ADT-856
6-axis Motion Control Card
User’s Reference Manual
28 August 2009
Rev 2.0
Adtech (Shenzhen) CNC Technology Co., Ltd
Add：Building 36 Majialong Industrial Area Nanshan District， Shenzhen
Post Code: 518052
+86 755 2609 9116 Fax: +86 755 2609 2719
Tel：
E-mail: export@adtechen.com Technical support: support@adtechen.com
ADT856 6-axis servo/ stepping motion control card
Copyrights
This User Manual contains proprietary information held by Adtech
(Shenzhen) CNC Technology Co., Ltd (“Adtech” hereafter); stimulation,
copy, photocopy or translation into other languages to this User
Manual shall be disallowed unless otherwise approved by Adtech.
Meanwhile, Adtech doesn’t provide any kind of warranty, expression
on standing or implication. Adtech and its staffs are not liable for any
direct/ indirect information disclosure, economic loss or progress
termination caused by this User Manual and the product information
inside.
All the contents in this User Manual may be changed without any
notice.
Trademark
All the product names introduced in this User Manual are only for
identification purpose, while they may belong to other various
trademarks or copyrights, such as:
※ INTEL and PENTIUM are trademarks of INTEL Company;
※ WINDOWS and MS-DOS trademarks of MICROSOFT Company;
※ ADT-8940 is the trademark of Adtech;
※ Other trademarks belong to their corresponding registered
companies.
All copyrights reserved by Adtech (Shenzhen) CNC Technology Co., Ltd
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ADT856 6-axis servo/ stepping motion control card
Version Upgrading Record
Version Revised in Descriptions
V2.0 2009/08/28 The fourth version
Remark: The three digits in the version number respectively
mean:
Hardware version number Major version number Minor version number
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ADT856 6-axis servo/ stepping motion control card
Contents
CHAPTER 1 GENERAL INFORMATION..........................................- 6 -
INTRODUCTION .................................................................................- 6 -
) FEATURES.....................................................................................- 6 -
) APPLICATIONS............................................................................ - 7 -
CHAPTER 2 HARDWARE INSTALLATION .....................................- 7 -
) PARTS............................................................................................- 8 -
) INSTALLATION ...........................................................................- 8 -
CHAPTER 3 ELECTRICAL CONNECTION......................................- 8 -
J1 LINE.................................................................................................. - 10 -
J2 LINE.................................................................................................. - 12 -
P1 LINE .................................................................................................- 14 -
P2 LINE .................................................................................................- 15 -
)CONNECTION FOR PULSE/ DIRECTION INPUT SIGNAL ....... - 17 -
) CONNECTION FOR ENCODER INPUT SIGNAL .......................- 18 -
) CONNECTION FOR DIGITAL INPUT.......................................... - 19 -
) CONNECTION FOR DIGITALOUTPUT ......................................- 20 -
CHAPTER 4 SOFTWARE INSTALLATION.....................................- 22 -
) DRIVE INSTALLATION IN WIN2000 .......................................... - 22 -
) DRIVE INSTALLATION UNDER WINXP ................................... - 25 -
CHAPTER 5 FUNCTIONS...................................................................- 28 -
)QUANTITATIVE DRIVING ................................................................... - 28 -
)CONTINUOUS DRIVING ...................................................................... - 29 -
)VELOCITY CURVE.............................................................................. - 29 -
)POSITION MANAGEMENT................................................................... - 34 -
)INTERPOLATION ................................................................................- 36 -
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ADT856 6-axis servo/ stepping motion control card
)PULSE OUTPUT MODE........................................................................- 42 -
)HARDWARE LIMIT SIGNAL................................................................. - 43 -
)SIGNALS CORRESPONDING TO SERVO MOTOR ...................................- 43 -
CHAPTER 6 LIST OF ADT856 BASIC LIBRARY FUNCTIONS...- 43 CHAPTER 7 DETAILS OF ADT856 BASIC LIBRARY FUNCTIONS..-
46 -
) CATEGORY OF BASIC PARAMETER SETTING........................ - 46 -
) CATEGORY OF DRIVE STATUS CHECK....................................- 54 -
) CATEGORY OF MOVEMENT PARAMETER SETTING .........- 56 -
) CATEGORY OF MOTION PARAMETER CHECK ................... - 61 -
) CATEGORY OF DRIVE .............................................................. - 62 -
) CATEGORY OF SWITCH AMOUNT INPUT/ OUTPUT........... - 66 -
CHAPTER 8 GUIDE TO MOTION CONTROL FUNCTION
LIBRARY...............................................................................................
- 67 -
CHAPTER 9 BRIEFING ON MOTION CONTROL DEVELOPMENT70 -
)
CARD INITIALIZATION
.......................................................- 70 -
) SPEED SETTING ................................................................................ - 71 -
) STOP0, STOP1 AND STOP2 SIGNAL ...............................................- 72 -
) SERVO SIGNAL ..............................................................................- 73 -
CHAPTER 10 PROGRAMMING SAMPLES IN MOTION CONTROL
DEVELOPMENT..................................................................................
- 73 -
) VB PROGRAMMING SAMPLES.................................................. - 74 -
) VC PROGRAMMING SAMPLES.................................................. - 95 -
CHAPTER 11 NORMAL FAILURES AND SOLUTIONS..............- 112 -
MOTOR SERVICE FAILURE........................................................... - 113 -
) ABNORMAL SWITCH AMOUNT INPUT ............................... - 115 -
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APPENDIX A TYPICAL WIRING FOR MOTOR DRIVER..........- 117 -
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ADT856 6-axis servo/ stepping motion control card
Chapter 1 General information
INTRODUCTION
ADT856 Card is a kind of high-performance 4-axis servo/ stepping control card
based on PCI bus and supporting Plug & Play, while one system can support up to
16 control cards and control up to 64 lines of servo/ stepping motors.
Pulse output method may be single pulse (pulse + direction) or double pulse
(pulse+pulse), with the maximum pulse frequency of 2MHz. Advanced technologies
are applied to ensure the frequency tolerance is less than 0.1% despite of high
output frequency.
It supports 2-4 axis of linear interpolation, with the maximum interpolation speed of
1MHz.
External signal (handwheel or general input signal) driving can be either constant or
continuous driving
With position lock, you can lock the value of logical counter or actual position
counter.
Speed can be set as contstant speed or trapezoidal acceleration/ deceleration.
Hardware caching features with a large-capacity.
I / O response time of about 500
Position management is realized through two up/ down counters, one used to
manage logical positions of internally driven pulse output, and the other used to
receive external input, with encoder or grating ruler inputted through A/ B phase as
the input signal.
Counters are up to 32 digits, specially, the range is 2,147,483,648~+2,147,483,647.
The system also provides DOS/WINDOWS95/98/NT/2000/XP/WINCE development libraries
and enable software development in VC++, VB, BC++, LabVIEW, Delphi, and C++Builder.
μs.
)
FEATURES
¾ 32-bit PCI bus, PnP
¾ 6-axis servo/stepping motor control; each axis can control independently
¾ The frequency error of pulse input is less than 0.1%
¾ Maximum pulse output frequency is 4MHz
¾ Pulse output can be either single pulse (pulse +direction) or double pulse
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ADT856 6-axis servo/ stepping motion control card
(pulse + pulse)
¾ All the 6 axes have code feedback input; 32-bit counting; maximum counting
range: -2,147,483,648~+2,147,483,647
¾ Linear or S-curve acceleration/deceleration
¾ Asymmetric linear acceleration/deceleration
¾ 2-6 axes linear interpolation
¾ CW and CCW circular-arc interpolation
¾ Continuous interpolation is available; top driving speed: 2MHz
¾ Each axis has two 32-bit compare registers, which are used for position
comparison between logical position counter and actual position counter, and
software limit
¾ Receive signals from servo motor drive, e.g. coder Z-phase signal, in-position
signal, alarm signal, etc
¾ Each axis has 3 STOP signals, which are used to search for home and
Z-phase of coder
¾ The speed and target position can be changed in real-time in the motion
process
¾ Read the logical position, real position, driving speed, acceleration/
deceleration and driving state in real-time in the motion process.
¾ Position counter is integrated with variable cyclic function; the logical position
counter and actual position counter are 32-bit up/down cyclic counters
¾ Each axis has 8-in/8-out digital I/O. Except two limit signals, all signals can be
used as general I/O.Digital output can be used in signals of servo on and
servo alarm reset.
¾ The input port of every input signal is equipped with integral filter. You can
select to activate/deactivate the filter of certain input signal.Select one from
the 8 constants for the filter time
¾ Up to 16 motion cards can be used in one system
¾ Supported operating systems: DOS,WINDOWS95/98/NT/2000/XP, WINCE
)
APPLICATIONS
2
Multi-axis engraving system
2
Robot system
2
Coordinate measurement system
2
PC-based CNC system
Chapter 2 Hardware installation
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ADT856 6-axis servo/ stepping motion control card
)
PARTS
1. ADT-856 User Manual (this manual)
2. ADT-856 6-axis PCI bus high-performance motion control card
3. ADT-856F1
4. ADT-856 user CD
5. ADT-9137 37-pin signal connecting plate,4 pcs
6. ADT-D37 4 pc
7. ADT-DB37 2 pc
8. DB40 40-pin cable 1pc
9. DB26 26-pin cable 1pc
)
INSTALLATION
(1) Switch off the computer power supply (for ATX supply case, switch off
the overall power)
(2) Open the back cover of the computer case
(3) Insert ADT-856 into an available PCI slot
(4)
Ensure the golden finger of
and then fasten card with screws
(5)
Check whether it is necessary to install ADT-856F1
Check whether it is necessary to install J2,P1,P2 interface cable
(6)
（
Optional）
ADT-856 has been fully inserted the slot
（
Optional）
Chapter 3 Electrical connection
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ADT856 6-axis servo/ stepping motion control card
There are four input/ output interfaces inside an ADT856 card, whereby J1,J2 is for
37-pin socket , J3 is for 40-pin, and J4 is for 26-pin.
J1 is the signal cable for pulse output of X, Y, Z axis, switch amount input and switch
amount output (OUT0-OUT5); J2 is the signal cable for pulse output of A, B, C axis,
switch amount input and switch amount output (OUT6-OUT11); J3 is the signal cable
for encoder input and switch amount input of X, Y, Z and A, B, C axis; J4 is switch
amount input and switch amount output (OUT12-OUT31).
There are four input/ output interfaces inside an ADT856F1 card, whereby P1,P2 is for
37-pin socket , J3 is for 40-pin, and J4 is for 26-pin. ADT856F1 is the adapter for
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ADT856 6-axis servo/ stepping motion control card
ADT856 to connect to J3, J4.
P1 is the signal cable for INPOS,ALARM,STOP2 and IN0 of X, Y, Z ,A ,B, C axis, switch
amount output (OUT12-OUT19); P2 is the signal cable for encoder input and switch
amount output (OUT20-OUT31); J3 ,J4 is connected with the ADT-856 port, which are
connect to J3,J4 on the ADT856.
REMARK: The general-purpose input, output signals of J3 and J4 are not added
optocoupler isolation,
connected to the input and output.
does not fall within the scope of the warranty.
the post P1 and P2 of the general-purpose input and output signals have been
added Optocoupler isolation.
Signals are defined as follows:
Isolation measures should be added if it is directly
Otherwise, if it is burned outside the voltage
ADT-856F1 card adapter through
J1 line
XPU+ X pulse signal +
XPU- X pulse signal -
XDR+ X direction signal +
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ADT856 6-axis servo/ stepping motion control card
XDR- X direction signal -
YPU+ Y pulse signal +
YPU- Y pulse signal -
YDR+ Y direction signal +
YDR- Y direction signal -
ZPU+ Z pulse signal +
ZPU- Z pulse signal -
ZDR+ Z direction signal +
ZDR- Z direction signal -
EXT_VCC
EXT_VCC
EXT_VCC
INCOM1 Common port of photoelectric coupling input (signals below)
XLMT+ X positive limit signal
XLMT- X negative limit signal
XSTOP0 X home signal 0; can be used as universal input signal
XSTOP1 X home signal 1; can be used as universal input signal
YLMT+ Y positive limit signal
YLMT- Y negative limit signal
YSTOP0 Y home signal 0; can be used as universal input signal
YSTOP1 Y home signal 1; can be used as universal input signal
ZLMT+ Z positive limit signal
ZLMT- Z negative limit signal
ZSTOP0 Z home signal 0; can be used as universal input signal
ZSTOP1 Z home signal 1; can be used as universal input signal
GND Internal power supply ground wire
OUTCOM Common ground wire of output point of switching quantity
Positive port of internal +5V power supply; do not connect to
external power supply
Positive port of internal +5V power supply; do not connect to
external power supply
Positive port of internal +5V power supply; do not connect to
external power supply
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ADT856 6-axis servo/ stepping motion control card
J2 line
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
NC untapped
Digital output
APU+ A pulse signal +
APU- A pulse signal -
ADR+ A direction signal +
ADR- A direction signal -
BPU+ B pulse signal +
BPU- B pulse signal -
BDR+ B direction signal +
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ADT856 6-axis servo/ stepping motion control card
BDR- B direction signal -
CPU+ C pulse signal +
CPU- C pulse signal -
CDR+ C direction signal +
CDR- C direction signal -
EXT_VCC Positive port of internal +5V power supply; do not connect to
external power supply
EXT_VCC Positive port of internal +5V power supply; do not connect to
external power supply
EXT_VCC Positive port of internal +5V power supply; do not connect to
external power supply
INCOM1 Common port of photoelectric coupling input (signals below)
ALMT+ A positive limit signal
ALMT- A negative limit signal
ASTOP0 A home signal 0; can be used as universal input signal
ASTOP1 A home signal 1; can be used as universal input signal
BLMT+ B positive limit signal
BLMT- B negative limit signal
BSTOP0 B home signal 0; can be used as universal input signal
BSTOP1 B home signal 1; can be used as universal input signal
CLMT+ C positive limit signal
CLMT- C negative limit signal
CSTOP0 C home signal 0; can be used as universal input signal
CSTOP1 C home signal 1; can be used as universal input signal
OUTCOM
OUTCOM
OUT6
OUT7
OUT8
OUT9
Common output
Digital output
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OUT10
OUT11
P1 line
ADT856 6-axis servo/ stepping motion control card
NC untapped
XINPOS X servo in-position signal; can be used as universal input signal
XALARM X servo alarm signal;
XSTOP2 X home signal 2; can be used as universal input signal
XIN0 X input signal 0;can be used as universal input signal
YINPOS Y servo in-position signal; can be used as universal input signal
YALARM Y servo alarm signal;
YSTOP2 Y home signal 2; can be used as universal input signal
YIN0 Y input signal 0;can be used as universal input signal
INCOM1 Common port of photoelectric coupling input (signals above)
ZINPOS Z servo in-position signal; can be used as universal input signal
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ADT856 6-axis servo/ stepping motion control card
ZALARM Z servo alarm signal;
ZSTOP2 Z home signal 2; can be used as universal input signal
ZIN0 Z input signal 0;can be used as universal input signal
AINPOS A servo in-position signal; can be used as universal input signal
AALARM A servo alarm signal;
ASTOP2 A home signal 2; can be used as universal input signal
AIN0 A input signal 0;can be used as universal input signal
INCOM2 Common port of photoelectric coupling input (signals above)
BINPOS B ervo in-position signal; can be used as universal input signal
BALARM B servo alarm signal;
BSTOP2 B home signal 2; can be used as universal input signal
BIN0 B input signal 0;can be used as universal input signal
CINPOS C ervo in-position signal; can be used as universal input signal
CALARM C servo alarm signal;
CSTOP2 C home signal 2; can be used as universal input signal
CIN0 C input signal 0;can be used as universal input signal
INCOM3 Common port of photoelectric coupling input (signals above)
OUT12
OUT13
OUT14
OUT15
OUTCOM1 Common output
OUT16
OUT17
OUT18
OUT19
OUTCOM2 Common output
Digital output
Digital output
P2 line
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ADT856 6-axis servo/ stepping motion control card
XECA－
XECA+ X-axis coder phase A input +
XECB－
XECB+ X-axis coder phase B input +
YECA－
YECA+ Y-axis coder phase A input +
YECB－
YECB+ Y-axis coder phase B input +
ZECA－
ZECA+ Z-axis coder phase A input +
ZECB－
ZECB+ Z-axis coder phase B input +
AECA－
WECA+ A-axis coder phase A input +
AECB－
AECB+ A-axis coder phase B input +
BECA－
X-axis coder phase A input -
X-axis coder phase B input -
Y-axis coder phase A input -
Y-axis coder phase B input -
Z-axis coder phase A input -
Z-axis coder phase B input -
A-axis coder phase A input -
A-axis coder phase B input -
B-axis coder phase A input -
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ADT856 6-axis servo/ stepping motion control card
BECA+ B-axis coder phase A input +
BECB－
BECB+ B-axis coder phase B input +
CECA－
CECA+ C-axis coder phase A input +
CECB－
CECB+ C-axis coder phase B input +
OUT20
OUT21
OUT22
OUT23
OUT24
OUT25
OUT26
OUT27
OUT28
OUT29
OUT30
OUT31
OUTCOM Digital output
B-axis coder phase B input -
C-axis coder phase A input -
C-axis coder phase B input -
Digital output
)
CONNECTION FOR PULSE/ DIRECTION INPUT SIGNAL
Pulse output is in differential output.
May be conveniently connected with a stepping/ servo driver
The following figure shows open-collector connection between pulse and direction.
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Stepping motor driver
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ADT856 6-axis servo/ stepping motion control card
The following figure shows differential-output connection between pulse and direction signals;
this method is recommended as it is differential connection with strong resistance to
disturbance.
Stepping motor driver
Servo motor driver
Remark: Refer to Appendix A for wiring maps of stepping motor drivers, normal servo
motor driver and terminal panel.
)
CONNECTION FOR ENCODER INPUT SIGNAL
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ADT856 6-axis servo/ stepping motion control card
r
Encoder
Wiring map for an open-collect output-type encoder. For
+5V power supply, R is not required; for +12V powe
supply, R= 1KΩ; and for +24V power supply, R= 2KΩ
Encoder
Wiring map for a differential-driver output-type encoder
)
CONNECTION FOR DIGITAL INPUT
Remark:
(1) To make the input signals valid, connect the “common photoelectric coupling port” of
corresponding input signals (INCOM1, INCOM2, INCOM3, INCOM4, INCOMA, INCOMB)
to the positive port of 12V or 24V power supply; connect one end of common switch or ground
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ADT856 6-axis servo/ stepping motion control card
wire of approach switch to negative port (ground wire) of power supply; connect the other end
of common switch or control end of approach switch to corresponding input port of terminal
board.
(2) The following figure shows the wiring diagram of common switch and approach switch
supplying “common photoelectric coupling port” with external power (take J1 terminal board
for example).
)
CONNECTION FOR DIGITALOUTPUT
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ADT856 6-axis servo/ stepping motion control card
12-24V
power
supply
For inductive loading such as relay, add continuous dioxide
at the two ends of the loading, as shown in J4
Remark:
(1) To make the output signals valid, connect common output (OUTCOM) to negative end
(ground wire) of external power supply; connect the ground wire (GND) of internal power
supply to earth. Connect one end of relay coil to positive end of power supply and the other end
to corresponding output of terminal board.
(2) Do not connect positive ends of external and internal power supply.
(3) The following figure shows the actual wiring diagram of relay with external power supply
(take J1 terminal borad for example)。
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ADT856 6-axis servo/ stepping motion control card
r
o
Chapter 4 Software installation
ADT856
WinXP, but in case of DOS, no drive is required to be installed.
The following part takes Win2000 and WinXP for example, and users may refer to other
operating systems.
Drive for the control card is located in the Drive/ ControlCardDrive folder within the CD,
and the drive file is named as ADT856.INF.
)
card must be used with drive installed under Win95/ Win98/ NT/ Win2000/
DRIVE INSTALLATION IN WIN2000
The following part takes Win2000 Professional Version as example to indicate
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ADT856 6-axis servo/ stepping motion control card
installation of the drive; other versions of Win2000 are similar.
After attaching the ADT856 card to the PCI slot of a computer, a user shall log in as
administrator to the computer; upon display of the initial interface, the computer
shall notify “Found new hardware” as follows:
Just click “Next” to display the following picture:
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ADT856 6-axis servo/ stepping motion control card
Click again “Next” to display the following picture:
Then select “Specify a location” and Click again “Next” and
select DevelopmentPackage/ Drive/ CardDrive and find the ADT856.INF file, then click
“OK” to display the following interface:
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ADT856 6-axis servo/ stepping motion control card
Click
“Next” to display the following picture:
Finally click “Finish” to complete installation.
)
DRIVE INSTALLATION UNDER WINXP
Installation under
WinXP is similar to that under Win2000, specifically:
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ADT856 6-axis servo/ stepping motion control card
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ADT856 6-axis servo/ stepping motion control card
Click “Browse” button to select Drive/ CardDrive and find the ADT856.INF file, then click
“Next” to display the following interface:
Then click “Finish” to complete installation.
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ADT856 6-axis servo/ stepping motion control card
Chapter 5 Functions
)
Quantitative driving
Quantitative driving means to output pulse of specified amount in constant
velocity or acceleration/deceleration. It is useful to move to specified position or
execute specified action. The quantitative driving of acceleration/deceleration is
shown in the following picture. Deceleration starts when left output pulses are less
than accumulated acceleration pulses. The driving stops after the output of
specified pulses.
Configure the following parameters to execute the quantitative driving of
acceleration/deceleration:
¾
Range R
¾
Acceleration/deceleration A/D
¾
Start velocity SV
¾
Driving velocity V
¾
Output pulse P
Acceleration/deceleration quantitative driving automatically decelerates from
the deceleration point as shown in the picture above. Manual deceleration is also
available. In the following conditions, the automatic deceleration point can’t be
calculated accurately, thus the manual calculation is necessary:
) The velocity changes frequenctly in linear
driving
.
acceleration/deceleration quantitative
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ADT856 6-axis servo/ stepping motion control card
) Perform arc and
Change into manual
)
Continuous driving
In continuous driving, output driving pulse continuously until the high stop
command or external stop signals are valid. It is useful in home searching, scanning
and controlling of motor velocity.
Two stop commands are available: decelerated and sudden. Each axis has the
three external signals STOP0, STOP1 and STOP2 for decelerated/sudden stop. Every
signal can be set as valid/invalid electricity. STOP0, STOP1 and STOP2 signals are
decelerated stop in
velocity driving.
The application of continuous driving in home searching
Cinfigure home approach signal, home signal and coder phase Z signal to STOP0,
STOP1 and STOP2. Set the valid/invalid and logical electricity of every signal of each
axis.
Acceleration/deceleration continuous driving is used in high speed searching.
If the set valid signal is in activated electricity level,
Constant velocity
signal is in activated electricity level,
acceleration/deceleration, you need to configure same parameters as quantitative
driving except output pulses.
)
Velocity curve
3.1 Constant velocity driving
Constant velocity driving is to output driving pulses in constant speed. If the set
driving velocity is lower than start velocity, there is only constant velocity driving. Only
low velocity constant driving is necessary if you use home searching and coder phase Z
signals and stop immediately when signals are searched.
Configure the following parameters to execute constant velocity driving:
quantitative
acceleration/deceleration driving and sudden stop in constant
continuous driving is used in low speed searching. If the set valid
1． Range R
2． Start velocity SV
3． Driving velocity V
interpolation in
deceleration mode and select deceleration point.
sudden stop is used. To drive continuously in
acceleration/deceleration.
decelerated stop is used.
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ADT856 6-axis servo/ stepping motion control card
3.2 Linear acceleration/deceleration driving
Linear acceleration/deceleration driving is to accelerate from start velocity to
specified driving velocity linearly.
In quantitative driving, the acceleration counter records the accumulated pulses of
acceleration. If left output pulses are less than acceleration pulses, it will decelerate
(automatically). In deceleration, it will decelerate to start velocity linearly in specified
velocity.
Configure the following parameters to execute linear acceleration/deceleration
driving:
¾ Range R
¾ Acceleration A
¾ Deceleration D Deceleration if they are set separately (if necessary)
¾ Start velocity SV
¾ Driving velocity V
Acceleration and deceleration
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ADT856 6-axis servo/ stepping motion control card
0 Triangle prevention in quantitative driving
In quantitative driving of linear acceleration/deceleration, if the output pulses are
less than the required pulses to accelerate to driving velocity, triangle waves as shown
in the picture will appear, and triangle prevention is activated in this case.
The triangle prevention function is to prevent triangle wave if the output pulses are
less than required pulses in linear acceleration/deceleration quantitative driving. In
acceleration, if the pulses consumed by acceleration and deceleration are more than
1/2 of total output pulses, acceleration stops and keeps in constant velocity field.
Therefore, even if output pulses are less than 1/2 of output pulses, it is in constant
velocity field.
3.3 Asymmetrical linear acceleration/deceleration driving
When an object is moved vertically, it has the load of acceleration of gravity;
therefore, you’d better change the acceleration and deceleration in such asymmetrical
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ADT856 6-axis servo/ stepping motion control card
linear acceleration/deceleration quantitative driving whose acceleration and
deceleration are different. At this moment, you needn’t to set manual deceleration point
and automatic deceleration is used. Fig. 1 shows the example that acceleration is lower
than deceleration and Fig. 2 shows the example that deceleration is lower than
acceleration.
Configure the following parameters like common linear
acceleration/deceleration driving:
1.
Range
R
2. Acceleration A
3. Deceleration D
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ADT856 6-axis servo/ stepping motion control card
4. Start velocity SV
5. Driving velocity V
3.4 S-curve acceleration/deceleration driving
When driving velocity accelerates or decelerates, the
can be increased
acceleration/deceleration
When the driving accelerates, the acceleration increases from zero linearity to
appointed value (A) in appointed rate (K). Therefore, this velocity curve becomes
secondary parabola (a-zone). When the acceleration reaches this value (A), it will
retain this value. At this moment, the velocity curve is in linear mode and the
velocity is accelerating (b-zone). The acceleration tends to be 0 if the difference
between target velocity (V) and current velocity is less than the velocity increased in
corresponding time. The decreasing rate is same as increasing rate and decreases
in appointed rate (K). At this moment, the velocity curve is in linear mode and the
velocity is accelerating (c-zone). In this manual, the accelerating with partly fixed
acceleration is called as partial S-curve accelerating.
On the other hand, b-zone will disappear if the difference between target velocity
(V) and current velocity is less than the velocity increased in corresponding time
before the acceleration reaches appointed value (A) in a-zone. The accelerating
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ADT856 6-axis servo/ stepping motion control card
without fixed acceleration is called as complete S-curve accelerating.
To perform S-curve acceleration/deceleration, you need to set the
accelerating mode as S-curve and then configure the following parameters:
6.
Range
R
7. Change rate of acceleration/deceleration K
8. Acceleration A
9. Deceleration D (if necessary)
1. Start velocity SV
2. Driving velocity V
Precautions of performing S-curve acceleration/deceleration driving:
)
Do not change the driving velocity when performing S-curve
acceleration/deceleration quantitative driving.
)
Do not drive are interpolation or continuous interpolation when
performing S-curve acceleration/deceleration.
)
Position management
4.1 Logical position counter and actual position counter
Logical position counter is used to count the positive/negative output pulses of
ADT856 card. It counts up 1 after the output of one positive pulse and counts down
1 after the output of one negative pulse.
Actual position counter counts the input pulses from external coder. You can
select the type of input pulse A/B phase signal or independent 2-pulse up/down
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ADT856 6-axis servo/ stepping motion control card
counting signals. The counting direction can be customized.
The data of the two counters can be written or read at any time. The counting
range is -2,147,483,648~+2,147,483,647.
4.2 Compare register and software limit
Each axis has two 32-bit registers (COMP+ COMP-), which can compare size
with logical position counter and actual position counter. You can customize the
objects of the two compare registers as logical position counter or actual position
counter. COMP+ register is mainly used to detect the upper limit of logical/actual
position counter and COMP- register is mainly used to detect the lower limit.
When software limit is valid, deceleration stop is performed if the value of
logical/actual position counter in the driving is bigger than the value of COMP+, and
then only negative driving commands can be executed until the value of
logical/actual position counter is smaller than the value of COMP+. Similarly,
deceleration stop is performed if the value of ogical/actual position counter is
smaller than the value of COMP-, and then only positive driving commands can be
executed until the value of logical/actual position counter is bigger than the value of
COMP-.
COMP+ register and COMP- register can be written at any time.
4.3
Variable circle of position counter
The logical position counter and actual position driver are 32-bit up/down
cyclic counters. Therefore, if you count from the 32-bit maximum value FFFFFFFFh
to + direction, the last counting will be 0; count from 0 to – direction, the last
counting will be FFFFFFFFh. With variable circle function, you can customize the
maximum value of the cyclic counter. If the position is not in linear but rolling motion,
it is convenient to control position with this function. When variable circle function is
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ADT856 6-axis servo/ stepping motion control card
activated, COMP+ register sets the maximum value of logical position counter and
COMP- register sets the maximum value of actual position counter.
If X-axis is the rotating axis, supposing X-axis rotates one circle every 10,000
circles and variable corcle function is valid, set 9,999 on COMP+ register; if actual
position counter is used at the same time, set 9,999 on COMP- register.
Then, the counting:
Count up to + direction: … → 9998 → 9999 → 0 → 1 …
Count down to - direction: … → 1 → 0 → 9999 → 9998 …
Then, the counting range is 0-9999 and you needn’t to consider the calculation
when the value is over 10,000.
Note
一、
二、
)
interpolation of random 2 axes.
basic pulse time series of appointed axis. Before executing interpolation command,
You need to activate/deactivate the variable circle function of each axis,
but can’t activate/deactivate logical position counter and actual position
counter separately.
Software limit is invalid if variable circle function is activated.
Interpolation
ADT856 card can perform linear interpolation of random 2-6 axes and arc
In interpolation driving process, the interpolation operation is performed in
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ADT856 6-axis servo/ stepping motion control card
you need to set the start velocity and driving velocity of appointed axis.
Threshold-crossing error in interpolation
In interpolation driving, every driving axis can perform hardware limit and
software limit. The interpolation driving will stop if the limit of any axis changes.
0
Note
The interpolation will stop if the hardware limit or software limit in any direction
(+/-) is activated in the arc interpolation process. Therefore, you must be careful
when perform arc interpolation and can't leave limit area.
In-position signal of servo motor
The interpolation driving will stop once the INPOS signal of each axis is valid.
The INPOS signals of all axes are in effective electricity level when the interpolation
driving is finished.
5.1 2-6 axes linear interpolation
The linear interpolation starts when the end coordinate relative to current
position is set. The coordinate range of linear interpolation is 24-bit with symbols.
The interpolation range is from current position of each axis to
-8,388,607~+8,388,607.
As shown in the picture above, the position precision of appointed line is
±0.5LSB in the whole interpolation range. The above picture also shows the
example of pulse output of linear interpolation driving. In set end-point values, the
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ADT856 6-axis servo/ stepping motion control card
axis with maximum absolute value is long axis and this axis always outputs pulses
in the interpolation driving process. Other axes are short axes and they output
pulses sometimes according to the result of linear interpolation operation.
5.2 Arc interpolation
Set the center coordinates and end-point coordinates of the arc relative to the
start point of current position, and then perform arc interpolation.
CW arc interpolation draws arc from current coordinates to end-point
coordinates in clockwise direction around the center coordinates. CCW arc
interpolation draws arc around the center coordinates in counterclockwise direction.
It will draw a complete circle if the end point is (0, 0).
The arithmetic of arc interpolation is shown in the picture below. A plane is
defined by X-axis and Y-axis. Devide it into 8 quadrants (0-7) around center
coordinates. At the interpolation coordinates (X, Y) of quadrant 0, absolute value Y
is always smaller than absolute value X. The axes with smaller absolute values are
short axes. Quadrants 1, 2, 5 and 6 are X axes and quadrants 0, 3, 4 and 7 are Y
axes. Short axes always output dricing pulses in these quadrants and long axes
output pulses sometimes according to the result of arc interpolation operation.
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ADT856 6-axis servo/ stepping motion control card
The following examples show the output of a complete circle (take pulse output as
an example).
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ADT856 6-axis servo/ stepping motion control card
Judgment of end-point
For arc interpolation, set the current coordinates as (0, 0) before starting
interpolation driving, then, determine the radius according to the value of center
coordinates and draw a circle. The error of arc algorithmic is one pulse within the
range of interpolation driving. Therefore, the appointed end-point may be not on the
track of the circle. When the arc interpolation enters the quadrant of end-point, it will
stop if the value of end point is same to the value of short axis of end point.
5.3 Continuous interpolation
For motion card without continuous interpolation function, if you want to
continue next interpolation after the previous interpolation, you have to check
whether the previous interpolation is finished and then output the data of next
interpolation. If the upper computer is too slow, or multi-task OS is run on the upper
computer, an intermission, which has a adverse impact on effect and velocity of
interpolation, occurs between interpolations.
ADT856 card is intergrated with continuous interpolation function and thus this
problem is solved. It can output the data of next interpolation before previous
interpolation is finished. It can get excellent effect even if the computer is slow.
In continuous interpolation driving, read the writable state of continuous
interpolation and interpolation driving state first, you can write the command of next
interpolation if the interpolation hasn’t been finished and it is writable. Therefore, in
all interpolation nodes, the time from the beginning to the end of continuous
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ADT856 6-axis servo/ stepping motion control card
interpolation driving should be more than the time of setting the data of next
interpolation node and sending command.
Errors in continuous interpolation
In continuous interpolation driving process, if invalid drivings like
threshold-crossing error
At stopped interpolation node, the command is invalid although the data and
command of next node still exist. In addition, you need to check error before
sending interpolation command. If you haven’t checked, the data and command will
be invalid when error occurs and driving stops. If it is started from the second
interpolation node at the bottom, you have to check. If any error is found, the circle
of continuous interpolation should be disengaged.
If there is arc interpolation in continuous interpolation, the value of short axis of
arc interpolation end point might deviate one pulse from actual value. To avoid
accumulating the errors of every node, you have to confirm the end point of every
arc interpolation first and then determine the mode of continuous interpolation.
5.4 Interpolation of acceleration/deceleration driving
The interpolation is usually driven in constant velocity. But ADT856 card can
perform interpolation in linear acceleration/deceleration driving or S-curve
acceleration/deceleration driving (for linear interpolation only).
To realize acceleration/deceleration driving in continuous interpolation, you can
use deceleration valid command and deceleration invalid command. In interpolation
driving, deceleration valid command is used to make automatic or manual deceleration
valid and deceleration invalid command is used to make them invalid. To run
interpolation driving in acceleration/deceleration separately, you must select
deceleration valid state before driving, otherwise, the deceleration valid command is
invalid when you write it in the driving process.
Acceleration/deceleration driving of linear interpolation
In linear interpolation, linear acceleration/deceleration driving, S-curve
acceleration/deceleration driving and automatic deceleration can be performed.
Acceleration/deceleration driving of arc interpolation
In bit mode arc interpolation, only manual decelerated linear
acceleration/deceleration driving instead of S-curve acceleration/deceleration driving and
automatic deceleration can be performed.
Acceleration/deceleration driving of continuous interpolation
In continuous interpolation,
acceleration/deceleration driving instead of S-curve acceleration/deceleration driving and
automatic deceleration can be performed.
manual deceleration point first. This manual deceleration point is set on the final
node of deceleration and the value of basic oulse from X axis is also set. To
occur, it stops immediately at current interpolation node.
only manual decelerated linear
In continuous interpolation, you need to set
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ADT856 6-axis servo/ stepping motion control card
perform continuous interpolation, deactivate interpolation deceleration first and
then perform interpolation driving. At the final interpolation node to be decelerated,
write allow deceleration command before writing interpolation command. Then, the
deceleration is valid when the driving of final interpolation node starts. Deceleration
starts when basic pulses from X axis of final interpolation node are bigger than the
value of manual deceleration point.
For example, in the continuous interpolation from node 1 to node 5, the
procedures are as follows if manual deceleration is performed on final node 5.
Set the acceleration/deceleration mode and
parameters of main axis
↓
Write manual deceleration point
↓
Write deceleration invalid command
↓
Interpolation command of node 1
↓
Detect error and wait to write next data
↓
Interpolation command of node 2
↓
Detect error and wait to write next data
↓
Write deceleration valid command
↓
Interpolation command of node 5
Set the manual deceleration point according to the value of basic pulses from
node 5. For example, supposing that the deceleration consumes 2,000 pulses and
total amount of basic pulses from node 5 is 5,000, set manual deceleration point as
5,000-2,000=3,000.
The deceleration should be performed within one node from start to end. The total
basic pulses from X axis to Z axis of final interpolation point of decelerated stop should be
more than the pulses consumed by deceleration.
)
Pulse output mode
The driving output pulse has two pulse output modes as shown in the figure
below. In independent 2-pulse mode, PU/CW output driving pulse in positive driving
and DR/CCW output driving pulse in negative driving. In single pulse mode, PU/CW
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ADT856 6-axis servo/ stepping motion control card
output driving pulse and DR/CCW output direction signal.
Pulse output method
Independent 2-pulse
method
1-pulse method
)
Hardware limit signal
Hardware limit signals (LMT+, LMT-) are used to limit the input signals of
positive and negative direction driving pulses. If the limit signals and their logical
level are valid, you can select decelerated stop or sudden stop with command.
)
Signals corresponding to servo motor
The input signals connected to servo motor drive are INPOS signal and
ALARM signal. You can activate/deactivate each signal and set the logical
electricity level.
INPOS signal corresponds to the position end signal of servo motor. If the
mode is valid, when a driving is finished, the waiting INPOS input signal is valid and
the driving state is finished. ALARM input signal receives alarm signal from servo
motor drive. It monitors the ALARM input signal if it is valid. If the signal is valid, the
driving will be stopped immediately. You can read the status of the input signals for
servo motor drive with universal I/O function. Universal output signal can be used to
clear counter, reset counter or turn on servo.
Pulse/ direction are both of positive logic setting
Drive direction
Positive drive output
Negative drive output
Positive drive output
Negative drive output
Output signal waveform
PU/CW signal
Low level
DR/CCW signal
Low level
Low level
Hi level
Chapter 6 List of ADT856 basic library functions
List of V110 library functions
Function type Function name Function description Page
Basic
parameters
adt856_initial Initialize card 47
adt856_end Release card 47
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ADT856 6-axis servo/ stepping motion control card
set_stop0_mode
set_stop1_mode
set_stop2_mode
set_actualcount_mode
set_pulse_mode
set_limit_mode
set_ softlimit _mode1
set_softlimit_mode2
set_softlimit_mode3
set_inpos_mode
set_alarm_mode
set_ad_mode
Set stop mode 47
Set stop mode 48
Set stop mode 48
Set pulse mode 49
Set limit mode 50
Add mode 52
actual position counte
Soft limit mode
Soft limit mode
Soft limit mode
Servo in-position
Servo alarm
50
51
51
51
52
48
Check for
drive status
set_dec1_mode
set_dec2_mode
set_circle_mode
set_input_filter input filtering
set_filter_time Filtering time
get_status
Dec mode 52
Dec mode 52
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Circle mode
Get status of single-axis
drive
53
53
53
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ADT856 6-axis servo/ stepping motion control card
Movement
parameter
setting
get_stopdata
get_inp_status
get_inp_status2
set_rang Set rang 56
Set_acac
set_acc Set acceleration 57
Set_dec Set deceleration 58
set_startv Set starting speed 58
set_speed Set drive speed 59
set_command_pos Set logical position counter 59
set_actual_pos Set real position counter 60
Get status of
Get stop data of error
Get status of
interpolation
Set acceleration changing
interpolation
continuous
rate
54
55
55
57
Check for
motion
parameters
set_comp1 Set register 60
set_comp2 Set register 60
set_dec_pos Set deceleration position 60
get_command_pos Get logical position 61
get_actual_pos Get real position 61
get_speed Get drive speed 61
get_ad Get acceleration 62
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ADT856 6-axis servo/ stepping motion control card
Drive
category
pmove
continue_move Continuous driving 62
dec_stop Deceleration stop 63
sudden_stop Sudden stop 63
Inp_move2
inp
_cw_arc
inp_ccw_arc
inp_move3 3-axis linear interpolation 64
inp_move4 4-axis linear interpolation 65
inp_move6 6-axis linear interpolation 65
inp_dec_enable
inp_dec_disable
inp_clear
2-axis linear interpolation 63
Single-axis quantitative
drive
Clockwise arc interpolation 64
Counterclockwise arc
interpolation
Enable deceleration of
interpolation
Disable deceleration of
interpolation
clean the error of
interpolation
62
64
66
66
66
Switch
amount
category
read_bit Read single input point 66
write_bit Output single output point 66
Chapter 7 Details of ADT856 basic library functions
)
CATEGORY OF BASIC PARAMETER SETTING
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1.1 Initialize card
int adt856_initial(void);
Function
Initialize motion card
(1) Return >0 means amount of installed ADT856 cards; in case the Return is 3, the
available card numbers shall be 0, 1, and 2;
(2) Return =0 means no installation of ADT856 card;
(3) Return <0 means no installation of service if the value is -1 or PCI bus failure is the
value is -2.
Remark: Initialization functions are preliminary conditions to call other functions,
thus must be called firstly so as to verify available cards and initialize some
parameters.
1.2 Release ADT-856 card
int adt856_end(void);
Function
Release the resources of motion card
Return value
1.3
Set the mode of stop0 signal
int set_stop0_mode(int cardno, int axis, int value,int logic);
Function
Release the resources of motion card
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
logic 0:low electric stop 1:high electric stop
Return value
Default modes
Notice
The way to stop rests on that it is A/D drive or uniform acceleration drive. For former it is
A/D stop while for latter instant stop. STOP1 and STOP2 are just the same
0:correct 1:wrong
Signal is invalid，low electric stop
0:correct 1:wrong
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ADT856 6-axis servo/ stepping motion control card
1.4
Set the mode of stop1 signal
int set_stop1_mode(int cardno, int axis, int value,int logic);
Function
Set COMP + register as software limit
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
logic 0:low electric stop 1:high electric stop
Return value
Default modes
1.5
Set the mode of stop2 signal
int set_stop2_mode(int cardno, int axis, int value,int logic);
Function
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
logic 0:low electric stop 1:high electric stop
Return value
Default modes
Notice
STOP2 signal can clear actual position counter when it is valid. Due to the delay of servo
system or mechanical system, error may occur in home position if you clear the actual
position counter with software after driving. With this function, you can get higher
precision.
1.6 Set the working mode of actual position counter (coder input)
int set_actualcount_mode(int cardno, int axis, int value,int dir,int freq);
Parameter
cardno card number
axis axis number(1-6)
value Pulse input mode
0:A/B pulse input
1:Up/Down (PPIN/PMIN) pulse input
dir Counting direction
0: A leads B or PPIN pulse input up count
B leads A or PMIN pulse input down count
0:correct 1:wrong
Signalinvalid，low electric stop
Set COMP + register as software limit
0:correct 1:wrong
Signalinvalid，low electric stop
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ADT856 6-axis servo/ stepping motion control card
g
1:B leads A or PMIN pulse input up count
A leads B or PPIN pulse input down count
freq Frequency multiplication of A/B pulse input
，
Invalid for Up/Down pulse input
0: 4× 1: 2× 2: 1×
Return value
Default modes
0:correct 1:wrong
A/B pulse input，direction: 0，Frequency multiplication: 4×
Most position feedback devices use coder or grating scale, so you need to select A/B phase
pulse input mode. The precision of this mode can be improved with frequency doubling
technology. You can select 4 times or 2 times, or disable frequency doubling. For 4 times
frequency doubling, if a coder of 1000 pulse per circle is used, the counter value will
increase by 4000 when it rotates one circle clockwise, i.e. the precision is increased by 4
times
1.7 Set output pulse mode
int set_pulse_mode(int cardno, int axis, int value,int logic,int dir_logic);
Function
Set pulse mode
Parameter
cardno Card number
axis Axis number (1-6)
value 0：Pulse + Pulse method 1：Pulse + direction method
Pulse output method
Independent 2-pulse
1-pulse method
Pulse/ direction are both of positive logic settin
Drive direction
Output signal waveform
Positive drive output
Negative drive output
Low level
Positive drive output
Negative drive output
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DR/CCW signal
Low level
Low level
Hi level
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ADT856 6-axis servo/ stepping motion control card
p
g
logic 0: Positive logic pulse 1: Negative logic pulse
Positive logic
1.8 Set mode of nLMT signal input along positive/ negative direction
ulse
dir-logic 0: Positive logic direction input signal 1: Negative logic direction
input signal
Return
0: Correct 1: Wrong
Default mode: Pulse + direction, with positive logic pulse and positive logic
direction input signal
int set_limit_mode(int cardno, int axis, int v1,int v2,int logic);
Function
Set mode of nLMT signal input along positive/ negative direction
Parameter
cardno Card number
axis Axis number (1-6)
v1 0: positive limit is effective 1: positive limit is ineffective
v2 0: negative limit is effective 1: negative limit is ineffective
logic 0: low level is effective 1: high level is effective
Return value
Default mode: positive and negative limits with low level
Positive direction logic pulse
0: Correct 1: Wrong
Negative
lo
ic pulse
Negative direction logic pulse
are effective
z
Setting of COMP+ register as software limit
int set_softlimit_mode1(int cardno, int axis, int value);
Function
Set COMP + register as software limit
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
Return value
0:correct 1:wrong
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ADT856 6-axis servo/ stepping motion control card
Default modes
Notice
Software limit is always decelerated stop and the counting value may exceed the
setting value. It is necessary to consider this point while setting range
1.10 Setting of COMP- register as software limit
int set_softlimit_mode2(int cardno, int axis, int value);
Function
Set COMP - register as software limit
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
Return value
Default modes
Notice
The same as above
1.11 Comparison objects setting of COMP+/- registers
int set_softlimit_mode3(int cardno, int axis, int value);
Function
set
COMP+/- registers
Parameter
cardno card number
axis axis number(1-6)
value 0:Logical position counter 1:Actual position counter
Return value
Default modes
This function is the comparison object of setting software limit.
invalid
0:correct 1:wrong
invalid
as the compare objects of software limit
0:correct 1:wrong
Logical position counter
1.12 Setting of servo in-position signal nINPOS
int set_inpos_mode(int cardno, int axis, int value, int logic);
Function
Setting of servo in-position signal nINPOS
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
logic 0:low electricvalid 1:high electricvalid
Return value
Default modes
0:correct 1:wrong
invalid，low electricvalid
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ADT856 6-axis servo/ stepping motion control card
Notice
Do not select valid if nINPOS isn’t connected to servo or stepping motor is used.
1.13 Setting of servo alarm signal nALARM
int set_alarm_mode(int cardno, int axis, int value,int logic);
Function
Set the working mode of servo alarm signal nALARM
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
logic 0:low electric valid 1:high electric valid
Return value
Default modes
Notice
Do not select valid if nALARM isn’t connected to servo or stepping motor is used
1.14 Acceleration/deceleration setting
int set_ad_mode(int cardno, int axis, int value);
Function
Select linear or S-curve acceleration/deceleration
Parameter
cardno card number
axis axis number(1-6)
value 0:linear A/D 1:S-curve A/D
Return value
Default modes
0:correct 1:wrong
invalid，low electric valid
0:correct 1:wrong
linear A/D
1.15 Asymmetric ladder acceleration/deceleration setting
int set_dec1_mode(int cardno, int axis, int value);
Function
Select symmetric or asymmetric acceleration/deceleration
Parameter
cardno card number
axis axis number(1-6)
value deceleration mode
(0: symmetric deceleration, 1: asymmetric deceleration)
Return value
Default modes
1.16 Deceleration mode setting of acceleration/deceleration quantitative driving
int set_dec2_mode(int cardno, int axis, int value);
0:correct 1:wrong
symmetric acceleration/deceleration
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ADT856 6-axis servo/ stepping motion control card
Function
Set deceleration mode
Parameter
cardno card number
axis axis number(1-6)
value 0:automatic deceleration 1: manual deceleration
Return value
Default modes
Notice
Automatic deceleration is used in most cases. To use manual deceleration, it is
necessary to set deceleration point
1.17 Setting of variable circle function of the counter
int set_circle_mode(int cardno, int axis, int value);
Function
Set the variable circle mode of counter
Parameter
cardno card number
axis axis number(1-6)
value 0:invalid 1:valid
Return value
Default modes
1.18 Input signal filtering function setting
int set_input_filter(int cardno,int axis,int number,int value);
Function
Set the filtering function of input signal
Parameter
cardno card number
axis axis number
number Input types
1:LMT+、LMT-、STOP0、STOP1
2:STOP2
3:nINPOS、nALARM
4:nIN
Set the filtering state of the four types input signals above
value 0: Filtering invalid 1: Filtering valid
Return value
Default modes
0:correct 1:wrong
Automatic deceleration
0:correct 1:wrong
invalid
0:correct 1:wrong
invalid
1.19 Constant setting of filtering time of input signals
int set_filter_time(int cardno,int axis,int value);
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ADT856 6-axis servo/ stepping motion control card
Function
Set the filtering time constant of input signals
Parameter
cardno card number
axis axis number
value Range: 1-8, and the meanings are as follow:
Return value
)
CATEGORY OF DRIVE STATUS CHECK
2.1 Get the driving status of single axis
int get_status(int cardno,int axis,int *value)
Function
Get the driving status of single axis
Parameter
Return value
Notice
2.2 Get the error stop data of axes
int get_stopdata(int cardno,int axis,int *value)
Function
Parameter
cardno card number
axis axis number(1-6)
value Index of driving status; the meanings are:
If single axis driving command is executed, you can send next driving instruction to
the axis when the driving of corresponding axis is stopped. Otherwise, previous driving
instruction stops immediately and next instruction is executed.
Get the error stop data of axes
0:correct 1:wrong
0:correct 1:wrong
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ADT856 6-axis servo/ stepping motion control card
cardno card number
axis axis number(1-6)
value Index of error status
0: No error
Non-0: the value is in 2 bytes and their meanings are :
D0 is the lowest position and D15 is the highest position
D0: Stopped by STOP0
D1: Stopped by STOP1
D2: Stopped by STOP2
D3: Stopped by positive limit LMT+
D4: Stopped by negative limit LMTD5: Stopped by servo alarm
D6: COMP+ register limit driving stopped
D7: COMP- register limit driving stopped
D8-D15: Reserved
Return value
2.3 Get the driving status of interpolation
int get_inp_status(int
Function
Get the driving status of interpolation
Parameter
cardno card number
value Index of interpolation status
0: Interpolation stopped 1: Interpolating
Return value
Notice
If interpolation driving command is executed, you can send next driving instruction
to the axis when the interpolation driving of corresponding axis is stopped. Otherwise,
previous driving instruction stops immediately and next instruction is executed.
0:correct 1:wrong
cardno
,int *value)
0:correct 1:wrong
2.4 Get the writable status of continuous interpolation
int get_inp_status2(int
Function
Get the writable status of continuous interpolation
Parameter
Return value
cardno card number
value Index of writing status
0: Unwritable 1: Writable
cardno
,int *value)
0:correct 1:wrong
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Notice
If the driving is stopped, the status is 0. Threrfore, it is necessary to check
whether error occurs in continuous interpolation process.
)
CATEGORY OF MOVEMENT PARAMETER SETTING
0
Remark: The following parameters are not determined after
initialization thus must be set before use.
3.1 Range setting
int set_range(int cardno,int axis,long value);
Function
set range
Parameter
Return value
Notice
cardno card number
axis axis number(1-6)
value range(8000000-16000)
0:correct 1:wrong
Range is the rate parameter that determines the speed, acceleration/deceleration
and change rate of acceleration/deceleration. If the range is R, the formula to
calculate M is: M = 8000000/R.
The effective range of driving speed, inialization speed and
acceleration/deceleration is 1~8000. If required actual speed or
acceleration/deceleration is higher than 8000, you need to set the range and
adjust the magnification. If magnification is increased, the actual speed and
acceleration/deceleration can be increased in same scale, but the resolution of
speed and acceleration/deceleration becomes rough. Therefore, it is
recommended that you set minimum value for magnification and maximum value
for range within stated range of actual speed.
In engineering practice, the setting of reasonable range is the premise to get ideal
actual speed curve. To calculate the range
Step 1: Calculate the magnification (M) according to estimated maximum actual
speed (Vmax) M=Vmax/8000 (8000 is the maximum speed);
Step 2: Calculate range (R) according to magnification: R = 8000000/M.
For example: if required maximum speed is 40KPPS, then, M = 40*1000/8000 =
5 and R = 8000000/5 = 1600000.
The range of R is 8000000-16000 and corresponding rate is 1-500.
You’d better set the range in the process of system initialization. Do not change
the range in the moving process; otherwise, the speed may jump.
In a word, actual speed = set value of speed * magnification.
:
3.2 Set the change rate of acceleration/deceleration
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ADT856 6-axis servo/ stepping motion control card
int set_acac(int cardno,int axis,long value);
Function
Set the change rate of acceleration/deceleration
Parameter
cardno card number
axis axis number(1-6)
value range(1-65535)
Return value
Notice
0:correct 1:wrong
The change rate of acceleration/deceleration is the parameter that determines the
change rate of acceleration and deceleration of S-curve acceleration/deceleration in unit time.
If the value of acceleration/deceleration change rate is K, the actual value V (PPS/SEC
2
) of
acceleration/deceleration change rate is V = (62500000/K)*M =
(62500000/K)*(8000000/R).
The range of acceleration/deceleration change rate is 1~65,535.
If the setting is as follow:
set_range(0,1,800000); the range is 800000 and magnification
M=8000000/800000=10
set_acac(0,1,100); acceleration/deceleration change rate is 100;
Then, the actual change rate of acceleration/deceleration is
(62500000/100)*10=6250000 PPS/SEC
2
3.3 Acceleration setting
int set_acc(int cardno,int axis,long value);
Function
Set the value of acceleration
Parameter
cardno card number
axis axis number(1-6)
value range(1-8000)
Return value
Notice
0:correct 1:wrong
This is the acceleration and deceleration parameter in linear acceleration/deceleration
driving. In S-curve acceleration/deceleration driving, the acceleration and deceleration
increase linearly from 0 to set acceleration value.
The set acceleration value is A and the actual acceleration is:
Actual acceleration (PPS/SEC) = A*125*M = A*125*(8000000/R)
The range of acceleration value is 1~8,000.
If the setting is as follow:
set_range(0,1,80000); the range is 800000 and magnification
M=8000000/800000=10
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set_acc(0,1,100);
The acceleration is:
100*125* (8000000/80000) =1250000 PPS/SEC
3.4 Deceleration setting
int set_dec(int cardno,int axis,long value);
Function
Set the value of deceleration
Parameter
Return value
Notice
It is the deceleration parameter in linear acceleration/deceleration driving in
acceleration/deceleration fixed mode. In S-curve acceleration/deceleration driving, the
deceleration increases linearly from 0 to set deceleration value.
cardno card number
axis axis number(1-6)
value D-value(1-8000)
0:correct 1:wrong
The deceleration value is D and the actual deceleration is:
Actual deceleration (PPS/SEC) = D*125*M=D*125*(8000000/R)
The range of deceleration value D is 1~8,000.
If the setting is as follow:
set_range(0,1,80000); the range is 800000 and magnification
M=8000000/800000=10
set_dec(0,1,100);
The deceleration is:
100*125* (8000000/80000) =1250000 PPS/SEC
3.5 Start velocity setting
int set_startv(int cardno,int axis,long value);
Function
Set the value of start velocity
Parameter
Return value
Notice
Start velocity is the velocity when the driving starts. The start velocity value is SV
and the actual value of start velocity is:
=
cardno card number
axis axis number(1-6)
value range(1-8000)
0:correct 1:wrong
actual value of start velocity
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ADT856 6-axis servo/ stepping motion control card
SV*(8000000/R)
If the value of start velocity is higher than that of driving speed, the drving will
be performed in driving speed constantly even if the acceleration/deceleration has
been set.
3.6 Driving speed setting
int set_speed(int cardno,int axis,long value);
Function
Set the value of driving speed
Parameter
axis axis number(1-6)
Return value
Notice
cardno card number
value range(1-8000)
0:correct 1:wrong
Driving speed is the speed that reaches constant speed area in the moving
process. The driving speed should be no lower than start velocity in principle.
The driving speed is V and the actual value of driving speed is:
driving speed (
or constant speed moving process, you can change the driving speed in real time.
You can’t change the driving speed in the quantitative pulse driving process of
S-curve acceleration/deceleration. Besides, if the speed is changed in acceleration
area or deceleration area in the continuous driving process of S-curve
acceleration/deceleration, you can’t run correct S-curve. Please change the speed
in constant speed area.
In the quantitative pulse driving of linear acceleration/deceleration, if the driving
speed si changed frequently, the dragging driving in start velocity will probably
occur in the deceleration at the end of output pulse
PPS) = V*M = V*(8000000/R).In ladder acceleration/deceleration
actual value of
3.7 Logical position counter setting
int set_command_pos(int cardno,int axis,long value);
Function
Set the value of logical position counter
Parameter
Return value
Notice
3.8 Actual position counter setting
cardno card number
axis axis number(1-6)
value range value(-2147483648~+2147483647)
0:correct 1:wrong
You can access the logical position counter in real time
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ADT856 6-axis servo/ stepping motion control card
int set_actual_pos(int cardno,int axis,long value);
Function
Set the value of actual position counter
Parameter
Return value
Notice
3.9 COMP+ register setting
int set_comp1(int cardno,int axis,long value);
Function
Parameter
Return value
Notice
3.10 COMP- register setting
int set_comp2(int cardno,int axis,long value);
Function
Parameter
Return value
Notice
cardno card number
axis axis number(1-6)
value range value(-2147483648~+2147483647)
0:correct 1:wrong
You can access the actual position counter in real time
Set the value of COMP+ register
cardno card number
axis axis number(1-6)
value range value(-2147483648~+2147483647)
0:correct 1:wrong
You can access the COMP+ register in real time
Set the value of COMP- register
cardno card number
axis axis number(1-6)
value range value(-2147483648~+2147483647)
0:correct 1:wrong
You can access the COMP- register in real time
3.11
Set the value of manual deceleration point
int set_dec_pos(int cardno,int axis,long value);
Function
Set the value of COMP+ register
Parameter
cardno card number
axis axis number(1-6)
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ADT856 6-axis servo/ stepping motion control card
value range value(0~268435455)
Return value
Notice
If manual deceleration mode is used, you need to set manual deceleration point
first.Manual deceleration point = output pulses – pulses consumed by deceleration
)
CATEGORY OF MOTION PARAMETER CHECK
The following functions can be called at any time
4.1 Get the logical position of axes
int get_command_pos(int cardno,int axis,long *pos);
Function
Parameter
Return value
Notice
Get the logical position of axes
cardno card number
axis axis number(1-6)
pos Index of logical position value
You can use this function to get the logical position of axes and it can represent the
current position of axes if the motor is not out of step
0:correct 1:wrong
0:correct 1:wrong
4.2 Get the actual position of axes (i.e. coder feedback value)
int get_actual_pos(int cardno,int axis,long *pos);
Function
Get the actual position of axis
Parameter
Return value
Notice
4.3 Get the current driving speed of axes
int get_speed(int cardno,int axis,long *speed);
Function
Parameter
cardno card number
axis axis number(1-6)
pos Index of actual position value
0:correct 1:wrong
You can use this function to get the actual position of axes and you can get the
current position of axes even if the motor is out of step.
Get the current driving speed of axes
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ADT856 6-axis servo/ stepping motion control card
cardno card number
axis axis number(1-6)
speed Index of current driving speed
Return value
Notice
4.4 Get the current acceleration of axes
)
CATEGORY OF DRIVE
5.1 Quantitative driving
cardno card number
axis axis number(1-6)
pulse output pulses >0: Positive <0: Negative
range(-268435455~+268435455)
Value of actual speed = Getting speed*M = Getting speed*(8000000/R)
int get_ad(int cardno,int axis,long *ad);
Function
Get the current acceleration of axes
Parameter
Return value
int pmove(int cardno,int axis,long pulse)；
Function
Parameter
Return value
Notice
cardno card number
axis axis number(1-6)
ad Index of current acceleration
Single axis quantitative driving
You need to set valid speed parameter before writing driving command.
0:correct 1:wrong
0:correct 1:wrong
0:correct 1:wrong
5.2 Continuous driving
int continue_move(int cardno,int axis,int dir)；
Function
Single axis continuous driving
Parameter
cardno card number
axis axis number(1-6)
dir Driving direction 0: Positive 1: Negative
Return value
0:correct 1:wrong
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ADT856 6-axis servo/ stepping motion control card
Notice
You need to set valid speed parameter before writing driving command.
5.3 Driving
axis axis number
5.4 Driving
axis axis number
decelerated stop
int dec_stop(int cardno,int axis);
Function
Stop current driving process in deceleration
Parameter
cardno card number
Return value
Notice
This command is decelerated stop in acceleration/deceleration driving, process
and sudden stop in constant speed driving process.
Sudden stop
int dec_stop(int cardno,int axis);
Function
Stop current driving process in sudden
Parameter
cardno card number
Return value
Notice
This command is sudden stop in acceleration/deceleration driving, process and
suddn stop in constant speed driving process.
0:correct 1:wrong
0:correct 1:wrong
(1-6)
(1-6)
5.5 Two axes linear interpolation
int inp_move2(int cardno,int no,long pulse1,long pulse2);
Function
Two axes linear interpolation
Parameter
cardno card number
no: 1:X-Y 2:Z-A
pulse1 Moving distance of axis1
pulse2 Moving distance of axis2
Return value
Notice
The X-Y interpolation takes the speed of X-axis as base,Y-axis do not need to set.
0:correct 1:wrong
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ADT856 6-axis servo/ stepping motion control card
The Z-W interpolation takes the speed of Z-axis as base,A-axis do not need to set.
5.6 CW arc interpolation
int inp_cw_arc(int cardno,int no,long x,long y,long i,long j);
Function
Two axes CW arc interpolation
Parameter
cardno card number
no 1:X-Y 2:Z-W
x,y End point position of arc interpolation (relative to start point)
i,j Circle center position of arc interpolation (relative to start point)
Return value 0:correct 1:wrong
Notice:
The X-Y interpolation takes the speed of X-axis as base,Y-axis do not need to set.
The Z-W interpolation takes the speed of Z-axis as base,A-axis do not need to set.
5.7 CCW arc interpolation
int inp_ccw_arc(int cardno,int no,long x,long y,long i,long j);
Function
Parameter
cardno card number
no 1:X-Y 2:Z-W
x,y End point position of arc interpolation (relative to start point)
i,j Circle center position of arc interpolation (relative to start point)
Return value 0: correct 1: wrong
Notice:
The X-Y interpolation takes the speed of X-axis as base,Y-axis do not need to set.
The Z-W interpolation takes the speed of Z-axis as base,A-axis do not need to set
Two axes CCW arc interpolation
5.8 Three axes linear interpolation
int inp_move3(int cardno,long pulse1,long pulse2,long pulse3);
Function
Three axes linear interpolation
Parameter
cardno card number
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pulse1 Moving distance of axis1
pulse2 Moving distance of axis2
pulse3 Moving distance of axis3
Return value
Notice
The interpolation speed takes the speed of the axis X as the standard (axis1).the
magnification and running speed of Z-axis must be the same as X-axis.The start speed
of Z-axis must be the same as running speed of X-axis (not start speed),Y-axis do not
need to set.
5.9 Four axes linear interpolation
int inp_move4(int cardno,long pulse1,long pulse2,long pulse3,long pulse4,long
pulse5,long pulse6);
Function
four axes linear interpolation
Parameter
Return value
Notice
magnification and running speed of Z-axis must be the same as X-axis.The start speed
of Z-Axis must be the same as running speed of X-axis (not start speed),Y-axis
A-axis ,C-axis do not need to set.
cardno card number
pulse1, pulse2, pulse3, pulse 4 , pulse5, pulse6 Moving distance of axis X, Y,
Z, A,B,C
The interpolation speed takes the speed of the axis X as the standard (axis1).the
0:correct 1:wrong
0:correct 1:wrong
、
5.10 Six axes linear interpolation
int inp_move6(int cardno,long pulse1,long pulse2,long pulse3,long pulse4);
Function
four axes linear interpolation
Parameter
Return value
Notice
magnification and running speed of Z-axis must be the same as X-axis.The start speed
of Z-Axis must be the same as running speed of X-axis (not start speed),Y-axis
do not need to set.
5.11 Enable interpolation deceleration
int inp_dec_enable(int cardno);
cardno card number
pulse1, pulse2, pulse3, pulse4 Moving distance of axis X, Y, Z, A
0:correct 1:wrong
The interpolation speed takes the speed of the axis X as the standard (axis1).the
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A-axis
ADT856 6-axis servo/ stepping motion control card
Function
Enable deceleration of interpolation
Parameter
cardno card number
Return value
5.12 Disable interpolation deceleration
int inp_dec_disable(int cardno);
Function
Parameter
cardno card number
Return value
Notice
5.13 Clean error of interpolation deceleration
int inp_clean(int cardno);
Function
Parameter
cardno card number
Return value
0:correct 1:wrong
Disable deceleration of interpolation
0:correct 1:wrong
This function and previous function are used in interpolation of
acceleration/deceleration. Select Enable for single interpolation and select
Disable at first and then select Enable at the last point for continuous
interpolation. See the following examples.
Clean the
error
of deceleration of interpolation
0:correct 1:wrong
)
CATEGORY OF SWITCH AMOUNT INPUT/ OUTPUT
6.1 Read single input point
int read_bit(int cardno,int number)
Function
Get the status of single input bit
Parameter
cardno C
number Input point (0-47)
6.2 Output single output point
int write_bit(int cardno,int number,int value)
Function
ard number
Return
0: low level 1: high level -1: error
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Corresponding port performs output operation.
Parameter
number Output point (0-31)
value 0: low 1: high
Return
A number corresponding to the output number
cardno C
0: correct
1: wrong
ard number
Chapter 8 Guide to motion control function library
¾ Introduction on ADT856 function library
ADT856 function library is actually the interface for users to operate the movement
control card; users can control the movement control card to execute
corresponding functions simply by calling interface functions.
The movement control card provides movement function library under DOS and
dynamic link library under Windows; the following part will introduce the library
calling method under DOS and Windows.
¾ Calling dynamic link library under Windows
The dynamic link library ADT856.dll under Windows is programmed in VC,
applicable for general programming tools under Windows, including VB, VC,
C++Builder, VB.NET, VC.NET, Delphi and group software LabVIEW.
a) Calling under VC
2. Create a new project;
3. Copy the ADT856.lib and ADT856.h files from
DevelopmentPackage/VC in the CD to the routing of the newly
created item;
4. Under File View of the Work Area of the new item, right click
mouse to select “Add Files to Project” and then in the pop-up file
dialogue select the file type to be “Library Files(.lib)”, then search
out “ADT856.lib” and select it, finally click “OK” to finish loading of
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the static library;
5. Add #include “ADT856.h“ in the declaim part of the source file,
header or overall header “StdAfx.h”.
After the above four steps, users can call functions in the dynamic link library.
Remark: The calling method under VC.NET is similar.
b) Calling under VB
1. Create a new project;
2. Copy the ADT856.h file from DevelopmentPackage/VB in the CD to the routing of
the newly created item;
3. Select the menu command Engineering/Add module and subsequently Save
Current in the dialogue to search out the ADT856.bas module file, finally click the
Open button.
After the above three steps, users can call functions in the dynamic link library.
Remark: The calling method under VB.NET is similar.
c) Calling under C++Builder
(1) Create a new project;
(2) Copy the ADT856.lib and ADT856.h files from DevelopmentPackage/
C++Builder in the CD to the routing of the newly created item;
(3) Select the menu command “Project\Add to Project”, and in the pop-up
dialogue select the file type to be “Library files(*.lib)”, then search out the
“ADT856.lib” file and click Open button;
(4) Add #include “ADT856.h“ in the declaim part of the program file.
After the above four steps, users can call functions in the dynamic link library.
d) Calling under LabView 8
(1) Create a new VI;
(2) Copy the ADT856.lib and ADT856.dll files from DevelopmentPackage/
LabVIEW in the CD to the routing of the newly created item;
(3) Right click mouse in the blank area of the program interface to display the
Function Palette, select “Select a VI..” and subsequently in the pop-up
window select the ADT856.llb file, finally select the required library function in
the “Select the VI to Open” window and drag into the program interface.
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After the above three steps, users can call functions in the dynamic link library.
¾ Calling library functions under DOS
Function libraries under DOS are edited in Borland C3.1 and saved in the
DevelopmentPackage/C++ (or C) folder. Library functions may be categorized into
large and huge modes, applicable for standard C and Borland C3.1or above
versions.
The method of calling function library with Borland C is as follows:
2 Under the development environment of Borland C, select the “Project\Open
Project” command to create a new project;
3 Copy the ADT856H.LIB or ADT856L.LIB file and ADT856.H file from
DevelopmentPackage/ C (or C++) in the CD to the path of the newly created
project;
4 Select the “Project\Add Item” command and further in the dialogue select
“ADT856H.LIB” or “ADT856L.LIB”, finally click the Add button;
5 Add #include “ADT856.h statement in the user program file.
After the above four steps, users can call functions in the dynamic link library.
¾ Returns of library functions and their meanings
To ensure users will correctly know execution of library functions, each library
function in the function library after completion of execution will return to execution
results of the library functions. Users, based on such Returns, can conveniently
judge whether function calling has succeeded.
Except “int ADT856_initial(void)” and “int read_bit(int cardno, int number)” with
special Returns, other functions have only “0” and “1” as the Returns, where “0”
means successful calling and “1” means failed calling.
The following list introduces meanings of function Returns.
Function name Return Meaning
-1 No installation of service
ADT856_initial
-2 PCI slot failure
0 No installation of control card
Read_bit
>0 Amount of control card
0 Low level
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1 High level
-1 Card number or input point out of limit
Other functions
Remark: Return 1 means calling error, and the normal cause is wrong cardno
(Card Number) or axis (Axis Number) passed during the process of calling library
functions. Card number have their values starting as 0, 1, and 2, thus in case
there is only one card, the card number must be 0; similarly values of axis
number can only be 1, 2, 3 and 4, other values are all wrong.
0 Correct
1 Wrong
Chapter 9 Briefing on motion control development
This card will encounter some problems during programming, but most problems are
due to failure in understanding the methods of this control card. The following part
will give explanation on some unusual and easy-to-misunderstand scenarios.
)
CARD INITIALIZATION
Invoke the adt856_initial() function first, and make sure that the ADT856 card
has been installed properly. Then, set the pulse output mode and working mode of
limit switch. These parameters should be set according to the PC configuration. Set
only once when the program is initialized.
The “set_range” function is usually set according to maximum pulse frequency
and do not change it after this. The ranges of different axes can be different. If the
maximum frequency of X axis is 100K, the maximum value of “set_speed” is 8000,
the magnification should be 100000/8000=12.5
8000000/12.5=640000, i.e.
set_range(cardno,1, 640000);
To output 100K frequency
set_speed(cardno,1,8000)
To output 10K frequency
set_speed(cardno,1,800)
Minimum output frequency is 1*12.5=12.5Hz
Confirm the R value according to maximum application frequency. Do not
change the R value in the application process unless the minimum frequency can’t
satisfy your requirement.
Remark: Library function ADT856_initial is the door to ADT856 card, thus
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，
the range R should be
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ADT856 6-axis servo/ stepping motion control card
calling other functions are of sense only after successful card initialization
with calling to this function.
)
Speed setting
2.1 Constant speed moving
The parameter configuration is simple. You just need to set the driving speed
same as start speed.
Related functions:
set_startv
set_speed
Note: The actual speed is the result that function value multiplys
magnification.
2.2 Symmetric linear acceleration/deceleration
This is a common used mode and you need to set start speed, driving speed,
acceleration and automatic deceleration.
Related functions:
set_startv
set_speed
set_acc
set_ad_mode (set as linear acceleration/deceleration)
set_dec1_mode (set as symmetric mode)
set_dec2_mode (set as automatic deceleration)
Note: The actual acceleration is the result that acceleration function multiplys
magnification and then multiplys 125.
2.3 Asymmetric linear acceleration/deceleration
This mode is mainly used in moving objects in vertical direction. The
acceleration time is different from deceleration time and you need to set the value of
deceleration.
Related functions:
set_startv
set_speed
set_acc
set_dec
set_ad_mode (set as linear acceleration/deceleration)
set_dec1_mode et as asymmetric mode)
set_dec2_mode (set as automatic deceleration)
2.4 S S-curve acceleration/deceleration
For certain modes with heavy load, S-curve acceleration is used to get better
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ADT856 6-axis servo/ stepping motion control card
acceleration. In this case, you need to set the values of acceleration/deceleration.
The calculation of acceleration/deceleration has a big influence on the shape of
S-curve. Refer to the following examples.
Related functions:
set_startv
set_speed
set_acc
set_acac
set_ad_mode (set as S-curve acceleration/deceleration)
set_dec2_mode (set as automatic deceleration)
2.5 Manual deceleration
Manual deceleration is used only when automatic deceleration can’t be used
normally, e.g. acceleration/deceleration driving of arc interpolation and continuous
interpolation. In this case, you need to calculate the manual deceleration point. Refer
to the following examples.
2.6 Interpolation speed
For interpolation speed, you just need to set the parameter of first axis. The first
axis is the axis1 in the interpolation function parameters of basic library function
drivings.
The interpolation is usually driven in constant speed. Therefore, you just need
to set start speed and driving speed. You can also use acceleration/deceleration
interpolation if you set valid X axis parameter. However, S-curve interpolation can’t
be used in arc interpolation and continuous interpolation.
The interpolation deceleration is disabled by default. If
acceleration/deceleration interpolation is used, there is only acceleration process in
the driving. This is suitable for continuous interpolation. If single interpolation is used,
you need to enable interpolation deceleration before driving.
The aforesaid settings are to exert the functions of the card. Actually, many
functions are necessary only when the speed and effect requirements are very high.
In this case, the setting is complicated but necessary.
)
STOP0, STOP1 and STOP2 signal
Every axis has STOP0, STOP1 and STOP2 signals, therefore, there are 12
STOP signals totally. These signals are mainly used in back-to-home operation. The
back-to-home mode can use either one signal or several signals. Please note that
this signal is decelerated stop. For high speed resetting, you can add one
deceleration switch before home switch, i.e. use two STOP signals (one for home
switch and the other for deceleration switch). You can also use one signal only. In
this case, when the machine receives STOP signal, it stops in deceleration, then,
moves to opposite direction in constant speed and stops when receives the signal
again.
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STOP2 has a special function, i.e. if the setting is valid, the actual position
counter will be cleared by STOP2 if you use STOP2 signal to stop. This is to ensure
that the value of the counter is 0 in home position. Other motion cards reset the
counter with software when the driving is stopped. In servo driving process, even if
the pulse output is stopped, it will move forward a little as there are still pulses
acclumulated in the servo, thus the position error occurs. With the aforesaid method
of the card, it is normal if the actual position isn’t 0 after resetting. It isn’t necessary to
invoke function and reset.
)
Servo signal
Servo in-position signal and servo alarm signal are valid only when the signals
have been connected. If servo in-position signal is activated before it is connected, the
driving won’t be able to stop, because the in-position signal is the symbol to stop driving.
Other servo signals, e.g. servo ON signal and clear alarm signal, can be driven
with general output signal.
Chapter 10 Programming samples in motion control
development
All movement control functions return immedietly; once a drive command is made,
the movement process will be controlled by the movement control card until
completion; then the host computer software of users can real-time monitor the
whole movement process or force to stop the process.
Remark: Axis during motion are not a llowed to send new drive commands to
motion axis, otherwise the previous drive w ill be given up so as to execute
the new drive.
Although programming languages vary in types, they can still be concluded as Three
Structures and One Spirit. Three Structures refer to sequential structure, cycling
structure and branch structure emphasized by all the programming languages, and
One Spirit refer to calculation and module division involved in order to complete
design assignments, which is also the key and hard point in whole programming
design.
To ensure a program is popular, standard, expandable and easy for maintenance, all
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the later samples will be divided into the following modules in terms of project design:
movement control module (to further seal library functions provided by the control
card), function realization module (to cooperate code phase of specific techniques),
monitoring module and stop processing module.
Now let’s brief application of ADT856 card function library in VB and VC; users using
other programming languages may take reference.
)
VB PROGRAMMING SAMPLES
1.1 PREPARATION
(1) Create a new item and save as “test.vbp”;
(2) Add the ADT856.bas module in the item following the above-introduced
method;
1. Movement control module
(1) Add a new module in the project and save as “ctrlcard.bas”;
(2) At first, within the motion control module self-define initialization functions of
the motion control card and initialize library functions to be sealed into
initialization functions;
(3) Further self-define relevant motion control functions such as speed setting
function, single-axis motion function, and iinterpolation function;
(4) Source code of ctrcard.bas is:
'/*********************** Motion control module ********************
' For developing an application system of great generality,
' extensibility and convenientmaintenance easily and swiftly,
' we envelop all the library functions by category basing on
' the card function library
'*****************************************************************/
Public Result As Integer 'return
Const MAXAXIS = 6 'axis number
'*******************initial motion-card************************
' this function is boot of using motion-card
' Return<=0 fail to initial motion-card，
' Return>0 Succeed in initial motion-card
'*****************************************************
Public Function Init_Card() As Integer
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Result = adt856_initial
If Result <= 0 Then
Init_Card = Result
Exit Function
End If
For i = 1 To MAXAXIS
set_range 0, i, CLng(8000000 / 5) 'set range,set ratio as 5
set_command_pos 0, i, 0 'set logic pos as 0
set_actual_pos 0, i, 0 'set real pos as 0
set_startv 0, i, 1000 'set start-speed
set_speed 0, i, 1000 'set motion-speed
set_acc 0, i, 625 'set acceleration
Next i
Init_Card = Result
End Function
'************************* release of ADT8948 source occupied***********************
Public Function End_Board() As Integer
Result = adt856_end
End_Board = Result
End Function
'
'***********************set stop0 mode**********************
'Set mode of stop0 input signal
'
'para： axis－axis number
' value 0－ineffective 1－effective
' logic 0－low level effective 1－high level effective
'Defaule: ineffective
'
'Return 0：Correct 1： Wrong
' *****************************************************************
Public Function Setup_Stop0Mode(ByVal axis As Integer, ByVal value As Integer,
ByVal logic As Integer) As Integer
Setup_Stop0Mode = set_stop0_mode(0, axis, value, logic)
End Function
'************************set stop1 mode*********************
' Set mode of stop1 input signal
' para： axis－axis number
' value 0－ineffective 1－effective
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' logic 0－low level effective 1－high level effective
'Defaule: ineffective
' Return 0：Correct 1： Wrong
' *****************************************************************
Public Function Setup_Stop1Mode(ByVal axis As Integer, ByVal value As Integer,
ByVal logic As Integer) As Integer
Setup_Stop1Mode = set_stop1_mode(0, axis, value, logic)
End Function
'************************set stop2 mode*********************
' Set mode of stop2 input signal
' para： axis－axis number
' value 0－ineffective 1－effective
' logic 0－low level effective 1－high level effective
'Defaule: ineffective
' Return 0：Correct 1： Wrong
' *****************************************************************
Public Function Setup_Stop2Mode(ByVal axis As Integer, ByVal value As Integer,
ByVal logic As Integer) As Integer
Setup_Stop2Mode = set_stop2_mode(0, axis, value, logic)
End Function
'**********************set real position counter**********************
'cardno Card number
'axis Axis number（1-6）
'value Input of pulse pattern
'0： A/B pulse input 1：up/down（PPIN/PMIN）pulse input
'dir Counter direction
'0： A is over B or PPIN impulse input is up counted.
' B is over A or PMIN impulse is down counted
'1： B is over A or PPIN impulse input is up counted
' A is over B or PMIN impulse is down counted.
'freq During double frequency of A/B input up/down impulse input is
non-effective
'0：4-time frequency 1：2-time frequency 2：No-time frequency
'Returning value: 0: Correct 1: False
'Initialized status: During A/B phase impulse input direction is of 0 and 4-time
frequency.
'*******************************************************************
Public Function Actualcount_Mode(ByVal axis As Integer, ByVal value As Integer,
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ByVal dir As Integer, ByVal freq As Integer) As Integer
Result = set_actualcount_mode(0, axis, value, dir, freq)
Actualcount_Mode = Result
End Function
'**************************set pulse output mode*************************
' set the mode of pulse output
' para：axis-axis number， value-pulse mode 0－pulse+pulse 1－pulse +
direction
' Return=0 correct，Return=1 wrong
' Default mode: Pulse + direction, with positive logic pulse
' and positive logic direction input signal
'*******************************************************************
Public Function Setup_PulseMode(ByVal axis As Integer, ByVal value As Integer)
As Integer
Setup_PulseMode = set_pulse_mode(0, axis, value, 0, 0)
End Function
'****************************set limit signal mode***********************
' set the mode of nLMT signal input along positive/ negative direction
' para： axis－axis number
' value 0: sudden stop effective 1: decelerate stop effective
' logic 0: low level effective 1: high level ineffective
' Default mode: Apply positive and negative limits with low level
' Return 0：Correct 1： Wrong
' *****************************************************************
Public Function Setup_LimitMode(ByVal axis As Integer, ByVal value As Integer,
ByVal logic As Integer) As Integer
Setup_LimitMode = set_limit_mode(0, axis, value, logic)
End Function
'*********************set COMP+counter as soft limit****************
'cardno card number
'axis axis number（1-6）
'Value 0: ineffective 1: effective
'Return 0：Correct 1：Wrong
'Default mode: ineffective
'Notice：Software position limiting always adopts acceleration to stop.
'Calculating value may be over set up value. Within setup sphere it must be
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considered.
'*******************************************************************
'*******************************************************************
Public Function Setsoft_LimitMode1(ByVal axis As Integer, ByVal value As Integer)
As Integer
Result = set_softlimit_mode1(0, axis, value)
Setsoft_LimitMode1 = Result
End Function
'*******************set COMP-counter as soft limit******************
'
'cardno card number
'axis axis number（1-6）
'Value 0: ineffective 1: effective
'Return 0：Correct 1：Wrong
'Default mode: ineffective
'Notice：Software position limiting always adopts acceleration to stop.
'Calculating value may be over set up value. Within setup sphere it must be
considered.
' *****************************************************************
' *****************************************************************
Public Function Setsoft_LimitMode2(ByVal axis As Integer, ByVal value As Integer)
As Integer
Result = set_softlimit_mode2(0, axis, value)
Setsoft_LimitMode2 = Result
End Function
'******************set COMP+/-counter*****************
'cardno card number
'axis axis number（1-6）
'Value 0: ineffective 1: effective
'Return 0：Correct 1：Wrong
'Default mode: ineffective
'Notice：Software position limiting always adopts acceleration to stop.
'Calculating value may be over set up value. Within setup sphere it must be
considered.
' *****************************************************************
Public Function Setsoft_LimitMode3(ByVal axis As Integer, ByVal value As Integer)
As Integer
Result = set_softlimit_mode3(0, axis, value)
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Setsoft_LimitMode3 = Result
End Function
'********************set nINPOS(in-position input sigal)******************
'cardno card number
'axis axis number（1-6）
'Value 0: ineffective 1: effective
'logic 0：Effective when low electric level 1：Effective when low
electric level
'Return 0：Correct 1：Wrong
'Default mode : noneffective, low electric level is effective
'*******************************************************************
Public Function Inpos_Mode(ByVal axis As Integer, ByVal value As Integer, ByVal
logic As Integer) As Integer
Result = set_inpos_mode(0, axis, value, logic)
Inpos_Mode = Result
End Function
'********************set nALARM(alarm input sigal)******************
'cardno card number
'axis axis number（1-6）
'Value 0: ineffective 1: effective
'logic 0：Effective when low electric level 1：Effective when low
electric level
'Return 0：Correct 1：Wrong
'Default mode : noneffective, low electric level is effective
'*******************************************************************
Public Function Setup_AlarmMode(ByVal axis As Integer, ByVal value As Integer,
ByVal logic As Integer) As Integer
Result = set_alarm_mode(0, axis, value, logic)
Setup_AlarmMode = Result
End Function
'***************************set speed***********************
' according as para,judge whether is constant-speed
' set range to set ratio
' set start-speed ,motion-speed and acceleration
'para: axis: axis number
'startv: start -speed
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'speed: motion -speed
'add: acceleration
'dec: decelerate
'ratio: ratio
'mode: mode
' Return=0 correct，Return=1 wrong
'*******************************************************************
Public Function Setup_Speed(ByVal axis As Integer, ByVal startv As Long, ByVal
Speed As Long, ByVal add As Long, ByVal Dec As Long, ByVal ratio As Long,
ByVal Mode As Integer) As Integer
If (startv - Speed >= 0) Then
set_range 0, axis, 8000000 / ratio
Result = set_startv(0, axis, startv / ratio)
set_speed 0, axis, startv / ratio
Else
Select Case Mode
Case 0
set_dec1_mode 0, axis, 0
set_dec2_mode 0, axis, 0
Result = set_range(0, axis, 8000000 / ratio)
set_startv 0, axis, startv / ratio
set_speed 0, axis, Speed / ratio
set_acc 0, axis, add / 125 / ratio
set_ad_mode 0, axis, 0
Case 1
set_dec1_mode 0, axis, 1
set_dec2_mode 0, axis, 0
Result = set_range(0, axis, 8000000 / ratio)
set_startv 0, axis, startv / ratio
set_speed 0, axis, Speed / ratio
set_acc 0, axis, add / 125 / ratio
set_dec 0, axis, Dec / 125 / ratio
set_ad_mode 0, axis, 0
Case 2
Dim time As Double
Dim addvar As Double
Dim k As Long
time = (Speed - startv) / (add / 2)
addvar = add / (time / 2)
k = (62500000 / addvar) * ratio
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set_dec2_mode 0, axis, 0
Result = set_range(0, axis, 8000000 / ratio)
set_startv 0, axis, startv / ratio
set_speed 0, axis, Speed / ratio
set_acc 0, axis, add / 125 / ratio
set_acac 0, axis, k
set_ad_mode 0, axis, 1
Setup_Speed = Result
End Select
End If
End Function
'****************************single-axis motion***************************
' drive one axis motion
' para： axis-axis number，value-pulse of motion
' Return=0 correct，Return=1 wrong
'*******************************************************************
Public Function Axis_Pmove(ByVal axis As Integer, ByVal value As Long) As
Integer
Result = pmove(0, axis, value)
Axis_Pmove = Result
End Function
'****************************single-axis continuous motion***************************
' drive one axis continuous motion
' para： axis-axis number，value-pulse of motion
' value: 0:positive direction 1:negative direction
' Return=0 correct，Return=1 wrong
'*******************************************************************
Public Function Axis_Cmove(ByVal axis As Integer, ByVal value As Long) As
Integer
Result = continue_move(0, axis, value)
Axis_Cmove = Result
End Function
'/**********************2-axis interpolation*********************
' for XY or ZW 2-axis linear interpolation
' no -> 1: X-Y 2:Z-W
' Return=0 correct，Return=1 wrong
'***********************************************************/
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Public Function Interp_Move2(ByVal no As Integer, ByVal pulse1 As Long, ByVal
pulse2 As Long) As Integer
Result = inp_move2(0, no, pulse1, pulse2)
Interp_Move2 = Result
End Function
'/*********************3-axis interpolation**********************
' for XYZ 3-axis linear interpolation
'
' Return=0 correct，Return=1 wrong
'***********************************************************/
Public Function Interp_Move3(ByVal pulse1 As Long, ByVal pulse2 As Long, ByVal
pulse3 As Long) As Integer
Result = inp_move3(0, pulse1, pulse2, pulse3)
Interp_Move3 = Result
End Function
'/*********************4-axis interpolation**********************
' for XYZW 4-axis linear interpolation
' Return=0 correct，Return=1 wrong
'***********************************************************/
Public Function Interp_Move4(ByVal pulse1 As Long, ByVal pulse2 As Long, ByVal
pulse3 As Long, ByVal pulse4 As Long) As Integer
Result = inp_move4(0, pulse1, pulse2, pulse3, pulse4)
Interp_Move4 = Result
End Function
'/*********************6-axis interpolation**********************
' for XYZWUV 6-axis linear interpolation
' Return=0 correct，Return=1 wrong
'***********************************************************/
Public Function Interp_Move6(ByVal pulse1 As Long, ByVal pulse2 As Long, ByVal
pulse3 As Long, ByVal pulse4 As Long, ByVal pulse5 As Long, ByVal pulse6 As
Long) As Integer
Result = inp_move6(0, pulse1, pulse2, pulse3, pulse4, pulse5, pulse6)
Interp_Move6 = Result
End Function
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'*********************Clockwise CW circular interpolation********************
'axis1,axis2 1：X 2:Y 3：Z 4:W
' x,y Terminal position of Arc SR (corresponding to starting point)
' i,j Central point position of SR circle arc (corresponding to starting point)
'return 0：Correct 1：False
'*******************************************************************
Public Function Interp_Arc(ByVal no As Integer, ByVal x As Long, ByVal y As Long,
ByVal i As Long, ByVal j As Long) As Integer
Interp_Arc = inp_cw_arc(0, no, x, y, i, j)
End Function
'**********************Clock against CCW circular interpolation**********************
'axis1,axis2 1：X 2：Y 3：Z 4：W
'x,y Terminal position of Arc SR (corresponding to starting point)
'i,j Central point position of SR circle arc (Corresponding to starting
point)
'return 0：Correct 1：False
'*******************************************************************
Public Function Interp_CcwArc(ByVal no As Integer, ByVal x As Long, ByVal y As
Long, ByVal i As Long, ByVal j As Long) As Integer
Interp_CcwArc = inp_ccw_arc(0, no, x, y, i, j)
End Function
'*********************position counter variable ring****************
'axis axis number（1-6）
'Value 0: ineffective 1: effective
'return 0：Correct 1：False
'Default mode : noneffective
'*******************************************************************
Public Function SetCircle_Mode(ByVal axis As Integer, ByVal value As Integer) As
Integer
Result = set_circle_mode(0, axis, value)
SetCircle_Mode = Result
End Function
'*******************Setup of signal wave filtering function**********************
' number input type
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''1: LMT ?LMT - ?STOP0?STOP1
'2: STOP2
'3: nINPOS?nALARM
'4: nIN
' Set the filtering state of the four types input signals above
' ' value 0: Wave filter is ineffective 1: Wave filter is effective
' Default mode: ineffective
'*******************************************************************
Public Function Setup_InputFilter(ByVal axis As Integer, ByVal number As Integer,
ByVal value As Integer) As Integer
Result = set_input_filter(0, axis, number, value)
Setup_InputFilter = Result
End Function
'*********************setup of wave filter time constant of input
signal********************
'axis axis number(1-6)
'value maximum noise scope deleted , delay of input signal
'*********************************************************************
Public Function Setup_FilterTime(ByVal axis As Integer, ByVal value As Integer) As
Integer
Result = set_filter_time(0, axis, value)
Setup_FilterTime = Result
End Function
'/*****************stop motion********************************
' stop motion in the way of sudden or decelerate
' para：axis-axis number、mode-stop mode(0－sudden stop, 1－decelerate
stop)
' Return=0 correct，Return=1 wrong
'***********************************************************/
Public Function StopRun(ByVal axis As Integer, ByVal Mode As Integer) As Integer
If Mode = 0 Then 'sudden stop
Result = sudden_stop(0, axis)
Else 'dec stop
Result = dec_stop(0, axis)
End If
End Function
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'/*************************set position counter*******************************
' set logic-pos or real-pos
' para：axis-axis number,pos-the set value
' mode 0－set logic pos,non 0－set real pos
' Return=0 correct，Return=1 wrong
'**********************************************************************/
'*******************************************************************
Public Function Setup_Pos(ByVal axis As Integer, ByVal pos As Long, ByVal Mode
As Integer) As Integer
If Mode = 0 Then
Result = set_command_pos(0, axis, pos)
Else
Result = set_actual_pos(0, axis, pos)
End If
End Function
'/*************************set COMP+ register******************************
'cardno card number
'axis axis number
'value range（-2147483648~+2147483647）
'retutrn 0: correct 1: wrong
'**********************************************************************/
Public Function Setup_Comp1(ByVal axis As Integer, ByVal value As Long)
Result = set_comp1(0, axis, value)
Setup_Comp1 = Result
End Function
'/**************************set COMP- register*****************************
' cardno card number
' axis axis number
' value range（-2147483648~+2147483647）
' retutrn 0: correct 1: wrong
'**********************************************************************/
Public Function Setup_Comp2(ByVal axis As Integer, ByVal value As Long)
Result = set_comp2(0, axis, value)
Setup_Comp2 = Result
End Function
'/*****************get status of motion**************************
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' get status of single-axis motion or interpolation
' para ： axis-axis number ， value-Indicator of motion status(0 ： Drive
completed,Non-0: Drive in process)
' mode(0-single-axis motion，1－interpolation)
' Return=0 correct，Return=1 wrong
'***********************************************************/
Public Function Get_CurrentInf(ByVal axis As Integer, LogPos As Long, actpos As
Long, Speed As Long) As Integer
Result = get_command_pos(0, axis, LogPos)
get_actual_pos 0, axis, actpos
get_speed 0, axis, Speed
Get_CurrentInf = Result
End Function
'/*****************get status of motion**************************
' get status of single-axis motion or interpolation
' para ： axis-axis number ， value-Indicator of motion status(0 ： Drive
completed,Non-0: Drive in process)
' mode(0-single-axis motion，1－interpolation)
' Return=0 correct，Return=1 wrong
'***********************************************************/
Public Function Get_MoveStatus(ByVal axis As Integer, value As Integer, ByVal
Mode As Integer) As Integer
If Mode = 0 Then 'status of single-axis motion
GetMove_Status = get_status(0, axis, value)
Else 'status of interpolation
GetMove_Status = get_inp_status(0, axis, value)
End If
End Function
'/****************************read input*******************************
' read status of input
' para：number-input port(0 ~ 47)
' Return：0 － low level，1 － high level，-1 － error
'*********************************************************************/
Public Function Read_Input(ByVal number As Integer) As Integer
Read_Input = read_bit(0, number)
End Function
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'/***************************output******************************
' set status 0f output
' para： number-output port(0 ~ 31),value 0-low level、1－high level
' Return=0 correct，Return=1 wrong
'**********************************************************************/
Public Function Write_Output(ByVal number As Integer, ByVal value As Integer) As
Integer
Write_Output = write_bit(0, number, value)
End Function
'/*****************************deceleration enable**************************
' no 1：X-Y or X-Y-Z or X-Y-Z-W interpolation 2：Z-W interpolation
' the function allowable deceleration during driving
' retutrn 0: correct 1: wrong
'*******************************************************************/
Public Function AllowDec(ByVal no As Integer) As Integer
Result = inp_dec_enable(0, no)
AllowDec = Result
End Function
'/**************************deceleration disable******************************
' no 1：X-Y or X-Y-Z or X-Y-Z-W interpolation 2：Z-W interpolation
' the function for deceleration disable during driving
' retutrn 0: correct 1: wrong
'********************************************************************/
Public Function ForbidDec(ByVal no As Integer) As Integer
Result = inp_dec_disable(0, no)
ForbidDec = Result
End Function
'/****************getting information about mistaken stop on all axes******************
'This function is for getting information about the axis stop
' value: error message 0：no error 1：error
' retutrn 0: correct 1: wrong
'*********************************************************************/
Public Function Get_ErrorInf(ByVal axis As Integer, value As Integer) As Integer
Result = get_stopdata(0, axis, value)
Get_ErrorInf = Result
End Function
'/*******get the status of continuous interpolation*****************
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' value： inter-infor 0：write disable 1：write able
' retutrn 0: correct 1: wrong
'********************************************************************/
Public Function Get_AllowInpStatus(ByVal no As Integer, value As Integer) As
Integer
Result = get_inp_status2(0, no, value)
Get_AllowInpStatus = Result
End Function
'/***********************set deceleration type**********************
'deceleration for symmetry/asymmetry/automatic/manual
' retutrn 0: correct 1: wrong
'*********************************************************************/
Public Function Set_DecMode(ByVal axis As Integer, ByVal mode1 As Integer,
ByVal mode2 As Integer) As Integer
Dim Result1 As Integer
Dim Result2 As Integer
Result1 = set_dec1_mode(0, axis, mode1)
Result2 = set_dec2_mode(0, axis, mode2)
Set_DecMode = Result1 & Result2
End Function
'/***********************set deceleration point****************************
'set deceleration point during manual deceleration
' retutrn 0: correct 1: wrong
'*********************************************************************/
Public Function Set_DecPos(ByVal axis As Integer, ByVal value As Long, ByVal
startv As Long, ByVal Speed As Long, ByVal add As Long) As Integer
Dim addtime As Double
Dim DecPulse As Long
addtime = (Speed - startv) / add
DecPulse = ((startv + Speed) * addtime) / 2
Result = set_dec_pos(0, axis, value - DecPulse)
Set_DecPos = Result
End Function
2. Function realization module
a) Interface design
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Introduction:
1 Speed setting part—used to set starting speed, motion speed and acceleration of
every axis; position setting—used to set drive pulse for every axis; drive
information—used to real-time display logical position, real position and operation
speed of every axis;
2 Motion object—users determine axis joining simultaneous motion or interpolation by
selecting drive objects;
3 Simultaneous movement—Used to send single-axis drive commands to all the axis
of the selected drive object; interpolation –Used to send interpolation command to
all the axis of the selected drive object; stop—stop all the pulse outputs of all axis.
All the above data take pulse as the unit.
1.3.2 Initialization codes are inside the window loading event, with the following contents:
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Private Sub Init_Board()
Dim count As Integer
count = Init_Card
If count < 1 Then MsgBox "Initial adt856 failed"
End Sub
1.3.3 Simultaneous movement codes are inside the click event of axisPmove button,
whereby various selected objects send corresponding drive commands. The four
check boxes (to select objects) are respectively named as X, Y, Z and A, subject
with the following code:
Private Sub AxisPmove_Click()
For i = 1 To 6
g_Ratio(i - 1) = CLng(m_nRatio(i - 1).Text)
Next i
If m_bX.value = vbChecked Then
Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text,
m_nDec(0).Text, m_nRatio(0).Text, nAddMode
Axis_Pmove 1, m_nPulse(0).Text
End If
If m_bY.value = vbChecked Then
Setup_Speed 2, m_nStartV(1).Text, m_nSpeed(1).Text, m_nAdd(1).Text,
m_nDec(1).Text, m_nRatio(1).Text, nAddMode
Axis_Pmove 2, m_nPulse(1).Text
End If
If m_bZ.value = vbChecked Then
Setup_Speed 3, m_nStartV(2).Text, m_nSpeed(2).Text, m_nAdd(2).Text,
m_nDec(2).Text, m_nRatio(2).Text, nAddMode
Axis_Pmove 3, m_nPulse(2).Text
End If
If m_bW.value = vbChecked Then
Setup_Speed 4, m_nStartV(3).Text, m_nSpeed(3).Text, m_nAdd(3).Text,
m_nDec(3).Text, m_nRatio(3).Text, nAddMode
Axis_Pmove 4, m_nPulse(3).Text
End If
If m_bU.value = vbChecked Then
Setup_Speed 5, m_nStartV(4).Text, m_nSpeed(4).Text, m_nAdd(4).Text,
m_nDec(4).Text, m_nRatio(4).Text, nAddMode
Axis_Pmove 5, m_nPulse(4).Text
End If
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If m_bV.value = vbChecked Then
Setup_Speed 6, m_nStartV(5).Text, m_nSpeed(5).Text, m_nAdd(5).Text,
m_nDec(5).Text, m_nRatio(5).Text, nAddMode
Axis_Pmove 6, m_nPulse(5).Text
End If
End Sub
1.3.4 Interpolation codes are inside the click event of InterpMove button, whereby
various selected objects send corresponding drive commands.
'****************************linear interpolation button *****************************
Private Sub InterpMove_Click()
For i = 1 To 6
g_Ratio(i - 1) = CLng(m_nRatio(i - 1).Text)
Next i
'************************************linear interpolation************************************
'***********************************interp-move with six axes
(XYZWUV)*****************************************
If m_bX.value = vbChecked And m_bY.value = vbChecked And m_bZ.value =
vbChecked And m_bW.value = vbChecked And m_bU.value = vbChecked And
m_bV.value = vbChecked Then
Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text,
m_nDec(0).Text, m_nRatio(0).Text, nAddMode
Setup_Speed 3, m_nSpeed(0).Text, m_nSpeed(0).Text, m_nAdd(2).Text,
m_nDec(2).Text, m_nRatio(0).Text, nAddMode
Setup_Speed 5, m_nSpeed(0).Text, m_nSpeed(0).Text, m_nAdd(4).Text,
m_nDec(4).Text, m_nRatio(0).Text, nAddMode
Interp_Move6 m_nPulse(0).Text, m_nPulse(1).Text, m_nPulse(2).Text,
m_nPulse(3).Text, m_nPulse(4).Text, m_nPulse(5).Text
'*********************************interp-move with four axes**********************************
ElseIf m_bX.value = vbChecked And m_bY.value = vbChecked And m_bZ.value =
vbChecked And m_bW.value = vbChecked And m_bU.value <> vbChecked And
m_bV.value <> vbChecked Then
Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text,
m_nDec(0).Text, m_nRatio(0).Text, nAddMode
Setup_Speed 3, m_nSpeed(0).Text, m_nSpeed(0).Text, m_nAdd(2).Text,
m_nDec(2).Text, m_nRatio(0).Text, nAddMode
Interp_Move4 m_nPulse(0).Text, m_nPulse(1).Text, m_nPulse(2).Text,
m_nPulse(3).Text
'*********************************interp-move with three axes**********************************
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'********************************XYZ********************************
ElseIf m_bX.value = vbChecked And m_bY.value = vbChecked And m_bZ.value =
vbChecked And m_bW.value <> vbChecked And m_bU.value <> vbChecked And
m_bV.value <> vbChecked Then
Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text,
m_nDec(0).Text, m_nRatio(0).Text, nAddMode
Setup_Speed 3, m_nSpeed(0).Text, m_nSpeed(0).Text, m_nAdd(2).Text,
m_nDec(2).Text, m_nRatio(0).Text, nAddMode
Interp_Move3 m_nPulse(0).Text, m_nPulse(1).Text, m_nPulse(2).Text
'********************************interp-move with two axes********************************
'********************************XY********************************
ElseIf m_bX.value = vbChecked And m_bY.value = vbChecked And m_bZ.value <>
vbChecked And m_bW.value <> vbChecked And m_bU.value <> vbChecked And
m_bV.value <> vbChecked Then
Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text,
m_nDec(0).Text, m_nRatio(0).Text, nAddMode
Interp_Move2 1, m_nPulse(0).Text, m_nPulse(1).Text
'********************************ZW********************************
ElseIf m_bZ.value = vbChecked And m_bW.value = vbChecked And m_bX.value <>
vbChecked And m_bY.value <> vbChecked And m_bU.value <> vbChecked And
m_bV.value <> vbChecked Then
Setup_Speed 3, m_nStartV(2).Text, m_nSpeed(2).Text, m_nAdd(2).Text,
m_nDec(2).Text, m_nRatio(2).Text, nAddMode
Interp_Move2 2, m_nPulse(2).Text, m_nPulse(3).Text
ElseIf m_bX.value <> vbChecked And m_bY.value <> vbChecked And m_bZ.value
<> vbChecked And m_bW.value <> vbChecked And m_bU.value <> vbChecked And
m_bV.value <> vbChecked Then
MsgBox "Please choose axis for inp-move", , "Notice"
Else
MsgBox "Wrong axis !", , "Notice"
End If
End Sub
1.4 Monitoring module
The monitoring module is used to real-time get motion information of all the axes
and display motion information, at the same time of controlling them in motion
process without any new motion commands. This module is completed by the timer
event, with the following codes:
Private Sub Timer1_Timer()
Dim nLogPos As Long
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Dim nActPos As Long
Dim nSpeed As Long
Dim nstatus(6) As Integer
Dim InpStatus As Integer
Dim nStopData(6) As Integer
Get_MoveStatus 1, InpStatus, 1
For i = 1 To 6
Get_CurrentInf i, nLogPos, nActPos, nSpeed
m_nLogPos(i - 1).Caption = nLogPos
m_nActPos(i - 1).Caption = nActPos
m_nRunSpeed(i - 1).Caption = nSpeed * g_Ratio(i - 1)
Get_MoveStatus i, nstatus(i - 1), 0
Get_ErrorInf i, nStopData(i - 1)
m_nStopData(i - 1).Caption = nStopData(i - 1)
'***************LMT+ -、stop0、stop1、stop2*******************
'(XLMT+ : 0,YLMT+ :8,ZLMT+ :16,WLMT+ :24)
If Read_Input((i - 1) * 8) = 0 Then
m_bPLimit(i - 1).value = 1
Else
m_bPLimit(i - 1).value = 0
End If
'(XLMT- : 1,YLMT- :9,ZLMT- :17,WLMT- :25)
If Read_Input((i - 1) * 8 + 1) = 0 Then
m_bNLimit(i - 1).value = 1
Else
m_bNLimit(i - 1).value = 0
End If
'stop0(XSTOP0 : 2,YSTOP0 :10,ZSTOP0 :18,WSTOP0 :26)
If Read_Input((i - 1) * 8 + 2) = 0 Then
m_bStop0(i - 1).value = 1
Else
m_bStop0(i - 1).value = 0
End If
'stop1(XSTOP1 : 3,YSTOP1 :11,ZSTOP1 :19,WSTOP1 :27)
If Read_Input((i - 1) * 8 + 3) = 0 Then
m_bStop1(i - 1).value = 1
Else
m_bStop1(i - 1).value = 0
End If
'stop2(XSTOP2 : 4,YSTOP2 :12,ZSTOP2 :20,WSTOP2 :28)
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If Read_Input((i - 1) * 8 + 4) = 0 Then
m_bStop2(i - 1).value = 1
Else
m_bStop2(i - 1).value = 0
End If
Next i
If (nstatus(0) = 0 And nstatus(1) = 0 And nstatus(2) = 0 And nstatus(3) = 0 And
nstatus(4) = 0 And nstatus(5) = 0) And InpStatus = 0 Then
AxisPmove.Enabled = True
InterpMove.Enabled = True
BaseparaSet.Enabled = True
IOTest.Enabled = True
ArcInpMove.Enabled = True
ConIntMove.Enabled = True
Continuemove.Enabled = True
ClearPos.Enabled = True
Else
AxisPmove.Enabled = False
InterpMove.Enabled = False
BaseparaSet.Enabled = False
ArcInpMove.Enabled = False
IOTest.Enabled = False
Continuemove.Enabled = False
ConIntMove.Enabled = False
ClearPos.Enabled = False
End If
End Sub
1.5 Stop module
This module is mainly used to control unexpected events during drive process and
will immediately stop drive of all the axes. Codes of this stop module are within the
click event of CmdStop button, with the following codes:
Private Sub CmdStop_Click()
For i = 1 To 6
StopRun i, 0
Next i
inp_clear 0
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End Sub
)
VC PROGRAMMING SAMPLES
2.1 Preparation
(1) Create a new item and save as “VCExample.dsw”;
(2) Load the static library ADT856.lib into the item following the
above-introduced method;
2.2 Movement control module
(1) Add a new category in the item and save the header as “CtrlCard.h” and
source file as “CtrlCard.cpp”;
(2) At first, within the movement control module self-define initialization
functions of the movement control card and initialize library functions to be
sealed into initialization functions;
(3) Further self-define relevant movement control functions such as speed
setting function, single-axis motion function, and interpolation function;
(4) Source codes of the header CtrlCard.h are as follows:
# ifndef __ADT856__CARD__
# define __ADT856__CARD__
/*********************** Motion control module ********************
For developing an application system of great generality,
extensibility and convenient maintenance easily and swiftly,
we envelop all the library functions by category basing on
the card function library
********************************************************************/
#define MULTIPLE 5
#define MAXAXIS 6
class CCtrlCard
{
public:
int Setup_Stop0Mode(int axis, int value, int logic);
int Setup_Stop1Mode(int axis, int value, int logic);
int Setup_Stop2Mode(int axis, int value, int logic);
int Actualcount_Mode(int axis,int value, int dir,int freq);
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int AllowDec(int no);
int Axis_Pmove(int axis ,long value);
int Axis_Cmove(int axis ,long value);
int Setsoft_LimitMode1(int axis, int value);
int Setsoft_LimitMode2(int axis, int value);
int Setsoft_LimitMode3(int axis, int value);
int Setup_LimitMode(int axis, int value, int logic);
int Setup_PulseMode(int axis, int value);
int Setup_Comp1(int axis, long value);
int Setup_Comp2(int axis, long value);
int Setup_Pos(int axis, long pos, int mode);
int SetCircle_Mode(int axis, int value);
int Write_Output(int number, int value);
int Read_Input(int number);
int Get_CurrentInf(int axis, long &LogPos, long &ActPos, long &Speed);
int Get_Status(int axis, int &value, int mode);
int Get_AllowInpStatus(int no, int &value);
int Set_DecPos(int axis, long value, long startv, long speed, long add);
int Set_DecMode(int axis, int mode1, int mode2);
int Get_ErrorInf(int axis, int &value);
int StopRun(int axis, int mode);
int Interp_Move2(int no, long value1, long value2);
int Interp_Move3(long value1, long value2, long value3);
int Interp_Move4(long value1, long value2, long value3, long value4);
int Interp_Move6(long value1, long value2, long value3, long value4, long value5, long
value6);
int Setup_Range(int axis, long value);
int Interp_Arc(int no, long x, long y, long i,long j);
int Interp_CcwArc(int no, long x, long y, long i,long j);
int End_Board();
int ForbidDec(int no);
int Init_Board();
int Setup_Speed(int axis ,long startv ,long speed ,long add ,long dec,long ratio,int mode);
int Inpos_Mode(int axis, int value, int logic);
int Setup_AlarmMode(int axis,int value,int logic);
int Setup_InputFilter(int axis,int number,int value);
int Setup_FilterTime(int axis,int value);
CCtrlCard();
int Result;
int no;
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};
;# endif
(5) Source codes of the source file CtrlCard.cpp are as follows:
# include "stdafx.h"
# include "ADT856.h"
# include "CtrlCard.h"
# include "VCExample.h"
extern int g_CardVer;
CCtrlCard::CCtrlCard()
{
}
/*******************
'This function contain those library functions frequently used in control card
initialization, which is the foundation to call other functions and must be firstly called
in this example program.
'Return <=0 means initialization failure and >0 means initialization success
*********************************************************************************************/
int CCtrlCard::Init_Board()
{
Result = adt856_initial() ; //intiial motion-card
if (Result <= 0) return Result;
for (int i = 1; i<=MAXAXIS; i++)
{
set_range (0, i, 8000000 / 5); //set range,set ratio as 5
set_command_pos (0, i, 0); //set logic pos as 0
set_actual_pos (0, i, 0); //set real pos as 0
set_startv (0, i, 100); //set start-speed
set_speed (0, i, 100); //set motion-speed
set_acc (0, i, 625); //set acceleration
}
return 1;
}
/**********************set speed***********************
according as para,judge whether is constant-speed
set range to set ratio
Initialization function ************************************************
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set start-speed ,motion-speed and acceleration
para: axis: axis number
startv: start-speed
speed: motion-speed
add: acceleration
dec: decelerate
ratio: ratio
mode: mode
Return=0 correct Return=1 wrong
*********************************************************/
int CCtrlCard::Setup_Speed(int axis, long startv, long speed, long add ,long dec,long ratio,int
mode)
{
//constant-speed motion
if (startv - speed >= 0)
{
Result = set_range(0, axis, 8000000/ratio);
set_startv(0, axis, startv/ratio);
set_speed (0, axis, startv/ratio);
}
else//Trapezoidal acceleration/ deceleration
{
if (mode == 0)//choose Strait line acceleration/deceleration type
{
set_dec1_mode(0,axis,0);//Set symmetry type
set_dec2_mode(0,axis,0);//Set automatic deceleration
set_ad_mode(0,axis,0);//Set as Strait acceleration/deceleration
Result = set_range(0, axis, 8000000/ratio);
set_startv(0, axis, startv/ratio);
set_speed (0, axis, speed/ratio);
set_acc (0, axis, add/125/ratio);
}
else if(mode==1)//choose Strait line acceleration/deceleration type
{
set_dec1_mode(0,axis,1);//asymmetry
set_dec2_mode(0,axis,0);//Set automatic deceleration
set_ad_mode(0,axis,0);//Set as Strait acceleration/deceleration
Result = set_range(0, axis, 8000000/ratio);
set_startv(0, axis, startv/ratio);
set_speed (0, axis, speed/ratio);
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set_acc (0, axis, add/125/ratio);
set_dec (0, axis, dec/125/ratio);
}
else if(mode==2)
{//choose S-curve acceleration/deceleration type
float time;//time
float addvar;//changing rate of add
long k;
time = (float)(speed-startv)/(add/2);
addvar=add/(time/2);;//changing rate of add
k=(long)(62500000/addvar)*ratio;
set_dec2_mode(0,axis,0);//automatic deceleration
set_ad_mode(0,axis,1);//as Strait acceleration/deceleration
Result = set_range(0, axis, 8000000/ratio);
set_startv(0, axis, startv/ratio);
set_speed (0, axis, speed/ratio);
set_acc (0, axis, add/125/ratio);
set_acac (0, axis,k );
}
}
return Result;
}
/**********************************************************
OnButtonPmove() :axis move
**********************************************************/
void CDEMODlg::OnButtonPmove()
{
UpdateData(TRUE);
long Startv[]={m_nStartvX,m_nStartvY,m_nStartvZ,m_nStartvW,m_nStartvU,m_nStartvV};
//start-speed
long Speed[]={m_nSpeedX,m_nSpeedY,m_nSpeedZ,m_nSpeedW,m_nSpeedU,m_nSpeedV};
//run-speed
long Dec[]= {m_nDecX,m_nDecY,m_nDecZ,m_nDecW,m_nDecU,m_nDecV };
//dec
long Add[] ={m_nAddX,m_nAddY,m_nAddZ,m_nAddW,m_nAddU,m_nAddV};
//acc
long Ratio[]={m_nRatioX,m_nRatioY,m_nRatioZ,m_nRatioW,m_nRatioU,m_nRatioV};
//ratio
//**************X axis move********************//
if(m_bX )
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