adtech ADT-8940A1 Reference Manual

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ADT-8940A1

4-axis Motion Control Card

User’s Reference Manual

28 August 2009

Rev 4.0

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

ADT8940A1 4-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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ADT8940A1 4-axis servo/ stepping motion control card

Version Upgrading Record

Version Revised in Descriptions

V4.0 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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ADT8940A1 4-axis servo/ stepping motion control card

CHAPTER 1 GENERAL INFORMATION......................................... - 6 -

H INTRODUCTION .........................................................................- 6 -

HMAIN FUNCTIONS .......................................................................... - 6 -

H APPLICATION SCOPE.................................................................- 7 -

CHAPTER 2 HARDWARE INSTALLATION .................................... - 8 -

H PARTS............................................................................................- 8 -

H INSTALLATION ...........................................................................- 8 -

CHAPTER 3 ELECTRICAL CONNECTION..................................... - 9 -

H J1 LINE............................................................................................- 9 -

H J2 LINE..........................................................................................- 13 -

HCONNECTION FOR PULSE/ DIRECTION INPUT SIGNAL .......- 16 -

H CONNECTION FOR ENCODER INPUT SIGNAL .......................- 17 -

H CONNECTION FOR DIGITAL INPUT.......................................... - 17 -

H CONNECTION FOR DIGITALOUTPUT ......................................- 20 -

CHAPTER 4 SOFTWARE INSTALLATION.................................... - 23 -

H DRIVE INSTALLATION IN WIN2000 ..........................................- 23 -

H DRIVE INSTALLATION UNDER WINXP.................................... - 26 -

CHAPTER 5 FUNCTIONS.................................................................. - 28 -

H PULSE OUTPUT METHOD ...............................................................- 29 -

H HARDWARE LIMIT SIGNAL ............................................................ - 29 -

H LINEAR INTERPOLATION ................................................................- 29 -

H QUANTITATIVE DRIVING ...............................................................- 30 -

H VELOCITY CURVE..........................................................................- 31 -

H POSITION LOCK ............................................................................. - 33 -

H EXTERNAL SIGNAL DRIVING .........................................................- 33 -

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ADT8940A1 4-axis servo/ stepping motion control card

CHAPTER 6 LIST OF ADT8940A1 BASIC LIBRARY FUNCTIONS...33 -

CHAPTER 7 DETAILS OF ADT8940A1 BASIC LIBRARY

FUNCTIONS.........................................................................................

- 36 -

H CATEGORY OF BASIC PARAMETER SETTING........................- 36 -

H CATEGORY OF DRIVE STATUS CHECK ................................- 39 -

H CATEGORY OF MOVEMENT PARAMETER SETTING .........- 40 -

H CATEGORY OF MOTION PARAMETER CHECK ...................- 42 -

H CATEGORY OF DRIVE .............................................................. - 43 -

H CATEGORY OF SWITCH AMOUNT INPUT/ OUTPUT...........- 45 -

H CATEGORY OF COMPOSITE DRIVING .................................. - 45 -

H CATEGORY OF EXTERNAL SIGNAL DRIVING ....................- 49 -

H CATEGORY OF LOCK POSITION ............................................- 50 -

H CATEGORY OF HARDWARE CACHE..................................... - 51 -

CHAPTER 8 GUIDE TO MOTION CONTROL FUNCTION

LIBRARY..............................................................................................

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CHAPTER 9 BRIEFING ON MOTION CONTROL DEVELOPMENT56 -

CARD INITIALIZATION

SPEED SETTING

STOP0, STOP1

.....................................................................- 56 -

SIGNAL

.......................................................- 56 -

............................................................- 57 -

CHAPTER 10 PROGRAMMING SAMPLES IN MOTION CONTROL

DEVELOPMENT .................................................................................

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H VB PROGRAMMING SAMPLES.................................................. - 58 -

H VC PROGRAMMING SAMPLES.................................................. - 81 -

CHAPTER 11 NORMAL FAILURES AND SOLUTIONS............... - 96 -

MOTOR SERVICE FAILURE.............................................................- 97 -

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H ABNORMAL SWITCH AMOUNT INPUT .................................- 99 -

APPENDIX A TYPICAL WIRING FOR MOTOR DRIVER......... - 101 -

APPENDIX B INTRODUCTION ON APPLICABLE LIBRARY 错误！

未定义书签

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ADT8940A1 4-axis servo/ stepping motion control card

Chapter 1 General information

INTRODUCTION

ADT8940A1 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.

MAIN FEATURES

”

32-digit PCI bus, enabling Plug & Play

”

All the input and output are under photoelectric coupler isolation, with

strong resistance to disturbance.

”

4-axis servo/ stepping motor control, with every axis able to move

independently without mutual effects.

μs.

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ADT8940A1 4-axis servo/ stepping motion control card

”

Frequency tolerance for pulse output is less than 0.1%.

”

The maximum pulse output frequency is 2MHz.

”

Pulse output may be single (pulse+ direction) or double(pulse+ pulse)

”

All the 4 axes have position feedback input in 32-digit counting, giving the

maximum counting range of -2,147,483,648~ +2,147,483,647.

”

Trapezoidal acceleration/ deceleration

”

2-4 axis linear interpolation.

”

Maximum interpolation speed: 1MHz.

”

I/O

response time of about 500μs.

”

Handwheel and external signal operation

ardware caching.

”

Real-time reading of logical, real and driving speeds during movement

”

40-line digital input (each axis of position feedback may be used as 2 input

points, altogether 8).

”

Two limit input for each axis may be set as Nil and work as general input

”

Up to 16 control cards supported within one system.

”

DOS/WINDOWS95/98/NT/2000/XP/WIN CE supported.

APPLICATIONS

Multi-axis engraving system

Robot system

Coordinate measurement system

PC-based CNC system

, position lock, large-capacity

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ADT8940A1 4-axis servo/ stepping motion control card

Chapter 2 Hardware installation

PARTS

1. ADT-8940A1 User Manual (this manual)

2. ADT-8940A1 4-axis PCI bus high-performance motion control card

3. ADT-8940A1 user CD

4. ADT-DB37 1 pc

5. ADT-D37GG 1 pc

6. ADT-9137 37-pin signal connecting plate, 1 pcs

7. D62GG

8. ADT-9162 connecting plate, 1 pcs

9. ADT-9112 connecting plate, 1 pcs(Optional configuration, 62-pin

terminal block)

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-8940 into an available PCI slot

Ensure the golden finger of

and then fasten card with screws

5. Connect one end of the D62GG cable to J1 interface of motion card

and the other end to terminal block ADT_9162.

6. Check whether it is necessary to install J2 interface cable. To install J2

if necessary:(1) Connect one end of

and the other end to P2 of

rear side of the enclosure;(3) Connect ADT-D37GG to P2 of the

transition board and ADT-D37GG.

ADT-8940 has been fully inserted the slot

ADT-DB37

;(2) Fix the

to J2 of motion card

ADT-DB37

on the

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ADT8940A1 4-axis servo/ stepping motion control card

Chapter 3 Electrical connection

There are two input/ output interfaces inside an ADT8940A1 card, whereby J1 is for

62-pin socket and J2 is for 25-pin.

J1 is the signal cable for pulse output of X, Y, Z and A axis, switch amount input and switch amount output (OUT0-OUT11); J2 is the signal cable for encoder input and

switch amount input of X, Y, Z and A axis; switch amount input and switch amount

output (OUT12-OUT15).

Signals are defined as follows:

J1 line

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Line

number

10 PCOM2

Signal Introduction

1 PCOM1

2 XPU+/CW+ X pulse signal +

3 XPU-/CW- X pulse signal -

4 XDR+/CCW+ X direction signal +

5 XDR-/CCW- X direction signal -

6 YPU+/CW+ Y pulse signal +

7 YPU-/CW- Y pulse signal -

8 YDR+/CCW+ Y direction signal +

9 YDR-/CCW- Y direction signal -

Used for single-port input, not available for external

power supply

Used for single-port input, not available for external

power supply

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ADT8940A1 4-axis servo/ stepping motion control card

11 ZPU+/CW+ Z pulse signal +

12 ZPU-/CW- Z pulse signal -

13 ZDR+/CCW+ Z direction signal +

14 ZDR-/CCW- Z direction signal -

15 APU+/CW+ A pulse signal +

16 APU-/CW- A pulse signal -

17 ADR+/CCW+ A direction signal +

18 ADR-/CCW- A direction signal -

19 INCOM1

Common for pin20-27 pin (Input points for

switch amount)

20 IN0(XLMT-) Limit- signal for X,able to work as general input signal

21 IN1(XLMT+)

24 IN4(XEXP+)

25 IN5(XEXP-)

26 IN6 (YLMT-) Limit- signal for Y, able to work as general input signal

27 IN7 (YLMT+) Limi+ signal for Y, able to work as general input signal

28 INCOM2

29 IN8 (YSTOP0)

IN2

(XSTOP0)

IN3

(XSTOP1)

Limit+ signal for X, able to work as general input

signal

STOP0- signal for X,able to work as general input

signal

STOP1- signal for X, able to work as general input

signal

Positive direction of the Manually Signal for X,able to

work as general input signal

negative direction of the Manually Signal for X, able to

work as general input signal

Common for pin29-36 (Input points for switch

amount)

STOP0- signal for Y,able to work as general input

signal

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ADT8940A1 4-axis servo/ stepping motion control card

30 IN9 (YSTOP1)

31 IN10(YEXP+)

32 IN11(YEXP-)

33 IN12(ZLMT-) Limit_signal for Z,able to work as general input signal

34 IN13(ZLMT+)

35 IN14(ZSTOP0)

36 IN15(ZSTOP1)

37 INCOM3

38 IN16(ZEXP+)

39 IN17(ZEXP-)

STOP1- signal for Y, able to work as general input

signal

Positive direction of the Manually Signal for Y,able to

work as general input signal

negative direction of the Manually Signal for Y able to

work as general input signal

Limit+ signal for Z, able to work as general input

signal

STOP0- signal for Z,able to work as general input

signal

STOP1- signal for Z, able to work as general input

signal

Common for pin38-45 (Input points for switch

amount)

Positive direction of the Manually Signal for Z,able to

work as general input signal

negative direction of the Manually Signal for Z,able to

work as general input signal

40 IN18(ALMT-) Limit- signal for A,able to work as general input signal

41 IN19(ALMT+)

42 IN20(ASTOP0)

43 IN21(ASTOP1)

44 IN22(AEXP+)

Limit+ signal for A, able to work as general input

signal

STOP0- signal for A,able to work as general input

signal

STOP1- signal for A, able to work as general input

signal

Positive direction of the Manually Signal for A,able to

work as general input signal

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ADT8940A1 4-axis servo/ stepping motion control card

45 IN23(AEXP-)

46 OUT0 Output points for switch amount

47 OUT1 Output points for switch amount

48 OUT2 Output points for switch amount

49 OUT3 Output points for switch amount

50 OUTCOM1

51 OUT4 Output points for switch amount

52 OUT5 Output points for switch amount

53 OUT6 Output points for switch amount

54 OUT7 Output points for switch amount

55 OUTCOM2

56 OUT8 Output points for switch amount

57 OUT9 Output points for switch amount

58 OUT10 Output points for switch amount

59 OUT11 Output points for switch amount

60 OUTCOM3

negative direction of the Manually Signal for A, able to

work as general input signal

General negative common for Output0-3 (Output

points for switch amount)

General negative common for Output4-7 (Output

points for switch amount)

General negative common for Output8-11 (Output

points for switch amount)

61 +12V

62 GND Internal power supply earthing

J2 line

Positive port of internal +12V power supply, not

available for external power supply

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ADT8940A1 4-axis servo/ stepping motion control card

Line

number

1 XECA+ X-axis encoder A-phase input+

2 XECA-

3 XECB+ X-axis encoder B-phase input +

4 XECB-

5 YECA+ Y-axis encoder A-phase input+

6 YECA-

7 YECB+ Y-axis encoder B-phase input +

8 YECB-

9 ZECA+ Z-axis encoder A-phase input+

10 ZECA-

11 ZECB+ Z-axis encoder B-phase input +

12 ZECB-

13 AECA+ A-axis encoder A-phase input+

Signal

X-axis encoder A-phase input -, able to work as general input signal 32

X-axis encoder B-phase input -, able to work as general input signal 33

Y-axis encoder A-phase input -, able to work as general input signal 34

Y-axis encoder B-phase input -, able to work as general input signal 35

Z-axis encoder A-phase input -, able to work as general input signal 36

Z-axis encoder B-phase input -, able to work as general input signal 37

Introduction

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ADT8940A1 4-axis servo/ stepping motion control card

14 AECA-

15 AECB+ A-axis encoder B-phase input +

16 AECB-

Remark: In case an encoder is used for general input signals, XECA+, XECB+, YECA+, YECB+, ZECA+, ZECB+, AECA+, and AECB+ will be respectively used as

INCOM4

IN24(XIN)

IN25(YIN)

IN26(ZIN)

IN27(AIN)

IN28

IN29

IN30

IN31

OUT12

OUT13

OUT14

OUT15

OUTCOM4

+12V

+5V

GND

A-axis encoder A-phase input -, able to work as general input signal 38

A-axis encoder B-phase input -, able to work as general input signal 39 Common for pin18-25 (Input points for switch amount)

X position lock signal; can be used as universal input signal

Y position lock signal; can be used as universal input signal

Z position lock signal; can be used as universal input signal

A position lock signal; can be used as universal input signal

General input signal

The signal to stop using the hardware, able to work as general input signal Output points for switch amount

Output points for switch amount

General negative common for Output12-15 (Output points for switch amount) Positive port of internal +12V power supply, not available for external power supply Positive port of internal +12V power supply, not available for external power supply Positive port of internal +5V power supply, not available for external power supply Positive port of internal +5V power supply, not available for external power supply Internal power supply earthing

Internal power supply earthing

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ADT8940A1 4-axis servo/ stepping motion control card

public ports of corresponding input signals. Voltage at the public ports can only be +5V

power supply, users must serially connect a 1K resistance. Please refer to the following digital input connection part for wiring method.

; in case of using an external+12V



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.

Stepping motor driver

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

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ADT8940A1 4-axis servo/ stepping motion control card

motor driver and terminal panel.

CONNECTION FOR ENCODER INPUT SIGNAL

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

Internal circuit

Remark:

(1) Public terminal for IN0-IN7: INCOM1

K1 is for approach switch or

photoelectric switch, and K2 is for

normal mechanical switch

VEXT is anode of

external

EXT_GND is cathode

of external power

ower supply

supply

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ADT8940A1 4-axis servo/ stepping motion control card

Public terminal for IN8-IN15: INCOM2

Public terminal for IN16-IN25: INCOM3

Public terminal for IN24-IN31: INCOM4

(2) To make input signals effective, users shall make sure: firstly, the photoelectric

coupling public ports for corresponding input signals (INCOM1, INCOM2, INCOM3

or INCOM4) have been connected with anodes of 12V/ 24V power supply; secondly,

one port of the normal switch or earthing cable of the approach switch has been

connected with the cathode (earthing cable); and lastly, the other port of the normal

switch or the control of the approach switch has been connected with the input port

corresponding by the terminal panel.

(3) The following is the actual wiring map of power supply from normal switch and

approach switch to photoelectric coupling public ports, through external power

supply.

ADT-9162 terminal block wiring diagram：

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ADT8940A1 4-axis servo/ stepping motion control card

ADT-9112 terminal block wiring diagram：

Remark:

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ADT8940A1 4-axis servo/ stepping motion control card

When the jumper cap T1, T2 used in parallel, the four INCOM ports were

connected to the

connecte the pin181522 which are on P2 Wiring terminals to the +24 power.

unified 24V power when the jumper cap connected. Do not need to

H Encoder signals used as the general-purpose input signals wiring diagram

Remark: In case an encoder is used for general input signals, XECA+, XECB+, YECA+,

YECB+, ZECA+, ZECB+, AECA+, and AECB+ will be respectively used as public ports

of corresponding input signals. Voltage at the public ports can only be +5V

supply, users must serially connect a 1K resistance. Please refer to the following digital

input connection part for wiring method.

; in case of using an external+12V power



CONNECTION FOR DIGITALOUTPUT

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ADT8940A1 4-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) Public terminal for OUT0-OUT5: OUTCOM1

(2) To make output signals effective, users must make sure of connection between the

output public port OUTCOM1 and cathode of external power supply (earthling cable)

if using external power supply, or connection between internal power supply earthling

(GND) and the ground if using internal power supply. Relay coils must have one side

connected with the power supply anode and the other side connected with the

corresponding output port of the terminal panel.

(3) The following picture is the actual wiring map for power supply by external power

supply.

ADT-9162 terminal block wiring diagram：

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ADT8940A1 4-axis servo/ stepping motion control card

ADT-9112 terminal block wiring diagram：

Remark:

General negative common for pin1, 5,9,13 on P4 has been grounded.

users can also connect them to ground.

supply and output contact.

The load can be resistive, inductive or capacitive. The digital

Please connect the load between the power

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Additionally,

ADT8940A1 4-axis servo/ stepping motion control card

output part of ADT-9112 terminal used power amplifier circuit design; output currents up

to 500MA.

need to

It can be direct-drive cylinders, solenoid valves and other devices, do not

connecte it to the external +24 power.

Chapter 4 Software installation

ADT8940A1

Win2000/ 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 ADT8940A1.INF.

DRIVE INSTALLATION IN WIN2000

card must be used with drive installed under Win95/ Win98/ NT/

The following part takes Win2000 Professional Version as example to indicate

installation of the drive; other versions of Win2000 are similar.

After attaching the ADT8940A1 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:

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ADT8940A1 4-axis servo/ stepping motion control card

Just click “Next” to display the following picture:

Click again “Next” to display the following picture:

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ADT8940A1 4-axis servo/ stepping motion control card

Then select “Specify a location” and Click again “Next” and

select DevelopmentPackage/ Drive/ CardDrive and find the ADT8940A1.INF file, then

click “OK” to display the following interface:

Click “Browse” button to

Click

“Next” to display the following picture:

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ADT8940A1 4-axis servo/ stepping motion control card

Finally click “Finish” to complete installation.

DRIVE INSTALLATION UNDER WINXP

Installation under

WinXP is similar to that under Win2000, specifically:

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ADT8940A1 4-axis servo/ stepping motion control card

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ADT8940A1 4-axis servo/ stepping motion control card

Click “Browse” button to select Drive/ CardDrive and find the ADT8940A1.INF file, then click “Next” to display the following interface:

Then click “Finish” to complete installation.

Chapter 5 Functions

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ADT8940A1 4-axis servo/ stepping motion control card

Pulse output method

Pulse output may be realized through either independent 2-pulse or 1-pulse. In case

of independent 2-pulse, the positive direction drive has PU/CW outputting drive

pulses, and the negative direction drive has DR/CCW outputting drive pulses. In

case of 1-pulse, PU/CW outputs drive pulse and DR/CCW outputs direction signals.

Pulse output type

Independent 2-pulse

1-pulse 1-direction

Pulse/ direction is set on the positive logical level

Drive direction

+Direction

-Direction

+Direction

-Direction

Output signal waveform

PU/CW signal

Low level

DR/CCW signal

Low level

Hi level

Hardware Limit signal

Hardware limit signals LMT+ and LMT- are respectively to limit the input signals outputted by drive pulse along positive and negative directions, able to be set as “effective, “ineffective” with high/ low levels.—Actually “effective” or “ineffectivey” can be set for positive limit and negative limit individually; in case “ineffective” is selected, they may work as ordinary input points.

Hardware limit signals STOP0 and STOP1 are input signals that may realize hardware termination for all axis drive and may be set as “effective”, “ineffective” as well as the termination method for high/ low levels. In case “ineffective” is selected, they may work as generl input points. Besides, they, when working as drive for interpolation, are effective for the minimum interpolation axis only.

Linear interpolation

This card may work for 2-4 axes linear interpolation and support any 2 axes or 3 axes linear interpolation, under the modified method of point-by-point comparison, which can ensure uniform pulse along the long axis, giving the precision within one pulse.

Firstly, take the axis outputting the maximum pulses among the axes joining interpolation

as the long axis, and proportionally distribute for the rest axes. Speed control applies

only to speed of the long axis, for example: (1-X axis, 2-Y axis, 3-Z axis, and

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ADT8940A1 4-axis servo/ stepping motion control card

4-W axis)

Take four axes for linear interpolation, while Axis 1 outputs 1000 pulses, Axis 2 outputs

500, Axis 3 outputs 250 and Axis outputs 2000.

X axis

From the above figure, W axis (Axis 4) shall be the long axis, and the rest axes

proportionally share the pulses.

Setting of interpolation speed takes the minimum speed of an axis among the joined

axes as the benchmark, for example, if Axis 2 and Axis 3 join linear interpolation, the

interpolation speed will be determined by speed of Axis 2. Moreover, speed of

interpolation is only half of the single axis. Example in more details:

Axis 2 and Axis 3 work for two-axis linear interpolation, with Axis 2 outputs 10000

pulses along positive direction and Axis 3 outputs 5000 pulses along negative direction,

which means Axis 2 is the long axis.

set_startv(0,2,1000);

set_speed(0,2,1000);

inp_move2(0,2,3,10000,-5000);

After execution of the above program, Axis 2 will send 10000 pulses in the frequency of

1000/2=500Hz, while frequency of Axis 3 shall be 500*5000/10000=250Hz.

If speed of Axis 2 realizes trapezoidal acceleration/ deceleration, interpolation will also

follow such trapezoidal acceleration/ deceleration.

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

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ADT8940A1 4-axis servo/ stepping motion control card

pulses.

Configure the following parameters to execute the quantitative driving of acceleration/deceleration:

a) Acceleration/deceleration A/D b) Start velocity SV c) Driving velocity V d) Output pulse P

Acceleration/deceleration quantitative driving automatically decelerates from the deceleration point as shown in the picture above.

Velocity curve

1) Constant velocity 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:

” Range R ” Acceleration A ” Deceleration D Deceleration if they are set separately (if necessary) ” Start velocity SV ” Driving velocity V

Acceleration and deceleration

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2) Linear acceleration/deceleration driving

Linear acceleration/deceleration driving is to accelerate from start velocity to specified driving velocity linearly.

Configure the following parameters to execute linear acceleration/deceleration driving:

” Range R ” Acceleration A ” Deceleration D Deceleration if they are set separately (if necessary) ” Start velocity SV ” Driving velocity V

Acceleration and deceleration

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Position lock

Realize hardware position lock function with the IN signal on each axis. With one

lock signal, the current position (either logical or actual) of all axes can be locked.

The position lock is usefyl in mearsuring system.

External signal driving

External signal driving is the motion controlled by external signals (handwheel or switch). It is mainly used in the manual debugging of machines and provides a lot of convenience in teaching system.

To simplify the wiring, the motion card short connects the positive driving signals of the four axes and also short connects the negative driving signals of the four axes; therefore, only one signal cable of the coder is connected to the external interface of external singals.

Chapter 6 List of ADT8940A1 basic library functions

List of V110 library functions

Function type Function name Function description Page

ADT8940A1_initial Initialize card 37

Basic

parameters

Check for

get_lib_version

set_pulse_mode

set_limit_mode

set_stop0_mode

set_stop1_mode

set_delay_time

set_suddenstop_mode

get_status Get status of single-axis drive 40

Get version 37

Set pulse mode 37

Set limit mode 38

Set stop mode 38

Set stop mode 39

Delay status 39

Hardware stop 39

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get_inp_status Get status of interpolation 40

Movement

parameter

setting

Check for

motion

parameters

get_delay_status

get_hardware_ver Hardware version 40

set_acc Set acceleration 41

set_startv Set starting speed 41

set_speed Set drive speed 41

set_command_pos Set logical position counter 41

set_actual_pos Set real position counter 42

set_symmetry_speed Set symmetry speed 42

get_command_pos Get logical position 42

get_actual_pos Get real position 43

get_speed Get drive speed 43

get_out Get output status 43

Delay status 40

Drive

Chapter 7 Details of ADT8940A1 basic library functions

CATEGORY OF BASIC PARAMETER SETTING

1.1 Initialize card

int ADT8940A1_initial(void);

(1) Return >0 means amount of installed ADT8940A1 cards; in case the Return is 3,

the available card numbers shall be 0, 1, and 2;

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(2) Return =0 means no installation of ADT8940A1 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 Get current library version

int get_lib_version();

Here return are combination of hardware and library version number.

1.3 Set output pulse mode

int set_pulse_mode(int cardno, int axis, int value,int logic,int dir_logic);

cardno

axis

value 0：Pulse + Pulse method 1：

Card number

Axis number (1-4)

Pulse + direction method

Pulse output method

Independent 2-pulse

1-pulse method

logic 0: Positive logic pulse 1: Negative logic pulse

Positive logic

ulse

dir-logic 0: Positive logic direction input signal 1: Negative logic direction

input signal

Positive direction logic pulse

Pulse/ direction are both of positive logic settin

Drive direction

Positive drive output

Negative drive output

Positive drive output

Negative drive output

Negative lo

Output signal waveform

Low level

ic pulse

Negative direction logic pulse

DR/CCW signal

Low level

Hi level

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Return 0: Correct 1: Wrong

Default mode: Pulse + direction, with positive logic pulse and positive

logic direction input signal

1.4 Set mode of nLMT signal input along positive/ negative direction

int set_limit_mode(int cardno, int axis, int v1,int v2,int logic);

cardno Card number

axis Axis number (1-4)

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 0: Correct 1: Wrong

Default mode: positive and negative limits with low level

are effective

1.5 Set mode of stop0 input signal

int set_stop0_mode(int cardno, int axis, int v,int logic);

cardno Card number

axis Axis number (1-4)

v 0: stop0 is ineffective 1: stop0 is effective

logic 0: low level is effective 1: high level is is effective

Return 0: Correct 1: Wrong

Default mode:

stop0 is ineffective

1.6 Set mode of stop1 input signal

int set_stop1_mode(int cardno, int axis, int v,int logic);

Cardno Card number

Axis Axis number (1-4)

v 0: stop1 is ineffective 1: stop1 is effective

logic 0: low level is effective 1: high level is effective

Return 0: Correct 1: Wrong

Default mode:

stop1 is ineffective

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1.7 Set mode of stop1 input signal

int set_delay_time(int cardno, long time)

cardno Card number

time delay time (Uint:1/8us)

Return 0: Correct 1: Wrong

Remark

maximum

1.8 Set stop using the hardware

int set_suddenstop_mode(int cardno, int v, int logical)

cardno Card number

v 0: ineffective 1: effective

logical 0

Return 0: Correct 1: Wrong

Remark:

(IN31)

: The time unit is 1/8us, with the maximum integer value as its

：

low level effective 1：high level effective

Hardware stop signals are assigned to use the 34 pin at the P3 terminal panel

CATEGORY OF DRIVE STATUS CHECK

2.1 Get status of single-axis drive

int get_status(int cardno,int axis,int *value)

cardno Card number

axis Axis number (1-4)

value Indicator of drive status

0：Drive completed

Non-0: Drive in process

Return 0: Correct 1: Wrong

2.2 Get status of

int get_inp_status(int cardno,int *value)

cardno Card number

value Indicator of i Interpolation:

Interpolation

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0: Interpolation completed 1: Interpolation in process

Return 0: Correct 1: Wrong

2.3 Get status of

int get_delay_status(int cardno)

cardno Card number

Return 0: delay completed 1: delay in process

2.4 Get hardware version

int get_hardware_ver(int cardno)

cardno Card number

Return 256： version 1.0 257： version 1.1

CATEGORY OF MOVEMENT PARAMETER SETTING

Remark: The following parameters are not determined after

initialization thus must be set before use.

3.1 Set acceleration

int set_acc(int cardno,int axis,long value);

cardno Card number

axis Axis number

value Acceleration(0-32000)

Return 0: Correct 1: Wrong

3.2 Set starting speed

int set_startv(int cardno,int axis,long value);

cardno

axis

value

Return 0: Correct 1: Wrong

3.3 Set drive speed

int set_speed(int cardno,int axis,long value);

Delay

Card number

Axis number

Speed(0-2M)

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cardno Card number

axis

value

Return 0: Correct 1: Wrong

3.4 Set logical position counter

This is to set values for the logical position counter

int set_command_pos(int cardno,int axis,long value);

cardno Card number

axis

value

Return 0: Correct 1: Wrong

A logialc position counter can read and write at any time.

3.5 Set real position counter

This is to set values for the real position counter

int set_actual_pos(int cardno,int axis,long value);

cardno Card number

axis

value

Return 0: Correct 1: Wrong

An real position counter can read and write at any time.

3.6 Set symmetry speed

This is to set values for the

int set_symmetry_speed(int cardno, int axis,long lspd,long hspd,double tacc);

cardno Card number

axis Axis number

lspd start speed

hspd running speed

tacc acceleration time

Return 0: Correct 1: Wrong

Axis number

Speed(0-2M)

Axis number

Range (-2147483648~+2147483647)

Axis number

Range (-2147483648~+2147483647)

symmetry speed

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Remark: This function is a combination of multiple functions,

such as set_acc,set_startv,set_speed etc.

CATEGORY OF MOTION PARAMETER CHECK

The following functions can be called at any time

4.1 Get logic position of each axis

int get_command_pos(int cardno,int axis,long *pos)

cardno Card number

axis

pos

Return 0: Correct 1: Wrong

This function can get the logic position of the corresponding axis at any time, and in

case of no out-step by motor, pos values just indicate the current position of the

axis.

4.2 Get real position of each axis (i.e., encoder feedback input)

int get_actual_pos(int cardno,int axis,long *pos)

cardno Card number

axis

pos

Return 0: Correct 1: Wrong

This function can get the real position of the corresponding axis at any time, and

even though in case of out-step by motor; pos values still indicate the real position

of the axis.

4.3 Get motion speed

int get_speed(int cardno,int axis,long *speed)

cardno Card number

axis

speed

Axis number

Indicator of logic position value

Axis number

Indicator of actual position value

Axis number

Indicator of current drive speed

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Return 0: Correct 1: Wrong

Its data unit is same as that for motion speed setting value V.

This function can get the axis drive speed at any time.

4.4 Get status of output

int _stdcall get_out(int cardno, int number)

cardno Card number

axis Axis number

Return Current output point status -1: Wrong

CATEGORY OF DRIVE

5.1 Single-axis quantitative drive

int pmove(int cardno,int axis,long pulse)

cardno Card number

axis

pulse

>0: move along positive direction

<0: move along negative direction

Range (-268435455~+268435455)

Return 0: Correct 1: Wrong

Remark: Users must correctly set the parameters required by speed curve before making drive commands.

5.2 Deceleration stop

int dec_stop(int cardno,int axis)

cradno Card number

axis

Return 0: Correct 1: Wrong

During drive pulse output, this command will make deceleration stop. Users

may also use this command to stop when the drive speed is lower than the

Axis number

Outputted pulses

Axis number

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starting speed.

Remark: During linear interpolation, if requiring deceleration stop, users

shall make command only for the earliest interpolation axis, otherwise

may fail to achieve expected results.

5.3 Sudden stop

int sudden_stop(int cardno,int axis)

cardno Card number

axis

Return 0: Correct 1: Wrong

This command will suddenly stop the pulse output in process, even though it is

in acceleration/ deceleration drive.

Remark: During linear interpolation, if requiring sudden stop, users shall

make command only for the earliest interpolation axis, otherwise may fail

to achieve expected results.

5.4 2-axis i

int inp_move2(int cardno,int axis1,int axis2,long pulse1,long pulse2)

cardno Card number

axis1 ,axis2

pulse1,pulse2

Range (-8388608~+8388607)

Return 0: Correct 1: Wrong

5.5 3-axis i

int inp_move3(int cardno,int axis1,int axis2,int axis3,long pulse1,long pulse2,long pulse3)

cardno Card number

axis1 ,axis2,axis3

pulse1,pulse2,pulse3

axis2/ axis3)

Axis number

nterpolation

Axis number joining

Relative distance of movemen

Axis number joining

Relative distance of moiotn along specified axis (axis1/

nterpolation

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Range (-8388608~+8388607)

Return 0: Correct 1: Wrong

5.6 4-axis i

cardno Card number

pulse1,pulse2,pulse3,pulse4

CATEGORY OF SWITCH AMOUNT INPUT/ OUTPUT

nterpolation

int inp_move4(int cardno,long pulse1,long pulse2,long pulse3,long pulse4)

Relative distance of movement along X-Y-Z-W axis

Range (-8388608~+8388607)

Return 0: Correct 1: Wrong

6.1 Read single input point

int read_bit(int cardno,int number)

cardno Card number

number

Return 0: low level 1: high level -1: error

6.2 Output single output point

int write_bit(int cardno,int number,int value)

cardno Card number

number

value

Return

Input point (0-39)

Output point (0-15)

0: low 1: high

0: correct

1: wrong

A number corresponding to the output number

CATEGORY OF COMPOSITE DRIVING

To provide convenience for the customers, we encapsulated composite driving

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functions in the basic library functions. These functions mainly integrate speed

mode setting, speed parameter setting and motion functions, while absolute

motion and relative motion are also considered.

7.1 Single axis symmetric relative moving

int symmetry_relative_move(int cardno, int axis1, long pulse1, long lspd ,long

hspd, double tacc)

cardno-card number

axis1---axis number1

pulse1-- pulse of axis 1

lspd --- Low speed

hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

7.2 Single axis symmetric absolute moving

int symmetry_absolute_ move (int cardno, int axis1, int axis2, long pulse1, long

pulse2, long lspd ,long hspd, double tacc)

cardno-card number

axis1---axis number1

pulse1-- pulse of axis 1

lspd --- Low speed

hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

7.3 Two axes symmetric linear interpolation relative moving

int symmetry_relative_line2(int cardno, int axis1, int axis2, long pulse1, long

pulse2, long lspd ,long hspd, double tacc)

cardno-card number

axis1---axis number1

axis2---axis number2

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pulse1-- pulse of axis 1

pulse2-- pulse of axis 2

lspd --- Low speed

hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

7.4 Two axes symmetric linear interpolation absolute moving

int symmetry_absolute_line2(int cardno, int axis1, int axis2, long pulse1, long

pulse2, long lspd ,long hspd, double tacc)

cardno-card number

axis1---axis number1

axis2---axis number2

pulse1-- pulse of axis 1

pulse2-- pulse of axis 2

lspd --- Low speed

hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

7.5 Three axes symmetric linear interpolation relative moving

int symmetry_relative_line3(int cardno, int axis1, int axis2, int axis3, long pulse1,

long pulse2, long pulse3, long lspd ,long hspd, double tacc)

cardno-card number

axis1---axis number1

axis2---axis number2

axis3---axis number3

pulse1-- pulse of axis 1

pulse2-- pulse of axis 2

pulse3-- pulse of axis 3

lspd --- Low speed

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hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

7.6 Three axes symmetric linear interpolation absolute moving

int symmetry_absolute_line3(int cardno, int axis1, int axis2, int axis3, long pulse1,

long pulse2, long pulse3, long lspd ,long hspd, double tacc)

cardno-card number

axis1---axis number1

axis2---axis number2

axis3---axis number3

pulse1-- pulse of axis 1

pulse2-- pulse of axis 2

pulse3-- pulse of axis 3

lspd --- Low speed

hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

7.7 Four axes symmetric linear interpolation relative moving

int symmetry_ relative _line4(int cardno, long pulse1, long pulse2, long pulse3, long pulse4,long lspd ,long hspd, double tacc)

cardno-card number

pulse1-- pulse of axis 1

pulse2-- pulse of axis 2

pulse3-- pulse of axis 3

pulse4-- pulse of axis 4

lspd --- Low speed

hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

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7.8 Four axes symmetric linear interpolation absolute moving

int symmetry_absolute _line4(int cardno, long pulse1, long pulse2, long pulse3,

long pulse4,long lspd ,long hspd, double tacc);

cardno-card number

pulse1-- pulse of axis 1

pulse2-- pulse of axis 2

pulse3-- pulse of axis 3

pulse4-- pulse of axis 4

lspd --- Low speed

hspd --- High speed

tacc--- Time of acceleration (Unit: sec)

Return 0: Correct 1: Wrong

CATEGORY OF EXTERNAL SIGNAL DRIVING

8.1 Quantitative drive function of external signal

int manual_pmove(int cardno, int axis, long pos)

cardno-- card number

axis

pulse

Note: (1) Send out quantitative pulse, but the drive does not start immediately until

(2)Ordinary button and handwheel are acceptable.

8.2 Continuous drive function of external signal

cardno-- card number

axis

Note: (1) Send out quantitative pulse, but the drive does not start immediately until

axis number

pulse

Return 0

the external signal level changes.

int manual_continue(int cardno, int axis)

axis number

Return 0：Correct 1：Wrong

the external signal level changes.

：

Correct 1：Wrong

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(2)Ordinary button and handwheel are acceptable.

8.3 Shut down the enabling of external signal drive

int manual_disable(int cardno, int axis)

cardno-- card number

axis

9.1 lock the logical position and real position for all axes

axis —reference axis

mode —set lock mode 0:inefficacy 1:efficiency

regi —register mode 0:logical position 1:real position

logical—level signal 0: from high to low 1:from low to high

9.2 Get the status of position lock

9.3 Get_lock_position(int cardno,int axis,long *pos)

axis number

：

Return 0

Correct 1：Wrong

CATEGORY OF LOCK POSITION

int set_lock_position(int cardno, int axis,int mode,int regi,int logical)

cardno —card number

Return 0：Correct 1：Wrong

int get_lock_status(int cardno, int axis, int *v)

cardno card number

axis axis number(1-4)

status Lock status (0: unlocked, 1: locked)

Return 0：Correct 1：Wrong

int get_lock_position(int cardno,int axis,long *pos)

cardno card number

axis axis number

pos lock position

Return 0：Correct 1：Wrong

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9.4 Clr_lock_status(int cardno, int axis)

int clr_lock_position(int cardno,int axis,long *pos)

cardno card number

axis axis number

Return 0：Correct 1：Wrong

CATEGORY OF HARDWARE CACHE

10.1 Single axis FIFO

Int fifo_inp_move1(int cardno,int axis1,long pulse1,long speed)

cardno card number

axis1 axis number(1-4)

pulse1 pulses in FIFO cache

speed FIFO speed

Return 0：Correct 1：Wrong

10.2 Two axes FIFO

Int fifo_inp_move2(int cardno,int axis1, ,int axis2,long pulse1, long pulse2,long

speed)

cardno card number

axis1 axis number(1-4)

axis2 axis number(1-4)

pulse1 pulses in FIFO buffer

pulse2 pulses in FIFO buffer

speed FIFO speed

Return 0：Correct 1：Wrong

10.3 Three axes FIFO

int fifo_inp_move3(int cardno,int axis1,int axis2,int axis3,long pulse1,long

pulse2,long pulse3,long speed)

cardno card number

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axis1 axis number(1-4)

axis2 axis number(1-4)

axis3 axis number(1-4)

pulse1 pulses in FIFO buffer

pulse2 pulses in FIFO buffer

pulse3 pulses in FIFO buffer

speed FIFO speed

Return 0：Correct 1：Wrong

10.4 Four axes FIFO

int fifo_inp_move4(int cardno,long pulse1,long pulse2,long pulse3,long pulse4,long

speed)

cardno card number

axis1 axis number(1-4)

axis2 axis number(1-4)

axis3 axis number(1-4)

axis4 axis number(1-4)

pulse1 pulses in FIFO buffer

pulse2 pulses in FIFO buffer

pulse3 pulses in FIFO buffer

pulse4 pulses in FIFO buffer

speed FIFO speed

Return 0：Correct 1：Wrong

10.5 Reset FIFO Cache

int reset_fifo(int cardno)

cardno card number

：

Return 0

10.6 Read FIFO cache To determine FIFO

int read_fifo_count(int cardno,int *value)

Correct 1：Wrong

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cardno card number

value space(bytes) of commands that havn't been implemented

Return 0

10.7 Read FIFO cache To determine whether it is empty

int read_fifo_empty(int cardno)

cardno card number

Return 0

10.8 Read FIFO cache To determine whether it is full

int read_fifo_full(int cardno)

cardno card number

Return 0：non-full 1：full

：

Correct 1：Wrong

：

non -empty 1：empty

Chapter 8 Guide to motion control function library

1. Introduction on ADT8940A1 function library

ADT8940A1 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.

2. Calling dynamic link library under Windows

The dynamic link library ADT8940A1.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.

2.1 Calling under VC

(1) Create a new project;

(2) Copy the ADT8940A1.lib and ADT8940A1.h files from

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DevelopmentPackage/VC in the CD to the routing of the newly created item;

(3) 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 “ADT8940A1.lib” and select it, finally

click “OK” to finish loading of the static library;

(4) Add #include “ADT8940A1.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.

2.2 Calling under VB

(1) Create a new project;

(2) Copy the ADT8940A1.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 ADT8940A1.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.

2.3 Calling under C++Builder

(1) Create a new project;

(2) Copy the ADT8940A1.lib and ADT8940A1.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

“ADT8940A1.lib” file and click Open button;

(4) Add #include “ADT8940A1.h“ in the declaim part of the program file.

After the above four steps, users can call functions in the dynamic link library.

2.4 Calling under LabView 8

(1) Create a new VI;

(2) Copy the ADT8940A1.lib and ADT8940A1.dll files from DevelopmentPackage/

LabVIEW in the CD to the routing of the newly created item;

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(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 ADT8940A1.llb file, finally select the required library function in the

“Select the VI to Open” window and drag into the program interface.

After the above three steps, users can call functions in the dynamic link library.

3. 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:

(1) Under the development environment of Borland C, select the “Project\Open

Project” command to create a new project;

(2) Copy the ADT8940A1H.LIB or ADT8940A1L.LIB file and ADT8940A1.H file

from DevelopmentPackage/ C (or C++) in the CD to the path of the newly

created project;

(3) Select the “Project\Add Item” command and further in the dialogue select

“ADT8940A1H.LIB” or “ADT8940A1L.LIB”, finally click the Add button;

(4) Add #include “ADT8940A1.h statement in the user program file.

After the above four steps, users can call functions in the dynamic link library.

4. 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 ADT8940A1_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

ADT8940A1_initial

-1 No installation of service

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-2 PCI slot failure

0 No installation of control card

>0 Amount of control card

0 Low level

Read_bit

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.

1 High level

-1 Card number or input point out of limit

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

At the beginning users shall call the ADT8940A1_initial() function and ensure the

ADT8940A1 card has been correctly installed, then set pulse output mode and limit

switch mode. The above parameters shall be set for individual machine, and

normally only one setting is required during program initialization, instead of any

later setting.

Remark: Library function ADT8940A1_initial is the door to ADT8940A1 card, thus calling other functions are of sense only after successful card initialization with calling to this function.

SPEED SETTING

2.1 Constant speed motion

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Parameter setting is so simple that users just set the drive speed equal to the

starting speed; other parameters need no setting.

Relevant functions:

set_startv

set_speed

Remark: values used by functions will give the actual speed only after

multiplying by the multiple rate.

2.2 Interpolation speed

ADT8940A1 card can take any 2 axes, any 3 axes or all the 4 axes for linear

interpolation.

For speed of interpolation, speed parameter for the earliest axis will apply as

speed of the long axis, for example,

inp_move2 (0,3,1,100,200) is to apply the speed parameters of the first axis,

i.e., X axis, independent of parameter sequence.

inp_move3 (0,3,4,2,100,200,500) is to apply the speed parameters of the

second axis, i.e., Y axis, independent of parameter sequence.

Remark: speed multiple rate during interpolation is half of that during single-axis movement, which means under the same parameters speed of interpolation is only half of that of single-axis movement.

STOP0, STOP1 signal

Every axis has STOP0, STOP1 .therefore, there are 8 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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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

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 ADT8940A1 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”;

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(2) Add the ADT8940A1.bas module in the item following the above-introduced

method;

Movement control module

1.2

(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 = 4 '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

Result = adt8940a1_initial 'initial motion-card

If Result <= 0 Then

Init_Card = Result

Exit Function

End If

For i = 1 To MAXAXIS

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, 2000 'set motion-speed

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set_acc 0, i, 625 'set acceleration

Next i

Init_Card = Result

End Function

'/********************get version************************

' get library version and hardware version ' para：libVerlibrary version,hardwareVer - hardware version

'*********************************************************

Public Function Get_Version(libver As Double, hardwarever As Double) As Integer

Dim ver As Integer

ver = get_lib_version(0)

libver = (ver)

hardwarever = get_hardware_ver(0)

End Function

''/**********************set speed***********************

'' according as para,judge whether is constant-speed

' set start-speed ,motion-speed and acceleration ' para：axis -axis number

' startv -start - speed

' speed -motion - speed

' Add -acceleration ' 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 tacc As Double) As Integer

If (startv - speed >= 0) Then

Result = set_startv(0, axis, startv)

set_speed 0, axis, startv

' set_symmetry_speed 0, axis, startv, startv, tacc

Else

Result = set_startv(0, axis, startv)

set_speed 0, axis, speed

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set_acc 0, axis, add / 125

' set_symmetry_speed 0, axis, startv, speed, tacc

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 pulse As Long) As

Integer

Result = pmove(0, axis, pulse)

Axis_Pmove = Rresult

End Function

'/*******************2-axis interpolation********************

' any 2-axis linear interpolation ' para：axis1,axis2-axis numbervalue1,value2-pulse of interpolation ' Return=0 correctReturn=1 wrong

'*******************************************************/

Public Function Interp_Move2(ByVal axis1 As Integer, ByVal axis2 As Integer,

ByVal pulse1 As Long, ByVal pulse2 As Long) As Integer

Result = inp_move2(0, axis1, axis2, pulse1, pulse2)

Interp_Move2 = Result

End Function

'/*******************3-axis interpolation********************

' any 3-axis linear interpolation ' para ： axis1,axis2,axis3-axis number  value1,value2,value3-pulse of

interpolation

' Return=0 correctReturn=1 wrong

'*******************************************************/

Public Function Interp_Move3(ByVal axis1 As Integer, ByVal axis2 As Integer,

ByVal axis3 As Integer, ByVal pulse1 As Long, ByVal pulse2 As Long, ByVal

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pulse3 As Long) As Integer

Result = inp_move3(0, axis1, axis2, axis3, pulse1, pulse2, pulse3)

Interp_Move3 = Result

End Function

'/*******************4-axis interpolation****************************

' 4-axis interpolation motion ' para：value1,value2,value3,value4-pulse of 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

'/*****************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

Result = sudden_stop(0, axis)

Else

Result = dec_stop(0, axis)

End If

End Function

'/*******************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

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' 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

'/*****************get information of motion*****************************

' get logical-pos,actual-pos and motion-speed ' para：axis-axis number,LogPos-logic pos,ActPos-real pos,Speed-motion

speed ' 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 Long, ByVal

mode As Integer) As Integer

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If mode = 0 Then

GetMove_Status = get_status(0, axis, value)

Else

GetMove_Status = get_inp_status(0, value)

End If

End Function

'/***********************read input*******************************

' read status of input ' para：number-input port(0 ~ 39) ' 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

'/*********************output******************************

' set status 0f output ' para： number-output port(0 ~ 15),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

'/********************set pulse 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

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'*********************************************************/

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 nLMT mode**********************

' set the mode of nLMT signal input along positive/ negative direction ' para： axisaxis number

' value1 0 - positive limit effective 1: positive limit ineffective

' value2 0: negative limit effective 1: negative limit ineffective

' 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 value1 As Integer,

ByVal value2 As Integer, ByVal logic As Integer) As Integer

Setup_LimitMode = set_limit_mode(0, axis, value1, value2, logic)

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**********************

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' Set mode of stop1 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_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 hardware-stop mode **********************

' set mode whether Hardware stop is effective,if hareware-version is 1 ,

' motion-card havn't this function ' para： value 0ineffective 1effective ' logic 0low level effective 1high level effective

' Defaule: ineffective ' Return 0：Correct 1： Wrong

' Hardware stop signals are assigned to use the 34 pin at the P3 terminal panel

(IN31)

' *********************************************************/

Public Function Setup_HardStop(ByVal value As Integer, ByVal logic As Integer)

As Integer

Setup_HardStop = set_suddenstop_mode(0, value, logic)

End Function

'/********************set delay**********************

' set the time of delay,if hareware-version is 1 ,motion-card havn't this function ' para： time - time of delay(unit is us) ' Return 0：Correct 1： Wrong

' *********************************************************/

Public Function Setup_Delay(ByVal time As Long) As Integer

Setup_Delay = set_delay_time(0, time * 8)

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End Function

'/********************get delay status **********************

' get the status of delay ,if hareware-version is 1 ,motion-card havn't this

function

' Return 0: delay stop 1: delay in process

' *********************************************************/

Public Function Get_DelayStatus() As Integer

Get_DelayStatus = get_delay_status(0)

End Function

'/************ Symmetrical relative movement of single-axis ***************

'function: Refer to the current position and perform quantitative movement in the

symmetrical

'acceleration/deceleration

'para:

' axis---axis number

' pulse --pulse

' lspd--- Low speed

' hspd--- High speed

' tacc--- Time of acceleration (Unit: sec) 'return value 0：correct 1：wrong

'*******************************************************************/

Public Function Sym_RelativeMove(ByVal axis As Integer, ByVal pulse As Long,

ByVal lspd As Long, ByVal hspd As Long, ByVal tacc As Double) As Integer

Result = symmetry_relative_move(0, axis, pulse, lspd, hspd, tacc)

Symmetry_RelativeMove = Result

End Function

'/************** Symmetrical absolute movement of single-axis ***********

'function: Refer to the position of zero point and perform quantitative movement in

the symmetrical

'acceleration/deceleration

'para:

' axis ---axis number

' pulse --pulse

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' lspd --- Low speed

' hspd --- High speed

' tacc--- Time of acceleration (Unit: sec)

'return value 0: correct 1: wrong

'*******************************************************************/

Public Function Sym_AbsoluteMove(ByVal axis As Integer, ByVal pulse As Long,

ByVal lspd As Long, ByVal hspd As Long, ByVal tacc As Double) As Integer

Result = symmetry_absolute_move(0, axis, pulse, lspd, hspd, tacc)

Symmetry_AbsoluteMove = Result

End Function

'/***** Relative movement of two-axis symmetrical linear interpolation ********

'function: Refer to current position and perform linear interpolation in symmetrical

'acceleration/deceleration

'para:

' axis1---axis number1

' axis2---axis number2

' pulse1-- pulse 1

' pulse2-- pulse 2

' lspd --- Low speed

' hspd --- High speed

' tacc--- Time of acceleration (Unit: sec) 'return value 0：correct 1：wrong

'******************************************************************/

Public Function Sym_RelativeLine2(ByVal axis1 As Integer, ByVal axis2 As

Integer, ByVal pulse1 As Long, ByVal pulse2 As Long, ByVal lspd As Long, ByVal

hspd As Long, ByVal tacc As Double) As Integer

Result = symmetry_relative_line2(0, axis1, axis2, pulse1, pulse2, lspd, hspd,

tacc)

Symmetry_RelativeLine2 = Result

End Function

'/****** Two axes symmetric linear interpolation absolute moving ********

'function: Refer to the position of zero point and perform linear interpolation in

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symmetrical

'acceleration/deceleration

'para:

' axis1---axis number1

' axis2---axis number2

' pulse1—pulse of axis 1

' pulse2-- pulse of axis 2

' lspd --- Low speed

' hspd --- High speed

' tacc--- Time of acceleration (Unit: sec) 'return value 0：correct 1：wrong

'******************************************************************/

Public Function Sym_AbsoluteLine2(ByVal axis1 As Integer, ByVal axis2 As

Integer, ByVal pulse1 As Long, ByVal pulse2 As Long, ByVal lspd As Long, ByVal

hspd As Long, ByVal tacc As Double) As Integer

Result = symmetry_absolute_line2(0, axis1, axis2, pulse1, pulse2, lspd, hspd,

tacc)

Symmetry_AbsoluteLine2 = Result

End Function

'/***** Three axes symmetric linear interpolation relative moving ******

'function: Refer to current position and perform linear interpolation in symmetric

'acceleration/deceleration

'para:

' axis1---axis number1

' axis2---axis number2

' axis3---axis number3

' pulse1-- pulse of axis 1

' pulse2-- pulse of axis 2

' pulse3-- pulse of axis 3

' lspd --- Low speed

' hspd --- High speed

' tacc--- Time of acceleration (Unit: sec) 'return value 0：correct 1：wrong

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'******************************************************************/

Public Function Sym_RelativeLine3(ByVal axis1 As Integer, ByVal axis2 As

Integer, ByVal axis3 As Integer, ByVal pulse1 As Long, ByVal pulse2 As Long,

ByVal pulse3 As Long, ByVal lspd As Long, ByVal hspd As Long, ByVal tacc As

Double) As Integer

Result = symmetry_relative_line3(0, axis1, axis2, axis3, pulse1, pulse2,

pulse3, lspd, hspd, tacc)

Symmetry_RelativeLine3 = Result

End Function

'/******Three axes symmetric linear interpolation absolute moving **********

'function: Refer to the position of zero point and perform linear interpolation in

symmetric

'acceleration/deceleration.

'para:

' axis1---axis number1

' axis2---axis number2

' axis3---axis number3

' pulse1-- pulse of axis 1

' pulse2-- pulse of axis 2

' pulse3-- pulse of axis 3

' lspd --- Low speed

' hspd --- High speed

' tacc--- Time of acceleration (Unit: sec) 'return value 0：correct 1：wrong

'******************************************************************/

Public Function Sym_AbsoluteLine3(ByVal axis1 As Integer, ByVal axis2 As

Integer, ByVal axis3 As Integer, ByVal pulse1 As Long, ByVal pulse2 As Long,

ByVal pulse3 As Long, ByVal lspd As Long, ByVal hspd As Long, ByVal tacc As

Double) As Integer

Result = symmetry_absolute_line3(0, axis1, axis2, axis3, pulse1, pulse2,

pulse3, lspd, hspd, tacc)

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Symmetry_AbsoluteLine3 = Result

End Function

'/***** Four axes symmetric linear interpolation relative moving ******

'function: Refer to current position and perform linear interpolation in symmetric

'acceleration/deceleration

'para:

' pulse1-- pulse of axis 1

' pulse2-- pulse of axis 2

' pulse3-- pulse of axis 3

' pulse4-- pulse of axis 4

' lspd --- Low speed

' hspd --- High speed

' tacc--- Time of acceleration (Unit: sec) 'return value 0：correct 1：wrong

'******************************************************************/

Public Function Sym_RelativeLine4(ByVal pulse1 As Long, ByVal pulse2 As Long,

ByVal pulse3 As Long, ByVal pulse4 As Long, ByVal lspd As Long, ByVal hspd As

Long, ByVal tacc As Double) As Integer

Result = symmetry_relative_line4(0, pulse1, pulse2, pulse3, pulse4, lspd,

hspd, tacc)

Symmetry_RelativeLine4 = Result

End Function

'/******Four axes symmetric linear interpolation absolute moving **********

'function: Refer to the position of zero point and perform linear interpolation in

symmetric

'acceleration/deceleration.

'para:

' pulse1-- pulse of axis 1

' pulse2-- pulse of axis 2

' pulse3-- pulse of axis 3

' pulse4-- pulse of axis 4

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' lspd --- Low speed

' hspd --- High speed

' tacc--- Time of acceleration (Unit: sec) 'return value 0：correct 1：wrong

'******************************************************************/

Public Function Sym_AbsoluteLine4(ByVal pulse1 As Long, ByVal pulse2 As Long,

ByVal pulse3 As Long, ByVal pulse4 As Long, ByVal lspd As Long, ByVal hspd As

Long, ByVal tacc As Double) As Integer

Result = symmetry_absolute_line4(0, pulse1, pulse2, pulse3, pulse4, lspd,

hspd, tacc)

Symmetry_AbsoluteLine4 = Result

End Function

'/************ Quantitative drive function of external signal *******

'function: Quantitative drive function of external signal

'para:

' cardno card number

' axis axis number

' pulse pulse 'Return 0：Correct 1：Wrong

'******************************************************************/

Public Function Manu_Pmove(ByVal axis As Integer, ByVal pulse As Long) As

Integer

Result = manual_pmove(0, axis, pulse)

Manu_Pmove = Result

End Function

'/************* Continuous drive function of external signal ********

'function: Continuous drive function of external signal

'para:

' cardno card number

' axis axis number 'Return 0：Correct 1：Wrong

'******************************************************************/

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Public Function Manu_Continue(ByVal axis As Integer) As Integer

Result = manual_continue(0, axis)

Manu_Continue = Result

End Function

'/*********** Shut down the enabling of external signal drive ********

'function: Shut down the enabling of external signal drive

'para:

' cardno card number

' axis axis number 'Return 0：Correct 1：Wrong

'******************************************************************/

Public Function Disable_Manu(ByVal axis As Integer) As Integer

Result = manual_disable(0, axis)

Disable_Manu = Result

End Function

'/*********************** set lockmode ***************************

'function:lock the logical position and real position for all axis

'para:

' axis—reference axis

' mode--set lock mode |0:inefficacy

' |1:efficiency

' regi—register mode |0:logical position

' |1:real position

' logical—level signal |0: from high to low

' |1:from low to high

'retutrn 0: correct 1: wrong

'Note: Use IN signal of specific axis as the trigger signal

'****************************************************************/

Public Function Get_LockStatus(ByVal axis As Integer, status As Integer) As

Integer

Result = get_lock_status(0, axis, status)

Get_LockStatus = Result

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End Function

'/******************** get synchronous action state ***********************

'function:get synchronous action state

'para:

' axis axis number

' status— 0|haven't run synchronous

' 1|run synchronous

'retutrn 0: correct 1: wrong

'Note: This function could tell whether the position lock has been executed

'****************************************************************************/

Public Function Setup_LockPosition(ByVal axis As Integer, ByVal mode As Integer,

ByVal regi As Integer, ByVal logical As Integer) As Integer

Result = set_lock_position(0, axis, mode, regi, logical)

Setup_LockPosition = Result

End Function

'/**********************get lock position************************

'Function: Get the locked position

'para:

' axis axis number

' pos lock position 'Return 0：Correct 1：Wrong

'******************************************************************/

Public Function Get_LockPosition(ByVal axis As Integer, pos As Long) As Integer

Result = get_lock_position(0, axis, pos)

Get_LockPosition = Result

End Function

'/**********************clean lock position************************

'Function: Clean the locked position

'para:

' axis axis number 'Return 0：Correct 1：Wrong

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'******************************************************************/

Public Function Clr_LockStatus(ByVal axis As Integer) As Integer

Result = clr_lock_status(0, axis)

Clr_LockStatus = Result

End Function

Function realization module

1.3

1.31 Interface design

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

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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:

Private Sub Init_Board()

Dim count As Integer

count = Init_Card

If count < 1 Then MsgBox "Fail to initial ADT-8940A1 motion-card"

Get_Version g_nLibVer, g_nHardwareVer

CardVer.Caption = "Library Ver：" + CStr(g_nLibVer) + Chr(10) + "Hardware Ver：" +

CStr(g_nHardwareVer)

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()

'*****************judge speed whether is out of range************************

' The range of start-speed and run-speed (1～2M)

' The range of add(1×125～64000×125)

'*****************************************************

If m_bX.value = vbChecked Then

Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text,

m_dTacc(0).Text

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_dTacc(1).Text

Axis_Pmove 2, m_nPulse(1).Text

End If

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If m_bZ.value = vbChecked Then

Setup_Speed 3, m_nStartV(2).Text, m_nSpeed(2).Text, m_nAdd(2).Text,

m_dTacc(2).Text

Axis_Pmove 3, m_nPulse(2).Text

End If

If m_bA.value = vbChecked Then

Setup_Speed 4, m_nStartV(3).Text, m_nSpeed(3).Text, m_nAdd(3).Text,

m_dTacc(3).Text

Axis_Pmove 4, m_nPulse(3).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. The four check

boxes (to select objects) are respectively named as X, Y, Z and A, subject with the

following code:

Private Sub InterpMove_Click()

'*****************judge speed whether is out of range************************' ' The range of start-speed and run-speed(1～2M) ' The range of add (1×125～64000×125) '***************************************************** '***************************inpterpolation*************************** '*********************************4-axis linear-inpterpolation********************************** If m_bX.value = vbChecked And m_bY.value = vbChecked And m_bZ.value = vbChecked And m_bA.value = vbChecked Then Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text, m_dTacc(0).Text Interp_Move4 m_nPulse(0).Text, m_nPulse(1).Text, m_nPulse(2).Text, m_nPulse(3).Text '*********************************3-axis linear-inpterpolation********************************** '********************************XYZ******************************** ElseIf m_bX.value = vbChecked And m_bY.value = vbChecked And m_bZ.value = vbChecked Then

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Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text, m_dTacc(0).Text Interp_Move3 1, 2, 3, m_nPulse(0).Text, m_nPulse(1).Text, m_nPulse(2).Text '********************************XYW******************************** ElseIf m_bX.value = vbChecked And m_bY.value = vbChecked And m_bA.value = vbChecked Then Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text, m_dTacc(0).Text Interp_Move3 1, 2, 4, m_nPulse(0).Text, m_nPulse(1).Text, m_nPulse(3).Text '********************************XZW******************************** ElseIf m_bX.value = vbChecked And m_bZ.value = vbChecked And m_bA.value = vbChecked Then Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text, m_dTacc(0).Text Interp_Move3 1, 3, 4, m_nPulse(0).Text, m_nPulse(2).Text, m_nPulse(3).Text '********************************YZW******************************** ElseIf m_bY.value = vbChecked And m_bZ.value = vbChecked And m_bA.value = vbChecked Then Setup_Speed 2, m_nStartV(1).Text, m_nSpeed(1).Text, m_nAdd(1).Text, m_dTacc(1).Text Interp_Move3 2, 3, 4, m_nPulse(1).Text, m_nPulse(2).Text, m_nPulse(3).Text '********************************2-axis linear-inpterpolation******************************** '********************************XY******************************** ElseIf m_bX.value = vbChecked And m_bY.value = vbChecked Then Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text, m_dTacc(0).Text Interp_Move2 1, 2, m_nPulse(0).Text, m_nPulse(1).Text '********************************XZ******************************** ElseIf m_bX.value = vbChecked And m_bZ.value = vbChecked Then Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text, m_dTacc(0).Text Interp_Move2 1, 3, m_nPulse(0).Text, m_nPulse(2).Text '********************************XW******************************** ElseIf m_bX.value = vbChecked And m_bA.value = vbChecked Then Setup_Speed 1, m_nStartV(0).Text, m_nSpeed(0).Text, m_nAdd(0).Text, m_dTacc(0).Text Interp_Move2 1, 4, m_nPulse(0).Text, m_nPulse(3).Text '********************************YZ******************************** ElseIf m_bY.value = vbChecked And m_bZ.value = vbChecked Then

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Setup_Speed 2, m_nStartV(1).Text, m_nSpeed(1).Text, m_nAdd(1).Text, m_dTacc(1).Text Interp_Move2 2, 3, m_nPulse(1).Text, m_nPulse(2).Text '********************************YW******************************** ElseIf m_bY.value = vbChecked And m_bA.value = vbChecked Then Setup_Speed 2, m_nStartV(1).Text, m_nSpeed(1).Text, m_nAdd(1).Text, m_dTacc(1).Text Interp_Move2 2, 4, m_nPulse(1).Text, m_nPulse(3).Text '********************************ZW******************************** ElseIf m_bZ.value = vbChecked And m_bA.value = vbChecked Then Setup_Speed 3, m_nStartV(2).Text, m_nSpeed(2).Text, m_nAdd(2).Text, m_dTacc(2).Text Interp_Move2 3, 4, m_nPulse(2).Text, m_nPulse(3).Text Else MsgBox "please choose the 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 'logic pos Dim nActPos As Long 'real pos Dim nSpeed As Long 'run-speed Dim nStatus(4) As Long 'status of motion For i = 1 To 4 Get_CurrentInf i, nLogPos, nActPos, nSpeed m_nLogPos(i - 1).Caption = nLogPos m_nActPos(i - 1).Caption = nActPos m_nRunSpeed(i - 1).Caption = nSpeed Get_MoveStatus i, nStatus(i - 1), 0 'Check signal of limitstop0 and stop1 'LMT+(XLMT-: 0,YLMT- :6,ZLMT-:12,WLMT- :18) If Read_Input((i - 1) * 6) = 0 Then m_bPLimit(i - 1).value = 1

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Else m_bPLimit(i - 1).value = 0 End If 'LMT-(XLMT+ : 1,YLMT+ :7,ZLMT+ :13,WLMT+ :19) If Read_Input((i - 1) * 6 + 1) = 0 Then m_bNLimit(i - 1).value = 1 Else m_bNLimit(i - 1).value = 0 End If 'stop0(XSTOP0 : 2,YSTOP0 :8,ZSTOP0 :14,WSTOP0 :20) If Read_Input((i - 1) * 6 + 2) = 0 Then m_bStop0(i - 1).value = 1 Else m_bStop0(i - 1).value = 0 End If 'stop1(XSTOP1 : 3,YSTOP1 :9,ZSTOP1 :15,WSTOP1 :21) If Read_Input((i - 1) * 6 + 3) = 0 Then m_bStop1(i - 1).value = 1 Else m_bStop1(i - 1).value = 0 End If Next i If nStatus(0) = 0 And nStatus(1) = 0 And nStatus(2) = 0 And nStatus(3) = 0 Then 'is running AxisPmove.Enabled = True InterpMove.Enabled = True BaseparaSet.Enabled = True ClearPos.Enabled = True ComeMove.Enabled = True LineInpMove.Enabled = True IOTest.Enabled = True Else 'motion is finished or stopped AxisPmove.Enabled = False InterpMove.Enabled = False BaseparaSet.Enabled = False ClearPos.Enabled = False ComeMove.Enabled = False LineInpMove.Enabled = False IOTest.Enabled = False

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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 4

StopRun i, 0

Next i

End Sub

VC PROGRAMMING SAMPLES

2.1 Preparation

(1) Create a new item and save as “VCExample.dsw”;

(2) Load the static library ADT8940A1.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 __ADT8940A1__CARD__

# define __ADT8940A1__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

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********************************************************************/

#define MAXAXIS 4 //axis number

class CCtrlCard { public: int Get_DelayStatus(); int Setup_Delay(long time); int Setup_HardStop(int value, int logic); int Setup_Stop1Mode(int axis, int value, int logic); int Setup_Stop0Mode(int axis, int value, int logic); int Setup_LimitMode(int axis, int value1, int value2, int logic); int Setup_PulseMode(int axis, int value); void Get_Version(float &LibVer, float &HardwareVer); int Setup_Pos(int axis, long pos, int mode); 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 StopRun(int axis, int mode); int Interp_Move4(long value1, long value2, long value3, long value4); int Interp_Move3(int axis1, int axis2, int axis3, long value1, long value2, long value3); int Interp_Move2(int axis1, int axis2, long value1, long value2); int Axis_Pmove(int axis ,long value); int Setup_Speed(int axis ,long startv ,long speed ,long add); int Init_Board();

int Sym_RelativeMove(int axis, long pulse, long lspd ,long hspd, double tacc); int Sym_AbsoluteMove(int axis, long pulse, long lspd ,long hspd, double tacc); int Sym_RelativeLine2(int axis1, int axis2, long pulse1, long pulse2, long lspd ,long hspd, double tacc); int Sym_AbsoluteLine2(int axis1, int axis2, long pulse1, long pulse2, long lspd ,long hspd, double tacc); int Sym_RelativeLine3(int axis1, int axis2, int axis3, long pulse1, long pulse2, long pulse3, long lspd ,long hspd, double tacc); int Sym_AbsoluteLine3(int axis1, int axis2, int axis3, long pulse1, long pulse2, long pulse3, long lspd ,long hspd, double tacc); int Sym_AbsoluteLine4(long pulse1, long pulse2, long pulse3, long pulse4,long lspd ,long hspd, double tacc);

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int Sym_RelativeLine4(long pulse1, long pulse2, long pulse3, long pulse4,long lspd ,long hspd, double tacc); int Get_OutNum(int number); int Manu_Pmove(int axis, long pulse); int Manu_Continue(int axis); int Manu_Disable(int axis); int Setup_LockPosition(int axis,int mode,int regi,int logical); int Get_LockStatus(int axis,int &v); int Get_LockPosition(int axis,long &pos); int Clr_LockPosition(int axis); CCtrlCard(); int Result; //return value

}

;# endif

(5) Source codes of the source file CtrlCard.cpp are as follows:

# include "stdafx.h"

# include "ADT8940A1.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 = adt8940a1_initial() ; //intiial motion-card if (Result <= 0) return Result; for (int i = 1; i<=MAXAXIS; i++) {

Initialization function ************************************************

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//set limit modepositive limit and negative limit is effective,low level is effective set_limit_mode (0, i, 0, 0, 0); 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 }

return 1;

}

/**********************set speed***********************

according as para,judge whether is constant-speed

set start-speed ,motion-speed and acceleration

para：axis -axis number

startv -start-speed

speed -motion-speed

add -acceleration

Return=0 correctReturn=1 wrong

*********************************************************/

int CCtrlCard::Setup_Speed(int axis, long startv, long speed, long add ) { if (startv - speed >= 0) //constant-speed motion { Result = set_startv(0, axis, startv); set_speed (0, axis, startv); } else //Trapezoidal acceleration/ deceleration { Result = set_startv(0, axis, startv); set_speed (0, axis, speed); set_acc (0, axis, add/125); } return Result;

}

/*********************

This function is used to drive movement of a single axis

Single-axis motion function****************************************

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Return =0 means success, and Return =1 means error

*******************************************************************************************/

int CCtrlCard::Axis_Pmove(int axis, long value)

{

Result = pmove(0, axis, value);

return Result;

}

/*******************

This function is used to drive any 2 axis to carry on linear interpolation

Return =0 means success, and Return =1 means error

*********************************************************************************************/

int CCtrlCard::Interp_Move2(int axis1, int axis2, long value1, long value2)

{

Result = inp_move2(0, axis1, axis2, value1, value2);

return Result;

}

/*******************

This function is used to drive any 3 axis to carry on linear interpolation

Return =0 means success, and Return =1 means error

*******************************************************************************************/

int CCtrlCard::Interp_Move3(int axis1, int axis2, int axis3, long value1, long value2, long

value3)

{

Result = inp_move3(0, axis1, axis2, axis3, value1, value2, value3);

return Result;

}

/*******************

This function is used to drive the 4 axis to carry on linear interpolation

Any 2-axis interpolation function**********************

Any 3-axis interpolation function***********************

4-axis interpolation function****************************

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Return =0 means success, and Return =1 means error

********************************************************************************************/

int CCtrlCard::Interp_Move4(long value1, long value2, long value3, long value4)

{

Result = inp_move4(0, value1, value2, value3, value4);

return Result;

}

/*****************

This function is used to feedback the current logic position, real position and motion

speed of the selected axis

Return =0 means success, and Return =1 means error

*********************************************************************************************/

int CCtrlCard::Get_CurrentInf(int axis, long &LogPos, long &ActPos, long &Speed)

{

Result = get_command_pos(0, axis, &LogPos); get_actual_pos(0, axis, &ActPos); get_speed(0, axis, &Speed);

return Result;

}

/*****************

This function provides either sudden stop mode or deceleration stop mode

Return =0 means success, and Return =1 means error

*********************************************************************************************/

int CCtrlCard::StopRun(int axis, int mode)

{

if (mode == 0)

Result = sudden_stop(0, axis); //Sudden stop

else

Result = dec_stop(0, axis); //Deceleration stop

return Result;

Get information of movement*********************************

Stop motion function*************************************************

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}

/*****************Get motion status*****************************************************

This function is used to get single-axis drive status or interpolation drive status

Return =0 means success, and Return =1 means error

*********************************************************************************************/

int CCtrlCard::Get_Status(int axis, int &value, int mode)

{

if (mode==0) //Get single-axis motion status

Result=get_status(0,axis,&value);

Else //Get motion status of interpolation

Result=get_inp_status(0,&value);

return Result;

}

2.3 Function realization module

2.3.1 Interface design

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Remark:

(1) Speed setting part—used to set starting speed, drive speed and acceleration

of every axis; position setting—used to set drive pulse for every axis; motion information—used to real-time display logical position, real position and motion speed of every axis;

Drive object—users determine axis joining simultaneous movement or

(2)

interpolation by selecting drive objects;

Simultaneous movement—Used to send single-axis drive commands to all

(3)

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.

2.3.2 Initialization codes for the movement control card are inside window initialization, while users shall supplement the following codes:

int i=g_CtrlCard.Init_Board(); //*************initial 8940A1 motion-card************** if (i <= 0) {

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MessageBox( "Fail to initial motion-card!"); if (i==0) { MessageBox( "NO installation of ADT8940A1!"); } if(i==-1) { MessageBox( "no installation of service!"); } if(i==-2) { MessageBox( "PCI bus failure!"); } } else MessageBox ("Succeed in initial motion-card!");

//*************Get Version************** float LibVer; //Library Version float HardwareVer; //Hardware Version g_CtrlCard.Get_Version(LibVer,HardwareVer); CStatic *lbl; CString str; lbl=(CStatic*)GetDlgItem(IDC_INFO_VER); str.Format("Library Ver:%1.1f\nHardware Ver: %1.1f",LibVer,HardwareVer); lbl->SetWindowText(str);

//******* set start-speed 1000 ********* m_nStartvX = 1000; m_nStartvY = 1000; m_nStartvZ = 1000; m_nStartvA = 1000; //*********set run-speed 2000******** m_nSpeedX = 2000; m_nSpeedY = 2000; m_nSpeedZ = 2000; m_nSpeedA = 2000; //*********set add 1500********** m_nAddX = 1500;

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m_nAddY = 1500; m_nAddZ = 1500; m_nAddA = 1500; //********set pulse 100000****** m_nPulseX = 100000; m_nPulseY = 100000; m_nPulseZ = 100000; m_nPulseA = 100000; //***********set add time*************** m_dTaccX = 0.1; m_dTaccY = 0.1; m_dTaccZ = 0.1; m_dTaccA = 0.1; //*********set delay time 0************ m_nDelayTime = 0; UpdateData(FALSE); //***********set time************* SetTimer(MAINTIMER,100,NULL);

2.3.3 Simultaneous movement codes are inside the click message of Simultaneous

movement button and will send various drive commands for various selected

targets; the codes are as follows:

void CDEMODlg::OnButtonPmove()

{

UpdateData(TRUE);

Long Startv[]={m_nStartvX,m_nStartvY,m_nStartvZ,m_nStartvA}; //start-speed

long Speed[]={m_nSpeedX,m_nSpeedY,m_nSpeedZ,m_nSpeedA}; //run-speed

long Add[] ={m_nAddX,m_nAddY,m_nAddZ,m_nAddA}; //add

if(m_bX)

{

//*************set speed***************//

g_CtrlCard.Setup_Speed(1, m_nStartvX, m_nSpeedX, m_nAddX);

//*************X axis move***************//

g_CtrlCard.Axis_Pmove(1, m_nPulseX);

}

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if(m_bY )

{

//*************set speed**************//

g_CtrlCard.Setup_Speed(2, m_nStartvY, m_nSpeedY, m_nAddY);

//*************Y axis move****************//

g_CtrlCard.Axis_Pmove(2, m_nPulseY);

}

if(m_bZ )

{

//************set speed**************//

g_CtrlCard.Setup_Speed(3, m_nStartvZ, m_nSpeedZ, m_nAddZ);

//*************Z axis move**************//

g_CtrlCard.Axis_Pmove(3, m_nPulseZ);

}

if(m_bA )

{

//*************set speed**************//

g_CtrlCard.Setup_Speed(4, m_nStartvA, m_nSpeedA, m_nAddA);

//*************A axis move***************//

g_CtrlCard.Axis_Pmove(4, m_nPulseA);

}

2.3.4 Interpolation codes are inside the click message of the inp_move button and

will send various drive commands for various selected targets; the codes are

as follows:

void CDEMODlg::OnButtonInpmove ()

{

UpdateData(TRUE);

long startv[]={m_nStartX,m_nStartY,m_nStartZ,m_nStartW};

long Speed[]={m_nXSpeed,m_nYSpeed,m_nZSpeed,m_nWSpeed};

long Add[]={m_nAddX,m_nAddY,m_nAddZ,m_nAddW};

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long Pos[]={m_nPosX,m_nPosY,m_nPosZ,m_nPosW};

if(m_bX && m_bY && m_bZ && m_bW){ //Interpolation of the 4 axis

g_CtrlCard.Setup_Speed(1,startv[0],Speed[0],Add[0]);

g_CtrlCard.Interp_Move4(Pos[0],Pos[1],Pos[2],Pos[3]);

}

else if(m_bX && m_bY && m_bZ){ //XYZ Interpolation of 3 axis

g_CtrlCard.Setup_Speed(1,startv[0],Speed[0],Add[0]);

g_ctrlCard.Interp_Move3(1,2,3,Pos[0],Pos[1],Pos[2]);

}

else if(m_bX && m_bY && m_bW){ //XYW Interpolation of 3 axis

g_CtrlCard.Setup_Speed(1,startv[0],Speed[0],Add[0]);

g_CtrlCard.Interp_Move3(1,2,4,Pos[0],Pos[1],Pos[3]);

}

else if(m_bX && m_bZ && m_bW){ //XZW Interpolation of 3 axis

g_CtrlCard.Setup_Speed(1,startv[0],Speed[0],Add[0]);

g_CtrlCard.Interp_Move3(1,3,4,Pos[0],Pos[2],Pos[3]);

}

else if(m_bY && m_bZ && m_bW){ //YZW Interpolation of 3 axis

g_CtrlCard.Setup_Speed(2,startv[1],Speed[1],Add[1]);

g_CtrlCard.Interp_Move3(2,3,4,Pos[1],Pos[2],Pos[3]);

}

else if(m_bX && m_bY){ //XY Interpolation of 2 axis

g_CtrlCard.Setup_Speed(1,startv[0],Speed[0],Add[0]);

g_CtrlCard.Interp_Move2(1,2,Pos[0],Pos[1]);

}

else if(m_bX && m_bZ){ //XZ Interpolation of the 2 axis

g_CtrlCard.Setup_Speed(1,startv[0],Speed[0],Add[0]);

g_CtrlCard.Interp_Move2(1,3,Pos[0],Pos[2]);

}

else if(m_bX && m_bW){ //XW Interpolation of the 2 axis

g_CtrlCard.Setup_Speed(1,startv[0],Speed[0],Add[0]);

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g_CtrlCard.Interp_Move2(1,4,Pos[0],Pos[3]);

}

else if(m_bY && m_bZ){ //YZ Interpolation of the 2 axis

g_CtrlCard.Setup_Speed(2,startv[1],Speed[1],Add[1]);

g_CtrlCard.Interp_Move2(2,3,Pos[1],Pos[2]);

}

else if(m_bY && m_bW){ //YW Interpolation of the 2 axis

g_CtrlCard.Setup_Speed(2,startv[1],Speed[1],Add[1]);

g_CtrlCard.Interp_Move2(2,4,Pos[1],Pos[3]);

}

else if(m_bZ && m_bW){ //ZW Interpolation of the 2 axis

g_CtrlCard.Setup_Speed(3,startv[2],Speed[2],Add[2]);

g_CtrlCard.Interp_Move2(3,4,Pos[2],Pos[3]);

}

2.4 Monitoring module

The monitoring module is used to real-time get drive information of all the axes and

display movement information, at the same time of controlling them in drive process

without any new drive commands. This module is completed through timer

messages, with the following codes:

void

CDEMODlg::OnTimer(UINT nIDEvent)

{ long log=0,act=0,spd=0;

UINT nID1[]={IDC_POS_LOGX,IDC_POS_LOGY,IDC_POS_LOGZ,IDC_POS_LOGA}; UINT nID2[]={IDC_POS_ACTX,IDC_POS_ACTY,IDC_POS_ACTZ,IDC_POS_ACTA}; UINT nID3[]={IDC_RUNSPEED_X,IDC_RUNSPEED_Y,IDC_RUNSPEED_Z,IDC_RUNSPEED_A };

CStatic *lbl; CString str;

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ADT8940A1 4-axis servo/ stepping motion control card

int status[4]; for (int i=1; i<MAXAXIS+1; i++) { g_CtrlCard.Get_CurrentInf(i,log,act,spd); //Get logic-pos ,actual-pos and run-speed //********display logic-pos********// lbl=(CStatic*)GetDlgItem(nID1[i-1]); str.Format("%ld",log); lbl->SetWindowText(str); //********display actual-pos********// lbl=(CStatic*)GetDlgItem(nID2[i-1]); str.Format("%ld",act); lbl->SetWindowText(str); //********display run-speed********// lbl=(CStatic*)GetDlgItem(nID3[i-1]); str.Format("%ld",spd); lbl->SetWindowText(str); //******Get status******// g_CtrlCard.Get_Status(i,status[i-1],0); }

//******************Check signal*****************

// XLMT 0 XLMT+ 1 // XSTOP0 2 XSTOP1 3 // YLMT 6 YLMT+ 7 // YSTOP0 8 YSTOP1 9 // ZLMT 12 ZLMT+ 13 // ZSTOP0 14 ZLMT+ 15 // ALMT 18 ALMT+ 19 // ASTOP0 20 ASTOP1 21 //******************************************* UINT nIDIN[]={ IDC_LIMIT_X,IDC_LIMIT_X2, //XLMT+/XLMT IDC_STOP0_X, IDC_STOP1_X , IDC_LIMIT_Y, IDC_LIMIT_Y2, //YLMT+/YLMT IDC_STOP0_Y,IDC_STOP1_X2, IDC_LIMIT_Z,IDC_LIMIT_Z2, //ZLMT+/ZLMT IDC_STOP0_Z,IDC_STOP1_Z, IDC_LIMIT_A,IDC_LIMIT_A2, //ALMT+/ALMT IDC_STOP0_A,IDC_STOP1_A,

}; int io[]={0,1,2,3,6,7,8,9,12,13,14,15,18,19,20,21};

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ADT8940A1 4-axis servo/ stepping motion control card

CButton *btn; int value; for (i=0; i<16; i++) { value=g_CtrlCard.Read_Input(io[i]); //read input signal btn=(CButton*)GetDlgItem(nIDIN[i]); btn->SetCheck(value==0?1:0); } //**************************contorl button**************************** if(status[0]==0 && status[1]==0 && status[2]==0 && status[3]==0) { //****************finished**************** btn=(CButton*)GetDlgItem(IDC_BUTTON_PMOVE); btn->EnableWindow(TRUE); btn=(CButton*)GetDlgItem(IDC_BUTTON_INPMOVE); btn->EnableWindow(TRUE); btn=(CButton*)GetDlgItem(IDC_BUTTON_CLEARPOS); btn->EnableWindow(TRUE); btn=(CButton*)GetDlgItem(IDC_BUTTON_BASEPARA); btn->EnableWindow(TRUE); btn=(CButton*)GetDlgItem(IDC_BUTTON_IOTEST); btn->EnableWindow(TRUE); btn=(CButton*)GetDlgItem(IDC_LINEINP_MOVE); btn->EnableWindow(TRUE); btn=(CButton*)GetDlgItem(IDC_COMP_MOVE); btn->EnableWindow(TRUE); } else { //**********running********** btn=(CButton*)GetDlgItem(IDC_BUTTON_PMOVE); btn->EnableWindow(FALSE); btn=(CButton*)GetDlgItem(IDC_BUTTON_INPMOVE); btn->EnableWindow(FALSE); btn=(CButton*)GetDlgItem(IDC_BUTTON_CLEARPOS); btn->EnableWindow(FALSE); btn=(CButton*)GetDlgItem(IDC_BUTTON_BASEPARA); btn->EnableWindow(FALSE);

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ADT8940A1 4-axis servo/ stepping motion control card

btn=(CButton*)GetDlgItem(IDC_BUTTON_IOTEST); btn->EnableWindow(FALSE); btn=(CButton*)GetDlgItem(IDC_LINEINP_MOVE); btn->EnableWindow(FALSE); btn=(CButton*)GetDlgItem(IDC_COMP_MOVE); btn->EnableWindow(FALSE); }

CDialog::OnTimer(nIDEvent); }

2.5 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 messages of Stop button, with the following codes:

void

CDEMODlg::OnButtonStoprun()

{

for (int i = 1; i<= MAXAXIS; i++){

g_CtrlCard.StopRun(i,0);

}

Chapter 11 Normal failures and solutions

Movement control card detection failure

During use of control card, if encountering failure to detect the control card, users may

follow the following items to check:

(1) Check whether drive program for the control card has been installed step by step

following installation guide and whether there is the dynamic library file for the control card under the system menu (System32 or System);

(2) Check touch between the movement control card and the slot; users may test it by

re-inserting or changing the slot, alternatively, use a rubber to clean dirt on the golden finger of the control card and re-insert;

(3) Under the system equipment manager, check whether there is conflict between

the movement control card and other hardware. In case of use of PCI card, users may remove other cards or boards first, such as sound card and network card; in

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ADT8940A1 4-axis servo/ stepping motion control card

case of PC104 card, users may adjust the dialing switch and reset the base address, while the base address used during card initialization must be same as the actual base address;

(4) Check whether there are any problems with the operating system; users may test

it through re-installing other versions of operating systems;

(5) If failing to find the control card after the above steps, users may change the

control card for further detection so as to discover whether there is damage with the control card.

MOTOR SERVICE FAILURE

In case the motor breakdowns while the movement control card works normally, users

may follow the following points for troubleshooting.

(1) Motor makes no reaction when the movement control card outputs pulses

Ü Check cable between the control card and the terminal panel;

Ü Check whether the pulse and direction signal wire of the motor driver has

been correctly connected to the terminal panel;

Ü Check connection of the external power supply for the servo driver;

Ü Check whether there is alarming status in the servo/ stepping motor driver;

in case of any alarm there, follow codes corresponding to alarms to check the reason.

Ü Check connection to the servo SON and whether there is excitation status

in the servo motor ;

Ü In case of servo motor, check control method of the driver; control card of

our company support the Position Control Method.

Ü Damage to the motor/ driver

(2) Stepping motor makes abnormal noise during service and motor makes obvious

out-steps.

Ü Calculate motor speed and make sure the stepping motor is under 10-15

rounds per second instead of faster speed;

Ü Check internal obstruction in the mechanical part or resistance to the

machine;

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ADT8940A1 4-axis servo/ stepping motion control card

Ü Change to large-moment motors if the current motor is not sufficient;

Ü Check current and voltage of the driver; current shall be set as 1.2 of the

nominated current and supply voltage shall be within the nominated range;

Ü Check the starting speed of the controller; normal starting speed shall be

0.5-1 and the acceleration/ deceleration time shall be over 0.1 second.

(3) Servo/ stepping motor makes obvious vibration or noises during processing

Ü Reduce the position ring gain and speed ring gain of the driver while

allowed by the positioning precision, if the cause is such ring gains are too big;

Ü Adjust machine structure if the cause is poor machine rigidity;

Ü Change to large-moment motors if the current motor is not sufficient;

Ü Avoid the co-vibration area of the motor or increase partitions so as not to

have the speed of stepping motor within the co-vibration area of the motor.

(4) Motor positions inaccurately

Ü Check whether the mechanic screw pitch and pulses per round comply

with the parameters set in the actual application system, i.e., pulse equivalent;

Ü Enlarge position ring gain and speed ring gain in case of servo motor;

Ü Check screw gap of the machine in the way of measuring the backward

gap of a screw through a micrometer and adjust the screw if there is any gap;

Ü In case of inaccurate positioning out of regular time or position, check

external disturbance signals;

Ü Check whether it is due to non-powerful motor that there is shaking or

out-step.

(5) Motor makes no direction

Ü Check DR+ DR- cable for connection error or loose connection;

Ü Make sure the pulse mode applied in the control card comply with the

actual driver mode; this control card support either “pulse + direction” or “pulse + pulse” mode.

Ü Check broken cable or loose connection along the motor cable, in case of

stepping motor.

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ADT8940A1 4-axis servo/ stepping motion control card

ABNORMAL SWITCH AMOUNT INPUT

In case some input signals give unusual detection results during system adjusting and

running, users may check in accordance with the following methods:

(1) No signal input

Ü Check whether the wiring is correct according to the above-introduced

wiring maps for normal switch and approach switch and ensure the public port for photoelectric coupling of input signals have been connected with anode of internal or external power supply (+12V or 24V);

Ü Check switch model and wiring method; the input switch for I/O points of

our company is of NPN model.

Ü Check whether there is damage with the photoelectric coupler. In case of

normal wiring, input status will not change no matter the input point is broken or closed; users may use multi-use meter to check whether the photoelectric coupler has been broken, and if yes, replace with a new one;

Ü Check the 12V or 24V power supply to the switch;

Ü Check whether there is damage to the switch.

(2) Non-continuous signals

Ü Check whether there is disturbance by detecting signal status in the I/O

test interface; in case of disturbance, increase with Model 104 multiple layer capacitor or apply blocking cables;

Ü If the machine makes obvious shaking or unusual work stop during normal

service, check whether there is disturbance to the limit switch signals or the limit switch work reliably;

Ü Check connection of external cables.

(3) Inaccurate reset

Ü Too high speed decreases reset speed ;

Ü Check disturbance source if the problem is there is external disturbance to

signals;

Ü Wrong resetting direction;

Ü Improper installation position of the reset switch or loose switch

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adtech ADT-8940A1 Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Version Upgrading Record

Contents

Chapter 1 General information

Chapter 2 Hardware installation

Chapter 3 Electrical connection

Chapter 4 Software installation

Chapter 5 Functions

Chapter 6 List of ADT8940A1 basic library functions

Chapter 7 Details of ADT8940A1 basic library functions

Chapter 8 Guide to motion control function library

Chapter 9 Briefing on motion control development

Chapter 11 Normal failures and solutions

MOTOR SERVICE FAILURE