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4. Functions

SMC-4DL-PCI, SMC-8DL-PCI

41

4.

Functions

This chapter describes the functions of this product.
You can easily set up and execute each of the functions using the bundled driver library.
For more information on this product, plerase refer to the “API-SMC HELP” after installing.

About each motor control operation

PTP operation function

This function moves the motor from one point to another (Point To Point motion).
Use the function for simple position control.

JOG operation function

This function moves the motor without specifying the travel distance.
Use the function to manually position the motor.

ORG operation function

This function moves the motor to the origin.

Linear interpolation

This product supports multi-axial linear interpolation. Linear interpolation causes linear motion to the
specified position.

S-curve acceleration/deceleration function

This product has the S-curve acceleration/deceleration function in addition to the linear
acceleration/deceleration function. The S-curve acceleration/deceleration function reduces acceleration
when starting and stopping accelerating/decelerating the motor, thereby suppressing the vibration
generated at the start and end of motion.

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Содержание SMC-4DL-PCI

Страница 1: ...PC HELPER High Speed Motion Control Board for PCI 4ch SMC 4DL PCI 8ch SMC 8DL PCI User s Guide CONTEC CO LTD ...

Страница 2: ... Check with the following list that your package is complete If you discover damaged or missing items contact your retailer Product Configuration List Board One of the following SMC 4DL PCI or SMC 8DL PCI 1 First step guide 1 1 The CD ROM contains the driver software and User s Guide this guide CD ROM API PAC W32 Board First step guide ...

Страница 3: ...ect to change without notice All relevant issues have been considered in the preparation of this document Should you notice an omission or any questionable item in this document please feel free to notify CONTEC CO LTD Regardless of the foregoing statement CONTEC assumes no responsibility for any errors that may appear in this document or for results obtained by the user as a result of using this ...

Страница 4: ...Handling Precautions 5 Environment 6 Inspection 6 Storage 6 Disposal 6 2 SETUP 7 What is Setup 7 Using the Board under Windows Using the Driver library API PAC W32 7 Using the Board under Window Using Software Other than the Driver library API PAC W32 7 Using the Board under an OS Other than Windows 8 Step 1 Installing the Software 9 Starting the Install Program 9 Selecting API SMC WDM 10 Executin...

Страница 5: ...t CW CCW 32 Control signal general purpose signal output circuit OUT1 OUT3 ERC CP1 CP2 34 Connecting Input Signals 35 Encoder input circuit 35 Limit input general purpose input control input circuit IN1 IN7 LIM LIM ORG 38 Connection Examples 39 Surge Voltage Countermeasures 40 4 FUNCTIONS 41 About each motor control operation 41 PTP operation function 41 JOG operation function 41 ORG operation fun...

Страница 6: ... SOFTWARE 49 CD ROM Directory Structure 49 About Software for Windows 50 Accessing the Help File 50 Uninstalling the Driver library 51 6 ABOUT HARDWARE 53 For detailed technical information 53 Hardware specification 53 Block Diagram 56 ...

Страница 7: ...vi SMC 4DL PCI SMC 8DL PCI ...

Страница 8: ...n returning Carrying a motor control IC in the PCL6100 series from Nippon Pulse Motor Co Ltd capable of controlling jogging positioning origin returning and linear interpolation Capable of using an encoder supporting differential output TTL level output open collector output Capable of pulse output of up to 9 8 Mpps Capable of pulse output of up to 9 8 Mpps Offering a choice of motor control comma...

Страница 9: ...vides download services at http www contec com apipac to supply the updated drivers and differential files For details read Help on the bundled CD ROM or visit the CONTEC s Web site Operating environment OS Windows XP Server 2003 2000 Adaptation language Visual C NET Visual C NET Visual Basic NET Visual C Visual Basic Cable Connector Option Shielded Cable With Two 100pin Connector PCB100PS 0 5 0 5...

Страница 10: ...rge only when this device is returned freight prepaid with a copy of the original invoice and a Return Merchandise Authorization to the distributor or the CONTEC group office from which it was purchased This warranty is not applicable for scratches or normal wear but only for the electronic circuitry and original products The warranty is not applicable if the device has been tampered with or damag...

Страница 11: ...the destruction of equipment and resources Understand the meanings of these labels to operate the equipment safely DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death or serious injury WARNING WARNING indicates a potentially hazardous situation which if not avoided could result in death or serious injury CAUTION CAUTION indicates a potentially hazard...

Страница 12: ...wer is turned on Otherwise this product may malfunction overheat or cause a failure Be sure that the personal computer or the I O extension unit power is turned off Do not connect or remove a cable with or from this product while the computer s power is turned on And also do not connect this product and external device while the power is turned on Otherwise this product may malfunction overheat or...

Страница 13: ...d has no dust or foreign matter adhering The gold plated leads of the bus connector have no stain or corrosion Check that the bus connector of the board and its cable have been plugged correctly Storage When storing this product keep it in its original packing form 1 Put this product in the storage bag 2 Wrap it in the packing material then put it in the box 3 Store the package at room temperature...

Страница 14: ...e software and hardware You can use the diagnosis program later to check whether the software and hardware function normally Step 1 Installing the Software Step 2 Setting the Hardware Step 3 Installing the Hardware Step 4 Initializing the Software Step 5 Checking Operations with the Diagnosis Program If Setup fails to be performed normally see the Setup Troubleshooting section at the end of this c...

Страница 15: ...I Using the Board under an OS Other than Windows For using the board under an OS other than Windows see the following parts of this manual This chapter Step 2 Setting the Hardware Chapter 3 External Connection Chapter 6 About Hardware ...

Страница 16: ...tem as Windows XP Although some user interfaces are different depending on the OS used the basic procedure is the same Starting the Install Program 1 Load the CD ROM API PAC W32 on your PC 2 The API PAC W32 Installer window appears automatically If the panel does not appear run CD ROM drive letter AUTORUN exe 3 Click on the Install Development or Execution Environment button CAUTION Before install...

Страница 17: ...t Driver Type and Install Type 2 Select the High Functionality WDM Motor Control driver 3 Click on the Install button Executing the Installation 1 Follow the on screen instructions to proceed to install 2 After finishing installing Readme file is displayed You have now finished installing the software ...

Страница 18: ...defaults untouched You can change this product settings later Parts of this product and Factory Defaults Figure 2 1 2 2 shows the names of major parts on this product Note that the switch setting shown below is the factory default SW5 ON 1 2 3 4 5 6 7 8 SW4 ON 1 2 3 4 5 6 7 8 SW3 ON 1 2 3 4 5 6 7 8 SW2 ON 1 2 3 4 5 6 7 8 SW1 BOARD ID Terminator setting SW SW2 SW5 SW2 SW3 SW4 SW5 CN1 SW1 BOARD ID 0...

Страница 19: ...I SW1 BOARD ID SW3 ON 1 2 3 4 5 6 7 8 SW2 ON 1 2 3 4 5 6 7 8 SW2 SW3 CN1 SW1 BOARD ID 0 1 2 3 4 5 6 7 9 A B C D E F 8 Terminator setting SW SW2 SW3 Interface connector Board ID setting switch Figure 2 2 Component Locations SMC 4DL PCI ...

Страница 20: ... You can select whether to insert a terminator terminal resistor in the differential input section Select whether to insert the terminator depending on the system to be used Setup Method To select whether to insert the terminator use the DIP switches SMC 4DL PCI SW2 and SW3 SMC 8DL PCI SW2 SW5 on the board Set SW2 and SW3 according to the figure shown below SW2 ON 1 2 3 4 5 6 7 8 Axis6 Axis0 Axis7...

Страница 21: ...t for 5 V PCI bus slot Slit for 3 3 V PCI bus slot CAUTION Do not touch the board s metal plated terminals edge connector with your hands Otherwise the board may malfunction overheat or cause a failure If the terminals are touched by someone s hands clean the terminals with industrial alcohol Do not install or remove the board to or from the slot while the computer s power is turned on Otherwise t...

Страница 22: ...and interrupt level for the board can be allocated Before attempting to install the board first determine what PC resources are free to use The resources used by each board do not depend on the location of the slot or the board itself If you remove two or more boards that have already been installed and then remount one of them on the computer it is unknown that which one of the sets of resources ...

Страница 23: ... information INF file to register the board Source folder The setup information INF file is contained in the following folder on the bundled CD ROM INF WDM SMC You have now finished installing the hardware INF WDM SMC The name of the board you have just added is displayed SMC 4DL PCI SMC 8DL PCI ...

Страница 24: ...ice Manager From My Computer Control Panel select System and then select the Device Manager tab You can also open Device Manager by right clicking on My Computer and selecting Properties 2 The installed hardware appears under the CONTEC Devices node Open the CONTEC Devices node and select the device you want to setup the device name should appear highlighted Click Properties The name of the board ...

Страница 25: ... name you set here is used later when programming The initial device name that appears is a default value You can use this default name if you wish Make sure that you do not use the same name for more than one device You have now finished installing the initial setting of Software The name of the board you have just added is displayed SMC 4DL PCI SMC 8DL PCI ...

Страница 26: ...or control board driver unit and limit sensor for validity The program inputs outputs signals in interactive mode to check for validity Check items are Limit Signals Input Control Signals Input Output and Pulse Signals Output Check method Perform the input output test and check the execution environment with the driver unit connected The dedicated screw terminal CCB SMC2 will come in handy when yo...

Страница 27: ...2 Setup 20 SMC 4DL PCI SMC 8DL PCI Limit input CCB SMC2 ORG ORG GND ORG LIM LIM GND LIM LIM GND 12V 24VDC LIM LIM Figure 2 5 Connection diagram 2 2 ...

Страница 28: ...agnosis button on the device property page to start the diagnosis program Checking for motor control 1 Select the name of the axis you want to diagnose then click on the Execute Initial Setup Utility button to execute Quick Check The name of the board you have just added is displayed SMC 4DL PCI SMC 8DL PCI ...

Страница 29: ...ck click on the Next button Otherwise click on the Back or Cancel button 2 Check mask each signal When the alarm ALM ES is ON or each limit LIM LIM is ON the motor does not operate in that direction In this case check the connection of the signal or mask it ...

Страница 30: ...2 Setup SMC 4DL PCI SMC 8DL PCI 23 3 Simple operation is performed ...

Страница 31: ...ity The diagnostic program works correctly but the application program does not The diagnostic program uses the API TOOL functions If the diagnostic program works correctly other applications should work correctly also If you have a problem recheck your program taking note of the following points Check the return values of the API functions Refer to the source code for the sample programs The OS d...

Страница 32: ...SL mfd by HONDA TSUSHIN KOGYO CO LTD equivalent Compatible connector HDRA E100MA1 mfd by HONDA TSUSHIN KOGYO CO LTD Please refer to chapter 1 for more information on the supported cable and accessories Figure 3 1 Interface Connector Shape SMC 8DL PCI SMC 4DL PCI The on board interface connector CN1 is used when connecting this product and the external devices Connector used HDRA EC100LFDT mfd by H...

Страница 33: ...CW axis3 OUT CW GND 100 99 98 97 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81 80 79 78 77 76 75 74 73 72 71 70 69 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 axis0 P COM axis0 IN1 ALM axis0 IN2 INP axis0 IN3 SD axis0 IN4 LTC axis0 IN5 PCS axis0 I...

Страница 34: ...UT1 General purpose output1 IN5 PCS General purpose input5 positioning operation start input OUT2 General purpose output2 IN6 General purpose input6 OUT3 General purpose output3 IN7 General purpose input7 DIR CCW Direction CCW output ORG Origin input DIR CCW Direction CCW output LIM Positive direction limit OUT CW Pulse CW output LIM Negative direction limit OUT CW Pulse CW output A Encoder phaseA...

Страница 35: ... OUT CW axis7 DIR CCW axis7 DIR CCW axis7 OUT1 axis7 OUT2 axis7 OUT3 GND axis6 OUT CW axis6 OUT CW axis6 DIR CCW axis6 DIR CCW axis6 OUT1 axis6 OUT2 axis6 OUT3 axis7 Z axis7 Z axis7 B axis7 B axis7 A axis7 A axis6 Z axis6 Z axis6 B axis6 B axis6 A axis6 A axis7 LIM axis7 LIM axis7 ORG axis7 IN7 axis7 IN6 axis7 IN5 PCS axis7 IN4 LTC axis7 IN3 SD axis7 IN2 INP axis7 IN1 ALM axis7 P COM axis6 LIM axi...

Страница 36: ...UT1 General purpose output1 IN5 PCS General purpose input5 positioning operation start input OUT2 General purpose output2 IN6 General purpose input6 OUT3 General purpose output3 IN7 General purpose input7 DIR CCW Direction CCW output ORG Origin input DIR CCW Direction CCW output LIM Positive direction limit OUT CW Pulse CW output LIM Negative direction limit OUT CW Pulse CW output A Encoder phaseA...

Страница 37: ... axis3 LIM axis3 LIM axis2 A axis2 A axis2 B axis2 B axis2 Z axis2 Z axis3 A axis3 A axis3 B axis3 B axis3 Z axis3 Z axis2 OUT3 axis2 OUT2 axis2 OUT1 axis2 DIR CCW axis2 DIR CCW axis2 OUT CW axis2 OUT CW GND axis3 OUT3 axis3 OUT2 axis3 OUT1 axis3 DIR CCW axis3 DIR CCW axis3 OUT CW axis3 OUT CW GND axis0 P COM axis0 IN1 ALM axis0 I N2 INP axis0 IN3 SD axis0 IN4 LTC axis0 IN5 PCS axis0 IN6 axis0 IN7...

Страница 38: ...nput OUT1 General purpose output1 IN5 PCS General purpose input5 positioning operation start input OUT2 General purpose output2 IN6 General purpose input6 OUT3 General purpose output3 IN7 General purpose input7 DIR CCW Direction CCW output ORG Origin input DIR CCW Direction CCW output LIM Positive direction limit OUT CW Pulse CW output LIM Negative direction limit OUT CW Pulse CW output A Encoder ...

Страница 39: ...with the differential input CW CW CW CCW CCW CCW Board Driver Unit AM26LS31 or equivalence to it Figure 3 5 Pulse output circuit Connection with the differential input Connection with the opto coupler input When the driver unit guarantees the connection with the differential output CW CW CW CCW CCW CCW Board Driver Unit AM26LS31 or equivalence to it CW CCW Figure 3 6 Pulse output circuit connectio...

Страница 40: ...on with TTL level input CW CW CW CCW CCW CCW Board Driver Unit AM26LS31 or equivalence to it GND Vcc Vcc CW CCW Vcc Vcc Figure 3 8 Pulse output circuit connection with the TTL level input CAUTION When connecting with the photo coupler input or the TTL level input check the specification for the driver unit beforehand To prevent the circuit from malfunctioning due to noise wire it as far away from ...

Страница 41: ...ignal output circuit OUT1 OUT3 ERC CP1 CP2 Output circuit of each output signal on this product is illustrated below The signal output is an open collector output A ground wire must therefore be connected for driving 12 24VDC GND OUT1 OUT3 Board Driver Unit Figure 3 9 Output circuit ...

Страница 42: ...differential input capable of connecting a line driver output TTL level output and open collector output Connection with the differential output Board Driver Unit A A AM26LS31 or equivalence to it Phase A Phase A Vcc B B AM26LS31 or equivalence to it Phase B Phase B Vcc Z Z AM26LS31 or equivalence to it Phase Z Phase Z Vcc Vcc Vcc Vcc GND GND Figure 3 10 Encoder input circuit ...

Страница 43: ... output Board Driver Unit A A AM26LS31 or equivalence to it Phase A Vcc B B AM26LS31 or equivalence to it Phase B Vcc Z Z AM26LS31 or equivalence to it Phase Z Vcc Vcc Vcc GND GND Vcc TTL level output Vcc TTL level output Vcc TTL level output Vcc Figure 3 11 Encoder input circuit ...

Страница 44: ...ollector Vcc Output open collector Vcc Figure 3 12 Encoder input circuit CAUTION Do not insert a terminator when you connect TTL level output signals or open collector output signals Otherwise this product may malfunction overheat or cause a failure Restrict the use of cables to 10m for the line driver output 3m for the open collector output and 1 5m for the TTL level output To prevent the circuit...

Страница 45: ...he signal input is an opto isolated current driven input sink type To drive the limit input general purpose input control input block therefore an external power supply is required at 12 24 V Vcc Vcc Swich External Power Supply 12 24VDC Board Photocoupler Input Pin External Device Plus Common Photocoupler Input Pin Swich Input pin is IN1 IN7 LIM LIM ORG Figure 3 13 Limit input general purpose inpu...

Страница 46: ... PCI P COM 100 24V IN 47 OUT1 64 OUT2 65 OUT3 66 CCW 63 IN2 98 LIM 91 LIM 90 IN1 99 A 78 A 77 B 76 B 75 Z 74 Z 73 IN3 97 IN4 96 IN5 95 IN6 94 IN7 93 ORG 92 CCW 62 GND 59 CW 61 CW 60 S ON 40 P OT 42 N OT 43 ALM 31 ALM 32 COIN 25 COIN 26 S RDY 29 S RDY 30 TGON 28 TGON 27 ALO1 37 ALO2 38 ALO3 39 PAO 33 PAO 34 PBO 35 PBO 36 PCO 19 PCO 20 ALM RST 44 PL3 18 CLR 15 SG 01 SIGN 12 SIGN 11 CLR 14 PLUS 8 PLU...

Страница 47: ...even completely damage the transistor Therefore when driving an induction load such as a relay coil you should always connect a surge absorbing device The following illustrates a surge voltage countermeasure that can be employed Examples of use of relay coil Examples of use of lump Diode Relay coil Surge current prevention resistor GND OUT 1 3 External Power Supply 12 24VDC GND OUT 1 3 External Po...

Страница 48: ...nction moves the motor without specifying the travel distance Use the function to manually position the motor ORG operation function This function moves the motor to the origin Linear interpolation This product supports multi axial linear interpolation Linear interpolation causes linear motion to the specified position S curve acceleration deceleration function This product has the S curve acceler...

Страница 49: ...otor rotates counterclockwise CCW When the carrier reaches either position the limit input is turned on the motor stops immediately unconditionally Even when a subsequent operation directive instruction for moving in the same direction is issued the carrier won t move forward beyond the limit position as long as the limit has been applied The motor restarts operation rotation in response to an ope...

Страница 50: ...B trailing signal The minimum phase difference between Phase A and Phase B should be set to 0 2µ sec for line driver output connection to 0 34µ sec for TTL level output connection or to 1µ sec for open collector output connection A B U U U U U U U U U U U U U U U U U A B D D D D D D D D D D D D D D D D D U Up Count D Down Count Multiply by 1 Multiply by 2 Multiply by 4 Multiply by 1 Multiply by 2 ...

Страница 51: ... direction pulse output CW forward pulse output is the pulse output signal to rotate operate the stepping motor clockwise CW CCW backward pulse output rotates the motor counterclockwise These signals are independent of each other When a command for rotation is executed the pulse signal for the specified direction outputs the preset number of operation pulses CW CCW When positive direction operates...

Страница 52: ...eneral purpose input signals IN1 IN7 general purpose input signals can be used to read data from I O ports Since these are independent of motor control they do not affect pulse output even during motor operation As seven signals are provided for each axis they can be used to input the alarm signal or positioning completion signal from the motor driver unit IN1 IN5 can be switched to serve as the a...

Страница 53: ...tor operation As three signals are provided for each axis they can be used to output the level output signal for the servo on and hold off to the motor driver unit one shot pulse signal for each clear signal and the comparator output signal The output logic can also be changed by software ALMCLR alarm clear output signal ERC driver differential clear output ALMCLR and ERC are signals to output cle...

Страница 54: ...erminal can connect a four axis motion control system alone Conversion cable User The shape of the control connector of each driver unit is largely different depending on the manufacturer and type A conversion cable must be prepared to connect each driver unit to the CCB SMC2 Driver unit Motor maker Stepping motor Servo motor Motor maker Motor and driver unit to be subject to motion control Availa...

Страница 55: ...4 Functions 48 SMC 4DL PCI SMC 8DL PCI ...

Страница 56: ...l Version information on each driver English APIPAC Driver file for Windows AIO DISK1 DISK2 DISKN AioWdm CNT DIO HELP HELP file Aio Cnt INF Each INF file for OS WDM Win2000 Win95 linux Driver file for Linux cnt dio Readme Readme file for each driver Release Driver file on each API TOOL API_NT For creation of a user specific install program API_W95 UsersGuide Hardware User s Guide PDF files ...

Страница 57: ...et and execute basic motor operations such as PTP and JOG operations Capable of digital input output of specified axes For details refer to the help file The help file provides various items of information such as Function Reference Sample Programs and Q A Use them for program development and troubleshooting Accessing the Help File 1 Click on the Start button on the Windows taskbar 2 From the Star...

Страница 58: ...Windows taskbar From the Start Menu select Settings Control Panel 2 Double click on Add Remove Programs in the Control Panel 3 Double click on Add or Remove Programs in the Control Panel Select CONTEC API SMC WDM driver from the application list displayed then click on the Change Remove button Follow the on screen instructions to uninstall the function libraries ...

Страница 59: ...5 About Software 52 SMC 4DL PCI SMC 8DL PCI ...

Страница 60: ... Interrupt 1 ch Interrupt factor At the time of stop by positive direction end limit input ON At the time of stop by negative direction end limit input ON At the time of stop by alarm input on At the time of stop by simultaneous stop operation At the time of stop by deceleration decelerated stop input on At the time of occurring the encoder input error The other event setting by the software I O a...

Страница 61: ... channel 3ch axis original point Forward limit reserve limit Input signal name ORG origin input LIM positive direction end limit input LIM negative direction end limit input Input logic Enables selecting the positive negative logic by using the Software Input type Opto isolated input corresponding to current sink output Response time Max 200 µsec Input resistance 4 7kΩ Input ON current 2 0mA or mo...

Страница 62: ...e 6 6 General purpose Output Section Item Specification Number of signal channel 3ch axis Output signal name OUT1 general purpose output OUT2 general purpose output OUT3 general purpose output ALMCLR alarm clear output ERC driver differential clear output CP1 comparator1 output CP2 comparator2 output Signal specification Un isolated open collector output current sink type Enables selecting the pos...

Страница 63: ...eral purpose input Motor controller PCL6143 Receiver Driver Encoder input Limit input Photo coupler Pulse output Receiver Driver Encoder input Limit input Photo coupler Pulse output Motor controller PCL6143 Receiver Driver Encoder input Limit input Photo coupler Pulse output Receiver Driver Encoder input Limit input Photo coupler Pulse output Each axis 3ch Axis3 Axis4 Axis7 Figure 6 1 Block Diagra...

Страница 64: ...u Osaka 555 0025 Japan Japanese http www contec co jp English http www contec com Chinese http www contec com cn No part of this document may be copied or reproduced in any form by any means without prior written consent of CONTEC CO LTD 10172006 07252006 Management No A 51 263 10172006 Parts No LYGG561 ...

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