PCI-8154 Advanced & Modulized 4-Axis Servo / Stepper Motion Control Card User’s Manual Manual Rev. 2.00 Revision Date: February 22, 2006 Part No: 50-11146-1000 Advance Technologies; Automate the World.
Copyright 2007 ADLINK TECHNOLOGY INC. All Rights Reserved. The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer. In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages.
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Table of Contents Table of Contents..................................................................... i List of Tables........................................................................... v List of Figures ........................................................................ vi 1 Introduction ........................................................................ 1 1.1 1.2 1.3 1.4 Features............................................................................... 4 Specifications.........
3.9 3.10 3.11 3.12 3.13 General-purpose Signal RDY ............................................ Multi-Functional output pin: DO/CMP ................................ Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG...... Pulser Input Signals PA and PB (PCI-8154)...................... Simultaneously Start/Stop Signals STA and STP.............. 32 33 34 35 36 4 Operation Theory .............................................................. 39 4.1 4.2 4.3 ii Classifications of Motion Controller.........
4.4 4.5 4.6 4.7 4.8 4.9 Servo alarm reset switch .............................................. 73 Mechanical switch interface............................................... 74 Original or home signal ................................................. 74 End-Limit switch signal ................................................. 74 Slow down switch ......................................................... 74 Positioning Start switch .................................................
6 Function Library.............................................................. 121 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.13 6.14 6.15 6.16 6.17 6.18 6.19 6.20 6.21 6.22 6.23 List of Functions............................................................... C/C++ Programming Library ............................................ System and Initialization .................................................. Pulse Input/Output Configuration..................................... Velocity mode motion.
List of Tables Table Table Table Table Table Table Table 2-1: 2-2: 2-3: 2-4: 4-1: 4-2: 6-1: List of Tables CN3 Pin Assignments: Main Connector ................. 13 K1/K2 Pin Assignments: Simultaneous Start/Stop . 15 SW1 Card Index ..................................................... 16 CN4 Manual Pulsar ................................................ 17 Motion Interrupt Source Bit Settings ....................... 84 Error Interrupt return codes ....................................
List of Figures Figure 1-1: PCI-8154 Block Diagram ........................................... 2 Figure 1-2: Flow chart for building an application ........................ 3 Figure 2-1: PCB Layout of the PCI-8154 ...................................
1 Introduction The PCI-8154 is an advanced & modulized 4-axis motion controller card with a PCI interface. It can generate high frequency pulses (6.55MHz) to drive stepper or servomotors. As a motion controller, it can provide 4-axis linear and circular interpolation and continuous interpolation for continuous velocity. Also, changing position/ speed on the fly is available with a single axis operation. Multiple PCI-8154 cards can be used in one system.
The card index value of the PCI-8154 can be set with a DIP switch to a value between 0 and 15. This is useful for machine makers if the whole control system is very huge. 2. Emergency Input An emergency input pin can be wired to an emergency button to stop sending pulse output once activated. 3. Software’s Security Protection To secure applications, a 16-bit value can be set in the EEPROM to prevent copying of custom programs.
MotionCreatorPro is a Windows-based application development software package included with the PCI-8154. MotionCreatorPro is useful for debugging a motion control system during the design phase of a project. An on-screen display lists all installed axes information and I/O signal status of the PCI-8154. Windows programming libraries are also provided for C++ compilers and Visual Basic. Sample programs are provided to illustrate the operations of the functions.
1.1 Features The following list summarizes the main features of the PCI-8154 motion control system. 4 X 32-bit PCI bus Plug-and-Play (Universal) X 4 axes of step and direction pulse output for controlling stepping or servomotor X Maximum output frequency of 6.55MPPS X Pulse output options: OUT/DIR, CW/CCW, AB phase X Pulse input options: CW/CCW, AB phase x1, x2, x4 X Maximum pulse input frequency of 3.2Mhz in CW/CCW or AB phase X1 mode (AB phase x4 can reach 6.5Mhz).
X Dedicated emergency input pin for wiring X Software supports a maximum of up to 12 PCI-8154 cards operation in one system X Compact PCB design X Includes MotionCreatorPro, a Microsoft Windows-based application development software X PCI-8154 libraries and utilities for Windows 2000/XP/Vista.
1.2 Specifications Applicable Motors: X Stepping motors X AC or DC servomotors with pulse train input servo drivers Performance: 6 X Number of controllable axes: 4 X Maximum pulse output frequency: 6.55MPPS, linear, trapezoidal, or S-Curve velocity profile drive X Internal reference clock: 19.
I/O Signales: X Input/Output signals for each axis X All I/O signal are optically isolated with 2500Vrms isolation voltage X Command pulse output pins: OUT and DIR X Incremental encoder signals input pins: EA and EB X Encoder index signal input pin: EZ X Mechanical limit/home signal input pins: ±EL, ORG X Composite pins: DI / LTC (Latch) / SD (Slow-down) / PCS (Position Change Signal) / CLR (Clear) / EMG (Emergency Input) X Servomotor interface I/O pins: INP, ALM, and ERC X General-purposed
1.3 Supported Software 1.3.1 Programming Library Windows 2000/XP/Vista DLLs are provided for the PCI-8154. These function libraries are shipped with the board. 1.3.2 MotionCreatorPro This Windows-based utility is used to setup cards, motors, and systems. It can also aid in debugging hardware and software problems. It allows users to set I/O logic parameters to be loaded in their own program. This product is also bundled with the card. Refer to Chapter 5 for more details. 1.
2 Installation This chapter describes how to install PCI-8154. Please follow these steps below: X Check what you have (section 2.1) X Check the PCB (section 2.2) X Install the hardware (section 2.3) X Install the software driver (section 2.4) X Understanding the I/O signal connections (chapter 3) and their operation (chapter 4) X Understanding the connector pin assignments (the remaining sections) and wiring the connections 2.
2.
2.3 PCI-8154 Hardware Installation 2.3.1 Hardware configuration The PCI-8154 is fully Plug-and-Play compliant. Hence, memory allocation (I/O port locations) and IRQ channel of the PCI card are assigned by the system BIOS. The address assignment is done on a board-by-board basis for all PCI cards in the system. 2.3.2 PCI slot selection Some computer system may have both PCI and ISA slots. Do not force the PCI card into a PC/AT slot. The PCI-8154 can be used in any PCI slot. 2.3.
Check the control panel of the Windows system if the card is listed by the system. If not, check the PCI settings in the BIOS or use another PCI slot.
2.4 Software Driver Installation 1. Autorun the ADLINK All-In-One CD. Choose Driver Installation -> Motion Control -> PCI-8154. 2. Follow the procedures of the installer. 3. After setup installation is completed, restart windows. Note: Please download the latest software from ADLINK website if necessary. 2.5 CN3 Pin Assignments: Main Connector CN3 is the main connector for the motion control I/O signals. No. Name I/O Function No.
No. Name I/O Function 25 SVON1 O Servo On/Off 26 ERC1 O 27 ALM1 I 28 INP1 29 RDY1 30 EXGND 31 EA1+ I 32 EA1- 33 EB1+ 34 EB1- 35 EZ1+ No. Name I/O Function 75 SVON3 O Servo On/Off Dev. ctr, clr. Signal 76 ERC3 O Dev. ctr, clr. signal Alarm signal 77 ALM3 I Alarm signal I In-position signal 78 INP3 I In-position signal I Multi-purpose Input signal 79 RDY3 I Multi-purpose Input signal Ext.
2.6 K1/K2 Pin Assignments: Simultaneous Start/ Stop K1 and K2 are for simultaneous start/stop signals for multiple axes or multiple cards. No. Name Function 1 +5V PCI Bus power Output (VCC) 2 STA Simultaneous start signal input/output 3 STP Simultaneous stop signal input/output 4 GND PCI Bus power ground Table 2-2: K1/K2 Pin Assignments: Simultaneous Start/Stop Note: +5V and GND pins are provided by the PCI Bus power. 2.
2.8 SW1 Card Index Selection The SW1 switch is used to set the card index. For example, if 1 is set to ON and the others are OFF, that card index is 1. The index value can be from 0 to 15. Refer to the following table for details.
2.9 CN4 Manual Pulsar The signals on CN4 are for manual pulsar input. No. Name Function (Axis) 1 VDD Isolated Power +5V 2 PA+ Pulser A+ phase signal input 3 PA- Pulser A-phase signal input 4 PB+ Pulser B+ phase signal input 5 PB- Pulser B-phase signal input 6 EXGND External Ground 7 N/A Not Available 8 N/A Not Available 9 N/A Not Available Table 2-4: CN4 Manual Pulsar Note: Installation The +5V and GND pins are directly given by the PCI-bus power.
18 Installation
3 Signal Connections Signal connections of all I/O’s are described in this chapter. Refer to the contents of this chapter before wiring any cable between the PCI-8154 and any motor driver. This chapter contains the following sections: Section 3.1 Pulse Output Signals OUT and DIR Section 3.2 Encoder Feedback Signals EA, EB and EZ Section 3.3 Origin Signal ORG Section 3.4 End-Limit Signals PEL and MEL Section 3.5 In-position signals INP Section 3.6 Alarm signal ALM Section 3.
3.1 Pulse Output Signals OUT and DIR There are 4 axes pulse output signals on the PCI-8154. For each axis, two pairs of OUT and DIR differential signals are used to transmit the pulse train and indicate the direction. The OUT and DIR signals can also be programmed as CW and CCW signal pairs. Refer to section 4.1.1 for details of the logical characteristics of the OUT and DIR signals. In this section, the electrical characteristics of the OUT and DIR signals are detailed.
can select the output mode either by jumper wiring between 1 and 2 or 2 and 3 of jumpers JP2-JP9 as follows: Output Signal For differential line driver output, close breaks between 1 and 2 of: For open collector output, close breaks between 2 and 3 of: OUT0+ JP6 JP6 DIR0+ JP7 JP7 OUT1+ JP4 JP4 DIR1+ JP5 JP5 OUT2+ JP9 JP9 DIR2+ JP8 JP8 OUT3+ JP3 JP3 DIR3+ JP2 JP2 The default setting of OUT and DIR is set to differential line driver mode.
Suggest Usage: Jumper 2-3 shorted and connect OUT-/DIR- to a 470 ohm pulse input interface’s COM of driver. See the following figure. Choose OUT-/DIR- to connect to driver’s OUT/DIR.
3.2 Encoder Feedback Signals EA, EB and EZ The encoder feedback signals include EA, EB, and EZ. Every axis has six pins for three differential pairs of phase-A (EA), phase-B (EB), and index (EZ) inputs. EA and EB are used for position counting, and EZ is used for zero position indexing.
Please note that the voltage across each differential pair of encoder input signals (EA+, EA-), (EB+, EB-), and (EZ+, EZ-) should be at least 3.5V. Therefore, the output current must be observed when connecting to the encoder feedback or motor driver feedback as not to over drive the source. The differential signal pairs are converted to digital signals EA, EB, and EZ; then feed to the motion control ASIC. Below are examples of connecting the input signals with an external circuit.
Connection to Open Collector Output To connect with an open collector output, an external power supply is necessary. Some motor drivers can provide the power source. The connection between the PCI-8154, encoder, and the power supply is shown in the diagram below. Note that an external current limiting resistor R is necessary to protect the PCI-8154 input circuit. The following table lists the suggested resistor values according to the encoder power supply.
3.3 Origin Signal ORG The origin signals (ORG0-ORG3) are used as input signals for the origin of the mechanism. The following table lists signal names, pin numbers, and axis numbers: CN3 Pin No Signal Name Axis # 41 ORG0 0 47 ORG1 1 91 ORG2 2 97 ORG3 3 The input circuit of the ORG signals is shown below. Usually, a limit switch is used to indicate the origin on one axis. The specifications of the limit switch should have contact capacity of +24V @ 6mA minimum.
3.4 End-Limit Signals PEL and MEL There are two end-limit signals PEL and MEL for each axis. PEL indicates the end limit signal is in the plus direction and MEL indicates the end limit signal is in the minus direction. The signal names, pin numbers, and axis numbers are shown in the table below: CN3 Pin No Signal Name Axis # CN3 Pin No Signal Name Axis # 37 PEL0 0 38 MEL0 0 43 PEL1 1 44 MEL1 1 87 PEL2 2 88 MEL2 2 93 PEL3 3 94 MEL3 3 A circuit diagram is shown in the diagram below.
3.5 In-position Signal INP The in-position signal INP from a servo motor driver indicates its deviation error. If there is no deviation error then the servo’s position indicates zero.
3.6 Alarm Signal ALM The alarm signal ALM is used to indicate the alarm status from the servo driver. The signal names, pin numbers, and axis numbers are shown in the table below: CN3 Pin No Signal Name Axis # 9 ALM0 0 27 ALM1 1 59 ALM2 2 77 ALM3 3 The input alarm circuit is shown below. The ALM signal usually is generated by the servomotor driver and is ordinarily an open collector output signal. An external circuit must provide at least 8mA current sink capabilities to drive the ALM signal.
3.7 Deviation Counter Clear Signal ERC The deviation counter clear signal (ERC) is active in the following 4 situations: 1. Home return is complete 2. End-limit switch is active 3. An alarm signal stops OUT and DIR signals 4.
3.8 General-purpose Signal SVON The SVON signal can be used as a servomotor-on control or general purpose output signal.
3.9 General-purpose Signal RDY The RDY signals can be used as motor driver ready input or general purpose input signals.
3.10 Multi-Functional output pin: DO/CMP The PCI-8154 provides 4 multi-functional output channels: DO0/ CMP0 to DO3/CMP3 corresponds to 4 axes. Each of the output pins can be configured as Digit Output (DO) or as Comparison Output (CMP) individually. When configured as a Comparison Output pin, the pin will generate a pulse signal when the encoder counter matches a pre-set value set by the user. The multi-functional channels are located on CN3.
3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/ EMG The PCI-8154 provides 4 multi-functional input pins. Each of the 4 pins can be configured as DI (Digit Input) or LTC (Latch) or SD (Slow down) or PCS (Target position override) or CLR (Counter clear) or EMG (Emergency). To select the pin function, please refer to 6.12. The multi-functional input pins are on CN3.
3.12 Pulser Input Signals PA and PB (PCI-8154) The PCI-8154 can accept differential pulser input signals through the pins of CN4 listed below. The pulser behaves like an encoder. The A-B phase signals generate the positioning information, which guides the motor. CN4 Pin No Signal Name Axis # CN4 Pin No Signal Name Axis # 2 PA+ 0-3 3 PA- 0-3 4 PB+ 0-3 5 PB- 0-3 The pulser signals are used for Axis 0 to Axis 3.
3.13 Simultaneously Start/Stop Signals STA and STP The PCI-8154 provides STA and STP signals, which enable simultaneous start/stop of motions on multiple axes. The STA and STP signals are on K1/K2. The STP and STA signals are both input and output signals. To operate the start and stop action simultaneously, both software control and external control are needed. With software control, the signals can be generated from any one of the PCI-8154.
and stop signals to STA and STP pins on the K1 connector of the first PCI-8154 card.
38 Signal Connections
4 Operation Theory This chapter describes the detail operation of the motion controller card. Contents of the following sections are as follows: Section 4.1: Classifications of Motion Controller Section 4.2: Motion Control Modes Section 4.3: Motor Driver Interface Section 4.4: Mechanical switch Interface Section 4.5: The Counters Section 4.6: The Comparators Section 4.7: Other Motion Functions Section 4.8: Interrupt Control Section 4.9: Multiple Cards Operation 4.
4.1.2 Pulse motion control interface The second interface of motion and motor control is a pulse train type. As a trend of digital world, pulse trains represent a new concept to motion control. The counts of pulses show how many steps of a motor rotates and the frequency of pulses show how fast a motor runs. The time duration of frequency changes represent the acceleration rate of a motor. Because of this interface, a servo or stepper motor can be easier than an analog type for positioning applications.
4.1.4 Software real-time motion control kernel For motion control kernel, there are three ways to accomplish it: DSP, ASIC, and software real-time. A motion control system needs an absolutely real-time control cycle and the calculation on controller must provide a control data at the same cycle. If not, the motor will not run smoothly. Many machine makers will use PC’s computing power to do this. A feedback counter card can simply be used and a voltage output or pulse output card to make it.
motion control separates all system integration problems into 4 parts: Motor driver’s performance, ASIC outputting profile, vendor’s software parameters to the ASIC, and users’ command to vendors’ software. It makes motion controller co-operated more smoothly between devices. 4.1.
4.2 Motion Control Modes Motion control makes the motors run according to a specific speed profile, path trajectory and synchronous condition with other axes. The following sections describe the motion control modes of this motion controller could be performed. 4.2.1 Coordinate system The Cartesian coordinate is used and pulses are in the unit of length. The physical length depends on mechanical parts and motor’s resolution.
pulses per 1mm and the motor will move 1mm if the motion controller send 1,000 pulses, It means that when we want to move 1 mm, we need to send 1,000 pulses to motor driver then we will get the encoder feedback value of 10,000 pulses. If we want to use an absolute command to move a motor to 10,000 pulses position and current position read from encoder is 3500 pulses, how many pulses will it send to motor driver? The answer is (10000 – 3500 ) / (10,000 / 1,000)=650 pulses.
4.2.3 Trapezoidal speed profile Trapezodial speed profile means the acceleration/deceleration area follows a 1st order linear velocity profile (constant acceleration rate). The profile chart is shown as below: The area of the velocity profile represents the distance of this motion. Sometimes, the profile looks like a triangle because the desired distance from user is smaller than the area of given speed parameters.
4.2.4 S-curve and Bell-curve speed profile S-curve means the speed profile in accelerate/decelerate area follows a 2nd order curve. It can reduce vibration at the beginning of motor start and stop. In order to speed up the acceleration/deceleration during motion, we need to insert a linear part into these areas. We call this shape as “Bell” curve. It adds a linear curve between the upper side of s-curve and lower side of s-curve.
If VSacc or VSdec=0, it means acceleration or deceleration use pure S-curve without linear part. The Acceleration chart of bell curve is shown below: The S-curve profile motion functions are designed to always produce smooth motion. If the time for acceleration parameters combined with the final position don’t allow an axis to reach the maximum velocity (i.e. the moving distance is too small to reach MaxVel), then the maximum velocity is automatically lowered (see the following Figure).
4.2.5 Velocity mode Veloctiy mode means the pulse command is continuously outputing until a stop command is issued. The motor will run without a target position or desired distance unless it is stopped by other reasons. The output pulse accelerates from a starting velocity to a specified maximum velocity. It can be follow a linear or S-curve acceleration shape. The pulse output rate is kept at maximum velocity until another velocity command is set or a stop command is issued.
4.2.6 One axis position mode Position mode means the motion controller will output a specific amount of pulses which is equal to users’ desired position or distance. The unit of distance or position is pulse internally on the motion controller. The minimum length of distance is one pulse. However, in PCI-8154, we provide a floating point function for users to transform a physical length to pulses.
4.2.7 Two axes linear interpolation position mode “Interpolation between multi-axes” means these axes start simultaneously, and reach their ending points at the same time. Linear means the ratio of speed of every axis is a constant value. Assume that we run a motion from (0,0) to (10,4). The linear interpolation results are shown as below. The pulses output from X or Y axis remains 1/2 pulse difference according to a perfect linear line.
The speed ratio along X-axis and Y-axis is (ΔX: ΔY), respectively, and the vector speed is: When calling 4-axis linear interpolation functions, the vector speed needs to define the start velocity, StrVel, and maximum velocity, MaxVel. 4.2.8 Two axes circular interpolation mode Circular interpolation means XY axes simultaneously start from initial point, (0,0) and stop at end point, (1800,600). The path between them is an arc, and the MaxVel is the tangential speed.
The command precision of circular interpolation is shown below. The precision range is at radius ±1/2 pulse. 4.2.9 Continuous motion Continuous motion means a series of motion command or position can be run continuously. Users can set a new command right after previous one without interrupting it. The motion controller can make it possible because there are three command buffers (preregisters) inside.
to set a new command into 2nd buffer before executing register is finished, the motion can run endlessly. The following diagram shows this architecture of continuous motion. Besides position command, the speed command should be set correctly to perform a speed continuous profile. For the following example, there are three motion command of this continuous motion. The second one has high speed than the others.
If the 2nd command’s speed value is lower than the others, the settings would be like as following diagram: For 4-axis continuous arc interpolation is the same concept. You can set the speed matched between two command speed settings. If the INP checking is enabled, the motion will have some delayed between each command in buffers. INP check enabled make the desired point be reached but reduce the smoothing between each command.
4.2.10 Home Return Mode Home return means searching a zero position point on the coordinate. Sometimes, users use a ORG, EZ or EL pin as a zero position on the coordinate. At the beginning of machine power on, the program needs to find a zero point of this machine. Our motion controller provides a home return mode to make it. We have many home modes and each mode contents many control phases. All of these phases are done by ASIC. No software efforts or CPU loading will be taken.
Home mode=0: ( ORG Turn ON then reset counter ) 56 X When SD is not installed X When SD is installed and SD is not latched Operation Theory
Home mode=1: (Twice ORG turn ON then reset counter) Home mode=2: (ORG ON then Slow down to count EZ numbers and reset counter) Operation Theory 57
Home mode=3: (ORG ON then count EZ numbers and reset counter) Home mode=4: (ORG On then reverse to count EZ number and reset counter) 58 Operation Theory
Home mode=5: (ORG On then reverse to count EZ number and reset counter, not using FA Speed) Home mode=6: (EL On then reverse to leave EL and reset counter) Home mode=7: (EL On then reverse to count EZ number and reset counter) Operation Theory 59
Home mode=8: (EL On then reverse to count EZ number and reset counter, not using FA Speed) Home mode=9: (ORG On then reverse to zero position, an extension from mode 0) 60 Operation Theory
Home mode=10: (ORG On then counter EZ and reverse to zero position, an extension from mode 3) Home mode=11: (ORG On then reverse to counter EZ and reverse to zero position, an extension from mode 5) Operation Theory 61
Home mode=12: (EL On then reverse to count EZ number and reverse to zero position, an extension from mode 8) 4.2.11 Home Search Function This mode is used to add auto searching function on normal home return mode described in previous section no matter which position the axis is. The following diagram is shown the example for home mode 2 via home search function. The ORG offset can’t be zero. Suggested value is the double length of ORG area.
4.2.12 Manual Pulser Function Manual pulser is a device to generate pulse trains by hand. The pulses are sent to motion controller and re-directed to pulse output pins. The input pulses could be multiplied or divided before sending out. The motion controller receives two kinds of pulse trains from manual pulser device: CW/CCW and AB phase. If the AB phase input mode is selected, the multiplier has additional selection of 1, 2, or 4. The following figure shows pulser ratio block diagram. 4.2.
4.2.14 Speed Override Function Speed override means that users can change command’s speed during the operation of motion. The change parameter is a percentage of original defined speed. Users can define a 100% speed value then change the speed by percentage of original speed when motion is running. If users didn’t define the 100% speed value. The default 100% speed is the latest motion command’s maximum speed. This function can be applied on any motion function.
4.2.15 Position Override Function Position override means that when users issue a positioning command and want to change its target position during this operation. If the new target position is behind current position when override command is issued, the motor will slow down then reverse to new target position. If the new target position is far away from current position on the same direction, the motion will remain its speed and run to new target position.
4.3 The motor driver interface We provide several dedicated I/Os which can be connected to motor driver directly and have their own functions. Motor drivers have many kinds of I/O pins for external motion controller to use. We classify them to two groups. One is pulse I/O signals including pulse command and encoder interface. The other is digital I/O signals including servo ON, alarm, INP, servo ready, alarm reset and emergency stop inputs. The following sections will describe the functions these I/O pins.
Single Pulse Output Mode (OUT/DIR Mode) In this mode, the OUT pin is for outputting command pulse chain. The numbers of OUT pulse represent distance in pulse. The frequency of the OUT pulse represents speed in pulse per second. The DIR signal represents command direction of positive (+) or negative (-). The diagrams below show the output waveform. It is possible to set the polarity of the pulse chain.
Dual Pulse Output Mode (CW/CCW Mode) In this mode, the waveform of the OUT and DIR pins represent CW (clockwise) and CCW (counter clockwise) pulse output respectively. The numbers of pulse represent distance in pulse. The frequency of the pulse represents speed in pulse per second. Pulses output from the CW pin makes the motor move in positive direction, whereas pulse output from the CCW pin makes the motor move in negative direction.
4.3.2 Pulse feedback input interface Our motion controller provides one 28-bit up/down counter of each axis for pulse feedback counting. This counter is called position counter. The position counter counts pulses from the EA and EB signal which have plus and minus pins on connector for differential signal inputs. It accepts two kinds of pulse types. One is dual pulses input (CW/CCW mode) and the other is AB phase input. The AB phase input can be multiplied by 1, 2 or 4.
Plus and Minus Pulses Input Mode (CW/CCW Mode) The pattern of pulses in this mode is the same as the Dual Pulse Output Mode in the Pulse Command Output section except that the input pins are EA and EB. In this mode, pulses from EA pin cause the counter to count up, whereas EB pin caused the counter to count down. 90° phase difference signals Input Mode (AB phase Mode) In this mode, the EA signal is a 90° phase leading or lagging in comparison with the EB signal.
4.3.3 In position signal The in-position signal is an output signal from motor driver. It tells motion controllers a motor has been reached a position within a predefined error. The predefined error value is in-position value. Most motor drivers call it as INP value. After motion controller issues a positioning command, the motion busy status will keep true until the INP signal is ON. Users can disable INP check for motion busy flag.
4.3.5 Error clear signal The ERC signal is an output from the motion controller. It tells motor driver to clear the error counter. The error counter is counted from the difference of command pulses and feedback pulses. The feedback position will always have a delay from the command position. It results in pulse differences between these two positions at any moment. The differences are shown in error counter. Motor driver uses the error counter as a basic control index.
4.3.7 Servo Ready Signal The servo ready signal is a general digital input on motion controller. It has no relative purpose to motion controller. Users can connect this signal to motor driver’s RDY signal to check if the motor driver is in ready state. It lets users to check something like the motor driver’s power has been inputted or not. Or users can connect this pin as a general input for other purpose. It doesn’t affect motion control. 4.3.
4.4 Mechanical switch interface We provide some dedicated input pins for mechanical switches like original switch (ORG), plus and minus end-limit switch (±EL), slow down switch (SD), positioning start switch (PCS), counter latch switch (LTC), emergency stop input (EMG) and counter clear switch (CLR). These switches’ response time is very short, only a few ASIC clock times. There is no real-time problem when using these signals. All functions are done by motion ASIC.
4.4.4 Positioning Start switch The positioning start switch is used to move a specific position when it is turned on. The function is shown as below. 4.4.5 Counter Clear switch The counter clear switch is an input signal which makes the counters of motion controller to reset. If users need to reset a counter according to external command, use this pin as controlling source. 4.4.
4.5 The Counters There are four counters for each axis of this motion controller. They are described in this section. X Command position counter: counts the number of output pulses X Feedback position counter: counts the number of input pulses X Position error counter: counts the error between command and feedback pulse numbers. X General purpose counter: The source can be configured as command position, feedback position, manual pulser, or half of ASIC clock.
4.5.2 Feedback position counter The feedback position counter is a 28-bit binary up/down counter. Its input source is the input pulses from the EA/EB pins. It counts the motor position from motor’s encoder output. This counter could be set from a source of command position for an option when no external encoder inputs. The command output pulses and feedback input pulses will not always be the same ratio in mini-meters. Users must set the ratio if these two pulses are not 1:1.
4.5.4 General purpose counter The source of general purpose counter could be any of the following: 1. Command position output – the same as a command position counter 2. Feedback position input – the same as a feedback position counter 3. Manual Pulser input – Default setting 4. Clock Ticks – Counter from a timer about 9.8MHz 4.5.5 Target position recorder The target position recorder is used for providing target position information.
4.6 The Comparators There are 5 counter comparators of each axis. Each comparator has dedicated functions. They are: 1. Positive soft end-limit comparator to command counter 2. Negative soft end-limit comparator to command counter 3. Command and feedback error counter comparator 4. General comparator for all counters 5. Trigger comparator for all command and feedback counters 4.6.1 Soft end-limit comparators There are two comparators for end-limit function of each axis.
4.6.4 Trigger comparator The trigger comparator is much like general comparator. It has an additional function, generating a trigger pulse when condition is met. Once the condition is met, the CMP pin on the connector will output a pulse for specific purpose like triggering a camera to catch picture. Not all of axes have this function. It depends on the existence of CMP pin of the axis. The following diagram shows the application of triggering.
4.7 Other Motion Functions We provide many other functions on the motion controller. Such as backlash compensation, slip correction, vibration restriction, speed profile calculation and so on. The following sections will describe these functions. 4.7.1 Backlash compensation and slip corrections The motion controller has backlash and slip correction functions. These functions output the number of command pulses in FA speed.
4.7.3 Speed profile calculation function Our motion function needs several speed parameters from users. Some parameters are conflict in speed profile. For example, if users input a very fast speed profile and a very short distance to motion function, the speed profile is not exist for these parameters. At this situation, motion library will keep the acceleration and deceleration rate. It tries to lower the maximum speed from users automatically to reform a speed profile feasible.
4.8 Interrupt Control The motion controller can generate an interrupt signal to the host PC. It is much useful for event-driven software application. Users can use this function _8154_int_control() to enable if disable the interrupt service. There are three kinds of interrupt sources on PCI-8154. One is motion interrupt source and the other is error interrupt source and another is GPIO interrupt sources. Motion and GPIO interrupt sources can be maskable but error interrupt sources can’t.
Motion Interrupt Source Bit Settings Bit Description 0 Normally Stop 1 Next command in buffer starts 2 Command pre-register 2 is empty and allow new command to write 3 0 4 Acceleration Start 5 Acceleration End 6 Deceleration Start 7 Deceleration End 8 +Soft limit or comparator 1 is ON 9 -Soft limit or comparator 2 is ON 10 Error comparator or comparator 3 is ON 11 General comparator or comparator 4 is ON 12 Trigger comparator or comparator 5 is ON 13 Counter is reset by CLR inpu
The error interrupt sources are non-maskable but the error number of situation could be get from _8154_wait_error_interrupt()’s return code if it is not timeout.
The steps for using interrupts: 1. Use _8154_int_control(CARD_ID, Enable=1/Disable=0); 2. Set interrupt sources for Event or GPIO interrupts. 3. _8154_set_motion_int_facor(AXIS0, 0x01); // Axis0 normally stop 4. _8154_wait_motion_interrupt(AXIS0, 0x01, 1000) // Wait 1000ms for normally stop interrupt 5.
4.9 Multiple Card Operation The motion controller allows more than one card in one system. Since the motion controller is plug-and-play compatible, the base address and IRQ setting of the card are automatically assigned by the PCI BIOS at the beginning of system booting. Users don’t need and can’t change the resource settings. When multiple cards are applied to a system, the number of card must be noted. The card number depends on the card ID switch setting on the the board.
88 Operation Theory
5 MotionCreatorPro After installing the hardware (Chapters 2 and 3), it is necessary to correctly configure all cards and double check the system before running. This chapter gives guidelines for establishing a control system and manually testing the 8154 cards to verify correct operation. The MotionCreatorPro software provides a simple yet powerful means to setup, configure, test, and debug a motion control system that uses 8154 cards.
5.2 About MotionCreatorPro Before Running MotionCreatorPro, the following issues should be kept in mind. 1. MotionCreatorPro is a program written in VB.NET 2003, and is available only for Windows 2000/XP with a screen resolution higher than 1024x768. It cannot be run under DOS. 2. MotionCreatorPro allows users to save settings and configurations for 8154 cards. Saved configurations will be automatically loaded the next time MotionCreatorPro is executed. Two files, 8154.ini and 8154MC.
5.3 MotionCreatorPro Introduction 5.3.1 Main Menu The main menu appears after running MotionCreatorPro.
5.3.2 Select Menu The select menu appears after running MotionCreatorPro.
5.3.
5.3.4 Configuration Menu In the IO_Config_1 menu, users can configure ALM, INP, ERC, EL, ORG, and EZ.
1. ALM Logic and Response mode: Select logic and response modes of ALM signal. The related function call is _8154_set_alm(). 2. INP Logic and Enable/Disable selection: Select logic, and Enable/ Disable the INP signal. The related function call is _8154_set_inp() 3. ERC Logic, Active timing and ERC mode: Select the Logic, Active timing and mode of the ERC signal. The related function call is _8154_set_erc(). 4. EL Response mode: Select the response mode of the EL signal.
In the IO_Config_2 menu, users can configure LTC, SD, PCS, and Select_Input.
1. LTC Logic: Select the logic of the LTC signal. The related function call is _8154_set_ltc_logic(). 2. LTC latch_source: Select the logic of the latch_source signal. The related function call is _8154_set_latch_source(). 3. SD Configuration: Configure the SD signal. The related function call is _8154_set_sd(). 4. PCS Logic: Select the logic of the SelectNo signal. The related function call is _8154_set_pcs_logic(). 5. Set gpio input: Select the configurations of the gpio input.
In the Pulse & INT_Config menu, users can configure pulse input/output and move ratio and INT factor.
1. Pulse Output Mode: Select the output mode of the pulse signal (OUT/ DIR). The related function call is _8154_set_pls_outmode(). 2. Pulse Input: Sets the configurations of the Pulse input signal(EA/EB). The related function calls are _8154_set_pls_iptmode(), _8154_set_feedback_src(). 3. INT Factor: Select factors to initiate the event int. The related function call is _8154_set_int_factor(). 4. Buttons: Z Next Card: Change operating card. Z Next Axis: Change operating axis.
5.3.5 Single Axis Operation Menu In this menu, users can change the settings a selected axis, including velocity mode motion, preset relative/absolute motion, manual pulse move, and home return.
1. Position: Z Command: displays the value of the command counter. The related function is _8154_get_command(). Z Feedback: displays the value of the feedback position counter. The related function is _8154_get_position() Z Pos Error: displays the value of the position error counter. The related function is _8154_get_error_counter(). Z Target Pos: displays the value of the target position recorder. The related function is _8154_get_target_pos(). 2.
added. To close it, click the same button again. To clear data, click on the curve. 7. Operation Mode: Select operation mode. 102 Z Absolute Mode: “Position1” and “position2” will be used as absolution target positions for motion. The related functions are _8154_start_ta_move(), _8154_start_sa_move(). Z Relative Mode: “Distance” will be used as relative displacement for motion. The related function is _8154_start_tr_move(), _8154_start_sr_move(). Z Cont. Move: Velocity motion mode.
Z Home Mode: Home return motion. Clicking this button will invoke the home move configuration window. The related function is _8154_set_home_config(). If the check box “ATU” is checked, it will execute auto homing when motion starts. ERC Output: Select if the ERC signal will be sent when home move completes. EZ Count: Set the EZ count number, which is effective on certain home return modes. Mode: Select the home return mode. There are 13 modes available.
position1<-->position2). It is only effective when “Relative Mode” or “Absolute Mode” is selected. 11. Vel. Profile: Select the velocity profile. Both Trapezoidal and S-Curve are available for “Absolute Mode,” “Relative Mode,” and “Cont. Move.” 12.FA Speed/ATU: Sets the configurations of the FA Speed. The related function calls are _8154_set_fa_speed(). If the check box “ATU” is checked, it will execute auto homing when motion starts. 13.Motion Parameters: Set the parameters for single axis motion.
sing is effective. –5000.0 means 5000.0 in the minus direction. Z Accel. Time: Set the acceleration time in units of second. Z Decel. Time: Set the deceleration time in units of second. Z SVacc: Set the S-curve range during acceleration in units of PPS. Z SVdec: Set the S-curve range during deceleration in units of PPS. Z Move Delay: This setting is effective only when repeat mode is set “On.” It will cause the 8154 to delay for a specified time before it continues to the next motion. 14.
16.Servo On: Set the SVON signal output status. The related function is _8154_set_servo(). 17.Play Key: Left play button: Clicking this button will cause the 8154 start to outlet pulses according to previous setting. Z In “Absolute Mode,” it causes the axis to move to position1. Z In “Relative Mode,” it causes the axis to move forward. Z In “Cont. Move,” it causes the axis to start to move according to the velocity setting. Z In “Manual Pulser Move,” it causes the axis to go into pulse move.
18.Stop Button: Clicking this button will cause the 8154 to decelerate and stop. The deceleration time is defined in “Decel. Time.” The related function is _8154_sd_stop(). 19.I/O Status: The status of motion I/O. Light-On means Active, while Light-Off indicates inactive. The related function is _8154_get_io_status(). 20. Buttons: Z Next Card: Change operating card. Z Next Axis: Change operating axis. Z Save Config: Save current configuration to 8154.ini And 8154MC.ini. Z Close: Close the menu.
5.3.6 Two-Axis and Four-Axis Operation Menu In two-axis and four-axis menu, users can change the settings of two or four selected axis, including velocity mode motion, preset relative/absolute motion. User can discover two-axis and fouraxis operation menu are similarly, that’s because we just introduce two-axis menu.
1. Motion Parameters: Set the parameters for single axis motion. This parameter is meaningless if “Manual Pulser Move” is selected, since the velocity and moving distance is decided by pulse input. Z Start Velocity: Set the start velocity of motion in units of PPS. In “Absolute Mode” or “Relative Mode,” only the value is effective. For example, -100.0 is the same as 100.0. Z Maximum Velocity: Set the maximum velocity of motion in units of PPS.
6. Position: Set the absolute position for “Absolute Mode.” It is only effective when “Absolute Mode” is selected. 7. Buttons: Z Next Card: Change operating card. Z Next Axis: Change operating axis. 8. I/O Status: The status of motion I/O. Light-On means Active, while Light-Off indicates inactive. The related function is _8154_get_io_status(). 9. Motion status: Displays the returned value of the _8154_motion_done function. The related function is _8154_motion_done(). 10.
13.Buttons: Z Axis0 Reset: clicking this button will set all positioning counters of selected axis to zero. The related functions are: _8154_set_position() _8154_set_command() _8154_reset_error_counter() _8154_reset_target_pos() Z Axis1 Reset: clicking this button will set all positioning counters of selected axis to zero. Z ClearPlots: Clear the Motion Graph. Z Save Config: Save current configuration to 8154.ini and 8154MC.ini. Z Close: Close the menu.
5.3.7 2D_Motion Menu Press 2-D button in operating window will enter this window. This is for 2-D motion test.
1. Jog Type: Z Continuous Jog: Continuous Jog means that when you press one directional button, the axis will continuously move with an increasing speed. The longer you press, the faster it runs. When you un-press the button, the axis will stop immediately. Z Incremental Jog: Incremental jog means that when you click one directional button, the axis will step a distance according to the Step-Size’s setting. 2. Jog Setting: Set the parameters for single axis motion.
3. Operation Mode: Select operation mode. Z Absolute Mode: “Position” will be used as absolution target positions for motion when “Linear Interpolation Mode” is selected. “ABS EndPos” and “ABS Center” will be used as absolution target positions for motion when “Circular Interpolation Mode” is selected. The related functions are _8154_start_ta_move(), _8154_start_sa_move(). Z Relative Mode: “Distance” will be used as absolution target positions for motion when “Linear Interpolation Mode” is selected.
7. Set Distance/End Pos: Set the absolution target positions or relative distance for “Linear Interpolation Mode” . Set the position end of arc for “Circular Interpolation Mode”. It is available for “Linear Interpolation Mode” and “Circular Interpolation Mode”. 8. Set Center: Set the position of center for “Circular Interpolation Mode”. It is only effective when “Circular Interpolation Mode” is selected. 9. Jog Command: Press one directional button to move. 10.
14.Mode: Z Linear Interpolation: After setting motion parameters correctly in “Motion Parameters Setting Frame”, you can enter the destination in this frame. Then click Run button to start linear interpolation motion. Z Circular Interpolation: The setting for circular interpolation mode has three additional parameters in “Motion Parameters Setting Frame”. They are arc degree, division axis and optimize option. Please refer to section 6.7 and 6.8 to set them.
15.Motion status: Displays the returned value of the _8154_motion_done function. The related function is _8154_motion_done(). 16.Play Key: Play button: Clicking this button will cause the 8154 start to outlet pulses according to previous setting. Z In “Linear Mode,” it causes the axis to move to Distance. The related function is _8154_start_tr_move_xy, _8154_start_sr_move_xy. Z In “Circular Mode,” it causes the axis to move to Distance(By Pos/Dist(pulse)).
18.Graph Range Frame: Z Clear: Clear the Motion Graph. Z Center: Display the Motion Graph in center position. 19.Graph Range: controls X or Y axis’s display range. 20.Origin Position: let user to pan the display location.
5.3.8 Help Menu In this menu, users can Click Mouse Right Key to show Help Information.
120 MotionCreatorPro
6 Function Library This chapter describes the supporting software for the PCI-8154 card. User can use these functions to develop programs in C, C++, or Visual Basic. If Delphi is used as the programming environment, it is necessary to transform the header files, pci_8154.h manually.
6.1 List of Functions System & Initialization, Section 6.3 Function Name Description _8154_initial Card initialization _8154_close Card Close _8154_get_version Check the hardware and software version _8154_set_security_key Set security the password _8154_check_security_key Check security the password _8154_reset_security_key Reset the security password to default value _8154_config_from_file Config PCI-8154 setting from file Pulse Input/Output Configuration, Section 6.
Velocity mode motion, Section 6.5 Function Name Description _8154_tv_move Accelerate an axis to a constant velocity with trapezoidal profile _8154_sv_move Accelerate an axis to a constant velocity with S-curve profile _8154_sd_stop Decelerate to stop _8154_emg_stop Immediately stop _8154_get_current_speed Get current speed(pulse/sec) _8154_speed_override Change speed on the fly _8154_set_max_override_speed Set the maximum override speed Single Axis Position Mode, Section 6.
Linear Interpolated Motion, Section 6.
Function Name Description _8154_start_sr_line4 Begin a relative 4-axis linear interpolation for any 4 of 4 axes, with S-curve profile _8154_start_sa_line4 Begin an absolute 4-axis linear interpolation for any 4 of 4 axes, with S-curve profile Circular Interpolation Motion, Section 6.
Helical Interpolation Motion, Section 6.9 Function Name Description _8154_start_tr_helical Begin a t-curve relative helical interpolation for X, Y and Z _8154_start_ta_helical Begin a t-curve absolute helical interpolation for X, Y and Z _8154_start_sr_helical Begin a s-curve relative helical interpolation for X, Y and Z _8154_start_sa_helical Begin a s-curve absolute helical interpolation for X, Y and Z Home Return Mode, Section 6.
Motion Interface I/O, Section 6.
Position Control and Counters, Section 6.
Multiple Axes Simultaneous Operation, Section 6.18 Function Name Description _8154_set_tr_move_all Multi-axis simultaneous operation setup _8154_set_ta_move_all Multi-axis simultaneous operation setup _8154_set_sr_move_all Multi-axis simultaneous operation setup _8154_set_sa_move_all Multi-axis simultaneous operation setup _8154_start_move_all Begin a multi-axis trapezoidal profile motion _8154_stop_move_all Simultaneously stop multi-axis motion General-Purpose Input/Output, Section 6.
Speed Profile Calculation 6.
6.2 C/C++ Programming Library This section details all the functions. The function prototypes and some common data types are declared in pci_8154.h. We suggest you use these data types in your application programs. The following table shows the data type names and their range.
6.
_8154_reset_security_key _8154_check_security_key: This function is used to verify the security code which the user set by the function “_8154_set_security_key”. See also: _8154_set_security_key _8154_reset_security_key _8154_reset_security_key: By this function, Users can reset the security code on the PCI card to default value. The default security code is0.
_8154_set_sd @ Syntax C/C++(Windows 2000/XP) I16 _8154_initial(U16 *CardID_InBit, I16 Manual_ID); I16 _8154_close(void); I16 _8154_get_version(I16 card_id, I16 *firmware_ver, I32 *driver_ver, I32 *dll_ver); I16 _8154_set_security_key(I16 card_id, I16 old_secu_code, I16 new_secu_code); I16 _8154_check_security_key(I16 card_id, I16 secu_code); I16 _8154_reset_security_key(I16 card_id); I16 _8154_config_from_file(); Visual Basic 6 (Windows 2000/XP) B_8154_initial(CardID_InBit As Integer, ByVal Manual_ID As I
0: the sequence of PCI slot. 1: on board DIP switch (SW1). card_id: Specify the PCI-8154 card index. The card_id could be decided by DIP switch (SW1) or depend on slot sequence. Please refer to _8154_initial(). firmware_ver: The current firmware version. driver_ver: The current device driver version. dll_ver: The current DLL library version. old_secu_code: Old security code. new_secu_code: New security code. secu_code: security code.
6.4 Pulse Input/Output Configuration @ Name _8154_set_pls_iptmode – Set the configuration for feedback pulse input. _8154_set_pls_outmode – Set the configuration for pulse command output. _8154_set_feedback_src – Enable/Disable the external feedback pulse input @ Description _8154_set_pls_iptmode: Configure the input modes of external feedback pulses. There are 4 types for feedback pulse input. Note that this function makes sense only when the Src parameter in _8154_set_feedback_src() function is enabled.
Visual Basic6 (Windows 2000/XP) B_8154_set_pls_iptmode(ByVal AxisNo As Integer, ByVal pls_iptmode As Integer, ByVal pls_logic As Integer) As Integer B_8154_set_pls_outmode(ByVal AxisNo As Integer, ByVal pls_outmode As Integer) As Integer B_8154_set_feedback_src(ByVal AxisNo As Integer, ByVal Src As Integer) As Integer @ Argument AxisNo: Axis number designated to configure the pulse input/output.
pls_outmode: Setting of command pulse output mode.
6.5 Velocity mode motion @ Name _8154_tv_move – Accelerate an axis to a constant velocity with trapezoidal profile _8154_sv_move – Accelerate an axis to a constant velocity with S-curve profile _8154_emg_stop – Immediately stop _8154_sd_stop – Decelerate to stop _8154_get_current_speed – Get current speed _8154_speed_override – Change speed on the fly @ Description _8154_tv_move: This function is to accelerate an axis to the specified constant velocity with a trapezoidal profile.
preset move (both trapezoidal and S-curve motion), manual move, or home return function is performed. Note: The velocity profile is decided by original motion profile. _8154_get_current_speed: This function is used to read the current pulse output rate (pulse/sec) of a specified axis. It is applicable in any time in any operation mode.
@ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo 0 1 0 0 1 1 2 2 3 3 0 4 1 5 … … StrVel: Starting velocity in units of pulse per second MaxVel: Maximum velocity in units of pulse per second Tacc: Specified acceleration time in units of second SVacc: Specified velocity interval in which S-curve acceleration is performed.
6.
_8154_start_ta_move: This function causes the axis to accelerate from a starting velocity (StrVel), rotate at constant velocity (MaxVel), and decelerates to stop at the specified absolute position with trapezoidal profile. The acceleration (Tacc) and deceleration (Tdec) time is specified independently. This command does not let the program wait for motion completion, but immediately returns control to the program.
@ Syntax C/C++(Windows 2000/XP) I16 _8154_start_tr_move(I16 AxisNo, F64 Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); I16 _8154_start_ta_move(I16 AxisNo, F64 Pos, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); I16 _8154_start_sr_move(I16 AxisNo, F64 Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8154_start_sa_move(I16 AxisNo, F64 Pos, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8154_set_move_ratio(I16 AxisNo, F64 move_ratio); I16 _8154_position_o
B_8154_set_max_override_speed(ByVal AxisNo As Integer, ByVal OvrdSpeed As Double, ByVal Enable As Integer) As Integer @ Argument AxisNo: Axis number designated to move or stop.
6.
_8154_start_tr_line4 – Begin a relative 4-axis linear interpolation for any 4 of 4 axes, with trapezoidal profile _8154_start_ta_line4 – Begin a absolute 4-axis linear interpolation for any 4 of 4 axes, with trapezoidal profile _8154_start_sr_line4 – Begin a relative 4-axis linear interpolation for any 4 of 4 axes, with S-curve profile _8154_start_sa_line4 – Begin a absolute 4-axis linear interpolation for any 4 of 4 axes, with S-curve profile @ Description These functions perform linear interpolation moti
Function Total axes _8154_start_tr_line3 3 Velocity Relative Profile Absolute T R Target Axes Any 3 of 4 axes _8154_start_ta_line3 3 T A Any 3 of 4 axes _8154_start_sr_line3 3 S R Any 3 of 4 axes _8154_start_sa_line3 3 S A Any 3 of 4 axes Note: The target 3 axes of linear interpolation are the 3 of 4 axes on a card.
I16 _8154_start_sr_move_xy(I16 Card_id, F64 DistX, F64 DistY, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8154_start_sa_move_xy(I16 Card_id, F64 PosX, F64 PosY, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8154_start_tr_move_zu(I16 Card_id, F64 DistX, F64 DistY, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); I16 _8154_start_ta_move_zu(I16 Card_id, F64 PosX, F64 PosY, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); I16 _8154_start_sr_move_zu(I16 Card_id, F64
I16 _8154_start_tr_line4(I16 *AxisArray, F64 *DistArray, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); I16 _8154_start_ta_line4(I16 *AxisArray, F64 *PosArray, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); I16 _8154_start_sr_line4(I16 *AxisArray, F64 *DistArray, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8154_start_sa_line4(I16 *AxisArray, F64 *PosArray, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); Visual Basic6 (Windows 2000/XP) B_8154_start_tr_move_xy(ByVal
ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double) As Integer B_8154_start_sr_move_zu(ByVal Card_id As Integer, ByVal DistX As Double, ByVal DistY As Double, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double, ByVal SVacc As Double, ByVal SVdec As Double) As Integer B_8154_start_sa_move_zu(ByVal Card_id As Integer, ByVal PosX As Double, ByVal PosY As Double, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double,
Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double, ByVal Svacc As Double, ByVal Svdec As Double) As Integer B_8154_start_sa_line3(AxisArray() As Integer, PosArray() As Double, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double, ByVal Svacc As Double, ByVal Svdec As Double) As Integer B_8154_start_tr_line4(AxisArray() As Integer, DistArray() As Double, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double) A
card_id Physical axis AxisNo 1 0 4 1 5 … … DistX: specified relative distance of axis 0 to move (unit: pulse). DistY: specified relative distance of axis 1 to move (unit: pulse). PosX: specified absolute position of axis 0 to move (unit: pulse). PosY: specified absolute position of axis 1 to move (unit: pulse). StrVel: Starting velocity of a velocity profile in units of pulse per second. MaxVel: Maximum velocity in units of pulse per second. Tacc: Specified acceleration time in units of seconds.
F64 DistArray[2] = {1000.0, 2000.0} //for axis 0 & 3 *PosArray: Array of absolute position for linear interpolation. Example: I16 AxisArray[3] = {0,2, 3}; //axis 0, 2 & 3 F64 PosArray[3] = {200.0, 300.0, 400.
6.
@ Description Those functions perform Circular interpolation motion with different profile. Detail Comparisons of those functions are described by follow table.
I16 _8154_start_tr_arc_zu(I16 card_id, F64 OffsetCx, F64 OffsetCy, F64 OffsetEx, F64 OffsetEy, I16 CW_CCW, F64 StrVel,F64 MaxVel,F64 Tacc,F64 Tdec); I16 _8154_start_ta_arc_zu(I16 card_id, F64 Cx, F64 Cy, F64 Ex, F64 Ey, I16 CW_CCW, F64 StrVel,F64 MaxVel,F64 Tacc,F64 Tdec); I16 _8154_start_sr_arc_zu(I16 card_id, F64 OffsetCx, F64 OffsetCy, F64 OffsetEx, F64 OffsetEy, I16 CW_CCW, F64 StrVel,F64 MaxVel,F64 Tacc,F64 Tdec,F64 SVacc,F64 SVdec); I16 _8154_start_sa_arc_zu(I16 card_id, F64 Cx, F64 Cy, F64 Ex, F64 Ey
Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double) As Integer B_8154_start_sr_arc_xy(ByVal card_id As Integer, ByVal OffsetCx As Double, ByVal OffsetCy As Double, ByVal OffsetEx As Double, ByVal OffsetEy As Double, ByVal CW_CCW As Integer, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double, ByVal Svacc As Double, ByVal Svdec As Double) As Integer B_8154_start_sa_arc_xy(ByVal card_id As Integer, ByVal Cx As Double, ByVal Cy As Double, ByVal Ex
As Double, ByVal Tdec As Double, ByVal Svacc As Double, ByVal Svdec As Double) As Integer B_8154_start_tr_arc2(AxisArray() As Integer, OffsetCenter() As Double, OffsetEnd() As Double, Byval CW_CCW As Integer, ByVal StrVel As Double , ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double) As Integer B_8154_start_ta_arc2(AxisArray() As Integer, CenterPos() As Double, EndPos() As Double, Byval CW_CCW As Integer, ByVal StrVel As Double , ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As D
card_id Physical axis AxisNo 0 4 1 5 … … 1 OffsetCx: X-axis (first axis of target axes) offset to center OffsetCy: Y-axis (second axis of target axes) offset to center OffsetEx: X-axis (first axis of target axes) offset to end of arc OffsetEy: Y-axis offset to end of arc Cx: X-axis (first axis of target axes) absolute position of center of arc Cy: Y-axis (second axis of target axes) absolute position of center of arc Ex: X-axis (first axis of target axes) absolute position of end of arc Ey: Y-axis (s
Note: SVdec = 0, for pure S-Curve. For more details, see section 4.2.4 *AxisArray: Array of axis number to perform interpolation. Example: I16 AxisArray[2] = {0, 3}; //axis 0, & axis 3 (correct) I16 AxisArray[2] = {1, 6}; //axis 1, & axis 6 (incorrect) *OffsetCenter: Array of the offset to center (relative to the start position) Example: F64 OffsetCenter[2] = {2000.0, 0.
6.9 Helical Interpolation Motion @ Name _8154_start_tr_helical – Begin a T-curve relative helical interpolation for X, Y and Z axis _8154_start_ta_helical – Begin a T-curve absolute helical interpolation for X, Y and Z axis _8154_start_sr_helical – Begin an S-curve relative helical interpolation for X, Y and Z axis _8154_start_sa_helical –Begin an S-curve absolute helical interpolation for X, Y and Z axis @ Description These functions perform helical interpolation motion with different profiles.
CW_CCW, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec); I16 _8154_start_sr_helical(I16 card_id, F64 OffsetCx, F64 OffsetCy, F64 OffsetEx, F64 OffsetEy, F64 PitchDist, I16 CW_CCW, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8154_start_sa_helical(I16 card_id, F64 Cx, F64 Cy, F64 Ex, F64 Ey, F64 PitchPos, I16 CW_CCW, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); Visual Basic6 (Windows 2000/XP) B_8154_start_tr_helical Lib "8154.
Double, ByVal Ex As Double, ByVal Ey As Double, ByVal PitchPos As Double, ByVal CW_CCW As Integer, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double, ByVal SVacc As Double, ByVal SVdec As Double) As Integer @ Argument card_id: Specify the PCI-8154 card index. The card_id could be decided by DIP switch (SW1) or depend on slot sequence.Please refer to _8154_initial(). AxisNo: Axis number designated to move or stop.
CW_CCW: Specified direction of arc Value Meaning 0 Clockwise(cw) 1 Counterclockwise(ccw) StrVel: Starting velocity of a velocity profile in units of pulse per second. MaxVel: Maximum velocity in units of pulse per second. Tacc: Specified acceleration time in units of seconds. Tdec: Specified deceleration time in units of seconds. SVacc: Specified velocity interval in which S-curve acceleration is performed. Note: SVacc = 0, for pure S-Curve. For more details, see section 4.2.
6.10 Home Return Mode @ Name _8154_set_home_config – Set the configuration for home return move motion _8154_home_move – Perform a home return move. _8154_home_search – Perform an auto search home @ Description _8154_set_home_config Configures the home return mode, origin(ORG) and index signal(EZ) logic, EZ count, and ERC output options for the home_move() function. Refer to section 4.2.10 for the setting of home_mode control.
@ Syntax C/C++(Windows 2000/XP) I16 _8154_set_home_config(I16 AxisNo, I16 home_mode, I16 org_logic, I16 ez_logic, I16 ez_count, I16 erc_out); I16 _8154_home_move(I16 AxisNo, F64 StrVel, F64 MaxVel, F64 Tacc); I16 _8154_home_search(I16 AxisNo, F64 StrVel, F64 MaxVel, F64 Tacc, F64 ORGOffset); Visual Basic (Windows 2000/XP) B_8154_set_home_config(ByVal AxisNo As Integer, ByVal home_mode As Integer, ByVal org_logic As Integer, ByVal ez_logic As Integer, ByVal ez_count As Integer, ByVal erc_out As Integer) As
org_logic: Action logic configuration for ORG Value Meaning 0 Active low 1 Active high ez_logic: Action logic configuration for EZ Value Meaning 0 Active low 1 Active high ez_count: 0-15 (Please refer to section 4.2.10) erc_out: Set ERC output options. Value Meaning 0 no ERC out 1 ERC signal out when home-move finishing StrVel: Starting velocity of a velocity profile. (unit: pulse/sec) MaxVel: Maximum velocity.
6.11 Manual Pulser Motion @ Name _8154_disable_pulser_input – Disable the pulser input _8154_pulser_pmove – Manual pulser p_move _8154_pulser_vmove – Manual pulser v_move _8154_set_pulser_ratio – Set manual pulser ratio for actual output pulse rate _8154_set_pulser_iptmode – Set the input signal modes of pulser @ Description _8154_disable_pulser_input This function is used to set the pulser input disable or enable.
_8154_set_pulser_iptmode This function is used to configure the input mode of manual pulser.
@ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo 0 1 0 0 1 1 2 2 3 3 0 4 1 5 … … Disable: Disable pulser input. Disable = 1, disable pulser Disable = 0, enable pulser Dist: Specified relative distance to move (unit: pulse) For example, if SpeedLimit is set to be 100pps, then the axis can move at fastest 100pps, even the input pulser signal rate is more then 100pps.
Inverse: Reverse the moving direction from pulse direction 172 Value Meaning 0 no inverse 1 Reverse moving direction Function Library
6.12 Motion Status @ Name _8154_motion_done – Return the motion status @ Description _8154_motion_done: Return the motion status of the 8154.
@ Syntax C/C++(Windows 2000/XP) I16 _8154_motion_done(I16 AxisNo) Visual Basic (Windows 2000/XP) B_8154_motion_done(ByVal AxisNo As Integer) As Integer @ Argument AxisNo: Axis number designated to move or stop.
6.
_8154_set_pcs: Enable the position override when input signal PCS is turn ON. The PCS terminal status can be monitored by the “_8154_get_io_status” function. _8154_set_clr_mode CLR inputted signal can reset specified counters(command, position, error and general purpose counter). The reset action could be set by this function. The reset action mode has 4 types. For details refer to arguments description. _8154_set_inp: Set the active logic of the In-Position signal input from the servo driver.
_8154_set_limit_logic: Set the EL logic, normal open or normal closed. _8154_set_limit_mode: Set the reacting modes of the EL signal. _8154_get_io_status: Get all the I/O statuses for each axis.
I16 _8154_set_alm(I16 AxisNo, I16 alm_logic, I16 alm_mode); I16 _8154_set_erc(I16 AxisNo, I16 erc_logic, I16 erc_pulse_width, I16 erc_mode); I16 _8154_set_erc_out(I16 AxisNo); I16 _8154_clr_erc(I16 AxisNo); I16 _8154_set_sd(I16 AxisNo, I16 sd_logic, I16 sd_latch, I16 sd_mode); I16 _8154_enable_sd(I16 AxisNo, I16 enable); I16 _8154_set_limit_logic(I16 AxisNo, U16 Logic ); I16 _8154_set_limit_mode(I16 AxisNo, I16 limit_mode); I16 _8154_get_io_status(I16 AxisNo, U16 *io_sts); Visual Basic (Windows 2000/XP) B_
B_8154_enable_sd(ByVal AxisNo As Integer, ByVal Enable As Integer) As Integer B_8154_set_limit_logic(ByVal AxisNo As Integer, ByVal Logic As Integer) As Integer B_8154_set_limit_mode(ByVal AxisNo As Integer, ByVal limit_mode As Integer) As Integer I16 _8154_get_io_status(ByVal AxisNo As Integer, io_sts As Integer) As Integer @ Argument AxisNo: Axis number designated to move or stop.
clr_mode: Specify a CLR input clear mode clr_mode = 0 , Clear on the falling edge (default) clr_mode = 1 , Clear on the rising edge clr_mode = 2 , Clear on a LOW level clr_mode = 3 , Clear on a HIGH level targetCounterInBit: Enable/Disable clear target counter in bit Value Meaning Bit Description 0 Reset command counter when CLR input turns ON 1 Reset position counter when CLR input turns ON 2 Reset error counter when CLR input turns ON 3 Reset general purpose counter when CLR input turns ON inp
erc_logic: Set the active logic for the ERC signal Value Mmeaning 0 Negative logic 1 Positive logic erc_pulse_width: Set the pulse width of the ERC signal Value Meaning 0 12 μs 1 102 μs 2 409 μs 3 1.
sd_mode: Set the reacting mode of the SD signal Value Meaning 0 slow down only 1 slow down then stop enable: Set the ramping-down point for high speed feed. Value Meaning 0 Automatic setting 1 Manual setting (default) Logic: Set the PEL/MEL logic. Value Meaning 0 Normal low(normal open) 1 Normal high(normal close) limit_mode: Value Meaning 0 Stop immediately 1 Slow down then stop *io_sts: I/O status. Please refer to 6.12 function description.
6.14 Interrupt Control @ Name _8154_int_control – Enable/Disable INT service _8154_set_motion_int_factor – Set the factors of motion related interrupts _8154_wait_error_interrupt – Wait error related interrupts _8154_wait_motion_interrupt – Wait motion related interrupts @ Description _8154_int_control: This function is used to enable the Windows interrupt event to host PC. _8154_set_motion_int_factor: This function allows users to select motion related factors to initiate the event int.
@ Syntax C/C++(Windows 2000/XP) I16 _8154_int_control(I16 card_id, I16 intFlag); I16 _8154_set_motion_int_factor(I16 AxisNo, U32 int_factor ); I16 _8154_wait_error_interrupt(I16 AxisNo, I32 TimeOut_ms ); I16 _8154_wait_motion_interrupt(I16 AxisNo, I16 IntFactorBitNo, I32 TimeOut_ms ); Visual Basic (Windows 2000/XP) B_8154_int_control(ByVal card_id As Integer, ByVal intFlag As Integer) As Integer B_8154_wait_error_interrupt(ByVal AxisNo As Integer, ByVal TimeOut_ms As Long) As Integer B_8154_wait_motion_int
AxisNo: Axis number designated to move or stop.
TimeOut_ms: Specifies the time-out interval, in milliseconds. If TimeOut_ms is zero, the function tests the states of the specified objects and returns immediately. If TimeOut_ms is -1, the function's time-out interval never elapses (infinite). IntFactorBitNo: Specifies the bit number of the INT factor. e.g. IntFactorBitNo = 4, It means waiting the factor of “Acceleration Start” interrupt.
6.
_8154_set_position: This function is used to change the feedback position counter to the specified value. Note that the value to be set will be processed by the move ratio. If move ratio is 0.5, then the set value will be twice as given value. _8154_get_command: This function is used to read the value of the command position counter. The source of the command position counter is the pulse output of the 8154. _8154_set_command: This function is used to change the value of the command position counter.
_8154_get_res_distance: This function is used to read the value of the residue distance recorder. The target position recorder is maintained by the 8154 software driver. It records the position to settle down for current running motion.
B_8154_get_error_counter(ByVal AxisNo As Integer, ByRef error As Integer) As Integer B_8154_reset_error_counter(ByVal AxisNo As Integer) As Integer B_8154_set_general_counter(ByVal AxisNo As Integer, ByVal CntSrc As Integer, ByVal CntValue As Double) As Integer B_8154_get_general_counter(ByVal AxisNo As Integer, ByRef Pos As Double) As Integer B_8154_reset_target_pos(ByVal AxisNo As Integer, ByVal Pos As Double) As Integer B_8154_get_target_pos(ByVal AxisNo As Integer, ByRef Pos As Double) As Integer B_8154
CntSrc: general counter source Value Meaning 0 Command pulse 1 EA/EB 2 Pulser input 3 System clock÷2 CntValue, *CntValue: the counter value TargetPos, *TargetPos: Target position recorder value, range: -134217728 to 134217727 ResDistance, *ResDistance: residue distance Function Library 191
6.
_8154_set_latch_source: There are 4 latch triggering source. By using this function, user can choose the event source to latch counters’ data. _8154_set_ltc_logic: This function is used to set the logic of the latch input. _8154_get_latch_data: After the latch signal arrived, the function is used to read the latched value of counters.
B_8154_set_trigger_comparator(ByVal AxisNo As Integer, ByVal CmpSrc As Integer, ByVal CmpMethod As Integer, ByVal Data As Long) As Integer B_8154_set_latch_source(ByVal AxisNo As Integer, ByVal LtcSrc As Integer) As Integer B_8154_set_ltc_logic(ByVal AxisNo As Integer, ByVal StcLogic As Integer) As Integer B_8154_get_latch_data(ByVal AxisNo As Integer, ByVal CounterNo As Integer, Pos As Double) As Integer @ Argument AxisNo: Axis number designated to move or stop.
CmpMethod: The comparing methods Value Meaning 0 No Compare(Disable) 1 Data = Source counter (direction independent) 2 Data = Source counter (Count up only) 3 Data = Source counter (Count down only) 4 Data > Source counter 5 Data < Source counter Data: Comparing value (Position) CmpAction: Value Meaning 0 No action 1 Stop immediately 2 Slow down then stop ltc_src: Value Meaning 0 LTC pin input 1 ORG pin input 2 general comparator conditions are met 3 trigger comparator conditi
*Pos: Latch data (Position) 196 Function Library
6.17 Continuous motion @ Name _8154_set_continuous_move – Enable continuous motion for absolute motion _8154_check_continuous_buffer – Check if the buffer is empty _8154_dwell_move – Set a dwell move @ Description _8154_set_continuous_move: This function is necessary before and after continuous motion command sequences _8154_check_continuous_buffer: This function is used to detect if the command pre-register (buffer) is empty or not.
@ Syntax C/C++(Windows 2000/XP) I16 _8154_set_continuous_move(I16 AxisNo, I16 Enable); I16 _8154_check_continuous_buffer(I16 AxisNo); I16 _8154_dwell_move(I16 AxisNo, F64 ms); Visual Basic (Windows 2000/XP) B_8154_set_continuous_move(ByVal AxisNo As Integer, ByVal Enable As Integer) As Integer B_8154_check_continuous_buffer(ByVal AxisNo As Integer) As Integer B_8154_dwell_move(ByVal AxisNo As Integer, ByVal ms As Double) As Integer @ Argument AxisNo: Axis number designated to move or stop.
6.
I16 F64 F64 F64 F64 F64 axes[2] = {0, 1}; dist[2] = {80000.0, 120000.0}, str_vel[2] = {0.0, 0.0}, max_vel[2] = {4000.0, 6000.0}, Tacc[2] = {0.1, 0.6}, Tdec[2] = {0.1, 0.
As Double, ByRef SVdecA As Double) As Integer B_8154_set_ta_move_all(ByVal TotalAxes As Integer, ByRef AxisArray As Integer, ByRef PosA As Double, ByRef StrVelA As Double, ByRef MaxVelA As Double, ByRef TaccA As Double, ByRef TdecA As Double) As Integer B_8154_set_sr_move_all(ByVal TotalAxes As Integer, ByRef AxisArray As Integer, ByRef DistA As Double, ByRef StrVelA As Double, ByRef MaxVelA As Double, ByRef TaccA As Double, ByRef TdecA As Double, ByRef SVaccA As Double, ByRef SVdecA As Double) As Integer B
6.19 General-Purpose DIO @ Name _8154_set_gpio_output – Set digital output _8154_get_gpio_output – Get digital output _8154_get_gpio_input – Get digital input _8154_set_gpio_input_function – Set the signal types for any digital inputs @ Description _8154_set_gpio_output: The PCI-8154 has 4 digital output channels. By this function, user could control the digital outputs. _8154_get_gpio_output: This function is used to get the digital output status.
Visual Basic (Windows 2000/XP) B_8154_set_gpio_output(ByVal card_id As Integer, ByVal DoValue As Integer) As Integer B_8154_get_gpio_output(ByVal card_id As Integer, DoValue As Integer) As Integer B_8154_get_gpio_input(ByVal card_id As Integer, DiValue As Integer) As Integer B_8154_set_gpio_input_function(ByVal card_id As Integer, ByVal Channel As Integer, ByVal Select As Integer, ByVal Logic As Integer)As Integer @ Argument card_id: Specify the PCI-8154 card index.
6.20 Soft Limit @ Name _8154_disable_soft_limit – Disable soft limit function _8154_enable_soft_limit – Enable soft limit function _8154_set_soft_limit – Set soft limit @ Description _8154_disable_soft_limit: This function is used to disable the soft limit function. _8154_enable_soft_limit: This function is used to enable the soft limit function. Once enabled, the action of soft limit will be exactly the same as physical limit. _8154_set_soft_limit: This function is used to set the soft limit value.
@ Argument AxisNo: Axis number designated to move or stop.
6.21 Backlash Compensation / Vibration Suppression @ Name _8154_backlash_comp – Set backlash corrective pulse for compensation _8154_suppress_vibration – Set vibration suppressing timing _8154_set_fa_speed – Set the FA speed @ Description _8154_backlash_comp: Whenever direction change occurs, the 8154 outputs backlash corrective pulses before sending commands. This function is used to set the compensation pulse numbers.
Visual Basic (Windows 2000/XP) B_8154_backlash_comps (ByVal AxisNo As Integer, ByVal CompPulse As Integer, ByVal Mode As Integer) As Integer B_8154_suppress_vibration(ByVal AxisNo As Integer, ByVal ReverseTime As Integer, ByVal ForwardTime As Integer) As Integer B_8154_set_fa_speed(ByVal AxisNo As Integer, ByVal FA_Speed As Double) As Integer @ Argument AxisNo: Axis number designated to move or stop.
6.22 Speed Profile Calculation @ Name _8154_get_tr_move_profile – Get the relative trapezoidal speed profile _8154_get_ta_move_profile – Get the absolute trapezoidal speed profile _8154_get_sr_move_profile – Get the relative S-curve speed profile _8154_get_sa_move_profile – Get the absolute S-curve speed profile @ Description _8154_get_tr_move_profile: This function is used to get the relative trapezoidal speed profiles. By this function, user can get the actual speed profile before running.
@ Syntax C/C++(Windows 2000/XP) I16 _8154_get_tr_move_profile(I16 AxisNo, F64 Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 *pStrVel, F64 *pMaxVel, F64 *pTacc, F64 *pTdec, F64 *pTconst ); I16 _8154_get_ta_move_profile(I16 AxisNo, F64 Pos, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 *pStrVel, F64 *pMaxVel, F64 *pTacc, F64 *pTdec, F64 *pTconst ); I16 _8154_get_sr_move_profile(I16 AxisNo, F64 Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec,F64 *pStrVel, F64 *pMaxVel, F64 *pTa
Double, ByRef pTacc As Double, ByRef pTdec As Double, ByRef pSVacc As Double, ByRef pSVdec As Double, ByRef pTconst As Double) As Integer B_8154_get_sa_move_profile(ByVal AxisNo As Integer, ByVal Pos As Double, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc As Double, ByVal Tdec As Double, ByVal SVacc As Double, ByVal SVdec As Double, ByRef pStrVel As Double, ByRef pMaxVel As Double, ByRef pTacc As Double, ByRef pTdec As Double, ByRef pSVacc As Double, ByRef pSVdec As Double, ByRef pTconst As Do
SVdec: S-curve region during deceleration (unit: pulse/sec) Note: SVdec = 0, for pure S-Curve. For more details, see section 4.2.
6.23 Return Code The return error code is defined in “8154_err.h”. The meaning is described in following table.
Code Meaning -10325 Error auto accelerate time -10326 Error dwell time -10327 Error dwell distance -10328 Error new position -10329 Error motion not in running -10330 Error velocity change time -10331 Error speed target -10332 Error velocity percent -10333 Error position change backward -10334 Error counter number -10335 Error gpio input function parameter -10336 Error channel number -10337 Error ERC mode -10338 Error security code Function Library 213
214 Function Library
7 Connection Example This chapter shows some connection examples between the PCI8154 and servo drivers and stepping drivers. 7.1 General Description of Wiring Main connection between the PCI-8154 and the pulse input servo driver or stepping driver. The following figure illustrates how to integrate the PCI-8154 and DIN-814M-J3A. 7.2 Terminal Board User Guide Please refer the individual user guide of terminal board.
214 Connection Example
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