ICPDAS i8094A, i-8094H Getting Started

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http://www.icpdas.com I8094A &I8094HGetting Started manualVer 1.3-- 1

i8094A & i-8094H Getting Started

(Version 1.3)

PAC WinCon-8000 Series Controllers

(Applied to: i8094A & i8094H)

http://www.icpdas.com I8094A &I8094HGetting Started manualVer 1.3-- 2

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.

http://www.icpdas.com I8094A &I8094HGetting Started manualVer 1.3-- 3

CONTENTS

1 INTRODUCTION OF I8094A/I8094H MOTION

CONTROL MODULE...........................................................7

1.1 i8094A/i8094H Introduction.....................................................................7

1.2 Hardware Specification.......................................... 8

1.2.1 Main Specification............................................ 8

1.2.2 Interpolation Function........................................ 8

1.2.3 Pulse Output.................................................. 8

1.2.4 Encoder Input................................................. 9

1.2.5 Position counter.............................................. 9

1.2.6 Auto-Homing................................................... 9

1.2.7 Servo Motor Input Signal ..................................... 10

1.2.8 Limit Switch Input Signal .................................... 10

1.2.9 Other Input Signals.......................................... 10

1.2.10 Emergency Stop Signal Input ................................. 10

1.2.11 General Output Signal....................................... 10

1.2.12 Integral Input Signal Filters ............................... 10

1.2.13 Software Limit.............................................. 10

1.2.14 Manual Pulse Generator ...................................... 11

1.2.15 Module status LED Indicators ................................ 11

1.2.16 Compare Trigger Output ...................................... 11

1.2.16 FRnet (i8094F only)......................................... 11

1.3 Environment.............................................................................................12

1.4 Ordering Information..............................................................................12

2 HARDWARE INSTALLATION......................................13

2.1 i8094A/i8094H Check Package & Installation......................................13

2.1.1 Check Package................................................ 13

2.1.2 i8094A/i8094H Installation ................................... 13

2.2 DN-8468GB Terminal Board..................................................................15

2.2.1 DN-8468GB Board Layout....................................... 15

2.2.2 Pin Assignment............................................... 16

2.2.3 Jumper and Switch Settings ................................... 22

2.3 Input/Output Connections......................................................................24

2.3.1 Pulse output signals......................................... 24

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2.3.2 Connection for Limit switch Signal ........................... 26

2.3.3 General Purpose DI Signals(nINPOS,nALARM) .................... 27

2.3.4 Encoder Signals.............................................. 28

2.3.5 External pulse signal........................................ 29

2.3.6 Emergency Stop Signal........................................ 30

2.3.7 External Pulse Input Signal (EXP+,EXP-) ...................... 31

2.3.8 Servo On/Off Output Signal (ENABLE) .......................... 32

2.3.9 Compare Trigger Output....................................... 32

2.4 Connection Example for Motor Driver .................................................33

3 I8094A/I8094H SOFTWARE DEVELOPMENT...........34

3.1 Software development Overview............................................................34

3.1.1 Register Module.............................................. 35

3.2 Safety IO Setting (Troubleshooting for Motion not working).............35

3.2.2 Configure the Servo ALARM Signals ............................ 35

3.2.3 Configure the Limit Switch Signals(±EL) ...................... 36

3.2.4 Configure the Software Limit(±SEL) ........................... 36

3.3 Error Checking(GET_ERROR).............................................................36

3.5 Manual Pulse Generator Testing (Optional).........................................38

3.6 Home Search.............................................................................................40

3.6.1 Home Search Configuration .................................... 40

3.6.2 Running the Home Search ...................................... 41

3.7 Basic Motion.............................................................................................42

3.7.1 Speed Profile of the Motion Control .......................... 42

3.7.2 Basic Settings For Single Axis ............................... 44

3.7.3 Basic Motion of Single Axis .................................. 45

3.7.4 Basic Setting of Muti-Axes Interpolation ..................... 46

3.7.5 Basic Motion of Muti-Axes Interpolation ...................... 47

3.8 Advance Motion .......................................................................................48

3.9 Motion Synchronization Action..............................................................49

4 SOFTWARE GETTING STARTED GUIDE.................50

4.1 WinCon eVC++........................................................................................50

4.1 WinCon eVC++ Guideline ......................................................................50

4.1.1 Files you will need.......................................... 50

4.1.2 Create a new eVC++ Application Project ....................... 50

4.1.3 Add the Reference Path into eVC++ Application Project ........52

4.1.4 Start the eVC++ Sample....................................... 53

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4.2 WinCon Microsoft Visual Studio .NET 2003(VB.NET，C#)..............55

4.3 I-8000 Turbo C++.....................................................................................55

5 MPTOOL : EZMAKE......................................................56

5.1 Start EzMake............................................................................................56

5.2 Specify the I-8094H to be used ...............................................................56

5.3 Operation Page.........................................................................................57

5.3.1 Tree Diagram................................................. 57

5.3.2 Main Menu.................................................... 58

5.3.3 Function & Parameter Editor .................................. 61

5.3.4 Function Library Groups Menu ................................. 62

5.3.5 Function Display Menu........................................ 62

5.3.6 Message & Status............................................. 63

5.4 Download files and programs execution................................................65

5.4.1 Download the file............................................ 65

5.4.2 Program execution............................................ 65

APPENDIX A .......................................................................66

A.1 Setup the Development Environment of I8094A/I8094H....................66

A.1.1 eVC ++ 4.0................................................... 66

A.2 Appearance and Dimension ...................................................................67

APPENDIX B DN-8468 SERIES DAUGHTER BOARD.68

B.1 DN-8468M Daughter Board...................................................................68

B.1.1 Board Layout for DN-8468M .................................... 68

B.1.2 Signal Connections for DN-8468M .............................. 70

B.1.3 Jumper and Switch Settings ................................... 76

B.2 DN-8468P Daughter Board.....................................................................78

B.2.1 Board Layout for DN-8468P .................................... 78

B.2.2 Signal Connections for DN-8468P .............................. 79

B.2.3 Jumper and Switch Settings ................................... 84

B.3 DN-8486Y Daughter Board....................................................................86

B.3.1 Board Layout for DN-8468Y .................................... 86

B.3.2 Signal Connections for DN-8468Y .............................. 87

B.3.3 Jumper and Switch Settings ................................... 92

B.4 DN-8468D Daughter Board....................................................................94

B.4.1 Board Layout for DN-8468D .................................... 94

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B.4.2 Signal Connections for DN-8468D .............................. 95

B.4.3 Jumper and Switch Settings .................................. 103

B.5 DN-8468FB Daughter Board................................................................106

B.5.1 Board Layout for DN-8468FB .................................. 106

B.5.2 Signal Connections for DN-8468FB ............................ 107

B.5.3 Jumper and Switch Settings .................................. 115

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1 Introduction of i8094A/i8094H Motion Control Module

1.1 i8094A/i8094H Introduction

i8094A/i8094H is a motor motion control module with built-in CPU, DPRAM, FRAM and SRAM; it is integrated axis control module that support 4-axis stepper/servo motor motion control; the maximum output Pluse could reach 4M PPS, this module could be applied to ICP DAS WinCon-8000 controllers. I8094A/i8094H motor motion control module is good for motion control applications for general purposes; it provides a lot of motion control features that offers customers easy-to-use and intuitive solutions. These features include: 2/32~3-axes linear interpolation, 2-axes circular interpolation, T/S-curve acceleration/ deceleration, various synchronous actions, automatic homing, and many others.

In addition, i8094H equips with built-in ICP DAS’s unique FRnet distributed DI/DO control functions, it could connect externally to 128 DI and 128 DO control points; each with cycle time of 0.74ms. Moreover, when i8094A/i8094H performs functions above, it does not consume WinCon system resources. The CPU could monitor other status at the same time. It require very little system resources, therefore one WinCon-8000 could insert with a couple of

i8094A/i8094H modules, to perform control of multi-axis (4,8 ....) motion Control on the

same controller.

Besides, this module has a few built-in hardware like CPU, etc, therefore supports a series of macro programming functions. It provides customers multiple sets of macro programming functions, hence will reduce programming effort and enable programmers to develop programs more flexibly. ICP DAS also provides a wide range of demo programs and macro programming functions sets to eliminate programming tasks; making it a highly cost-effective motion control system designed platform.

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1.2 Hardware Specification

1.2.1 Main Specification

 ASIC Chip MCX314As

 CPU 80186

 FRAM 128KB

 SRAM 512KB

 EEPROM 512KB

 Number of controllable 4-Axes, Pulse output (stepping &

servo motor)

 Up to 4M PPS pulse output 4 M PPS

1.2.2 Interpolation Function

2-axes & 3-axes linear interpolation

 Interpolation range −2,147,483,646 ~ +2,147,483,646

 Vectors speed of interpolation 1 PPS ~ 4M PPS

 Precision of interpolation ± 0.5 LSB

Circular interpolation

 Interpolation range −2,147,483,646 ~ +2,147,483,646

 Vectors Speed of interpolation 1 PPS ~ 4M PPS

Relative interpolation function

 Any 2-axes or 3-axes interpolation

 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( Depends on the

max. speed)

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 Output numbers 0 ~ 4,294,967,295 / unlimited

 Velocity profiles mode:

 Fixed  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

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

 Using DI(IN3) to Clear feedback counter

 Programmable read & write counter

1.2.6 Auto-Homing

 Four Steps

 Step 1 ( High-speed ”Near Home” searching)  Step 2 ( Low-speed ”Home” searching)  Step 3 ( Low-speed Index Z searching)  Step 4 ( High-speed offset drive)

By software functions, each step enables user to configure actions and

directions, therefore, offers user more than 10 homing modes to choose from.

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1.2.7 Servo Motor Input Signal

 Alarm

 IN2 options: In Position or Servo Ready signal

 Input signal options: Enable/Disable and logical level.

1.2.8 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)

1.2.9 Other Input Signals

 IN3 : could be used for other applications; for example: as a trigger of

synchronal control, etc.

1.2.10 Emergency Stop Signal Input

 There is an Emergency stop signal for Each module.

1.2.11 General Output Signal

 The Servo-on signal (nOUT1) can be used as servo-on control or general

purpose output signal for each axis.

1.2.12 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.

1.2.13 Software Limit

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

−2,147,483,646 ~ +2,147,483,646)

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1.2.14 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)

1.2.15 Module status LED Indicators

 Red LED Æ Power Indicator (will turn on when power is on)

 Orange LED Æ Servo Alarm Indicator

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

 Green LED Æ Running Motion Indicator ( will turn on when under Running

Motion)

1.2.16 Compare Trigger Output

 For X-axis and Y-axis only

 Output mode: 5V TTL

1.2.16 FRnet (i8094F only)

 DI Æ up to 128 connecting points

 DO Æ up to 128 connecting points

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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

 W-8x31-GM1 PAC controllers

 i8094A/i8094H 4-axes motion control module

 DN-8468GB i8094A/i8094H interface board

 DN-8468DB i8094A/i8094H interface board

 DN-8468MB i8094A/i8094H interface board

 DN-8468PB i8094A/i8094H interface board

 DN-8468YB i8094A/i8094H interface board

 CA-SCSI15 68-pin SCSI-II cable, length: 1.5 m

 CA-SCSI30 68-pin SCSI-II cable, length:3 m

 CA-SCSI50 68-pin SCSI-II cable, length:5 m

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2 HARDWARE INSTALLATION

2.1 i8094A/i8094H Check Package & Installation

2.1.1 Check Package

i8094A/i8094H is a 4-axes stepping/servo motor control module; you will need a WinCON-8000 series PAC to serve as the controller. You will need:

 W-8x31-GM1 PAC controller

You will also need the following items to implement installation of i8094A/i8094H modules:

 i8094A/i8094H 4-axes motion control module

 DN-8468 series i8094A/i8094H interface board

 CA-SCSI15 68-pin SCSI-II cable, length: 1.5 m

2.1.2 i8094A/i8094H Installation

Before Installation

1. You will need a ICP DAS (W-8000series) PAC controller with I/O expansion slot

(currently we offer a variety of 3- or 7- slot)

2. Turn off the power.

Modules Installation & Wiring

1. Position the i8094/i8094F module over the I/O Expansion Slot, aligning the

module card with the groove at the side of the Expansion Slot.

2. Insert the module into the I/O Expansion Slot, glide the module card along the

groove; press down the module until it is completely seated on the Expansion

Slot.

3. Secure the module by push down the “LOCK” latch.

4. Connect the i8094/i8094F with DN-8468G by a CA-SCSI15 cable, as the below

figure:

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[此圖要修正為I-8094A/H]

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2.2 DN-8468GB Terminal Board

2.2.1 DN-8468GB Board Layout

CON6

RJ1

CON2CON4

CON3CON5

CON1

68 PIN SCSI

EMG

TB2

JP7

JP5 JP6

X Y

Z U

DN-8468G

107mm

162mm

JP8

JP9

JP13

JP12

JP11

JP10

JP15

JP14

Fig. 2.0 DN-8468G Board layout

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2.2.2 Pin Assignment

 CON1

68-pin SCSI II Pin Assignment (connector to connect modules and wiring terminal board)

Fig. 2.1 CON1 I/O connector pin assignment

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Table 2.1 DN-8468G I/O connector signal description (part 1)

Pin name Pin number Description

XECA 1 Encoder A-phase signal for X axis YECA 36 Encoder A-phase signal for Y axis ZECA 33 Encoder A-phase signal for Z axis UECA 68 Encoder A-phase signal for U axis XECB 2 Encoder B-Phase signal for X axis YECB 37 Encoder B-Phase signal for Y axis ZECB 32 Encoder B-Phase signal for Z axis

UECB 67 Encoder B-Phase signal for U axis XINPOS 3 In-position signal for X axis YINPOS 38 In-position signal for Y axis ZINPOS 31 In-position signal for Z axis UINPOS 66 In-position signal for U axis

XALARM 4 Alarm signal for X axis YALARM 39 Alarm signal for Y axis ZALARM 30 Alarm signal for Z axis UALARM 65 Alarm signal for U axis

XLMTP 5 Limit switch input signal (+) for X axis YLMTP 40 Limit switch input signal (+) for Y axis ZLMTP 29 Limit switch input signal (+) for Z axis

ULMTP 64 Limit switch input signal (+) for U axis XLMTM 6 Limit switch input signal (-) for X axis YLMTM 41 Limit switch input signal (-) for Y axis ZLMTM 28 Limit switch input signal (-) for Z axis ULMTM 63 Limit switch input signal (-) for U axis

XIN3 7 Input 3 signal for X axis YIN3 42 Input 3 signal for Y axis ZIN3 27 Input 3 signal for Z axis UIN3 62 Input 3 signal for U axis XIN2 8 Input 2 signal for X axis XIN2 43 Input 2 signal for Y axis XIN2 26 Input 2 signal for Z axis XIN2 61 Input 2 signal for U axis XIN1 9 Input 1 signal for X axis YIN1 44 Input 1 signal for Y axis ZIN1 25 Input 1 signal for Z axis UIN1 60 Input 1 signal for U axis XIN0 10 Input 0 signal for X axis YIN0 45 Input 0 signal for Y axis ZIN0 24 Input 0 signal for Z axis UIN0 59 Input 0 signal for U axis

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Table 2.2 DN-8468G I/O connector signal description (part 2)

Pin name Pin number Description

XEXPP 11 EXT pulsar input signal (+) for X axis YEXPP 46 EXT pulsar input signal (+) for Y axis ZEXPP 23 EXT pulsar input signal (+) for Z axis

UEXPP 58 EXT pulsar input signal (+) for U axis XEXPM 12 EXT pulsar input signal (-) for X axis YEXPM 47 EXT pulsar input signal (-) for Y axis ZEXPM 22 EXT pulsar input signal (-) for Z axis UEXPM 57 EXT pulsar input signal (-) for U axis

XDRIVE 13 Driver enable signal for X axis YDRIVE 48 Driver enable signal for Y axis ZDRIVE 21 Driver enable signal for Z axis UDRIVE 56 Driver enable signal for U axis

XPP 14 Driving pulsar signal (+) for X axis YPP 49 Driving pulsar signal (+) for Y axis ZPP 20 Driving pulsar signal (+) for Z axis

UPP 55 Driving pulsar signal (+) for U axis XPM 15 Driving pulsar signal (+) for X axis YPM 50 Driving pulsar signal (+) for Y axis ZPM 19 Driving pulsar signal (+) for Z axis UPM 54 Driving pulsar signal (+) for U axis

XOUT1 16 Output 1 signal for X axis YOUT1 48 Output 1 signal for Y axis ZOUT1 21 Output 1 signal for Z axis

UOUT1 56 Output 1 signal for U axis

EXPLSN1 17 EXT pulse input signal for interpolation

EMGN1 52 Emergency stop input signal

FrnetA 16 FRnet port A FrnetB 18 FRnet port B

XDCC 51 Deviation Counter Clear for X axis YDCC 53 Deviation Counter Clear for Y axis

GND 34 Ground VCC 35 External power (12~24V)

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 CON2 ~ CON5 (AXIS X、Y、Z、U I/O connector Wiring information)

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 The connector CON6 is 16-pin connector for you to connect to the RDY & EMG signals,

external Pulse input, and FRnet connectors (i8094H only) of the motor drivers, enables to

connect with external DI/DO modules, etc.. FRnet(i8094HF)connectors could connect to

FRnet series IO modules, such as FR-2053, FR-2057, etc. For more information, please go

to website: http://www.icp das.com/products/Remote_IO/frnet/frnet_introduction.htm

 TB2: External power supply input connector

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 RJ1 ( I/O signals of the FRnet):

It is connector connect to FRnet – an 8-pin RJ45 connector. FRnet (i8094HF) connector could

connect to FRnet series IO modules such as FR-2053, FR-2057. For more information, please

refer to ICP DAS website:

http://www.icpdas.com/products/Remote_IO/frnet/frnet_introduction.htm

Fig.2.5 Pin assignment for the 8-pin connector on the DN-8468G.

Table 2.6 I/O connector signal description.

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2.2.3 Jumper and Switch Settings

 JP 7 provides control over the EMG-A signal of the CON6 connector. The

following diagram shows the jumper positions and its corresponding states.

Fig. 2.6 Jumper 7 setting

 JP8/9, JP10/1 1, JP12/13, JP14/15: Jumper 8~15 are used to set the signal type of

the pulse output signals. The output signal type could be differential line driver

output (2-3 Pin short )or open collector output(1-2 Pin short).

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 EMG SW: The EMG signals for motor axes

The emergency stop signal for each servo ampilfier can be selected from EMG SW. The

number 1, 2 , 3, 4 on EMG SW are denoted as axis X, Y, Z, U, respectively. Fig. 2.7 is the

default setting to connect the EMG singals to GND. The EMG signals from CN1 ~ CN4 will not

take effect. If the switch is disconnected as shown in Fig. 2.8, the emergency stop signals can

be controlled from EMG signals in CON6.

Fig. 2.7 EMG SW setting for normally GND (Default setting)

Fig. 2.8 EMG SW setting for user controlled signals.

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2.3 Input/Output Connections

2.3.1 Pulse output signals

Differential-Type pulse output circuit

Fig. 2.8 Differential-Type pulse output circuit

Open collector output

Fig. 2.9 open collector output

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Pulse Signal Wiring Example:

I8094A/I8094H pulse output signal could be sent out by CW/CCW mode or PULSE/DIR mode. The user could choose Differential-Type and Open-Collector Type byJP2 & JP3.

Fig. 2.10 Pulse Signal Wiring Example

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2.3.2 Connection for Limit switch Signal

Limit Switch Signal can be used to prevent over traveling appearance of the motion

system. User can set up the hardware limit switch to be normal open or normal close by the Function Library. The following figure shows the photo couplers that are used to keep out the sensor noise of the Limit Switch.

Fig. 2.11 Wiring sample

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2.3.3 General Purpose DI Signals(nINPOS,nALARM)

nINPOS is a digital input signal for servo driver in-Position control. User could

enable or disable this function by Function Library.

nALARM is a digital input signal for servo driver alarm signal. The output pulse will be

stopped when I8094A/I8094H receives this signal. User could enable or disable this

function by Function Library.

Fig. 2.12 Wiring sample

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2.3.4 Encoder Signals

The following diagram shows 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 of ASIC chip.

Fig. 2.13 Encoder signal connection

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2.3.5 External pulse signal

The following diagram shows an example for external pulse signal. After the high speed

photo coupler isolation, the isolated encoder signals are connected to motion IC of ASIC chip.

Fig. 2.14 wiring example for external pulse signal

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2.3.6 Emergency Stop Signal

The following diagram shows a wiring example for Emergency STOP signal. When received emergency stop signal, all axes will be stopped and the error flag will be set as

1. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC of ASIC chip.

Fig. 2.15 Wiring example for emergency stop signal

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2.3.7 External Pulse Input Signal (EXP+,EXP-)

External pulse input signal is signal for external input driver. The following diagram

shows an external signal +/- input wiring. User can set the signals as fixed pulse

CW/CCW mode, continuous pulse CW/CCW mode, or A/B phase manual pulsar mode (please refer to section 5.1 for detail setting configuration).

Fig. 2.16 Wiring example for

External Pulse Input Signal(EXP+,EXP-)

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2.3.8 Servo On/Off Output Signal (ENABLE)

The following diagram shows a wiring example for output signal. This output

signal could be applied to enable or disable the driver.

Fig. 2.17 Wiring Diagram for Servo On/Off Output Signal

2.3.9 Compare Trigger Output

The following diagram is a wiring example for Trigger Output Signal. This output signal

could be adapted only on axis X and axis Y for Compare Trigger Output for specific

applications such as image capture.

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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-8468G.

Fig. 2.18 The connection between MR-J2S AC servo driver and DN-8468G extension board.

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3 i8094A/i8094H Software Development

3.1 Software development Overview

For detail information, please refer to i8094H_star sample code.

註冊軸卡

REGISTRATION

安全IO 規劃測試 1 緊急開關輸入 2 設定伺服馬達異常ALARM輸入

3 設定各軸前後硬體極限 4 設定各軸前後軟體極限(如必要)

是否有錯誤

GET_ERROR=

Yes

M o tio n 基本設定 1 軸輸出PULSE模式設定 2 設定軸速度輸出最大範圍 3 設定編碼器輸入參數(如需要)

4 設定數位輸入雜訊濾波功能(如需要)

5 指定軸為圓形運動軸(環狀計數器)(如需要)

取得 ERROR CODE

GET_ERROR_CODE

Motion 軸歸零 1 設定軸近原點輸入觸發邏輯(如需要) 2 設定軸原點輸入觸發邏輯 3 設定軸歸零速度

4 設定歸零模式

5 啟動軸歸零

Motion 設定

設定加減速模式設定初始速度設定速度設定加減速度

Motion 動作

固定脈波數輸出連續脈波輸出等待完成軸運動多軸同時運動多軸補間運動控制

手動外部輸入 M otion 動作 (如需要 )

1 手輪脈波驅動 2 固定脈波驅動 3 連續脈波驅動

4 外部輸入關閉

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3.1.1 Register Module

You are required to register your 8094/I8094F module before starting to send any

command, or your will receive an error message. Please refer to

“i8094H_Manual_1.3tc.pdf section 2.2” i8094H_REGISTRATION()” for more detail information.

3.2 Safety IO Setting (Troubleshooting for Motion not working)

3.2.1 Emergency Stop Signal Input

The emergency stop switch is used for stopping an undesired motion for emergency

situation; the user could immediately stop Motion action to ensure human/machine

safety.

If you would like to disable Emergency Stop Signal, please close breaks between 2 and

3 pin of JP1.

If you would like to enable Emergency Stop Signal, please close breaks between 1 and 2

pin of JP1. Please connect EMG_IN to (N.C), and install the switch in an appropriate

location.

3.2.2 Configure the Servo ALARM Signals

These signals will be input when there are ALARM occurred on servomotor drivers, therefore the

user will be able to get notification immediately for further actions. You could set up operating

mode (Enable or Disable) or select proper trigger level of these signals.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.13, function i8094H_SET_ALARM() for detail settings.

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3.2.3 Configure the Limit Switch Signals(±EL)

To insure the safety of machine, hardware limit switches are placed at the both ends of machine

traveling range. When the hardware limit switch sensors detect the machine, PISO-PS400 will

stop immediately. You could set up operating mode (Enable or Disable) or select proper trigger

level of these signals.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.6, function

i8094H_SET_HLMT() for detail settings.

3.2.4 Configure the Software Limit(±SEL)

To insure the safety of machine, hardware limit switches are placed at the both ends of machine

traveling range. However, you could also set up software limits for earlier detection before

hardware limit can take effect. When it reaches the software limit, PISO-PS400 will stop

immediately. You could set up operating mode (Enable or Disable) or select proper trigger

conditions of these signals.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.10, function

i8094H_SET_SLMT() & i8094H_CLEAR_SLMT() for detail settings.

3.3 Error Checking(GET_ERROR)

When error occurs, you could get the error-code by GET_ERROR_CODE() to check out

error message and perform troubleshooting. The user could also check all DI status to

ensure DI input accuracy.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 3.5, function

i8094H_GET_DI() for detail settings.

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3.4 Motion Basic Configuration

Motion basic configuration that required for general purposes are as follow:

1. Pulse output mode setting: Pulse/Dir、CW/CCW…

i8094MF_SET_PULSE_MODE() (Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.4, function i8094H_SET_PULSE_MODE() for detail settings.)

2. Set up Max. speed limitation for each axis

(Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.5, function

i8094H_SET_MAX_V () for detail settings.)

3. Encoder input setting (optional) (Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.11, function

i8094H_SET_ENCODER() for detail settings.)

4. DI noise filter setting( optional) (Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.15, function

i8094H_SET_FILTER() for detail settings.)

5. Circular motion declaration( Ring counter)( optional)

(Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.16, function i8094H_VRING_ENABLE() for detail settings.)

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3.5 Manual Pulse Generator Testing (Optional)

The user could perform pulse generator function manually to drive forward or backward motion.

This operation could ensure if the DI signals are functioning normally and if the direction(+/-) is

correct, therefore the users could make further adjustments for lines and parameters.

The following gives you further information on three ways to initiate Manual Pulse Generator

Testing:

1. A/B phase Manual Pulse Generator:

Use the A/B phase Manual Pulse Generator for forward/backward moving.

(Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.18.1, function i

i8094H_EXD_MP()for detail settings.)

2. Fixed-pulse driving Manual Pulse Generator: The users could preset the driving

pulses at a fixed intensity and when press the forward or backward button, the motor

will move a few steps(Pulse) forward or backward. (Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.18.2, function

i i2.18.2” i8094H_EXD_FP() for detail settings.)

3. Continuous- pulse driving Manual Pulse Generator: The users could preset the

output-pulse frequency at a fixed velocity (Hz)

, the motor will keep on moving forward or

backward at fixed velocity when pressing the forward or backward button and the motion

will be stopped immediately when releasing the button.

(Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.18.3, function

i8094H_EXD_CP() for detail settings.)

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4. Disable external pulse input:

This command is for disabling the external pulse input operated by any of the three

functions above.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.18.4, function

i8094H_EXD_DISABLE() for detail settings.

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3.6 Home Search

I8094A/I8094H offers automatic home search function; if providing with proper settings,

it would function automatically. The main steps are as bellows:

z Near-home sensor searching under high-speed motion. z Home sensor searching under low-speed motion. z Servomotor Z-phase searching under low-speed motion. z Offset movement to the origin of the working area under high-speed motion.

A few steps could be skipped to adjust settings accordingly to meet customers’ actual

needs. This operation could be performed automatically, therefore economize on CPU

resource and reduce programming efforts. Even though there are only four home search

steps, by software functions adjustments that offers home search direction

configurations and with the variations being made by skipping certain steps, there are

actually more than 10 home search modes provided.

3.6.1 Home Search Configuration

1. Logic level setting for Near home sensor and Home sensor (optional)：

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.8, function i8094H_SET_NHOME() for detail settings.

2. Home sensor logic level setting：

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.9, function i8094H_SET_HOME_EDGE() for detail settings.

3. Home-speed setting：

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 5.1, function i8094H_SET_HV() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.2, function i8094H_SET_SV() for detail settings.

4. Home mode setting：

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 5.3, function

i8094H_SET_HOME_MODE() for detail settings.

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3.6.2 Running the Home Search

1 Start homing： Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 5.4, function i8094H_HOME _START() for detail settings.

2 Waiting for completing homing operation： Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.5.3, function i8094H_STOP_WAIT() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 7.2.7, function i8094H_MP_STOP_WAIT() for detail settings.

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3.7 Basic Motion

3.7.1 Speed Profile of the Motion Control

1 Symmetrical T-profile of motion velocity

(If SV is larger than V or equal to V, perform constant velocity driving)

2 Asymmetrical T-profile of motion velocity

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3 Symmetrical S-curve of motion velocity

4 Asymmetrical S-curve of motion velocity

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3.7.2 Basic Settings For Single Axis

1. Setting the mode of Acceleration/deceleration: There are four speed modes of

operation：

0 Æ Symmetrical T-Profile (SV、V、A、AO) 1 Æ Symmetrical S-curve (SV、V、K、AO) 2 Æ Asymmetrical T-profile (SV、V、A、D、AO) 3 Æ Asymmetrical S-curve (SV、V、K、L、AO)

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.1, function

i8094H_NORMAL_SPEED() for detail settings.

2. Setting the start velocity: Set lowest speed：

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.2, function i8094H_SET_SV() for detail settings.

3. Setting the Velocity: Set the speed at a certain rate：

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.3, function i8094H_SET_V() for detail settings.

4. Setting the Acceleration/Deceleration speed: Set the Acceleration/Deceleration

speed at a certain rate： Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.4, function i i8094H_SET_A() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.5, function i8094H_SET_D() for detail settings.

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3.7.3 Basic Motion of Single Axis

1. Fixed-pulse driving output: Perform fixed-quantity of single axis pulse output.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.9, function

i8094H_FIXED_MOVE() for detail settings.

2. Continuous-pulse driving output: Perform continuous pulse output of single axis.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.10, function

i8094H_CONTIUNE_MOVE ()for detail settings.

3. Waiting for motion done: Waiting for finishing the axis driving operation.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.5.3, function

i8094H_STOP_WAIT() for detail settings.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 7.2.7, function

i8094H_MP_STOP_WAIT() for detail settings.

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3.7.4 Basic Setting of Muti-Axes Interpolation

1. Setting axes of interpolation: Select the axes that are required to perform

interpolation.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.1, function

i8094H_AXIS_ASSIGN() for detail settings.

2. Setting the mode of Acceleration/Deceleration of vector: There are twelve modes:

0 Æ 2-axes( Linear & ARC & Circular) Fixed-vector velocity (VV) 1 Æ 2-axes linear symmetrical T-profile (VSV、VV、VA、VAO) 2 Æ 2-axes linear symmetrical S-curve (VSV、VV、VK、VAO) 3 Æ 2-axes linear asymmetrical T-profile (VSV、VV、VA、VD、VAO ) 4 Æ 2-axes linear asymmetrical S-curve (VSV、VV、VK、VL、VAO) 5 Æ 2-axes (ARC & Circular) symmetrical T-profile (VSV、VV、VA、VAO ) 6 Æ 2-axes (ARC & Circular) asymmetrical T-profile (VSV、VV、VA、VD、VAO ) 7 Æ 3-axesFixed-vector velocity (VV) 8 Æ 3-axes linear symmetrical T-profile (VSV、VV、VA、VAO) 9 Æ 3-axes linear symmetrical S-curve (VSV、VV、VK、VAO) 10 Æ 3-axes linear asymmetrical T-profile (VSV、VV、VA、VD、VAO ) 11 Æ 3-axes linear asymmetrical S-curve (VSV、VV、VK、VL、VAO )

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.2, function

i8094H_VECTOR_SPEED() for detail settings.

3. Setting the start vector velocity: Set the lowest vector speed.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.3.3, function

i8094H_SET_VSV() for detail settings.

4. Setting the vector velocity: Set the vector speed at a certain rate

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.3.4, function

i8094H_SET_VV() for detail settings.

5. Setting the velocity of Acceleration/Deceleration of vector: Set the speed of

Acceleration/Deceleration of vector at a certain rate.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.3.5, function

i8094H_SET_VA() for detail settings.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.3.6, function

i8094H_SET_VD() for detail settings.

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3.7.5 Basic Motion of Muti-Axes Interpolation

1. 2-axes linear interpolation: Perform 2-axes linear interpolation.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.10, function

i8094H_LINE_2D() for detail settings.

2. 3-axes linear interpolation: Perform 3-axes linear interpolation.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.11, function

i8094H_LINE_3D() for detail settings.

3. 2-axes ARC interpolation: Perform 2-axes ARC interpolation.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.12, function

i8094H_ARC_CW() for detail settings.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.12, function

i8094H_ARC_CCW() for detail settings.

4. 2-axesCircular interpolation: Perform 2-axes Circular interpolation.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.13, function

i8094H_CIRCLE_CW() for detail settings.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.13, function

i8094H_CIRCLE_CCW() for detail settings.

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3.8 Advance Motion

1. 2-axes continuous interpolation of rectangle: Perform2-axes continuous

interpolation of rectangle.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.1, function

i8094H_RECTANGLE() for detail settings.

2. 2-axes continuous interpolation of line:

Initial setting for continuous interpolation of 2-axes line(Symmetrical T-profile).

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.2, function

i8094H_LINE_2D_INITIAL() for detail settings.

Perform 2-axes continuous interpolation of line.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.2, function

i8094H_LINE_2D_CONTINUE() for detail settings.

3. 3-axes continuous interpolation of line:

Initial setting for continuous interpolation of line( symmetrical T-profile).

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.3, function

i8094H_LINE_3D_INITIAL() for detail settings.

Perform 3-axes continuous interpolation of line.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.3, function

i8094H_LINE_3D_CONTINUE() for detail settings.

4. Others continuous interpolation: Muti-point continuous interpolation, 3-axes Helix

interpolation, 2-axes Ratio motion

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.4~6.4.10 for detail

information.

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3.9 Motion Synchronization Action

i8094A/i8094H provides a lot of functions that support Synchronization Action, such as

comparison of EP, LATCH…and so on.

Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.4~6.4.10 for detail

informaion.

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4 SOFTWARE GETTING STARTED GUIDE

4.1 WinCon eVC++

4.1 WinCon eVC++ Guideline

4.1.1 Files you will need

Please make sure you get the following files in your PC:

1. I8094h.lib

2. I8094h.dll

3. I8094h.h

If you don’t have these files, please find them in the CD that comes along with

the device, or you could download the latest version from ICPDAS’s website

http://www.icpdas.com/download/download-list.htm .

4.1.2 Create a new eVC++ Application Project

1. Install and execute Microsoft eVC++ 4.0.

2. Click File -> New to create a new application project.

3. In Projects property page, select WCE MFC AppWizard (exe)

4. In Projects property page, specify the project name as Demo_First.

5. In Projects property page, key in or browse the disk path in the field “Location”.

6. In Projects property page, check Win 32[WCE ARMV4] in CPUs list.

7. If necessary, please also select others options together. And then click OK.

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8. Choose Dialog based and click NEXT

9. Click Finish to end establishment of the new project.

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4.1.3 Add the Reference Path into eVC++ Application Project

A. On the

Tools

menu, click

Options

. The

Options

popup menu will appears.

B. Click on tab Directories, choose Platform to be WINCON_MA, select “Win32

[WCE ARMV4] in the CPUs list.

C. Specify the path of Include files and Library files. To add the path, double-click

on the blank line at the end of the Directories list. Please key in the specific path

that your header files located. For example, C:\DAQPRO\Wincon\inc.

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4.1.4 Start the eVC++ Sample

Add a BUTTON on Dialog, as below:

Double-click on BUTTON to create a subprogram; declare the following header files.

#include "WinConSDK.h" #include "i8094H.h"

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On the Tools menu, click Options. The Options popup menu will appears. Select menu Project->Setting, will bring up a dialog box as below, click on tab Link, key in WinConSDK.lib i8094.lib(showing as below) into the Object/library modules box and the click OK.

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4.2 WinCon Microsoft Visual Studio .NET 2003(VB.NET，C#)

Reserved

4.3 I-8000 Turbo C++

Reserved

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5 MPTool : EzMake

5.1 Start EzMake

To start your EzMake, you could:

1. StartÆProgramsÆ EzMake, click on EzMake to start the program.

2. Go to \CompactFlash\EzProg-I\EzMake\EzMake.exe, double click on the file

EzMake.exe to start the program.

5.2 Specify the I-8094H to be used

All the I-8094H modules will be display on EzMake default page, select the I-8094H in use and click on OK.

Note: the I-8094H in use will display Used.

Fig. 5.1 EzMake default page

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5.3 Operation Page

There are 7 blocks, the general operation order is as follow: Tree Diagram Æ Main Menu Æ Control Button ÆFunction Library Groups MenuÆFunction Display Menu ÆFunction & Parameter Editor ÆMessage & Status

5.3.1 Tree Diagram

There are four branches under the Tree Diagram

Initial Table: Edit I-8094Hinitial settings Macro Problem: Create MP Interrupt Service Routine: Create ISR

Machine Data: Edit data for power outage carry-over

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5.3.2 Main Menu

After you select the file type to open or create a file, you could select the operations to be

performed from Main Menu or buttons on toolbar.

5.3.2.1 Create a File

Please follow the steps to create a file: In Initial Table, you could only edit functions that is displayed in Functions & Parameters Editor (Fig. 5.2)

Fig. 5.2 Initial Table

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Macro Program & Interrupt Service Routine

Input filename (less than 10 characters), as shown in Fig. 5.3

Select the MP you would like to add on (MP1~MP157), among158 MP, there are

totally 5 categories stacks(8/16/32/128/512), add them according to requirements.

For ISR, it is similar to MP, however the number of Functions and ISR are less.

3. You could edit Description after you adding on MP.

Press OK to finish creating file.

Fig. 5.3 MP Resouse Configuration

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5.3.2.2 Open a file

The default path for saving files will be: CompactFlash\EzProg-I\EzMake\

If you select MacroProgram in Tree Diagram, you could only open the file with .mp

extension name.

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5.3.3 Function & Parameter Editor

You could edit the parameters in Function & Parameter Editor.

Fig. 5.4

Fig. 5.4 shows the Initial Table, you could edit the functions displayed, but you could not

add or delete the functions. To edit the functions, double click on the function you would

like to edit will bring up a editor window, input the parameters you’d like to make a

change of. You could also edit Macro Program and Interrupt Service Routine. Note that

Machine Data is for data storage, it is different the other three(Fig. 5.5)

Fig. 5.5 MD Resource Configuration

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5.3.4 Function Library Groups Menu

After you create a new file, you could add the functions you need.

In Function Library Groups Menu, you could select the Functions by groups or choose

the last one (Full Functions) to select all functions.

5.3.5 Function Display Menu

When you click on the Function groups displayed on Function Library Groups Menu, it

will shows all functions in this group, select the function you’d like to add on and edit its

parameters.

Fig. 5.6

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5.3.6 Message & Status

5.3.6.1 Message

If you place your mouse cursor over any button, the detail function information will be

displayed in this window.

5.3.6.2 Axis Status

After you execute MP or ISR, various statuses will be shown in the window.

5.3.6.3 Hardware Signals

After you execute MP or ISR, the corresponding LED indicators for Axes statuses and

locations will be light-on.

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5.3.6.4 Debug

After you execute MP or ISR, this window will display the location where the executed

functions being made a change of.

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5.4 Download files and programs execution

5.4.1 Download the file

Select the file(*.it/*.mp/*.isr/*.md) you’d like to download, click to download the

program (Fig. 5.7)

Fig. 5.7 Downloading

5.4.2 Program execution

Select the files (MPxx/ISRxx) you want to download, click , the program will be

executed immediately.

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APPENDIX A

A.1 Setup the Development Environment of I8094A/I8094H

A.1.1 eVC ++ 4.0

1. Microsoft eVC++ 4.0: ServicPack2 or above ( current version: ServicPack4)

2. WinCon8000_EVC4_SP1: WinCon in eVC++ Development Environment

(SA_IA)

3. WinConSDK:WinCon Software Tool(inc,lib,dll,demo…)

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A.2 Appearance and Dimension

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APPENDIX B DN-8468 series daughter board

B.1 DN-8468M Daughter Board

The DN-8468M is the daughter board for Mitsubitch J2 Series Amplifier. It has 4-axis I/O

signals.

B.1.1 Board Layout for DN-8468M

TB1

RJ1

JP1 JP2

CN-XACN-XBCN-ZBCN-ZA

CN1CN7 CN3

CN-YACN-YBCN-UBCN-UA

CN6CN2CN8 CN4

CON1

68 PIN SCSI

EMG

TB2

JP5

JP4 JP3

X Y

Z U

DN-8468M

107mm

162mm

CN5

Fig. 1-1 Board layout for the DN-8468M

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B.1.2 Signal Connections for DN-8468M

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-8468M is a 68-pin SCSI II connector that enables you to connect to

the PISO-PS400 motion card. Please refer to the section 2.2.1( page 15).

 TB1

The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor

drivers. Fig.1-3 shows the pin assignment for the 7-pin connector on the DN-8468M, and the

Table 1-4 shows its I/O connector signal description.

 TB2

The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor

drivers. Fig.1-4 shows the pin assignment for the 5-pin connector on the DN-8468M, and the

Table 1-5 shows its I/O connector signal description.

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 CN-XA, CN-YA, CN-ZA, CN-UA (CNA connector for each AXIS )

The connectors CN-XA, CN-YA, CN-ZA, and CN-UA are 20-pin connectors that enable you to

connect to the CNA connector of Mitsubishi motor drivers. Fig.1-5 shows the pin assignment for

the 20-pin connector on the DN-8468M, and the Table 1-6 shows its I/O connector signal

description.

Table 1-6 CNA Signal Connection

Fig. 1-5 Pin definition for CN-XA,

CN-YA, CN-ZA, CN-UA

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 CN-XB, CN-YB, CN-ZB, CN-UB (CNB connector for each AXIS )

The connectors CN-XB, CN-YB, CN-ZB, and CN-UB are 20-pin connectors that enable you to

connect to the CNB connector of your motor drivers. Fig.1-6 shows the pin assignment for the

20-pin connector on the DN-8468M, and the Table 1-7 shows its I/O connector signal description.

Table 1-7 CNB Signal Connection

Fig. 1-6 Pin definition for CN-XB, CN-YB

CN-ZB, CN-UB

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 CN1~CN4 (The I/O signals of the X, Y, Z, U AXIS )

The connectors CN1~CN4 are 11-pin connectors that enable you to connect to the signals of

your motor drivers. Fig.1-7 shows the pin assignment for the 20-pin connector on the DN-8468M,

and the Table 1-8 shows its I/O connector signal description.

Table 1-8 CN1~4 Signal Connection

Name Number Description

ERC 12 Error Count Clear

EXT_PWR 11 EXT POWER 24V

EMG 10 Emergent Stop

LMT+ 9 Limit switch Input

Signal(+)

LMT- 8 Limit switch Input Signal(-)

INPUT3 7 Input Signal (IN3)

NRHOME 6 Near HOME Sensor Input

Signal

HOME 5 HOME Sensor Input

Signal

RESET 4 RESET Input Signal

EXP+ 3 EXT Positive Direction

Pulse(+)

EXP- 2 EXT Positive Direction

Pulse(-)

EXT_GND 1 EXT POWER Ground

Fig 1-7 Pin definition for CN1~ CN4

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 CN5~CN8 (The I/O signals of the X, Y, Z, U AXIS )

The connectors CN5~CN8 are 15-pin connectors that enable users to connect the signals to

external motor drivers. Fig.1-8 shows the pin assignment for the 15-pin connector on the

DN-8468M, and the Table 1-9 shows its I/O connector signal description.

Table 1-9 CN5~8

Fig. 1-8 Pin definition for CN5~CN8

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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.1-9 shows the pin assignment for the 8-pin connector on the DN-8468M, and the

Table 1-10 shows its I/O connector signal description.

Fig. 1-9 Pin definition for RJ1

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B.1.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the

selection condition of the jumper 5.

Fig. 1-10 Jumper 5 setting

 JP1, JP2

The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external

encoder. Fig. 1-11 shows that the encoder signals are selected from servo driver encoder. In

meantime, Fig. 1-12 shows that the encoder signals are selected from external encoder.

Fig. 1-11 Primary encoder signals setting

Fig. 1-12 External encoder signals setting

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 EMG SW

The emergency stop signal for each servo ampilfier can be selected from EMG SW. The

number 1, 2 , 3, 4 on EMG SW are denoted as axis X, Y, Z, U, respectively. Fig. 1-13 is the

default setting to connect the EMG singals to GND. The EMG signals from CN1 ~ CN4 will not take effect. If the switch is disconnected as shown in Fig. 1-14, the emergency stop signals can

be controlled from EMG signals in CN1 ~ CN4.

Fig. 1-13 EMG SW setting for normally GND (Default setting)

Fig. 1-14 EMG SW setting for user controlled signals.

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B.2 DN-8468P Daughter Board

The DN-8468P is the daughter board for Panasonic A4 Series Ampilifier. It has 4-axis I/O

signals.

B.2.1 Board Layout for DN-8468P

TB1

RJ1

JP1 JP2

CNXCNZ

CN1CN7 CN3

CNYCNU

CN6CN2CN8 CN4

CON1

68 PIN SCSI

EMG

TB2

JP5

JP4 JP3

X Y

Z U

DN-8468P

107mm

162mm

CN5

Fig. B2-1 Board layout for the DN-8468P

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B.2.2 Signal Connections for DN-8468P

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-8468P is a 68-pin SCSI II connector that enables you to connect to

the PISO-PS400 motion card. Please refer to the section 2.2.1( page 15).

 TB1

The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor

drivers. Fig.1-3 shows the pin assignment for the 7-pin connector on the DN-8468P, and the

Table 1-4 shows its I/O connector signal description.

 TB2

The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor

drivers. Fig.1-4 shows the pin assignment for the 5-pin connector on the DN-8468P, and the

Table 1-5 shows its I/O connector signal description.

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 CNX, CNY, CNZ, CNU (CN X5 connector for each AXIS in Driver)

The connectors CNX, CNY, CNZ, and CNU are 50-pin connectors that enable you to connect to

the CN X5 connector of Panasonic motor drivers. Fig.1-5 shows the pin assignment for the

50-pin connector on the DN-8468P, and the Table 1-6 shows its I/O connector signal

description.

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 CN1~CN4 (The I/O signals of the X, Y, Z, U AXIS )

The connectors CN1~CN4 are 11-pin connectors that enable you to connect to the signals of

your motor drivers. Fig.1-7 shows the pin assignment for the 20-pin connector on the DN-8468P,

and the Table 1-8 shows its I/O connector signal description.

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 CN5~CN8 (The I/O signals of the X, Y, Z, U AXIS )

The connectors CN5~CN8 are 15-pin connectors that enable users to connect the signals to

external motor drivers. Fig.1-8 shows the pin assignment for the 15-pin connector on the

DN-8468P, and the Table 1-9 shows its I/O connector signal description.

Note 1: There are two sets encoder signals for X and Y axes. In X axis, one is from CNX

and the other is from CN5. In Y axis, one is from CNY and the other is from CN6.

Users can select encoder signals from JP1 and JP2, respectively.

Note 2: In Z and U axes, only one set of encoder signals is used for each axis. In Z axis, do

not connect CNZ and CN7 at the same time. In U axis, do not connect CNU and

CN8 at the same time.

Note 3 : Don’t connect NC (not connected) signals. Connecting these signals could cause

permanent damage to your motion controller.

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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.1-9 shows the pin assignment for the 8-pin connector on the DN-8468P, and the

Table 1-10 shows its I/O connector signal description.

Fig. 1-9 Pin definition for RJ

Note: Don’t connect NC (not connected) signals. Connecting these signals could

cause permanent damage to your motion controller.

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B.2.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the

selection condition of the jumper 5.

Fig. 1-10 Jumper 5 setting

 JP1, JP2

The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external

encoder. Fig. 1-11 shows that the encoder signals are selected from servo driver encoder. In

meantime, Fig. 1-12 shows that the encoder signals are selected from external encoder.

Fig. 1-11 Primary encoder signals setting

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Fig. 1-12 External encoder signals setting

 EMG SW

The emergency stop signal for each servo ampilfier can be selected from EMG SW. The

number 1, 2 , 3, 4 on EMG SW are denoted as axis X, Y, Z, U, respectively. Fig. 1-13 is the

default setting to connect the EMG singals to GND. The EMG signals from CN1 ~ CN4 will not take effect. If the switch is disconnected as shown in Fig. 1-14, the emergency stop signals can

be controlled from EMG signals in CN1 ~ CN4.

Fig. 1-13 EMG SW setting for normally GND (Default setting)

Fig. 1-14 EMG SW setting for user controlled signals.

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B.3 DN-8486Y Daughter Board

The DN-8468Y is the daughter board for Yaskawa Ampilifier. It has 4-axis I/O signals.

B.3.1 Board Layout for DN-8468Y

TB1

RJ1

JP1 JP2

CNXCNZ

CN1CN7 CN3

CNYCNU

CN6CN2CN8 CN4

CON1

68 PIN SCSI

EMG

TB2

JP5

JP4 JP3

X Y

Z U

DN-8468Y

107mm

162mm

CN5

Fig. 3-1 Board layout for the DN-8468Y

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B.3.2 Signal Connections for DN-8468Y

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-8468Y is a 68-pin SCSI II connector that enables you to connect to

the PISO-PS400 motion card. Please refer to the section 2.2.1( page 15).

 TB1

The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor

drivers. Fig.3-3 shows the pin assignment for the 7-pin connector on the DN-8468Y, and the

Table 3-4 shows its I/O connector signal description.

 TB2

The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor

drivers. Fig.3-4 shows the pin assignment for the 5-pin connector on the DN-8468Y, and the

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

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 CNX, CNY, CNZ, CNU (CN X5 connector for each AXIS in Driver)

The connectors CNX, CNY, CNZ, and CNU are 50-pin connectors that enable you to connect to

the CN X5 connector of Panasonic motor drivers. Fig.3-5 shows the pin assignment for the

50-pin connector on the DN-8468Y, and the Table 3-6 shows its I/O connector signal description.

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 CN1~CN4 (The I/O signals of the X, Y, Z, U AXIS )

The connectors CN1~CN4 are 11-pin connectors that enable you to connect to the signals of

your motor drivers. Fig.3-7 shows the pin assignment for the 20-pin connector on the DN-8468Y,

and the Table 3-8 shows its I/O connector signal description.

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 CN5~CN8 (The I/O signals of the X, Y, Z, U AXIS )

The connectors CN5~CN8 are 15-pin connectors that enable users to connect the signals to

external motor drivers. Fig.3-8 shows the pin assignment for the 15-pin connector on the

DN-8468Y, and the Table 3-9 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.3-9 shows the pin assignment for the 8-pin connector on the DN-8468Y, and the

Table 3-10 shows its I/O connector signal description.

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B.3.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the

selection condition of the jumper 5.

Fig. 3-10 Jumper 5 setting

 JP1, JP2

The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external

encoder. Fig. 3-11 shows that the encoder signals are selected from servo driver encoder. In

meantime, Fig. 3-12 shows that the encoder signals are selected from external encoder.

Fig. 3-11 Primary encoder signals setting

Fig. 3-12 External encoder signals setting

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 EMG SW

The emergency stop signal for each servo ampilfier can be selected from EMG SW. The

number 1, 2 , 3, 4 on EMG SW are denoted as axis X, Y, Z, U, respectively. Fig. 3-13 is the

default setting to connect the EMG singals to GND. The EMG signals from CN1 ~ CN4 will not take effect. If the switch is disconnected as shown in Fig. 3-14, the emergency stop signals can

be controlled from EMG signals in CN1 ~ CN4.

Fig. 3-13 EMG SW setting for normally GND (Default setting)

Fig. 3-14 EMG SW setting for user controlled signals.

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B.4 DN-8468D Daughter Board

The DN-8468D is the daughter board for Delta ASDA-A Series Ampilifier. It has 4-axis I/O

signals.

B.4.1 Board Layout for DN-8468D

TB1

RJ1

JP1 JP2

CNXCNZ

CN1CN7 CN3

CNYCNU

CN6CN2CN8 CN4

CON1

68 PIN SCSI

EMG

TB2

JP5

JP4 JP3

X Y

Z U

DN-8468D

107mm

162mm

CN5

JP10

JP11

JP12

JP13

Fig. 3-1 Board layout for the DN-8468D

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B.4.2 Signal Connections for DN-8468D

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-8468D is a 68-pin SCSI II connector that enables you to connect to

the I-8094 motion card. Fig. 3-2 shows the pin assignment for the 68-pin I/O connector on the

DN-8468D (or on the I-8094), and refer to Table 3-2, 3-3 for description of each motion I/O signal.

Fig. 3-2 I/O connector pin assignment for the CON1

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Table 3-2 DN-8468D I/O connector signal description (part 1)

Pin name Pin number Description

XALARM 4 Alarm signal for X axis YALARM 39 Alarm signal for Y axis ZALARM 30 Alarm signal for Z axis UALARM 65 Alarm signal for U axis

XLMTP 5 Limit switch input signal (+) for X axis YLMTP 40 Limit switch input signal (+) for Y axis

ZLMTP 29 Limit switch input signal (+) for Z axis ULMTP 64 Limit switch input signal (+) for U axis XLMTM 6 Limit switch input signal (-) for X axis YLMTM 41 Limit switch input signal (-) for Y axis ZLMTM 28 Limit switch input signal (-) for Z axis ULMTM 63 Limit switch input signal (-) for U axis

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Table 3-3 DN-8468D I/O connector signal description (part 2)

Pin name Pin number Description

XEXPP 11 EXT pulsar input signal (+) for X axis YEXPP 46 EXT pulsar input signal (+) for Y axis

ZEXPP 23 EXT pulsar input signal (+) for Z axis UEXPP 58 EXT pulsar input signal (+) for U axis XEXPM 12 EXT pulsar input signal (-) for X axis YEXPM 47 EXT pulsar input signal (-) for Y axis ZEXPM 22 EXT pulsar input signal (-) for Z axis UEXPM 57 EXT pulsar input signal (-) for U axis

XDRIVE 13 Driver enable signal for X axis YDRIVE 48 Driver enable signal for Y axis ZDRIVE 21 Driver enable signal for Z axis UDRIVE 56 Driver enable signal for U axis

XPP 14 Driving pulsar signal (+) for X axis YPP 49 Driving pulsar signal (+) for Y axis

ZPP 20 Driving pulsar signal (+) for Z axis UPP 55 Driving pulsar signal (+) for U axis XPM 15 Driving pulsar signal (+) for X axis YPM 50 Driving pulsar signal (+) for Y axis ZPM 19 Driving pulsar signal (+) for Z axis UPM 54 Driving pulsar signal (+) for U axis

XOUT1 16 Output 1 signal for X axis YOUT1 48 Output 1 signal for Y axis ZOUT1 21 Output 1 signal for Z axis

UOUT1 56 Output 1 signal for U axis

EXPLSN1 17 EXT pulse input signal for interpolation

EMGN1 52 Emergency stop input signal FRnetA 16 FRnet port A FRnetB 18 FRnet port B

XDCC 51 Deviation Counter Clear for X axis YDCC 53 Deviation Counter Clear for Y axis

GND 34 Ground VCC 35 External power (12~24V)

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 TB1

The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor

drivers. Fig.3-3 shows the pin assignment for the 7-pin connector on the DN-8468D, and the

Table 3-4 shows its I/O connector signal description.

 TB2

The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor

drivers. Fig.3-4 shows the pin assignment for the 5-pin connector on the DN-8468D, and the

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

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 CNX, CNY, CNZ, CNU (CN 1 connector for each AXIS in Driver)

The connectors CNX, CNY, CNZ, and CNU are 50-pin connectors that enable you to connect to

the CN1 connector of Delta ASDA-A series motor drivers. Fig.3-5 shows the pin assignment for

the 50-pin connector on the DN-8468D, and the Table 3-6 shows its I/O connector signal

description.

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 CN1~CN4 (The I/O signals of the X, Y, Z, U AXIS )

The connectors CN1~CN4 are 11-pin connectors that enable you to connect to the signals of

your motor drivers. Fig.3-7 shows the pin assignment for the 20-pin connector on the DN-8468D,

and the Table 3-8 shows its I/O connector signal description.

ICPDAS i8094A, i-8094H Getting Started

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Frequently Asked Questions

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