ADLINK AMP-208C User Manual

Download

AMP-204C / AMP-208C

Advanced DSP Pulse Motion Controller

for 4/8 Axis

User Manual

Manual Rev.: 2.00

Revision Date: July 25, 2014

Part No: 50-15089-1000

Advance Technologies; Automate the World.

Revision History

Revision Release Date Description of Change (s)

2.00 2014-07-25 Initial release

AMP-204C / AMP-208C

Preface

This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.

Disclaimer

The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer. Under no circumstances will ADLINK be held liable to this document.

In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages.

Environmental Responsibility

ADLINK is committed to fulfill its social responsibility to global environmental preservation through compliance with the European Union's Restriction of Hazardous Substances (RoHS) directive and Waste Electrical and Electronic Equipment (WEEE) directive. Environmental protection is a top priority for ADLINK. We have enforced measures to ensure that our products, manufacturing processes, components, and raw materials have as little impact on the environment as possible. When products are at their end of life, our customers are encouraged to dispose of them in accordance with the product disposal and/or recovery programs prescribed by their nation or company.

Trademarks

Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

Preface iii

Conventions

Take note of the following conventions used throughout this reference to make sure that users perform certain tasks and instructions properly.

Additional information, aids, and tips that help users perform tasks.

NOTE

Information to prevent minor physical injury, component damage, data loss, and/or program corruption when trying to

CAUTION

WARNING

complete a task.

Information to prevent serious physical injury, component damage, data loss, and/or program corruption when trying to

complete a specific task.

iv Preface

AMP-204C / AMP-208C

Revision History...................................................................... ii

Preface.................................................................................... iii

List of Figures........................................................................ ix

List of Tables........................................................................ xiii

1 Introduction ........................................................................ 1

1.1 Product Specifications ......................................................... 4

1.2 Software Support ................................................................. 8

Software Support Library ................................................ 8

MotionCreatorPro 2 ........................................................ 8

1.3 Terminal Board .................................................................... 8

2 Getting Start with The Installation.................................... 9

2.1 Package Contents ............................................................... 9

2.2 AMP-204C / AMP-208C Exterior Profile Diagram ............. 10

2.3 Hardware Installation ......................................................... 12

Hardware Configuration ................................................ 12

Installation Procedures ................................................. 12

Troubleshooting ............................................................ 13

2.4 Software Installation Procedure......................................... 14

2.5 Definitions to Key Connector Signal .................................. 16

AMP-204C:P1 Connector ............................................. 16

AMP-208C:P1-A/B Connector ...................................... 18

AMP-204C/208C:P2 Connector .................................... 21

2.6 DIP Switch ......................................................................... 23

SW2: Card ID Switch .................................................... 23

2.7 IDE 44p – DSUB 37p Bus.................................................. 24

2.8 Exclusive Board - DIN-825-GP4 ........................................ 25

Contents v

Definitions to Connector ............................................... 26

P1 Connector: For Connecting to PCI-8254 / PCI-8258 /

AMP-204C / AMP-208C ................................................ 28

S1, S2: EDO/ALM_RST Selection Switch .................... 37

3 Signal Connection ............................................................ 39

3.1 Pulse Command ................................................................ 40

3.2 Encoder Input, EA & EB & EZ............................................ 43

3.3 Emergency Stop Input ....................................................... 45

3.4 PEL/MEL Input................................................................... 46

3.5 ORG Input.......................................................................... 48

3.6 INP Input ............................................................................ 49

3.7 ALM Input .......................................................................... 50

3.8 SVON Output ..................................................................... 51

3.9 Comapre & Trigger Output:................................................ 52

3.10 Digital Output/Input ............................................................ 54

4 Motion Control Theory ..................................................... 59

4.1 Motion Control Mode and Interface Overview.................... 60

4.1.1 Motion Control Interface ........................................... 60

4.1.2 Control Cycle ............................................................ 66

4.2 Motion Control Operations ................................................. 68

4.2.1 Coordinated System ................................................. 68

4.2.2 Unit Factor ................................................................ 69

4.2.3 Acc/Deceleration Profile ........................................... 72

4.3 Home Move........................................................................ 78

4.3.1 OGR Signal Homing - Home Mode = 0 .................... 81

4.3.2 EL Signal Homing - Home Mode 1 ........................... 88

4.3.3 Single EZ Signal Homing.......................................... 91

4.4 Velocity Move..................................................................... 94

4.5 Jog Move ........................................................................... 97

4.6 Point-to-Point Move ......................................................... 101

4.6.1 Point-to-Point Move ................................................ 101

vi Contents

AMP-204C / AMP-208C

4.6.2 Synchronous Start .................................................. 102

4.6.3 On The Fly Change ................................................ 103

4.6.4 Continuous PTP Move............................................ 103

4.7 Interpolation ..................................................................... 106

4.7.1 Linear Interpolation................................................. 106

4.7.2 Arc Interpolation ..................................................... 108

4.7.3 Continuous Interpolation......................................... 116

4.8 Motion Status Monitoring ................................................. 122

4.8.1 Motion Status.......................................................... 123

4.9 Application Functions....................................................... 132

4.9.1 Electronic Gearing .................................................. 132

4.9.2 High Speed Position Compare Trigger................... 134

4.9.3 PWM Control (Laser Control) (VAO Table Control)140

4.9.4 Motion Control and I/O Sampling Function............. 148

4.9.5 Simultaneous Movement ........................................ 153

4.9.6 Point Table Movement............................................ 156

4.10 Safety Protection ............................................................. 161

4.10.1 Hardware Protection ............................................... 161

4.10.2 Software Protection ................................................ 164

4.11 Host Interrupt ................................................................... 168

Important Safety Instructions............................................ 176

Getting Service.................................................................... 178

Contents vii

viii Contents

AMP-204C / AMP-208C

List of Figures

Figure 1-1: AMP-204C/208Csystem block diagram...................... 2

Figure 1-2: System installation flow chart ..................................... 3

Figure 2-1: AMP-204C exterior profile diagram .......................... 10

Figure 2-2: AMP-208C exterior profile diagram .......................... 11

Figure 2-3: Exterior of DIN-825-GP4 .......................................... 25

Figure 2-4: Exterior of DIN-825-GP4 .......................................... 26

Figure 3-1: Line Driver type pulse control command signal

connection example41

Figure 3-2: Open-Collector type pulse control command signal

connection example42

Figure 3-3: Line driver type encoder input signal connection example

Figure 3-4: Emergency stop signal connection example ............ 45

Figure 3-5: Mechanical limit switch signal connection example.. 47 Figure 3-6: Original position switch signal connection example . 48

Figure 3-7: In-position signal connection example...................... 49

Figure 3-8: Servo alarm signal connection example................... 50

Figure 3-9: Servo-on signal connection example........................ 51

Figure 3-10: Line Driver type compare trigger signal connection

example52 Figure 3-11: Open-Collector type compare trigger signal connection

example53 Figure 3-12: General purpose digital I/O signal connection example

55 Figure 3-13: General purpose digital I/O signal connection example

Figure 4-1: Format of pulse signal .............................................. 61

Figure 4-2: Control cycle............................................................. 67

Figure 4-3: Controller coordinates system block......................... 68

Figure 4-4: Relation of trapezoidal speed profile's

speed/acceleration/jerk VS time72

Figure 4-5: Maximum speed by auto-planning............................ 73

Figure 4-6: Relation of S-curve speed profile's

speed/acceleration/jerk VS time74

Figure 4-7: Auto-planning the maximum velocity........................ 76

Figure 4-8: Home mode 0 (Case: ORG) .................................... 82

Figure 4-9: Home mode 0 (Case: ORG) .................................... 84

Figure 4-10: Home mode 0 (Case: ORG+EZ) ............................. 85

List of Figures ix

Figure 4-11: Home mode 0 adverse (Case: ORG+EZ)................ 86

Figure 4-12: Home mode 0 decelerate to stop (Case: ORG)....... 87

Figure 4-13: Home mode 1 (Case: EL) ........................................ 88

Figure 4-14: Home mode 1 (Case: EL+EZ) ................................. 90

Figure 4-15: Home mode 2 (Case: EZ)........................................ 92

Figure 4-16: Home mode 2 adverse (Case: EZ) .......................... 93

Figure 4-17: Relation between V-T chart of JOG movement and

JOG-ON signal97

Figure 4-18: Jog step mode .......................................................... 98

Figure 4-19: T-curve V-T chart.................................................... 101

Figure 4-20: Dynamically change position and velocity .............. 103

Figure 4-21: Continuous three position V-T chart ....................... 104

Figure 4-22: Continuous three position V-T chart

(auto speed connection (1)104 Figure 4-23: Continuous three position V-T chart

(auto speed connection (2)104 Figure 4-24: Continuous three position V-T chart

(auto speed connection (3)105 Figure 4-25: Continuous three position V-T chart

(auto speed connection (4)105

Figure 4-26: Two-dimension straight line interpolation ............... 107

Figure 4-27: Three-dimension arc interpolation (method 1)........ 109

Figure 4-28: Defining spatial normal vector ................................ 110

Figure 4-29: Determining arc direction in space ......................... 110

Figure 4-30: Three dimension arc interpolation (method 2)........ 111

Figure 4-31: Three dimension arc interpolation example............ 112

Figure 4-32: Three dimension spiral interpolation (method 1) .... 113

Figure 4-33: Three-dimension spiral interpolation (method 2) .... 114

Figure 4-34: Illustration on continuous interplotation (Buffer)

movement116

Figure 4-35: Velocity blending (method 1) .................................. 117

Figure 4-36: Velocity blending (method 2) .................................. 118

Figure 4-37: Velocity blending (method 3) .................................. 118

Figure 4-38: Velocity blending (method 4) .................................. 119

Figure 4-39: Velocity blending (method 5) .................................. 119

Figure 4-40: Velocity blending (method 6) .................................. 120

Figure 4-41: Velocity blending (method 7) .................................. 120

Figure 4-42: Continuous interpolation examples......................... 121

Figure 4-43: Motion status monitoring process ........................... 122

Figure 4-44: Relation of different motion signals VS motions ..... 125

xList of Figures

AMP-204C / AMP-208C

Figure 4-45: Relation of motion done (MDN) signal VS motion .. 126 Figure 4-46: Relation of motion done (MDN), In-homing (HMV) signals

VS motion127

Figure 4-47: Relation of WAIT signals VS motion....................... 128

Figure 4-48: Relation of JOG and motion done(MDN) signals VS

motion129

Figure 4-49: Relation of ASTP VS motion .................................. 129

Figure 4-50: Relation of blending (BLD) signal VS motion ......... 130

Figure 4-51: Relation between pre- and post-distance event signals

and movement131 Figure 4-52: Adjust electronic gear's auto engagement speed... 133

Figure 4-53: Compare trigger block diagram .............................. 135

Figure 4-54: Linear compare trigger example ............................. 137

Figure 4-55: Table compare trigger example .............................. 138

Figure 4-56: Table compare trigger block diagram ..................... 139

Figure 4-57: Signal sampling structure diagram ......................... 148

Figure 4-58: Interruption flow chart ............................................. 168

List of Figures xi

xii List of Figures

AMP-204C / AMP-208C

List of Tables

Table 1-1: Cross-reference table of exclusive cables for pulse servo

drive8

Table 4-1: Encoder input format ..................................................... 63

Table 4-2: Encoder input format ..................................................... 63

Table 4-3: Board parameter table ................................................. 146

Table 4-4: Motion kernel signal table ............................................ 149

List of Tables xiii

xiv List of Tables

AMP-204C / AMP-208C

1 Introduction

The AMP-204C / AMP-208C, is a fully in-house developed DSP-based advanced motion control card from ADLINK. It supports 4/8 axis pulse type signal commands, provides open-loop circuit control options, and supports position commands for several different servo drives.

AMP-204C / AMP-208C exchanges data with operating system through high speed PCI bus including motion control command, feedback data, parameter, etc. Used with the ADLINK exclusive Softmove kernel, it offers scores of move control functions including T/S speed profile planning, point-to-point movement, multi-dimension interpolation, and master/slave motion.

The AMP-204C / 208C, see Figure 1 below for its system functions, uses one digital signal processor (DSP) from Texas Instrument (TI) as its main computing unit and integrates high speed large volume Field Programmable Gate Array (FPGA) to provide high speed encoder output, 2/4 high speed position compare and trigger output, move & general purposed I/O and logic control. It separates isolation circuit into exclusive terminal board DIN-825-GP4 to prevent the burning out of AMP-204C/208C from incorrect wiring. Thanks to full range of flexing resistant wires from ADLINK, it connects with market avaialble popular servo dirves easily.

Introduction 1

SCSI 100P

PCI Bus PCI Bus

Isolation

DSUB 37P

DIN-825-GP4

Figure 1-1: AMP-204C/208Csystem block diagram

Graphical motion control interface – MotionCreatorPro 2 is a

Windows-based motion control software development tool for motion control and I/O status monitoring. It captures motion curves and data at the same time for analysis. Its Setup Wizard guides you through the hardware installation and wiring as well as single-axis manipulation step-by-step. This saves your development time and cost.

2Introduction

AMP-204C / AMP-208C

The Windows Programming Libraries supports Windows coding

environment including: Visual Studio C++ 6.0, Microsoft .NET framework based VB.NET and C++, and Borland's C++ Builder. There are sample programs available in the installation folders. The flow chart below will guide you in using this manual as well as help you to locate any required information effectively.

Hardware installation

Wiring and jumper setup

Set up card and adjust axis parameters with MotionCreatorPro 2

Control axis with MotionCreatorPro 2

Develop application with APS library

Is the system running

successfully?

Yes

Chapter II and III

MotionCreatorPro 2 User's Manual

Chapter IV MotionCreatorPro 2

User's Manual

APS and ADCNC library

End

Figure 1-2: System installation flow chart

Introduction 3

1.1 Product Specifications

Item Description

Bus information PCI Rev. 2.2, 33MHz

System

DSP

Board-to-board interface

Motion control

I/O interface

General purpose digital I/O

PCI bus width 32-bit PCI bus voltage 3.3V, 5V PCI bus IRQ settings Assigned by PCI controller Model TI 375MHz floating DSP

Memory (for program and data)

Connector

Number of axes supported

Track update rate

Position / speed command range

Acceleration / deceleration range

Encoder input frequency 20 MHz @ 4x AB

Encoder input mode

Encoder input interface ±12 volts, TTL compatible

Motion control relevant I/O

Drive relevant I/O

General purpose I/O

DDR2 SDRAM: 64Mx16bit Flash ROM: 16M-bit

1x SCSI-II 100P for AMP-204C

1x Dual SCSI VHDCI 100P

AMP-208C

for

4/8 axis for AMP-204C / AMP-208C

500us, 1ms, 2ms (programmable)

32 bit

CW/CCW, 1x/2x/4x AB Phase

Plus/Minus end limitsignal Zero-position for each axis Servo ON In-position signal /

Zero-Speed detection Alarm 20/24-CH input & 20/24-CH

TTL output (optical isolation design for DIN-825-GP4)

4Introduction

Motion control function

AMP-204C / AMP-208C

Item Description

Speed Profile Planning

Trajectory Planing

Linear interpolation: 2-6 axes

Home Return

Trapezoidal Curve and S-Curve

Jogging Point-to-point movement Online position/speed

change 3 axes arc interpolation 3 axes spiral interpolation 3 axes helix interpolation User customization (see

zero-position, limit switch, EZ signals for reference)

Introduction 5

Industrial application

Interrupt

Position comparison & trigger output

Item Description

Each axis supports 50 points buffer memory (BUFs)

Supports

Point table

Motion Status Monitoring

Synchronous move

Master-client axes control

Data sampling

System error diagnostics Watchdog timer Motion status event/error

alarm/in position/ emergency stop

Pulse output interface Difference output

Trigger channel

Pulse logic

Trigger output frequency

Minimum pulse width 100ns programmable

Position comparison mode

FIFO capacity

point-to-point/line/arc and spiral interpolation

Supports dwell function Supports pause/resume

function Supports DO function Motion control relevant I/O

monitoring Motion status monitoring 4/8 axes corresponding

AMP-204C / AMP-208C Up to 4/8 axis (including

ganty control) Motion speed profile/

motion status/motion control relevant I/O

Planning in accordance with the manual

2/4 corresponding AMP-204C / AMP-208C

Programmable active-high or active-low

Linear compare trigger: 1MHz FIFO compare trigger: 255K ~ 1MHz

FIFO and linear comparison

255 points (channel independent)

6Introduction

Item Description

PWM control

Maximum number of channels

Control modes

Resolution 16 bit

Environment condition

Working ambient temperature

Storage ambient temperature

Working ambient humidity

0~55°C

-20~75°C

10~90%RH, without condensation

AMP-204C / AMP-208C

2/4 CH correspondence AMP-204C / AMP-208C

● Fixed frequency, variable duty cycle ratio

● Variable frequency, fixed duty cycle ratio

● Variable frequency, variable duty cycle ratio

Item

Storage ambient humidity

Noise impedance

Environment condition

Cooling condition

Power consumption

Introduction 7

10~90%RH, without condensation

Noise voltage 1500VPP noise frequency 25~60Hz using noise simulator

Minimal corrosive gas, dust

Self-cooling

+3.3V @ 0.8A typical +5V @ 0.8A typical +/-12V @ 0.5A typical

1.2 Software Support

1.2.1 Software Support Library

AMP-204C / AMP-208C supports Windows XP/7 32/64 bit operating system and provides a complete function library and DLL files for easy application development by users.

1.2.2 MotionCreatorPro 2

MotionCreatorPro 2 is a user interface exclusively developed for ADLINK motion control products in common Windows environment. You may easily set up card and axis parameters with the help of MotionCreatorPro 2. Its Setup Wizard guides you through the hardware installation and wiring as well as single-axis manipulation in couple of minutes. MotionCreatorPro 2 not only effectively reduces your development time but also enables you to concurrently validate the overall mechanism and electric design with all its single axis and interpolation motion operation pages.

1.3 Terminal Board

ADLINK's exclusive terminal board DIN-825-GP4 for AMP-204C/208C can connect with market available servo drivers with special cables, e.g. Mitsubishi's J3A and Yaskawa's Sigma V series, or with third party's servo or stepper drivers by single ended open cables. Brands with exclusive cables support are listed below:

Pulse command:

Cable Supported brands HSL-4XMO-DM Mitsubishi J2S series 4XMO-DM-J3 Mitsubishi J3A series HSL-4XMO-DP Panasonic A4 and A5 series HSL-4XMO-DY Yaskawa Sigma V series 4XMO-DA Delta A2 series 4XMO-OPEN General purpose

Table 1-1: Cross-reference table of exclusive cables for pulse servo drive

8Introduction

AMP-204C / AMP-208C

2 Getting Start with The Installation

This chapter teaches you how to install AMP-204C / AMP-208C hardware and software as well as its I/O wiring.

• Package Contents

• Hardware installation

• Software installation

• I/O wiring

2.1 Package Contents

In addition to this manual you shall find the following item in the product package box:

• One AMP-204C or AMP-208C card

• IDE 44p – DSUB 37p flat cable x 1

• Product warranty card x 1

Should there be any item missed or damaged, please consult with your dealer immediately. Please keep the product along with items included in its package for easy replacement or repair.

Getting Start with The Installation 9

2.2 AMP-204C / AMP-208C Exterior Profile Diagram

SW2

Dimension in unit of millimeter (mm).

NOTE

Figure 2-1: AMP-204C exterior profile diagram

P1: for Motion control command, Position feedback, and Servo I/O

feedback. (with SCSI 100-PINS connector)

P2:

for 16 channel digital TTL I/O. (with DSUB 37-PINS connector)

SW2:

Card ID setup (0-15)

10 Getting Start with The Installation

AMP-204C / AMP-208C

SW2

Figure 2-2: AMP-208C exterior profile diagram

P1: for Motion control command, Position feedback, and Servo I/O

feedback. (with SCSI-VHDCI 200-PINS connector)

P2:

for 16 channel digital TTL I/O. (with DSUB 37-PINS connector)

SW2: Card ID setup (0-15)

Getting Start with The Installation 11

2.3 Hardware Installation

2.3.1 Hardware Configuration

AMP-204C/208C employs PCI Rev. 2.2 bus. System BIOS can auto configure memory and IRQ channel.

Exclusive terminal board DIN-825-GP4 provides isolation circuit and indicator lights for easy connections to varieties of servo drive and stepper drive.

2.3.2 Installation Procedures

1. Please read this manual carefully and set up signal I/O in proper mode.

2. Turn off power of your computer and all relevant terminal boards, insert your AMP-204C/208C to any 32-bit PCI slot in your computer. (The slot is usually in white color.) (Please make sure you have proper ESD (Electrostatic discharge) protection.)

3. Connect AMP-204C/208C and DIN-825-GP4 with SCSI 100p cable

4. Set up motion control relevant limit switch on DIN-825-GP4 board, servo signal and general purpose digital signal wiring

5. Set up servo or stepper drive connection

6. Turn on system power including computer power, terminal board relevant powers, and 24Vdc power

7. Verify all I/O signal and servo operation correctness with MotionCreatorPro 2

Please ground the shielding end of the power terminal to the earth to reduce risk of electric shock and ensure product

CAUTION

12 Getting Start with The Installation

operation of your electric appliances.

Please disconnect the motor drive from its load before using the card for the first time to protect your safety. Do not connect the motor drive to any mechanical devices before the completion of the installation and fine tuning of the control system. Connect the system only after the board is adjusted and the drive parameters can control the motor. Serious damage may be resulted in otherwise.

AMP-204C / AMP-208C

2.3.3 Troubleshooting

If the computer cannot power on normally or the motion control system operates abnormally after system installation, please follow steps described below for troubleshooting. If the problem persists after you have taken steps described, please consult the dealer where your product is purchased for technical services.

Abnormalities you encountered

The card does not show up in Windows Device Manager after its driver has been installed

MotionCreatorPro2 cannot open after installing driver in computer.

The without signal indicator on MotionCreatorPro2 lights up after the motor is connected and the motor does not work.

When using the MotionCreatorPro2 all the control indicators of the drive light correctly but the drive warns

Value of output command differ from the feedback value from encoder

If motion control, the motor moves only in one direction rather than back and forth two way movement

Potential causes

Please turn off your computer, ensure the card is properly in PCI slot and the driver is properly installed by cheking its proper installation in Windows Control Panel's "Add remove programs"

Ensure .NET framework v3.5 or later version has been installed in your system

Please ensure a 24Vdc power is connected to the terminal board

Please ensure correctness of the axis parameter setup, alarm logic (ALM) and the EMG loop configuration

Please ensure feedback signal (CW/CCW, 1xAB, 2xAB, 4xAB) settings comply with that of the drive

Please ensure setting of signal pattern (CW/CCW, OUT/DIR) comply with that of the motor

drive

Getting Start with The Installation 13

2.4 Software Installation Procedure

Windows driver installation procedure:

Step 1. Execute AMP-204C / AMP-208C WDM file and run

installation procedure automatically.

Step 2. Click "Next" as prompted to complete the installation

process.

14 Getting Start with The Installation

AMP-204C / AMP-208C

Step 3. Restart your computer after installation is completed.

Step 4. Ensure the Windows Device Manager identify your

AMP-204C / AMP-208C correctly.

Recommendations: Please download latest installation software

from ADLINK official website to maintain the optimum operation environment. (http://www.adlinktech.com/Motion-Control/index.php

)

Getting Start with The Installation 15

2.5 Definitions to Key Connector Signal

2.5.1 AMP-204C:P1 Connector

•P1

No. Name I/O Function of Axis No. Name I/O Function of Axis 1 DGND -- Digital ground 51 IEMG I Emergency stop input 2 DGND -- Digital ground 52 Rsv. -- Reserved 3 Rsv. -- Reserved 53 Rsv. -- Reserved 4 Rsv. -- Reserved 54 Rsv. -- Reserved 5 Rsv. -- Reserved 55 Rsv. -- Reserved 6 Rsv. -- Reserved 56 Rsv. -- Reserved 7 Rsv. -- Reserved 57 Rsv. -- Reserved 8 Rsv. -- Reserved 58 Rsv. -- Reserved 9 Rsv. -- Reserved 59 Rsv. -- Reserved 10 Rsv. -- Reserved 60 Rsv. -- Reserved 11 EA5V -- 5V Power 61 DGND -- Digital ground 12 EA5V -- 5V Power 62 DGND -- Digital ground 13 OUT1+ c Pulse output (+), (1) 63 OUT3+ c Pulse output (+), (3) 14 OUT1- c Pulse output (-), (1) 64 OUT3- c Pulse output (-), (3) 15 DIR1+ c Direction output (+), (1) 65 DIR3+ c Direction output (+), (3) 16 DIR1- c Direction output (-), (1) 66 DIR3- c Direction output (-), (3) 17 OUT2+ c Pulse output (+), (2) 67 OUT4+ c Pulse output (+), (4) 18 OUT2- c Pulse output (-), (2) 68 OUT4- c Pulse output (-), (4) 19 DIR2+ c Direction output (+), (2) 20 DIR2- c Direction output (-), (2) 70 DIR4- c Direction output (-), (4) 21 TG1+ c Trigger output (+), (1) 71 TRG2+ c Trigger output (+), (2) 22 TRG1- c Trigger output (-), (1) 72 TRG2- c Trigger output (-), (2) 23 EA1+ | Encoder A-phase (+),(1) 73 EA3+ | Encoder A-phase (+),(3) 24 EA1- | Encoder A-phase (-),(1) 74 EA3- | Encoder A-phase (-),(3) 25 EB1+ | Encoder B-phase (+),(1) 75 EB3+ | Encoder B-phase (+),(3) 26 EB1- | Encoder B-phase (-),(1) 76 EB3- | Encoder B-phase (-),(3)

69 DIR4+ c Direction output (+), (4)

16 Getting Start with The Installation

AMP-204C / AMP-208C

EDO2 c Digital Output, (2) 99 EDO4 c Digital Output, (4)

49 50 EDI2 | Digital Input, (2) 100 EDI4 | Digital Input, (4)

Getting Start with The Installation 17

2.5.2 AMP-208C:P1-A/B Connector

•P1-A

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 DGND -- Digital ground 51 IEMG | Emergency stop input 2 DGND -- Digital ground 52 Rsv. -- Reserved 3 Rsv. -- Reserved 53 Rsv. -- Reserved 4 Rsv. -- Reserved 54 Rsv. -- Reserved 5 Rsv. -- Reserved 55 Rsv. -- Reserved 6 Rsv. -- Reserved 56 Rsv. -- Reserved 7 Rsv. -- Reserved 57 Rsv. -- Reserved 8 Rsv. -- Reserved 58 Rsv. -- Reserved 9 Rsv. -- Reserved 59 Rsv. -- Reserved

10 Rsv. -- Reserved 60 Rsv. -- Reserved

11 EA5V -- 5V power 61 DGND -- Digital ground 12 EA5V -- 5V power 62 DGND -- Digital ground 13 OUT1+ c Pulse output (+), (1) 63 OUT3+ c Pulse output (+), (3) 14 OUT1- c Pulse output (-), (1) 64 OUT3- c Pulse output (-), (3) 15 DIR1+ c Direction output (+), (1) 65 DIR3+ c Direction output (+), (3) 16 DIR1- c Direction output (-), (1) 66 DIR3- c Direction output (-), (3) 17 OUT2+ c Pulse output (+), (2) 67 OUT4+ c Pulse output (+), (4) 18 OUT2- c Pulse output (-), (2) 68 OUT4- c Pulse output (-), (4) 19 DIR2+ c Direction output (+), (2) 20 DIR2- c Direction output (-), (2) 70 DIR4- c Direction output (-), (4) 21 TG1+ c Trigger output (+), (1) 71 TRG2+ c Trigger output (+), (2) 22 TRG1- c Trigger output (-), (1) 72 TRG2- c Trigger output (-), (2) 23 EA1+ | Encoder A-phase (+),(1) 73 EA3+ | Encoder A-phase (+),(3) 24 EA1- | Encoder A-phase (-),(1) 74 EA3- | Encoder A-phase (-),(3) 25 EB1+ | Encoder B-phase (+),(1) 75 EB3+ | Encoder B-phase (+),(3) 26 EB1- | Encoder B-phase (-),(1) 76 EB3- | Encoder B-phase (-),(3) 27 EZ1+ | Encoder Z-phase (+),(1) 77 EZ3+ | Encoder Z-phase (+),(3) 28 EZ1- | Encoder Z-phase (-),(1) 78 EZ3- | Encoder Z-phase (-),(3)

69 DIR4+ c Direction output (+), (4)

18 Getting Start with The Installation

AMP-204C / AMP-208C

No. Name I/O Function of Axis No. Name I/O Function of Axis

EDI2 | Digital Input, (2) 100 EDI4 | Digital Input, (4)

•P1-B

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 Rsv. -- Reserved 51 Rsv. -- Reserved 2 Rsv. -- Reserved 52 Rsv. -- Reserved 3 Rsv. -- Reserved 53 Rsv. -- Reserved 4 Rsv. -- Reserved 54 Rsv. -- Reserved 5 Rsv. -- Reserved 55 Rsv. -- Reserved 6 Rsv. -- Reserved 56 Rsv. -- Reserved

Getting Start with The Installation 19

No. Name I/O Function of Axis No. Name I/O Function of Axis

7 Rsv. -- Reserved 57 Rsv. -- Reserved 8 Rsv. -- Reserved 58 Rsv. -- Reserved 9 Rsv. -- Reserved 59 Rsv. -- Reserved

10 Rsv. -- Reserved 60 Rsv. -- Reserved 11 EA5V -- 5V power 61 DGND -- Digital ground 12 EA5V -- 5V power 62 DGND -- Digital ground 13 OUT5+ O Pulse output (+), (5) 63 OUT7+ O Pulse output (+), (7) 14 OUT5- O Pulse output (-), (5) 64 OUT7- O Pulse output (-), (7) 15 DIR5+ O Direction output (+), (5) 65 DIR7+ O Direction output (+), (7) 16 DIR5- O Direction output (-), (5) 66 DIR7- O Direction output (-), (7) 17 OUT6+ O Pulse output (+), (6) 67 OUT8+ O Pulse output (+), (8) 18 OUT6- O Pulse output (-), (6) 68 OUT8- O Pulse output (-), (8) 19 DIR6+ O Direction output (+), (6) 69 DIR8+ O Direction output (+), (8) 20 DIR6- O Direction output (-), (6) 70 DIR8- O Direction output (-), (8) 21 TRG3+ O Trigger output (+), (3) 71 TRG4+ O Trigger output (+), (4) 22 TRG3- O Trigger output (-), (3) 72 TRG4- O Trigger output (-), (4) 23 EA5+ I 24 EA5- I 25 EB5+ I 26 EB5- I 27 EZ5+ I 28 EZ5- I 29 EA6+ I 30 EA6- I 31 EB6+ I 32 EB6- I 33 EZ6+ I 34 EZ6- I 35 ALM5 I Servo alarm,(5) 85 ALM7 I Servo alarm,(7) 36 ORG5 I Home limit, (5) 86 ORG7 I Home limit, (7) 37 SVON5 O Servo-ON, (5) 87 SVON7 O Servo-ON, (7)

Encoder A-phase (+),(5)

Encoder A-phase (-),(5)

Encoder B-phase (+),(5)

Encoder B-phase (-),(5)

Encoder Z-phase (+),(5)

Encoder Z-phase (-),(5)

Encoder A-phase (+),(6)

Encoder A-phase (-),(6)

Encoder B-phase (+),(6)

Encoder B-phase (-),(6)

Encoder Z-phase (+),(6)

Encoder Z-phase (-),(6)

73 EA7+ I Encoder A-phase (+),(7) 74 EA7- I Encoder A-phase (-),(7) 75 EB7+ I Encoder B-phase (+),(7) 76 EB7- I Encoder B-phase (-),(7) 77 EZ7+ I Encoder Z-phase (+),(7) 78 EZ7- I Encoder Z-phase (-),(7) 79 EA8+ I Encoder A-phase (+),(8) 80 EA8- I Encoder A-phase (-),(8) 81 EB8+ I Encoder B-phase (+),(8) 82 EB8- I Encoder B-phase (-),(8) 83 EZ8+ I Encoder Z-phase (+),(8) 84 EZ8- I Encoder Z-phase (-),(8)

20 Getting Start with The Installation

AMP-204C / AMP-208C

No. Name I/O Function of Axis No. Name I/O Function of Axis

38 PEL5 I Positive limit, (5) 88 PEL7 I Positive limit, (7) 39 INP5 I In-Position (5) 89 INP7 I In-Position (7) 40 MEL5 I Negative limit, (5) 90 MEL7 I Negative limit, (7) 41 ALM6 I Servo alarm,(6) 91 ALM8 I Servo alarm,(8) 42 ORG6 I Home limit, (6) 92 ORG8 I Home limit, (8) 43 SVON6 O Servo-ON, (6) 93 SVON8 O Servo-ON, (8) 44 PEL6 I Positive limit, (6) 94 PEL8 I Positive limit, (8) 45 INP6 I In-Position (6) 95 INP8 I In-Position (8) 46 MEL6 I Negative limit, (6) 96 MEL8 I Negative limit, (8) 47 EDO5 O Digital Output, (5) 97 EDO7 O Digital Output, (7) 48 EDI5 I Digital Input, (5) 98 EDI7 I Digital Input, (7) 49 EDO6 O Digital Output, (6) 99 EDO8 O Digital Output, (8) 50 EDI6 I Digital Input, (6) 100 EDI8 I Digital Input, (8)

2.5.3 AMP-204C/208C:P2 Connector

•P2

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 Rsv. - - Reserved 20 VDD | +5V power supply input 2 TDI1 | TTL input, (1) 21 TDO1 c TTL output, (1) 3 TDI2 | TTL input, (2) 22 TDO2 c TTL output, (2) 4 TDI3 | TTL input, (3) 23 TDO3 c TTL output, (3) 5 TDI4 | TTL input, (4) 24 TDO4 c TTL output, (4) 6 TDI5 | TTL input, (5) 25 TDO5 c TTL output, (5) 7 TDI6 | TTL input, (6) 26 TDO6 c TTL output, (6) 8 TDI7 | TTL input, (7) 27 TDO7 c TTL output, (7)

9 TDI8 | TTL input, (8) 28 TDO8 c TTL output, (8) 10 TDI9 | TTL input, (9) 29 TDO9 c TTL output, (9) 11 TDI10 | TTL input, (10) 30 TDO10 c TTL output, (10) 12 TDI11 | TTL input, (11) 31 TDO11 c TTL output, (11) 13 TDI12 | TTL input, (12) 32 TDO12 c TTL output, (12)

Getting Start with The Installation 21

No. Name I/O Function of Axis No. Name I/O Function of Axis

14 TDI13 | TTL input, (13) 33 TDO13 c TTL output, (13) 15 TDI14 | TTL input, (14) 34 TDO14 c TTL output, (14) 16 TDI15 | TTL input, (15) 35 TDO15 c TTL output, (15) 17 TDI16 | TTL input, (16) 36 TDO16 c TTL output, (16) 18 DGND - Digital ground 37 DGND - Digital ground 19 VDD | +5V power supply input -- -- -- --

22 Getting Start with The Installation

AMP-204C / AMP-208C

2.6 DIP Switch

2.6.1 SW2: Card ID Switch

This switch is used for adjusting card ID for easy identification in user application programs. Take example. If you set card ID to

“0-0-0-1” (OFF-OFF-OFF-ON) then the card ID is “1” and the ID table should be set up as described below:

Card ID Switch Setting (ON=1)

0 0000 1 0001 2 0010 3 0011 4 0100 5 0101 6 0110 7 0 111 8 1000

9 1001 10 1010 11 1011 12 1100 13 1101 14 111 0 15 1111 ( d efa u lt)

Getting Start with The Installation 23

2.7 IDE 44p – DSUB 37p Bus

This card include one IDE cable from IDE 44 pin to DSUB 37 pin. It is used for AMP-204C / AMP-208C P2 extension 16 channel digital input and 16 channel digital output.

24 Getting Start with The Installation

AMP-204C / AMP-208C

2.8 Exclusive Board - DIN-825-GP4

The "DIN-825-GP4" terminal board is designed for PCI-8254 / PCI-8258 and AMP-204C / AMP-208C exclusively. It connects with market available servo drives with special cables, e.g. Mitsubishi's J3A and Yaskawa's Sigma V series, or third party's servo or stepper drives with single end open cables.

The DIN-825-GP4 board supports both PCI-8254 / PCI-8258 and AMP-204C / AMP-208C. DO NOT connect it to other

CAUTION

ADLINK's motion controllers as it may be damaged.

Main connector

(to PCI board)

Brake signal

Motion I/O signals

Analog commands

(Torque Control)

Analog input signals

Power &

EMG signal

Pulse commands

(Position Control)

Additional 16 Digital

output signals

Additional 16 Digital

Laser control signals

Figure 2-3: Exterior of DIN-825-GP4

I/O connector

(to PCI board)

input signals

Getting Start with The Installation 25

2.8.1 Definitions to Connector

1. P1: This is one SCSI 100-PINS connector for motion control signals.

2. CMA1–4: These are four 26-PINS connector for connecting to servo drive to do S/T mode control and analog

CMA1

CMA2

CMA3

CMA4

control commands output.

3. CMP1–4: These are four 26-PINS connectors for connecting to servo drive to do P mode control or stepper drive

CMP1

CMP2

CMP3

CMP4

to output pulse control commands. It may be

CN1

connected to Mitsubishi J3A series, Yaskawa Sigma II, III & V series,

IOIF2

IOIF3

and Panasonic MINAS A4&A5 with exclusive cables.

4. J1–J3: These are three

IOIF1

IOIF4

sets of 10-pins screw lock connectors (screwed series, Delta

A2 series, or connection to other servo or stepper drivers with single end open cables). It may be connected to any analog

Figure 2-4: Exterior of DIN-825-GP4

input signal, comparing trigger signal, plus/minus limit switch and homing signal.

5. J4: This is one 8-PINS connector for connecting to Brake Signal.

6. J5: This is one 5-PINS connector for connecting to tenminal board main power and emergency stop signals.



J2 J1

26 Getting Start with The Installation

AMP-204C / AMP-208C

7. J6: This is one 5-PINS connector for connecting to four

isolation digital output channel.

8. P2: This is one DSUB 37-PINS connector for connecting

to 16 channel digital input signal and 16 channel digital output signal in the controller (TTL).

9. IOIF1-IOIF4: These are four 9-PINS connectors for

connecting to 16 channel digital input signal and 16 channel digital output signal for common uses.

10.CN1: This is one 9-pin connector for laser control.

Getting Start with The Installation 27

2.8.2 P1 Connector: For Connecting to PCI-8254 / PCI-8258 / AMP-204C / AMP-208C

•P1:

No. Name I/O Function of Axis No. Name I/O Function of Axis

10 Rsv. -- Reserved 60 Rsv. -- Reserved

69 DIR4+ c Direction output (+), (4)

28 Getting Start with The Installation

AMP-204C / AMP-208C

No. Name I/O Function of Axis No. Name I/O Function of Axis

EDO2 c Digital Output, (2) 99 EDO4 c Digital Output, (4)

49 50 EDI2 | Digital Input, (2) 100 EDI4 | Digital Input, (4)

•P2:

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 Rsv. - - Reserved 20 VDD c +5V power supply output 2 TDI1 | TTL input, (1) 21 TDO1 c TTL output, (1)

Getting Start with The Installation 29

No. Name I/O Function of Axis No. Name I/O Function of Axis

3 TDI2 | TTL input, (2) 22 TDO2 c TTL output, (2) 4 TDI3 | TTL input, (3) 23 TDO3 c TTL output, (3) 5 TDI4 | TTL input, (4) 24 TDO4 c TTL output, (4) 6 TDI5 | TTL input, (5) 25 TDO5 c TTL output, (5) 7 TDI6 | TTL input, (6) 26 TDO6 c TTL output, (6) 8 TDI7 | TTL input, (7) 27 TDO7 c TTL output, (7) 9 TDI8 | TTL input, (8) 28 TDO8 c TTL output, (8)

10 TDI9 | TTL input, (9) 29 TDO9 c TTL output, (9)

11 TDI10 | TTL input, (10) 30 TDO10 c TTL output, (10) 12 TDI11 | TTL input, (11) 31 TDO11 c TTL output, (11) 13 TDI12 | TTL input, (12) 32 TDO12 c TTL output, (12) 14 TDI13 | TTL input, (13) 33 TDO13 c TTL output, (13) 15 TDI14 | TTL input, (14) 34 TDO14 c TTL output, (14) 16 TDI15 | TTL input, (15) 35 TDO15 c TTL output, (15) 17 TDI16 | TTL input, (16) 36 TDO16 c TTL output, (16) 18 EGND - External power ground 37 EGND - External power ground 19 VDD | +5V power supply input -- -- -- --

•J1:

No. Name I/O Function of Axis No. Name I/O Function of Axis

30 Getting Start with The Installation

AMP-204C / AMP-208C

•J2:

No. Name I/O Function of Axis No. Name I/O Function of Axis

1. Please connect DICOM to external power supply (24VDC in general) if possible.

NOTE

2. Please connect DOCOM to ground (GND) of external power supply if possible.

•J3:

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 DGND -- Isolated digital ground 6 AGND -- Analog ground 2 TRG2- c Trigger output (-), (2) 7 AI4 | Analog input, (4) 3 TRG2+ c Trigger output (+), (2) 8 AI3 | Analog input, (3) 4 TRG1- c Trigger output (-), (1) 9 AI2 | Analog input, (2) 5 TG1+ c Trigger output (+), (1) 10 AI1 | Analog input, (1)

• J4: Brake Connector

No. Name I/O Function of Axis No. Name I/O Function of Axis

BRAKE 1+

BRAKE 1-

BRAKE 2+

BRAKE 2-

Getting Start with The Installation 31

-- Brake signal (+), (1) 6 | Brake signal (-), (1) 7 | Brake signal (+), (2) 8 | Brake signal (-), (2) 9

BRAKE 3+

BRAKE 3-

BRAKE 4+

BRAKE 4-

| Brake signal (+), (3)

| Brake signal (-), (3)

| Brake signal (+), (4)

| Brake signal (-), (4)

•J5

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 I24V -- Ext. power supply, +24V 4 DOCOM -- Digital output common 2 IGND -- Ext. power ground 5 3 DICOM -- Digital input common 6 -- -- --

EEMG

| Ext. Emergency signal

1. Please connect DICOM to external power supply (24VDC in general) if possible.

NOTE

2. Please connect DOCOM to ground (GND) of external power supply if possible.

•J6

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 EDO1 c Digital output, (1) 4 EDO4 c Digital output, (4) 2 EDO2 c Digital output, (2) 5 DOCOM c Digital output common 3 EDO3 c Digital output, (3) 6 -- c --

•IOIF1:

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 DI1 I

2 DI2 I

3 DI3 I

4 DI4 I

5 DI5 I

Additional isolated digital input, (1)

Additional isolated digital input, (2)

Additional isolated digital input, (3)

Additional isolated digital input, (4)

Additional isolated digital input, (5)

6 DI6 I

7 DI7 I

8 DI8 I

9 DICOM -- Digital input common

-- -- -- --

32 Getting Start with The Installation

Additional isolated digital input, (6)

Additional isolated digital input, (7)

Additional isolated digital input, (8)

AMP-204C / AMP-208C

•IOIF2:

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 DI9 I

2 DI10 I

3 DI11 I

4 DI12 I

5 DI13 I

Additional isolated digital input, (9)

Additional isolated digital input, (10)

Additional isolated digital input, (11)

Additional isolated digital input, (12)

Additional isolated digital input, (13)

6 DI14 I

7 DI15 I

8 DI16 I

9 DICOM -- Digital input common

-- -- -- --

Additional isolated digital input, (14)

Additional isolated digital input, (15)

Additional isolated digital input, (16)

•IOIF3:

No. Name I/O Function of Axis No. Name I/O Function of Axis

※DO1

※DO2

3 ※DO3 O

※DO4

5 ※DO5 O

Additional isolated digital

output, (1)

Additional isolated digital

output, (2)

Additional isolated digital output, (3)

Additional isolated digital

output, (4)

Additional isolated digital output, (5)

6 DO6 O

7 DO7 O

8 DO8 O

9 DOCOM -- Digital output common

-- -- -- --

Additional isolated digital output, (6)

Additional isolated digital output, (7)

Additional isolated digital output, (8)

※The digital output current may reach 250mA

NOTE

Getting Start with The Installation 33

•IOIF4:

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 DO9 O

2 DO10 O

3 DO11 O

4 DO12 O

5 DO13 O

Additional isolated digital output, (9)

Additional isolated digital output, (10)

Additional isolated digital output, (11)

Additional isolated digital output, (12)

Additional isolated digital output, (13)

6 DO14 O

7 DO15 O

8 DO16 O

9 DOCOM --

-- -- --

Additional isolated digital output, (14)

Additional isolated digital output, (15)

Additional isolated digital output, (16)

Digital output common

1. Please connect DICOM to external power supply (24VDC in general) if possible.

NOTE

2. Please connect DOCOM to ground (GND) of external power supply if possible.

• CN1:

No. Name I/O Function of Axis No. Name I/O Function of Axis

1 EDO4+ O

2 TG1+ O

3 TRG2+ O

4 Rsv. --

5 Rsv. --

Digital output (+), (4)

Trigger output (+), (1)

Trigger output (+), (2)

Reserved

6 EDO4- O

7 TRG1- O

8 TRG2- O

9 DGND --

Digital output (-), (4)

Trigger output (-), (1)

Trigger output (-), (2)

Digital ground

34 Getting Start with The Installation

AMP-204C / AMP-208C

• CMA1-CMA4 (compatible with PCI-8254/8258

only):



outputsignal

Resetdriversignal/Digital

DO

ALM_RST/

 10

 11 ALM I Servoalarmsignal

 12 I24VͲͲExt.powersupply,+24V

 13 IGNDͲͲ Ext.powerground

 14 BRAKEͲ OBrakesignal(Ͳ)

 15 AGNDͲͲ Analogground

 16 EBͲ I EncoderBͲphase(Ͳ)

1 SVON O ServoOnsignal19 EMG I Emergencysignal

2 ZSP I Zerospeedsignal20 IGND ͲͲ Ext.powerground

3 Rsv. ͲͲ Reserved21 IGND ͲͲ Ext.powerground

4 Rsv. ͲͲ Reser ved.22 IGND ͲͲ Ext.powerground

5 AOUTͲ O Analogcommandoutput(Ͳ)23 Rsv. ͲͲ Reserved

6 AOUT+ O Analogcommandoutput(+)24 Rsv. ͲͲ Reserved

No. Name I/O Function No. Name I/O Function No. Name I/O Function

7 EAͲ I EncoderAͲphase(Ͳ)25 EZͲ I EncoderZͲphase(Ͳ)



 17 EB+ I EncoderBͲphase(+)

 18 AGNDͲͲ Analogground

8 EA+  I EncoderAͲphase(+)26 EZ+ I EncoderZͲphase(+)

9 BRAKE+ O Brakesignal(+)

ALM_RST / DO: You may set this signal to general purpose digital output signal (EDO) or alarm clearance function

NOTE

(ALM_RST) by switch S1 or S2.

Getting Start with The Installation 35

•CMP1~CMP4:



outputsignal

Resetdriversignal/Digital

DO

ALM_RST/

 10

 11 ALM I Servoalarmsignal

 12 I24VͲͲExt.powersupply,+24V

 13 IGNDͲͲ Ext.powerground

 14 BRAKEͲ OBrakesignal(Ͳ)

 15 IGNDͲͲ Ext.powerground

1 SVON O ServoOnsignal19 EMG I Emergencysignal

2 INP I InͲpositionsignal20 IGND ͲͲ Ext.powerground

3 ERC O Dev.ctr,clr.signal21 IGND ͲͲ Ext.powerground

4 RDY I Servoreadysignal22 IGND ͲͲ Ext.powerground

No. Name I/O Function No. Name I/O Function No. Name I/O Function

5 OUTͲ O Pulsesignal(Ͳ)23 DIRͲ O Dir.Signal(Ͳ)



 16 EBͲ I EncoderBͲphase(Ͳ)

 17 EB+ I EncoderBͲphase(+)

 18 IGNDͲͲ Ext.powerground

6 OUT+ O Pulsesignal(+)24 DIR+ O Dir.Signal(+)

7 EAͲ I EncoderAͲphase(Ͳ)25 EZͲ I EncoderZͲphase(Ͳ)

8 EA+ I EncoderAͲphase(+)26 EZ+ I EncoderZͲphase(+)

9 BRAKE+ O Brakesignal(+)

ALM_RST / DO: You may set this signal to general purpose digital output signal (EDO) or alarm clearance function

NOTE

(ALM_RST) by switch S1 or S2.

36 Getting Start with The Installation

AMP-204C / AMP-208C

2.8.3 S1, S2: EDO/ALM_RST Selection Switch

Reset servo drive

DIN-825-GP4 is equipped with 4 servo drive reset signals. You may set up CMA1~CMA4 PIN 10 and CMP1~CMP4 PIN 10 for servo drive rest or J6 connector DO.1~DO.4 by switch S1 and S2.

Getting Start with The Installation 37

38 Getting Start with The Installation

AMP-204C/AMP-208C

3 Signal Connection

AMP-204C / AMP-208C must connect to servo or stepper motor drive with exclusive terminal board DIN-825-GP4. All optical isolation circuit of mechanical relevant I/O and servo relevant I/O are set to DIN-825-GP4 to prevent damages to primary controller AMP-204C / AMP-208C from any invalid signal connection to it. This may effectively reduce difficulites and times required in replacing controller relevant products when doing customer service maintenance tasks. See sections below for detailed descriptions on precautions required to connect to various mechanical I/O and servo I/O signals. Contents:

Section 3.1: Pulse Command Signal Section 3.2: Encoder Input Signal Section 3.3: Emergency Stop Signal Section 3.4: Mechanical Limit Switch Signal Section 3.5: Original Position Switch Signal Section 3.6: In-position/Zero Speed Signal Section 3.7: Servo Alarm Signal Section 3.8: Servo On Signal Section 3.9: Comparing Trigger Signal Section 3.10: General Purpose Digital Input and Output Signal

Signal Connection 39

3.1 Pulse Command

AMP-204C / AMP-208C can provide 4/8 pulse control command channel with each of them supports up to 6.5MHz output frequency.

In general, you may set the servo driver to P (position) mode for open-loop control with AMP-204C / AMP-208C pulse control commands.

In addition to servo drive, the Stepper drive also employs pulse command interface as the primay control input commands. See below for corresponding pins of pulse command output against differential pulse signals to DIN-825-GP4:

CMPx Pin No

(x=1~4)

6OUT+ Pulse signal, (+) (n) 1~8

5OUT- Pulse signal, (-) (n) 1~8 24 DIR+ Dir. Signal, (+) (n) 1~8 23 DIR- Dir. Signal, (-) (n) 1~8

Signal Name

Description

(n=1~8)

AMP-208C requires two DIN-825-GP4 for eight axes motion control functions

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

Axis #

40 Signal Connection

AMP-204C/AMP-208C

Either servo motor drive or stepper motor drive employs one of the two input interfaces described below:

1. Line Driver input interface provides better anti noise-resistant and longer wiring length.

• Signal connection diagram:

Figure 3-1: Line Driver type pulse control command signal connection

example

2. Open-Collector input interface can increase passing current capacity of signal by adjusting pull-up resistance value at the shorter wiring length.

Signal Connection 41

• Signal connection diagram:

Figure 3-2: Open-Collector type pu lse cont rol c ommand sign al conn ecti on

example

To avoid damages to Line Driver components on controller casued by invalid wiring please connect the OUT-, DIR- pins of

CAUTION

controller to OUT, DIR pins of motor drive.

The controller employs Line Driver component -26LS31 with maximum Sink Current at 20mA. Do not use it at current above

CAUTION

this value, the component may be damaged otherwise.

42 Signal Connection

AMP-204C/AMP-208C

3.2 Encoder Input, EA & EB & EZ

AMP-204C / AMP-208C provides 4/8 encoder input channels respectively which accept single end input frequency up to 5MHz with each channel containing EA, EB, and EZ signal. Each group of EA, EB, and EZ signal contains a pair of differential signal, e.g. the EA signal contains EA+ and EA-. See Section 4.1.1.4 for how to use the encoder. See below for corresponding pins of encoder input on DIN-825-GP4:

CMAx / CMPx

Pin No

(x=1~4)

8EA+Encoder A-phase (+),(n) 1~8

7EA-Encoder A-phase (-),(n) 1~8 17 EB+ Encoder B-phase (+),(n) 1~8 16 EB- Encoder B-phase (-),(n) 1~8 26 EZ+ Encoder Z-phase (+),(n) 1~8 25 EZ- Encoder Z-phase (-),(n) 1~8

Signal Name

Description

(n=1~8)

AMP-208C requires two DIN-825-GP4 for eight axes motion control Function

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

The controller employs Line Receiver component -26LS32 with maximum Sink Current at 20mA@5V. Do not use it at current

CAUTION

above this value, the component may be damaged otherwise.

Axis #

Signal Connection 43

• Signal connection diagram:

Figure 3-3: Line driver type encoder input signal connection example

44 Signal Connection

AMP-204C/AMP-208C

3.3 Emergency Stop Input

AMP-204C/ AMP-208C provides one hardware input emergency stop signal (EMG). If the external emergency stop signal is triggered, all motion control commands will be stopped immediatly. In addition, the DIN-825-GP4 is designed to transmit external emergency stop signal to servo/stepper motor drive to stop operation of every motor immediately. See below for corresponding pins of emergency stop signal input on DIN-825-GP4:

J5 Pin No Signal Name Description Axis #

5 EEMG

External emergency stop input (external input)

CMPx / CMAx

Pin No (x=1~4)

19 EMG(n) Emergency stop (output to drive) 1~8

Signal Name

(n=1~8)

Description Axis #

AMP-208C requires two DIN-825-GP4 for eight axes motion control functions

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

• Signal connection diagram:

Figure 3-4: Emergency stop signal connection example

Signal Connection 45

3.4 PEL/MEL Input

AMP-204C / AMP-208C provides 4/8 End-limited switch input channels. The Plus Limited Switch (PEL) is used as the mechanical protection switch for movement in the positive direction. When this switch is triggered the AMP-204C / AMP-208C stops its positive direction movement immediately. The Minus Limited Switch (MEL) is used as the mechanical protection switch for movement in the negative direction. When this switch is triggered, the AMP-204C / AMP-208C stops its negative direction movement immediately. See below for corresponding pins of mechanical limit switch signal input on DIN-825-GP4:

J1/J2 Pin No Signal Name Description Axis #

3 PEL(3) / PEL(1) Plus limit switch input (3) / (1) 3 / 1 7 PEL(4) / PEL(2) Plus limit switch input (4) / (2) 4 / 2 5 MEL(3) / MEL(1) Minus limit switch input (3) / (1) 3 / 1 9 MEL(4) / MEL(2) Minus limit switch input (4) / (2) 4 / 2

AMP-208C requires two DIN-825-GP4 for eight axes motion control Function

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

46 Signal Connection

• Signal connection diagram:

AMP-204C/AMP-208C

Figure 3-5: Mechanical limit switch signal connection example

Signal Connection 47

3.5 ORG Input

AMP-204C / AMP-208C provides 4/8 original position switch input channels. Working together with the home movement described in Section 4.3, this function returns the body to its original position (also known as the zero position). See below for corresponding pins of original position switch signal input on DIN-825-GP4:

J1/J2 Pin No Signal Name Description Axis #

4 ORG(3) / ORG(1) Original position switch input (3) / (1) 3 / 1 8 ORG(4) / ORG(2) Original position switch input (4) / (2) 4 / 2

AMP-208C requires two DIN-825-GP4 for eight axes motion control Function

NOTE

• Signal connection diagram:

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

Figure 3-6: Original position switch signal connection example

48 Signal Connection

AMP-204C/AMP-208C

3.6 INP Input

AMP-204C / AMP-208C provides 4/8 In-position (INP) input channels. Working with function described in Section 4.8, it can be used as the trigger source for in-position events of individual motion. In general, when servo drive is set to position mode (P mode), the servo issues a (INP) pulse signal to controller when movement get into position. See below for corresponding pins of in-position or zero speed detection signal input on DIN-825-GP4:

CMPx

Pin No (x=1~4)

2INP(n)

Signal Name

(n=1~4)

In-position Input (for pulse output mode only)

AMP-208C requires two DIN-825-GP4 for eight axes motion control functions

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

• Signal connection diagram:

Description Axis #

1~4

Figure 3-7: In-position signal connection example

Signal Connection 49

3.7 ALM Input

AMP-204C / AMP-208C provides 4/8 servo alarm input channels. Working with function described in Section 4.11 it can be used as the trigger source for motion interrupt event. In general, when abnormality is encountered during servo drive movement, it issues an (ALM) pulse signal to controller for abnormality occurrence. See below for corresponding pins of servo alarm input on DIN-825-GP4:

CMAx / CMPx

Pin No (x=1~4)

11 ALM(n) Servo alarm input 1~4

Signal Name

(n=1~4)

Description Axis #

AMP-208C requires two DIN-825-GP4 for eight axes motion control functions

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

• Signal connection diagram:

Figure 3-8: Servo alarm signal connection example

50 Signal Connection

AMP-204C/AMP-208C

3.8 SVON Output

AMP-204C / AMP-208C provides 4/8 servo-on output channels and utilize the servo-on signal to enable servo drive for pulse or analog commands input. If there is abnormality is encountered during movement, the AMP-204C / AMP-208C turns off this signal automatically and stops all motion control commands. See below for corresponding pins of servo-on signal output on DIN-825-GP4:

CMAx / CMPx

Pin No (x=1~4)

1SVON(n) Servo-on output 1~4

Signal Name

(n=1~4)

Description Axis #

AMP-208C requires two DIN-825-GP4 for eight axes motion control functions

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8

• Signal connection diagram:

Figure 3-9: Servo-on signal connection example

Signal Connection 51

3.9 Comapre & Trigger Output:

AMP-204C / AMP-208C provides 2/4 comparing trigger pulse output channels. Each comparing trigger channel can output pulse commands up to 1 MHZ. See Section 4.9.2 for its detail and how to use it. See below for corresponding pins of pulse command output against differential pulse signals to DIN-825-GP4:

J3 Pin No Signal Name Description

2 TRG2-/TRG4- Trigger output (-), (2)/(4) 3TRG2+ / TGR4+Trigger output (+), (2)/(4) 4 TRG1-/TRG3- Trigger output (-), (1)/(3) 5 TRG1+/TRG3+ Trigger output (+), (1)/(3)

The compare trigger pulse output channel of AMP-204C / AMP-208C employs line driver output interface for better noise

NOTE

• Signal connection diagram:

signal resistance and wiring length where trigger output (3) & (4) require #2 DIN-825-GP4 for wiring.

1. Line Driver interface:

Figure 3-10: Line Driver type compare trigger signal connection example

52 Signal Connection

AMP-204C/AMP-208C

2. Open-Collector interface:

Figure 3-11: Open-Collector type compare trigger signal connection

example

Signal Connection 53

3.10 Digital Output/Input

AMP-204C / AMP-208C provides 20/24 digital output/input channels. See below for corresponding pins of general purpose digital input and output signals on DIN-825-GP4:

J1/J2 Pin No. Signal Name Description

2 EDI(3) / EDI (1) General purpose digital input signal (3), (1) 6 EDI(4) / EDI (2) General purpose digital input signal (4), (2)

J6 Pin No. Signal Name Description

1EDO(1)General purpose digital output signal (1) 2EDO(2)General purpose digital output signal (2) 3EDO(3)General purpose digital output signal (3) 4EDO(4)General purpose digital output signal (4)

AMP-208C requires two DIN-825-GP4 for eight axes motion control Function

NOTE

# 1 controls axes 1 ~ 4 and #2 controls axes 5~ 8

1. Please connect DICOM to external power supply (24VDC in general) if possible.

2. Please connect DOCOM to ground (GND) of external power supply if possible.

54 Signal Connection

• Signal connection diagram:

AMP-204C/AMP-208C

Figure 3-12: General purpose digital I/O signal connection example

Signal Connection 55

IOIF1 Pin No. Signal Name Description

1~8 DI(1)~(8) General purpose IOIF2 digital input signal (1)~(8)

IOIF2 Pin No. Signal Name Description

1~8 DI(9)~(16) General purpose digital input signal (9)~(16)

IOIF3 Pin No. Signal Name Description Axis #

※1~5

DO(1)~(5)

General purpose digital output signal

(1)~(5)

※The digital output current may reach 250mA

NOTE

IOIF3 Pin No. Signal Name Description Axis #

6~8 DO(6)~(8)

General purpose digital output signal

(6)~(8)

IOIF4 Pin No. Signal Name Description Axis #

1~8 DO(9)~(16)

General purpose digital output signal

(9)~(16)

1. Please connect DICOM to external power supply (24VDC in general) if possible.

NOTE

2. Please connect DOCOM to ground (GND) of external power supply if possible.

56 Signal Connection

• Signal connection diagram:

AMP-204C/AMP-208C

Signal Connection 57

Figure 3-13: General purpose digi tal I/O signal connection example

58 Signal Connection

AMP-204C / AMP-208C

4 Motion Control Theory

This chapter introduces you the motion control function of AMP-204C / AMP-208C as well as relevant precautions in using them. Contents:

Section 4.1: Motion Control Mode and Interface Overview Section 4.2: Motion Control Operations Section 4.3: Home Move Section 4.4: Velocity Move Section 4.5: Jog Move Section 4.6: Point-to-Point Move Section 4.7: Interpolation Section 4.8: Motion Status Monitoring Section 4.9: Application Functions Section 4.10: Safety Protection Section 4.11: Host Interrupt

Motion Control Theory 59

AMP-204C / AMP-208C

4.1 Motion Control Mode and Interface Overview

This section describes basic setups of AMP-204C and AMP-208C before doing motion control and fundamental concepts of its core operations.

4.1.1 Motion Control Interface

4.1.1.1 Control Mode and Output Interface

You may use the MotionCreatorPro2 application program to set

up these two output interface and save your desired setting in non-volatile memory, the so-called ROM, of the controller for automatic loading when the controller power on. You may use API listed below to retrieve current settings to ensure their correctness.

APS_get_eep_curr_drv_ctrl_mode ()

4.1.1.2 Pulse Type

You can use this control mode to control stepper motor or set it to P control mode to control servo motor with pulse format signal input. The output interface of controller is OUT / DIR [1..8] pins. (Please refer Chapter 3 for detail.)

This is the so called open-loop or semi closed-loop control model where the upper controller output position command in digital pulse format signal to lower stepper motor or servo motor to form a close-loop control in servo drive. In this mode, number of pulses indicates actual distance traveled by the machine (vary with the relation between mechanical shift and pulse) while the pulse output frequency indicates speed of the machine traveling at (in unit of pulse per second, PPS).

Motion Control Theory 60

AMP-204C / AMP-208C

In this mode users must pay special attention to pulse signal format acceptable to the motor to be drived. The motor works normally only when being drived by correct pulse format signal, otherwise the motor may fail to work in erroneous direction or with abnormal shaking. Users must correctly set up the controller before any motion control after the software is initialized. This controller provides two pulse signal output format:

• OUT / DIR signal format: At this mode, the OUT signal indicates frequency and amount of output pulses where DIR indicates direction of machine movement.

• CW / CCW signal format: At this mode the CW/CCW signal indicates both machine movement direction and pulse output frequency and amount

Counter:

Figure 4-1: Format of pulse signal

The signal format can be set up in axis parameters:

Param. No. Define symbol Description

81h (129) PRA_PULSE_OUT_MODE Pulse output format setup

Motion Control Theory 61

AMP-204C / AMP-208C

4.1.1.3 Encoder

The positon encoder of this controller supports 9 kinds of digital signal input formats as described below.

Please set up the position encoder before doing motion control. This is especially true for analog output type closed-loop

CAUTION

NOTE

control as invalid setup may lead to motor burst.

You may set up and test your controller with MotionCreatoPro 2 software. You can check this by manually spinning the motor (or move the workbench) and verify the encoder signal from motor or linear scale to the controller.

No Decode Mode

0OUT/DIR (1)

1 CW/CCW (1)

21X AB

32x AB

44x AB

5OUT/DIR (2)

6OUT/DIR (3)

7OUT/DIR (4)

Positive direction Negative direction

EA EB EA EB

High

Low

High

Low

High

Motion Control Theory 62

AMP-204C / AMP-208C

No Decode Mode

8 CW/CCW (2)

Positive direction Negative direction

EA EB EA EB

High High

Table 4-1: Encoder input format

• Axis parameter setup:

Param. No. Define symbol Description

80h (128) PRA_ENCODER_MODE Encoder input signal format

85h (133) PRA_ENCODER_DIR Encoder counting direction setup

Table 4-2: Encoder input format

• Axis parameter setup API:

APS_set_axis_param (); // write in axis parameter APS_set_axis_param (); // read out axis parameter

Motion Control Theory 63

AMP-204C / AMP-208C

4.1.1.4 Motion Control I/O

Some motion control I/O signal of this controller definition are summarized in table below:

Param.

0 ALM Input Servo alarm

1 PEL Input Plus end limit

2 MEL Input Minus end limit

3 ORG Input Home input

4 EMG Input Emergency stop input

5 EZ Input Servo index input

6 INP Input In-Position input

7 SVON Output Servo ON output status

Defined Symbol

Type Description

Here ALM, EZ and INP are signals sent by servo drive and SVON (Servo on) signal is the receiving signal of servo drive for driving the servo motor.

And PEL, MEL, ORG and EMG are mechanical I/O signals. Safety relevant signals, e.g. EMG, PEL and MEL are used to work together with motion control. Take example, the home movement will use ORG, PEL, MEL, EZ and other signals.

You may use following API functions to get I/O status with each bit of the parameter representing status of the axis motion control I/O.

I32 APS_set_servo_on (I32 Axis_ID, I32 Servo_on); I32 APS_motion_status (I32 Axis_ID);

Motion Control Theory 64

AMP-204C / AMP-208C

• Signal direction

These signal logic may be inversed by software. Relevant axis parameters are listed below:

• Board parameter

Param. No. Define symbol Description

00h (0) PRA_EL_LOGIC PEL/MEL input logic

01h (1) PRA_ORG_LOGIC ORG input logic

04h (4) PRA_ALM_LOGIC Set ALM logic

05h (5)

06h (6) PRA_EZ_LOGIC Set EZ logic

PRA_ZSP_LOGIC / PRA_INP_LOGIC

Set INP logic

• Board parameter

Param. No. Define symbol Description Value Default

00h (0) PRS_EMG_LOGIC EMG input logic 0: Not inverse

1: Inverse

•Filter

This controller features filters to screening out High-frequency noise against motion control I/O to prevent abnormal motion control action caused by external noise. The filter is defaulted at ON status.

Motion Control Theory 65

AMP-204C / AMP-208C

4.1.2 Control Cycle

In general, a motion controller features three control cycles for different works. They are:

1. Servo control cycle

2. Motion control cycle

3. Host control cycle

4.1.2.1 Servo Control Cycle

The servo control cycle is the time required to complete one close loop control. Servo control cycle of this controller can be up to 20KHz, that is 50 microsecond for each cycle. In each control cycle, the controller finish various servo control relevant jobs including PID compensation and filter compensation.

4.1.2.2 Motion Control Cycle

Default motion control cycle is set at 1KHz, i.e. 1 millisecond for each cycle. Varieties of peripheral hardware components controls, including host communication, trajectory calculation and data sampling, are finished in it.

4.1.2.3 Host Control Cycle

Default host control cycle is 0.5 KHz. That is, it takes 2 millisecond to finish jobs in one control cycle including communications between hosts, watch dog, kernel update, parameter management and other non-realtime jobs.

The servo control cycle runs independetnly while the motion control and host control cycle are done in the same processor. The controller completes scheduled jobs automatically with the motion control ones has higher priority than the host control one.

Motion Control Theory 66

AMP-204C / AMP-208C

Movement control Elapsed time

System work Elapsed time

Movement control duration

Time

System work duration

Figure 4-2: Control cycle

The motion program is executed in motion control cycle to control jobs to be executed in each motion control cycle directly for more precise completion of realtime jobs. Please pay attention to DSP loading when doing this.

Loading of CPU in controller is hard to predict as the controller is affected by many factors, e.g. external signals, user operations, and algorithm process during its operations. In most cases, please try to keep CPU utilization rate to below 70% and reserve 30% of CPU capacity to the processing of system jobs and momentary work loads.

Overloading (work loads exceed control cycle) may lead to unpredictable results. This controller provides you with some functions and tools to monitor processor utilization rate and adjust control procedures. In case of any processor overloading, the controller logs and warns (interrupt, plase refer to section of interrupt) that you may take for proper responses in your program.

How to use API:

get_motion_control_timing () // get usage amount of current motion

control cycle

get_max_ motion_control_timing ()// get maximum usage amount

of motion control cycle

get_motion_control_timing () // get usage amount of current host

control cycle

get_motion_control_timing () // get maximum usage amount of host

control cycle

reset_max_motion_control_timing() reset_max_host_control_timing() get_over_cycle_event() get_over_cycle_count() reset_over_cycle_count ()

Motion Control Theory 67

AMP-204C / AMP-208C

4.2 Motion Control Operations

This section describes motion control modes provided by the controller and their operation principle. The objective is to help users make most of the motion control capacity of your controller to accomplish desired applications.

4.2.1 Coordinated System

This controller employs Cartesian coordinate system where one or more axes motion can be executed by one-to-one mapping each axis to a motor. There exists a conversion relation between axis of the Cartesian coordinate system and the motor being controlled. This conversion relation enables users to set up their own coordinate system without restricitons. Figure below indicates a coordinate system relation. The unit conversion factor will be reviewed in next section.

Coordinated system

Command

Position(F64)

Feedback

Position(F64)

Unit

factor

Motor coordinate

Command

counter (I32)

Encoder

counter (I32)

Servo loop

control

Pulse

generator

Motor

Figure 4-3: Controller coordinates system block

You may read out or set up coordinate command location or actual coordinate location

I32 APS_get_command_f (I32 Axis_ID, F64 *Command);

//command location reading

I32 APS_get_command_f (I32 Axis_ID, F64 *Command);

//command location setup

I32 APS_get_command_f (I32 Axis_ID, F64 *Command);

//actual location reading

I32 APS_get_command_f (I32 Axis_ID, F64 *Command);

//actual location setup

Motion Control Theory 68

AMP-204C / AMP-208C

I32 coordinate format compliant API functions the same as API described above

I32 APS_get_command( I32 Axis_ID, I32 *Command ); I32 APS_set_command(I32 Axis_ID, I32 Command); I32 APS_get_position( I32 Axis_ID, I32 *Position ); I32 APS_set_position (I32 Axis_ID, I32 Position);

API listed below can read motor coordinates

I32 APS_get_encoder( I32 Axis_ID, I32 *Encoder ); I32 APS_get_command_counter (I32 Axis_ID, I32 *Counter);

In close loop control procedure you cannot set up command counter and encoder counter and so relevant setup API are not

NOTE

provided.

4.2.2 Unit Factor

Location unit (or motion mechanism) of motor can have actual mapping against physical distance unit of coordinate system by setting up proper unit factor. The calculation formula is described below

(Deductor gear)

(Drive gear)

We use three examples to explain the way how unit factor is calculated

Example 1: Ball screw carrier Assume encoder counts (resolution) generated by one spin of the

motor is 10000 and the screw pitch is 10mm and the user desired distance unit of measure is micrometer,

Gear Ratio

M:N = 1:2

Pitch = 10 mm

Motion Control Theory 69

Unit factor can be calculated as described below:

AMP-204C / AMP-208C

tinUrotcaf

Example 2: Conveyor system

Assume number of pulses generated by one spin of the motor is 8192, the conveyor belt shift 5cm by one spin of the belt pulley, the gear ratio is 1:2, and the user desired distance unit of measure is milimeter then the unit factor can be calculated as :

Motor

10000

100010

Picth= 5 cm

2×

mmm

Unit factor can be calculated as described below:

mmcm

23867

0100

mmm

tinrotcaf =

Example 3: Linear Motor system with Linear Scale

Take optical resolution at 1 micrometer and distance at millimeter then the unit factor should be:

Motion Control Theory 70

tinrotcaf =

5001

10001

8192

AMP-204C / AMP-208C

Unit factor can be set up in axis parameter:

Param. No. Define symbol Description Value Default

86h (134) Unit factor F64 value 1

In general, you should define unit of measure at first and set up other position relevant parameter before designing any motion control application.

If unit factor setting are changed during operation, other parameters related with distance unit of measure (e.g. position,

NOTE

velocity, and acceleration unit of measure) will be affected and you are required to change and adjust relevant setting on your own.

Relevant axis parameters can be found in table below:

Param. No. Define symbol

07h (7) PRA_SD_DEC

0Ah (10) PRA_SPEL_POS0

0Bh (11) PRA_SMEL_POS1

13h (19) PRA_HOME_ACC

15h (21) PRA_HOME_VM

17h (26) PRA_HOME_SHIFT

19h (25) PRA_HOME_VO

1Bh (27) PRA_HOME_POS

21h (33) PRA_ACC

22h (34) PRA_DEC

23h (35) PRA_VS

24h (36) PRA_VM

25h (37) PRA_VE

2Ah (42) PRA_PRE_EVENT_DIST

2Bh (43) PRA_POST_EVENT_DIST

43h (67) PRA_JG_ACC

44h (68) PRA_JG_DEC

45h (69) PRA_JG_VM

46h (70) PRA_JG_OFFSET

Some API may have encoder signal of position related input parameter.

NOTE

Motion Control Theory 71

AMP-204C / AMP-208C

4.2.3 Acc/Deceleration Profile

Basic motion command usually contains distance, velocity, and acceleration data. This controller plans and calculates Acceleration & Deceleration profile based on these motion command parameters to make motion operation completed as desired by users. This controller provides following acceleration profiles:

1. Trapezoidal speed profile, T-curve

2. S-curve

4.2.3.1 Trapezoidal Speed Profile, T-curve

　　Trapezoidal speed profile (the so called T-curve) is a curve where the acceleration zone and deceleration zone matches first-order linear speed profile (equivalent acceleration). As shown in the velocity-time chart (V-T):

Velocity

Max. velocity

Acc.

Distance

Dec.

Start velocity

Acceleration

Max. acceleration

Jerk

Time

Figure 4-4: Relation of trapezoidal speed profile's speed/acceleration/jerk

VS time

Motion Control Theory 72

AMP-204C / AMP-208C

In a V-T chart the area under the trapezoidal curve equals motion distance. If the user does not set up sufficient motion distance the controller shall increase (decrease) the maximum speed while maintian the acceleration, as shown in figure below:

Velocity

MaxVel

MaxVel’

Time

Figure 4-5: Maximum speed by auto-planning

MaxVel is the maximum velocity set up by user, dotted line

indicate speed profile with sufficient distance. As the movement distance is insufficient, the controller adjust the maximum velocity

to MaxVel’ automatically. The acceleration and deceleration rate

remain intact to maintain the best (shortest) motion time.

Motion Control Theory 73

AMP-204C / AMP-208C

4.2.3.2 S-curve

An S-curve is a curve where the speed profile in the jerk area can be represented by second-order profile. This helps to reduce motor vibration at start up and stop time as indicated by points (t1, t3, t5, t7) in figure below.

To shorten acceleration and deceleration time the linear section (t2, t6) is inserted in these area to maintain the maximum accleration and so get an accleration-time (A-T) chart in trapezoidal.

Velocity

Max. velocity

End velocity

Start velocity

Acceleration

Max. acceleration

Jerk

Acc.

Dec.

Distance

Time

Tacc Tdec

Time

Figure 4-6: Relation of S-curve speed profile's speed/acceleration/jerk VS

time

Motion Control Theory 74

AMP-204C / AMP-208C

This controller employs S-factor (S) to control jerk ratio. Its equation is described below

Value of S is between 0 and 1, when

S = 0, the speed profile becomes a T-curve

S >0 and S<=1: S - curve

When S = 1, the profile comes to a Pure S– curve

with its A-T

chart become a triangle.

The equation above indicate that the greater the value of S is the more smooth the speed profile and the smaller jerk value will become. This helps in reducing motor vibration. However, the motion process takes more time to complete. On the contrary, the smaller the S value is the greater the jerk value become and the motion time reduces to the shortest.

As with a T-curve, when motion distance is insufficient, the controller adjust the maximum velocity automatically to maintain smooth movement. Acceleration ACC and DEC and S-factor remain consistent to maintain acceleration rate and the jerk rate will be changed, as shown in figure below

Motion Control Theory 75

Velocity

MaxVel

MaxVel

Start velocity

Acce.

cceleration

AMP-204C / AMP-208C

Time

Jerk

Time

Figure 4-7: Auto-planning the maximum velocity

Acceleration profile and its rule described above applies with single axis point-to-point movement (PTP), velocity movement, home movement, and interpolation among multiple axis.

Motion Control Theory 76

• Relevant axis parameters

Param. No. Define symbol Description

12h (18) PRA_HOME_CURVE Home move S-factor

20h (32) PRA_SF Move S-factor

42h (66) PRA_JG_SF Jog S-factor

You may set up S-factor directly in some API, please refer to Function library manual for detail.

NOTE

AMP-204C / AMP-208C

Motion Control Theory 77

AMP-204C / AMP-208C

4.3 Home Move

After power on and before executing any motion control, a motion control system executes home movement to set up the zero position of the coordinate system.

Commonly available stepper motor, servo drive or linear motor mechanism accompanied by optical scale employs incremental type encoder which requires some mechanical signal to set up the original position during home operation. These mechanical signals are ORG, EZ, PEL, and MEL. Some servo drives are featured with absolute type encoder, e.g. J3-B type (SSCNET 3) of Mitsubishi, that require at least one home movement after system initialization. No more homing operation is required after the absolute coordinate system is established.

After the homing command is received, the controller starts searching for original position / zero position with the help of some external signals. After the home movement is completed the controller axis stops at the original postion while command position and feedback position reset to zero. All the home movement related operations are executed by the controller automatically. No user interaction is required. Just wait it to complete automatically.

You can finish home movement operation by steps described below:

• Set up home mode and relevant parameters

• Start up home move

• Wait for home move to complete. (You may check the status by polling or interrupt.)

• If home move does not complete successfully you may troubleshooting by steps described below

Relevant APS API described below:

I32 APS_motion_status (I32 Axis_ID);

Relevant axis parameters:

Param. No. Define symbol Description

10h (16) PRA_HOME_MODE Home mode settings

11h (17) PRA_HOME_DIR Homing direction settings

12h (18) PRA_HOME_CURVE Home move S-factor

13h (19) PRA_HOME_ACC Homing acceleration/deceleration settings

15h (21) PRA_HOME_VM Homing maximum velocity

17h (23) PRA_HOME_SHIFT

Motion Control Theory 78

Home position and shift distance of positioning signal

AMP-204C / AMP-208C

Param. No. Define symbol Description

18h (24) PRA_HOME_EZA EZ alignment enable

19h (25) PRA_HOME_VO Homing velocity away from ORG signal

1Bh (27) PRA_HOME_POS Position command setup after homing completion

•Example:

#include "APS168.h"

#include "APS_define.h"

#include "ErrorCodeDef.h"

void home_move_example()

{

//This example shows how home move operates

I32 axis_id = 0;

I32 return_code;

I32 msts;

// 1. Select home mode and config home parameters

APS_set_axis_param( axis_id, PRA_HOME_MODE, 0 ); //Set home mode

APS_set_axis_param( axis_id, PRA_HOME_DIR, 1 ); //Set home direction

APS_set_axis_param( axis_id, PRA_HOME_CURVE, 0 );

APS_set_axis_param( axis_id, PRA_HOME_ACC, 1000000 ); // Set homing acceleration rate

APS_set_axis_param( axis_id, PRA_HOME_VM, 100000 ); // Set homing maximum velocity.

APS_set_axis_param( axis_id, PRA_HOME_VO, 50000 ); // Set homing

APS_set_axis_param( axis_id, PRA_HOME_EZA, 0 ); // Set homing

APS_set_axis_param( axis_id, PRA_HOME_SHIFT, 0 ); // Set homing

APS_set_axis_param( axis_id, PRA_HOME_POS, 0 ); // Set homing

Set acceleration pattern (T-curve)

Motion Control Theory 79

// 2. Start home move

return_code = APS_home_move( axis_id ); //Start homing

if( return_code != ERR_NoError )

{ /* Error handling */ }

// 3. Wait for home move done,

do{

Sleep( 100 );

msts = APS_motion_status( axis_id );// Get motion status

msts = ( msts >> MTS_NSTP ) & 1; // Get motion done bit

}while( msts == 1 );

// 4. Check home move success or not

msts = APS_motion_status( axis_id ); // Get motion status

msts = ( msts >> MTS_ASTP ) & 1; // Get abnormal stop bit

if( msts == 1 )

{ // Error handling ...

I32 stop_code;

APS_get_stop_code( axis_id, &stop_code );

}else

{ // Homing success.

}

AMP-204C / AMP-208C

Motion Control Theory 80

AMP-204C / AMP-208C

This controller provides multiple auto-home searching process for different hardware platform which may refer to three mechanical signals: ORG, EL, and EZ. You may define three homing mode with these reference signal. User may design required homing process by any combination of these three signals. Each mode can have multiple parameters to meet various positioning requirements. These three homing mode are desinged in accordance with relevant system configurations and have included commonly available hardware configurations. These three modes are:

1. ORG signal homing (Home mode = 0) (Home return by ORG

signal)

2. EL signal homing (Home m ode = 1)

3. Single EZ signal homing (Home mode = 2)

Homing process and relavant parameters of these three modes are described below.

4.3.1 OGR Signal Homing - Home Mode = 0

There are three cases for this mode according to its initial position:

Condition A:The initial position is located between MEL and ORG signals or at MEL signal.

Condition B: Ths initial position is located at ORG signal

Condition C: The initial position is located between PEL and ORG signals or at PEL signal.

Table and figure below represent homing steps of these three situations with their speed and position. The three gray area in figure below represent the ON region of MEL, ORG, and PEL from left to right respectively. Move forward at the highest speed VM to search for ORG, decelerate to fully stop when ORG signal is detected. Then move away from ORG signal in VM speed. Search ORG again with low speed VO to complete the Home procedure.

Motion Control Theory 81

• Relevant axis parameters setup

AMP-204C / AMP-208C

Axis parameters

PRA_HOME_MODE 0 Employing home mode 0 (homing by ORG signal)

PRA_HOME_DIR 0 Homing by moving forward in positive direction

PRA_HOME_EZA 0 Further align with signal EZ, 0: No, 1: Yes

PRA_HOME_S 0 S-curve factor

PRA_HOME_ACC ACC

PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.)

PRA_HOME_VM VM

PRA_HOME_VO VO Homing speed in unit of (distance unit of measure/sec.)

PRA_HOME_SHIFT 0

Axis parameter values

Description to axis parameter value

Acceleration and deceleration in unit of (distance unit of measure/sec.

Speed of original postion searching in unit of (distance unit of measure/sec.)

Shift amount of final homing position against alignment signal (disantace unit of measure / pulse)

)

Condition A

Initial position

Condition B

Home

position

Condition C

Initial

Home position

position

VM: Home searching speed VO: Home approaching speed

Figure 4-8: Home mode 0 (Case: ORG)

Motion Control Theory 82

AMP-204C / AMP-208C

ORG signal of most mechanical device has two directional edges (the two ends of signal fender). Figure above indicates that when the homing direction parameter in axis parameters is set to positive direction (PRA_HOME_DIR), the control axis starts searching from positive direction (the ascending direction of position command). And stops at the left edge of ORG signal (close to MEL mechanical signal).

On the contrary, if the homing direction parameter in axis parameters is set to negative direction (PRA_HOME_DIR), the control axis starts seraching from negative direction (the descending direction of position command). And stops at the right edge of ORG signal (close to PEL mechanical signal). Figure below indicates home movement when “PRA_DIR” is set to negative direction:

• Relevant axis parameters setup

Axis

Axis parameters

PRA_HOME_MODE 0 Employing home mode 0 (homing by ORG signal) PRA_HOME_DIR 1 By negative direction forward homing PRA_HOME_EZA 0 Further align with signal EZ, 0: No, 1: Yes

PRA_HOME_S 0 S-curve factor

PRA_HOME_ACC ACC

PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.)

PRA_HOME_VM VM

PRA_HOME_VO VO

PRA_HOME_SHIFT 0

parameter values

Description to axis parameter value

Acceleration and deceleration in unit of (distance unit of measure/sec.

Speed of original postion searching in unit of (distance unit of measure/sec.)

Homing speed in unit of (distance unit of measure/sec.)

Shift amount of homing position (distance unit onf measure / pulse)

)

Motion Control Theory 83

Condition A

AMP-204C / AMP-208C

Home

Position

Condition B

Condition C

Initial position

Home position

VM: Home searching speed VO: Home approaching speed

Figure 4-9: Home mode 0 (Case: ORG)

When axis parameter PRA_HOME_EZA is set to 1 it means to align with EZ, move forward to homing direction, until the first EZ is detected and place control axis at the edge of EZ, then the home movement is completed.

The motions are described below:

• Relevant axis parameters setup

Axis parameters

PRA_HOME_MODE 0 Home mode 0

PRA_HOME_DIR 0 Homing by moving forward in positive direction

PRA_HOME_EZA 1 Further align with signal EZ, 0: No, 1: Yes

PRA_HOME_S 0 S-curve factor

PRA_HOME_ACC ACC

PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.)

Axis parameter values

Description to axis parameter value

Acceleration and deceleration in unit of (distance unit of measure/sec.

)

Motion Control Theory 84

AMP-204C / AMP-208C

Axis parameters

PRA_HOME_VM VM

PRA_HOME_VO VO

PRA_HOME_SHIFT 0

Axis parameter values

Condition A

Initial position

Condition B and C

Description to axis parameter value

Speed of original postion searching in unit of (distance unit of measure/sec.)

Homing speed in unit of (distance unit of measure/sec.)

Shift amount of homing position (distance unit onf measure)

Home position

Initial position

Home position

VM: Home searching speed VO: Home approaching speed

Figure 4-10: Home mode 0 (Case: ORG+EZ)

Figure below indicates a negative direction example:

• Relevant axis parameters setup

Axis parameters

PRA_HOME_MODE 0 Employing home mode 0 (homing by ORG signal) PRA_HOME_DIR 1 By negative direction forward homing PRA_HOME_EZA 1 Further align with signal EZ, 0: No, 1: Yes

PRA_HOME_S 0 S-curve factor

Motion Control Theory 85

Axis parameter values

Description to axis parameter value

AMP-204C / AMP-208C

Axis parameters

PRA_HOME_ACC ACC

PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.)

PRA_HOME_VM VM

PRA_HOME_VO VO

PRA_HOME_SHIFT 0

Axis parameter values

Description to axis parameter value

Acceleration and deceleration in unit of (distance unit of measure/sec.

Speed of original postion searching in unit of (distance unit of measure/sec.)

Homing speed in unit of (distance unit of measure/sec.)

Shift amount of homing position (distance unit onf measure)

)

Condition A

Home

position

Condition B and C

Initial position

VM: Home searching speed VO: Home approaching speed

Figure 4-11: Home mode 0 adverse (Case: ORG+EZ)

You may set up homing position shift amount to fine tune the final position. Figure and table below indicate an example of setup and motion diagram.

Motion Control Theory 86

ADLINK AMP-208C User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

AMP-204C / AMP-208C

Preface

Contents

List of Figures

List of Tables

1 Introduction

1.1 Product Specifications

1.2 Software Support

1.2.1 Software Support Library

1.2.2 MotionCreatorPro 2

1.3 Terminal Board

2 Getting Start with The Installation

2.1 Package Contents

2.2 AMP-204C / AMP-208C Exterior Profile Diagram

2.3 Hardware Installation

2.3.1 Hardware Configuration

2.3.2 Installation Procedures

2.3.3 Troubleshooting

2.4 Software Installation Procedure

2.5 Definitions to Key Connector Signal

2.5.1 AMP-204C:P1 Connector

2.5.2 AMP-208C:P1-A/B Connector

2.5.3 AMP-204C/208C:P2 Connector

2.6 DIP Switch

2.6.1 SW2: Card ID Switch

2.7 IDE 44p – DSUB 37p Bus

2.8 Exclusive Board - DIN-825-GP4

2.8.1 Definitions to Connector

2.8.2 P1 Connector: For Connecting to PCI-8254 / PCI-8258 / AMP-204C / AMP-208C

2.8.3 S1, S2: EDO/ALM_RST Selection Switch

3 Signal Connection

3.1 Pulse Command

3.2 Encoder Input, EA & EB & EZ

3.3 Emergency Stop Input

3.4 PEL/MEL Input

3.5 ORG Input

3.6 INP Input

3.7 ALM Input

3.8 SVON Output

3.9 Comapre & Trigger Output:

3.10 Digital Output/Input

4 Motion Control Theory

4.1 Motion Control Mode and Interface Overview

4.1.1 Motion Control Interface

4.1.2 Control Cycle

4.2 Motion Control Operations

4.2.1 Coordinated System

4.2.2 Unit Factor

4.2.3 Acc/Deceleration Profile

4.3 Home Move

4.3.1 OGR Signal Homing - Home Mode = 0