ICPDAS I-8092F Getting Started Manual

I-8092F Getting Started Manual

(Version 1.0)

Hardware & Software & Application

Using I-8092F PAC Motion Control Module

http://www.icpdas.com I8092F Getting Started Manual for XPAC_CE

Warranty

All products manufactured by ICPDAS Inc. are warranted against defective

materials for a period of one year from the date of delivery to the original

purchaser.

Warning

ICPDAS Inc. assumes no liability for damages consequent to the use of this

product. ICPDAS Inc. reserves the right to change this manual at any time

without notice. The information furnished by ICPDAS Inc. is believed to be

accurate and reliable. However, no responsibility is assumed by ICPDAS Inc. for

its use, or for any infringements of patents or other rights of third parties

resulting from its use.

Trademark

The names used for identification only maybe registered trademarks of

their respective companies.

License

The user can use, modify and backup this software on a single machine.

The user may not reproduce, transfer or distribute this software, or any copy, in

whole or in part.

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Contents of I8092F

1 INTRODUCTION...............................................................5

1.1 Introduction................................................................................................5

1.2 Hardware Specification.............................................................................6

1.2.1 Main Specification.................................................................................... 6

1.2.2 Interpolation Function............................................................................... 6

1.2.3 Pulse Output............................................................................................. 6

1.2.4 Encoder Input........................................................................................... 7

1.2.5 Position counter........................................................................................ 7

1.2.6 Servo Motor Input Signal.......................................................................... 7

1.2.7 Limit Switch Input Signal .......................................................................... 7

1.2.8 Other Input Signals................................................................................... 7

1.2.9 Emergency Stop Signal Input................................................................... 8

1.2.10 General Output Signal............................................................................ 8

1.2.11 Integral Input Signal Filters..................................................................... 8

1.2.12 Software Limit......................................................................................... 8

1.2.13 Manual Pulse Generator ........................................................................ 8

1.2.14 LED for Module status............................................................................ 8

1.2.15 FRnet ..................................................................................................... 8

1.3 Environment...............................................................................................9

1.4 Ordering Information................................................................................9

2 HARDWARE INSTALLATION......................................10

2.1 Checking Package and Installation........................................................10

2.1.1 Checking package.................................................................................. 10

2.1.2 Installation.............................................................................................. 10

2.2 DN-8237-GB Daughter Board................................................................ 11

2.2.1 Board Layout for DN-8237-GB................................................................11

2.2.2 Signal Connections for DN-8237-GB...................................................... 12

2.2.3 Jumper and Switch Settings................................................................... 16

2.3 Input/Output Connections......................................................................19

2.3.1 Pulse output signals............................................................................... 19

2.3.2 Connection for Limit switch Signal.......................................................... 21

2.3.3 General Purpose Input Signals(nINPOS,nALARM)................................ 21

2.3.4 Encoder Signals..................................................................................... 22

2.3.5 Emergency Stop Signal.......................................................................... 22

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2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-) ............................... 23

2.3.7 General Purpose Output signals(Servo On/Off)..................................... 23

2.4 Connection Example for Motor Driver .................................................24

3 SOFTWARE DEVELOPMENT OVERVIEW...............25

3.1 Software development Overview............................................................25

3.2 PAC Software Installation.......................................................................27

3.2.1 Install i-8092F software in XPAC_CE..................................................... 27

3.2.2 Install i-8092F software into WinPAC ..................................................... 29

3.2.3 Install i-8092F software into XPAC_XPe ................................................ 31

3.3 Motion Configuration Tool .....................................................................32

3.4 i8092 EzGo................................................................................................34

3.4.1 Configuration Dialog............................................................................... 35

3.4.2 Basic Operation Dialog........................................................................... 38

3.4.3 Interpolation Dialog ................................................................................ 40

3.5 EzFRnet ....................................................................................................42

3.6 Install Software Development Package .................................................43

3.6.1 Installs SDK on WinPAC/XPAC_CE ....................................................... 43

3.6.2 Installs SDK on XPAC_XPe.................................................................... 45

APPENDIX A OTHER TERMINAL BOARDS................46

A.1 DN-8237-DB Daughter Board................................................................46

A.1.1 Board Layout for DN-8237-DB............................................................... 46

A.1.2 Signal Connections for DN-8237-DB ..................................................... 47

A.1.3 Jumper and Switch Settings................................................................... 52

A.2 DN-8237-MB Daughter Board...............................................................55

A.2.1 Board Layout for DN-8237-MB............................................................... 55

A.2.2 Signal Connections for DN-8237-MB..................................................... 56

A2.3 Jumper and Switch Settings.................................................................... 63

A.3 DN-8237-PB Daughter Board................................................................65

A.3.1 Board Layout for DN-8237-PB............................................................... 65

A.3.2 Signal Connections for DN-8237-PB...................................................... 66

A.3.3 Jumper and Switch Settings................................................................... 71

A.4 DN-8237-YB Daughter Board................................................................73

A.4.1 Board Layout for DN-8237-YB............................................................... 73

A.4.2 Signal Connections for DN-8237-YB...................................................... 74

A.4.3 Jumper and Switch Settings................................................................... 79

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1 INTRODUCTION

1.1 Introduction

The I-8092F are the 2-axis pulse-type stepping/servo motor motion control module that can be used on any of the ICPDAS WinPAC/XPAC_XPe/XPAC_CE (XPAC Compact Edition) series controllers, and is suitable for general-purpose motion application. These modules contain a high-performance motion ASIC. Apart from a wide speed range, these intelligent motion controllers have a variety of motion control functions built in, such as 2-axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/ deceleration, automatic homing, and others. Besides, it is a module that has full functions of I-8092F plus one port of FRnet. The FRnet port allows this module to expand its fast remote I/O easily. This two-wired FRnet can automatically scan its 128 DI and 128 DO with a period of 0.72/2.88ms. In addition, most of the I-8092F motion control functions are performed with little load on the processor. While driving the motors, the motion status, and the other I/O status on the WinPAC/XPAC_XPe/XPAC_CE controllers, can still be monitored. As a result of the low CPU loading requirements of I-8092F, one or more motion modules may be used on a single WinPAC/XPAC_XPe/XPAC_CE controllers. ICPDAS also has provided a wide range of functions and examples to reduce the need for programming by user, making it a highly cost-effective solution for machine makers.

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1.2 Hardware Specification

1.2.1 Main Specification

 ASIC Chip MCX312  Number of controllable 2-axis, Pulse output (stepping & servo

motor)

 Up to 4M PPS pulse output

1.2.2 Interpolation Function

2-axis linear interpolation

 Interpolation range −8,388,607 ~ +8,388607  Vectors speed of interpolation 1 PPS ~ 4M PPS  Precision of interpolation ± 0.5 LSB

Circular interpolation

 Interpolation range −8,388,607 ~ +8,388607  Vectors Speed of interpolation 1 PPS ~ 4M PPS

Bit interpolation  Vectors Speed of interpolation 1 PPS ~ 4M PPS(Dependent on

CPIU

data writing time)

Relative interpolation function

 Fixed vectors speed  Continuous interpolation

1.2.3 Pulse Output

 Output speed range 1 PPS ~ 4 MPPS  Output precision ± 0.1%  Jerk range of S-curve 954 ~ 62.5 x 10^6 PPS/S^2

477 x 10^3 ~ 31.25 x 10^9 PPS/S^2 

 Acceleration/deceleration range 125 ~ 1 x 10^6 PPS/S

62.5×10^3 ~ 500 x 10^6 PPS/S

 Speed precision 1 PPS ~ 500PPS( Depend on the

max.speed)

 Output numbers 0 ~ 4,294,967,295 / unlimited  Velocity profiles mode:

 Fixed

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 Symmetrical & Asymmetrical Trapezoidal velocity profile  Symmetrical & Asymmetrical S-curve velocity profile

 Acceleration & Deceleration mode

 Auto  By user define

 Position & Speed change on the fly  Fixed pulse output by Trapezoidal and S-curve velocity profile  Pulse output option: CW/CCW, PULSE/DIR

 Programmable logic level （Rising Edge/ Falling Edge）

1.2.4 Encoder Input

 Encoder option: A/B phase, Up/Down  Programmable A/B phase mode: 1, 1/2, and 1/4 A/B phase  Programmable direction of counter

1.2.5 Position counter

 Command counter range −2,147,483,648 ~ +2,147,483,647  Encoder counter range −2,147,483,648 ~ +2,147,483,647  Programmable ring counter  Programmable direction of counter  Programmable read & write counter

1.2.6 Servo Motor Input Signal

 Alarm  Choose IN2: In Position or Servo Ready signal  Choose input signal: Enable/Disable and logical level.

1.2.7 Limit Switch Input Signal

 Two-limit switch signal for each axis: +Limit, −Limit  Programmable logic level  Programmable action mode( slow-down stop or immediately stop)

1.2.8 Other Input Signals

 IN3 : Digital Input of general purpose.

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1.2.9 Emergency Stop Signal Input

 There is a Emergency stop signal for Each module.

1.2.10 General Output Signal

 Capability of configurable nOUT0 of each axes as general purpose DO

signals.

 Capability of configurable nOUT1 of each axes as Servo On/Off signal.

1.2.11 Integral Input Signal Filters

 The motion module is equipped with an integral type filter in the input

step of each input signal. User can be selected a filter time constant.

1.2.12 Software Limit

 There are two software-limit for each axis: -SLimit & + SLimit ( Setting

range : −2,147,483,646 ~ +2,147,483,646)

1.2.13 Manual Pulse Generator

 Fixed Pulse Driving Mode (CW/CCW pulse mode)  Continuous Pulse Driving Mode (CW/CCW pulse mode)  Manual pulsar mode(A/B phase pulse mode)  Disable Mode: Disable manual pulse function

1.2.14 LED for Module status

 Red LED  Power light  Orange LED  Servo Alarm

Ex:Misuibishi driver, No Alm: turn Orange LED on

 Green LED  during Running Motion

1.2.15 FRnet

 Connect to the distributed DI/DO module DI  max up to 128

DO  max up to 128

 Read the status of distributed DI  Control the status of distributed DO  Support interrupt and frequence division function  Reset function

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1.3 Environment

 Operating Temp: -20 ~ + 75°C  Storage Temp: -30 ~ +85°C  Operating Humidity: 10 ~ 85%，non-condensing  Storage Humidity: 5 ~ 90%，non-condensing

 I/O optically isolated 2500Vrms  External Power supply( Input): 24V DC (connect to terminal board)

1.4 Ordering Information

 i8092F 2-axis motion control module  DN-8237GB For general purpose usage  DN-8237DB For Delta ASDA Servo motor  DN-8237MB For Mitsubishi J2 Servo motor  DN-8237PB For Panasonic minas A4 Servo motor  DN-8237YB For Yaskawa Σ-Ⅱ Servo motor  CA-3710DM 37-pin Dsub cable，length:1.0 m  CA-3730DM 37-pin Dsub cable，length:3.0 m  CA3750DM 37-pin Dsub cable，length:5.0 m

 4PCA-SCSI20-M1 20-pin SCSI cable, length: 1.0 m  4PCA-SCSI50-D1 50-pin SCSI cable for Delta, length: 1.0 m  4PCA-SCSI50-PY1 50-pin SCSI cable for Panasonic and Yaskawa,

length:

1.0 m



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2 HARDWARE INSTALLATION

2.1 Checking Package and Installation

2.1.1 Checking package

 The i8092F are a 2-axis stepping/servo motor control module that can be

used on any of the ICPDAS WinPAC and XPAC_XPe/XPAC_CE series controllers.

2.1.2 Installation

Prepare controller

1. Choose a PAC controller of ICPDAS (WinPAC or XPAC_XPe/XPAC_CE series) and have empty slot.

2. Turn power off

Module Plug in controller and wiring

1. Plug in the i8092F into a empty slot of WinPAC/XPAC_XPE/XPAC_CE .

2. Connect the i8092F with DN-8237 by a CA-3710DM cable, as the below

figure:

Figure. i8092F with PAC controller

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2.2 DN-8237-GB Daughter Board

The DN-8237-GB is the daughter board for General Purpose Ampilifiers. It has 2-axis I/O

signals.

2.2.1 Board Layout for DN-8237-GB

107mm

CON4

EMG

JP3 JP4

110mm

CON3

CON1

Y X

37 PIN CONNECTOR

DN-8237-MB

RJ1

JP5

JP1 JP2

CON2

TB1

Fig. 2-1 Board layout for the DN-8237-GB

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2.2.2 Signal Connections for DN-8237-GB

Maintaining signal connections is one of the most important factors in ensuring that your

application system is sending and receiving data correctly.

 Pin Assignment for CON1

The I/O connector on the DN-8237-GB is a 37-pin connector that enables you to connect to

the PISO-PS200(or I-8092F) motion card. Fig. 2-2 shows the pin assignment for the 37-pin

I/O connector on the DN-8237-GB (or on the motion card), and refer to Table 2-2 for

description of each motion I/O signal.

Fig. 2-2 I/O connector pin assignment for the CON1

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Table 2-2 DN-8237-MB CON1 I/O connector signal description

Pin name Pin number Description

FR_A 19 FRnet A-phase signal

FR_B 37 FRnet B-phase signal

X_ECA 18 Encoder A-phase signal for the X axis

Y_ECA 36 Encoder A-phase signal for the Y axis

X_ECB 17 Encoder B-Phase signal for the X axis

Y_ECB 35 Encoder B-Phase signal for the Y axis

X_STOP2 16 Stop 2 signal for the X axis

Y_STOP2 34 Stop 2 signal for the Y axis

X_INPOS 15 In-position signal for the X axis

Y_INPOS 33 In-position signal for the Y axis

X_ALARM 14 Alarm signal for the X axis

Y_ALARM 32 Alarm signal for the Y axis

X_LMTP 13 Limit switch input signal (+) for the X axis

Y_LMTP 31 Limit switch input signal (+) for the Y axis

X_LMTM 12 Limit switch input signal (-) for the X axis

Y_LMTM 30 Limit switch input signal (-) for the Y axis

X_STOP0 11 Stop 0 signal for the X axis

Y_STOP0 29 Stop 0 signal for the Y axis

X_STOP1 10 Stop 1 signal for the X axis

Y_STOP1 28 Stop 1 signal for the Y axis

X_IN3 9 Input 3 signal for the X axis

Y_IN3 27 Input 3 signal for the Y axis

X_EXPP 8

Y_EXPP 26

X_EXPM 7

Y_EXPM 25

X_OUT0 6

Y_OUT0 24

X_OUT1 5

Y_OUT1 23

XPP 4

YPP 22

XPM 3

YPM 21

EMGN 2 Emergency stop input signal

VCC 20 Module power (+5V)

GND 1 Ground

EXT pulsar input signal (+) for the X axis

EXT pulsar input signal (+) for the Y axis

EXT pulsar input signal (-) for the X axis

EXT pulsar input signal (-) for the Y axis

Output 0 signal for the X axis

Output 0 signal for the Y axis

Output 1 signal for the X axis

Output 1 signal for the Y axis

Driving pulsar signal (+) for the X axis

Driving pulsar signal (+) for the Y axis

Driving pulsar signal (+) for the X axis

Driving pulsar signal (+) for the Y axis

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 CON2 & CON3 (I/O connector for each AXIS)

The connectors CON2 and CON3 are 20-pin connectors that enable you to connect to the

I/O signals for general purpose motor drivers. Fig.2-3 shows the pin assignment for the

20-pin connector on the DN-8237-GB, and the Table 2-3 shows its I/O connector signal

description.

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 CON4

The connector CON4 is 16-pin connector that enables you to connect to the signals of

your motor drivers. Fig.2-4 shows the pin assignment for the 11-pin connector on the

DN-8237-GB, and the Table 2-4 shows its I/O connector signal description.

 TB1

The connector TB1 is 5-pin connector that enables you to connect to the signals of your

motor drivers. Fig.2-4 shows the pin assignment for the 5-pin connector on the

DN-8237-GB, and the Table 2-4 shows its I/O connector signal description.

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 RJ1 (The I/O signals of the FRnet)

The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals

of FRnet. Fig.3-5 shows the pin assignment for the 8-pin connector on the DN-8237-GB,

and the Table 3-5 shows its I/O connector signal description.

2.2.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the CON4 connector. The following diagram is shown the selection condition of the jumper 5.

Fig. 3-6 Jumper 5 setting

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 SW 1

The emergency stop signal for each servo ampilfier can be selected from SW1. The number 1 and 2 on SW1 are denoted as axis X and Y, respectively. The number 3 and 4 on SW1 are reserved for future work. Fig. 3-7 is the default setting to connect the EMG singals to GND. The X-EMG and Y-EMG signal from CON4 not take effect. If the switch is disconnected as shown in Fig. 3-8, the emergency stop signals can be controlled from the X-EMG and Y-EMG signal in CON4.

Fig. 3-7 SW1 setting for normally GND (Default setting)

Fig. 3-8 SW1 setting for user controlled signals.

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 JP1/2 & JP3/4

Jumper 1, 2 controls the XPP, XPM signals of the CON2. The couple of jumpers are indicated the type of pulse output signal for X axis. However there are the same jumper settings for Y axis (Jumper 3, 4 for Y axis). The following diagram is shown the selection condition of the jumper 1, 2.

Fig. 3-9 Jumper 1, 2 setting

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2.3 Input/Output Connections

The signal connections of all the I/O signals are described in this chapter. Please refer the contents of this chapter befor wiring the cable between the i8092F and the motor drivers.

2.3.1 Pulse output signals

There are 2-axis pulse output signals on I8092F, For every axis, two pairs of CW and CCW signals are used to send the pulse train. The CW and CCW signals can also be programmed as PULSE and DIR signals pait.

signal, Differential-Type and Open-Collector Type, can be selected from JP2/3 and JP4/5

and are described in section 2.2.2. The following wiring diagram is for the CW and CCW

signals of the 2-axis.

 Output to Motor Drivers in Differential Circuit

Two types of the pulse output

Fig. 2.8 Differential-Type pulse output circuit

 Open Collector TTL Output

Fig. 2.9 The wiring is open collector output

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 Example: wiring of pulse signal

Two types of pulse output signal, Differential-Type and Open-Collector Type, can be selected from JP2/3 and JP4/5 for each axis. The following wiring diagram is an example to select pulse type of the output signal

Fig. 2.10 Output pulse example

 Pulse/Direction Pulse Output Mode: In Pulse/Direction pulse output mode, the PULSE signal is output only at Pulse pins (P+, P-). The driving direction is decided from the electric potential of Direction pins (N+, N-). The following diagram is example signal of Pulse/Direction pulse output mode.

Negative Command Positive Command

 CW/CCW Pulse Output Mode: In CW/CCW pulse output mode, the PULSE signal is output at both CW pins (P+, P-) and CCW pins(N+, N-). At the same time, the driving direction is determined directly. The following diagram is example signal of CW/CCW pulse output mode.

P±

N±

P±

Positive Command

N±

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Negative Command

2.3.2 Connection for Limit switch Signal

Limit Switch Signal can prevent the over traveling appearance of the motion system. User can set the hardware limit switch signal to be normal open or normal close by the software instruction in I8092F software manual. The following figure indicates that the photo couplers are used to keep out the sensor noise of the Limit Switch.

Fig. 2.11 Limit switch signal circuit

2.3.3 General Purpose Input Signals(nINPOS,nALARM)

INPOS is a digital input signal to indicate the In-Position signal of the driver. User can enable or disable the signal from the software instruction in I8092F software manual.

ALARM is a digital input signal to indicate the servo alarm signal of the driver. The output pulse will be stop if I-8092F receives the ALARM signal. User can enable or disable the signal from the software instruction in I8092F software manual.

Fig. 2.12 General Digital Input circuit

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2.3.4 Encoder Signals

The following diagram is for Differential-Type encoder signals. Connect the Phase A signal to A+ and A- pins and connect Phase B signal to B+ and B- pins. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC.

Fig. 2.13 Encoder signal connection

2.3.5 Emergency Stop Signal

The following diagram is for Emergency STOP signal. If the emergency signal is occurred, the output pulse for all axes will be STOP and the error flag will be set as

1. After the photo coupler isolation, the isolated emergency signal is connected to motion IC.

Fig. 2.14 Emergency Stop Signal connection

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2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-)

The signals, EXP+ and EXP-, are used for manual pulsar signals. The following diagram is an example connection for the external inputs. User can set the signals as fixed pulse CW/CCW mode, continuous pulse CW/CCW mode, or A/B phase manual pulsar mode by using the setting in section 3.5.

Fig. 2.15 EXP+/- connection diagram

2.3.7 General Purpose Output signals(Servo On/Off)

The following diagram is a digital output signal for driver Servo On/Off signal. The output signal enable or disable the driver.

Fig. 2.16 Servo On/Off signal connection diagram

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2.4 Connection Example for Motor Driver

The following diagram is the connection example between MITSUBISH MR-J2S AC servo

driver and the extension boardDN-8237.

Fig. 2.17 The connection between MR-J2S AC servo driver and DN-8237 extension board.

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+ 56 hidden pages

ICPDAS I-8092F Getting Started Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 INTRODUCTION

1.1 Introduction

1.2 Hardware Specification

1.2.1 Main Specification

1.2.2 Interpolation Function

1.2.3 Pulse Output

1.2.4 Encoder Input

1.2.5 Position counter

1.2.6 Servo Motor Input Signal

1.2.7 Limit Switch Input Signal

1.2.8 Other Input Signals

1.2.9 Emergency Stop Signal Input

1.2.10 General Output Signal

1.2.11 Integral Input Signal Filters

1.2.12 Software Limit

1.2.13 Manual Pulse Generator

1.2.14 LED for Module status

1.2.15 FRnet

1.3 Environment

1.4 Ordering Information

2 HARDWARE INSTALLATION

2.1 Checking Package and Installation

2.1.1 Checking package

2.1.2 Installation

2.2 DN-8237-GB Daughter Board

2.2.1 Board Layout for DN-8237-GB

2.2.2 Signal Connections for DN-8237-GB

2.2.3 Jumper and Switch Settings

2.3 Input/Output Connections

2.3.1 Pulse output signals

2.3.2 Connection for Limit switch Signal

2.3.3 General Purpose Input Signals(nINPOS,nALARM)

2.3.4 Encoder Signals

2.3.5 Emergency Stop Signal

2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-)

2.3.7 General Purpose Output signals(Servo On/Off)

2.4 Connection Example for Motor Driver