ADLINK Technology PCI-8136M Guía de usuario

PCI-8136M 6-Axis Motion Controller Card User’s Guide

2 • Introduction Figure 1.1 Block Diagram of PCI-8136M PCI-8136MTMBUSIFSerial IO Remote IO Master #264In/64OutDRSlave #264In/64OutSlave #164In/64O

92 • Motion Library 5.14 2D Interpolation @Name _8136_Start_Move_XY – Start a trapezoidal 2 axes linear interpolation motion _8136_Start_Arc_XY –

Motion Libra • 93 Visual Basic 5.0 or higher B_8136_Start_Move_XY (ByVal CardNo As Integer, AxisArray() As Integer,ByVal PX As Long, ByVal PY As Long

94 • Motion Library 5.15 3D Interpolation @Name _8136_Start_Move_XYZ – start a 3 axis linear interpolation with trapezoidal velocity profile _8136_S

Motion Libra • 95 @ Argument CardNo: card number designated to set (Range 0 ~ 3) AxisNo: axis number designated to set (Range 0~5) PX: line x positio

96 • Motion Library 5.16 Continuous Motion @Name _8136_V_Move – Trapezoidal continuous move for one axis _8136_SV_Move – S-curve continuous move for

Motion Libra • 97 5.17 Homing @Name _8136_Home_Move – Start to search ORG pin for homing @Description _8136_Home_Move: By giving home search directi

98 • Motion Library 5.18 Motion Function @Name _8136_Motion_Stop – Stop motion for one axis _8136_C_Set_Gain – Tuning closed loop gain for one axis

Product Warranty/Service • 99 Product Warranty/Service ADLINK warrants that equipment furnished will be free from defects in material and workmanship

Introduction • 3 1.1 Functionality of PCI-8136M The PCI-8136M is composed of 6 sets of motion control module. Each control set has its own pulse ge

4 • Introduction 1.2 Features The PCI-8136M gets the following features: • Compact, half size PCB • 32-bit PCI-bus, plug and play • 6 channels 16

Introduction • 5 1.3 Specifications 1.3.1 Applicable Motors: • Stepping motors • AC or DC servomotors with pulse train input servo drivers • AC

6 • Introduction 1.3.4 General I/Os ♦ Analog Input • 6 differential input channels • Input range: Voltage: ±10V Current: ±20 mA (manually solder

Introduction • 7 150mA/Ch (max.) 500mA/total • Isolated voltage 2500V RMS • Throughput 10KHz(0.1ms) ♦ Pulse Input (Encoder Counter) • 6 different

8 • Introduction ♦ Power Consumption: • Slot power supply(input): +5V DC ±5%, 900mA max • External power supply(input): +24V DC ±5%, 500mA max •

Installation • 9 2 Installation This chapter describes how to install the PCI-8136M hardware and software correctly. Please follow the follow steps.

10 • Installation 2.1 What You Have In addition to this User's Guide, the package includes the following items: • PCI-8136M 6-axis Motion Cont

Installation • 11 2.2 Outline Drawing Figure 2.2.1 PCB Layout of the PCI-8136M CN1 Pin Assignments: Main Connector CN2 Pi

12 • Installation 2.3 Hardware Installation 2.3.1 Hardware configuration PCI-8136M has plug and play PCI controller on board. The memory usage (I/O

Installation • 13 2.4 Software Installation Please refer to the ADLINK All-in-one Compact Disc Manual to install it.

14 • Installation 2.5 CN1 PIN ASSIGNMENTS: MAIN CONNECTOR The CN1 is the major connector for the Motion related I/O, including pulse output, encoder

Installation • 15 2.6 CN2 PIN ASSIGNMENTS: EXTERNAL POWER INPUT CN2 Pin No Name Description Cable Color 1 EXGND Grounds of the external power. B

16 • Installation 2.7 CN3 PIN ASSIGNMENTS: DB25 CONNECTOR The signals on CN3 are for Analog input and remote serial IO. Remote serial IO #2 Analog

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

18 • Signal Connection 3.1 Pulse output signals OUT and DIR There are 6-axis pulse output signals on PCI-8136M. For every axis, two pairs of OUT and

Signal Connection • 19 Figure 3.1.1 Pulse output (pulse generator) circuit If the driver side is open collector mode, please use any one of p

20 • Signal Connection 3.2 Voltage output signals DAC There are 6 DAC output channels on PCI-8136M. If the closed loop control mode is set for any o

Signal Connection • 21 Notice that the DAC Channel 1~ 3 in CN1 and CN3 are connected inside the PCI-8136M.

©Copyright 2000 ADLink Technology Inc. All Rights Reserved. Manual Rev. 1.00: Oct 20, 2000 The information in this document is subject to change wit

22 • Signal Connection 3.3 Encoder feedback signals EA, EB and EZ The PCI-8136M provides 6 differential pulse inputs with 2500V rms isolation, and e

Signal Connection • 23 The input circuits of the EA, EB, EZ signals are shown as follows. Figure 3.3.1 Pulse input (encoder counter) circuit

24 • Signal Connection Connection to Open Collector Output To connect with open collector output, an external power supply is necessary. Some motor

Signal Connection • 25 3.4 Analog Input The PCI-8136M provides 6 12-bit A/D channels. The analog source is selectable for each channel to be ±10V DC

26 • Signal Connection CN3 Pin No. Signal Name Description 20 ADC1+ ADC channel 1 (+) 7 ADC1- ADC channel 1 (-) 21 ADC2+ ADC channel 2 (+) 8

Signal Connection • 27 3.5 Origin signal ORG The origin signals (ORG1~ORG6) are used as input signals for origin of the mechanism. The following ta

28 • Signal Connection 3.6 End-Limit signals PEL and MEL There are two end-limit signals PEL and MEL for each axis. PEL indicates end limit signal

Signal Connection • 29 3.7 Emergency stop signal ESTOP The emergency stop signal ESTOP is used to stop pulse output from all OUT and DIR channels. T

30 • Signal Connection 3.8 Servo on signal SVON The SVON signals can be used as servo-on control at servo drivers or general-purpose output signals.

Signal Connection • 31 3.9 General purpose output P-RDY There is one general purpose output pin on PCI-8136M. The pin assinment is shown as followin

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32 • Signal Connection 3.11 Open Loop and Closed Loop Connection All axes in PCI-8136M are free to set as open loop pulse output control or closed l

Operation Theorem • 33 4 Operation Theorem This chapter describes the detail operation theorem of the PCI-8136M card. Contents of the following secti

34 • Operation Theorem Please refer to the following architecture diagram of PCI-8136M PCI BusPCI BusDeviceDriverI/O MapRegisterFunctionLibraryWindow

Operation Theorem • 35 4.1 AD Conversion and Preloaded Trigger 4.1.1 ADC The PCI-8136M provides 6 Differential ADC channels. Each channel consists

36 • Operation Theorem Relative functions: _8136_A_Set_Compare_Value(), _8136_A_Set_Compare_Volt (), _8136_S_Set_Int_Factor() : please refer to sect

Operation Theorem • 37 4.3 Local DIO 4.3.1 Digital Input The PCI-8136M provides 19 digital input channels with 2500rms isolation. The DI channel is

38 • Operation Theorem 4.4 Pulse Input and Position Compare 4.4.1 Pulse Input The PCI-8136M has 6 32-bit pulse input channels for encoder counter.

Operation Theorem • 39 90° phase difference signals Input Mode(AB phase Mode) In this mode, the EA signal is 90° phase leading or lagging in comparis

40 • Operation Theorem 4.4.3 Position Compare The PCI-8136M provides position compare function for all six pulse input channels. Once the counter v

Operation Theorem • 41 4.5 Pulse Output The PCI-8136M provides 6 pulse output channels. They are used to send out constant-frequency pulse trains. W

Table of contents • i Table of Contents Chapter 1 Introduction...1 1.1 Functionality of PCI-8

42 • Operation Theorem Related functions: _8136_P_Initial() : please refer to section 5.2 _8136_P_Set_Output_Type(), _8136_P_Send(), _8

Operation Theorem • 43 4.6 Remote Serial IO The PCI-8136M support 2 set of remote serial IO, each set may consist at most 64DI and 64DO. To use remo

44 • Operation Theorem 4.7 Introduction to DDA This section will introduce the DDA operating theorem that creates all those various motion function

Operation Theorem • 45 4.8 Open-loop and close-loop control This section explains the motion control algorithms provided by PCI-8136M. There are two

46 • Operation Theorem 4.9 Constant Velocity Motion This mode is used to operate one axis motor at constant velocity motion. The output pulse acce

Operation Theorem • 47 4.10 Trapezoidal Motion This mode is used to move one or more axes to a specified position (or distance) with a trapezoidal

48 • Operation Theorem Relative Functions: _8136_P_Initial() refer to section 5.2 _8136_Motion_Stop() refer to section 5.18 _8136_Motion_Status() re

Operation Theorem • 49 4.11 S-Curve Profile Motion This mode is used to move one axis motor to a specified position (or distance) with a S-curve vel

50 • Operation Theorem The S-curve profile motion functions are designed to always produce smooth motion. If the time for S-Curve acceleration parame

Operation Theorem • 51 4.12 2D Interpolation “Interpolation between two axes” means the two axes start simultaneously and reach their ending points

ii • Table of Contents Chapter 4 Operation Theorem...33 4.1 AD Conversion and Preloaded Trigger ...

52 • Operation Theorem The composite speed profile could be trapezoidal or s-curve velocity profile during one interpolation motion. The following gr

Operation Theorem • 53 Relative Functions: _8136_P_Initial() refer to section 5.2 _8136_Motion_Stop() refer to section 5.18 _8136_Motion_Status() ref

54 • Operation Theorem 4.13 3D Interpolation The PCI-8136M supports three axes linear interpolation. Users can choose any three axes from 6 axes to

Operation Theorem • 55 4.14 Home Return Mode In most applications, home point is a very important reference to the coordinate of space. The PCI-8136

56 • Operation Theorem 4.15 Motion Parameters Setting The default setting of output pulse width for PCI-8136M is 2 micro seconds and the control lo

Operation Theorem • 57 4.16 The Motion IO Interface There are 19 general purpose digital input and 7 digital output channels on PCI-8136M. If users

58 • Operation Theorem Relative Functions: _8136_M_Set_IO_Active(), refer to section 5.11 _8136_M_ORG_Status(), _8136_M_PEL_Status(), _8136_M_MEL_Sta

Operation Theorem • 59 4.17 Interrupt Control The PCI-8136M can generate INT signal to host PC according to 8 types of interrupt factors, refer to _

60 • Operation Theorem Use Thread to deal with Interrupt under Windows NT/95 In order to detect the interrupt signal from PCI-8136M under Windows NT/

Operation Theorem • 61 4. Start the thread( Use a boolean value to control the thread’s life ) ThreadOn=TRUE; AfxBeginThread(IntThreadProc,GetSafeHw

Table of contents • iii 5.10 Close Loop Initialization ...84 5.11 Motion Parameters ...

62 • Motion Library 5 Motion Library This chapter describes the supporting software for PCI-8136M cards. User can use these functions to develop appl

Motion Libra • 63 5.1 List of Functions Initialization Section 5.2 _8136_Initial(*cardno) Interface card initialization _8136_S_Close(cardno) I

64 • Motion Library _8136_INT_Disable(cardno) Remove int. event handler _8136_S_Set_Int_Factor(cardno, ax,factor,op) Set interrupt factor _8136

Motion Libra • 65 5.2 Initialization @ Name _8136_Initial – Software Initialize for PCI-8136 _8136_S_Close – Software release for PCI-8136 _8136_A_I

66 • Motion Library B_8136_R_Initial (ByVal CardNo As Integer, ByVal SlaveControl As Integer) As Integer @ Arguments CardNo: card number designated t

Motion Libra • 67 5.3 System Parameters @ Name _8136_R_Set_RIO_Clk -Set Rio clock divider _8136_A_Set_DAC_Clk - Set DAC clock divider _8136_A_Set_

68 • Motion Library @ Syntax C/C++ (DOS, Windows 95/98/NT/2000) I16 _8136_R_Set_RIO_Clk(I16 CardNo, I16 SlaveNo, I16 Clk_Divider) I16 _8136_A_Set_DAC

Motion Libra • 69 5.4 Card Information @ Name _8136_S_Get_IRQ_Channel - Get I/O card's IRQ _8136_S_Get_Base_Addr - Get I/O card's base add

70 • Motion Library 5.5 Digital I/O @ Name _8136_D_Output - Digital output for one bit _8136_D_Input - Digital input for one bit _8136_D_OutputA

Motion Libra • 71 Visual Basic 5.0 or higher B_8136_D_Output(ByVal CardNo As Integer, ByVal Channe As Integer, ByVal Control As Integer) As Integer B

iv • How to Use This Guide How to Use This Guide This manual is designed to help you use the PCI-8136M. The manual describes how to modify various se

72 • Motion Library 5.6 Remote I/O @ Name _8136_R_Status - Check Remote I/O Status _8136_R_Write - Write a word to remote _8136_R_Read - Read a word

Motion Libra • 73 SetNo: I/O range in slave module 0: bit 0~15 1: bit 16~31 2: bit 32~47 3: bit 48~63 SetValue: 16-bit value to write

74 • Motion Library 5.7 Analog I/O @ Name _8136_A_Write_Value - Output DAC in value _8136_A_Write_Volt - Output DAC in voltage _8136_A_Read_Value -

Motion Libra • 75 _8136_A_Output_Control Once user wants to stop outputting any voltage from DA channel, he can use this function to close DA channel

76 • Motion Library I16 _8136_A_Set_Trigger_Map(I16 CardNo, I16 Channel, I16 Source) I16 _8136_A_Set_Trigger(I16 CardNo, I16 Channel, I16 Control) I

Motion Libra • 77 5.8 Pulse I/O @ Name _8136_P_Set_Output_Type - Set pulse output mode _8136_P_Set_Input_Type - Set pulse input mode _8136_P_Read -

78 • Motion Library _8136_P_Clear This function is for clearing the encoder counter value to zero immediately. _8136_P_Send This function is for send

Motion Libra • 79 I16 _8136_P_Read_Latch_Value(I16 CardNo, I16 EncNo, I32 *Value) I16 _8136_P_Set_Index_Latch(I16 CardNo, I16 WhichIndex, I16 Type);

80 • Motion Library Mul: for A_B type's mutiplier 0 = 0X A_B Phase 1 = 1X A_B Phase 2 = 2X A_B Phase 3 = 4X A_B Phase EncData: r

Motion Libra • 81 5.9 Interrupt Control @ Name _8136_INT_Enable - Set interrupt event handler _8136_INT_Disable - Remove int. event handler _8136_S_

Introduction • 1 1 Introduction The PCI-8136M is a 6 axes motion control card with PCI interface. It supports two kinds of motor driver, Pulse type a

82 • Motion Library @ Syntax C/C++ (DOS, Windows 95/98/NT/2000) U16_8136_INT_Enable(I16 CardNo, HANDLE *phEvent); (Windows Only) U16 _8136_INT_Disabl

Motion Libra • 83 bit3: Home switch on bit4: Index signal on bit5: Encoder value compared bit6: Timer interrupt bit7: ADC pre-loa

84 • Motion Library 5.10 Close Loop Initialization @Name _8136_C_Initial – Closed loop motion control initialize @Description _8136_C_Initial: Ther

Motion Libra • 85 5.11 Motion Parameters @Name _8136_M_Set_System_Param – Set motion cycle time and speed _8136_M_Set_IO_Active – Enable/disable mot

86 • Motion Library _8136_M_Set_Feedback When users are using absolute position control motion functions, PCI-8136M will read current position counte

Motion Libra • 87 2 = 128k 3 = 256k 4 = 512k 5 = 1024k CycleTime: select motion cycle time 0 = 1.024ms (for 1024k only) 1 = 2

88 • Motion Library 5.12 Motion Status @Name _8136_M_ORG_Status – Check origin point’s high/low _8136_M_PEL_Status – Check positive point’s high/low

Motion Libra • 89 I16 _8136_M_MEL_Status(I16 CardNo,I16 Channel) I16 _8136_M_ALM_Status(I16 CardNo) I16 _8136_Motion_Status(I16 CardNo,I16 AxisNo) I1

90 • Motion Library 5.13 PTP Movement @Name _8136_Start_TR_Move – Start a trapezoidal relative PTP move _8136_Start_SR_Move – Start a S-curve relati

Motion Libra • 91 ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double) B_8136_Start_TA_Move (ByVal CardNo As Integer, ByVal AxisNo As