Adlink PCI-8134A Manual do Utilizador

PCI-8134/PCI-8134A 4-Axis Servo / Stepper Motion Control Card U ser ’ s Gui de M anual Rev. : 3.00 Revision Date: Sept 7, 20

90 • Function Library U16 move_all(I16 len, I16 *axes, F64 *pos, F64 *str_vel, F64 *max_vel, F64 *Tacc) U16 wait_for_all(I16 len, I16 *axes) U16 start

Function Library • 91 6.9 Linear Interpolated Motion @ Name move_xy – Perform a 2-axes linear interpolated motion between X & Y and wait for fin

92 • Function Library 6.10 Interpolation Parameters Configuring @ Name map_axes – Configure the axis map for coordinated motion set_move_speed – Set t

Function Library • 93 set_move_speed (ByVal str_vel As Double, ByVal max_vel As Double) As Integer set_move_accel (ByVal accel As Double) As Integer

94 • Function Library U16 set_home_config(I16 axis, I16 home_mode, I16 org_logic, I16 org_latch, I16 EZ_logic) U16 home_move(I16 axis, F64 svel, F64 m

Function Library • 95 U16 manu_move(I16 axis, F64 mvel) Visual Basic (Windows) set_manu_iptmode (ByVal axis As Long, ByVal manu_iptmode As Long, ByVa

96 • Function Library Visual Basic (Windows) motion_done (ByVal axis As Integer) As Integer @ Argument axis: axis number of motion status @ Return Co

Function Library • 97 set_erc_enable(ByVal axis As Integer, ByVal erc_enable As Long) As Integer @ Argument axis: axis number designated to configur

98 • Function Library Bit Name Description 0 +EL Positive Limit Switch 1 -EL Negative Limit Switch 2 +SD Positive Slow Down Point 3 -SD Negative S

Function Library • 99 set_command – Set the current command position. get_command – Get the current command position. _8134_get_target_pos – Get the

Introduction • 1 1 Introduction The PCI-8134/PCI-8134A is a 4-axis motion control card with PCI interface. It can generate high frequency pulses t

100 • Function Library Integer _8134_get_target_pos (ByVal axis As Integer, pos As Double) As Integer _8134_reset_target_pos (ByVal axis As Integer,

Function Library • 101 6 Completion of preset movement 7 Completion of interpolating motion for two axes: (X & Y) or (Z & U) 8~12 X (shoul

102 • Function Library 15 Start with STA signal 16 Acceleration Completed 17 Deceleration Started 18∼22 Always 0 23 RDY active (AP3 of PCL5023 ch

Additional Function Library • 103 I16 link_axis_interrupt(I16 AxisNo, void ( _stdcall *callbackAddr)(void)) Visual Basic (Windows) W_8134_INT_Enabl

104 • Additional Function Library 7 Additional Function Library (8134A.DLL) This chapter describes the another supporting software for PCI-8134

Additional Function Library • 105 _8134_sv_move Accelerate an axis to a constant velocity with S- curve profile _8134_v_change Change speed on the

106 • Additional Function Library _8134_set_pulser_iptmode Set pulser input mode and operation mode _8134_pulser_v_move Begin a manual pulser movem

Additional Function Library • 107 U16 16-bit unsigned integer 0 to 65535 I32 32-bit signed long integer -2147483648 to 2147483647 U32 32-bit unsigned

108 • Additional Function Library C/C++ (DOS,Windows) I16 _8134_initial(I16 *existCards) I16 _8134_close(void) I16 _8134_config_from_file(U8 *fileName

Additional Function Library • 109 @ Description _8134_set_pls_outmode: Configure the output modes of command pulse. There are two modes for

2 • Introduction Figure 1.1 Block Diagram of PCI-8134 CN2 DC/DC Ext+24V Input PCI Bus Controller PCL 5023 for axes X & Y

110 • Additional Function Library 7.5 Continuously Motion Move @ Name _8134_tv_move – Accelerate an axis to a constant velocity with trape

Additional Function Library • 111 value according to the maximum speed setting in motion function. _8134_verify_speed: This function is used to

112 • Additional Function Library second Tacc: specified acceleration time in unit of second Tdec: specified deceleration time in unit of

Additional Function Library • 113 C/C++ (DOS, Windows) I16 _8134_start_ta_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64 Tacc,F64 Tdec) I16 _8

114 • Additional Function Library @ Syntax C/C++ (DOS, Windows) I16 _8134_start_sa_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64 Tacc, F64 Tde

Additional Function Library • 115 axes, even in different cards. The simultaneous multi-axis operation means to start or stop moving specified axes a

116 • Additional Function Library B_8134_set_sa_move_all(ByVal TotalAxes As Integer, AxisArray As Integer, PosA As Double, StrVelA As double, MaxVelA

Additional Function Library • 117 for Z & U, with S-curve profile, _8134_start_sa_move_zu –Start an absolute 2-axis linear interpolation for

118 • Additional Function Library B_8134_start_sa_move_xy (ByVal CardNo As Integer, ByVal Pos As Double, ByVal Pos As Double, ByVal StrVel As Double,

Additional Function Library • 119 _8134_set_org_offset – Set ORG signal’s range _8134_set_org_logic – Set ORG logic _8134_set_bounce_filter – Set a b

Introduction • 3 Figure 1.2 Block Diagram of PCI-8134A

120 • Additional Function Library I16 _8134_set_org_latch(I16 axis, I16 org_latch) Visual Basic (Windows) B_8134_set_home_config (ByVal axis As Intege

Additional Function Library • 121 _8134_set_step_unit – Set manual pulser ratio @ Description _8134_set_pulser_iptmode: Four types of pulse input mod

122 • Additional Function Library op_mode=0, Independent for each axis op_mode=1,PAX, PBX common for PAY, PBY or PAZ, PBZ common for PAU, PBU. Spee

Additional Function Library • 123 3. Dissatisfication of fP<fH/[(n+1)×m] _8134_set_pulser_iptmode(0,1,0); // set pulser input mode _8134_set_puls

124 • Additional Function Library 5: In Decelerating 6: In Start Speed 7: Waiting other axes The following code demonstrates how to utilize this func

Additional Function Library • 125 I16 set_inp(I16 axis, I16 inp_enable, I16 inp_logic) I16 set_erc_enable(I16 axis, I16 erc_enable) Visual Basic (Win

126 • Additional Function Library Bit Name Description 0 +EL Positive Limit Switch 1 -EL Negative Limit Switch 2 +SD Positive Slow Down Point 3 -SD Ne

Additional Function Library • 127 @ Description _8134_set_position: Changes the current actual position to the specified position. _8134_get_positio

128 • Additional Function Library max_error As Long) As Integer @ Argument axis: axis number designated to set and get position. pos: actual position

Additional Function Library • 129 7 Completion of interpolating motion for two axes (X & Y) or (Z & U) 8~12 Should be set to 0 13 Whe

4 • Introduction 1.1 Features The following lists summarize the main features of the PCI-8134 motion control system. • 32-bit PCI-Bus, plug

130 • Additional Function Library 23 RDY active (AP3 of PCL5023 change from 1 to 0) 24~31 Always 0 _8134_link_axis_interrupt: This function is used t

Additional Function Library • 131 B_8134_link_axis_interrupt(ByVal AxisNo As Integer, By Val callbackAddr as Long) As Integer @ Argument cardNo: card

128 • Connection Example 8 Connection Example This chapter shows some connection examples between PCI-8134/PCI-8134A and servo drivers and st

Connection Example • 129 Figure 8.1 General Description of Wiring Description of PCI-8134/PCI-8134A Indexer PinoutsTo other PCI-8134/PCI-8134A Cards

130 • Connection Example Wiring of PCI-8134 with Servo Driver Figure 8.2 System Integration with PCI-8134/PCI-8134A 8.2 Connection Example with Servo

Connection Example • 131 1. For convenience’ sake, the drawing shows connections for one axis only. 2. Default pulse output mode is OUT/DIR mode; d

132 • Connection Example Wiring of PCI-8134/PCI-8134A with Panasonic MSD3456989978910131415161718203738394041OUT1 +OUT1 -DIR +DIR -EX GNDEX +24VSVON

Connection Example • 133 Warning The DIN-814M is used for wiring between Mitsubishi J2S series servo drivers and ADLINK PCI-8134/PCI-8134A

134 • Connection Example 3. Depending on which PCI-8134/PCI-8134A or PCI-8164/MPC-8164 card used, some signals (PSD and MSD) in the IOI

Connection Example • 135 PIN Assignment: CNA1~CNA4 No. Name I/O Function No. Name I/O Function 1 IGND -- Isolated Ground 2 DIR+ O Direction Signal

Introduction • 5  Pulse rate setting steps: 0 to 2.4Mpps.  I/O Signals:  Input/Output Signals for each axis  All I/O signal are optically is

136 • Connection Example 2 Servo ON O Servo On 5 ALM I Servo Alarm 3 RDY I Servo Ready 6 IGND -- Isolated Ground Jumper J1~J4 1: GND 2: EMG4 3: EX_

Connection Example • 137 CNIF-(3) IOIF-(1) IOIF-(2) IOIF-(3) IOIF-(4) CNIF-(2) 8.4 Wiring with DIN-814P Warning The DIN-814M is used for

138 • Connection Example 3. Depending on the PCI-8134/PCI-8134A or PCI-8164 card used, some signals (PSD & MSD) in the IOIF conn

145 • Appendix A PIN Assignment: CNIF1~CNIF4 No. Name I/O Function No. Name I/O Function 1 EZ+ I Encoder Z-phase (+) 2 EZ- I Encoder Z-phase (-)

Appendix A • 146 SJ: Please refer to PCI-8134/PCI-8134A/PCI-8164 user manual for wiring. CN1: 8.5 Wiring with DIN-814PA DIN-814PA is a term

147 • Appendix A Appendix A: Auto Home Return Modes PCI-8134/PCI-8134A provides 5 extra home return modes from 3 to 7 which are implemen

Appendix A • 148 home_mode = 4 : Based on home mode 2 ORG EZ EL Case 1 Case 2 Case 3 Reset Reset ORG Offset Reset

149 • Appendix A Reset home_mode = 5 : Based on home mode 1 EZ EL Case 1 Reset home_mode = 6 : Based on home mode 0 ORG EL Reset

Appendix A • 150 home_mode = 7 : Based on home mode 2 ORG EZ EL Reset Case 1 Case 2 Case 3 Reset Reset

151 • Appendix A home_mode = 8 : Based on home mode 0 No limit switches and ORG is always ON at one direction ORG Reset Case 1 Case 2 Reset

6 • Introduction 1.3 Software Support 1.3.1 Programming Library Windows® XP/7 DLLs are provided for the PCI-8134 and PCI-8134A. These function librar

Appendix A • 152 home_mode = 9 : Based on home mode 0 It can search the ORG edge signal at a specific direction automatically. ORG EL Case 1 Case 2

153 • Appendix B home_mode = 11 : Based on home mode 2 ORG EZ EL Reset Case 1 Case 2 Case 3 Reset Reset

Appendix A • 154 Abnormal stop when using these modes During auto homing phases, there could be a stop command from limit switch, alarm switch or

155 • Appendix B // Second MOVE =108 // FIND EL = 109 // FIND EZ = 110 } else if( Ret == 0 ) { // Normal End break; } } // end of while Relative r

Appendix A • 156 Bouncing Problem in I/O Switch Sometimes, end-limit and ORG switches are mechanical type. Although there is a low pass filter

157 • Appendix B Appendix B: 8134.DLL vs. 8134A.DLL PCI-8134/PCI-8134A has two kinds of function library. They can’t be mixed to use. If

Appendix B • 158 B.2 Pulse Input/Output Configuration PCI8134.h (8134.lib) PCI8134a.h (8134a.lib) U16 set_pls_outmode(I32 axis, I32 pls_outmode); I1

159 • Appendix B max_vel, F64 accel); MaxVel, F64 Tacc, F64 Tdec); U16 start_r_move(I16 axis, F64 distance, F64 str_vel, F64 max_vel, F64 accel); I

Appendix B • 160 Tsacc); F64 SVacc, F64 SVdec); U16 rs_move(I16 axis, F64 distance, F64 str_vel, F64 max_vel, F64 Tlacc, F64 Tsacc); Obsolete U16

161 • Appendix B F64 x, F64 y); F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); U16 start_move_zu(I32 cardNo, F64 z, F64 u); I16 v_8134_start_ta_move_z

Installation • 7 2 Installation This chapter describes how to install the PCI-8134/PCI-8134A, according to the following procedure. • Check Packag

Appendix B • 162 B.11 Motion Status PCI8134.h (8134.lib) PCI8134a.h (8134a.lib) U16 motion_done(I16 axis); I16 _8134_motion_done(I16 AxisNo); B.12

163 • Appendix B PCI8134.h (8134.lib) PCI8134a.h (8134a.lib) U16 W_8134_INT_Enable(I32 card_number); I16 _8134_int_enable(I16 CardNo,HANDLE *phEve

Appendix B • 164 B.16 Soft-limit Checking PCI8134.h (8134.lib) PCI8134a.h (8134a.lib) U16 set_sw_limit(I16 axisno,F64 p_limit, F64 n_limit); I16 _81

165 • Appendix B cstop_output_on); I16 _8134_set_tr_move_all(I16 TotalAx, I16 *AxisArray, F64 *DistA, F64 *StrVelA, F64 *MaxVelA, F64 *TaccA, F64 *T

166 • Warranty Policy Warranty Policy Thank you for choosing ADLINK. To understand your rights and enjoy all the after-sales services we offer, please

Warranty Policy • 167 h. Other categories not protected under our guarantees. 4. Customers are responsible for the fees regarding transportation of

8 • Installation 2.2 PCI-8134/PCI-8134A Outline Drawing Figure 2.1 PCB Layout of the PCI-8134 CN1: External Power Input Connector CN2: Input / Output

Installation • 9 Figure 2.2 PCB Layout of the PCI-8134A CN1: External Power Input Connector CN2: Input / Output Signal Connector CN3: Manual Puls

© Copyright 2012 ADLINK Technology, Inc. All Rights Reserved. The information in this document is subject to change without prior notice in order to

10 • Installation 2.3.3 Installation Procedures Read through this manual, and setup the jumper according to your application Turn off your computer,

Installation • 11 2.5 Programming Guide Installation 1) From the ADLINK All-In-One CD Choose Driver Installation>Motion Control>PCI-8134/PCI-8

12 • Installation 2.7 CN2 Pin Assignments: Main connector The CN2 is the major connector for the motion control I/O signals. No. Name I/O Function(axi

Installation • 13 35 EZ2+ I Encoder Z-phase (+),  85 EZ4+ I Encoder Z-phase (+),  36 EZ2- I Encoder Z-phase (-),  86 EZ4- I Encoder Z-phase

14 • Installation 2.9 CN4 Pin Assignments: Simultaneous Start/Stop The signals on CN3 is for simultaneously start/stop signals for multiple axes and m

Installation • 15 Line Driver Open Collector Figure 2.4 Illustration of PCI-8134A jumpers 2.11 Switch Setting The switch S1 is used to set

16 • Installation Figure 2.6 Placement of S1 Switch on Board of PCI-8134A 1 2 3 4 ON Select ‘b’ Contact EL Switch (Normal Close) Se

Signal Connections • 17 3 Signal Connections The signal connections of all the I/O signals are described in this chapter. Please refer the content

18 • Signal Connections 3.1 Pulse Output Signals OUT and DIR There are 4-axis pulse output signals on PCI-8134/PCI-8134A. For every axis, two pairs

Signal Connections • 19 Output Signal For differential line driver output, close a break between 1 and 2 of For open collector output, close a break

Getting service from ADLINK ♦Customer Satisfaction is always the most important thing for ADLINK Tech Inc. If you need any help or service, please c

20 • Signal Connections 3.2 Encoder Feedback Signals EA, EB and EZ The encoder feedback signals include the EA, EB, and EZ. Every axis has six pins f

Signal Connections • 21 differential signal pairs will be converted to digital signal EA, EB and EZ to connect to Motion ASIC. Here are two examples

22 • Signal Connections 3.3 Origin Signal ORG The origin signals (ORG1∼ORG4) are used as input signals for origin of the mechanism. The following t

Signal Connections • 23 When the motion controller is operated at the home return mode, the ORG signal is used to stop the control output signals (OU

24 • Signal Connections 3.5 Ramping-down Signals PSD and MSD There are two ramping-down (Slow−Down) signals PSD and MSD for one axis. The relative s

Signal Connections • 25 CN2 Pin No Signal Name Axis # 10 INP1  28 INP2  60 INP3  78 INP4  The input circuit of the INP signals are shown in the

26 • Signal Connections collector output signals. The external circuit must provide at least 5 mA current sink capability to drive the ALM signal ac

Signal Connections • 27 power at 50mA driving capability. For more details of the ERC operation, please refer to section 4.2.3. 3.9 General-purp

28 • Signal Connections CN2 Pin No Signal Name Axis # 11 RDY1  29 RDY2  61 RDY3  71 RDY4  The input circuit of RDY signal is shown in the followi

Signal Connections • 29 If the signal voltage of pulser is not +5V or if the pulser is distantly placed, it is recommended to put a photo coupler or

Suggestions for ADLINK

30 • Signal Connections STP CN4 PCI-8134/PCI-8134A #1 PCI-8134/PCI-8134A #2 PCI-8134/PCI-8134A #3 CN4 CN4 STA STP STA STP STA STP STA STP STA STP S

Operations • 31 4 Operations This chapter describes detailed operation of the PCI-8134/PCI-8134A card. Contents of the following sections are as fo

32 • Operations 4.1.1 Pulse Command Output The PCI-8134/PCI-8134A uses pulse command to control the servo / stepper motors via the drivers. The puls

Operations • 33 following diagram shows the output waveform of positive (plus,+) command and negative (minus,-) command. Relative Function: set_pl

34 • Operations 4.1.3 Trapezoidal Motion This mode is used to move one axis motor to a specified position (or distance) with a trapezoidal velocity

Operations • 35 The following diagram shows the trapezoidal profile. There are 9 relative functions. In the a_move(), ta_move() and start_a_move(),

36 • Operations Answer: max_vel = 3600/60*2000*4 = 48000pps The reason why *4 is because there are four states per AB phase (See Figures in Section

Operations • 37 If this ratio is not set before issuing the start moving command, it will cause problems when running in “Absolute Mode”. Because t

38 • Operations (constant jerk). Tldec: specify the time for linear deceleration section (constant deceleration). Tsdec: specify the time for S-cu

Operations • 39 velocity( i.e.: the moving distance is too small to reach max_vel), the maximum velocity is automatically lowered and smooth accel./

Table of Contents • i Table of Contents Introduction ...1 1.1 Features ...

40 • Operations The total accelerating time = 0.05+2*0.05 = 0.15 (second). Total decelerating time = 0.2+2*0.2 = 0.6 (second). Command of Graph2: st

Operations • 41 The axis with larger numbers of moving pulses is the main axis, and the other axis is the secondary axis. When both axes are set a

42 • Operations setting home_mode parameter in set_home_config() function. The meaning of Home_mode will be described as the following: CAUTION Due

Operations • 43 • Home point is at the first edge of ORG signal when home move executing. At left or right side of edge depends on home move direct

44 • Operations ORGELCase 1Case 2Case 3NegativeCase 1Case 2Case 3PCI-8134 Home Mode 0 + ORG latchPositive PCI-8134 Home Mode 0 + ORG Latch @ 8134.DLL/

Operations • 45 • The feedback counter of PCI-8134 will be reset to zero while the motion is hitting the edge of ORG signal. • In Case 2 & 3, t

46 • Operations • In Case 1, the axis will be stopped immediately when axis detected the edge of ORG signal but it might stop at anywhere within the

Operations • 47 PCI-8134 Home Mode 1 + ORG latchORGELCase 1Case 2NegativePositiveCase 1EZORG latchCase 3Case 2Case 3 PCI-8134 Home Mode 1 + ORG latch

48 • Operations • As Do Not Latch mode, the axis will start searching EZ signal after the ORG signal was detected within 5 clock periods. • In Case

Operations • 49 • Home point is at the first edge of ORG signal when home move executing. At left or right side of edge depends on home move direc

ii • Table of Contents 3.11 Pulser Input Signals PA and PB ... 28 3.12 Simultaneously Start/Stop Signals STA

50 • Operations EZELPCI-8134A Home Mode 1Case 1Case 2Case 3NegativePositiveCase 1Case 2Case 3ORG PCI-8134A Home Mode 1 @ 8134.DLL/8134A.DLL DLL versio

Operations • 51 • The feedback counter of PCI-8134 will be reset to zero while the motion is hitting the edge of EZ or EL signal. • In Case 2 &

52 • Operations 4.1.7 Manual Pulser Mode For manual operation of a device, you may use a manual pulser such as a rotary encoder. The PCI-8134/PCI-813

Operations • 53 4.2 Motor Drive Interface The PCI-8134/PCI-8134A provides the INP, ERC and ALM signals for servomotor driver’s control interface. Th

54 • Operations any command pulse. The ALM signal may be a pulse signal, of which the shortest width is a time length of 5 micro seconds. You can chan

Operations • 55 CAUTION Due to differences between the motion chipsets on the PCI-8134 and PCI-8134A, ERC output pulse width with the PCI-8134A may b

56 • Operations The end-limit signals are used to stop the control output signals (OUT and DIR) when the end-limit is active. PEL signal indicates en

Operations • 57 You can use either 'a' contact switch or 'b' contact switch by setting the dip switch S1. The PCI-8134/PCI-8134A

58 • Operations 4.4 The Encoder Feedback Signals (EA, EB, EZ) The PCI-8134/PCI-8134A has a 28-bits binary up/down counter for managing the present pos

Operations • 59 The encoder error interrupt is provided to detect abnormal situation. Simultaneously changing of EA and EB signals will cause an en

Table of Contents • iii 6.2 C/C++ Programming Library ... 78 6.3 Initialization ...

60 • Operations are numbered either from left to right or right to left on the PCI slots. These card numbers will affect the corresponding axis number

Operations • 61 Sensor 1 is touched. Change to 50000pps if Sensor 2 is touched. Change to 100000pps if Sensor 3 is touched. Then the code for this ap

62 • Operations Relative Function: v_change(): Refer to section 6.5 4.7 Interrupt Control The PCI-8134/PCI-8134A motion controller can generate INT si

Motion Creator • 63 5 Motion Creator After installing all the hardware properly according to Chapter 2, 3, configuring cards and checkout are requi

64 • Motion Creator 5.1 Main Menu Main Menu will appear when executing Motion Creator. Figure 5.1 shows the Main Menu. Figure 5.1 Main Menu of Motion

Motion Creator • 65 5.2 Axis Configuration Window Press the “Config Axis” button on the Main Menu will enter the Axis Configuration window. Figure 5.

66 • Motion Creator ∗ set_pls_iptmode() for “Pulse Input Mode” property.

Motion Creator • 67 • Mechanical Signal: Related functions: ∗ set_home_config() for “Home Signal” and “Index Signal” property. ∗ set_sd_logic()

68 • Motion Creator Where _8134_initial () and _8134_Set_Config () can be called from the function library we provide. _8134_initial () should be th

Motion Creator • 69 5.3 Axis Operation Windows Press the “Operate Axis” button on the Main Menu or Axis Configuration Menu will enter the Axis Config

iv • Table of Contents Appendix B: 8134.DLL vs. 8134A.DLL ... 157 Warranty Policy ...

70 • Motion Creator ON/OFF status is read based on the setting logic in Axis Configuration window.

Motion Creator • 71 5.3.4 Set Position Control Use the Set Position Control to arbitrarily change the actual position of axis.Write the position wan

72 • Motion Creator Window. Press → to begin returning home function. Press “STOP” to stop moving.

Motion Creator • 73 • Manual Pulser Mode: Press “Manual Pulser Move” button will enable motion controlled by hand wheel pulser. Using this function,

74 • Motion Creator 5.3.8 Velocity Profile Selection : Click T_Curve or S_curve to select preset movement velocity profile. The relative parameter s

Function Library • 75 6 Function Library (8134.DLL) This chapter describes the supporting software for PCI-8134/PCI-8134A cards. User can use these

76 • Function Library v_stop Decelerate to stop set_sd_stop_mode Set slow down stop mode fix_max_speed Fix maximum speed setting unfix_max_spe

Function Library • 77 move_all Perform a multi-axis trapezodial profile move and wait for finish start_sa_move_all Start a multi-axis absolute S-c

78 • Function Library Manual Pulser Motion Section 6.12 set_manu_iptmode Set pulser input mode and operation mode manu_move Begin a manual pulser

Function Library • 79 Type Name Description Range U8 8-bit ASCII character 0 to 255 I16 16-bit signed integer -32768 to 32767 U16 16-bit unsigned int

About This Guide • v About This Guide The PCI-8134 was EOL in May, 2011. ADLINK offers the new PCI-8134A as a line replacement. While most PCI-8134A

80 • Function Library This function is used to get the PCI-8134 card’s IRQ number. W_8134_Get_Base_Addr : This function is used to get the PCI-8134 ca

Function Library • 81 @ Name set_pls_outmode – Set the configuration for pulse command output. set_pls_iptmode – Set the configuration for feedback

82 • Function Library pls_iptmode=3, CW/CCW type pulse input. cnt_src: Counter source cnt_src=0, counter source from command pulse cnt_src=1, cou

Function Library • 83 set_sd_stop_mode: Select the motion actions for slow down only or slow down then stop when SD pin is turned on fix_max_speed:

84 • Function Library v_stop (ByVal axis As Integer, ByVal Tacc As Double) As Integer set_sd_stop_mode (ByVal axis As Integer, ByVal stopmode As Inte

Function Library • 85 a_move– Begin an absolute trapezoidal profile motion and wait for completion r_move– Begin a relative trapezoidal profile mo

86 • Function Library U16 start_a_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64 Tacc) U16 a_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel,

Function Library • 87 Integer) As Integer @ Argument axis: axis number designated to move. pos: specified absolute position to move distance or dist

88 • Function Library @ Syntax C/C++ (DOS, Windows) U16 start_s_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64 Tlacc, F64 Tsacc) U16 s_move(I16

Function Library • 89 Tsdec: specified S-curve deceleration time in unit of second @ Return CodeERR_NoError ERR_MoveError 6.8 Multiple Axes Point to