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MPC2810 Motion Controller Hardware Manual

1

1 OVERVIEW

1.1 Introduction

Leetro

™

MPC2810 is a high-performance 1 to 4-axis PCI-BUS card for stepper

motors and digital servo motors. Multiple MPC2810 control cards can be put in a

PC to control up to 16 axes.

MPC2810 motion control card adopts IBM-PC and its compatible PC as the host

computer. It is a PC-based control unit for stepper motor and digital servo motor.

With the advanced Field Programmable Gate Array (FPGA), MPC2810 provides

dedicated motion control features such as pulse/direction or CW/CCW signal

output,

forward/reverse

limit

and

origin

input

for

each

axis,

acceleration-deceleration control, linear and circle interpolations, and much more.

For step motors/servo motors, pulse output rate up to 2.0 MHz provides fast and

smooth motion for full step or micro-stepping drivers.

Based on MPC2810’s powerful functions and Windows DLL, the user can

develop various motion control system easily. Library, header files and module

declare files are applicable for current popular programming development tools

such as Visual Basic6.0 and Visual C++6.0. MPC2810’

s functions are also

conveniently applicable for other 32-bit Windows development tools such as

Delphi, C++ Builder, and etc. Moreover, the configuration software that supports

Windows DLL can also use MPC2810 motion controller.

Содержание MPC2810

Страница 1: ...MPC2810 Hardware Manual Rev 1 0 December 2008...

Страница 2: ...ers Both Step Servo and Leetro are trademark of Leetro Automation Co Ltd Leetro s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure o...

Страница 3: ...otion controller developed by Leetro Automation Co Ltd Please read through this manual for specifications and proper use especially the Safety Precautions section Your motion controller has been desig...

Страница 4: ...Please read through the routine safety precautions to avoid any injury or property damage Use only quality power cables Make a connection or disconnection correctly and securely The power shouldn t b...

Страница 5: ...s from the Breakout board Do not operate if there are suspicions of potential errors If you suspect any parts of the Product are damaged please have them inspected by qualified technicians Do not subj...

Страница 6: ...e the dates of purchase and delivery model number and serial number of the unit and a brief description of the problem Leetro Automation Co Ltd neither assumes nor authorized any representative or oth...

Страница 7: ...ol software produced by other than our company Repair and modification by other than our company Failure and damage caused by natural disasters Customers are responsible for the shipping costs Product...

Страница 8: ...1 3 2 SIGNAL INTERFACE 22 3 2 1 Breakout board P62 01 22 3 2 2 Universal I O Extension Cable C4037 24 3 2 3 Breakout board P62 02 26 3 3 CONNECTION 29 3 3 1 Connect MPC2810 to P62 01 29 3 3 2 Connect...

Страница 9: ...forward reverse limit and origin input for each axis acceleration deceleration control linear and circle interpolations and much more For step motors servo motors pulse output rate up to 2 0 MHz prov...

Страница 10: ...modes Two modes are available batch processing and immediate processing Interpolation of continuous micro line segments trajectories Look ahead capability to achieve high speed and smooth interpolati...

Страница 11: ...mmands are used for setting the universal outputs 1 4 as comparative position control outputs Encoder latch MPC2810 motion controller can latch encoder feedback signals of 1 Ch and 2 Ch Destination Po...

Страница 12: ...ed inputs 4 inputs each axis forward limit reverse limit origin ramp down Alarm Common Max pulse output frequency 2MHz Min pulse output frequency 0 2Hz Variable speed mode Trapezoidal S curve or user...

Страница 13: ...on control card and breakout board 2 PC or industrial control computer with PCI slot Windows2000 XP operation system 3 Stepper motor or digital servo motor 4 Motor drives 5 Power supplies for motor dr...

Страница 14: ...akout board 1 37 pin shielded cable 2m 2 2 MPC2810 P62 01 P37 05 P62 02 Layout There are two types of breakout board P62 01 and P62 02 Only special input output signals such pulse direction limits ori...

Страница 15: ...ensions mm Power converter module 24V 5V 8 CH universal output circuit Pul dir output 2 axes encoder input circuit 20 CH dedicated Input circuit 16 CH universal input circuit 16 CH universal inputs ci...

Страница 16: ...s 3mm Fig 2 3 P62 01 Breakout Board D61 D59 D57 D55 D53 D51 D49 D47 D45 D43 D62 D60 D58 D56 D54 D52 D50 D48 D46 D44 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16 D17 D18 D19 D20 D41 D39 D37 D...

Страница 17: ...t board P37 05 for I O extension board mm Mounting Hole Dimensions 3 5mm 4 Breakout board P62 02 for MPC2810 Fig 2 5 P37 05 Breakout Board 76 91 68 5 81 CN2 CN1 CN3 ENC1 AXIS1 ENC2 CN5 CN4 AXIS2 AXIS3...

Страница 18: ...tomatically install the card When you see the pop up dialog box indicating that new device is found please click cancel and install the driver function storehouse and demo programs as following steps...

Страница 19: ...ller Hardware Manual 11 2 Run setup program under root directory of installation CD Then click Next to continue the installation 3 Select components to be installed Fig 2 7 Welcome window Fig 2 8 Sele...

Страница 20: ...ware Manual 12 4 Select the destination location of installation files Default path C Program Files MPC2810 Click Browse to choose a preferred path 5 Click Next to start the installation Fig 2 9 Choos...

Страница 21: ...roller Hardware Manual 13 6 Finish the installation Click Finish to complete the installation 7 When the installation completed system will indicate to restart the Fig 2 10 Copying files Fig 2 11 Inst...

Страница 22: ...er the system restarted 8 To check if the installation completed successfully open the MPC2810 folder located in destination path You can see following files A Demonstration programs in Demo directory...

Страница 23: ...marily test the control system and easily learn how to develop MPC2810 Click About to learn more about MPC2810 hardware and software version information Run VBDemo2 the following motion control perfor...

Страница 24: ...sal I Os and special inputs b 7 demonstration programs in sub directory VCDemo All include source code except VCDemo3 VCDemo1 and VCDemo2 VCDemo1 is the VC static loading dynamic link library example...

Страница 25: ...o source code It can read DXF file test I O commands Refer to Chapter4 CmdMove1 demonstrates batch processing and short line segments tracking examples HandwheelorGearHandle demonstrates manual pulse...

Страница 26: ...MPC2810 Motion Controller Hardware Manual 18 InterruptHandle demonstrates event handling example Fig 2 18 HandwheelorGearHandle window Fig 2 19 InterruptHandle window...

Страница 27: ...810 driver programs and functions storehouse a Sub directory Common MPC2810 driver program and functions storehouse b Sub directory VB Module file MPC2810 bas used for developing VB execution program...

Страница 28: ...http www leetro com The later version will be compatible with former ones The updating procedure is 1 Close all program 2 Uninstall the former program 3 Run the later setup program 4 If it is develop...

Страница 29: ...of Dialer Local ID No Card No 0x0H 1 0x1H 2 0x2H 3 0x3H 4 Maximum 4 cards can be used Maximum ID number should be 0x3H If only one card is used the ID should be 0x0H default setting If four cards are...

Страница 30: ...CV24V 24V input Compulsory D3 20 OGND 24V GND input Compulsory D4 62 SD1 Axis 1 Ramp down Signal D5 41 EL1 Axis 1 Reverse Limit Signal D6 19 EL1 Axis 1 Forward Limit Signal D7 61 ORG1 Axis 1 Homing Si...

Страница 31: ...oder A1 up down pulse Pul 1 D25 55 DIN1 Encoder A1 up down pulse Pul 1 D26 54 DIN2 Encoder B1 up down pulse Dir 1 D27 34 DIN2 Encoder B1 up down pulse Dir1 D28 33 DIN3 Encoder Z1 D29 12 DIN3 Encoder Z...

Страница 32: ...43 DOUT8 Axis 4 pulse D62 22 reserve 3 2 2 Universal I O Extension Cable C4037 16 universal inputs and 16 universal outputs can be extended with the installation of C4037 Connect MPC2810 to external 3...

Страница 33: ...9 OUT13 Universal output 13 P27 27 OUT14 Universal output 14 P8 8 OUT15 Universal output 15 P26 26 OUT16 Universal output 16 P7 7 COM9_16 Protect circuit connected to 24V P25 25 DCV24 Output 24V outpu...

Страница 34: ...iversal inputs and alarm input CN5 24V power supply ENC1 Encoder 1 ENC2 Encoder 2 AXIS1 Axis 1 Control Interface pulse direction origin limits Ramp down AXIS2 Axis 2 Control Interface pulse direction...

Страница 35: ...iversal output 11 O10 Universal output 10 O9 Universal output 9 O8 Universal output 8 O7 Universal output 7 O6 Universal output 6 O5 Universal output 5 O4 Universal output 4 O3 Universal output 3 O2 U...

Страница 36: ...pin Description A1 Encoder A1 A2 Encoder A2 A1 Encoder A1 A2 Encoder A2 B1 Encoder B1 B2 Encoder B2 B1 Encoder B1 B2 Encoder B2 Z1 Encoder Z1 Z2 Encoder Z2 Z1 Encoder Z1 Z2 Encoder Z2 GND 24V GND GND...

Страница 37: ...5V output reserve DC5V 5V output reserve E3 Axis 3 Forward Limit E4 Axis 4 Forward Limit E3 Axis 3 Reverse Limit E4 Axis 4 Reverse Limit ORG3 Axis 3 Homing ORG4 Axis 4 Homing SD3 Axis 3 Ramp down SD4...

Страница 38: ...pulse output modes for MPC2810 Pul Dir and CW CCW Default mode is Pul Dir User can change the output mode of each axis using set_outmode command Refer to Programming Manual Fig 3 5 Connect Breakout Bo...

Страница 39: ...D47 D46 Motor Drive DIR DIR D49 D48 PULSE PULSE D47 D49 b Single ended Pul Dir Mode P62 01 Motor Drive DIR PULSE a Differential Pul Dir Mode P62 01 D47 D46 Motor Drive DIR DIR D49 D48 PULSE PULSE b Si...

Страница 40: ...he connection diagram Fig 3 11 shows the connection example provided encoder latch signals are single ended Up down pulse mode Connect external pulse signal to the pulse input port of corresponding A...

Страница 41: ...switch outputs for MPC2810 User can set universal output1 4 as comparative position output ports using the command enable_io_pos 3 3 3 4 Connecting Universal I O 1 Universal Inputs Loop Alarm input li...

Страница 42: ...used as switch inputs of servo system Servo ON Error Counter Reset or be used for driving intermediate relay or photo coupler of 24DCV DC24 12 D3 D2 MPC2810 a Contact Switch Fig 3 13 GI Connection Dia...

Страница 43: ...MPC2810 Motion Controller Hardware Manual 35 b Drive Relay Fig 3 16 GO Connection Diagram R ULN2803 DC24 D36 D3 Output Relay MPC2810...

Страница 44: ...nnected well Debugging software is to test if the system can work normally confirm if the connection is all right and track some simple motions 4 1 Destination path When software installation complete...

Страница 45: ...ay resolution 1024 768 Recommend 4 2 How to use the debugging program After running VcDemo3 exe five modules will present as fig 4 2 They are Continuous Trajectory PTP Control IO Test Commands Test an...

Страница 46: ...ter performance in the micro segment trajectory motion Batch processing will be executed as set velocity and acceleration There are some settings in the parameters Start up Velocity Max Velocity Accel...

Страница 47: ...s error The Specific Inputs function will be enabled with the check symbol which is behind the signal shown as Fig 4 5 Without check symbol it is the Standard Inputs Negative Logic and Positive Logic...

Страница 48: ...button is to enter the Test Command module In this module users can test all functions of MPC2810 After double clicking the parameter column to enter the data clicking the button to carry out the comm...

Страница 49: ...MPC2810 Motion Controller Hardware Manual 41 Fig 4 6 Test Command 5 System Setting Module As Fig 4 7 shown Pulse Out Mode Feedback and Home Mode will be set in this window Fig 4 7 System Setting...

Страница 50: ...nual 42 5 Typical Connection 5 1 Connect MPC2810 to DMD808 Stepper Motor Drive D46 D47 D48 D49 D2 D3 Dir Dir Pul Pul Motion control card Stepper motor drive DC24 12 Axis 1 Direction Axis 1 Direction A...

Страница 51: ...D29 23 D46 6 D47 5 D48 4 D49 3 D3 D2 Note The encoder feedback pins can be disconnected Motion control card Servo motor driver Encoder A1 Encoder A1 DC24 12 Encoder B1 Encoder B1 Encoder Z1 Encoder Z...

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