ADT-8960
6-axis Motion Control Card
User’s Reference Manual
Adtech (Shenzhen) CNC Technology Co.,Ltd.
Park,MaJiaLong,Yiyuan Road, Nanshan District, Shenzhen City, China
Tel：0755-26099116 Fax: 0755-26722718
Add：5th floor,Tianxia IC Industrial
Post Code: 518052
email：export@machine-controller.com
http://www.machine-controller.com
ADT-8960 6-axis servo/ stepping motion control card
Copyrights
This User Manual contains proprietary information held by Adtech
(Shenzhen) CNC Technology Co., Ltd (“Adtech” hereafter);
stimulation, copy, photocopy or translation into other languages to
this User Manual shall be disallowed unless otherwise approved by
Adtech.
Meanwhile, Adtech doesn’t provide any kind of warranty, expression
on standing or implication. Adtech and its staffs are not liable for any
direct/ indirect information disclosure, economic loss or progress
termination caused by this User Manual and the product information
inside.
All the contents in this User Manual may be changed without any
notice.
Trademark
All the product names introduced in this User Manual are only for
identification purpose, while they may belong to other various
trademarks or copyrights, such as:
※ INTEL and PENTIUM are trademarks of INTEL Company;
※ WINDOWS and MS-DOS trademarks of MICROSOFT
Company;
※ ADT-8960 is the trademark of Adtech;
※ Other trademarks belong to their corresponding registered
companies.
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ADT-8960 6-axis servo/ stepping motion control card
All copyrights reserved by Adtech (Shenzhen) CNC Technology Co.,
Ltd
Version Upgrading Record
Version Revised in Descriptions
V7.0 2010/01/04 The seventh version
Remark: The three digits in the version number respectively
mean:
Hardware version number Major version number Minor version number
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ADT-8960 6-axis servo/ stepping motion control card
Contents
CHAPTER 1 GENERAL INFORMATION....................................... - 6 -
INTRODUCTION.......................................................................- 6 -
MAIN FEATURES......................................................................- 6 -
APPLICATIONS .........................................................................- 7 -
CHAPTER 2 HARDWARE INSTALLATION .................................. - 8 -
PARTS .........................................................................................- 8 -
INSTALLATION.........................................................................- 8 -
CHAPTER 3 ELECTRICAL CONNECTION..................................- 9 -
J1 LINE..........................................................................................- 9 -
J2 LINE........................................................................................- 14 -
CONNECTION FOR PULSE/ DIRECTION INPUT SIGNAL.....- 16 -
CONNECTION FOR ENCODER INPUT SIGNAL.....................- 17 -
CONNECTION FOR DIGITAL INPUT.......................................- 18 -
CHAPTER 4 SOFTWARE INSTALLATION.................................. - 21 -
DRIVE INSTALLATION IN WIN98............................................- 21 -
DRIVE INSTALLATION UNDER WINXP.................................- 23 -
CHAPTER 5 FUNCTIONS ............................................................... - 26 -
PULSE OUTPUT METHOD.............................................................- 26 -
HARDWARE LIMIT SIGNAL..........................................................- 26 -
LINEAR INTERPOLATION..............................................................- 26 -
QUANTITATIVE VELOCITY............................................................- 28 -
EXTERNAL SIGNAL DRIVING........................................................- 28 -
POSITION LOCK............................................................................- 28 -
MANUAL DECELERATION.............................................................- 28 -
HARDWARE CACHE .....................................................................- 28 -
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ADT-8960 6-axis servo/ stepping motion control card
CHAPTER 6 LIST OF ADT8960 BASIC LIBRARY FUNCTIONS.- 29
CHAPTER 7 DETAILS OF ADT8960 BASIC LIBRARY
FUNCTIONS....................................................................................... - 34 -
CATEGORY OF BASIC PARAMETER SETTING....................................- 34 -
CATEGORY OF DRIVE STATUS CHECK..........................................- 38 -
CATEGORY OF MOVEMENT PARAMETER SETTING .......................- 39 -
CATEGORY OF MOTION PARAMETER CHECK................................- 42 -
CATEGORY OF DRIVE ..................................................................- 44 -
CATEGORY OF INPUT/OUTPUT................................................- 48 -
CATEGORY OF COMPOSITE DRIVING ...........................................- 48 -
CATEGORY OF EXTERNAL SIGNAL DRIVING ................................- 54 -
CATEGORY OF POSITION LOCK....................................................- 55 -
CATEGORY OF HARDWARE CACHE..............................................- 56 -
MANUAL DECELERATION FUNCTION...........................................- 60 -
CHAPTER 8 GUIDE TO MOTION CONTROL FUNCTION
LIBRARY............................................................................................ - 63 -
CHAPTER 9 BRIEFING ON MOTION CONTROL
DEVELOPMENT............................................................................... - 67 -
C
ARD INITIALIZATION
S
PEED SETTING
...........................................................- 67 -
........................................................................- 67 -
CHAPTER 10 PROGRAMMING SAMPLES IN MOTION
CONTROL DEVELOPMENT.......................................................... - 69 -
VB PROGRAMMING SAMPLES ......................................................- 69 -
VC PROGRAMMING SAMPLES ......................................................- 95 -
CHAPTER 11 NORMAL FAILURES AND SOLUTIONS........... - 122 -
M
OTOR SERVICE FAILURE.........................................................- 122 -
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ADT-8960 6-axis servo/ stepping motion control card
ABNORMAL SWITCH INPUT........................................................- 124 -
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ADT-8960 6-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.
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.
6-axis servo/ stepping motor control, with every axis able to move
independently without mutual effects.
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 6 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
2-6 axis linear interpolation.
Maximum interpolation speed: 1MHz.
Handwheel and external signal operation
h
ardware caching.
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, position lock, large-capacity
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of
ADT-8960 6-axis servo/ stepping motion control card
Real-time reading of logical, real and driving speeds during movement
32 channels digital input/32 channels digital output with optical coupling isolation,
including two positive/negative limiting signals of each axis Read the logical
position, actual position, driving speed, acceleration and driving state in real time
during motion
general input
Up to 16 control cards supported within one system.
DOS/WINDOWS95/98/NT/2000/XP/WIN CE supported.
Two limit input for each axis may be set as Nil and work as
APPLICATIONS
Multi-axis engraving system
Robot system
Coordinate measurement system
PC-based CNC system
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ADT-8960 6-axis servo/ stepping motion control card
Chapter 2 Hardware installation
PARTS
1. ADT-8960 User Manual (this manual)
2. ADT-8960 6-axis PCI bus high-performance motion control card
3. ADT-8960 user CD
4. ADT-D62GG 2 pcs
5. ADT-9162 connecting plate 2 pcs
6. DB64 64pin cable 1 pc
7. ADT-9164 connecting plate 1 pc
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-8960 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 ADT-DB64 to J2 of motion card and the other
end to P2 of ADT-DB64;
(2) Fix the ADT-DB64 on the rear side of the enclosure;
(3) Connect ADT-D62GG to P2 of the transition board and
ADT-D62GG.
ADT-8960 has been fully inserted the slot
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ADT-8960 6-axis servo/ stepping motion control card
Chapter 3 Electrical connection
There are two input/ output interfaces inside an ADT8960 card, whereby J1 is for 62-pin
socket and J2 is for 62-pin.
J1 is the signal cable for pulse output of X, Y, Z and A, B, C axis, switch amount input
and switch amount output (OUT0-OUT7); J2 is the signal cable for encoder input and
switch amount input of X, Y, Z and A, B, C axis; switch amount input and switch amount
output (OUT8-OUT15).
Signals are defined as follows:
J1 line
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ADT-8960 6-axis servo/ stepping motion control card
Line
number
Signal Introduction
1 PUCOM0
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
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ADT-8960 6-axis servo/ stepping motion control card
10 PUCOM1
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 PUCOM2
20
BPU+/CW+
Used for single-port input, not available for external
power supply
Used for single-port input, not available for external
power supply
B pulse signal +
21
22
23
24
25
26
27
28
29
30
BPU-/CW-
BDR+/CCW+
BDR-/CCW-
CPU+/CW+
CPU-/CW-
CDR+/CCW+
CDR-/CCW-
INCOM1
IN0(XLMT+)
IN1(XLMT-)
B pulse signal -
B direction signal +
B direction signal -
C pulse signal +
C pulse signal -
C direction signal +
C direction signal -
IN0-11, able to work as general input signal
Positive direction of the Limit Signal for X,able to
work as general input signal
Negative direction of the Limit Signal for X able to
work as general input signal
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31
32
33
34
35
36
37
38
39
40
41
IN2(XSTOP0)
IN3(XSTOP1)
IN4(YLMT+)
IN5(YMT-)
IN6(YSTOP0)
IN7(YSTOP1)
IN8(ZLMT+)
IN9(ZLMT-)
IN10(ZSTOP0)
IN11(ZSTOP1)
INCOM2
ADT-8960 6-axis servo/ stepping motion control card
Origin signal 0 for X, Manually decelerate, able to
work as general input signal
STOP1- signal for X,able to work as general input
signal
Positive direction of the Limit Signal for Y,able to
work as general input signal
Negative direction of the Limit Signal for Y able to
work as general input signal
Origin signal 0 for Y, Manually decelerate, able to
work as general input signal
STOP1- signal for Y,able to work as general input
signal
Positive direction of the Limit Signal for Z,able to
work as general input signal
Negative direction of the Limit Signal for Z able to
work as general input signal
Origin signal 0 for Z, Manually decelerate, able to
work as general input signal
STOP1- signal for Z,able to work as general input
signal
IN12-23 Input general port
42
43
44
45
IN12(ALMT+)
IN13(ALMT-)
IN14(ASTOP0)
IN15(ASTOP1)
Positive direction of the Limit Signal for A,able to
work as general input signal
Negative direction of the Limit Signal for A able to
work as general input signal
Origin signal 0 for A, Manually decelerate, able to
work as general input signal
STOP1- signal for A,able to work as general input
signal
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46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
IN16(BLMT+)
IN17(BLMT-)
IN18(BSTOP0)
IN19(BSTOP1)
IN20(CLMT+)
IN21(CLMT-)
IN22(CSTOP0)
IN23(CSTOP1)
OUTCOM1
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
ADT-8960 6-axis servo/ stepping motion control card
Positive direction of the Limit Signal for B,able to
work as general input signal
Negative direction of the Limit Signal for B able to
work as general input signal
Origin signal 0 for B, Manually decelerate, able to
work as general input signal
STOP1- signal for B,able to work as general input
signal
Positive direction of the Limit Signal for C,able to
work as general input signal
Negative direction of the Limit Signal for C able to
work as general input signal
Origin signal 0 for C, Manually decelerate, able to
work as general input signal
STOP1- signal for C,able to work as general input
signal
OUT0-OUT7 general port
Digital Output.
62
OUT7
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J2 line
Line
number
1
2
3
4
5
6
7
8
9
10
11
12
Signal
XECA+
XECA-
XECB+
XECB-
YECA+
YECA-
YECB+
YECB-
ZECA+
ZECA-
ZECB+
ZECB-
ADT-8960 6-axis servo/ stepping motion control card
Introduction
X-axis encoder A-phase input+
X-axis encoder A-phase input X-axis encoder B-phase input +
X-axis encoder B-phase input -,
Y-axis encoder A-phase input+
Y-axis encoder A-phase input Y-axis encoder B-phase input +
Y-axis encoder B-phase input -,
Z-axis encoder A-phase input+
Z-axis encoder A-phase input Z-axis encoder B-phase input +
Z-axis encoder B-phase input -,
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13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
AECA+
AECA-
AECB+
AECB-
BECA+
BECA-
BECB+
BECB-
CECA+
CECA-
CECB+
CECB-
INCOM3
IN24(XIN)
IN25(YIN)
IN26(ZIN)
IN27(AIN)
IN28(BIN)
IN29(CIN)
IN30
IN31
OUTCOM2
OUT8
OUT9
OUT10
OUT11
39 OUT12
40 OUT13
41 OUT14
42 OUT15
ADT-8960 6-axis servo/ stepping motion control card
A-axis encoder A-phase input+
A-axis encoder A-phase input A-axis encoder B-phase input +
A-axis encoder B-phase input -,
B-axis encoder A-phase input+
B-axis encoder A-phase input B-axis encoder B-phase input +
B-axis encoder B-phase input -,
C-axis encoder A-phase input+
C-axis encoder A-phase input C-axis encoder B-phase input +
C-axis encoder B-phase input -,
IN24-IN31 General port
Input points for switch amount(X-axis position lock)
Input points for switch amount(Y-axis position lock)
Input points for switch amount(Z-axis position lock)
Input points for switch amount(A-axis position lock)
Input points for switch amount(B-axis position lock)
Input points for switch amount(C-axis position lock)
Input points for switch amount
Input points for switch amount(All axis stop)
OUT8-OUT15 General port
Output points for switch amount
Output points for switch amount
Output points for switch amount
Output points for switch amount
Output points for switch amount
Output points for switch amount
Output points for switch amount
Output points for switch amount
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ADT-8960 6-axis servo/ stepping motion control card
43 INCOM4
44 OUTCOM3
45 I/O0
46 I/O1
47 I/O2
48 I/O3
49 I/O4
50 I/O5
51 I/O6
52 I/O7
53 INCOM5
54 OUTCOM4
55 I/O8
56 I/O9
57 I/O10
58 I/O11
59 I/O12
60 I/O13
61 I/O14
62 I/O15
Remark: In case an encoder is used for general input signals, XECA+、、、、XECB+、
YECA+、、、、YECB+、、、、ZECA+、、、、ZECB+、、、、AECA+、、、、AECB+、、、、BECA+、、、、BECB+、、、、CECA+、
CECB+ will be respectively used as 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.
I/O0-I/O7 as Input public port
I/O0-I/O7 as output public port
Input/output(X axis manually CW)
Input/output(X axis manually CCW)
Input/output(Y axis manually CW)
Input/output(Y axis manually CCW)
Input/output(Z axis manually CW)
Input/output(Z axis manually CCW)
Input/output(A axis manually CW)
Input/output(A axis manually CCW)
I/O8-I/O15 as Input public port
I/O8-I/O15 as output public port
Input/output(B axis manually CW)
Input/output(B axis manually CCW)
Input/output(C axis manually CW)
Input/output(C axis manually CCW)
Input/output
Input/output
Input/output
Input/output
; 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
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ADT-8960 6-axis servo/ stepping motion control card
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
motor driver and terminal panel.
CONNECTION FOR ENCODER INPUT SIGNAL
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Wiring map for an open
-
collect output
-
type encoder. For
+5V power supply, R is not required; for +12V power
external power supply
ADT-8960 6-axis servo/ stepping motion control card
Encoder
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-IN11: INCOM1
Public terminal for IN12-IN23: INCOM2
Public terminal for IN24-IN31: INCOM3
Public terminal for I/O0-I/O7: INCOM4
Public terminal for I/O8-I/O15: INCOM5
K1 is for approach switch or
photoelectric switch, and K2 is for
normal mechanical switch
VEXT is anode of
EXT_GND is cathode
of external power
supply
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or
ADT-8960 6-axis servo/ stepping motion control card
(2) To make input signals effective, users shall make sure: firstly, the photoelectric
coupling public ports for corresponding input signals (INCOM1, INCOM2, INCOM3，
INCOM4 or INCOM5) 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. （take J1 as example）
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ADT-8960 6-axis servo/ stepping motion control card
Connection of digital output.
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ADT-8960 6-axis servo/ stepping motion control card
Chapter 4 Software installation
ADT8960
WinXP, but in case of DOS, no drive is required to be installed.
The following part takes Win98 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 ADT8960.INF.
DRIVE INSTALLATION IN WIN98
card must be used with drive installed under Win95/ Win98/ NT/ Win2000/
The following part takes Win98 Professional Version as example to indicate
installation of the drive; other versions of Win98 are similar.
After attaching the ADT8960 card to the PCI slot of a computer, a user shall log in
as administrator to the computer; upon display of the initial interface, the computer
shall notify “Found new hardware” as follows:
Just click “Next” to display the following picture:
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ADT-8960 6-axis servo/ stepping motion control card
Click again “Next” to display the following picture:
Then select “Specify a location” and Click again “Next” and
select DevelopmentPackage/ Drive/ CardDrive and find the ADT8960.INF file, then click
“OK” to display the following interface:
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Click “Browse” button to
Click
“Next” to display the following picture:
ADT-8960 6-axis servo/ stepping motion control card
Finally click “Finish” to complete installation.
DRIVE INSTALLATION UNDER WINXP
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Installation under
ADT-8960 6-axis servo/ stepping motion control card
WinXP
is similar to that under Win98, specifically:
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ADT-8960 6-axis servo/ stepping motion control card
Click “Browse” button to select Drive/ CardDrive and find the ADT8960.INF file, then
click “Next” to display the following interface:
Then click “Finish” to complete installation.
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Pulse/ direction is set on the positive logical level
Puls
Independent 2
-
puls
Output signal waveform
PU/CW signal
+Direction
Low level
Low level
Lo
w level
Hi level
+Direction
-
Direction
1-pulse 1
-
direction
ADT-8960 6-axis servo/ stepping motion control card
Chapter 5 Functions
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.
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, which can be set as “effective”, “ineffective” with high/low
levels. Actually “effective” or “ineffective” can be set for positive limit and
negative limit individually. In case “ineffective” is selected, they may
work as ordinary input points.
Hard 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 termination method for high/low levels.
In case “ineffective” is selected, they may work as general 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 2~6 axes linear interpolation under the modified
method of point-by-point comparison, which can ensure uniform pulse along
Drive direction
-Direction
DR/CCW signal
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ADT-8960 6-axis servo/ stepping motion control card
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 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
Y axis
Z axis
W axis
From the above figure, A axis 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.
For example, 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
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ADT-8960 6-axis servo/ stepping motion control card
500*5000/10000=250Hz.
If speed of Axis 2 realizes trapezoidal acceleration/deceleration,
interpolation will also follow such trapezoidal acceleration/deceleration.
Quantitative velocity
The velocity may change during motion, so as to control the speed
and track more flexibly and effectively. Refer to the settings of relative
functions, set_atartv, set_speed, set_acc and so on for change of velocity.
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 teaching system. When the external signal driving is
enabled, use the handwheel or mechanical switch to control the pulse and
thus the motion. When the external signal function is not to be used,
disable the external signal driving.
Position lock
Realize hardware position lock function with the designated 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 useful in measuring
system.
Manual deceleration
Realize manual deceleration function with the designated IN signal on
each axis. The manual deceleration point can be set on each axis
separately. When reaching the point, it will decelerate to the designated
speed automatically. The origin can be searched at the designated speed,
while the origin signal should be triggered externally.
Hardware Cache
With the large capacity hardware cache function, interpolation data
can be saved in the buffer area before motion to be processed in advance,
ensuring continuous output of pulse and enabling smooth and consecutive
motion. Therefore, the processing precision can be effectively promoted.
The memory space for FIFO is as high as 2MB.
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Chapter 6 List of ADT8960 basic library functions
List of library functions
Func
tion
type
Basi
para
mete
Che
for
drive
statu
Function name Function description
adt8960_initial Initialize card
set_pulse_mode Set pulse mode
set_limit_mode Set limit mode
set_stop0_mode Set stop mode
c
set_stop1_mode Set stop mode
rs
set_delay_time Delay status
set_suddenstop_mode Hardware stop
set_ad_mode
get_status
ck
get_inp_status
get_delay_status Delay status
s
ADT-8960 6-axis servo/ stepping motion control card
P
a
g
e
2
9
2
9
3
0
3
0
3
1
3
1
3
1
Acceleration/deceleratio
n mode
Get status of single axis
drive
Get status of
interpolation
3
2
3
2
3
2
3
3
- 29 -
www.machine-controller.com
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