axis GND Ground ZOUT4 GND Output Common Output at Z axis CMP ZOUT5 GND Output Common Output at Z axis ZOUT6 GND Output Common Output at Z axis Server on ZOUT7 GND Output Common Output at Z axis Rese...

Страница 27: ...bit LSB of Board ID ID3 the most significant bit MSB of Board ID Table 3 2 BoardID register SW1 Board ID register Base Add 12h 3 2 1 0 Abbreviation BDID3 BDID2 BDID1 BDID Table 3 3 BoardID setting Bo...

Страница 28: ...put mode is Up Down User can change the output mode into Pulse Direction mode by writing specified command system register Figure 3 3 Output Signal Loop for Drive Pulses From the circuit shown above F...

Страница 29: ...he following figure 3 4 and 3 5 show the examples of input circuitry connection for both photo coupler and motor driver respectively Figure 3 4 Photo Coupler Input Interface Figure 3 5 Line Driver Inp...

Страница 30: ...for driving position counter and the status of comparison register as your output during driving 3 5 Over Traveling Limit Switch Input nLMT nLMT Over traveling limit switches are used for system prot...

Страница 31: ...rface of encoder feedback and nIN1 nIN2 and nIN3 are use as input signals near the original point If run mode is active the output of driving pulse is terminated after those signals are enabled The de...

Страница 32: ...ormal condition they active this signal to note PCI 1240 PCI 1240U to stop output pulses When enable the nALARM function of PCI 1240 PCI 1240U the D14 bit of RR2 will set to 1 after nALARM active If P...

Страница 33: ...dback is available after setting the input pule mode nIN0P N is used for encoder phase Z signal feedback and also can be used as general purposed input or instantaneous stop input Figure 3 11 Circuit...

Страница 34: ...for encoder with differential output linear driver Figure 3 12 Example of Connection Diagram for Differential output Line Driver The following figure is an example of connection for the encoder with o...

Страница 35: ...eel mode it is corresponding to the Fixed Pulse Output Mode These functions are progressed without CPU involved on host PC When the input signal is enabled during fixed pulse drive the pulse specified...

Страница 36: ...se time of circuitry should take about 0 25 msec because of the delay of photo coupled and RC filter 3 11 External Power Input VEX External power is necessary for all input signals of each axis Please...

Страница 37: ...shows the interrupt structure of the PCI 1240 PCI 1240U We suggest users who want to program their own interrupt service routine ISR should follow the procedures Step 1 When interrupt occurs Hardware...

Страница 38: ...8 of PCI 1240 PCI 1240U are set to 5V output side 5V output for output terminals XP P and XP P Setting JP1 8 as single ended output will output 5V of PCI 1240 PCI 1240U to external devices this will i...

Страница 39: ...gure 3 19 Example of Connecting to UPK Step Drive Note The differential pulse output of PCI 1240 PCI 1240U is connected to CW CCW input of UPK drive XOUT4 can control UPK drive to hold by setting D8 o...

Страница 40: ...CI 1240 PCI 1240U con nected to MINAS X series AC servo motor drive Figure 3 20 Example of MINAS X series AC servo Motor Drive Note The servo drive must be set in pulse control drive mode and the type...

Страница 41: ...isted pair wires as the analog input cable This type of cable has its signal wires twisted together and shielded with a metal mesh The metal mesh should only be connected to one point at the signal so...

Страница 42: ...e determined after 250 nsec from power on reset User can access PCI 1240 PCI 1240U only after 500 nsec from power on reset 3 15 2 Individual Axis Driving Figure 3 22 Timing diagram of Individual Axis...

Страница 43: ...is valid in 125 nsec of high level pulse signal 3 15 4 Input Pulse Timing Quadrature Pulse of Encoder Input Figure 3 24 Timing diagram of Quadrature Pulse of Encoder Input The minimum difference time...

Страница 44: ...uction When the Stop instruction is issued during driving at most one pulse will be output and then stopped 3 15 6 Deceleration Stop Timing External Deceleration Stop Signal Figure 3 28 Timing diagram...

Страница 45: ...cting with JP10 you can choose the XOUT4 pin as original design as PCI 1240 or TTL level output While the JP10 is in CMP position the output of XOUT4 is XOUT4 XOUT5 With this special design you can ge...

Страница 46: ...PCI 1240 PCI 1240U User Manual 38...

Страница 47: ...2 APPENDIX A Specifications...

Страница 48: ...terpolation Speed 1 PPS 2 MPPS Output Signal nP P N nP P N Range 1 PPS 4 MPPS Precision 0 1 Change of Acceler ation for S Curve 954 31 25 x 109 PPS sec Acceleration Deceleration 125 500 x 106 PPS sec...

Страница 49: ...Fre quency 4 kHz Input Voltage Low 3 V DC max High 10 V DC min 50 V DC max Input Current 10 V DC 1 70 mA typical 12 V DC 2 10 mA typical 24 V DC 4 40 mA typical 48 V DC 9 00 mA typical 50 V DC 9 40 mA...

Страница 50: ...Encoder Cycle x1 x2 x4 A B phase only Max Input Frequency 1 MHz Input Voltage Low 2 V DC max High Min PCI 1240 10 V DC PCI 1240U 5 V DC Max 30 V DC Protection 2 500 V DC Isolation Protection Input Sig...

Страница 51: ...pt Condition All conditions could be enabled disabled indi vidually Position Counter COMP Position Counter COMP Position Counter COMP Position Counter COMP Constant speed begins or ends during acceler...

Страница 52: ...PCI 1240 PCI 1240U User Manual 44...

Страница 53: ...2 APPENDIX B Block Diagram...

Страница 54: ...photo coupler XECA XECB XINPO Photo coupler RC filter XEXOP XEXOP Y Axis Interface Identical to the Input Output interface of X AXIS Z Axis Interface Identical to the Input Output interface of X AXIS...

Страница 55: ...2 APPENDIX C Register Structure and Format...

Страница 56: ...O Port Address Map The PCI 1240 PCI 1240U requires 20 consecutive addresses in the PC s I O space The address of each register is specified as an offset from the card s base address For example BASE 0...

Страница 57: ...eleration deceleration mode of each axis Setting for external operation mode Setting for general output OUT7 4 BP1M BP1M Register Setting for the direction bit data of the first axis for bit pattern i...

Страница 58: ...er 3 WR3 OUT7 OUT6 OUT5 OUT4 OUTSL EXOP1EXOP0 SACC DSNDEMANLD 8 W Output Register WR4 UOUT3UOUT2UOUT1UOUT0ZOUT3 ZOUT2 ZOUT1ZOUT0YOUT3YOUT2YOUT1YOUT0XOUT3XOUT2XOUT1XOUT0 A W Interpolation Mode Register...

Страница 59: ...tatus Register 2 Y Axis Status Register 2 Z Axis Status Register 2 U Axis Status Register 2 Error message 6 XRR3 YRR3 ZRR3 URR3 X Axis Status Register 3 Y Axis Status Register 3 Z Axis Status Register...

Страница 60: ...STA C ENDP C P C P C P C PULSE 8 R Input Register 1 RR4 Y ALM Y INP Y EX Y EX Y IN3 Y IN2 Y IN1 Y IN0 X ALM X INP X EX X EX X IN3 X IN2 X IN1 X IN0 A R Input Register 2 RR5 U ALM U INP U EX U EX U IN...

Страница 61: ...ator Mode Status Register PGM PGSTA The pulse generator function is powerful for users to drive specific axis by Jog or Hand wheel There are two operation modes Jog mode and Hand wheel mode In Jog mod...

Страница 62: ...efer to the pin assignment Table C 6 Pulse Generator Mode Status Register PGM PGMSTA Write Read BASE 14 Table C 7 Pulse Generator Mode PGMn3 Base Add D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1...

Страница 63: ...PGMn2 PGMn1 PGMn0 Meaning 0 0 0 Function disabled 0 0 1 Signal from pins nEXOP for driving n axis 0 1 0 Software programmable mode Signal from pins XEXOP for driving Axis selected by pins U_IN2 and U_...

Страница 64: ...urred C 8 Board ID Register BDID BDID shows the Board ID of the PCI 1240 PCI 1240U Table C 10 Interrupt Status Register INTSTA Read BASE 10 Table C 11 Board ID Register BDID Read BASE 12 Base Add 15 1...

Страница 65: ...2 APPENDIX D Cable Pin Assignments...

Страница 66: ...PCI 1240 PCI 1240U User Manual 58 Appendix D Cable Pin Assignments...

Страница 67: ...2 APPENDIX E Wiring with Third Party Motor Drivers...

Страница 68: ...PCI 1240 PCI 1240U User Manual 60 Appendix E Wiring with Third Party Motor Drivers Figure E 1 Wiring Diagram with Mitsubishi MR J2S Series Motor Driver...

Страница 69: ...61 ChapterE Figure E 2 Wiring Diagram with Oriental LIMO EZMC Series Motor Driver...

Страница 70: ...PCI 1240 PCI 1240U User Manual 62 Figure E 3 Wiring Diagram with Panasonic MINAS A Series Motor Driver...

Страница 71: ...63 ChapterE Figure E 4 Wiring Diagram with Yaskawa SGDM Series Motor Driver...

Страница 72: ...PCI 1240 PCI 1240U User Manual 64...

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