ADT-8948A1
4-axle Motion Controlling Card
Technical Manual
Shenzhen Adtech Digital Control Tech Co., Ltd.
Add：Building 36 Majialong Industrial Area Nanshan District,Shenzhen
Post Code: 518052
Tel：0755-26722719 （20 lines） Fax: 0755-26722718
ADT8948A1 4-axis Servo/Stepping Motion Card
Statement about the Copyright
The book property right in this manual belongs to Adtech Digital Tech Co., Ltd only (Further it is Adtech
for short). Without the permission of Atech, anyone can not willfully imitate, copy, copy out or re-translate it. The
manual has no any forms of guarantee, experession of stand point or other suggestions. The Adtech and its staff
have no any responsibilities if there is a information given away secret to bring about a loss of interests or stop of
deeds. Besides, the sizes and data are only for reference in the manual. Its contents may be innovotaed without any
further notice.
Statement about the Trade Mark
The product names involving in the manual are only used to distinguish while they may belong to other
different trade marks or copyrights. Our statement is as follows:
INTEL, PENTIUM are trade marks of INTEL Company.
All WINDOWS，MS—DOS are product trade marks of MICROSOFT Company.
DT-850 is trade mark of Adtech Company.
The marks not mentioned above belong to companies registered.
All rights reserved
Adtech Digital Control Tech Co., Ltd.
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Contents
CHAPTER I INTRODUCTION.............................................................................................................................4
)
A
BOUT THE PRODUCT
)
F
EATURES
)
A
PPLICATION
CHAPTER II INSTALLING HARDWARE.......................................................................................................... 7
)
A
CCESSORIES
)
I
NSTALL
CHAPTER III ELECTRIC CONNECTION........................................................................................................ 8
)
J1
CABLE MARKER DESCRIPTION
)
J2
CABLE MARKER DESCRIPTION
) C
ONNECTION OF PULSE/DIRECTION OUTPUT SIGNALS
)
C
ONNECTION OF INPUT SIGNALS OF CODER
)
C
ONNECTION OF DIGITAL INPUT
)
C
ONNECTION OF DIGITAL OUTPUT
CHAPTER IV INSTALLING SOFTWARE........................................................................................................ 17
) I
NSTALL DRIVER IN WIN
CHAPTER V FUNCTIONS.................................................................................................................................. 20
)
Q
UANTITATIVE DRIVING
)
C
ONTINUOUS DRIVING
)
V
ELOCITY CURVE
)
P
OSITION MANAGEMENT
)
I
NTERPOLATION
)
P
ULSE OUTPUT MODE
)
H
ARDWARE LIMIT SIGNAL
)
S
IGNALS CORRESPONDING TO SERVO MOTOR
)
P
OSITION LOCK
)
A
UTOMATICALLY BACK TO HOME
) E
XTERNAL SIGNAL DRIVING
) S
TEPPING INTERPOLATION
CHAPTER VI BASIC LIBRARY FUNCTIONS LIST OF ADT-8948A1......................................................... 34
CHAPTER VII DETAILS OF BASIC LIBRARY FUNCTIONS OF ADT8948A1.......................................... 39
)
B
ASIC PARAMETERS SETTINGS
)
D
RIVING STATUS CHECKING
)
M
OVING PARAMETER SETTINGS
)
M
OVING PARAMETER CHECKING
)
L
IBRARY FUNCTION VERSION CHECKING
)
B
ASIC DRIVING
)
S
YNCHRONIZED FUNCTION SETTING
)
C
OMPOSITE DRIVING
)
S
WITCH QUANTITY INPUT/OUTPUT
CHAPTER VIII MOTION CONTROL FUNCTION LIBRARY GUIDE ....................................................... 75
CHAPTER IX KEY POINTS OF MOTION CONTROL DEVELOPMENT.................................................. 77
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XP........................................................................................................... 17
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ADT8948A1 4-axis Servo/Stepping Motion Card
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)
I
NITIALIZE THE CARD
)
S
PEED SETTING
)
STOP0, STOP1
)
S
ERVO SIGNAL
CHAPTERⅩ EXAMPLES OF MOTION CONTROL DEVELOPING AND PROGRAMMING................ 80
)
E
XAMPLE PROGRAM OF
)
E
XAMPLE PROGRAM OF
CHAPTER XI TROUBLE SHOOTING ........................................................................................................... 167
)
M
ALFUNCTION OF MOTOR
)
S
WITCH QUANTITY INPUT ERROR
............................................................................................................................... 77
................................................................................................................................ 79
..................................................................................................................... 77
AND
STOP2
ADT8948A1 4-axis Servo/Stepping Motion Card
SIGNAL
VB ........................................................................................................... 80
VC ......................................................................................................... 120
............................................................................................................ 167
............................................................................................ 79
................................................................................................. 168
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ADT8948A1 4-axis Servo/Stepping Motion Card
Chapter I Introduction
)
About the product
ADT-8948A1 is a high performance 4-axis servo/stepping motion card based on PCI bus.
One system can use up to 16 motion cards and control 64 servo/stepping motors. It supports PnP
and the position has variable cyclic function. The speed and target position can be changed in
real-time in the motion process. Advanced functions like continuous interpolation are available.
The pulse output mode is either signal pulse (pulse + direction) or double pulse (pulse +
pulse). The maximum pulse frequency is 4MHz. With advanced technology, the frequency error
is less than 0.1% even when the pulse output frequency is high.
The position is managed by two up/down counters. One is logical position counter used to
manage inner pulse output and the other is used to receive outer pulse input. It is either A/B
phase input signal of coder or grating scale, or input signal of up/down pulse. As actual position
counter, its bits can reach 32 and the maximum range is -2,147,483,648~+2,147,483,647. The
outer input can be used as handwheel input for common counting.
Provide servo interface signals, e.g. Z-phase signal of coder, in-position signal (INPOS),
alarm signal (ALARM) and servo enable (SERVO ON).
Multiple control modes: external signal driving, position lock, automatically back to home,
synchronized control, stepping interpolation, quantitative motion, continuous motion, home
motion, multi-axis interpolation, arc interpolation, emergency stop. Interpolation is normally
used for constant velocity motion or linear/S curve acceleration/deceleration (S curve
acceleration/deceleration can’t be used for arc interpolation).
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.
Automatically back to home can be in various modes. The home signals may be combined
freely in certain mode. The modes can also be customized.
Synchronized control means that the motion axis acts in preset mode when the state of
specified signal changes.
Steeping interpolation is to perform interpolation in single step, including command driving
and external signal driving.
The interpolation is integrated with continuous interpolation function, i.e. input the
interpolation data of next point in the interpolation process to ensure the continuity of pulse and
optimize the performance of interpolation. The maximum interpolation speed is 2MHz.
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ADT8948A1 4-axis Servo/Stepping Motion Card
The speed control can be constant linear speed (vector composite speed), constant velocity or
linear/S-curve acceleration/deceleration. It may perform asymmetric linear
acceleration/deceleration. Automatic deceleration and manual deceleration are optional. In
constant driving process, it can prevent triangle wave caused by speed curve.
Each axis has two 32-bit compare registers, which are used for software limit.
Each axis has 8 input signals, including 2 positive/negative limit signals, 3 stop signals, 1
servo in-position signal, 1 servo alarm signal and 1 general input signal. Except limit signals,
other signals can be used as general input signals by setting them as invalid. The 3 stop signals
can be used to search for home signal, deceleration signal and Z-phase of coder. All digital input
signals have integral filters. Eight filtering time constants are optional to avoid interference.
Provide DOS, WINDOWS95/98/NT/2000/XP and WINCE development libraries, and
developing software with VC++, VB, BC++, C++builder, LabVIEW and Delphi is possible.
)
Features
z 32-bit PCI bus, PnP
z 4-axis servo/stepping motor control; each axis can control independently
z The frequency error of pulse input is less than 0.1%
z Maximum pulse output frequency is 4MHz
z Pulse output can be either single pulse (pulse + direction) or double pulse (pulse + pulse)
z All the 4 axes have position feedback input; 32-bit counting; maximum counting range:
-2,147,483,648~+2,147,483,647
z Linear or S-curve acceleration/deceleration
z Asymmetric linear acceleration/deceleration
z Random 2-3 axes linear interpolation
z Random 2 axes arc interpolation
z Continuous interpolation is available; top driving speed: 2MHz
z Each axis has two 32-bit compare registers, which are used for position comparison
between logical position counter and actual position counter, and software limit
z Receive signals from servo motor drive, e.g. coder Z-phase signal, in-position signal,
alarm signal, etc
z Each axis has 3 STOP signals, which are used to search for home and Z-phase of coder
z The speed and target position can be changed in real-time in the motion process
z Read the logical position, real position, driving speed, acceleration and driving state in
real-time in the motion process
z Position counter is integrated with variable cyclic function; the logical position counter and
actual position counter are 32-bit up/down cyclic counters
z Each axis has 8-in/8-out digital I/O. Except two limit signals, all signals can be used as
general I/O. Digital output can be used in signals of servo on and servo alarm reset
z The input port of every input signal is equipped with integral filter. You can select to
activate/deactivate the filter of certain input signal. Select one from the 8 constants for
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the filter time
z Constant linear speed mode is available
z Automatic back to home in various modes
z Position lock triggered by external signal
z Synchronized motion triggered by external signal
z Synchronized stop triggered by external signal
z Synchronized motion at specified position
z Synchronized stop at specified position
z Handwheel and external signal operation
z Stepping interpolation function
z Up to 16 motion cards can be used in one system
Supported operating systems: DOS, WINDOWS95/98/NT/2000/XP
)Application
2
Multi-asix carving and milling system
2
Robot system
2
Coordinate measuring system
2
Numerical control system based on PC
ADT8948A1 4-axis Servo/Stepping Motion Card
, WINCE
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)
Accessories
)
Install
Chapter II Installing Hardware
1
． ADT-8948A1 User Manual
2
． ADT-8948A1 4-axis PCI motion card
3
． ADT-8948A1 CD
4
． ADT-9162 2 terminal blocks
5
． D62GG Two 62-core shielded cables
6
． DB64 One 64-core flat cable
7
． ADT_9164 One transition board
1. Cut off the power supply of PC.
2. Open the back cover of computer case.
ADT8948A1 4-axis Servo/Stepping Motion Card
3. Select an idle PCI slot and insert the ADT-8948A1.
4. Make sure the golden finger of ADT-8948A1 is inserted into the slot completely
and then fix the screw.
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 DB64 to J2 of motion card and the other end to P2 of
ADT_9164;
(2) Fix the ADT_9164 on the rear side of the enclosure;
(3) Connect D62GG to P2 of the transition board and ADT_9162.
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) Wiring Diagram
ADT8948A1 4-axis Servo/Stepping Motion Card
Chapter III Electric Connection
One ADT8948A1 card has two input/output interfaces: J1/P1, J2/P2 (62-pin socket).
)
J1 cable marker description
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ADT8948A1 4-axis Servo/Stepping Motion Card
Cable
Symbol Description
marker
1 PUCOM Positive port of internal +5V power supply; do not connect
to external power supply; COM for common anode wiring
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 -
10 PUCOM Positive port of internal +5V power supply; do not connect
to external power supply; COM for common anode wiring
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 port of photoelectric coupling input (signals
below), 12V-24V
20 XLMT-/IN0 X negative limit signal
21 XLMT+/IN1 X positive limit signal
22 XSTOP0/IN2 X origin signal 0; can be used as universal input signal
23 XSTOP1/IN3 X origin signal 1; can be used as universal input signal
24 XSTOP2/IN4 X origin signal 2; can be used as universal input signal
25 XALM/IN5 X servo alarm signal; can be used as universal input signal
26 YLMT-/IN6 Y negative limit signal
27 YLMT+/IN7 Y positive limit signal
28 INCOM2 Common port of photoelectric coupling input (signals
below), 12V-24V
29 YSTOP0/IN8 Y origin signal 0; can be used as universal input signal
30 YSTOP1/IN9 Y origin signal 1; can be used as universal input signal
31 YSTOP2/IN10 Y origin signal 2; can be used as universal input signal
32 YA L M/ I N1 1 Y servo alarm signal; can be used as universal input signal
33 ZLMT-/IN12 Z negative limit signal
34 ZLMT+/IN13 Z positive limit signal
35 ZSTOP0/IN14 Z origin signal 0; can be used as universal input signal
36 ZSTOP1/IN15 Z origin signal 1; can be used as universal input signal
37 INCOM3 Common port of photoelectric coupling input (signals
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ADT8948A1 4-axis Servo/Stepping Motion Card
below), 12V-24V
38 ZSTOP2/IN16 Z origin signal 2; can be used as universal input signal
39 ZALM/IN17 Z servo alarm signal; can be used as universal input signal
40 ALMT-/IN18 A negative limit signal
41 ALMT+/IN19 A positive limit signal
42 ASTOP0/IN20 A origin signal 0; can be used as universal input signal
43 ASTOP1/IN21 A origin signal 1; can be used as universal input signal
44 ASTOP2/IN22 A origin signal 2; can be used as universal input signal
45 AALM/IN23 A servo alarm signal; can be used as universal input signal
46 OUT0
Digital output
47 OUT1
48 OUT2
49 OUT3
50 OUTCOM External power supply ground wire; common port of digital
output OUT0-3
51 OUT4
Digital output
52 OUT5
53 OUT6
54 OUT7
55 OUTCOM External power supply ground wire; common port of digital
output OUT4-7
56 OUT8
Digital output
57 OUT9
58 OUT10
59 OUT12
60 OUTCOM External power supply ground wire; common port of digital
output OUT8-12
61 +12V Positive port of internal +12V power supply; do not
connect to external power supply
62 GND Internal power supply ground wire
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)
J2 cable marker description
ADT8948A1 4-axis Servo/Stepping Motion Card
Cable
Symbol Description
marker
1 XECA+ X-axis coder phase A input +
2 XECA- X-axis coder phase A input 3 XECB+ X-axis coder phase B input +
4 XECB- X-axis coder phase B input 5 YECA+ Y-axis coder phase A input +
6 YECA- Y-axis coder phase A input 7 YECB+ Y-axis coder phase B input+
8 YECB- Y-axis coder phase B input 9 ZECA+ Z-axis coder phase A input +
10 ZECA- Z-axis coder phase A input 11 ZECB+ Z-axis coder phase B input +
12 ZECB- Z-axis coder phase B input 13 AECA+ A-axis coder phase A input +
14 AECA- A-axis coder phase A input 15 AECB+ A-axis coder phase B input +
16 AECB- A-axis coder phase B input 17 INCOM Common port of photoelectric coupling input (signals
below), 12V-24V
18 XIN/IN24 X position lock signal; can be used as universal input signal
19 XINPOS/IN25 X servo in-position signal; can be used as universal input
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ADT8948A1 4-axis Servo/Stepping Motion Card
signal
20 YIN/IN26 Y position lock signal; can be used as universal input signal
21 YINPOS/IN27 Y servo in-position signal; can be used as universal input
signal
22 ZIN/IN28 Z position lock signal; can be used as universal input signal
23 ZINPOS/IN29 Z servo in-position signal; can be used as universal input
signal
24 AIN/IN30 A position lock signal; can be used as universal input signal
25 AINPOS/IN31 A servo in-position signal; can be used as universal input
signal
26 EXPP+ Handwheel phase A input +, can be used as common port of
universal input signal (IN32)
27 EXPP- Handwheel phase A input -, can be used as universal input
signal (IN32)
28 EXPM+ Handwheel phase B input +, can be used as common port
of universal input signal (IN33)
29 EXPM- Handwheel phase B input -, can be used as universal input
signal (IN33)
30 INCOMA Common port of photoelectric coupling input (signals
below), 12V-24V
31 EMGN Emergency stop input signal (IN34)
32 INCOMB Common port of photoelectric coupling input (signals
below), 12V-24V
33 EXPLSN
34 OUT12
Stepping interpolation input signal
Digital output
35 OUT13
36 OUT14
37 OUT15
38 OUT16
39 OUTCOM External power supply ground wire; common port of digital
output OUT12-16
40 OUT17
41 OUT18
Digital output
42 OUT19
43 OUT20
44 OUT21
45 OUTCOM External power supply ground wire; common port of digital
output OUT17-21
46 OUT22
Digital output
47 OUT23
48 OUT24
49 OUT25
50 OUT26
51 OUTCOM External power supply ground wire; common port of digital
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ADT8948A1 4-axis Servo/Stepping Motion Card
output OUT22-26
52 OUT27
Digital output
53 OUT28
54 OUT29
55 OUT30
56 OUT31
57 OUTCOM External power supply ground wire; common port of digital
output OUT27-31
58 +12V Potive port of internal +12V power supply; do not connect
to external power supply
59 +12V Potive port of internal +12V power supply; do not connect
to external power supply
60 +5V Potive port of internal +5V power supply; do not connect to
external power supply
61 GND Internal power supply ground wire
62 GND Internal power supply ground wire
Note:
XIN, YIN, ZIN and AIN are control signals of position lock and synchronous control
)
Connection of pulse/direction output signals
The pulse/direction signals of the motion card and wiring methods of servo drive and stepping drive
are divided into differential mode and common anode mode.
The following figure shows the common anode wiring of pulse/direction:
The following figure shows the differential wiring of pulse/direction (this mode is recommended for
its strong anti-interference performance):
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ADT8948A1 4-axis Servo/Stepping Motion Card
Note: See Appendix A for the wiring diagrams of stepping motor drive, common servo motor dirve
and terminal board.
)
Connection of input signals of coder
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ADT8948A1 4-axis Servo/Stepping Motion Card
)
Connection of digital input
Note:
(1) To make the input signals valid, connect the “common photoelectric coupling port” of
corresponding input signals (INCOM1, INCOM2, INCOM3, INCOM4, INCOMA, INCOMB) to
the positive port of 12V or 24V power supply; connect one end of common switch or ground wire
of approach switch to negative port (ground wire) of power supply; connect the other end of
common switch or control end of approach switch to corresponding input port of terminal board.
(2) The following figure shows the wiring diagram of common switch and approach switch
supplying “common photoelectric coupling port” with external power (take J1 terminal board for
example).
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ADT8948A1 4-axis Servo/Stepping Motion Card
)
Connection of digital output
OUT0-OUT31 is photoelectric coupling isolation output; see the figure above for wiring mode;
the output current of each line should be smaller than 100mA.
Note:
(1) To make the output signals valid, connect common output (OUTCOM) to negative end
(ground wire) of external power supply; connect the ground wire (GND) of internal power supply to
earth. Connect one end of relay coil to positive end of power supply and the other end to
corresponding output of terminal board.
(2) Do not connect positive ends of external and internal power supply.
(3) The following figure shows the actual wiring diagram of relay with external power supply
(take J1 terminal borad for example).
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ADT8948A1 4-axis Servo/Stepping Motion Card
Chapter IV Installing Software
To use the ADT-8948A1 card in Win95/Win98/NT/Win2000/WinXP, you need to install driver
first. The driver isn’t necessary in DOS.
The following section shows the procedures of installing driver in WinXP. Refer to this part to
install driver in other operating systems.
The driver (filename: adt8948.inf) of the motion card is in the folder “Development
package\Drivers\Driver of motion card” in the disc.
)
Install driver in WinXP
To install driver in WinXP:
1. First, the dialogue box “Found New Hardware Wizard” appears, as shown in the figure
below:
Select the last option in the dialogue box (No, not this time), as shown in the figure below:
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ADT8948A1 4-axis Servo/Stepping Motion Card
2. Click “Next” and the following dialogue box appears:
Select “Install from a list or specific position (Advanced)”, as shown in the figure below:
3. Click “Next” and the following dialogue box appears:
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ADT8948A1 4-axis Servo/Stepping Motion Card
Click “Browse” to select the position of driver.
4. Click “Next” to install. The following interface appears after installation:
5. Click “Finish”.
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ADT8948A1 4-axis Servo/Stepping Motion Card
Chapter V Functions
)
Quantitative driving
Quantitative driving means to output pulse of specified amount in constant velocity or
acceleration/deceleration. It is useful to move to specified position or execute specified action.
The quantitative driving of acceleration/deceleration is shown in the following picture.
Deceleration starts when left output pulses are less than accumulated acceleration pulses. The
driving stops after the output of specified pulses.
Configure the following parameters to execute the quantitative driving of
acceleration/deceleration:
a) Range R
Acceleration/deceleration A/D
b)
c)
Start velocity SV
d) Driving velocity V
e) Output pulse P
Acceleration/deceleration quantitative driving automatically decelerates from the
deceleration point as shown in the picture above. Manual deceleration is also available. In the
following conditions, the automatic deceleration point can’t be calculated accurately, thus the
manual calculation is necessary:
z The velocity changes frequenctly in linear
z Perform arc and
Change into manual
quantitative
interpolation in
deceleration mode and select deceleration point.
acceleration/deceleration quantitative driving
acceleration/deceleration.
.
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ADT8948A1 4-axis Servo/Stepping Motion Card
)
Continuous driving
In continuous driving, output driving pulse continuously until the high stop command or external
stop signals are valid. It is useful in home searching, scanning and controlling of motor velocity.
Two stop commands are available: decelerated and sudden. Each axis has the three external
signals STOP0, STOP1 and STOP2 for decelerated/sudden stop. Every signal can be set as
valid/invalid electricity. STOP0, STOP1 and STOP2 signals are decelerated stop in
acceleration/deceleration driving and sudden stop in constant velocity driving.
The application of continuous driving in home searching
Cinfigure home approach signal, home signal and coder phase Z signal to STOP0, STOP1 and
STOP2. Set the valid/invalid and logical electricity of every signal of each axis.
Acceleration/deceleration continuous driving is used in high speed searching. If the set valid
signal is in activated electricity level,
is used in low speed searching. If the set valid signal is in activated electricity level,
is used. To drive continuously in
as quantitative driving except output pulses.
)
Velocity curve
decelerated stop is used. Constant velocity
continuous driving
sudden stop
acceleration/deceleration, you need to configure same parameters
3.1 Constant velocity driving
Constant velocity driving is to output driving pulses in constant speed. If the set driving velocity
is lower than start velocity, there is only constant velocity driving. Only low velocity constant driving
is necessary if you use home searching and coder phase Z signals and stop immediately when signals
are searched.
Configure the following parameters to execute constant velocity driving:
z Range R
z Start velocity SV
z Driving velocity V
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ADT8948A1 4-axis Servo/Stepping Motion Card
3.2 Linear acceleration/deceleration driving
Linear acceleration/deceleration driving is to accelerate from start velocity to specified driving
velocity linearly.
In quantitative driving, the acceleration counter records the accumulated pulses of acceleration. If
left output pulses are less than acceleration pulses, it will decelerate (automatically). In deceleration, it
will decelerate to start velocity linearly in specified velocity.
Configure the following parameters to execute linear acceleration/deceleration driving:
z Range R
z Acceleration A
Acceleration and deceleration
z Deceleration D Deceleration if they are set separately (if necessary)
z Start velocity SV
z Driving velocity V
0 Triangle prevention in quantitative driving
In quantitative driving of linear acceleration/deceleration, if the output pulses are less than the
required pulses to accelerate to driving velocity, triangle waves as shown in the picture will appear,
and triangle prevention is activated in this case.
The triangle prevention function is to prevent triangle wave if the output pulses are less than
required pulses in linear acceleration/deceleration quantitative driving. In acceleration, if the pulses
consumed by acceleration and deceleration are more than 1/2 of total output pulses, acceleration stops
and keeps in constant velocity field. Therefore, even if output pulses are less than 1/2 of output pulses,
it is in constant velocity field.
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ADT8948A1 4-axis Servo/Stepping Motion Card
3.3 Asymmetrical linear acceleration/deceleration driving
When an object is moved vertically, it has the load of acceleration of gravity; therefore, you’d
better change the acceleration and deceleration in such asymmetrical linear acceleration/deceleration
quantitative driving whose acceleration and deceleration are different. At this moment, you needn’t to
set manual deceleration point and automatic deceleration is used. Fig. 1 shows the example that
acceleration is lower than deceleration and Fig. 2 shows the example that deceleration is lower than
acceleration.
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ADT8948A1 4-axis Servo/Stepping Motion Card
Configure the following parameters like common linear acceleration/deceleration driving:
z Range
R
z Acceleration A
z Deceleration D
z Start velocity SV
z Driving velocity V
3.4 S-curve acceleration/deceleration driving
When driving velocity accelerates or decelerates, the
acceleration/deceleration can be increased
When the driving accelerates, the acceleration increases from zero linearity to appointed
value (A) in appointed rate (K). Therefore, this velocity curve becomes secondary parabola
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ADT8948A1 4-axis Servo/Stepping Motion Card
(a-zone). When the acceleration reaches this value (A), it will retain this value. At this moment,
the velocity curve is in linear mode and the velocity is accelerating (b-zone). The acceleration
tends to be 0 if the difference between target velocity (V) and current velocity is less than the
velocity increased in corresponding time. The decreasing rate is same as increasing rate and
decreases in appointed rate (K). At this moment, the velocity curve is in linear mode and the
velocity is accelerating (c-zone). In this manual, the accelerating with partly fixed acceleration is
called as partial S-curve accelerating.
On the other hand, b-zone will disappear if the difference between target velocity (V) and current
velocity is less than the velocity increased in corresponding time before the acceleration reaches
appointed value (A) in a-zone. The accelerating without fixed acceleration is called as complete
S-curve accelerating.
To perform S-curve acceleration/deceleration, you need to set the accelerating mode as
S-curve and then configure the following parameters:
z Range
z Change rate of acceleration/deceleration K
z Acceleration A
z Deceleration D (if necessary)
z Start velocity SV
z Driving velocity V
Precautions of performing S-curve acceleration/deceleration driving:
z Do not change the driving velocity when performing S-curve
acceleration/deceleration quantitative driving.
z
Do not drive are interpolation or continuous interpolation when performing S-curve
acceleration/deceleration.
)
Position management
R
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ADT8948A1 4-axis Servo/Stepping Motion Card
4.1 Logical position counter and actual position counter
Logical position counter is used to count the positive/negative output pulses of ADT8948A1
card. It counts up 1 after the output of one positive pulse and counts down 1 after the output of
one negative pulse.
Actual position counter counts the input pulses from external coder. You can select the type of
input pulse A/B phase signal or independent 2-pulse up/down counting signals. The counting
direction can be customized.
The data of the two counters can be written or read at any time. The counting range is
-2,147,483,648~+2,147,483,647.
4.2 Compare register and software limit
Each axis has two 32-bit registers (COMP+ COMP-), which can compare size with logical
position counter and actual position counter. You can customize the objects of the two compare
registers as logical position counter or actual position counter. COMP+ register is mainly used to
detect the upper limit of logical/actual position counter and COMP- register is mainly used to
detect the lower limit.
When software limit is valid, deceleration stop is performed if the value of logical/actual
position counter in the driving is bigger than the value of COMP+, and then only negative
driving commands can be executed until the value of logical/actual position counter is smaller
than the value of COMP+. Similarly, deceleration stop is performed if the value of ogical/actual
position counter is smaller than the value of COMP-, and then only positive driving commands
can be executed until the value of logical/actual position counter is bigger than the value of
COMP-.
COMP+ register and COMP- register can be written at any time.
4.3 Variable circle of position counter
The logical position counter and actual position driver are 32-bit up/down cyclic counters.
Therefore, if you count from the 32-bit maximum value FFFFFFFFh to + direction, the last
counting will be 0; count from 0 to – direction, the last counting will be FFFFFFFFh. With
variable circle function, you can customize the maximum value of the cyclic counter. If the
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ADT8948A1 4-axis Servo/Stepping Motion Card
position is not in linear but rolling motion, it is convenient to control position with this function.
When variable circle function is activated, COMP+ register sets the maximum value of logical
position counter and COMP- register sets the maximum value of actual position counter.
If X-axis is the rotating axis, supposing X-axis rotates one circle every 10,000 circles and
variable corcle function is valid, set 9,999 on COMP+ register; if actual position counter is used
at the same time, set 9,999 on COMP- register.
Then, the counting:
Count up to + direction: … → 9998 → 9999 → 0 → 1 …
Count down to - direction: … → 1 → 0 → 9999 → 9998 …
Then, the counting range is 0-9999 and you needn’t to consider the calculation when the
value is over 10,000.
Note
z You need to activate/deactivate the variable circle function of each axis, but can’t
activate/deactivate logical position counter and actual position counter separately.
z Software limit is invalid if variable circle function is activated.
)
Interpolation
ADT8948A1 card can perform linear interpolation of random 2-3 axes and arc interpolation
of random 2 axes.
In interpolation driving process, the interpolation operation is performed in basic pulse time
series of appointed axis. Before executing interpolation command, you need to set the start
velocity and driving velocity of appointed axis.
Threshold-crossing error in interpolation
In interpolation driving, every driving axis can perform hardware limit and software limit.
The interpolation driving will stop if the limit of any axis changes.
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ADT8948A1 4-axis Servo/Stepping Motion Card
0
Note
The interpolation will stop if the hardware limit or software limit in any direction (+/-) is
activated in the arc interpolation process. Therefore, you must be careful when perform arc
interpolation and can't leave limit area.
In-position signal of servo motor
The interpolation driving will stop once the INPOS signal of each axis is valid. The INPOS
signals of all axes are in effective electricity level when the interpolation driving is finished.
5.1 2-3 axes linear interpolation
The linear interpolation starts when the end coordinate relative to current position is set. The
coordinate range of linear interpolation is 24-bit with symbols. The interpolation range is from
current position of each axis to -8,388,607~+8,388,607.
As shown in the picture above, the position precision of appointed line is ±0.5LSB in the
whole interpolation range. The above picture also shows the example of pulse output of linear
interpolation driving. In set end-point values, the axis with maximum absolute value is long axis
and this axis always outputs pulses in the interpolation driving process. Other axes are short axes
and they output pulses sometimes according to the result of linear interpolation operation.
5.2 Arc interpolation
Set the center coordinates and end-point coordinates of the arc relative to the start point of
current position, and then perform arc interpolation.
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ADT8948A1 4-axis Servo/Stepping Motion Card
CW arc interpolation draws arc from current coordinates to end-point coordinates in
clockwise direction around the center coordinates. CCW arc interpolation draws arc around the
center coordinates in counterclockwise direction. It will draw a complete circle if the end point is
(0, 0).
The arithmetic of arc interpolation is shown in the picture below. A plane is defined by
X-axis and Y-axis. Devide it into 8 quadrants (0-7) around center coordinates. At the
interpolation coordinates (X, Y) of quadrant 0, absolute value Y is always smaller than absolute
value X. The axes with smaller absolute values are short axes. Quadrants 1, 2, 5 and 6 are X axes
and quadrants 0, 3, 4 and 7 are Y axes. Short axes always output dricing pulses in these quadrants
and long axes output pulses sometimes according to the result of arc interpolation operation.
The following examples show the output of a complete circle (take pulse output as an example).
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