ADLINK PCI-8134A User Manual

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PCI-8134/PCI-8134A

4-Axis Servo / Stepper

Motion Control Card

U se r ’ s G ui de

M anu al Rev . : 3.00 Revi sio n D at e: Sept 7, 2012 Par t N o : 50-11173-1000

Recycled Paper

order to improve reliability, design and function and does not represent a commitment on the part of the manufacturer.

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.

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.

Trademarks

NuDAQ and PCI-8134/PCI-8134A are registered trademarks of ADLINK Technology Inc, MS-DOS & Windows 95 are registered trademarks of Microsoft Corporation., Borland C++ is a registered trademark of Borland International, Inc. Other product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

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Table of Contents

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

1.1 Features ................................................................................. 4

1.2 Specifications ......................................................................... 4

1.3 Software Support ................................................................... 6

1.3.1 Programming Library ............................................................... 6

1.3.2 Motion Creator ......................................................................... 6

1.4 Compatible Terminal Boards ................................................. 6

Installation ......................................................................7

2.1 Package Contents ................................................................. 7

2.2 PCI-8134/PCI-8134A Outline Drawing .................................. 8

2.3 Hardware Installation ............................................................. 9

2.3.1 Hardware configuration ............................................................ 9

2.3.2 PCI slot selection ..................................................................... 9

2.3.3 Installation Procedures .......................................................... 10

2.3.4 Troubleshooting: .................................................................... 10

2.4 Software Driver Installation .................................................. 10

2.5 Programming Guide Installation .......................................... 11

2.6 CN1 Pin Assignments: External Power Input ...................... 11

2.7 CN2 Pin Assignments: Main connector ............................... 12

2.8 CN3 Pin Assignments: Manual Pulser Input ....................... 13

2.9 CN4 Pin Assignments: Simultaneous Start/Stop ................. 14

2.10 Jumper Setting ..................................................................... 14

2.11 Switch Setting ...................................................................... 15

Signal Connections ..................................................... 17

3.1 Pulse Output Signals OUT and DIR .................................... 18

3.2 Encoder Feedback Signals EA, EB and EZ ........................ 20

3.3 Origin Signal ORG ............................................................... 22

3.4 End-Limit Signals PEL and MEL ......................................... 23

3.5 Ramping-down Signals PSD and MSD ............................... 24

3.6 In-position Signal INP .......................................................... 24

3.7 Alarm Signal ALM ................................................................ 25

3.8 Deviation Counter Clear Signal ERC ................................... 26

3.9 General-purpose Signal SVO N ........................................... 27

3.10 General-purpose Signal RDY .............................................. 27

Table of Contents • i

3.11 Pulser Input Signals PA and PB .......................................... 28

3.12 Simultaneously Start/Stop Signals STA and STP .............. 29

Operations .................................................................... 31

4.1 Motion Control Modes.......................................................... 31

4.1.1 Pulse Command Output ......................................................... 32

4.1.2 Constant Velocity Motion ....................................................... 33

4.1.3 Trapezoidal Motion ................................................................ 34

4.1.4 S-curve Profile Motion ............................................................ 37

4.1.5 Linear Interpolated Motion ..................................................... 40

4.1.6 Home Return Mode ................................................................ 41

4.1.7 Manual Pulser Mode .............................................................. 52

4.2 Motor Drive Interface ........................................................... 53

4.2.1 INP ......................................................................................... 53

4.2.2 ALM ....................................................................................... 53

4.2.3 ERC ....................................................................................... 54

4.3 The Limit Switch Interface and I/O Status ........................... 55

4.3.1 SD .......................................................................................... 55

4.3.2 EL .......................................................................................... 55

4.3.3 ORG ....................................................................................... 57

4.3.4 SVON and RDY ..................................................................... 57

4.4 The Encoder Feedback Signals (EA, EB, EZ) ..................... 58

4.5 Multiple PCI-8134/PCI-8134A Cards Operation .................. 59

4.6 Change Speed on the Fly .................................................... 60

4.7 Interrupt Control ................................................................... 62

Motion Creator ............................................................. 63

5.1 Main Menu ........................................................................... 64

5.2 Axis Configuration Window .................................................. 65

5.3 Axis Operation Windows ..................................................... 69

5.3.1 Motion Status Display ............................................................ 69

5.3.2 Axis Status Display ................................................................ 69

5.3.3 I/O Status Display .................................................................. 69

5.3.4 Set Position Control ............................................................... 71

5.3.5 Operation Mode Control ......................................................... 71

5.3.6 Motion Parameters Control .................................................... 73

5.3.7 Play Key Control .................................................................... 73

5.3.8 Velocity Profile Selection ....................................................... 74

5.3.9 Repeat Mode ......................................................................... 74

Function Library

(8134.DLL)

....................................... 75

6.1 List of Functions ................................................................... 75

ii • Table of Contents

6.2 C/C++ Programming Library ................................................ 78

6.3 Initialization .......................................................................... 79

6.4 Pulse Input / Output Configuration ...................................... 80

6.5 Continuously Motion Move .................................................. 82

6.6 Trapezoidal Motion Mode .................................................... 84

6.7 S-Curve Profile Motion......................................................... 87

6.8 Multiple Axes Point to Point Motion ..................................... 89

6.9 Linear Interpolated Motion ................................................... 91

6.10 Interpolation Parameters Configuring .................................. 92

6.11 Home Return ....................................................................... 93

6.12 Manual Pulser Motion .......................................................... 94

6.13 Motion Status ....................................................................... 95

6.14 Servo Drive Interface ........................................................... 96

6.15 I/O Control and Monitoring .................................................. 97

6.16 Position Control ................................................................... 98

6.17 Interrupt Control ................................................................. 100

Additional Function Library (8134A.DLL) ................ 104

7.1 List of Functions ................................................................. 104

7.2 C/C++ Programming Library .............................................. 106

7.3 Initialization ........................................................................ 107

7.4 Pulse Input / Output Configuration .................................... 108

7.5 Continuously Motion Move ................................................ 110

7.6 Trapezoidal Motion Mode .................................................. 112

7.7 S-Curve Profile Motion....................................................... 113

7.8 Multiple Axes Point to Point Motion ................................... 114

7.9 Linear Interpolated Motion ................................................. 116

7.10 Home Return ..................................................................... 118

7.11 Manual Pulser

7.12 Motion Status ..................................................................... 123

7.13 Servo Drive Interface ......................................................... 124

7.14 I/O Control and Monitoring ................................................. 125

7.15 Position Counter

7.16 Interrupt Control ................................................................. 128

Motion

........................................................ 120

Control

.................................................... 126

Connection Example ................................................. 128

8.1 General Description of Wiring ............................................ 128

8.2 Connection Example with Servo Drive .............................. 130

Appendix A: Auto Home Return Modes ............... 147

Table of Contents • iii

Appendix B: 8134.DLL vs. 8134A.DLL ..................... 157

Warranty Policy ......................................................... 166

iv • Table of Contents

About This Guide

The PCI-8134 was EOL in May, 2011. ADLINK offers the new PCI8134A as a line replacement. While most PCI-8134A functions are fully compatible with legacy PCI-8134 functions, certain differences require changes in application, as outlined in this document.

Chapter1,

Chapter2,

Chapter3,

Chapter4,

Chapter5,

Chapter6,

Chapter7, "Another Function Library (8134A.lib) ", describes high-

Chapter8,

"Introduction", gives an overview of the product features,

applications, and specificatio n s.

"Installation", describes how to install the PCI-8134/PCI-

8134A.

"Signal Connection", describes the connectors' pin

assignment and how to connect the outside signal and devices with the PCI-8134/PCI-8134A.

"Operation Theorem", describes detail operations of the PCI-

8134/PCI-8134A. “Motion Creator & Motion Creator Pro”, describe how to utilize

a Microsoft Windows based utility program to configure and test running the PCI-8134/PCI-8134A.

"C/C++ Function Library", describes high-level programming

interface in C/C++ language. It helps programmer to control PCI-8134/PCI-8134A in high level language style.

level programming interface. It helps programmer to control PCI8134 in high level language style.

“Connection Example” shows some typical connection examples between PCI-8134/PCI-8134A and servo driver and stepping driver.

About This Guide • v

Introduction

The PCI-8134/PCI-8134A is a 4-axis motion control card with PCI interface. It can generate high frequency pulses to drive ste ppin g motor s and serv o motors. Multiple PCI-8134/PCI-8134A cards can be used in one system. Incremental encoder interface on all four axes provide the ability to correct for positioning errors generated by inaccurate mechanical transmissions. In addition, mechanical sensor interf ac e, serv o motor inter f ac e and gener al purpose I/O signals are provided for system integration. Figure 1.1 shows the function block diagram of PCI-8134/PCI-8134A car d. PCI-8134/PCI-8134A uses motion ASIC to perform 4-axis motion control. These ASICs are incorporate Nippon Pulse Motor. The motion control functions include linear and S-curve acceleration/deceleration, interpolation between two axes, continuous motion, in positioning and home return are done by the ASIC. Since these functions needing complex computations are done internally on the ASIC, the PC’s CPU is free to supervise and perf orm other tasks. Motion Creator a Microsoft Windows-based application included with the PCI8134/PCI-8134A card for supporting application development. Motion Creator is very helpful for debugging a motion control system during the design phase of a project. The on-screen monitor shows all installed axis information and I/O signals status of PCI-8134/PCI-8134A cards. In addition to Motion Creator, both DOS and Windows version function library are included for programmers using C++ and Visual Basic language. Several sample programs are given to illustrate how to use the function library. The following flowcharts show recommending processes for using this manual to develop an application. Please also refer to the relative chapters for details of each step.

Introduction • 1

CN2

DC/DC

Ext+24V Input

PCL 5023

Pulser .

CN3

CN4

Isolation

ORG

PCI Bus

Ext +5V out

CN1

Pulse I/O

OUT, DIR,

EA, EB, EZ

for axes

X & Y

Mechanical

Interface

+EL, -EL, +SD,-SD,

PCI Bus

Controller

Servo Driver

Interface

INP, ALM

ERC

for axes

Z & U

Input: PA,PB

Simultaneousl

General

Purpose

I/O

SVON

RDY

Figure 1.1 Block Diagram of PCI-8134

2 • Introduction

Figure 1.2 Block Diagram of PCI-8134A

Introduction • 3

Features

1.1

The following lists summarize the main features of the PCI-8134 motion control system.

• 32-bit PCI-Bus, plug and play.

• 4 axes of step and direction pulse output for controlling stepping or

servomotor.

• Maximum output frequency of 2.4 Mpps

• Pulse output options: OUT/DIR, CE/CCW

• Pulse input options: CW/CCW, AB phase x1, x2, x4

• 2-axis linear interpolation.

• 28-bit up/down counter for incremental encoder feedba ck.

• Home switch, index signal, positive and negative limit switches

interface provided for all axes

• Trapezoidal and S-curve velocity profiles for all modes

• Programmable interrupt sourc es

• Change Speed on the Fly.

• Simultaneous start/stop mot io n on multip le ax es.

• Manual pulser input interface.

• Software supports maximum up to 12 PCI-8134/PCI-8134A cards (48

axes) operation.

• Compact, half size PCB.

• Motion Creator Microsoft Windows based application development

software.

Specifications

1.2

 Applicable Motors:

 Stepping motors.  AC or DC servomotors with pulse train input servo-drives.

 Performance:

 Number of controllable axes: 4  Maximum pulse output frequency: 2.4Mpps, linear, trapezoidal or

S-Curve velocity profile drive.

 Position pulse setting range: 0~268,435,455 pulses (28-bit).  Ramping-down point setting range: 0 to 16777215  Acceleration / deceleration rate setting range: 1 to 65535(16bit)  Up / down counter counting range: 0~268,435,455 (28-bit.) or –

134,217,728 to +134,217,727

4 • Introduction

 Pulse rate setting steps: 0 to 2.4Mpps.

 I/O Signals:

 Input/Output Signals for each axis  All I/O signal are optically isolated with 2500Vrms isolation voltage  Command pulse output pins: OUT and DIR.  Incremental encoder signals input pins: EA and EB.  Encoder index signal input pin: EZ.  Mechanical limit/switch sig nal input pins: ±EL, SD and ORG.  Servomotor interface I/O pins: INP, ALM and ERC.  General purpose digital output pin: SVON.  General purpose digital input pin: RDY.  Pulser signal input pin: PA and PB.  Simultaneous Start/Stop signal I/O pins: STA and STP.

 General Specifications

 Connectors: 100-pin SCSI-type connector  Operating Temperature: 0° C ~ 50° C  Storage Temperature: -20° C ~ 80° C  Humidity: 5 ~ 85%, non-condensing  Power Consumption:

∗ Slot power supply (input): +5V DC ±5%, 900mA max . ∗ External power supply (input): +24V DC ±5%, 500mA max. ∗ External power supply (output): +5V DC ±5%, 500mA, max. ∗ PCI-8134 Dimensions: 164mm(L) X 98.4mm(W) ∗ PCI-8134A Dimensions: 185mm(L) X 100mm(W)

Introduction • 5

Software Support

1.3

1.3.1 Programming Library

Windows® XP/7 DLLs are provided for the PCI-8134 and PCI-8134A. These function libraries are shipped with the board.

1.3.2 Motion Creator

This Windows-based utility, also bundled with the product, is used to set up cards, motors, and systems, and can aid in debugging hardware and software. It allows users to set I/O logic parameters for their own programs.

Compatible Terminal Boards

1.4

ADLINK provides servos & steppers with terminal boards for easy connection, specifically boards DIN-814M0, DIN-814M-J3A0, DIN-814Y0, DIN-814P-A40 for connection to dedicated servo drives. Steppers or other servo brands can be connected with general purpose terminal boards DIN814-GP and DIN-100S0. Com patib le serv os are as foll ows.

Servo Terminal Board

Mitsubishi J2 Super DIN-814M0 Mitsubishi J3A DIN-814M-J3A0 Yaskawa Sigma II DIN-814Y0 Panasonic MINAS A4 DIN-814P-A40 Other Serovs and Steppers DIN-814-GP (specific for cable selection)

DIN-100S0

6 • Introduction

Installation

This chapter describes how to install the PCI-8134/PCI-8134A, according to the following procedure.

• Check Package Contents (Section 2.1)

• Check the PCB (Section 2.2)

• Install the hardware (Section 2.3)

• Install the software driver (Section 2.4)

• Acquaint yourself with the I/O signal connections (Chapter 3) and their

operation (Chapter 4)

• Check the connector pin assignments and wiring

Package Contents

2.1

In addition to this User's Guide, the package includes the following items:

• PCI-8134/PCI-8134A 4-Axis Servo / Stepper Motion Control Card

• ADLINK All-in-one Compact Disc

• User’s Guide Manual

If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton in case you want to ship or store the product in the future.

Installation • 7

PCI-8134/PCI-8134A Outline Drawing

2.2

Figure 2.1 PCB Layout of the PCI-8134

CN1: External Power Input Connector CN2: Input / Output Signal Connector CN3: Manual Pulser Signal Connector CN4: Simultaneous Start / Stop Connector

8 • Installation

CN4

CN3

CN2

CN1

Figure 2.2 PCB Layout of the PCI-8134A

CN1: External Power Input Connector CN2: Input / Output Signal Connector CN3: Manual Pulser Signal Connector CN4: Simultaneous Start / Stop Connector J1-J8: Pulse output type selection S1: Polarity of end-limited switch selection

Hardware Installation

2.3

2.3.1 Hardware configuration

The PCI-8134/PCI-8134A has a plug and play PCI controller on board. The memory usage (I/O port locations) of the PCI card is assigned by system BIOS. The address assignment is done on a board-by-board basis for all PCI cards in the system.

2.3.2 PCI slot selection

Your computer will probably have both PCI and ISA slots. Do not force the PCI card into a PC/AT slot. The PCI-8134/PCI-8134A can be used in any PCI slot.

Installation • 9

2.3.3 Installation Procedures

Read through this manual, and setup the jumper according to your application

Turn off your computer, Turn off all accessories (printer, modem, monitor, etc.) connected to computer.

Remove the cover from your computer. Select a 32-bit PCI expansion slot. PCI slots are short than ISA or EISA

slots and are usually white or ivory. Before handling the PCI-8134/PCI-8134A, discharge any static buildup on

your body by touching the metal case of the computer. Hold the edge and do not touch the components.

Position the board into the PCI slot you selected.

Secure the card in place at the rear panel of the system unit using screw removed from the slot.

2.3.4 Troubleshooting:

If your system won‘t boot or if you experience erratic operation with your PCI board in place, it’s likely caused by an interrupt conflict (perhaps because you incorrectly described the ISA setup). In general, the solution, once you determine it is not a simple oversight, is to consult the BIOS documentation that comes with your system.

Software Driver Installation

2.4

Please refer to the ADLink All-in-one Compact Disc Manual to install it.

10 • Installation

CN1 Pin No

Name

Description

EXGND

Grounds of the external power.

EX+24V

External power supply of +24V DC

Isolation

DC/DC

+5V

GND

I/O EX+5V

EXGND

EX+24V

External

Power Supply

(OUTPUT)

Internal

from PCI BUS

(Bus Power)

(External Power)

I/O SIGNALS

Programming Guide Installation

2.5

1) From the ADLINK All-In-One CD Choose Driver Installation>Motion Control>PCI-8134/PCI-8134A

2) Follow the procedures of the installer.

3) After installation is completed, restart Windows.

Note: Please download the latest software from the ADLINK website if necessary.

CN1 Pin Assignments: External Power Input

2.6

Note:

1. CN1 is a plug-in terminal board with no screw.

2. Be sure to use the external power supply. The +24V DC is used by external input/output signal circuit. The power circuit is configured as follows.

3. Wires for connection to CN1.

Solid wire: ϕ 0.32mm to ϕ 0.65mm (AWG28 to AWG22) Twisted wire: 0.08mm2 to 0.32mm2 (AWG28 to AWG22) Naked wire length: 10mm standard.

The following diagram shows the external power supply system of the PCI8134/PCI-8134A. The external +24V power must be provided, an on-board regulator generates +5V for both internal and external usage.

SIGNALS

Power Supply

Installation • 11

CN2 Pin Assignments: Main connector

No.

Name

I/O

Function(axis/)

No.

Name

I/O

Function(axis/)

EX+5V

+5V power supply output

EX+5V

+5V power supply output

EXGND

Ext. power ground

EXGND

Ext. power ground

OUT1+

Pulse signal (+),

OUT3+

Pulse signal (+), 

OUT1-

Pulse signal (-),

OUT3-

Pulse signal (-),

DIR1+

Dir. signal (+),

DIR3+

Dir. signal (+), 

DIR1-

Dir. signal (-),

DIR3-

Dir. signal (-), 

SVON1

Multi-purpose signal, 

SVON3

Multi-purpose signal, 

ERC1

Dev. ctr, clr. signal, 

ERC3

Dev. ctr, clr. signal, 

ALM1

Alarm signal, 

ALM3

Alarm signal, 

INP1 I In-position signal, 

INP3 I In-position signal, 

RDY1

Multi-purpose signal, 

RDY3

Multi-purpose signal, 

EXGND

Ext. power ground

EXGND

Ext. power ground

EA1+ I Encoder A-phase (+), 

EA3+ I Encoder A-phase (+), 

EA1- I Encoder A-phase (-), 

EA3- I Encoder A-phase (-),

EB1- I Encoder B-phase (-), 

EB3- I Encoder B-phase (-),

EZ1+ I Encoder Z-phase (+), 

EZ3+ I Encoder Z-phase (+),

EZ1- I Encoder Z-phase (-), 

EZ3- I Encoder Z-phase (-),

EX+5V

+5V power supply output

EX+5V

+5V power supply output

EXGND

Ext. power ground

EXGND

Ext. power ground

OUT2+

Pulse signal (+), 

OUT4+

Pulse signal (+),

OUT2-

Pulse signal (-), 

OUT4-

Pulse signal (-),

DIR2+

Dir. signal (+), 

DIR4+

Dir. signal (+),

DIR2-

Dir. signal (-), 

DIR4-

Dir. signal (-),

SVON2

Multi-purpose signal, 

SVON4

Multi-purpose signal, 

ERC2

Dev. ctr, clr. signal, 

ERC4

Dev. ctr, clr. signal, 

ALM2

Alarm signal, 

ALM4

Alarm signal, 

INP2 I In-position signal, 

INP4 I In-position signal, 

RDY2

Multi-purpose signal, 

RDY4

Multi-purpose signal, 

EXGND

Ext. power ground

EXGND

Ext. power ground

EA2+ I Encoder A-phase (+), 

EA4+ I Encoder A-phase (+), 

EA2- I Encoder A-phase (-), 

EA4- I Encoder A-phase (-), 

EB2- I Encoder B-phase (-), 

EB4- I Encoder B-phase (-), 

2.7

The CN2 is the major connector for the motion control I/O signals.

15 EB1+ I Encoder B-phase (+),  65 EB3+ I Encoder B-phase (+),

33 EB2+ I Encoder B-phase (+),  83 EB4+ I Encoder B-phase (+), 

12 • Installation

EZ2- I Encoder Z-phase (-), 

EZ4- I Encoder Z-phase (-), 

MEL1

End limit signal (-), 

MEL3

End limit signal (-), 

MSD1

Ramp-down signal (-), 

MSD3

Ramp-down signal (-), 

EXGND

Ext. power ground

EXGND

Ext. power ground

MEL2

End limit signal (-), 

MEL4

End limit signal (-), 

MSD2

Ramp-down signal (-), 

MSD4

Ramp-down signal (-), 

EXGND

Ext. power ground

EXGND

Ext. power ground

EXGND

Ext. power ground

100

EX+24V

Ext. power supply, +24V

No.

Name

Function(Axis )

GND

Bus power ground

PB4

Pulser B-phase signal input, 

PA4

Pulser A-phase signal input, 

PB3

Pulser B-phase signal input, 

PA3

Pulser A-phase signal input, 

+5V

Bus power, +5V

GND

Bus power ground

PB2

Pulser B-phase signal input, 

PA2

Pulser A-phase signal input, 

PB1

Pulser B-phase signal input, 

PA1

Pulser A-phase signal input, 

+5V

Bus power, +5V

35 EZ2+ I Encoder Z-phase (+),  85 EZ4+ I Encoder Z-phase (+), 

37 PEL1 I End limit signal (+),  87 PEL3 I End limit signal (+), 

39 PSD1 I Ramp-down signal (+),  89 PSD3 I Ramp-down signal (+) , 

41 ORG1 I Origin signal,  91 ORG3 I Origin signal, 

43 PEL2 I End limit signal (+),  93 PEL4 I End limit signal (+), 

45 PSD2 I Ramp-down signal (+),  95 PSD4 I Ramp-down signal (+), 

47 ORG2 I Origin signal,  97 ORG4 I Origin signal, 

49 EXGND Ext. power ground 99 EX+24V I Ext. power supply, +24V

CN3 Pin Assignments: Manual Pulser Input

2.8

The signals on CN3 is for manual pulser input.

Note: +5V and GND pins are directly given by the PCI-Bus power.

Therefore, these signals are not isolated.

Installation • 13

CN4 Pin Assignments: Simultaneous Start/ St op

No.

Name

Function(Axis )

GND

Bus power ground

STP

Simultaneous stop signal input/out pu t

STA

Simultaneous start signal input /out put

STP

Simultaneous stop signal input/out pu t

STA

Simultaneous start signal input /outpu t

+5V

Bus power, +5V

2.9

The signals on CN3 is for simultaneously start/stop signals for multiple axes and multiple cards.

Note: +5V and GND pins are directly given by the PCI Bus power.

Jumper Setting

2.10

The J1~J8 is used to set the signal type of the pulse output signals (DIR and OUT). The output signal type could be differential line driver output or open collector output. Please refer to section 3.1 for details of the jumper setting. The default setting is the differential line driver mode.

Line Driver Open Collector

Figure 2.3 Illustration of PCI-8134 jumpers

14 • Installation

1 2 3

4 3 2 1

Select ‘a’ Contact EL Switch (Normal Open)

3 2 1

Select ‘b’ Contact EL Switch (Normal Close)

Line Driver Open Collector

J4 J3

J6 J5

Figure 2.4 Illustration of PCI-8134A jumpers

Switch Setting

2.11

The switch S1 is used to set the EL limit switch’s type. The default setting of EL switch type is “normal open” type limit switch (or “A” contact type). The switch on is to use the “normal closed” type limit switch (or “B” contact type). The default setting is set as normal open type.

Figure 2.5 Placement of S1 Switch on Board of PCI-8134

Installation • 15

1 2 3 4

Select ‘b’ Contact EL Switch (Normal Close)

Select ‘a’ Contact EL Switch (Normal Open)

Figure 2.6 Placement of S1 Switch on Board of PCI-8134A

16 • Installation

Signal Connections

The signal connections of all the I/O signals are described in this chapter. Please refer the contents of this chapter before wiring the cable between the PCI-8134/PCI-8134A and the motor drivers.

This chapter contains the following sections:

Section 3.1 Pulse output signals OUT and DIR Section 3.2 Encoder feedback signals EA, EB and EZ Section 3.3 Origin signal ORG Section 3.4 End-Limit signals PEL and MEL Section 3.5 Ramping-down signals PSD and MSD Section 3.6 In-position signal INP Section 3.7 Alarm signal ALM Section 3.8 Deviation counter clear signal ERC Section 3.9 General-purpose signal SVON Section 3.10 General-purpose signal RDY Section 3.11 Pulser input signals PA and PB Section 3.12 Simultaneous start/stop signals STA and STP

Signal Connections • 17

Pulse Output Signals OUT and DIR

CN2 Pin No.

Signal Name

Description

Axis #

OUT1+

Pulse signals (+)

OUT1-

Pulse signals (-)

DIR1+

Direction signal(+)

DIR1-

Direction signal(-)

OUT2+

Pulse signals (+)

OUT2-

Pulse signals (-)

DIR2+

Direction signal(+)

DIR2-

Direction signal(-)

OUT3+

Pulse signals (+)

OUT3-

Pulse signals (-)

DIR3+

Direction signal(+)

DIR3-

Direction signal(-)

OUT4+

Pulse signals (+)

OUT4-

Pulse signals (-)

DIR4+

Direction signal(+)

DIR4-

Direction signal(-)

3.1

There are 4-axis pulse output signals on PCI-8134/PCI-8134A. For every axis, two pairs of OUT and DIR signals are used to send the pulse train and to indicate the direction. The OUT and DIR signals can also be programmed as CW and CCW signals pair, refer to section 4.1.1 for details of the logical characteristics of the OUT and DIR signals. In this section, the electronic characteristics of the OUT and DIR signals are shown. Each signal consists of a pair of differential signals. For example, the OUT2 is consisted of OUT2+ and OUT2- signals. The following table shows all the pulse output signals on CN2.

               

The output of the OUT or DIR signals can be configured by jumpers as either the differential line driver or open collector output. You can select the output mode either by closing breaks between 1 and 2 or 2 and 3 of jumpers J1~J8 as follows.

18 • Signal Connections

differential line driver

between 1 and 2 of

between 2 and 3 of:

OUT1-

DIR1-

OUT2-

DIR2-

OUT3-

DIR3-

OUT4-

DIR4-

VCC

EX+5V

J1~J8

OUT

from Motion ASIC

OUT+, DIR+

OUT-, DIR-

EXGND

2631

CN2

Inside PCI-8134/PCI-8134A

Output

Signal

DIR

For

output, close a break

For open collector

output, close a break

default

The mode.

The following wiring diagram is for the OUT and DIR signals of the 4 axes.

NOTE: If the pulse output is set to the open collector output mode, the

OUT- and DIR- are used to send out signals. Please take care that the current sink to OUT- and DIR- pins must not exceed 20mA. The current may provide by the EX+5V power source, however, please note that the maximum capacity of EX+5V power is 500mA.

setting of OUT and DIR signals are the as differential line driver

Signal Connections • 19

Encoder Feedback Signals EA, EB and EZ

CN2 Pin No

Signal Name

Axis #

CN2 Pin No

Signal Name

Axis #

EA1+

EA3+

EA1-

EA3-

EB1+

EB3+

EB1-

EB3-

EA2+

EA4+

EA2-

EA4-

EB2+

EB4+

EB2-

EB4-

CN2 Pin No

Signal Name

Axis #

CN2 Pin No

Signal Name

Axis #

EZ1+

EZ3+

EZ1-

EZ3-

EZ2+

EZ4+

EZ2-

EZ4-

Motion ASIC

EA, EB EZ

EA+, EB+,

EA-, EBR

Inside PCI-8134/PCI-8134A

3.2

The encoder feedback signals include the EA, EB, and EZ. Every axis has six pins for three differential pairs of phase-A (EA), phase-B (EB) and index (EZ) input. The EA and EB are used for position counting; the EZ is used for zero position index. The relative signal names, pin numbers and the axis number are shown in the following tables.

       

   

The input circuits of the EA, EB, EZ signals are shown as follow s.

EZ+

EZ-

       

   

Please note that the voltage across every differential pair of encoder input signals (EA+, EA-), (EB+, EB-) and (EZ+, EZ-) should be at least 3.5V or higher. Therefore, you have to take care of the driving capability when connecting with the encoder feedback or motor driver feedback. The

20 • Signal Connections

Encoder Power(VDD)

External Resistor R

+5V

0Ω (None)

+12V

1.8kΩ

+24V

4.3kΩ

If=6mA max.

External Encoder / Driver PCI-8134/PCI-8134A

A,B phase signals

EA+,EB+,EZ+

EA-, EB-, EZ-

EXGND

GND

differen tial signal pairs will be c onverted t o digital si gnal EA, EB and E Z to connect to Motion ASIC.

Here are two examples of connecting the input signals with the external circuits. The input circuits can connect to the encoder or motor driver, which are equipped with: (1) differential line driver or (2) open collector output.

 Connection to Line Driver Output

To drive the PCI-8134/PCI-8134A encoder input, the driver output must provide at least 3.5V across the differential pairs with at least 6 mA driving capability. The ground level of the two sides must be tight together too.

With line driver output

Index signal

 Connection to Open Collector Output

To connect with open collector output, an external power supply is necessary. Some motor drivers also provide the power source. The connection between PCI-8134/PCI-8134A, encoder, and the power supply is shown in the following diagram. Please note that the external current limit resistor R is necessary to protect the PCI-8134/PCI-8134A input ci rc ui t . The following table lists the suggested resistor value according to the encoder power supply.

For more detail operation of the encoder feedback signals, please refer to section 4.4.

Signal Connections • 21

CN2 Pin No

Signal Name

Axis #

ORG1

ORG2

ORG3

ORG4

EX+24V

=6mA Max.

Filter

Circuit

Motion ASIC

ORG

Inside PCI-8134/PCI-8134A

CN2

VDD

GND

Motor Encoder / Driver

External Power for Encoder

PCI-8134/PCI-8134A

A, B phase signals

EA+, EB+,

EA-, EB-,

With Open Collector Output

Origin Signal ORG

3.3

The origin signals (ORG1∼ORG4) are used as input signals for origin of the mechanism. The following table lists the relative signal name, pin number, and the axis number.

   

The input circuits of the ORG signals are shown as following. Usually, a limit switch is used to indicate the origin of one axis. The specifications of the limit switches should with contact capacity of +24V, 6mA minim um. An internal filter circuit is used to filter out the high frequency spike, which may cause wrong operation.

22 • Signal Connections

← Switch

CN2 Pin No

Signal Name

Axis #

CN2 Pin No

Signal Name

Axis #

PEL1

PEL3 

MEL1

MEL3 

PEL2

PEL4 

MEL2

MEL4 

EX+24V

=6mA Max.

Filter

Circuit

Motion ASIC

PEL

Inside PCI-8134/PCI-8134A

Switch

When the motion controller is operated at the home return mode, the ORG signal is used to stop the control output signals (OUT and DIR). For the detail operation of the ORG, please refer to section 4.3.3

End-Limit Signals PEL and MEL

3.4

There are two end-limit signals PEL and MEL for one axis. PEL indicates end limit signal in plus direction and MEL indicates end limit signal in minus direction. The relative signal name, pin number and axis number are shown in the following table.

   

The signals connection and relative circuit diagram is shown in the following diagram. The external limit switches featuring a contact capacity of +24V, 6mA minimum. You can use either ‘A-type’ (normal open) contact switch or ‘B-type’ (normal closed) contact switch by setting the DIP switch S1. The PCI-8134/PCI-8134A is delivered with all bits of S1 set to OFF, refer to section 2.10. For the details of the EL operation, please refer to section

4.3.2.

MEL



Signal Connections • 23

Ramping-down Signals PSD and MSD

CN2 Pin No

Signal Name

Axis #

PSD1

MSD1

PSD2

MSD2

PSD3

MSD3

PSD4

MSD4

EX+24V

=6mA Max.

Filter

Circuit

Motion ASIC

PSD

4.7K

Inside PCI-8134/PCI-8134A

CN2

Switch

3.5

There are two ramping-down (Slow−Down) signals PSD and MSD for one axis. The relative signal name, pin number and axis number are shown in the following table.

       

The signals connection and relative circuit diagram is shown in the following diagram. Usually, limit switches are used to generate the slow−down signals to make motor operating in a slower speed. For more details of the SD operation, please refer to section 4.3.1.

In-position Signal INP

3.6

The in-position signals INP from the servo motor driver indicate the deviation error is zero, that is the servo position error is zero. The relative signal name, pin number and axis number are shown in the following table.

24 • Signal Connections

MSD



CN2 Pin No

Signal Name

Axis #

INP1

INP2

INP3

INP4

CN2 Pin No

Signal Name

Axis # 9 ALM1

ALM2

ALM3

ALM4

EX+5V

If=12mA Max. Motion ASIC

INP R

Inside PCI-8134/PCI-8134A

CN2

   

The input circuit of the INP signals are shown in the following diagram.

=5mA Min.

The in-position signals are usually from servomotor drivers, which usually provide open collector output signals. The external circuit must provide at least 5 mA current sink capability to drive the INP signal active. For more details of the INP signal operating, please refer to section 4.2.1.

Alarm Signal ALM

3.7

The alarm signal ALM is used to indicate the alarm status from t he servo driver. The relative signal name, pin number and axis number are shown in the following table.

The input circuit of alarm circuit is shown in the following diagram. The ALM signals are usually from servomotor drivers, which usually provide open

   

Signal Connections • 25

collector output signals. The external circuit must provide at least 5 mA

CN2 Pin No

Signal Name

Axis # 8 ERC1

ERC2

ERC3

ERC4

If=12mA Max. Motion ASIC

Inside PCI-8134/.PCI-8134A

CN2

current sink capability to drive the ALM signal active. For more details of the ALM operation, please refer to section 4.2.2.

EX+5V

=5mA Min.

Deviation Counter Clear Signal ERC

3.8

ALM

The deviation counter clear signal (ERC) is active in the following 4 situations:

1. home return is complete;

2. the end-limit switch is act iv e;

3. an alarm signal stops OUT and DIR signals;

4. an emergency stop command is issued by software (operator).

The relative signal name, pin number and axis number are shown in the following table.

The ERC signal is used to clear the deviation counter of servomotor driver. The ERC output circuit is in the open collector with maximum 35 V external

26 • Signal Connections

   

CN2 Pin No

Signal Name

Axis # 7 SVON1

SVON2

SVON3

SVON4

35V 50mA Maximum SVON

Motion ASIC

EXGND

Inside PCI-8134/PCI-8134A

CN2

35V 50mA Maximum ERC

Motion ASIC

EXGND

Inside PCI-8134/PCI-8134A

power at 50mA driving capability. For more details of the ERC operation, please refer to section 4.2.3.

General-purpose Signal SVON

3.9

The SVON signals can be used as servomotor-on control or generalpurpose output signals. The relative signal name, pin number and axis number are shown in the following table.

   

The output circuit of SVON signal is shown in the following diagram.

General-purpose Signal RDY

3.10

The RDY signals can be used as motor driver ready input or general−purpose input signals. The relative signal name, pin number and axis number are shown in the following table.

Signal Connections • 27

CN2 Pin No

Signal Name

Axis #

RDY1

RDY2

RDY3

RDY4

Pin No

Name

Pin No

Name

PA1  8 PA3  3 PB1  9 PB3  4 PA2 

PA4  5 PB2 

PB4 

If=12mA Max. Motion ASIC

RDY

Inside PCI-8134/PCI-8134A

CN2

   

The input circuit of RDY signal is shown in the following diagram

EX+5V

=5mA Min.

Pulser Input Signals PA and PB

3.11

The PCI-8134/PCI-8134A can accept the input signals from pulser signals through the following pins of connector CN3. The pulser’s behavior is as an encoder. The signals are usually used as generate the position information which guide the motor to follow.

CN3

Signal

Axis #

CN3

Signal

Axis #

PA and PB pins of connector CN3 are directly connected to PA and PB pins of PCL5023. The interfac circuits are shown as follows.

28 • Signal Connections

Motion ASIC

STP

STP, AXIS 3&4

STA, AXIS 3&4

STP, AXIS 1&2

STA, AXIS 1&2

CN4

Inside PCI-8134/PCI-8134A

STA

STP

STA

VCC

PA,PB

Motion ASIC

PA, PB

If the signal voltage of pulser is not +5V or if the pulser is distantly placed, it is recommended to put a photo coupler or line driver in between. Also, +5V and GND power lines of CN3 are direct from the PCI bus. Please carefully use these signals because they are not isolated.

Simultaneously Start/Stop Signals STA and

3.12

STP

The PCI-8134/PCI-8134A provides the STA and STP signals, which enable simultaneous start/stop of motions on multiple axes. The STA and STP signals are on the CN4.

In order to implement axes synchronous control between different cards, both PCI-8134 and PCI-8134A are able to synchronize the axes control through simultaneous control signals, STA and STP. User is able to connect each STA and STP signal via CN4 connector as the following illustration. Also user would use external signals to trigger the simultaneous axes control.

VCC

4.7K

VCC

4.7K

Signal Connections • 29

STP

CN4

PCI-8134/PCI-8134A #1

PCI-8134/PCI-8134A #2

PCI-8134/PCI-8134A #3

CN4

STA

STP

STA

STP

STA

STP

STA

STP

STA

STP

STA

30 • Signal Connections

Operations

This chapter describes detailed operation of the PCI-8134/PCI-8134A card. Contents of the following sections are as following.

Section 4.1: The motion control modes Section 4.2: The motor driver interface (INP, ERC, ALM, SVON, RDY) Section 4.3: The limit switch interface and I/O status (SD, EL, ORG) Section 4.4: The encoder feedback signals (EA, EB, EZ) Section 4.5: Multiple PCI-8134/PCI-8134A cards operation. Section 4.6: Change Speed on the Fly Section 4.7: Interrupt Control

Motion Control Modes

4.1

In this section, the pulse output signals’ configurations, and the following motion control modes are described.

• Constant velocity motion for one axis

• Trapezoidal motion for one axis

• S-Curve profile motion for one axis

• Linear interpolation for two axes

• Home return mode for one axis

• Manual pulser mode for one axis

Operations • 31

4.1.1 Pulse Command Output

Mode

Output of OUT pin

Output of DIR pin

CW) direction

CCW) direction

Single pulse output

Pulse signal

Direction signal (level)

OUT

DIR

Positive Command

Negative Command

The PCI-8134/PCI-8134A uses pulse command to control the servo / stepper motors via the drivers. The pulse command consists of two signals: OUT and DIR. There are two command types: (1) single pulse output mode (OUT/DIR); and (2) dual pulse output mode (CW/CCW type pulse output). The software function: set_pls_outmode() is used to program the pulse command type. The modes vs. signal type of OUT and DIR pins are as following table:

Dual pulse output

The interface characteristics of these signals could be differential line driver or open collector output. Please refer to section 3.1 for the jumper setting of signal types.

Single Pulse Output Mode (OUT/DIR Mode)

In this mode, the OUT signal is represent the pulse (position or velocity) command. The numbers of OUT pulse represent the motion command for relative “distance” or “position”, the frequency of the OUT pulse represents the command for “speed” or “velocity”. The DIR signal represents direction command of the positive (+) or negative (-). This mode is the most common

used mode. The following diagram shows the output waveform.

Dual Pulse Output Mode (CW/CCW Mode)

In this mode, the waveform of the OUT and DIR pins represents CW (clockwise) and CCW (counter clockwise) pulse output respectively. Pulses output from CW pin makes motor move in positive direction, whereas pulse output from CCW pin makes motor move in negative direction. The

Pulse signal in plus (or

Pulse signal in min us (or

32 • Operations

OUT

DIR

Negative Command

OUT

DIR

Positive Command

following diagram shows the output waveform of positive (plus,+) command

and negative (minus,-) com ma nd.

Relative Function:

set_pls_optmode(): Refer to section 6.4

4.1.2 Constant Velocity Motion

This mode is used to operate one axis motor at constant velocity motion. The output pulse accelerates from a starting velocity (str_vel) to the specified constant velocity (max_vel). The accelerate constantly while the according to S-curve (constant jerk). The pulse output rate will keep at maximum velocity until another velocity command is set or stop command is issued. The v_stop() function is used to decelerate the motion to zero velocity (stop). The velocity profile is shown as following. be also be applied to stop outputting command pulses during (both trapezoidal and S-curve Motion) ,

Mode

operations

Relative Functions:

v_move( ), v_stop( ), sv_move(): Refer to section 6.5

v_change()

v_move()

sv_move()

is used to change speed during moving. The

function is to accelerate

Note

Home Mode

function is used to

that v_stop() function can

Preset Mode

Manual Pulser

Operations • 33

Velocity(pps)

Tacc

Tdec

max_vel

str_vel

Time(second)

v_move()

v_stop()

4.1.3 Trapezoidal Motion

This mode is used to move one axis motor to a specified position (or distance) with a trapezoidal velocity profile. Single axis is controlled from point to point. An absolute or relative motion can be performed. In absolute mode, the target position is assigned. In relative mode, the target displacement is assigned. In both absolute and relative mode, the acceleration and the deceleration can be different. The function is used to check whether the movement is complete.

motion_done()

34 • Operations

The following diagram shows the trapezoidal profile. There are 9 relative functions. In the

start_ta_move()

the unit of pulse. The physical length or angle of one movement is dependent on the motor driver and the mechanism (includes the motor). Since absolute move mode needs the information of current actual position, so “External encoder feedback (EA, EB pins)” must be enabled in

set_cnt_src()

external feedback pulse input must be appropriately set by

set_move_ratio()

functions, the absolute target position must be given in

function. And the ratio between command pulses and

a_move(), ta_move()

function.

and

start_a_move()

r_move(), t_move()

In the the relative displacement must be given in the unit of pulse. Unsymmetrical trapezoidal velocity profile (Tacc is not equal Tdec) can be specified in

ta_move()

can be specified in The str_vel and max_vel parameters are given in the unit of pulse per

second (pps). The Tacc and Tdec parameters are given in the unit of second represent accel./decel. time respectively. You have to know the physical meaning of “one movement” to calculate the physical value of the relative velocity or acceleration parameters. The following formula gives the basic relationship between these parameters.

max_vel = str_vel + accel*Tacc; str_vel = max_vel + decel *Tdec; where accel/decel represents the acceleration/deceleration rate in unit of

pps/sec. The area inside the trapezoidal profile represents the moving distance.

The unit of velocity setting is pulses per second (pps). Usually, the unit of velocity in the manual of motor or driver is in rounds per minute (rpm). A simple conversion is necessary to match between these two units. Here we use a example to illustrate the conversion.

For example:

and

t_move()

a_move()

start_r_move(), start_t_move()

and

functions; where symmetrical profile (Tacc = Tdec)

r_move()

and

functions

functions,

A servo motor with a AB phase encoder is used for a X-Y table. The resolution of encoder is 2000 counts per phase. The maximum rotating speed of motor is designed to be 3600 rpm. What is the maximum pulse command output frequency that you have to set on PCI-8134/PCI-8134A?

Operations • 35

Answer:

str_vel

Tacc

Tdec

max_vel str_vel

Time (second)

max_vel = 3600/60*2000*4 = 48000pps The reason why *4 is because there are four states per AB phase (See

Figures in Section 4.4).

Velocity (pps)

Usually, the axes need to set the move ratio if their mechanic a l res o lu ti on is different from the resolution of command pulse. For example, if an incremental type encoder is mounted on the working table to measure the actual position of moving part. A servomotor is used to drive the moving part through a gear mechanism. The gear mechanism is used to convert the rotating motion of motor into linear motion.(see the following diagram). If the resolution of motor is 8000 pulses/round. The resolution of gear mechanism is 100 mm/round.(i.e., part moves 100 mm if motor turns one round). Then the resolution of command pulse will be 80 pulses/mm. The resolution of encoder mounting on the table is 200 pulses/mm. Then users have to set the move ratio as 200/80=2.5 by the function:

set_move_ratio(axis, 2.5);

36 • Operations

Motor

Gear

Table

Moving part

Encoder

If this ratio is not set before issuing the start moving command, it will cause problems when running in “Absolute Mode”. Because the PCI-8134/PCI8134A can’t recognize the actual absolute position during motion.

Relative Functions:

a_move(), r_move(), t_move(), ta_move(), start_a_move(), start_r_move(), start_t_move(), start_ta_move() Refer to section 6.6. motion_done(): Refer to section 6.13. set_cnt_src(): Refer to section 6.4. set_move_ratio(): Refer to section 6.10.

4.1.4 S-curve Profile Motion

This mode is used to move one axis motor to a specified position (or distance) with a S-curve velocity profile. S-curve acceleration profiles are useful for both stepper and servo motors. The smooth transitions between the start of the acceleration ramp and the transition to the constant velocity produce less wear and tear than a trapezoidal profile motion. The smoother performance increases the life of the motors and mechanics of a system.

There are several parameters needed to be set in order to make a S-curve move. They are:

pos: target position in absolute mode; dist: moving distance in relative mode; str_vel : specify the start velocity; max_vel : specify the maximum velocity; Tlacc: specify the time for linear acceleration section (constant acceleration). Tsacc: specify the time for S-curve acceleration sec tion

Operations • 37

(constant jerk).

Tsacc

Tsdec

Tldec: specify the time for linear deceleration section (constant deceleration). Tsdec: specify the time for S-curve deceleration section

Tlacc

Tldec

( constant jerk).

Total time of acceleration is: Tlacc+2Tsacc. The following formula gives the basic relationship between these parameters.

max_vel = str_vel + accel*(Tlacc+Tsacc); str_vel = max_vel + decel *(Tldec+Tsdec); accel = Tsacc * jerk1; decel = Tsdec * jerk2;

where accel/decel represents the acceleration/deceleration rate at linear accel./decel. section and are in unit of pps/sec. jerk1, jerk2 are in unit of pps/sec^2. The minimum value for setting time of accel./decel. should be 0.

The S-curve profile motion functions are designed to always produce smooth motion. If the time for linear/S-Curve acceleration parameters combined with the final position don’t allow an axis to reach the maximum

38 • Operations

Velocity (pps)

velocity( i.e.: the moving distance is too small to reach max_vel), the maximum velocity is automatically lowered and

smooth accel./decel. is made (see the following Figure). This means that with moves that don’t reach maximum velocity may cause longer than expected move times. In such a case, the smaller the moving distance, the shorter the linear accel./decel. section becomes and the S-curve section is not reduced unless the linear section is decreased to 0.

Time (sec)

The following two graphs show the results of experiments after executing the unsymmetrical absolute S-curve motion command. Graph1 is the typical result. of S-curve velocity profile. Graph2 is obtained when the amount of command pulses is failed to let the velocity reach the designated maximum velocity. The PCI-8134/PCI-8134A automatically lower the maximum velocity thus provide a smooth velocity profile.

Command of Graph1: start_tas_move(axis, 500000, 100, 1000000, 0.05, 0.05, 0.2, 0.2);

Operations • 39

X-Axis

Y-Axis

∆X

∆Y

The total accelerating time = 0.05+2*0.05 = 0.15 (second). Total decelerating time = 0.2+2*0.2 = 0.6 (second).

Command of Graph2: start_tas_move(axis, 200000, 100, 1000000, 0.05, 0.05, 0.2, 0.2);

Relative Functions:

s_move(), rs_move(), tas_move(), start_s_move(), start_rs_move(), start_tas_move() Refer to section 6.7 motion_done(): Refer to section 6.13

4.1.5 Linear Interpolated Motion

In this mode, two axes ( ″X and Y″ or ″Z and U″ axes) is controlled by linear interpolation or circular interpolation by designating the number of pulses respectively. ″Interpolation between two axes″ means the two axes start simultaneously, and reach their ending points at the same time. For example, in the Figure below, we want to move the axes from P0 to P1, and hope the two axes start and stop simultaneously at a period of time ∆t. Then the moving speed along X-axis and Y-axis will be∆X/∆t., ∆Y/∆t. respectively.

40 • Operations

The axis with larger numbers of moving pulses is the main axis, and the other axis is the secondary axis. When both axes are set at the same amount of pulses, the ‘X’ or ‘Z’ is the main axis. The speed relation between main and secondary axes is as follows:

Composite Speed = Speed of main axis x

Relative Functions:

move_xy(), move_zu(),Refer to section 6.9 set_move_speed(), set_move_accel(),set_move_ratio(): Refer to section

6.10

4.1.6 Home Return Mode

In this mode, you can let the PCI-8134/PCI-8134A output pulses until the conditions to complete the home return is satisfied after writing the

home_move() motion_done()

accompanied with the interrupt function by setting bit 5 of int_factor to 1 in set_int_factor() function.

Moving direction of motors in this mode is determined by the sign of velocity parameter in home can stop OUT and DIR from outputting pulses.

Before writing

set_home_config()

description. There are total three home return modes can be selected by

command. Finish of home return can be checked by

function. Or you can check finish of home return

home_move()

function. A

command, configuration must be set by

v_stop()

command during returning

function. . See also Section 4.3.3 for further

Operations • 41

setting home_mode parameter in

ORG

PCI-8134 Home Mode 0 + ORG DO not latch

Case 1

Case 2

Case 3

Stand still

Negative

Positive

Case 1

Case 2

Case 3

Stand still

*1 In the case 2 of PCI-8134 Home Mode 0, The axis will stand still and reset counter to 0 and issue home interrupt after user commanded a home move operation.

set_home_config()

meaning of Home_mode will be described as the following:

CAUTION Due to differences between the motion chipsets of PCI-8134 and PCI-

8134A, behaviour of home mode 0 and 1 will be inconsistent as performed previously. Please note differences in timing charts of each home mode for both PCI-8134 and PCI-8134A when user wants to use PCI-8134A instead of PCI-8134 with same home function. To ensure the accuracy of home move process, the motion chipset on PCI-8134A commands backward motion and stops at the edge of ORG or EZ precisely.

PCI-8134 Home Mode 0 & Home Mode 1

The timing charts of Home Mode 0 and 1 of PCI-8134/PCI-8134A follow.

function. The

42 • Operations

PCI-8134 Home Mode 0 + ORG do not latch @ 8134.DLL /8134A.DLL

While the motion hits the edge of ORG or EL

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

get_command()

get_position()

get_command()

get_position()

Case 1

Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

Case 2

Doesn’t change

Reset to 0 (stand still)

Doesn’t change

Reset to 0 (stand still)

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL

Counter status after Home Move Completed (Motion Done)

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

Interrupt?

get_command()

get_position()

get_command()

get_position()

Case 1 Doesn’t change

Remain 0

Doesn’t change

Stop at a position

Home Int

Case 3 Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

position

deceleration

Case 2 Doesn’t change Reset to 0 Doesn’t ch a n ge Reset to 0

Home Int

• Home point is at the first edge of ORG signal when home move executing. At left or right side of edge depends on home move direction.

• If axis is not at ORG, the axis will search the edge of ORG as home point.

• In Case 1, the axis is stopped immediately when motion detected the

edge of ORG signal but it might stop at anywhere within the range of ORG signal that means the home position is inaccurate after home move function was executed many times.

• The feedback counter of PCI-8134 will be reset to zero while the motion is hitting the edge of ORG signal.

• In Case 2, the axis will stand still and reset counter to 0 and issue home interrupt.

• After normal home finished like case 1, users have to copy to position value to command counter and target position counter at the same time.

Operations • 43

ORG

Case 1

Case 2

Case 3

Negative

Case 1

Case 2

Case 3

PCI-8134 Home Mode 0 + ORG latch

Positive

PCI-8134 Home Mode 0 + ORG Latch @ 8134.DLL/8134A.DLL

While the motion hits the edge of ORG or EL

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

get_command()

get_position()

get_command()

get_position()

Case 1

Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

Case 2

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

Counter status after Home Move Completed (Motion Done)

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

Interrupt? get_command()

get_position()

get_command()

get_position()

Case 1

Doesn’t change

Remain 0

Doesn’t change

Stop at a position

Home Int Case 2

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

• Home point is at the first edge of ORG signal when home move executing. At left or right side of edge depends on home move direction.

• If axis is not on ORG, the axis will search the edge of ORG as home point.

• In Case 1, the axis will be stopped immediately when axis detected the

edge of ORG signal but it might stop at anywhere within the range of ORG signal that means the home position is inaccurate after home move was executed many times.

44 • Operations

deceleration

PCI-8134 Home Mode 1 + ORG Do not latch

Case 1

Case 2-1

Case 3

Negative

Positive

Case 1

Case 2-2

Case 3

*1 Once user selected “ORG DO NOT LATCH” Mode and pull-up ORG signal all the time that the PCI-8134 will search first EZ signal edge then stop immediately once user issued home move command.

ORG

Case 2-2

1st EZ

While the motion hits the edge of EZ or EL

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

get_command()

get_position()

get_command()

get_position()

Case 1

Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

Case 2-1

Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

Case 2-2

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

• The feedback counter of PCI-8134 will be reset to zero while the motion is hitting the edge of ORG signal.

• In Case 2 & 3, the axis will hit and then stop at the edge of EL signal anyway because the first edge of ORG signal locates behind the start point of axis that means the axis won’t detect the edge of ORG signal anymore.

PCI-8134 Home Mode 1 + ORG do not latch @ 8134A.DLL /8134.DLL

Operations • 45

Counter status after Home Move Completed (Motion Done)

Set_cnt_src()=0 (i nternal)

set_cnt_src ()=1 (external)

Get_command()

get_position()

get_command()

get_position()

position

Case 2-1

Doesn’t change

Remain 0

Doesn’t change

Stop at a deceleration position

Home Int

Case 2-2

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

Interrupt?

Case 1 Doesn’t change Remain 0 Doesn’t change Stop at a deceleration

• In Case 1, the axis will be stopped immediately when axis detected the edge of ORG signal but it might stop at anywhere within the range of ORG signal that means the home position is inaccurate after home move was executed many times.

• The feedback counter of PCI-8134 will be reset to zero while the motion is hitting the edge of ORG signal.

• As Do Not Latch mode, the axis will start searching EZ signal after the ORG signal was detected within 5 clock periods.

• In Case 2-2 & 3, the axis will hit and then stop at the edge of EL signal anyway because the edge of EZ signal locates behind the start point of Home Move that the axis won’t detect the edge of EZ signal anymore.

• In Case 2-1, if there are two or more EZ signals in the system, the axis will search next EZ signal because the ORG signal was turned ON continuously.

Home Int

• After normal home finished like case 1, users have to copy to position value to command counter and target position counter at the same time.

46 • Operations

PCI-8134 Home Mode 1 + ORG latch

ORG

Case 1

Case 2

Negative

Positive

Case 1

ORG latch

Case 3

Case 2

Case 3

While the motion hits the edge of EZ or EL

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

get_command()

get_position()

get_command()

get_position()

Case 1

Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

Case 2

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

Counter status after Home Move Completed (Motion Done)

Set_cnt_src()=0 (i nternal)

set_cnt_src ()=1 (external)

Interrupt?

Case 1

Doesn’t change

Remain 0

Doesn’t change

Stop at a position

Home Int Case 2

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

PCI-8134 Home Mode 1 + ORG latch @ 8134.DLL/8134A.DLL

Get_command() get_position() get_command() get_position()

• The feedback counter of PCI-8134 will be reset to zero while the motion is hitting the edge of ORG signal.

deceleration

Operations • 47

• As Do Not Latch mode, the axis will start searching EZ signal afte r the

ORG

Case 1

Case 2

Case 3

Negative

Case 1

Case 2

Case 3

PCI-8134A Home Mode 0

Positive

Stand still

*1 In the case 2 of PCI-8134A Home Mode 0, The axis will stand still and reset counter to 0 But won’t issue home interrupt after user issued home move command.

Stand still

ORG signal was detected within 5 clock periods.

• In Case 2 & 3, the axis will hit and then stop at the edge of EL signal anyway because the edge of EZ signal locates behind the start point of Home Move that the axis won’t detect the edge of EZ signal anymore.

• In Case 2 & 3, if there are two or more EZ signals in the system, the axis never stop if the axis starts from first EZ signal because there is no ORG signal was triggered prior to EZ searching.

• After normal home finished like case 1, users have to copy to position value to command counter and target position counter at the same time.

PCI-8134A Home Mode 0 & Home Mode 1

The timing charts of Home Mode 0 and 1 of PCI-8134A follow.

PCI-8134A Home Mode 0 @ 8134.DLL /81 34A. DLL /8134A.DLL

48 • Operations

While the motion hits the edge of ORG or EL

Set_cnt_src()=0 (i nternal)

set_cnt_src ()=1 (external)

Get_command( )

get_position()

get_command()

get_position() Case 1

Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

Case 2

Doesn’t change

Stand Still

Doesn’t change

Stand Still

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

Counter status after Home Move Completed (Motion Done)

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

Interrupt? Case 1 Doesn’t change

Remain 0

Doesn’t change

Remain 0

Home Int

Case 2 Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

No Int position

position

get_command() get_position() get_command() get_position

Case 3 Doesn’t change Stop at a EL

Doesn’t change Stop at a EL

()

EL Int

• Home point is at the first edge of ORG signal when home move executing. At left or right side of edge depends on home move direction.

• If axis is not at ORG, the axis will search the edge of ORG as home point.

• In Case 1, the axis will slow down and reverse to search the ORG edge

again and then stop at the edge of ORG signal precisely.

• The feedback counter of PCI-8134A will be reset to zero while the motion is hitting the edge of ORG signal.

• In Case 2, the axis will be standstill and reset counter to 0 but won’t issue home interrupt.

• After normal home finished like case 1, users have to copy to position value to command counter and target position counter at the same time.

Operations • 49

PCI-8134A Home Mode 1

Case 1

Case 2

Case 3

Negative

Positive

Case 1

Case 2

Case 3

ORG

While the motion hits the edge of EZ or EL

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

get_command()

get_position()

get_command()

get_position()

Case 1

Doesn’t change

Reset to 0

Doesn’t change

Reset to 0

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

Counter status after Home Move Completed (Motion Done)

set_cnt_src()=0 (internal)

set_cnt_src ()=1 (external)

Interrupt? get_command()

get_position()

get_command()

get_position()

Case 1

Doesn’t change

Remain 0

Doesn’t change

Remain 0

Home Int

Case 3

Doesn’t change

Stop at a EL position

Doesn’t change

Stop at a EL position

EL Int

PCI-8134A Home Mode 1 @ 8134.DLL /81 34A .DLL

DLL version: 110420, Driver version: 101109

Case 2

Doesn’t change Stop at a EL position Doesn’t change Stop at a EL position

Case 2 Doesn’t change Stop at a EL position D oe sn’t change Stop at a EL

• In Case 1, the axis will search the edge of EZ signal after the ORG signal and then stop at EZ edge precisely.

50 • Operations

position

EL Int

time

  

mvel

svel

Velocity

accel

ORG

• The feedback counter of PCI-8134 will be reset to zero while the motion is hitting the edge of EZ or EL signal.

• After normal home finished like case 1, users have to copy to position value to command counter and target position counter at the same time.

(3) Home_mode=2: both ORG and index signal are useful. The ORG

signal let s th e PCI-8134/PCI-8134A decelerate to starting velocity and then EZ signal stops OUT and DIR pins from outputting pulses to complete the home return.

Note: If the starting velocity is zero, the axis will work properly in home

Relative Function:

set_home_config(), home_move(), v_stop(): Refer to section 6.11

mode 2.

Operations • 51

4.1.7 Manual Pulser Mode

For manual operation of a device, you may use a manual pulser such as a rotary encoder. The PCI-8134/PCI-8134A can input signals from the pulser and output corresponding pulses from the OUT and DIR pins, thereby allowing you to simplify the external circuit and control the present position of axis. This mode is effective between a written and a

The PCI-8134/PCI-8134A receives plus and minus pulses (CW/CCW) or 90 degrees phase difference signals(AB phase) from the pulser at PA and PB pins. The 90°phase difference signals can be input through multiplication by 1, 2 or 4. If the AB pahse input mode is selected, the PA and PB signals should be with 90° phase shifted, and the position counting is increasing when the PA signal is leasding the PB signal by 90° phase.

Also, one pulser may be used for ‘X’ and ‘Y’ axes while internally distributing the signals appropriately to two axes. To set the input signal modes of pulser, use

manu_move()

command in order to end this function and begins to operate at another mode.

The error input of PA and PB can be used to generate IRQ. The following two situations will be considered as error input of PA and PB signals. (1) The PA and PB signals are changing simultaneously. (2) The input pulser frequency is higher than the maximum output frequency 2.4M pps. Set bit 14 of INT factor will enable the IRQ when error happen.

v_stop()

to begin manual operation function. User must write

command.

set_manu_iptmode()

manu_move()

function. Then write

command is

v_stop()

Maximum moving velocity in this mode can be limited by setting max_vel parameter in

Relative Function:

52 • Operations

manu_move()

set_manu_iptmode(), manu_move(), v_stop(): Refer to section 6.12

function.

Motor Drive Interfac e

4.2

The PCI-8134/PCI-8134A provides the INP, ERC and ALM signals for servomotor driver’s control interface. The INP and ALM are used for feedback the servo driver’s status. The ERC is used to reset the servo driver’s deviation counter unde r specia l cond itio ns.

4.2.1 INP

Usually, servomotor driver with pulse train input has a deviation (position error) counter to detect the deviation between the input pulse command and feedback counter. The driver controls the motion of servomotor to minimize the deviation until it becomes 0. Theoretically, the servomotor operates with some time delay from command pulses. Accordingly, when the pulse generator stops outputting pulses, the servomotor does not stop but keep running until the deviation counter become zero. At this moment, the servo driver sends out the in-position signal (INP) to the pulse generator to indicate the motor stops running.

Usually, the PCI-8134/PCI-8134A stops outputting pulses upon completion of outputting designated pulses. But by setting inp_enable parameter in set_inp_logic() function, you can delay the completion of operation to the time when the INP signal is turned on. Status of signal are also delayed. That is, when performing under position control mode, the completion of

start_s_move()

… functions are delayed until INP signal is turned ON.

start_a_move(), start_r_move()

motion_done()

and INT

However, EL or ALM signal or the completion of home return does not cause the INP signal to delay the timing of completion. The INP signal may be a pulse signal, of which the shortest width is 5 micro seconds.

The in-position function can be enable or disable. The input logic polarity isalso programmable by software function: status can be monitored by software function:

set_inp_logic()

get_io_status()

. The signal

4.2.2 ALM

The ALM pin receives the alarm signal output from the servo driver. The signal im mediately stops the PCI-8134/PCI-8134A from generating pulses or stops it after deceleration. If the ALM signal is in the ON status at the start, the PCI-8134/PCI-8134A outputs the INT signal without generating

Operations • 53

any command pulse. The ALM signal may be a pulse signal, of which the

ERC Output Approximate 10ms

shortest width is a time length of 5 micro seconds. You can change the input logic by set_alm_logic() function. Whether or not

the PCI-8134/PCI-8134A is generating pulses, the ALM signal lets it output the INT signal.. The ALM status can be monitored by software function: get_io_status(). The ALM signal can generate IRQ by setting the bit 2 of INT. factor in software function:

set_int_factor().

4.2.3 ERC

The deviation counter clear signal is inserted in the following 4 situations:

(1) home return is complete; (2) the end-limit switch is active; (3) an alarm signal stops OUT and DIR signals; (4) an emergency stop command is issued by software operator.

Since the servomotor operates with some delay from pulse generated from the PCI-8134/PCI-8134A, it keeps operating by responding to the position error rem ainin g in the de viat ion counter of the driver if the ±EL signal or the completion of home return stops the PCL5023 from outputting pulses. The ERC signal allows you to immediately stop the servomotor by resetting the deviation counter to zero. The ERC signal is output as an one-shot sign al. The pulsewidth is a time length of 10ms. The ERC signal will automatically output when ±EL signals, ALM signal is turned on to immediately stop the servomotor. User can set the ERC pin output enable/disable by set_erc_enable() function. ERC pin output is set output enabled when initializing.

54 • Operations

OFF ON

CAUTION

Due to differences between the motion chipsets on the PCI-8134 and PCI8134A, ERC output pulse width with the PCI-8134A may be less than originally output by the PCI-8134.

The Limit Switch Interface and I/O Status

4.3

In this section, the following I/O signals’ operations are described.

• SD: Ramping Down sensor

• ±EL: En d-limit sensor

• ORG: Origin position

• SVON a nd RDY

I/O status readback In any operation mode, if an ±EL signal is active during moving condition, it

will cause PCI-8134/PCI-8134A to stop output pulses automatically. If an SD signal is active during moving condition, it will cause PCI-8134/PCI8134A to decelerate.

4.3.1 SD

The ramping-down signals are used to slow-down the control output signals (OUT and DIR) when it is active. The signals are very useful to protect the mechanism moving under high speed toward the mechanism limit. PSD indicates ramping-sown signal in plus (+) direction and MSD indicates ramping-down signal in minus (-) direction.

During varied speed operation in the home return mode or continuous operation mode, the ramping-down signal in the moving direction lets the output control signals (OUT and DIR) ramp down to the pre-setting starting velocity.

The ramping-down function can be enable or disable by software function:

set_sd_logic()

input mode can also be set by this function. The signals status can be monitored by

. The input logic polarity, level operation mode, or latched

get_io_status()

4.3.2 EL

Operations • 55

The end-limit signals are used to stop the control output signals (OUT and DIR) when the end-limit is active. PEL signal indicates end-limit in positive (plus) direction. MEL signal indicates end-limit in negative (minus) direction. When the output pulse signals (OUT and DIR) are toward positive direction, the pulse train will be immediately stopped when the PEL signal is inserted, while the MEL signal is meaningless in this case, and vise versa. When the PEL is inserted and the output pulse is fully stop, only the negative (minus) direction output pulse can be generated for moving the motor to negative (minus) direction.

The end-limit signals can be used to generate the IRQ by setting the bit 0 of INT. factor in software function:

set_int_factor()

56 • Operations

You can use either 'a' contact switch or 'b' contact switch by setting the dip switch S1. The PCI-8134/PCI-8134A is delivered from the factory with all bits of S1 set to OFF.

The signal status can be monitored by software functi on:

get_io_status().

4.3.3 ORG

When the mo tion controller is operated at the home return mode, the ORG signal is used to stop the control output signals (OUT and DIR).

There are three home return modes, you can select one of them by setting “home_mode” argument in software function: set_home_config(). Note that if home_mode=1 or 2, the ORG signal must be ON or latched during the EZ signal is inserted (EZ=0). The logic polarity of the ORG signal, level input or latched input mode are selectable by software function:

After setting the configuration of home return mode by a home_move() command can perform the home return function.

The ORG signal can also generate IRQ signal by setting the bit 5 of interrupt reason register (or INT. factor) in software function:

set_int_factor()

set_home_config()

4.3.4 SVON and RDY

The SVON signals are controlled by software function: _ The function set the logic of SVON signal. The signal status of SVON pins can be monitored by software function:

RDY pins are dedicated for digital input use The status of this signal can be monitored by software function get_io_status(). The RDY signal can also generate IRQ signal by setting the bit 23 of INT. factor in software function: set_int_factor(). Note that interrupt is generated when RDY signal from high to low.

get_io_status()

8134_Set_SVON()

The PCI-8134A supports neither RDY signal connection nor interrupt function.

Operations • 57

The Encoder Feedback Signals (EA, EB, EZ)

4.4

The PCI-8134/PCI-8134A has a 28-bits binary up/down counter for managing the present position for each axis. The counter counts signals input from EA and EB pins.

It can accept 2 kinds of pulse input: (1). plus and minus pulses input(CW/CCW mode); (2). 90° phase difference signals (AB phase mode). 90° phase difference signals may be selected to be multiplied by a factor of 1,2 or 4. 4x AB phase mode is the most commonly used for incremental encoder input. For example, if a rotary encoder has 2000 pulses per phase (A or B phase), then the value read from the counter will be 8000 pulses per turn or –8000 pulses per turn depends on its turning direction. These input modes can be selected by set_pls_iptmode() function.

To enable the counters counting pulses input from (EA, EB) pins, set “cnt_src” parameter of softwar e functi on set_cnt_src() to 1.

Plus and Minus Pulses Input Mode(CW/CCW Mode)

The pattern of pulses in this mode is the same as Dual Pulse Output Mode in Pulse Command Output section, expect that the input pins are EA and EB.

In this mode, pulse from EA causes the counter to count up, whereas EB caused the counter to count down.

90° phase difference signals Input Mode(AB phase Mode)

In this mode, the EA signal is 90° phase leading or lagging in comparison with EB signal. Where “lead” or “lag’ of phase difference between two signals is caused by the turning direction of motors. The up/down counter counts up when the phase of EA signal leads the phase of EB signal.

The following diagram shows the waveform.

58 • Operations

Negative Direction

Positive Direction

The encoder error interrupt is provided to detect abnormal situation. Simultaneously changing of EA and EB signals will cause an encoder error. If bit #14 of the interrupt factor register (INT factor) is set as 1, the IRQ will be generated when detect encoder error during operation.

The index inputs (EZ) signals of the encoders are used as the “ZERO” index. This signal is common on most of the rotational motors. EZ can be used to define the absolute position of the mechanism. The input logic polarity of the EZ signals is programmable by software function set_home_config(). The EZ signals status of the four axis can be monitored by get_io_status().

Relative Function:

set_cnt_src(), set_pls_iptmode(): Refer to section 6.4

Multiple PCI-8134/PCI-8134A Cards Operation

4.5

The software function library support maximum up to 12 PCI-8134/PCI8134A Cards that means maximum up to 48 axes of motors can be controlled. Since PCI-8134/PCI-8134A has the characteristic of Plug-andPlay, users do not have to care about setting the Based address and IRQ level of cards. They are automatically assigned by the BIOS of system when booting up. Users can utilize Motion Creator to check if the plugged PCI-8134/PCI-8134A cards are successfully installed and see the Base address and IRQ level assigned by BIOS.

One thing needed to be noticed by users is to identify the card number of PCI-8134/PCI-8134A when multiple cards are applied. The card number of one PCI-8134/PCI-8134A depends on the locations on the PCI slots. They

Operations • 59

are numbered either from left to right or right to left on the PCI slots. These

Card No.

1 0 1 2 3

2 4 5 6 7

3 8 9

card numbers will affect the corresponding axis number on the cards. And the axis number is the first argument for most functions called in the library. So it is important to identify the axis number before writing application programs. For example, if 3 PCI-8134/PCI-8134A cards are plugged in the PCI slots. Then the corresponding axis number on each card will be:

Axis No.

If we want to accelerate Axis 3 of Card2 from 0 to 10000pps in 0.5sec for Constant Velocity Mode operation. The axis number should be 6. The code on the program will be:

v_move(6, 0, 10000, 0.5);

To determine the right card number, Try and Error may be necessary before application. Motion Creator can be utilized to minimize the search time.

The newest DLL supports the combination of both PCI-8134 and PCI8134A in one system.

Change Speed on the Fly

4.6

You can change the velocity profile of command pulse ouput during operation by v_change() function. This function changes the maximum velocity setting during operation. However, if you operate under “Preset Mode” (like start_a_move(),…), you are not allowed to change the acceleration parameter during operation because the deceleration point is pre-determined. But changing the acceleration parameter when operating under “Constant Velocity Mode” is valid. Changing speed pattern on the fly is valid no matter what you choose “Trapezoidal Velocity Profile” or “S-curve Velocity Profile”. Here we use an example of Trapezoidal velocity profile to illustarte this function.

Axis 1 Axis 2 Axis 3 Axis 4

Example: There are 3 speed change sensor during an absolute move for 200000 pulses. Initial maximum speed is 10000pps. Change to 25000pps if

60 • Operations

Motor

Sensor 2

Sensor 3

Pos=200000

Moving part

Sensor 1

Sensor 1 is touched. Change to 50000pps if Sensor 2 is touched. Change to 100000pps if Sensor 3 is touched. Then the code for this application and the resulting velocity profiles are shown below.

#include “pci_8134.h” start_a_move(axis, 200000 .0, 1000, 10000, 0.02); while(!motion_done(axis))

{

// Get Sensor’s information from other I/O card if((Sensor1==High) && (Sensor2==Low) && (Sensor3 == Low))

v_change(axis, 25000, 0.02); else if((Sensor1==Low) && (Sensor2==High) && (Sensor3 == Low)) v_change(axis, 50000, 0.02); else if((Sensor1==Low) && (Sensor2==Low) && (Sensor3 == High)) v_change(axis, 100000, 0.02);

}

Where the informations of three sensors are acquired from other I/O card. And the resulting velocity profile from experiment is shown below.

Operations • 61

Relative Function:

v_change(): Refer to section 6.5

Interrupt Control

4.7

The PCI-8134/PCI-8134A motion controller can generate INT signal to host PC according to 13 types of factors, refer to more details.. The INT signal is output when one or more interrupt factors occur on either axis. To judge on which axis the interrupt factors occur, use

get_int_axis() get_int_status()

function. The interrupt status is not closed until

function is performed.

set_int_factor()

function for

62 • Operations

Motion Creator

After installing all the hardware properly according to Chapter 2, 3, configuring cards and checkout are required before running. This chapter gives guidelines for establishing a control system and manually exercising the PCI-8134/PCI-8134A cards to verify correct operation. Motion Creator provides a simple yet powerful means to setup, configure, test and debug motion control system that uses PCI-8134/PCI-8134A cards.

Note that Motion Creator is available only for Windows XP/7 with the screen resolution higher than 800x600 environment and can not run on DOS system.

Motion Creator • 63

Main Menu

5.1

Main Menu will appear when executing Motion Creator. Figure 5.1 shows the Main Menu.

Figure 5.1 Main Menu of Motion Creator

From main menu window all PCI-8134/PCI-8134A cards and their axes and the corresponding status can be viewed. First of all, check if all the PCI8134/PCI-8134A cards which are plugged in the PCI-Bus can be viewed on “Select Card” column. Next select the card and axis you want to configure and operate. Since there are totally four axes on a card, the axis number of first axis on n-the card will be numbered as 4*(n-1). Base address and IRQ level of the card are also shown on this window.

64 • Motion Creator

Axis Configuration Window

5.2

Press the “Config Axis” button on the Main Menu will enter the Axis

Configuration window. Figure 5.2 shows the window.

Figure 5.2 Axis Configuration Window

the Axis Configuration window includes the following setting items which cover most I/O signals of PCI-8134/PCI-8134A cards and part of the interrupt factors.

• Pulse I/O Mode: Related functions:

∗ set_pls_outmode() for “Pulse Output Mode” property. ∗ set_cnt_src() for “Pulse Input Active” property.

Motion Creator • 65

∗ set_pls_iptmode() for “Pulse Input Mode” property.

66 • Motion Creator

• Mechanical Signal:

Related functions:

∗ set_home_config() for “Home Signal” and “Index Signal” property. ∗ set_sd_logic() for “Slow Down Point Signal” property.

• Servo Motor Signal:

Related functions:

∗ set_alm_logic() for “Alarm Signal” property. ∗ set_inp_logic() for “INP” property.

• Manual Pulser Input Mode:

Related functions:

∗ set_manu_iptmode() for “Manual Pulser Input Mode” property.

• Interrupt Factor:

Related functions:

∗ set_int_factor() for “INT Factor” property.

• Home Mode:

Related functions:

∗ set_home_config() for “Home Mode” property.

The details of each section are shown at its related functions. After selecting all the items you want to configure, user can choose to push

the “Save Configurations “ button on the right bottom side. If you push this button, all the configurations you select for system integration will be saved to a file called “8134.cfg”. This file is very helpful when user is developing their own application programs. The following example illustrate how to make use of this function. This example program is shown in C language form.

Main () { _8134_intial ();

8134A cards

_8134_Set_Config ();

according

: :

}

Configure PCI-8134/PCI-8134A cards

Initialize the PCI-8134/PCI-

to 8134.cfg

Motion Creator • 67

Where _8134_initial () and _8134_Set_Config () can be called from the function library we provide. _8134_initial () should be the first fu nc t io n c al led within main {} function. It will check all the PCI-8134/PCI-8134A existed and give the card a base address and IRQ level. _8134_Set_Config () will configure the PCI-8134/PCI-8134A cards according to “8134.cfg”. That is, the contents of Axis Configuration Window can be transferred to the

application program by this function called.

Figure 5.3 Axis Operation window

68 • Motion Creator

Axis Operation Windows

5.3

Press the “Operate Axis” button on the Main Menu or Axis Configuration Menu will enter the Axis Configuration window. Figure 5.3 shows the window. User can use this window to command motion, monitor all the I/O status for the selected axis. This window includes the following displays and controls:

• Motion Status Display,

• Axis Status Display

• I/O Status Display

• Set Position Control

• Operation Mode Control

• Motion Parameter Control

• Play Key Control

• Velocity Profile Selection

• Repeat Mode

5.3.1 Motion Status Display

The Motion Status display provides a real-time display of the axis’s position in the Command, Actual, Error fields. Motion Creator automatically updates these command, actual and error displays whenever any of the values change.

When Pulse Input Active property is Axis Configuration Window is set to Enable, the Actual Position read will be from the external encoder inputs (EA, EB). Else, it will display the command pulse output when set to Disable.

5.3.2 Axis Status Display

The Axis Status display provides a real-time display of the axis’s status. It displays the status (Yes (for logical True) or No (for logical False)) for In

Position or In Motion or displays there is Interrupt Events Occurs. When In motion, you can check the motion done status in the next column. In Position range can be specified in the Pos_Err column.

5.3.3 I/O Status Display

Use I/O Status display to monitor the all the I/O status of PCI-8134/PCI8134A. The Green Light represents ON status, Red Light represents OFF status and BLACK LIGHT represents that I/O function is disabled. The

Motion Creator • 69

ON/OFF status is read based on the setting logic in Axis Configuration window.

70 • Motion Creator

5.3.4 Set Position Control

Use the Set Position Control to arbitrarily change the actual position of axis.Write the position wanting to specify into the column and click the “Set Position” button will set the actual position to the spe cif ied po siti on.

5.3.5 Operation Mode Control

There are four Operation Modes mentioned in Chapter 4 can be tested in the Axis Operation window. They are “Continuous Move Mode”, “Preset Mode Operation”, “Home Mode Operation”, “Manual Mode Operation”.

• Continuous Move Mode:

Press “Continuous Move” button will enable Continuous Velocity motion as specified by values entered in “Start Velocity” and “Maximum Velocity” 2 fields of Motion Parameters Control. The steady state moving velocity will be as specified by “Maximum Velocity”. Press → to move forward or ← to move backward. Press “STOP” to stop moving.

• Preset Mode:

Press “Absolute Mode” to enable absolute motion as specified by values entered in “Position 1” and “Position 2” 2 fields. When selected, “Distance” field for “Relative Mode” is disabled. Press → to move to Positio n 2 or ← to move to Position 1. Press “STOP” to stop motion.

Also, user can specify repetitive motion in “Absolute Mode” by setting “Repeat Mode” to “ON” state. When “Repeat Mode” goes “ON” and either → or ← is pressed., axis starts repetitive motion between Position 1 and Position 2 until “Repeat Mode” goes “OFF” as “STOP” are clicked.

Press “Relative Mode” to enable relative motion as specified by values entered in “Distance” fields. When selected, “Position 1” and “Position 2” fields for “Absolute Mode” is disabled. Press → to move forward to a distance relative to present position as specified by “Distance” or ← to move backward.

Note that both “Absolute Mode” and “Relative Mode” are operated under a trapezoidal velocity profile as specified by Motion Parameters Control.

• Home Return Mode:

Press “Home Move” button will enable Home Return motion. The home returning velocity is specified by settings in Motion Parameters Control. The arriving condition for Home Return Mode is specified in Axis Configuration

Motion Creator • 71

Window. Press → to begin returning home function. Press “STOP” to stop moving.

72 • Motion Creator

• Manual Pulser Mode:

Press “Manual Pulser Move” button will enable motion controlled by hand wheel pulser. Using this function, user can manually operate the axis thus verify operation. The maximum moving velocity is limited as specified by “Maximum Velocity”. Press “STOP” to end this mode.

Do remember to press “STOP” to end operation under this mode. Otherwise, operations under other modes w ill be inhibited.

5.3.6 Motion Parameters Control

Use the Motion Parameters with the Operation Mode Control to command motion.

• Starting Velocity: Specify the starting moving speed in pulses per second.

• Maximum Velocity: Specify the maximum moving speed in pulses per second.

• Acceleration: Specify the acceleration in pulses per second square.

• Move delay: Specify time in mini seconds between movement.

• S curve Acc/dec Time: Specify time in mini second for S_curve

Movement.

5.3.7 Play Key Control

Use buttons in Play Key Control to begin or end operation.

: click button under this symbol to begin moving to Positions 2 in Absolute Mode or moving forward in other modes.

: click button under this symbol to begin moving to Positions 1 in Absolute Mode or moving backward in other modes.

: click button under this symbol to stop motion under any mode. Note that this button is always in latch mode. Click again to release “STOP” function.

Motion Creator • 73

5.3.8 Velocity Profile Selection

: Click T_Curve or S_curve to select preset movement velocity profile. The relative parameter settings are in Motion Parameter Frame.

5.3.9 Repeat Mode

: Repeat mode is only for absolute and relative mode. After choosing a operation mode and click repeat mode on, you can press play key to make axis run between position 1 and 2 (in absolute mode) or run between a range (relative mode). It is useful on demonstrations. Use Stop button to stop this operation.

74 • Motion Creator

Function Library

This chapter describes the supporting software for PCI-8134/PCI-8134A cards. User can use these functions to develop application program in C or Visual Basic or C++ language.

List of Functions

6.1

(8134.DLL)

Initialization

W_8134_Initial Card initialization W_8134_InitialA Card initialization type A W_8134_Close Card Close W_8134_Set_Config Configure card according to Motion Creator’s

setting W_8134_Get_IRQ_Channel Get IRQ channel W_8134_Get_Base_Addr Get Base Address

Section 6.3

Pulse Input/Output Configuration

set_pls_outmode Set pulse command output mode set_pls_iptmode Set encoder input mode set_cnt_src

Section 6.4

Continuously Motion Mode

v_move Accelerate an axis to a constant velocity with trapezoidal profile sv_move Accelerate an axis to a constant velocity with S- curve profile

v_change Change speed on the fly

Section 6.5

Function Library • 75

v_stop Decelerate to stop set_sd_stop_mode Set slow down stop mode fix_max_speed Fix maximum speed setting unfix_max_speed Unfix maximum speed setting get_current_speed Get current speed in pps

verify_speed Get the minimum acceleration time under the

Trapezoidal Motion Mode

a_move Perform an absolute trapezoidal profile move and wait for finish start_a_move Start an absolute trapezidal profile move

r_move Perform a relative trapezoidal profile move and wait for finish start_r_move Start a relative trapezoidal profile move

t_move Perform a relative non-symmetrical trapezoidal profil e move

start_t_move Start a relative non-symmetrical trapezidal profile start_ta_move Start an absolute non-symmetrical trapezidal profile ta_move Start an absolute non-symmetrical trapezoidal profile move

wait_for_done Wait for an axis to finish

speed setting

and wait for finish

move move and wait for finish

Section 6.6

set_rdp_mode Set Ramping down mode

S-Curve Profile Motion

s_move Perform an absolute S-curve profile move and wait for finish start_s_move Start an absolute S-curve profile move

rs_move Perform a relative S-curve profile move and wait for finish start_rs_move Start a relative S-curve profile move

tas_move Perform an absolute non-symmetrical S-curve profile move

and wait for finish

start_tas_move Start an absolute non-symmetrical S-curve profile

move

Section 6.7

Multiple Axes Point to Point Motion

start_move_all Start a multi-axis trapezodial profile move

76 • Function Library

Section 6.8

set_home_config

Set or get the home/index

mode

move_all Perform a multi-axis trapezodial profile move and

start_sa_move_all Start a multi-axis absolute S-curve profile move wait_for_all

Wait for all axes to finish

wait for

finish

Linear Interpolated Motion

move_xy Perform a 2-axis linear interpolated move for X & Y move_zu Perform a 2-axis linear interpolated move for Z & U start_move_xy Start a 2-axis linear interpolated move for X & Y

start_move_zu Start a 2-axis linear interpolated move for Z & U

and wait for finish and wait for finish

Interpolation Parameters Configuring

map_axes Maps coordinated motion axes x, y, z… set_move_speed Set the vector velocity set_move_accel Set the vector acceleration time set_move_ratio Set the axis resolution ratios

Home Return Mode

home_move

logic configuration Start a home return actionulse command output

Section 6.9

Section 6.10

Section

6.11

Function Library • 77

W_8134_INT_Enable

Set Interrupt Event enable

W_8134_Set_INT_Control

Manual Pulser Motion

set_manu_iptmode Set pulser input mode and operation mode manu_move Begin a manual pulser movement

Motion Status

motion_done Check if the axis is in motion

Servo Drive Interface

set_alm_logic Set alarm logic and alarm mode set_inp_logic Set In-Position logic and enable/disable set_sd_logic Set slow down point logic and enable/disable set_erc_enable Set the ERC output enable/disable

I/O Control and Monitoring

W_8134_Set_SVON Set the state of general purpose output bit get_io_status Get all the I/O staus of PCI-8134

Position Control

Section 6.12

Section 6.13

Section 6.14

Section 6.15

Section

6.16

Interrupt Control

W_8134_INT_Disable

set_int_factor get_int_statusg factors Get the interrupting status of axis link_axis_interrupt Link a callback function for

C/C++ Programming Library

6.2

This section gives the details of all the functions. The function prototypes and some common data types are decelerated in are used by PCI-8134/PCI-8134A library. We suggest you to use these data types in your application programs. The following table shows the data type names and their range.

78 • Function Library

Set Interrupt Event enable

interrupt

PCI-8134.H

. These data types

Section

6.17

Type Name

Description

Range

8-bit ASCII character

0 to 255

I16

16-bit signed integer

-32768 to 32767

U16

16-bit unsigned integer

0 to 65535

I32

32-bit signed long integer

-2147483648 to 2147483647

U32

32-bit unsigned long integer

0 to 4294967295

point

1.797683134862315E308 to

1.797683134862315E309

Boolean

Boolean logic value

TRUE, FALSE

F32

F64

32-bit single-precision floating-

64-bit double-precision floating-

-3.402823E38 to 3.402823E38

Initialization

6.3

@ Name

W_8134_Initial – Card Initialization W_8134_InitialA – Another Card Initialization Method

W_8134_Close – Card Close W_8134_Set_Config – Configure Card according to Motion Creator W_8134_Get_IRQ_Channel – Get the card’s IRQ number W_8134_Get_ Base_Addr – Get the card’s base address

@ Description

W_8134_Initial:

This function is used to initialize PCI-8134 card. It has to be initialized by this function before calling other functions. The parameter definitions of this function are different from OS. Please pay attention it.

W_8134_InitialA:

This function is like above one. The only difference is parameter definition. We suggest that users use this function for card

initialization because this function is OS independent. W_8134_Close: This function must be called before the program ends.

W_8134_Set_Config:

This function is used to configure PCI-8134 card. All the I/O configurations and some operating modes appeared on “Axis Configuration Window” of Motion Creator will be set to PCI-8134. Click “Save Configuration” button on the “Axis Configuration Window” if you want to use this function in the application program. Click “Save Configuration” button will save all the configurations to a file call “8134.cfg”. This file will appear in the Windows’ system directory.

W_8134_Get_IRQ_Channel :

Function Library • 79

This function is used to get the PCI-8134 card’s IRQ number.

W_8134_Get_Base_Addr :

This function is used to get the PCI-8134 card’s base address.

@ Syntax

C/C++ (DOS)

U16 _8134_Initial (U16 *existCards, PCI_INFO *info) U16 _8134_Close(U16 cardNo) U16 _8134_Set_Config(char* filename)

C/C++ (Windows)

U16 W_8134_Initial(U16 *existCards, PCI_INFO *pciInfo)

(Windows 9x Only) U16 W_8134_Initial( U16 W_8134_InitialA(I16 *Totalcard) U16 W_8134_Close( U16 W_8134_Set_Config(char *fileName) void W_8134_Get_IRQ_Channel(U16 cardNo, U16 *irq_no ) void W_8134_Get_Base_Addr(U16 cardNo, U16 *base_addr )

Visual Basic (Windows)

W_8134_Initial (existCards As Integer, pciInfo As

PCI_INFO) As Integer (Windows 9x Only) W_8134_Initial (ByVal cardNo As Long) As Integer

(Windows NT/2K/XP) W_8134_Close (ByVal cardNo As Long) As Integer

(Windows NT/2K/XP) W_8134_Set_Config (ByVal fileName As String) As

Integer W_8134_Get_IRQ_Channel (ByVal cardno As Integer,

irq_no As Integer) W_8134_Get_Base_Addr (ByVal cardno As Integer,

base_addr As Integer)

@ Argument

existCards info cardNo

filename: A configuration file from MotionCreator irq_no base_addr: The card’s base address

@ Return Code

ERR_NoError ERR_BoardNoInit ERR_PCIBiosNotExist

: relative information of the PCI-8134 cards

: numbers of existing PCI-8134 cards

: The PCI-8134 card index number.

: The card’s IRQ channel number

I32

cardNo

I32

cardNo

) (

) (All Windows)

Windows NT

(All Windows)

/2K/XP)

Pulse Input / Output Configuration

6.4

80 • Function Library

@ Name

set_pls_outmode – Set the configuration for pulse command output. set_pls_iptmode – Set the configuration for feedback pulse input. set_cnt_src – Enable/Disable the external feedback pulse input

@ Description

set_pls_outmode:

Configure the output modes of command pulse. There are two modes for command pulse output.

set_pls_iptmode:

Configure the input modes of external feedback pulse. There are four types for feedback pulse input. Note that this function makes sense only

cnt_src

when

set_cnt_src:

If external encoder feedback is available in the system, set the parameter in this function to Enabled state. Then internal 28-bit up/down counter will count according configuration of Or the counter will count the command pulse output.

@ Syntax

C/C++ (DOS, Windows)

U16 set_pls_outmode(I16 axis, I16 pls_outmode) U16 set_pls_iptmode(I16 axis, I16 pls_iptmode) U16 set_cnt_src(I16 axis, I16 cnt_src)

Visual Basic (Windows)

set_pls_outmode (ByVal axis As Long, ByVal pls_outmode

As Long) As Integer set_pls_iptmode (ByVal axis As Long, ByVal pls_iptmode

As Long) As Integer set_cnt_src (ByVal axis As Long, ByVal cnt_src As Long)

As Integer

@ Argument

axis

:axis number designated to configure pulse

Input/Output.

pls_outmode

OUT and DIR pins. pls_outmode=0, OUT/DIR type pulse output. pls_outmode=1, CW/CCW type pulse output.

pls_iptmode

mode for EA and EB pins. pls_iptmode=0, 1X AB phase type pulse input. pls_iptmode=1, 2X AB phase type pulse input. pls_iptmode=2, 4X AB phase type pulse input.

parameter in

: setting of command pulse output mode for

: setting of encoder feedback pulse input

set_cnt_src()

function is enabled.

set_pls_iptmode()

cnt_src

function.

Function Library • 81

pls_iptmode=3, CW/CCW type pulse input.

cnt_src

cnt_src=1, counter source from external input

@ Return Code

ERR_NoError

: Counter source

cnt_src=0, counter source from command pulse

EA, EB

Continuously Motion Move

6.5

@ Name

v_move – Accelerate an axis to a constant velocity with trapezoidal profile sv_move – Accelerate an axis to a constant velocity with S-curve profile v_change – Change speed on the fly v_stop – Decelerate to stop

set_sd_stop_mode – Set slow down stop mode fix_max_speed – Fix maximum speed setting unfix_max_speed – Unfix maximum speed setting get_current_speed – Get axis’ current output pulse rate verify_speed – Get the minimum acceleration time under the speed

setting

_8134_set_sd_stop_mode – Set slow down stop mode

@ Description

v_move:

This function is used to accelerate an axis to the specified constant velocity. The axis will continue to travel at a constant velocity until the velocity is changed or the axis is commanded to stop. The direction is determined by the sign of velocity parameter.

sv_move:

This function is similar to v_stop() but the accelerating is S-curve.

v_change:

You can change the velocity profile of command pulse ouput during operation by this function. This function changes the maximum velocity setting during operation.

v_stop:

This function is used to decelerate an axis to stop anytime.

82 • Function Library

set_sd_stop_mode:

Select the motion actions for slow down only or slow down then stop

when SD pin is turned on fix_max_speed: This function is used to fix the speed resolution multiplier. The higher it is set, the coarser speed step is performed but the higher acceleration rate is obtained. Once it is set, the motion function will use this multiplier setting instead. Notice that this value will not affect the maximum speed of the motion command. unfix_max_speed:

This func tion is used to unfix the speed resolution multiplier. Once it

is unfixed, all motion command will calculate a optimized multiplier

value according to the maximum speed setting in motion function. verify_speed:

This function is used to get the minimum acceleration under a

maximum speed setting. This function will not affect any speed or

acceleration setting. It is only for offline checking. _8134_set_sd_stop_mode:

Select the motion actions for slow down only or slow down then stop

when SD pin is turned on

@ Syntax

C/C++ (DOS, Windows)

U16 v_move(I16 axis, F64 str_vel, F64 max_vel, F64

Tacc)

U16 sv_move(I16 axis, F64 str_vel, F64 max_vel, F64

Tlacc, F64

U16 v_change(I16 axis, F64 max_vel, F64 Tacc) U16 v_stop(I16 axis, F64 Tdec)

Visual Basic (Windows)

v_move (ByVal axis As Integer, ByVal str_vel As Double,

sv_move(I16 axis, F64 str_vel, F64 max_vel, F64 Tlacc,

v_change(I16 axis, F64 max_vel, F64 Tacc) As Integer

Tsacc)

U16 set_sd_stop_mode(I16 axis,I16 stop_mode) U16 fix_max_speed(I16 axis, F64 max_vel) U16 unfix_max_speed(I16 axis) F64 verify_speed(F64 StrVel, F64 MaxVel, F64 *minAccT, F64

*maxAccT, F64 MaxSpeed)

I16 _8134_set_sd_stop_mode(I16 AxisNo, I16 sd_mode)

ByVal max_vel As Double, ByVal Tacc As Double) As Integer

F64 Tsacc) As Integer

Function Library • 83

v_stop (ByVal axis As Integer, ByVal Tacc As Double)

As Integer

stopmode As Integer) As Integer

fix_max_speed(ByVal axis As Integer, ByVal max_vel As Double) unfix_max_speed(ByVal axis As Integer) As Integer

verify_speed(ByVal st r _ vel A s Double, ByVal max_vel As Double,

_8134_set_sd_stop_mode (ByVal axis As Integer, ByVal stopmode

@ Argument

axis str_vel max_vel Tacc Tdec

Tlacc:

curve in unit of second

Tsacc:

curve in unit of second

stopmode:

down then stop

*minAccT:

*maxAccT: calculated maximum acceleration time

MaxSpeed: The value of maximum speed setting in

motion function or in fix_max_speed function

@ Return Code

ERR_NoError

The return value of verify_speed is the calculated starting velocity

set_sd_stop_mode (ByVal axis As Integer, ByVal

As Integer

minAccT As Double, maxAccT As Double, ByVal MaxSpeed

As Double) As Double As Integer) As Integer

: axis number designated to move or stop.

: starting velocity in unit of pulse per second

: maximum velocity in unit of pulse per second : specified acceleration time in unit of second : specified deceleration time in unit of second

specified linear acceleration time of S-

specified S-curve acceleration time of S-

0=slow down to starting velocity, 1=slow

calculated minimum acceleration time

Trapezoidal Motion Mode

6.6

@ Name

start_a_move– Begin an absolute trapezoidal profile motion start_r_move– Begin a relative trapezoidal profile motion start_t_move– Begin a non-symmetrical relative trapezoidal profile

motion

start_ta_move – Begin a non-symmetrical absolute trapezoidal profile motion

84 • Function Library

a_move– Begin an absolute trapezoidal profile motion and wait for completion r_move– Begin a relative trapezoidal profile motion and wait for completion t_move – Begin a non-symmetrical relative trapezoidal profile motion and wait for completion ta_move– Begin a non-symmetrical absolute trapezoidal profile motion and wait for completion

wait_for_done – Wait for an axis to finish set_rdp_mode – Set ramping down mode

@ Description

start_a_move() :

This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program. The acceleration rate is equal to the deceleration rate. coordinate move and waits for completion.

start_r_move() :

start_ta_move() :

This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified

absolute position, immediately returning control to the program.. ta_move() starts an absolute coordinate move and waits for completion.

start_t_move() :

This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the relative distance, immediately returning control to the program.. coordinate move and waits for completion. The moving direction is determined by the sign of pos or dist parameter.If the moving distance is too short to reach the specified velocity, the controller will accelerate for the first half of the distance and decelerate for the second half (triangular profile). the motion to complete. wait_for_done():

This function will return after the specified axis is not busy for motion.

set_rdp_mode():

Switch the motion slow down mode for auto or manual mode. The mode is default in manual mode.

@ Syntax

C/C++ (DOS, Windows)

r_move()

a_move()

starts a relative move and waits

starts an absolute

t_move()

wait_for_done()

starts a relative

Function Library • 85

waits for

U16 start_a_move(I16 axis, F64 pos, F64 str_vel, F64

max_vel, F64 Tacc)

U16 a_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel,

F64Tacc)

U16 start_r_move(I16 axis, F64 distance, F64 str_vel,

F64 max_vel, F64 Tacc)

U16 r_move(I16 axis, F64 distance, F64 str_vel, F64

max_vel, F64Tacc)

U16 start_t_move(I16 axis, F64 dist, F64 str_vel, F64

max_vel, F64 Tacc, F64 Tdec)

U16 t_move(I16 axis, F64 dist, F64 str_vel, F64

max_vel, F64 Tacc, F64 Tdec)

U16 start_ta_move(I16 axis, F64 pos, F64 str_vel, F64

max_vel, F64 Tacc, F64 Tdec)

U16 ta_move(I16 axis, F64 pos, F64 str_vel, F64

max_vel, F64Tacc, F64 Tdec) U16 wait_for_done(I16 axis) U16 set_rdp_mode(I16 axisno, I16 mode)

Visual Basic (Windows)

start_a_move (ByVal axis As Integer, ByVal pos As

Double, ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tacc l As Double) As Integer a_move (ByVal axis As Integer, ByVal pos As Double,

ByVal str_vel As Double, ByVal max_vel As Double,

ByVal Tacc As Double) As Integer start_r_move (ByVal axis As Integer, ByVal distance As

Double, ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tacc As Double) As Integer r_move (ByVal axis As Integer, ByVal distance As

Double, ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tacc As Double) As Integer

start_t_move (ByVal axis As Integer, ByVal

distance As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As

t_move (ByVal axis As Integer, ByVal distance As

start_ta_move(ByVal axis As Integer, ByVal pos As

wait_for_done(ByVal axis As Integer) As Integer set_rdp_mode(ByVal axisno As Integer, ByVal mode As

Double, ByVal Tdec As Double) As Integer

Double, ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tacc As Double, ByVal Tdec As Double)

As Integer

Double , ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tacc As Double, ByVal Tdec As Double)

As Interger ta_move(ByVal axis As Integer, ByVal

pos As Double , ByVal str_vel As Double, ByVal

max_vel As Double, ByVal Tacc As Double, ByVal Tdec

As Double) As Integer

86 • Function Library

Integer) As Integer

@ Argument

axis

: axis number designated to move.

pos

: specified absolute position to move

distance or dist str_vel max_vel Tacc Tdec

@ Return Code

ERR_NoError ERR_MoveError

: starting velocity of a velocity profile in unit of pulse per second

: specified acceleration time in unit of second

: specified deceleration time in unit of second

Mode(default), 1=Auto Mode

: specified relative distance to move

Mode

: 0=Manual

S-Curve Profile Motion

6.7

@ Name

start_s_move– Begin a S-Curve profile motion s_move– Begin a S-Curve profile motion and wait for completion start_rs_move– Begin a relative S-Curve profile motion rs_move– Begin a relative S-Curve profile motion and wait for completion start_tas_move– Begin a non-symmetrical absolute S-curve profile motion tas_move– Begin a non-symmetrical absolute S-curve profile motion and wait for completion

@ Description

start_s_move() :

start_rs_move() :

start_tas_move() :

This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program. an absolute coordinate move and waits for completion.

rs_move()

s_move()

starts a relative move and waits

starts an absolute

tas_move()

Function Library • 87

starts

@ Syntax

C/C++ (DOS, Windows)

U16 start_s_move(I16 axis, F64 pos, F64 str_vel, F64

max_vel, F64 Tlacc, F64 Tsacc) U16 s_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel,

F64 Tlacc, F64 Tsacc) U16 start_rs_move(I16 axis, F64 distance, F64 str_vel,

F64 max_vel, F64 Tlacc, F64 Tsacc) U16 rs_move(I16 axis, F64 distance, F64 str_vel, F64

max_vel, F64 Tlacc, F64 Tsacc) U16 start_tas_move(I16 axis, F64 pos, F64 st r_vel, F64

max_vel, F64 Tlacc, F64 Tsacc, F64 Tldec, F64 Tsdec) U16 tas_move(I16 axis, F64 pos, F64 str_vel, F64

max_vel, F64 Tlacc, F64 Tsacc, F64 Tldec, F64 Tsdec)

Visual Basic (Windows)

start_s_move(ByVal axis As Integer, ByVal pos As

Double, ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tlacc As Double, ByVal Tsacc As

Double) As Integer s_move(ByVal axis As Integer, ByVal pos As Double,

ByVal str_vel As Double, ByVal max_vel As Double

ByVal Tlacc As Double, ByVal Tsacc As Double) As

Integer start_rs_move(ByVal axis As Integer, ByVal distance As

Double, ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tlacc As Double, ByVal Tsacc As

Double) As Integer rs_move(ByVal axis As Integer,

ByVal distance As Double, ByVal str_vel As Double,

ByVal max_vel As Double, ByVal Tlacc As Double,

ByVal Tsacc As Double) As Integer

start_tas_move(ByVal axis As Integer, ByVal pos As

Double, ByVal str_vel As Double, ByVal max_vel As

Double, ByVal Tlacc As Double, ByVal Tsacc As

Double, ByVal Tldec As Double, ByVal Tsdec As

Double) As Integer tas_move(ByVal axis As Integer, ByVal pos As Double

ByVal str_vel As Double, ByVal max_vel As Double

ByVal Tlacc As Double, ByVal Tsacc As Double, ByVal

Tldec As Double, ByVal Tsdec As Double) As Integer

@ Argument

axis

: axis number designated to move.

pos

: specified absolute position to move

distance or dist str_vel max_vel Tlacc Tsacc Tldec

88 • Function Library

: starting velocity of a velocity profile in unit of pulse per second

: specified linear acceleration time in unit of second

: specified S-curve acceleration time in unit of second

: specified linear deceleration time in unit of second

: specified relative distance to move

Tsdec

: specified S-curve deceleration time in unit of second

@ Return CodeERR_NoError ERR_MoveError

Multiple Axes Point to Point Motion

6.8

@ Name

start_move_all– Begin a multi-axis trapezoidal profile motion move_all– Begin a multi-axis trapezoidal profile motion and wait for completion wait_for_all– Wait for all axes to finish

start_sa_move_all– Begin a multi-axis S-curve profile motion move_all– Begin a multi-axis trapezoidal profile motion and wait for

completion

@ Description

start_move_all() :

This function causes the specified axes to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program. The move axes are specified by axes and the number of axes are defined by n_axes. The acceleration rate of all axes is equal to the deceleration rate.

move_all()

guarantee that motion begins on all axes at the same sample time. that it is necessary to make connections according to Section 3.12 on CN4 if these two functions are needed.

wait_for_done()

axes. The following code demos how to utilize these functions. This code moves axis 0 and axis 4 to position 8000.0 and 120000.0 respectively. If we choose velocities and acelerations that are propotional to the ratio of distances, then the axes will arrive at their endpoints at the same time (simultaneous motion).

#include “pci_8134.h” I16 axes [2] = {0, 4};

F64 positions[2] = {8000.0, 12000.0}; F64 str_vel[2]={0.0, 0.0}; F64 max_vel[2]={4000.0, 6000.0}; F64 Tacc[2]]={0. 04, 0. 06};

move_all(2, axes, positions, str_vel, max_vel, Tacc);

@ Syntax

C/C++ (DOS, Windows)

U16 start_move_all(I16 len, I16 *axes, F64 *pos, F64

*str_vel, F64 *max_vel, F64 *Tacc)

starts the motion and waits for completion. Both functions

waits for the motion to complete for all of the specified

start_sa_move_all()

is similar to this function.

Function Library • 89

Note

U16 move_all(I16 len, I16 *axes, F64 *pos, F64

*str_vel, F64 *max_vel, F64 *Tacc) U16 wait_for_all(I16 len, I16 *axes) U16 start_sa_move_all(I16 len, I16 *axes, F64 *pos,

F64 *str_vel, F64 *max_vel, F64 *Tlacc, F64 *Tsacc)

Visual Basic (Windows)

start_move_all(ByVal len As Integer, ByRef axis As

Integer , ByRef pos As Double, ByRef str_vel As

Double, ByRef max_vel As Double, ByRef Tacc As

Double) As Integer move_all(ByVal len As Integer, ByRef axis As Integer,

ByRef pos As Double, ByRef str_vel As Double, ByRef

max_vel As Double, ByRef Tacc As Double) As Integer

wait_for_all(ByVal n_axes As Integer, ByRef axis As

Integer) As Integer start_move_all(ByVal len As Integer, ByRef axis As Integer , ByRef pos As Double, ByRef str_vel As Double, ByRef max_vel As Double, ByRef Tlacc As Double, ByRef Tsacc As Double) As Integer

@ Argument

n_axes *axes *pos *str_vel *max_vel *Tacc

@ Return Code

ERR_NoError ERR_MoveError

: number of axes for simultaneous motion

: specified axes number array designated to move.

: specified position array in unit of pulse

: starting velocity array in unit of pulse per second

: maximum velocity array in unit of pulse per second

: acceleration time array in unit of second

90 • Function Library

ADLINK PCI-8134A User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Features

Specifications

Software Support

1.3.1 Programming Library

1.3.2 Motion Creator

Compatible Terminal Boards

Installation

Package Contents

PCI-8134/PCI-8134A Outline Drawing

Hardware Installation

2.3.1 Hardware configuration

2.3.2 PCI slot selection

2.3.3 Installation Procedures

2.3.4 Troubleshooting:

Software Driver Installation

Programming Guide Installation

CN1 Pin Assignments: External Power Input

CN2 Pin Assignments: Main connector

CN3 Pin Assignments: Manual Pulser Input

CN4 Pin Assignments: Simultaneous Start/ St op

Jumper Setting

Switch Setting

Signal Connections

Pulse Output Signals OUT and DIR

Encoder Feedback Signals EA, EB and EZ

Origin Signal ORG

End-Limit Signals PEL and MEL

Ramping-down Signals PSD and MSD

In-position Signal INP

Alarm Signal ALM

Deviation Counter Clear Signal ERC

General-purpose Signal SVON

General-purpose Signal RDY

Pulser Input Signals PA and PB

Operations

Motion Control Modes

4.1.1 Pulse Command Output

4.1.2 Constant Velocity Motion

4.1.3 Trapezoidal Motion

4.1.4 S-curve Profile Motion

4.1.5 Linear Interpolated Motion

4.1.6 Home Return Mode

PCI-8134 Home Mode 0 & Home Mode 1

PCI-8134A Home Mode 0 & Home Mode 1

4.1.7 Manual Pulser Mode

Motor Drive Interfac e

4.2.1 INP

4.2.2 ALM

4.2.3 ERC

The Limit Switch Interface and I/O Status

4.3.1 SD

4.3.2 EL

4.3.3 ORG

4.3.4 SVON and RDY

The Encoder Feedback Signals (EA, EB, EZ)

Multiple PCI-8134/PCI-8134A Cards Operation

Change Speed on the Fly

Interrupt Control

Motion Creator

Main Menu

Axis Configuration Window

Axis Operation Windows

5.3.1 Motion Status Display

5.3.2 Axis Status Display

5.3.3 I/O Status Display

5.3.4 Set Position Control

5.3.5 Operation Mode Control

5.3.6 Motion Parameters Control

5.3.7 Play Key Control

5.3.8 Velocity Profile Selection

5.3.9 Repeat Mode

List of Functions

C/C++ Programming Library

Initialization

Pulse Input / Output Configuration