ADLINK PCI-8258 User Manual

PCI-8254 / PCI-8258

DSP-Based 4/8

Advanced Motion Control Card

User manual

Version: 2.00

Updated: August 13, 2014

P/N: 50-15085-1000

Advance Technologies; Automate the World.

Revision History

Revision	Date	Description
2.00	2014-08-13	First release

ii

PCI-8254 / PCI-8258

Preface

Copyright 2014 ADLINK Technology, Inc.

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

Disclaimer

The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer.

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

Environmental responsibility

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

Trademark

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

Preface

iii

Conventions

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

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

NOTE

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

complete a task.

CAUTION

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

complete a specific task.

WARNING

iv

Preface

		PCI-8254 / PCI-8258
	Table of Contents
Revision History......................................................................		ii
Preface	....................................................................................	iii
List of Figures ........................................................................		ix
List of Tables........................................................................		xiii
1 Introduction ........................................................................		1
1.1 .........................................................	Product Specifications	4
1.2 .................................................................	Software Support	8
................................................	Software Support Library	8
........................................................	MotionCreatorPro 2	8
1.3 ....................................................................	Terminal Board	8
2 Getting ..................................Start with The Installation		11
2.1 .............................................................	Package Contents	11
2.2 ....................	PCI - 8254/PCI - 8258 Exterior Profile Diagram	12
2.3 .........................................................	Hardware Installation	14
................................................	Hardware Configuration	14
.................................................	Installation Procedures	14
............................................................	Troubleshooting	15
2.4 .........................................	Software Installation Procedure	16
2.5 ..................................	Definitions to Key Connector Signal	18
	PCI - 8254:
.....................................................................	Connector	18
........................................	PCI - 8258: P1 - A/B Connector	20
	PCI - 8254/58:
................................................................	P2 Connector	23
2.6 .........................................................................	DIP Switch	24
................................	S1: Analog Output Mode Settings	24
....................................................	SW2: Card ID Switch	25

Table of Contents

v

	2.7	IDE 44p – DSUB 37p Bus..................................................		26
	2.8	Exclusive Board - DIN-825-GP4 ........................................		27
			Definitions to Connector ...............................................	28
			Connector: For Connecting to
			PCI-8254/PCI-8258/AMP-204C/AMP-208C .................	30
			S1, S2: EDO/ALM_RST Selection Switch ....................	39
3	Signal Connection ............................................................			41
	3.1	Analog Control Command Signal.......................................		42
	3.1.1		Single-ended Type Signal: AOUT+ ..........................	42
	3.1.2		Single-ended Type Signal: AOUT+, AOUT- .............	42
	3.2	Pulse Command ................................................................		44
	3.3	Encoder Input, EA & EB & EZ............................................		47
	3.4	Emergency Stop Input .......................................................		49
	3.5	PEL/MEL Input...................................................................		50
	3.6	ORG Input..........................................................................		52
	3.7	INP / ZSP Input..................................................................		53
	3.8	ALM Input ..........................................................................		54
	3.9	SVON Output.....................................................................		55
	3.10	Analog Input Signals..........................................................		56
	3.11	Compare & Trigger Output.................................................		57
	3.12	Digital Output/Input ............................................................		59
4	Motion Control Theory .....................................................			65
	4.1	Motion Control Mode and Interface Overview....................		66
	4.1.1		Motion Control Interface ...........................................	66
	4.1.2		Control Cycle ............................................................	73
	4.2	Closed-loop Control ...........................................................		75
	4.2.1		Close-loop Control Overview ....................................	75
	4.2.2		Auto Servo Tuning....................................................	80
	4.2.3		Manual Servo Tuning................................................	84
	4.2.4		Filter..........................................................................	85
	4.2.5		Bode Plot ..................................................................	93

vi	Table of Contents

		PCI-8254 / PCI-8258
4.3	Motion Control Operations.................................................		98
4.3.1		Coordinated System .................................................	98
4.3.2		Unit Factor ................................................................	99
4.3.3		Acc/Deceleration Profile .........................................	102
4.4	Home Move .....................................................................		108
4.4.1		OGR Signal Homing - Home Mode = 0 ..................	111
4.4.2		EL Signal Homing - Home Mode 1 .........................	118
4.4.3		Single EZ Signal Homing........................................	121
4.5	Velocity Move ..................................................................		124
4.6	Jog Move .........................................................................		127
4.7	Point-to-Point Move .........................................................		131
4.7.1		Point-to-Point Move ................................................	131
4.7.2		Synchronous Start ..................................................	132
4.7.3		On The Fly Change ................................................	133
4.7.4		Continuous PTP Move............................................	133
4.8	Interpolation .....................................................................		136
4.8.1		Linear Interpolation.................................................	136
4.8.2		Arc Interpolation .....................................................	138
4.8.3		Continuous Interpolation.........................................	146
4.9	Motion Status Monitoring .................................................		152
4.9.1		Motion Status..........................................................	153
4.10	Application Functions.......................................................		162
4.10.1		Electronic Gearing ..................................................	162
4.10.2		High Speed Position Compare Trigger...................	164

4.10.3PWM Control (Laser Control) (VAO Table Control)170

4.10.4 Motion Control and I/O Sampling Function.............			178
4.10.5		Simultaneous Move ................................................	184
4.10.6		Point Table Movement............................................	187
4.11	Safety Protection .............................................................		192
4.11.1		Hardware Protection...............................................	192
4.11.2		Software Protection ................................................	195
4.12	Host Interrupt ...................................................................		199

Table of Contents

vii

Important Safety Instructions.............................................	209
Getting Service ....................................................................	211

viii	Table of Contents

	PCI-8254 / PCI-8258
	List of Figures
Figure 1-1:	PCI-8254/58 system block diagram............................	2
Figure 1-2:	System installation flow chart .....................................	3
Figure 2-1:	Exterior of your PCI-8254 .........................................	12
Figure 2-2:	Exterior of your PCI-8258 .........................................	13
Figure 2-3:	Exterior of DIN-825-GP4 ..........................................	27
Figure 2-4:	Exterior of DIN-825-GP4 ..........................................	28
Figure 3-1:	Connection example of differential analog output signal
	43
Figure 3-2:	Line Driver type pulse control command signal connec-
	tion example45
Figure 3-3:	Open-Collector type pulse control command signal con-
	nection example46
Figure 3-4:	Line driver type encoder input signal connection example
	48
Figure 3-5:	Emergency stop signal connection example ............	49
Figure 3-6:	Mechanical limit switch signal connection example.. 51
Figure 3-7:	Original position switch signal connection example . 52
Figure 3-8:	Place / zero speed detection signal connection example
	53
Figure 3-9:	Servo alarm signal connection example...................	54
Figure 3-10:	Servo-on signal connection example........................	55
Figure 3-11:	Analog input signal connection example ..................	56
Figure 3-12:	Line Driver type compare trigger signal connection exam-
	ple57
Figure 3-13:	Open-Collector type compare trigger signal connection
	example58
Figure 3-14:	General purpose digital I/O signal connection example
	60
Figure 3-15:	General purpose digital I/O signal connection example
	63
Figure 4-1:	Format of pulse signal ..............................................	67
Figure 4-2:	Illustration of analog command output......................	68
Figure 4-3:	Control cycle.............................................................	74
Figure 4-4:	PCI-8254/PCI-8258 close loop control structure diagram
	78
Figure 4-5:	Gain and Gain shiftrelationship diagram ..................	78
Figure 4-6:	The auto fine tuning setup page in MCP2 ................	83
Figure 4-7:	Structure of PCI-8254/8 biquad filters in serial connection

List of Figures

ix

	86
Figure 4-8:	Ideal low pass filter ...................................................	87
Figure 4-9:	Simulation results of low pass filter with 1000Hz cutoff
	frequency88
Figure 4-10:	MCP2 low pass filter setup page ..............................	89
Figure 4-11:	MCP2 notch filter setup page ...................................	89
Figure 4-12:	An ideal notch filter (a) 50 Hz ...................................	90
Figure 4-13:	Simulation results of notch filter with 100Hz cutoff fre-
	quency92
Figure 4-14:	MCP2 low pass filter setup page ..............................	92
Figure 4-15:	MCP2 notch filter setup page ...................................	92
Figure 4-16:	Controller coordinates system block.........................	98
Figure 4-17:	Relation of trapezoidal speed profile's speed/accelera-
	tion/jerk VS time102
Figure 4-18:	Maximum speed by auto-planning..........................	103
Figure 4-19:	S-curve's velocity, acceleration, and jerk versus time104
Figure 4-20:	Maximum speed by auto-velocity ...........................	106
Figure 4-21:	Home mode 0 (Case: ORG) ..................................	112
Figure 4-22:	Home mode 0 (Case: ORG) ..................................	114
Figure 4-23:	Home mode 0 (Case: ORG+EZ) ............................	115
Figure 4-24:	Home mode 0 adverse (Case: ORG+EZ)..............	116
Figure 4-25:	Home mode 0 decelerate to stop (Case: ORG).....	117
Figure 4-26:	Home mode 1 (Case: EL) ......................................	118
Figure 4-27:	Home mode 1 (Case: EL+EZ) ...............................	120
Figure 4-28:	Home mode 2 (Case: EZ)......................................	122
Figure 4-29:	Home mode 2 adverse (Case: EZ) ........................	123
Figure 4-30:	Relation between V-T chart of JOG movement and
	JOG-ON signal127
Figure 4-31:	Jog step mode ........................................................	128
Figure 4-32:	T-curve V-T chart....................................................	131
Figure 4-33:	Dynamically change position and velocity ..............	133
Figure 4-34:	Continuous three position V-T chart .......................	134
Figure 4-35:	Continuous three position V-T chart
	(auto speed connection (1)134
Figure 4-36:	Continuous three position V-T chart
	(auto speed connection (2)134
Figure 4-37:	Continuous three position V-T chart
	(auto speed connection (3)135
Figure 4-38:	Continuous three position V-T chart
	(auto speed connection (4)135

x	List of Figures

	PCI-8254 / PCI-8258
Figure 4-39:	Two-dimension straight line interpolation ...............	137
Figure 4-40:	Three-dimension arc interpolation (method 1)........	139
Figure 4-41:	Defining spatial normal vector ................................	140
Figure 4-42:	Determining arc direction in space .........................	140
Figure 4-43:	Three dimension arc interpolation (method 2)........	141
Figure 4-44:	Three dimension arc interpolation example............	142
Figure 4-45:	Three dimension spiral interpolation (method 1) ....	143
Figure 4-46:	Three-dimension spiral interpolation (method 2) ....	144
Figure 4-47:	Illustration on continuous interpolation (Buffer) move-
	ment146
Figure 4-48:	Velocity blending (method 1) ..................................	147
Figure 4-49:	Velocity blending (method 2) ..................................	148
Figure 4-50:	Velocity blending (method 3) ..................................	148
Figure 4-51:	Velocity blending (method 4) ..................................	149
Figure 4-52:	Velocity blending (method 5) ..................................	149
Figure 4-53:	Velocity blending (method 6) ..................................	150
Figure 4-54:	Velocity blending (method 7) ..................................	150
Figure 4-55:	Continuous interpolation examples ........................	151
Figure 4-56:	Motion status monitoring process...........................	152
Figure 4-57:	Relation of different motion signals VS motions .....	155
Figure 4-58:	Relation of motion done (MDN) signals VS motion 156
Figure 4-59:	Relation of motion done (MDN), In-homing (HMV) signals
	VS motion157
Figure 4-60:	Relation of WAIT signals VS motion.......................	158
Figure 4-61:	Relation of JOG and motion done(MDN) signals VS mo-
	tion159
Figure 4-62:	Relation of ASTP VS motion ..................................	159
Figure 4-63:	Relation of blending (BLD) signal VS motion .........	160
Figure 4-64:	Relation between preand post distance event signals
	and movement161
Figure 4-65:	Adjust electronic gear's auto engagement speed...	163
Figure 4-66:	Compare trigger block diagram ..............................	165
Figure 4-67:	Linear compare trigger example.............................	167
Figure 4-68:	Table compare trigger example..............................	168
Figure 4-69:	Table compare trigger block diagram .....................	169
Figure 4-70:	Signal sampling structure diagram .........................	178
Figure 4-71:	Interruption flow chart .............................................	199

List of Figures

xi

xii	List of Figures

	PCI-8254 / PCI-8258
List of Tables
Table 1-1: Cross-reference table of exclusive cables for pulse servo
drive9
Table 1-2: Cross-reference table of exclusive cables for analog servo
drive9
Table 4-1: Encoder input format .....................................................	69
Table 4-2: Encoder input format .....................................................	70
Table 4-3: PCI-8254/8 Auto-Tuning setup ......................................	83
Table 4-4: Board parameter table .................................................	176
Table 4-5: Motion kernel signal table............................................	179
Table 4-6: Closed circuit control signal table ................................	180

List of Tables

xiii

xiv	List of Tables

PCI-8254 / PCI-8258

1 Introduction

The PCI-8254/PCI-8258, is a fully in-house developed DSP-based advanced motion control card from ADLINK. It supports 4/8 axis pulse type or Analog type signal commands, provides Open-loop and closed-loop circuit control options, and supports position/speed/torque commands for several different servo drivers.

The PCI-8254/PCI-8258 exchanges data with operating system through high speed PCI bus including motion control command, feedback data, parameter, etc. Used with the ADLINK exclusive Softmove kernel, it offers scores of move control functions including T/S speed profile planning, point-to-point movement, multi-dimension interpolation, and master/slave motion.

To enable absolute real time motion control, ADLINK's multi-tasks download function helps users to program with AMC code (ADLINK Motion Code), a programming language similar to C, for downloading to PCI-8254/58 embedded processors for execution. It supports up to eight different programs for concurrent download and execution.

With up to 20MHz high speed encoder feedback support and 4/8 axes independent hardware PID control plus Feed-forward gain design, it ensures precision control and reduce following errors in tandem with high speed motion feedback. The programmable servo update rate allows excellent control performance because different PID parameter adjustments can be made for individual applications.

The PCI-8254/58, see Figure 1 below for its system functions, uses one digital signal processor (DSP) from Texas Instrument (TI) as its main computing unit and integrates high speed large volume Field Programmable Gate Array (FPGA) to provide 4/8 independent PID control, high speed encoder output unit, 2/4 high speed position compare and trigger output, move & general purposed I/O and logic control. It separates isolation circuit into exclusive terminal board DIN-825-GP4 to prevent the burning out of PCI-8254/58 from incorrect wiring. Thanks to full range of flexing resistant wires from ADLINK, it connects with market available popular servo drives easily.

Introduction

1

	FPGA
		Flash ROM
	DPRAM
		SDRAM
		Misc.
BusPCIBusPCI	PCI	functions
	Bridge
		DSP
	CMP & TRG
	4/8 PID Controllers
	Motion	GPIO
	I/Os

A/D circuitry

D/A circuitry

Encoder

Input

TRG

Output

TTL I/Os

	100P SCSI	GP4-825-DIN
EA
EB
EZ	Isolation
PEL	DSUB
MEL	37P
ORG
DIO

Figure 1-1: PCI-8254/58 system block diagram

Graphical motion control interface – MotionCreatorPro 2 is a Windows-based motion control software development tool for motion control and I/O status monitoring. You may employ this development tool for axis, PID, and feed-forward gain setup as well as analysis on motion variation curve and data. Embedded Setup Wizard can guide you throughout the process of hardware installation and wiring, close circuit PID parameter adjustments and single axis operation for reduced development time and costs.

The Windows Programming Libraries supports Windows coding environment including: Visual Studio C++ 6.0, Microsoft .NET framework based VB.NET and C++, and Borland's C++ Builder. There are sample programs available in the installation folders.

2	Introduction

PCI-8254 / PCI-8258

The flow chart below will guide you in using this manual as well as help you to locate any required information effectively.

Hardware installation

Wiring and jumper setup

Set up card and adjust axis parameters with MotionCreatorPro 2

Control axis with MotionCreatorPro 2

Develop application with APS library

Chapter II and III

MotionCreatorPro 2

User's Manual

Chapter IV

Chapter II and III

MotionCreatorPro 2

User's Manual

APS and ADCNC library

No	Is the system running
	successfully?

Yes

End

Figure 1-2: System installation flow chart

Introduction

3

1.1 Product Specifications

		Item	Description
		Bus information	PCI Rev. 2.2, 33MHz
	System	PCI bus width	32-bit
		PCI bus voltage	3.3V, 5V
		PCI bus IRQ settings	Assigned by PCI controller
		Model	TI 375MHz floating DSP
	DSP
		Memory	DDR2 SDRAM: 64Mx16bit
		(for program and data)	Flash ROM: 16M-bit
	Board-to-board		1x SCSI-II 100P for PCI-8254
		Connector
			1x Dual SCSI VHDCI 100P
	interface		for PCI-8258
		Number of axes supported	4/8 axes for PCI-8254/8
		Analog command output	±10 volts, resolution: 16 bit
		resolution
		Analog command output	Difference / single end
		interface	output
		Maximum servo update	50us-500us
		rate	(programmable)
		PID (Kp, Ki and Kd) gain	0 to 32,767
		range
	Closed circuit	Speed and acceleration
		feed-forward (Aff, Vff) gain	0 to 32,767
	control
		range
		Position / speed command	32 bit
		range
		Acceleration / deceleration	32 bit
		range
		Encoder input frequency	20 MHz @ 4x AB
		Encoder input mode	CW/CCW,
			1x/2x/4x AB Phase
		Encoder input interface	±12 volts, TTL compatible
		Filter	Biquad filter & low-pass filter

4	Introduction

			PCI-8254 / PCI-8258
		Item	Description
		Motion control relevant I/O	Plus/Minus end limitsignal
			Zero-position for each axis
	I/O interface		Servo ON
		Drive relevant I/O	In-position signal /
			Zero-Speed detection
			Alarm
		Max. input channel	4/8, single ended input
		Input voltage range	±10 V
	Analog input	Sampling frequency	100 kHz
		Resolution	12 bits, no missing codes
		Accuracy	±1.5mV for ±10V input
		Overload voltage	±15 V
		Max. output channel	4/8, difference/single
			ended output
		Output voltage range	±10V
		Output current	±50mA (Typ.)
	Analog output
		Resolution	16 bits, no missing codes
		Accuracy	±1.2mV for ±10V output
		Protection circuit	Earth short circuit
			protection
		Settling Time	15us, full-scale step
	General		20/24-CH input & 20/24-CH
			TTL output (optical
	purpose digital	General purpose I/O
			isolation design for
	I/O
			DIN-825-GP4)
		Speed Profile Planning	Trapezoidal Curve and
			S-Curve
		Trajectory Planing	Jogging
	Motion control		Point-to-point movement
			Online position/speed
	function
			change
		Linear interpolation:
			3 axes arc interpolation
		2-6 axes
			3 axes spiral interpolation
			3 axes helix interpolation
			User customizing (see
		Home Return	zero-position, limit switch,
			EZ signals for reference)

Introduction

5

		Item	Description
			Each axis supports 50
			points buffer memory
			(BUFs)
			Supports
		Point table	point-to-point/line/arc and
			spiral interpolation
			Supports dwell function
			Supports pause/resume
			function
			Supports DO function
			Motion control relevant I/O
		Motion Monitoring	monitoring
			Motion monitoring
		Synchronous move	4/8 axes corresponding
			PCI-8254/PCI-8258
		Master-client axes control	Up to 4/8 axis (including
			ganty control)
	Industrial
			Motion speed profile/
	application	Data sampling	motion status/motion
			control relevant I/O
		System error diagnostics	Watchdog timer
		Motion status event/error	Planning in accordance
	Interrupt	alarm/in position/
			with the manual
		emergency stop
		Pulse output interface	Difference output
		Trigger channel	2/4 corresponding
			PCI-8254/PCI-8258
		Pulse logic	Programmable active-high
			or active-low
	Position		Linear compare trigger:
			1MHz
	comparison	Trigger output frequency
			FIFO compare trigger:
	& trigger output
			255K ~ 1MHz
		Minimum pulse width	100ns programmable
		Position comparison mode	FIFO and linear
			comparison
		FIFO capacity	255 points
			(channel independent)

6	Introduction

					PCI-8254 / PCI-8258
			Item		Description
			Maximum number of		2/4 CH correspondence
			channels		PCI-8254/PCI-8258
					● Fixed frequency,
	PWM control				variable duty cycle ratio
			Control modes		● Variable frequency,
					fixed duty cycle ratio
					● Variable frequency,
					variable duty cycle ratio
			Resolution		16 bit
			Max. number of		8
			downloadable programs
	Program		Program size		1,024 lines for each
					program
	download
			Program logic		Boolean function, circuit
			Mathematical operation		Yes
			Motion event trigger		Yes
Environment Condition
					Item
	Working ambient			0~55°C
	temperature
	Storage ambient			-20~75°C
	temperature
	Working ambient			10~90%RH, without condensation
	humidity
	Storage ambient			10~90%RH, without condensation
	humidity
	Noise impedance			Noise voltage 1500VPP noise frequency 25~60Hz
				using noise simulator
	Environment			Minimal corrosive gas, dust
	condition
	Cooling condition			Self-cooling
	Power			+3.3V @ 0.8A typical
				+5V @ 0.8A typical
	consumption
				+/-12V @ 0.5A typical

Introduction

7

1.2 Software Support

1.2.1Software Support Library

PCI-8254/PCI-8258 supports Windows XP/7 32/64 bit operating system and provides a complete function library and DLL files for easy application development by users.

1.2.2MotionCreatorPro 2

MotionCreatorPro 2 is a user interface exclusively developed for ADLINK motion control products in common Windows environment. You may easily set up card and axis parameters with the help of MotionCreatorPro 2. The Setup Wizard enables users to complete hardware installation, signal configuration, close-circuit PID gaining auto tuning and single-axis manipulation to reduce application development time. MotionCreatorPro 2 not only effectively reduces your development time but also enables you to concurrently validate the overall mechanism and electric design with all its single axis and interpolation motion operation pages.

1.3 Terminal Board

The PCI-8254/58 exclusive terminal board "DIN-825-GP4" can connect with several market available servo drives with special cables including the Mitsubishi) J3A and the Yaskawa Sigma V series or link with servo or stepper drives of other brands with single ended open cables. Brands with exclusive cables support are listed below:

8	Introduction

PCI-8254 / PCI-8258

Pulse command:

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

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

Analog commands:

Cable	Supported brands
ACL-DM-J3	Mitsubishi J3A series
ACL-DY	Yaskawa Sigma V series
ACL-DP	Panasonic MINAS A5/A4 series
4XMO-OPEN	General purpose

Table 1-2: Cross-reference table of exclusive cables for analog servo drive

Introduction

9

10	Introduction

PCI-8254 / PCI-8258

2 Getting Start with The Installation

This chapter teaches you how to install PCI-8254/PCI-8258 hardware and software as well as its I/O wiring.

•Package Contents

•Hardware Installation

•Software Installation

•I/O Wiring

2.1 Package Contents

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

•PCI-8254 or PCI-8258 card X 1

•IDE 44p – DSUB 37p flat cable x 1

•Product warranty card X 1

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

Getting Start with The Installation

11

2.2 PCI-8254/PCI-8258 Exterior Profile Diagram

S1

SW2

P1

P2

Dimension in unit of millimeter (mm).

NOTE

Figure 2-1: Exterior of your PCI-8254

P1: for Motion control command, Position feedback, and Servo I/O feedback. (with SCSI 100-PINS connector)

P2: for 16 channel digital TTL input and 16 channel digital TTL output.

SW2: Card ID setup (0-15)

S1: Analog command mode selection (differential mode / single-ended mode)

12	Getting Start with The Installation

S1

SW2

P1

PCI-8254 / PCI-8258

P2

Figure 2-2: Exterior of your PCI-8258

P1: for Motion control command, Position feedback, and Servo I/O feedback. (with SCSI-VHDCI 200-PINS connector)

P2: for 16 channel digital TTL I/O. (with DSUB 37-PINS connector)

SW2: Card ID setup (0-15)

S1: Analog command mode selection (differential / single-end mode)

Getting Start with The Installation

13

2.3 Hardware Installation

2.3.1Hardware Configuration

PCI-8254/58 employs PCI Rev. 2.2 bus. System BIOS can auto configure memory and IRQ channel.

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

2.3.2Installation Procedures

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

2.Turn off computer power and relevant power on all terminal boards then connect PCI-8254/58 to 32-bit PCI slot in your computer. (The slot is usually in white color.) (Please make sure you have proper ESD (Electrostatic discharge) protection.)

3.Connect PCI-8254/58 and DIN-825-GP4 with SCSI 100p cable

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

5.Set up servo or stepper drive connection

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

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

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

operation of your electric appliances.

CAUTION

Please disconnect the motor drive from its load before using the card for the first time to protect your safety. Do not connect the motor drive to any mechanical devices before the

CAUTION completion of the installation and fine tuning of the control system. Connect the system only after the board is adjusted and the drive parameters can control the motor. Serious damage may be resulted in otherwise.

14	Getting Start with The Installation

PCI-8254 / PCI-8258

2.3.3Troubleshooting

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

	Abnormalities you encountered	Potential causes
		Please turn off your computer,
	The card does not show up in	ensure the card is properly in PCI
		slot and the driver is properly
	Windows Device Manager after its
		installed by checking its proper
	driver has been installed
		installation in Windows Control
		Panel's "Add remove programs"
	MotionCreatorPro2 cannot open	Ensure .NET framework v3.5 or later
		version has been installed in your
	after installing driver in computer
		system
	The without signal indicator on
	MotionCreatorPro2 lights up after	Please ensure a 24Vdc power is
	the motor is connected and the	connected to the terminal board
	motor does not work.
	When using the MotionCreatorPro2,	Please ensure correctness of the
	all the control indicators of the drive	axis parameter setup, alarm logic
		(ALM) and the EMG loop
	light correctly but the drive warns
		configuration
	Value of output command differ from	Please ensure feedback signal
		(CW/CCW, 1xAB, 2xAB, 4xAB)
	the feedback value from encoder	settings comply with that of the drive
	If motion control, the motor moves	Please ensure setting of signal
	only in one direction rather than back	pattern (CW/CCW, OUT/DIR)
	and forth two way movement	comply with that of the motor drive
	The motor bursts after executing	Please ensure that the control
	Servo On command in speed control	direction of encoder and speed
	operation	controller comply with each other
	The motor makes loud noise after	Please make sure the actuator is
		correctly adjusted and set up, reset
	executing Servo On command in
		all the "I" and "D" values of PID
	speed control operation
		parameters, readjust PID gain

Getting Start with The Installation

15

2.4 Software Installation Procedure

Windows driver installation procedure:

Step 1. Execute PCI-8254/PCI-8258 WDM file and run installation procedure automatically.

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

16	Getting Start with The Installation