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
Contents
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 -
H
CARD INITIALIZATION
H
SPEED SETTING
H
STOP0, STOP1
.....................................................................- 56 -
SIGNAL
.......................................................- 56 -
............................................................- 57 -
CHAPTER 10 PROGRAMMING SAMPLES IN MOTION CONTROL
DEVELOPMENT .................................................................................
- 58 -
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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ADT8940A1 4-axis servo/ stepping motion control card
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
H
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.
H
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
h
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.
H
APPLICATIONS
Q
Multi-axis engraving system
Q
Robot system
Q
Coordinate measurement system
Q
PC-based CNC system
, position lock, large-capacity
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ADT8940A1 4-axis servo/ stepping motion control card
Chapter 2 Hardware installation
H
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)
H
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
4.
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
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:
H
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+)
22
23
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
H
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-
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
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
+12V
+5V
+5V
GND
GND
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
General 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
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
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
H
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
r
p
motor driver and terminal panel.
H
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
H
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
r
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：
H
o
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ADT8940A1 4-axis servo/ stepping motion control card
H
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 pin181522 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
H
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：
H
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ADT8940A1 4-axis servo/ stepping motion control card
ADT-9112 terminal block wiring diagram：
H
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.
H
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.
H
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
H
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
Low level
Hi level
H
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.
H
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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