Adlink PCI-8158 Manual do Utilizador

Advance Technologies; Automate the World.Manual Rev. 2.00Revision Date: August 5, 2006Part No: 50-11139-1000 PCI-8158High Density & Advanced 8-

vi List of FiguresList of FiguresFigure 1-1: Block Diagram of the PCI-8158 ... 2Figure 1-2: Flow chart for building an

90 MotionCreatorPro5.3.4 Configuration Menu In this menu, you can configure ALM, INP, ERC, EL, ORG, andEZ.1. ALM Logic and Response mode: Select logi

MotionCreatorPro 915. ORG Logic: Select the logic of the ORG signal. Therelated function call is _8158_set_home_config().6. EZ Logic: Select the logi

92 MotionCreatorProIn this menu, you can configure LTC, SD, PCS, and Select_Input. 1. LTC Logic: Select the logic of the LTC signal. Therelated functi

MotionCreatorPro 93function call is _8158_set_gpio_input_function.7. Buttons: Z Next Card: Change operating card.Z Next Axis: Change operating axis.

94 MotionCreatorProIn this menu, you can configure pulse input/output and move ratioand INT factor. 1. Pulse Output Mode: Select the output mode of th

MotionCreatorPro 955.3.5 Single Axis Operation MenuIn this menu, you can change the settings a selected axis, includ-ing velocity mode motion, preset

96 MotionCreatorPro_8158_get_target_pos().2. Position Reset: clicking this button will set all position-ing counters to a specified value. The related

MotionCreatorPro 977. Operation Mode: Select operation mode.Z Absolute Mode: “Position1” and “position2” will be used as absolution target positions

98 MotionCreatorProcheck box “ATU” is checked, it will execute auto homing when motion starts. Z ERC Output: Select if the ERC signal will be sent whe

MotionCreatorPro 99position1<->position2). It is only effective when “RelativeMode” or “Absolute Mode” is selected.11. Vel. Profile: Select the

Introduction 11 IntroductionThe PCI-8158 is an advanced & high-density 8-axis motion con-troller card with a PCI interface. It can generate high

100 MotionCreatorPro14.Speed_Profile: Clicking this button will show the SpeedProfile.15.Digital I/O: Display and set Digital I/O. The related func-ti

MotionCreatorPro 101Right play button: Clicking this button will cause the 8158start to outlet pulses according to previous setting.Z In “Absolute Mo

102 MotionCreatorPro5.3.6 Two-Axis Operation Menu In this menu, users can change the settings two selected axis,including velocity mode motion, preset

MotionCreatorPro 103Z Tacc: Set the acceleration time in units of second.Z Tdec: Set the deceleration time in units of second.Z Sacc: Set the S-curve

104 MotionCreatorPro10.Current Position:Z Command: displays the value of the command counter. The related function is _8158_get_position().11. Veloci

MotionCreatorPro 1055.3.7 2D_Motion MenuPress 2-D button in operating window will enter this window. Thisis for 2-D motion test. It includes the foll

106 MotionCreatorProthe faster it runs. When you un-press the button, the axis will stop immediately. Z Incremental Jog: Incremental jog means that wh

MotionCreatorPro 107target positions for motion when “Linear Interpolation Mode” is selected. “Dis EndPos” and “Dis Center” will be used as absolutio

108 MotionCreatorPro9. Jog Command: Press one directional button to move.10.Velocity: The absolute value of velocity in units of PPS.The related funct

MotionCreatorPro 109After setting these parameters, you can enter the arc centerand degree in “Play Key Frame”. Click Run button to start cir-cular i

2Introductionrecognize the card index if the entire control system is verylarge. 2. Emergency InputThe emergency input pin can let users wire the emer

110 MotionCreatorProX Stop Button: Clicking this button will cause the 8158 to decelerate and stop. The deceleration time is defined in “Decel. Time.”

MotionCreatorPro 1115.3.8 Help MenuIn this menu, users can Click Mouse Right Key to show Help Infor-mation.

112 MotionCreatorPro

Function Library 1136 Function LibraryThis chapter describes the supporting software for the PCI-8158card. User can use these functions to develop pr

114 Function Library6.1 List of FunctionsSystem & Initialization Section 6.3Pulse Input/Output Configuration Section 6.4Velocity mode motion Secti

Function Library 115Single Axis Position Mode Section 6.6Linear Interpolated Motion Section 6.7Function Name Description_8158_start_tr_move Begin a r

116 Function Library_8158_start_tr_move_cdBegin a relative 2-axis linear interpolation for C & D, with trapezoidal profile_8158_start_ta_move_cdBe

Function Library 117Circular Interpolation Motion Section 6.8Function Name Description_8158_start_tr_arc_xyBegin a t-curve relative circular interpol

118 Function LibraryHome Return Mode Section 6.9Manual Pulse Motion Section 6.10Motion Status Section 6.11Motion Interface I/O Section 6.12_8158_start

Function Library 119Interrupt Control Section 6.13Position Control and Counters Section 6.14_8158_set_alm Set ALM signal’s logic and operating mode_8

Introduction 3MotionCreatorPro is a Windows-based application develop-ment software package included with the PCI-8158. Motion-CreatorPro is useful f

120 Function LibraryPosition Compare and Latch Section 6.15Continuous Motion Section 6.16Multiple Axes Simultaneous Operation Section 6.17General-purp

Function Library 121Soft Limit 6.19Backlash Compensation / Vibration Suppression 6.20Speed Profile Calculation 6.21Function Name Description_8158_dis

122 Function Library6.2 C/C++ Programming LibraryThis section details all the functions. The function prototypes andsome common data types are declare

Function Library 1236.3 System & Initialization@ Name_8158_initial – Card initialization_8158_close – Card close_8158_get_version – Check hardwar

124 Function LibraryThis function is used to verify the security code which the userset by the function “_8158_set_security_key”.See also: _8158_set_s

Function Library 125@ SyntaxC/C++(Windows 2000/XP)I16 _8158_initial(I16 *CardID_InBit, I16 Manual_ID);I16 _8158_close(void);I16 _8158_get_version(I16

126 Function Library1: on board DIP switch (SW1).card_id: Specify the PCI-8158 card index. The card_id could bedecided by DIP switch (SW1) or depend o

Function Library 1276.4 Pulse Input/Output Configuration@ Name_8158_set_pls_iptmode – Set the configuration for feedbackpulse input._8158_set_pls_out

128 Function LibraryVisual Basic6 (Windows 2000/XP)B_8158_set_pls_iptmode(ByVal AxisNo As Integer, ByVal pls_iptmode As Integer, ByVal pls_logic As In

Function Library 129pls_outmode: Setting of command pulse output mode. Src: Counter sourceValue Meaning0 External Feedback1 Command pulse

4IntroductionFigure 1-2 illustrates a flow chart of the recommended processin using this manual in developing an application. Refer to therelated chap

130 Function Library6.5 Velocity mode motion@ Name_8158_tv_move – Accelerate an axis to a constant velocity withtrapezoidal profile_8158_sv_move – Acc

Function Library 131This function is used to decelerate an axis to stop with a trape-zoidal or S-curve profile. This function is also useful when apr

132 Function LibraryVisual Basic6 (Windows 2000/XP)B_8158_tv_move(ByVal AxisNo As Integer, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc

Function Library 133NewVelPercent: The Percentage of maximum override speed(100% speed)Time: The duration time of current speed to override speed. Un

134 Function Library6.6 Single Axis Position Mode@ Name_8158_start_tr_move – Begin a relative trapezoidal profilemove_8158_start_ta_move – Begin an ab

Function Library 135ezoidal profile. The acceleration (Tacc) and deceleration (Tdec)time is specified independently. This command does not let thepro

136 Function LibraryI16 _8158_start_sr_move(I16 AxisNo, F64 Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec);I16 _8158_start_sa

Function Library 137@ ArgumentAxisNo: Axis number designated to move or change position. Dist: Specified relative distance to move (unit: pulse)Pos:

138 Function Library6.7 Linear Interpolated Motion@ Name_8158_start_tr_move_xy – Begin a relative 2-axis linearinterpolation for X & Y axis with t

Function Library 139_8158_start_sa_move_cd – Begin an absolute 2-axis linearinterpolation for C & D axis with S-curve profile_8158_start_tr_line2

Introduction 51.1 Features The following list summarizes the main features of the PCI-8158 motion control system.X 32-bit PCI bus Plug and Play (Univ

140 Function Library Note: The target two axes of linear interpolation are the 2 of former 0-3 axes or later 4-7 axes on a card. It can not cross ove

Function Library 141Note: The target 4 axes of linear interpolation are the 4 of former 4 axes or later 4 axes on a card. It can not cross over thos

142 Function LibraryI16 _8158_start_sr_move_zu(I16 Card_id, F64 DistX, F64 DistY, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec);I1

Function Library 143I16 _8158_start_tr_line3(I16 *AxisArray, F64 *DistArray, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec);I16 _8158_start_ta_line3(I16

144 Function LibraryB_8158_start_sa_move_xy(ByVal Card_id As Integer, ByVal PosX As Double, ByVal PosY As Double, ByVal StrVel As Double, ByVal MaxVel

Function Library 145As Double, ByVal SVacc As Double, ByVal SVdec As Double) As IntegerB_8158_start_sa_move_ab(ByVal Card_id As Integer, ByVal PosX A

146 Function LibraryB_8158_start_sa_line2(AxisArray() As Integer, PosArray() As Double, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As

Function Library 147@ Argumentcard_id: Specify the PCI-8158 card index. The card_id could bedecided by DIP switch (SW1) or depend on slot sequence. P

148 Function LibraryExample: I16 AxisArray[2] = {0, 3}; //axis 0, & axis 3 (correct)I16 AxisArray[3] = {0,2, 3}; //axis 0, 2 & 3 (correct)I

Function Library 1496.8 Circular Interpolation Motion@ Name_8158_start_tr_arc_xy – Begin a T-curve relative circularinterpolation for X & Y axis_

6Introductionoperation in one systemX Compact PCB designX Includes MotionCreatorPro, a Microsoft Windows-based application development softwareX PCI-8

150 Function Library_8158_start_sa_arc_cd –Begin a S-curve absolute circularinterpolation for C & D axis_8158_start_tr_arc2 – Begin a T-curve rela

Function Library 151Note: The target two axes of linear interpolation are the 2 of former 4 axes (0-3) or later 4 axes (4-7) on a card. It can not c

152 Function LibraryI16 _8158_start_sa_arc_zu(I16 card_id, F64 Cx, F64 Cy, F64 Ex, F64 Ey, I16 CW_CCW, F64 StrVel,F64 MaxVel,F64 Tacc,F64 Tdec,F64 SVa

Function Library 153I16 _8158_start_sr_arc2(I16 *AxisArray, F64 *OffsetCenter, F64 *OffsetEnd, I16 CW_CCW, F64 StrVel,F64 MaxVel,F64 Tacc,F64 Tdec, F

154 Function LibraryDouble, ByVal Tacc As Double, ByVal Tdec As Double);B_8158_start_ta_arc_zu(ByVal card_id As Integer, ByVal Cx As Double, ByVal Cy

Function Library 155Double, ByVal Svacc As Double, ByVal Svdec As Double) As IntegerB_8158_start_sa_arc_ab(ByVal card_id As Integer, ByVal Cx As Doub

156 Function LibraryB_8158_start_ta_arc2(AxisArray() As Integer, CenterPos() As Double, EndPos() As Double, Byval CW_CCW As Integer, ByVal StrVel As D

Function Library 157Cx : X-axis (first axis of target axes) absolute position of center ofarcCy: Y-axis (second axis of target axes) absolute positio

158 Function Library*OffsetEnd: Array of the offset to end of arc (relative to the startposition)Example: F64 OffsetEnd[2] = {4000.0, 0.0}; //offset f

Function Library 1596.9 Home Return Mode@ Name_8158_set_home_config – Set the configuration for homereturn move motion_8158_home_move – Perform a hom

Introduction 7100 PPS to 6553500 PPS. (Multiplier = 100)X I/O Signales:Z Input/Output signals for each axisZ All I/O signal are optically isolated wi

160 Function Library@ SyntaxC/C++(Windows 2000/XP)I16 _8158_set_home_config(I16 AxisNo, I16 home_mode, I16 org_logic, I16 ez_logic, I16 ez_count, I16

Function Library 161org_logic: Action logic configuration for ORG ez_logic: Action logic configuration for EZ ez_count: 0-15 (Please refer to see Se

162 Function Library6.10 Manual Pulser Motion@ Name_8158_disable_pulser_input – Disable the pulse input_8158_pulser_pmove – Manual pulse p_move_8158_p

Function Library 163_8158_set_pulser_iptmodeThis function is used to configure the input mode of manualpulse.@ SyntaxC/C++(Windows 2000/XP)I16 _8158_

164 Function Library@ ArgumentAxisNo: Axis number designated to move or change position.Disable: Disable pulse input. Disable = 1, disable pulse Disab

Function Library 1656.11 Motion Status@ Name_8102_motion_done – Return the motion status@ Description_8102_motion_done:Return the motion status of th

166 Function Library@ SyntaxC/C++(Windows 2000/XP)I16 _8102_motion_done(I16 AxisNo)Visual Basic (Windows 2000/XP)B_8102_motion_done(ByVal AxisNo As In

Function Library 1676.12 Motion Interface I/O@ Name_8158_set_servo – Set the ON-OFF state of the SVON signal_8158_set_pcs_logic – Set the logic of PC

168 Function LibraryEnable the position override when input signal PCS is turn ON.The PCS terminal status can be monitored by“_8158_get_io_status” fun

Function Library 169Set the EL logic, normal open or normal closed._8158_set_limit_mode:Set the reacting modes of the EL signal._8158_get_io_status:G

8Introduction1.3 Supported Software 1.3.1 Programming Library Windows 2000/XP DLLs are provided for the PCI-8158 users.These function libraries are sh

170 Function LibraryI16 _8158_set_alm(I16 AxisNo, I16 alm_logic, I16 alm_mode);I16 _8158_set_erc(I16 AxisNo, I16 erc_logic, I16 erc_pulse_width, I16 e

Function Library 171B_8158_enable_sd(ByVal AxisNo As Integer, ByVal Enable As Integer) As IntegerB_8158_set_limit_logic(ByVal AxisNo As Integer, ByVa

172 Function Libraryclr_mode = 0 , Clear on the falling edge (default)clr_mode = 1 , Clear on the rising edgeclr_mode = 2 , Clear on a LOW levelclr_mo

Function Library 173erc_logic: Set the active logic for the ERC signalerc_pulse_width: Set the pulse width of the ERC signalerc_mode:sd_logic:sd_latc

174 Function Librarysd_mode: Set the reacting mode of the SD signalenable: Set the ramping-down point for high speed feed.Logic: Set the PEL/MEL logic

Function Library 1756.13 Interrupt Control@Name_8158_int_control – Enable/Disable INT service_8158_set_motion_int_factor – Set the factors of motionr

176 Function Library@ SyntaxC/C++(Windows 2000/XP)I16 _8158_int_control(I16 card_id, I16 intFlag);I16 _8158_set_motion_int_factor(I16 AxisNo, U32 int_

Function Library 177AxisNo: Axis number of Target Axis.int_factor: interrupt factormotion INT factorscard_id Physical axis AxisNo00011……7710819……Valu

178 Function LibraryTimeOut_ms: Specifies the time-out interval, in milliseconds. IfTimeOut_ms is zero, the function tests the states of the specified

Function Library 1796.14 Position Control and Counters@ Name_8158_get_position – Get the value of feedback positioncounter_8158_set_position – Set th

Installation 92 Installation This chapter describes how to install the PCI-8158. Please followthese steps below: X Check what you have (Section 2.1)X

180 Function LibraryThis function is used to change the feedback position counterto the specified value. Note that the value to be set will be pro-ces

Function Library 181_8158_get_res_distance:This function is used to read the value of the residue distancerecorder. The target position recorder is m

182 Function LibraryB_8158_get_error_counter(ByVal AxisNo As Integer, ByRef error As Integer) As IntegerB_8158_reset_error_counter(ByVal AxisNo As Int

Function Library 183CntSrc: general counter sourceCntValue, *CntValue: the counter valueTargetPos, *TargetPos: Target position recorder value, range:

184 Function Library6.15 Position Compare and Latch@ Name_8158_set_trigger_logic – Set the CMP signal’s logic_8158_set_trigger_comparator – Set the tr

Function Library 185_8158_set_latch_source:There are 4 latch triggering source. By using this function, usercan choose the event source to latch coun

186 Function LibraryB_8158_set_trigger_comparator(ByVal AxisNo As Integer, ByVal CmpSrc As Integer, ByVal CmpMethod As Integer, ByVal Data As Long) As

Function Library 187CmpMethod: The comparing methodsData: Comparing value (Position)CmpAction:ltc_src:ltc_logic: LTC signal operation edgeCounterNo:

188 Function Library*Pos: Latch data (Position)

Function Library 1896.16 Continuous motion@ Name_8158_set_continuous_move – Enable continuous motion forabsolute motion_8158_check_continuous_buffer

Copyright 2006 ADLINK TECHNOLOGY INC.All Rights Reserved. The information in this document is subject to change without priornotice in order to improv

10 Installation2.2 PCI-8158 Outline DrawingFigure 2-1: PCB Layout of the PCI-8158X P1 / P2: Input / Output Signal Connector (100-pin)X K1 / K2: Simult

190 Function Library@ SyntaxC/C++(Windows 2000/XP)I16 _8158_set_continuous_move(I16 AxisNo, I16 Enable);I16 _8158_check_continuous_buffer(I16 AxisNo);

Function Library 1916.17 Multiple Axes Simultaneous Operation@ Name_8158_set_tr_move_all – Multi-axis simultaneous operationsetup_8158_set_ta_move_al

192 Function LibraryI16 axes[2] = {0, 1};F64 dist[2] = {80000.0, 120000.0},F64 str_vel[2] = {0.0, 0.0},F64 max_vel[2] = {4000.0, 6000.0},F64 Tacc[2] =

Function Library 193As Double, ByRef SVdecA As Double) As IntegerB_8158_set_ta_move_all(ByVal TotalAxes As Integer, ByRef AxisArray As Integer, ByRef

194 Function Library6.18 General-purpose DIO@ Name_8158_set_gpio_output – Set digital output_8158_get_gpio_output – Get digital output_8158_get_gpio_i

Function Library 195Visual Basic (Windows 2000/XP)B_8158_set_gpio_output(ByVal card_id As Integer, ByVal DoValue As Integer) As IntegerB_8158_get_gpi

196 Function Library6.19 Soft Limit@ Name_8158_disable_soft_limit – Disable soft limit function_8158_enable_soft_limit – Enable soft limit function_81

Function Library 197@ ArgumentAxisNo: Axis number of Target Axis.Action: The reacting method of soft limitPlusLimit: Soft limit value, positive direc

198 Function Library6.20 Backlash Compensation / Vibration Suppression@ Name_8158_backlash_comp – Set backlash corrective pulse forcompensation_8158_s

Function Library 199Visual Basic (Windows 2000/XP)B_8158_backlash_comps (ByVal AxisNo As Integer, ByVal CompPulse As Integer, ByVal Mode As Integer)

Installation 112.3.2 PCI slot selectionYour computer system may have both PCI and ISA slots. Do notforce the PCI card into a PC/AT slot. The PCI-8158

200 Function Library6.21 Speed Profile Calculation@ Name_8158_get_tr_move_profile – Get the relative trapezoidalspeed profile_8158_get_ta_move_profile

Function Library 201@ SyntaxC/C++(Windows 2000/XP)I16 _8158_get_tr_move_profile(I16 AxisNo, F64 Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64

202 Function LibraryDouble, ByRef pTacc As Double, ByRef pTdec As Double, ByRef pSVacc As Double, ByRef pSVdec As Double, ByRef pTconst As Double) As

Function Library 203SVdec: S-curve region during deceleration (unit: pulse/sec)Note: SVdec = 0, for pure S-Curve. For more details, see sec-tion 4.2.

204 Function Library6.22 Return CodeThe return error code is defined in “8158_err.h”. The meaning isdescribed in following table.Code Meaning0 No erro

Function Library 205 -10330 Error velocity change time-10331 Error speed target-10332 Error velocity percent-10333 Error position change backward-103

206 Function Library

Connection Example 2077 Connection ExampleThis chapter shows some connection examples between the PCI-8158 and servo drivers and stepping drivers. 7.

208 Connection Example

Warranty Policy 209Warranty PolicyThank you for choosing ADLINK. To understand your rights andenjoy all the after-sales services we offer, please rea

12 Installation2.4 Software Driver Installation 1. Auto run the ADLINK All-In-One CD. Choose DriverInstallation -> Motion Control -> PCI-81582.

210 Warranty Policy3. Our repair service is not covered by ADLINK's guaranteein the following situations:X Damage caused by not following instruc

Installation 132.5 P1/P2 Pin Assignments: Main ConnectorP1 / P2 are the main connectors for the motion control I/O signals.No. Name I/O Function No.

14 InstallationX P1 is for Axis 0 to 3 control and P2 is for Axis 4 to 7 control.2.6 K1/K2 Pin Assignments: Simultaneous Start/Stop K1 and K2 are for

Installation 152.7 J1 to J16 Jumper Settings for Pulse Output J1-J16 are used to set the type of pulse output signals (DIR andOUT). The output signal

16 Installation2.8 S1 Switch Settings for Card IndexThe S1 switch is used to set the card index. For example, if youturn 1 to ON and others are OFF. I

Installation 172.9 P3 Manual PulseThe signals on P3 are for manual pulse input.Note: The +5V and GND pins are directly given by the PCI-bus power. T

18 Installation

Signal Connections 193 Signal ConnectionsSignal connections of all I/O’s are described in this chapter. Referto the contents of this chapter before w

Getting Service from ADLINKCustomer Satisfaction is top priority for ADLINK Technology Inc.Please contact us should you require any service or assista

20 Signal Connections3.1 Pulse Output Signals OUT and DIR There are 8 axis pulse output signals on the PCI-8158. For eachaxis, two pairs of OUT and DI

Signal Connections 21Table 3-2: Pulse Output Signals OUT (P2)The output of the OUT or DIR signals can be configured by jump-ers as either differenti

22 Signal ConnectionsTable 3-3: Output SignalThe default setting of OUT and DIR is set to differential line drivermode. The following wiring diagram

Signal Connections 23Suggest Usage: Jumper 2-3 shorted and connect OUT-/DIR- to a470 ohm pulse input interface’s COM of driver. See the followingfigu

24 Signal ConnectionsThe input circuit of the EA, EB, and EZ signals is shown as fol-lows:P2 Pin No Signal Name Axis # P2 Pin No Signal Name Axis #13

Signal Connections 25Please note that the voltage across each differential pair ofencoder input signals (EA+, EA-), (EB+, EB-), and (EZ+, EZ-)should

26 Signal ConnectionsIf = 8mA For more operation information on the encoder feedback signals,refer to Section 4.4.Encoder Power (V) External Resistor

Signal Connections 273.3 Origin Signal ORG The origin signals (ORG0-ORG7) are used as input signals for theorigin of the mechanism. The following tab

28 Signal Connections3.4 End-Limit Signals PEL and MELThere are two end-limit signals PEL and MEL for each axis. PELindicates the end limit signal is

Signal Connections 293.5 In-position Signal INPThe in-position signal INP from a servo motor driver indicates itsdeviation error. If there is no devi

30 Signal Connections3.6 Alarm Signal ALMThe alarm signal ALM is used to indicate the alarm status from theservo driver. The signal names, pin numbers

Signal Connections 313.7 Deviation Counter Clear Signal ERCThe deviation counter clear signal (ERC) is active in the following4 situations:1. Home re

32 Signal Connections3.8 General-purpose Signal SVONThe SVON signal can be used as a servomotor-on control or gen-eral purpose output signal. The sign

Signal Connections 333.9 General-purpose Signal RDYThe RDY signals can be used as motor driver ready input or gen-eral purpose input signals. The sig

34 Signal Connections3.10 Multi-Functional output pin: DO/CMPThe PCI-8158 provides 8 multi-functional output channels: DO/CMP0 to DO/CMP7 corresponds

Signal Connections 353.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMGThe PCI-8158 provides 8 multi-functional input pins. Each of the 8pins can

36 Signal Connections3.12 Pulse Input Signals PA and PB (PCI-8158)The PCI-8158 can accept differential pulse input signals throughthe pins of PN1 list

Signal Connections 373.13 Simultaneously Start/Stop Signals STA and STPThe PCI-8158 provides STA and STP signals, which enable simul-taneous start/st

38 Signal ConnectionsYou can also use external start and stop signals to issue a cross-card simultaneous motor operation. Just connect external starta

Signal Connections 39

Table of Contents iTable of ContentsTable of Contents... iList of Tables...

40 Signal Connections

Operation Theory 414 Operation TheoryThis chapter describes the detail operation of the motion controllercard. Contents of the following sections are

42 Operation Theory4.1.2 Pulse type motion control InterfaceThe second motion and motor control interface type of is pulsestrain. As a trend of digita

Operation Theory 43A motion control system needs an absolutely real-time controlcycle and the calculation on controller must provide a control dataat

44 Operation Theory4.1.7 Compare Table of all motion control types* Real-time OS included** DSP or software real-time OS is needed4.1.8 PCI-8158’s mot

Operation Theory 454.2 Motion Control ModesMotor control is not only for positive or negative moving, motioncontrol can make the motors run according

46 Operation Theorypulses per 1mm and the motor will move 1mm if the motion con-troller send 1,000 pulses, It means that when we want to move 1mm, we

Operation Theory 474.2.3 Trapezoidal speed profileA trapezoidal speed profile means the acceleration/decelerationarea follows a first-order linear ve

48 Operation Theorythese areas. We call this shape as “bell” curve. It adds a linearcurve between the upper side of s-curve and lower side of s-curve.

Operation Theory 49The S-curve profile motion functions are designed to always pro-duce smooth motion. If the time for acceleration parameters com-bi

ii Table of Contents3.7 Deviation Counter Clear Signal ERC ... 313.8 General-purpose Signal SVON...

50 Operation Theory4.2.6 One axis position modePosition mode means the motion controller will output a specificamount of pulses which is equal to the

Operation Theory 514.2.7 Two axes linear interpolation position mode“Interpolation between multi-axes” means these axes start simul-taneously, and re

52 Operation TheoryThe speed ratio along X-axis and Y-axis is (∆X: ∆Y), respectively,and the vector speed is: When calling 8-axis linear interpolation

Operation Theory 53The command precision of circular interpolation is shown below.The precision range is at radius ±1/2 pulse.4.2.9 Continuous motion

54 Operation Theorythe fourth command into second buffer. Normally, if users haveenough time to set a new command into second buffer before exe-cuting

Operation Theory 55If the speed value of the second command is less than the others,the settings would be like the following diagram:For 8-axis conti

56 Operation Theoryneeds to find a zero point of this machine. Our motion controllerprovides a home return mode to make it.We have many home modes and

Operation Theory 57

58 Operation Theory

Operation Theory 59

Table of Contents iiiServo ON/OFF switch ... 71Servo Ready Signal ...

60 Operation Theory

Operation Theory 61

62 Operation Theory

Operation Theory 634.2.11 Home Search FunctionThis mode is used to add auto searching function on normal homereturn mode described in previous sectio

64 Operation Theory4.2.12 Manual Pulse FunctionThe manual pulse is a device to generate pulse trains by hand.The pulses are sent to motion controller

Operation Theory 654.2.14 Speed Override FunctionSpeed override means that you can change speed of the com-mand during the operation of motion. The c

66 Operation Theoryrelative pulses are smaller than original slow down pulses, thisfunction can’t work properly.4.3 The motor driver interfaceWe provi

Operation Theory 67Single Pulse Output Mode (OUT/DIR Mode)In this mode, the OUT pin is for outputting command pulse chain.The numbers of OUT pulse re

68 Operation Theoryrespectively. The numbers of pulse represent distance in pulse.The frequency of the pulse represents speed in pulse per second.Pul

Operation Theory 69If you don’t use encoder for motion controller, the feedback sourcefor this counter must be set as pulse command output or thecoun

iv Table of ContentsHelp Menu ... 1116 Function Library...

70 Operation TheoryThe following diagram shows the waveform. The index input (EZ) signal is as the zero reference in linear orrotary encoder. The EZ

Operation Theory 714.3.4 Servo alarm signalThe alarm signal is an output signal from motor driver. It tellsmotion controller that there has something

72 Operation Theoryon, the motor will be held because the control loop of driver isactive. Be careful that when the axis is vertically installed and t

Operation Theory 734.4.1 Original or home signalOur controller provides one original or home signal for each axis.This signal is used for defining th

74 Operation Theory4.4.5 Counter Clear switchThe counter clear switch is an input signal which makes thecounters of motion controller to reset. If you

Operation Theory 754.5.1 Command position counterThe command position counter is a 28-bit binary up/down counter.Its input source is the output pulse

76 Operation TheoryThe value is calculated from command subtracting feedback posi-tion.If the ratio between command and feedback is not 1:1, the error

Operation Theory 774.6 The ComparatorsThere are 5 counter comparators of each axis. Each comparatorhas dedicated functions. They are:1. Positive soft

78 Operation Theory4.6.4 Trigger comparatorThe trigger comparator is much like general comparator. It has anadditional function, generating a trigger

Operation Theory 794.7.1 Backlash compensation and slip correctionsThe motion controller has backlash and slip correction functions.These functions o

List of Tables vList of TablesTable 1-1: Available Terminal Boards ... 8Table 2-1: P1/P2 Pin Assignments ...

80 Operation TheoryOur motion library has a series of functions to know the actualspeed profile of the command from users.4.8 Interrupt Control The mo

Operation Theory 81Motion Interrupt Source Bit SettingsThe error interrupt sources are non-maskable but the error num-ber of situation could be get f

82 Operation TheoryError Interrupt return codesThe GPIO interrupt sources are maskable. The mask bits table isshown below:Value Description0 +Soft Lim

Operation Theory 83GPIO Interrupt Source Bit Settings (1=Enable,0=Disable)The steps for using interrupts:1. Use _8158_int_control(CARD_ID, Enable=1/D

84 Operation Theory4.9 Multiple Card OperationThe motion controller allows more than one card in one system.Since the motion controller is plug-and-pl

MotionCreatorPro 855 MotionCreatorPro After installing the hardware (Chapters 2 and 3), it is necessary tocorrectly configure all cards and double ch

86 MotionCreatorPro5.2 About MotionCreatorProBefore Running MotionCreatorPro, the following issues should bekept in mind.1. MotionCreatorPro is a prog

MotionCreatorPro 875.3 MotionCreatorPro Form Introducing5.3.1 Main MenuThe main menu appears after running MotionCreatorPro. It is usedto:

88 MotionCreatorPro5.3.2 Select MenuThe select menu appears after running MotionCreatorPro. It isused to:

MotionCreatorPro 895.3.3 Card Information Menu This menu shows Information about this card.