PCI-8254 / PCI-8258 DSP-Based 4/8 Advanced Motion Control Card User manual Version: 2.00 Updated: August 13, 2014 P/N: 50-15085-1000 Advance Technologies; Automate the World.
Revision History ii Revision Date Description 2.
PCI-8254 / PCI-8258 Preface Copyright 2014 ADLINK Technology, Inc. This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.
Conventions Take note of the following conventions used throughout this reference to make sure that users perform certain tasks and instructions properly. Additional information, aids, and tips that help users perform tasks. NOTE CAUTION WARNING iv Information to prevent minor physical injury, component damage, data loss, and/or program corruption when trying to complete a task.
PCI-8254 / PCI-8258 Table of Contents Revision History...................................................................... ii Preface .................................................................................... iii List of Figures ........................................................................ ix List of Tables........................................................................ xiii 1 Introduction ........................................................................ 1 1.
2.7 IDE 44p – DSUB 37p Bus.................................................. 26 2.8 Exclusive Board - DIN-825-GP4 ........................................ 27 Definitions to Connector ............................................... 28 Connector: For Connecting to PCI-8254/PCI-8258/AMP-204C/AMP-208C ................. 30 S1, S2: EDO/ALM_RST Selection Switch .................... 39 3 Signal Connection ............................................................ 41 3.1 Analog Control Command Signal.........
PCI-8254 / PCI-8258 4.3 4.4 Motion Control Operations................................................. 98 4.3.1 Coordinated System ................................................. 98 4.3.2 Unit Factor ................................................................ 99 4.3.3 Acc/Deceleration Profile ......................................... 102 Home Move ..................................................................... 108 4.4.1 OGR Signal Homing - Home Mode = 0 .................. 111 4.4.
Important Safety Instructions............................................. 209 Getting Service ....................................................................
PCI-8254 / PCI-8258 List of Figures Figure 1-1: Figure 1-2: Figure 2-1: Figure 2-2: Figure 2-3: Figure 2-4: Figure 3-1: Figure 3-2: Figure 3-3: Figure 3-4: Figure 3-5: Figure 3-6: Figure 3-7: Figure 3-8: Figure 3-9: Figure 3-10: Figure 3-11: Figure 3-12: Figure 3-13: Figure 3-14: Figure 3-15: Figure 4-1: Figure 4-2: Figure 4-3: Figure 4-4: Figure 4-5: Figure 4-6: Figure 4-7: List of Figures PCI-8254/58 system block diagram............................ 2 System installation flow chart .....................
Figure 4-8: Figure 4-9: Figure 4-10: Figure 4-11: Figure 4-12: Figure 4-13: Figure 4-14: Figure 4-15: Figure 4-16: Figure 4-17: Figure 4-18: Figure 4-19: Figure 4-20: Figure 4-21: Figure 4-22: Figure 4-23: Figure 4-24: Figure 4-25: Figure 4-26: Figure 4-27: Figure 4-28: Figure 4-29: Figure 4-30: Figure 4-31: Figure 4-32: Figure 4-33: Figure 4-34: Figure 4-35: Figure 4-36: Figure 4-37: Figure 4-38: x 86 Ideal low pass filter ...................................................
PCI-8254 / PCI-8258 Figure 4-39: Figure 4-40: Figure 4-41: Figure 4-42: Figure 4-43: Figure 4-44: Figure 4-45: Figure 4-46: Figure 4-47: Figure 4-48: Figure 4-49: Figure 4-50: Figure 4-51: Figure 4-52: Figure 4-53: Figure 4-54: Figure 4-55: Figure 4-56: Figure 4-57: Figure 4-58: Figure 4-59: Figure 4-60: Figure 4-61: Figure 4-62: Figure 4-63: Figure 4-64: Figure 4-65: Figure 4-66: Figure 4-67: Figure 4-68: Figure 4-69: Figure 4-70: Figure 4-71: List of Figures Two-dimension straight line interpolation ..
xii List of Figures
PCI-8254 / PCI-8258 List of Tables Table 1-1: Table 1-2: Table 4-1: Table 4-2: Table 4-3: Table 4-4: Table 4-5: Table 4-6: List of Tables Cross-reference table of exclusive cables for pulse servo drive9 Cross-reference table of exclusive cables for analog servo drive9 Encoder input format ..................................................... 69 Encoder input format ..................................................... 70 PCI-8254/8 Auto-Tuning setup ......................................
xiv List of Tables
PCI-8254 / PCI-8258 1 Introduction The PCI-8254/PCI-8258, is a fully in-house developed DSP-based advanced motion control card from ADLINK. It supports 4/8 axis pulse type or Analog type signal commands, provides Open-loop and closed-loop circuit control options, and supports position/speed/torque commands for several different servo drivers. The PCI-8254/PCI-8258 exchanges data with operating system through high speed PCI bus including motion control command, feedback data, parameter, etc.
FPGA Flash ROM A/D circuitry DPRAM CMP & TRG Encoder Input EA EB EZ TRG Output PEL MEL GPIO TTL I/Os ORG DSUB 37P 4/8 PID Controllers Motion I/Os Isolation DSP D/A circuitry DIN-825-GP4 PCIPCI BusBus PCI Bridge Misc. functions SCSI 100P SDRAM DIO Figure 1-1: PCI-8254/58 system block diagram Graphical motion control interface – MotionCreatorPro 2 is a Windows-based motion control software development tool for motion control and I/O status monitoring.
PCI-8254 / PCI-8258 The flow chart below will guide you in using this manual as well as help you to locate any required information effectively.
1.1 Product Specifications System DSP Item Description Bus information PCI bus width PCI bus voltage PCI bus IRQ settings Model PCI Rev. 2.2, 33MHz 32-bit 3.
PCI-8254 / PCI-8258 Item Motion control relevant I/O I/O interface Drive relevant I/O Analog input Max. input channel Input voltage range Sampling frequency Resolution Accuracy Overload voltage Max.
Item Point table Motion Monitoring Synchronous move Master-client axes control Industrial application Interrupt Data sampling System error diagnostics Motion status event/error alarm/in position/ emergency stop Pulse output interface Trigger channel Pulse logic Position comparison & trigger output Trigger output frequency Minimum pulse width Position comparison mode FIFO capacity 6 Description Each axis supports 50 points buffer memory (BUFs) Supports point-to-point/line/arc and spiral interpolation
PCI-8254 / PCI-8258 PWM control Item Description Maximum number of channels 2/4 CH correspondence PCI-8254/PCI-8258 Control modes Resolution Max.
1.2 Software Support 1.2.1 Software Support Library PCI-8254/PCI-8258 supports Windows XP/7 32/64 bit operating system and provides a complete function library and DLL files for easy application development by users. 1.2.2 MotionCreatorPro 2 MotionCreatorPro 2 is a user interface exclusively developed for ADLINK motion control products in common Windows environment. You may easily set up card and axis parameters with the help of MotionCreatorPro 2.
PCI-8254 / PCI-8258 Pulse command: Cable Supported brands HSL-4XMO-DM Mitsubishi J2S series 4XMO-DM-J3 Mitsubishi J3A series HSL-4XMO-DP Panasonic A4 and A5 series HSL-4XMO-DY Yaskawa Sigma V series 4XMO-DA Delta A2 series 4XMO-OPEN General purpose Table 1-1: Cross-reference table of exclusive cables for pulse servo drive Analog commands: Cable Supported brands ACL-DM-J3 Mitsubishi J3A series ACL-DY Yaskawa Sigma V series ACL-DP Panasonic MINAS A5/A4 series 4XMO-OPEN General purpose
10 Introduction
PCI-8254 / PCI-8258 2 Getting Start with The Installation This chapter teaches you how to install PCI-8254/PCI-8258 hardware and software as well as its I/O wiring. • Package Contents • Hardware Installation • Software Installation • I/O Wiring 2.
2.2 PCI-8254/PCI-8258 Exterior Profile Diagram P2 S1 P1 SW2 䓊⑩⢾奨廒⚾ Dimension in unit of millimeter (mm). NOTE Figure 2-1: Exterior of your PCI-8254 P1: for Motion control command, Position feedback, and Servo I/O feedback. (with SCSI 100-PINS connector) P2: for 16 channel digital TTL input and 16 channel digital TTL output.
PCI-8254 / PCI-8258 P1 SW2 P2 S1 䓊⑩⢾奨廒⚾ Figure 2-2: Exterior of your PCI-8258 P1: for Motion control command, Position feedback, and Servo I/O feedback. (with SCSI-VHDCI 200-PINS connector) P2: for 16 channel digital TTL I/O.
2.3 Hardware Installation 2.3.1 Hardware Configuration PCI-8254/58 employs PCI Rev. 2.2 bus. System BIOS can auto configure memory and IRQ channel. Exclusive terminal board DIN-825-GP4 provides isolation circuit and indicator lights for easy connection to varieties of servo drive and stepper drive. 2.3.2 Installation Procedures 1. Please read this manual carefully and set up signal I/O in proper mode. 2.
PCI-8254 / PCI-8258 2.3.3 Troubleshooting If the computer cannot power on normally or the motion control system operates abnormally after system installation, please follow steps described below for troubleshooting. If the problem persists after you have taken steps described, please consult the dealer where your product is purchased for technical services.
2.4 Software Installation Procedure Windows driver installation procedure: Step 1. Execute PCI-8254/PCI-8258 WDM file and run installation procedure automatically. Step 2. Click "Next" as prompted to complete the installation process.
PCI-8254 / PCI-8258 Step 3. Restart your computer after installation is completed. Step 4. Ensure the Windows Device Manager identify your PCI-8254/PCI-8258 correctly. Note: Recommendations: Please download latest installation software from ADLINK official website to maintain the optimum operation environment. (http://www.adlinktech.com/Motion-Control/index.
2.5 Definitions to Key Connector Signal 2.5.1 PCI-8254: Connector • P1 18 No. Name I/O Function of Axis No. Name I/O Function of Axis 1 DGND -- Digital ground 51 IEMG | Emergency stop input 2 DGND -- Digital ground 52 Rsv.
PCI-8254 / PCI-8258 No. Name I/O Function of Axis No.
2.5.2 PCI-8258: P1-A/B Connector • P1-A No. 20 Name I/O Function of Axis No. Name I/O Function of Axis 1 DGND -- Digital ground 51 IEMG | Emergency stop input 2 DGND -- Digital ground 52 Rsv.
PCI-8254 / PCI-8258 No. Name I/O Function of Axis No.
22 No. Name 6 AOUT5- 7 AOUT6+ 8 AOUT6- 9 AIN5 10 11 I/O Function of Axis No. Name I/O Function of Axis O Analog output (-),(5) 56 AOUT7- O Analog output (-),(7) O Analog output (+),(6) 57 AOUT8+ O Analog output (+),(8) O Analog output (-),(6) 58 AOUT8- O Analog output (-),(8) I Analog input, (5) 59 AIN7 I Analog input, (7) AIN6 I Analog input, (6) 60 AIN8 I Analog input, (8) Rsv. -- Reserved 61 DGND -- Digital ground 12 Rsv.
PCI-8254 / PCI-8258 No. Name I/O Function of Axis No.
No. Name 12 TDI11 I/O Function of Axis | TTL input, (11) No.
PCI-8254 / PCI-8258 2.6.2 SW2: Card ID Switch This switch is used for adjusting card ID for easy identification in user application programs. Take example.
2.7 IDE 44p – DSUB 37p Bus This card include one IDE cable from IDE 44 pin to DSUB 37 pin. It is used for PCI-8254 / PCI-8258 P2 extension 16 channel digital input and 16 channel digital output.
PCI-8254 / PCI-8258 2.8 Exclusive Board - DIN-825-GP4 The DIN-825-GP4 terminal board is designed for PCI-8254/PCI-8258 and AMP-204C/AMP-208C exclusively. It connects with market available servo drives with special cables including the Mitsubishi's J3A and the Yaskawa Sigma V series or other servo or stepper drives with single end open cables. CAUTION The DIN-825-GP4 board supports both PCI-8254/PCI-8258 and AMP-204C/AMP-208C. DO NOT connect it to other ADLINK's motion controller or it may be damaged.
2.8.1 Definitions to Connector J2 P1 CMA2 CMA3 CMA4 J1 CMP1 S1 J6 CMP2 J3 CMP3 S2 J5 CMP4 CN1 IOIF3 IOIF2 3. CMP1–4: These are four 26-PINS connectors for connecting to servo drive to do P mode control or stepper drive to output pulse control commands. It may be connected to Mitsubishi J3A series, Yaskawa Sigma II, III & V series, and Panasonic MINAS A4&A5 with exclusive cables. CMA1 J4 2.
PCI-8254 / PCI-8258 7. J6: This is one 5-PINS connector for connecting to four isolation digital output channel. 8. P2: This is one DSUB 37-PINS connector for connecting to 16 channel digital input signal and 16 channel digital output signal in the controller (TTL). 9. IOIF1-IOIF4: These are four 9-PINS connectors for connecting to 16 channel digital input signal and 16 channel digital output signal for common uses. 10.Newly added CN1: This is one 9-pin connector for laser control.
2.8.2 Connector: For Connecting to PCI-8254/PCI-8258/AMP-204C/AMP-208C • P1: No. Name 30 I/O Function of Axis No. Name I/O Function of Axis 1 DGND -- Digital ground 51 IEMG | Emergency stop input 2 DGND -- Digital ground 52 Rsv.
PCI-8254 / PCI-8258 No. Name I/O Function of Axis No.
No. Name I/O Function of Axis 3 TDI2 | TTL input, (2) No.
PCI-8254 / PCI-8258 • J2： No. Name I/O Function of Axis No. Name I/O Function of Axis 1 DICOM -- Digital input common 6 EDI2 | Isolated digital input, (2) 2 EDI1 | Isolated digital input, (1) 7 PEL2 | Positive limit, (2) 3 PEL1 | Positive limit, (1) 8 ORG2 | Origin Signal, (2) 4 ORG1 | Origin Signal, (1) 9 MEL2 | Negative limit, (2) 5 MEL1 | Negative limit, (1) 10 DOCOM -- Digital output common 1.
• J5 No. Name I/O Function of Axis No. Name I/O Function of Axis 1 I24V -- Ext. power supply, +24V 4 DOCOM -- Digital output common 2 IGND -- Ext. power ground 5 EEMG | Ext. Emergency signal 3 DICOM -- Digital input common 6 -- -- -- 1. Please connect DICOM to external power supply (24VDC in general) if possible. 2. Please connect DOCOM to ground (GND) of external power supply if possible. NOTE • J6 No. Name I/O Function of Axis No.
PCI-8254 / PCI-8258 • IOIF2: No. Name I/O Function of Axis No.
• IOIF4: No. Name I/O Function of Axis No.
Name SVON ZSP Rsv. Rsv. AOUTͲ AOUT+ EAͲ EA+ BRAKE+ No. 1 NOTE 2 3 4 5 6 Getting Start with The Installation 7 8 9 O I I O O ͲͲ ͲͲ I O I/O Reserved.
38 NOTE INP ERC RDY OUTͲ OUT+ EAͲ EA+ 2 3 4 5 6 7 8 BRAKE+ SVON 1 9 Name No. O I I O O I O I O I/O Brake signal(+) Encoder AͲphase(+) Encoder AͲphase(Ͳ) Pulse signal (+) Pulse signal (Ͳ) Servo ready signal Dev. ctr, clr.
PCI-8254 / PCI-8258 2.8.3 S1, S2: EDO/ALM_RST Selection Switch DIN-825-GP4 is equipped with 4 servo drive reset signals. You may set up CMA1~CMA4 PIN 10 and CMP1~CMP4 PIN 10 for servo drive rest or J6 connector DO.1~DO.4 by switch S1 and S2.
40 Getting Start with The Installation
PCI-8254 / PCI-8258 3 Signal Connection PCI-8254/PCI-8258 must connect to servo or stepper motor drive with exclusive terminal board DIN-825-GP4. All optical isolation circuit of mechanical relevant I/O and servo relevant I/O are set to DIN-825-GP4 to prevent damages to primary controller PCI-8254/PCI-8258 from any invalid signal connection to it. This may effectively reduce difficulties and times required in replacing controller relevant products when doing customer service maintenance tasks.
3.1 Analog Control Command Signal 3.1.1 Single-ended Type Signal: AOUT+ PCI-8254/PCI-8258 provides 4/8 analog control command channels respectively. Each analog command supports 16-bit resolution and provides ±10V output range at accuracy smaller than ± 1mV. Each analog control command can be set to single ended or differential output mode by adjusting switch S1 to be used by market available Japanese/Taiwanese and American/EU servo motor drives.
PCI-8254 / PCI-8258 CMAx Pin No (x=1~4) Signal Name Description (n=1~8) Axis # 6 AOUT+ Analog Out Signal, (+) (n) 1~8 5 AOUT- Analog Out Signal, (-) (n) 1~8 NOTE PCI-8258 need two DIN-825-GP4 for eight axes motion control functions # 1 controls axes 1 ~ 4 and #2 controls axes 5 ~ 8 • Signal connection template diagram: Figure 3-1: Connection example of differential analog output signal Signal Connection 43
3.2 Pulse Command In addition to the analog command outputs described in Section 3.1, PCI-8254/PCI-8258 provides 4/8 pulse control command channel. Each pulse control command can support up to 6.5MHZ output frequency. In general, a servo drive can be set to P/S/T (position/speed/ torque) mode. When control mode is set to P mode, then the pulse command control of PCI-8254/PCI-8258 will be used for open-loop control.
PCI-8254 / PCI-8258 Either servo motor drive or stepper motor drive employs one of the two input interfaces described below: 1. Line Driver input interface provides better anti noise-resistant and longer wiring length. • Signal connection diagram: Figure 3-2: Line Driver type pulse control command signal connection example 2. Open-Collector input interface can increase passing current capacity of signal by adjusting pull-up resistance value at the shorter wiring length.
• Signal connection diagram: Figure 3-3: Open-Collector type pulse control command signal connection example CAUTION CAUTION 46 To avoid damages to Line Driver components on controller caused by invalid wiring please connect the OUT-, DIR- pins of controller to OUT, DIR pins of motor drive. The controller employs Line Driver component -26LS31 with maximum Sink Current at 20mA. Do not use it at current above this value, the component may be damaged otherwise.
PCI-8254 / PCI-8258 3.3 Encoder Input, EA & EB & EZ PCI-8254/PCI-8258 provides 4/8 encoder input channels respectively which accept single end input frequency up to 5MHz with each channel containing EA, EB, and EZ signal. Each group of EA, EB, and EZ signal contains a pair of differential signal, e.g. the EA signal contains EA+ and EA-. See Section 4.1.1.4 for how to use the encoder.
• Signal connection diagram: Figure 3-4: Line driver type encoder input signal connection example 48 Signal Connection
PCI-8254 / PCI-8258 3.4 Emergency Stop Input PCI-8254/PCI-8258 provides one hardware input emergency stop signal (EMG). If the external emergency stop signal is triggered, all motion control commands will be stopped immediately. In addition, the DIN-825-GP4 is designed to transmit external emergency stop signal to servo/stepper motor drive to stop operation of every motor immediately.
3.5 PEL/MEL Input PCI-8254/PCI-8258 provides 4/8 End-limited switch input channels. The Plus Limited Switch (PEL) is used as the mechanical protection switch for movement in the positive direction. When this switch is triggered, the PCI-8254/PCI-8258 stops its positive direction movement immediately. The Minus Limited Switch (MEL) is used as the mechanical protection switch for movement in the negative direction.
PCI-8254 / PCI-8258 • Signal connection diagram: Figure 3-6: Mechanical limit switch signal connection example Signal Connection 51
3.6 ORG Input PCI-8254/PCI-8258 provides 4/8 original position switch input channels. Working together with the home movement described in Section 4.3, this function returns the body to its original position (also known as the zero position).
PCI-8254 / PCI-8258 3.7 INP / ZSP Input PCI-8254/PCI-8258 provides 4/8 In-position (INP) or zero speed detection (Zero-speed (ZSP)) input channel. Working with function described in Section 4.8, it can be used as the trigger source for in-position events of individual motion. In general, when servo drive is set to position mode (P mode), the servo issues a (INP) pulse signal to controller when movement get into position.
3.8 ALM Input PCI-8254/PCI-8258 provides 4/8 servo alarm input channels. Working with function described in Section 4.11 it can be used as the trigger source for motion interrupt event. In general, when abnormality is encountered during servo drive movement, it issues an (ALM) pulse signal to controller for abnormality occurrence.
PCI-8254 / PCI-8258 3.9 SVON Output PCI-8254/PCI-8258 provides 4/8 servo-on output channels and utilize the servo-on signal to enable servo drive for pulse or analog commands input. If there is abnormality encountered during movement, the PCI-8254/PCI-8258 turns off this signal automatically and stops all motion control commands.
3.10 Analog Input Signals PCI-8254/PCI-8258 provides 4/8 analog input channels with 12-bit resolution and 100KHz sampling rate. You may use these analog input channels to get values from voltage sensor.
PCI-8254 / PCI-8258 3.11 Compare & Trigger Output PCI-8254/PCI-8258 provides 2/4 comparing trigger pulse output channels. Each comparing trigger channel can output pulse commands up to 1 MHZ. See Section 4.9.2 for its detail and how to use it.
2.
PCI-8254 / PCI-8258 3.12 Digital Output/Input PCI-8254/PCI-8258 provides 20/24 digital output/input channels. See below for corresponding pins of general purpose digital input and output signals on DIN-825-GP4: J1/J2 Pin No. Signal Name Description 2 EDI(3) / EDI (1) General purpose digital input signal (3), (1) 6 EDI(4) / EDI (2) General purpose digital input signal (4), (2) J6 Pin No.
• Signal connection diagram: Figure 3-14: General purpose digital I/O signal connection example 60 Signal Connection
PCI-8254 / PCI-8258 IOIF1 Pin No. Signal Name Description 1~8 DI(1)~(8) General purpose IOIF2 digital input signal (1)~(8) IOIF2 Pin No. Signal Name Description 1~8 DI(9)~(16) General purpose digital input signal (9)~(16) IOIF3 Pin No. Signal Name Description Axis # ※1~5 DO(1)~(5) General purpose digital output signal (1)~(5) - ※The digital output current may reach 250mA NOTE IOIF3 Pin No.
• Signal connection diagram: DIN-825-GP4 P2 DICOM2 Switch Type TDI IOIF1 IOIF2 BJT Type DI PS2805 PCI-8254/PCI-8258 DOCOM DIN-825-GP4 IOIF3 IOIF4 P2 DICOM2 TDO 1~5 DO 1~5 PCI-8254/PCI-8258 PS2802 DOCOM2 DOCOM2 62 Signal Connection
PCI-8254 / PCI-8258 DIN-825-GP4 IOIF3 IOIF4 P2 DICOM2 TDO 6~16 DO 6~16 PCI-8254/PCI-8258 PS2802 DOCOM2 Figure 3-15: General purpose digital I/O signal connection example Signal Connection 63
64 Signal Connection
PCI-8254 / PCI-8258 4 Motion Control Theory This chapter introduces you the motion control function of PCI-8254 / PCI-8258 as well as relevant precautions in using them. Contents: Section 4.1: Motion Control Mode and Interface Overview Section 4.2: Closed-loop Control Section 4.3: Motion Control Operations Section 4.4: Home Move Section 4.5: Velocity Move Section 4.6: Jog Move Section 4.7: Point-to-Point Move Section 4.8: Interpolation Section 4.9: Motion Status Monitoring Section 4.
4.1 Motion Control Mode and Interface Overview This section describes basic setups of "PCI-8254" and "PCI-8258" before doing motion control and fundamental concepts of its core operations. 4.1.1 4.1.1.1 Motion Control Interface Control Mode and Output Interface You may use the MotionCreatorPro2 application program to set up these two output interface and save your desired setting in non-volatile memory, the so-called ROM, of the controller for automatic loading when the controller power on.
PCI-8254 / PCI-8258 In this mode users must pay special attention to pulse signal format acceptable to the motor to be driven. The motor works normally only when being driven by correct pulse format signal, otherwise the motor may fail to work in erroneous direction or with abnormal shaking. Users must correctly set up the controller before any motion control after the software is initialized.
4.1.1.3 Analog Type The analog control mode is used to control servo motor in velocity mode or torque mode that accepts signals in analog voltage. In this mode the closed-loop function will be initiated automatically. See figure below for closed-loop illustration. See Chapter 2: Close loop control for relevant PID close loop function.
PCI-8254 / PCI-8258 4.1.1.4 Encoder The position encoder of this controller supports 9 kinds of digital signal input formats as described below. CAUTION NOTE No Please set up the position encoder before doing motion control. This is especially true for analog output type closed-loop control as invalid setup may lead to motor burst. You may set up and test your controller with MotionCreatoPro 2 software.
• Axis parameter setup: Param. No.
PCI-8254 / PCI-8258 4.1.1.5 Motion Control I/O Some motion control I/O signal of this controller definition are summarized in table below: Param.
• Signal direction These signal logic may be inverted by software. Relevant axis parameters are listed below: • Board parameter Param. No. Define symbol Description 00h (0) PRA_EL_LOGIC PEL/MEL input logic 01h (1) PRA_ORG_LOGIC ORG input logic 04h (4) PRA_ALM_LOGIC Set ALM logic 05h (5) PRA_ZSP_LOGIC / PRA_INP_LOGIC Set INP logic 06h (6) PRA_EZ_LOGIC Set EZ logic • Board parameter Param. No.
PCI-8254 / PCI-8258 4.1.2 Control Cycle The controller features three control cycle for different works. They are: 1. Servo control cycle 2. Motion control cycle 3. Host control cycle 4.1.2.1 Servo Control Cycle The servo control cycle is the time required to complete one close loop control. Servo control cycle of this controller can be up to 20KHz, that is 50 microsecond for each cycle.
XXXX 運動控制占用時間 XXXX 系統工作占用時間 Motion 運動控制週期 control cycle Time 時間 Host Control Cycle 系統工作週期 Figure 4-3: Control cycle The motion program is executed in motion control cycle to control jobs to be executed in each motion control cycle directly for more precise completion of realtime jobs. Please pay attention to DSP loading when doing this. Loading of CPU in controller is hard to predict as the controller is affected by many factors, e.g.
PCI-8254 / PCI-8258 4.2 Closed-loop Control 4.2.1 Close-loop Control Overview The close-loop control system works like this: after a command is sent, a group of sensors get system output signals during motion process and returned to the controller, a error signal then can derived by comparing the original command against the feedback signal which is then returned to controller.
b Integral Control Integral control can reduce Steady-state error and suppress noise at the expense of system Response time. c Derivative Control The derivative control improves Temporary response time and relative steadiness but helps little in reducing noise and steady state error. d PI-Control In terms of frequency domain, the PI controller increases system low frequency range for reduced steady state error at the expense of poorer system response speed caused by phase lag.
PCI-8254 / PCI-8258 Here CmdPos (k ) represents a position command, FbkPos (k ) represents position feedback, CmdVel (k ) represents speed command and CmdAcc (k ) represents acceleration command. The PID control plus velocity / acceleration command feedforward control are added here to reduce tracking error of position command and improve control performance. The Plant in control shall receive voltage signal after processed by controller.
Figure 4-4: PCI-8254/PCI-8258 close loop control structure diagram Figure 4-5: Gain and Gain shiftrelationship diagram 78 Motion Control Theory
PCI-8254 / PCI-8258 Control circuit relevant axis parameter table: Param. No.
4.2.2 Auto Servo Tuning The auto tuning function is aimed at designing stable and of good performance PID controller in fast pace to provide for common users. For advanced users, extra Manual tuning can be applied by referencing to the auto tuning results to come out controllers more specifically meeting special needs. CAUTION Please set up proper position encoder and aligned output command and move direction especially for control mode in closed-loop control of analog output.
PCI-8254 / PCI-8258 (1) Data length :You may set up data length to determine number of PID controller's gain value to be calculated by the program. Gain values come out of PID controllers differ from each other as a result of varied measurements and errors cause by other factors despite they are of the same system and algorithm. A quantified index is provided to validate the calculation results.
In case the auto regulation failed we may try to increase Hysteresis range for better success rate at the expense of overall system band. System band and phase margin can be measured with the Bode plot provided by this control card. See later chapters for detail. Step 5: Start up the auto fine tuning procedure Press the Start tuning bottom to begin the auto fine tuning procedure and the motor starts vibrating.
PCI-8254 / PCI-8258 Figure 4-6: The auto fine tuning setup page in MCP2 Table 4-3: PCI-8254/8 Auto-Tuning setup Setup Descriptions Setup range Default Offset limit Deviation Limit The maximum difference between position command and feedback. The program stops when this value is exceeded and ignored it if it is set to zero.
4.2.3 Manual Servo Tuning Manual fine tuning is still necessary for satisfying different needs. You may change three controller parameters manually: Proportional gain, KP, Integral gain, KI and Derivative gain, KD. You may change velocity or acceleration feedforward gain as required. The manual fine tuning procedure can be executed in the PID setup page of signal sampling function in MotionCreatorPro 2.
PCI-8254 / PCI-8258 4.2.4 Filter A filter is designed to pass signal of certain band and attenuate all signals outside of this band. This controller supports two general purpose Biquad filter for each axis as shown in Figure 4-6 while the table below indicates corresponding axis parameters against biquad filter. Mathematical formula for biquad filter is shown below R (k ) and X (k ) is the input and output of biquad filter 0, and Y (k ) and R(k ) is the input and output of biquad filter 1.
Figure 4-7: Structure of PCI-8254/8 biquad filters in serial connection Relevant axis parameters can be found in table below: 86 Param. No.
PCI-8254 / PCI-8258 Param. No. Define symbol Description Value Default 13Bh PRA_BIQUAD1_B1 Biquad filter 1 coefficient -32768~32767 0 13Ch PRA_BIQUAD1_B2 Biquad filter 1 coefficient -32768~32767 0 13Dh PRA_BIQUAD1_DIV Biquad filter 1 coefficient -32768~32767 1 4.2.4.1 Low Pass Filter Increase control gains (KP and KD) is commonly adopted approach in improving response speed and accuracy.
100 Original Signal Filtered Signal 80 60 40 Amplitude 20 0 -20 -40 -60 -80 -100 0 0.01 0.02 0.03 0.04 0.05 0.06 Time(second) 0.07 0.08 0.09 0.1 (a) 30Hz sine wave 100 Original Signal Filtered Signal 80 60 Amplitude 40 20 0 -20 -40 -60 -80 -100 0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 Time(second) 0.
PCI-8254 / PCI-8258 Adjustment can be made through the MotionCreatorPro 2 function as shown in figure below. Enter the cutoff frequency and the MotionCreatorPro 2 starts calculation filter parameters automatically for you. You can adjust cutoff frequency from high to low and stop the adjustment process once high frequency noise disappears. Usually you can start adjusting from 2000Hz downwards. Note: Too low a cutoff frequency may lead to poor response performance and even unstable situations.
4.2.4.2 Notch Filter Notch filter is aimed at eliminating specific resonance frequency. The later occurs when frequency of servo response is close to the Natural frequency of the mechanic system. Take example. Resonance is usually found in servo motor mechanism with two or more coupling motors. When running with one servo motor, there shall be no vibration. When both axes servo excite operation at the same time then vibration (resonance) come up. See Figure below for an ideal notch filter.
PCI-8254 / PCI-8258 100 Original Signal Filtered Signal 80 60 40 Amplitude 20 0 -20 -40 -60 -80 -100 0 0.01 0.02 0.03 0.04 0.05 0.06 Time (second) 0.07 0.08 0.09 0.1 (a) 50Hz sine wave 100 Original Signal Filtered Signal 80 60 Amplitude 40 20 0 -20 -40 -60 -80 -100 0 0.02 0.04 0.06 0.08 0.1 0.12 Time(second) 0.14 0.16 0.18 0.
100 Original Signal Filtered Signal 80 60 40 Amplitude 20 0 -20 -40 -60 -80 -100 0 0.01 0.02 0.03 0.04 0.05 0.06 Time(second) 0.07 0.08 0.09 0.1 (c) 200 Hz sine wave Figure 4-13: Simulation results of notch filter with 100Hz cutoff frequency See figure below for MCP2's notch filter setup page where you can workout relevant filter coefficients according to your specifications. Note: You can set cutoff frequency to zero to close the notch filter.
PCI-8254 / PCI-8258 4.2.5 4.2.5.1 Bode Plot Structure Overview The Bode Plot tool provided by your PCI-8254/8258 may display transfer function's frequency responses of Linear Time-Invariant (LTI)system. In general the X-axis of a Bode plot indicates frequency in Log scale while its Y-axis Gain and Phase. Expressed in unit of (dB), gaining is the level of enlargement and contraction between input and output signals.
Frequency response structure diagram Signal description table Name Symbol Unit Description Sine wave R pulse The input of closed-loop system. Error position E pulse The input of open-loop system. Controller output U pulse The input of plant. Encoder Y pulse The output of closed-loop system, open-loop system, and plant.
PCI-8254 / PCI-8258 a Set up initial and closing frequency and data points of Bode plot: The frequency range of a Bode plot is determined by its initial and closing frequency. As too small a initial value may boost calculation time, please try to start at around 10Hz. The closing frequency should not be greater than 500Hz as it is limited by driver and internal sampling rate. Each Bode plot contains frequency, gain, and phase data. Number of data points determines the resolution of frequency response.
e Set up protection mechanism: Set up a protection mechanism to power off the motor automatically when the error position is exceeding this deviation limit. Set the limit to zero to close this mechanism. In addition, the motor automatically turns off when a warning or emergency signal is encountered. f Start calculation and display outcome: You can initiate the process once all the settings are made.
PCI-8254 / PCI-8258 MCP2 Bode plot page Motion Control Theory 97
4.3 Motion Control Operations This section describes motion control modes provided by the controller and their operation principle. The objective is to help users make most of the motion control capacity of your controller to accomplish desired applications. 4.3.1 Coordinated System This controller employs Cartesian coordinate system where one or more axes motion can be executed by one-to-one mapping each axis to a motor.
PCI-8254 / PCI-8258 I32 APS_get_command( I32 Axis_ID, I32 *Command ); I32 APS_set_command(I32 Axis_ID, I32 Command); I32 APS_get_position( I32 Axis_ID, I32 *Position ); I32 APS_set_position (I32 Axis_ID, I32 Position); API listed below can read motor coordinates I32 APS_get_encoder( I32 Axis_ID, I32 *Encoder ); I32 APS_get_command_counter (I32 Axis_ID, I32 *Counter); NOTE 4.3.
Unit factor can be calculated as described below: Unit factor = 10000 2 × =2 10mm×1000 μm 1 Example 2: Conveyor system Assume number of pulses generated by one spin of the motor is 8192, the conveyor belt shift 5cm by one spin of the belt pulley, the gear ratio is 1:2, and the user desired distance unit of measure is Millimeter then the Unit factor can be calculated as: Picth= 5 cm Motor Unit factor can be calculated as described below: Unit factor = 8192 2 × = 32.
PCI-8254 / PCI-8258 Unit factor can be set up in axis parameter: Param. No. Define symbol Description Value Default 86h (134) Unit factor F64 value 1 In general, you should define unit of measure at first and set up other position relevant parameter before designing any motion control application. NOTE If unit factor setting are changed during operation, other parameters related with distance unit of measure (e.g.
4.3.3 Acc/Deceleration Profile Basic motion command usually contains: 1. distance; 2. velocity; and 3. acceleration data. This controller plans and calculates Acceleration & deceleration profile based on these motion command parameters to make motion operation completed as desired by users. This controller provides following acceleration profiles 1. Trapezoidal speed profile, T-curve 2. S-curve 4.3.3.
PCI-8254 / PCI-8258 In a V-T chart the area under the trapezoidal curve equals motion distance. If the user does not set up sufficient motion distance, the controller shall increase (decrease) the maximum speed while maintain the acceleration, as shown in figure below: Velocity MaxVel MaxVel’ Time Figure 4-18: Maximum speed by auto-planning MaxVel is the maximum velocity set up by user, dotted line indicate speed profile with sufficient distance.
4.3.3.2 S-curve An S-curve is a curve where the speed profile in the jerk area can be represented by second-order profile. This helps to reduce motor vibration at start up and stop time as indicated by points (t1, t3, t5, t7) in figure below. To shorten acceleration and deceleration time the linear section (t2, t6) is inserted in these area to maintain the maximum acceleration and so get an acceleration-time (A-T) chart in Trapezoidal. Velocity Max. velocity Dec. Acc.
PCI-8254 / PCI-8258 This controller employs S-factor (S) to control jerk ratio. Its equation is described below Value of S is between 0 and 1, when S = 0, the speed profile becomes a T-curve S >0 and S<=1: S - curve When S = 1, the profile comes to a Pure S– curve with its A-T chart become a triangle. The equation above indicate that the greater the value of S is more smooth the speed profile and the smaller jerk value become. This helps in reducing motor vibration.
Velocity MaxVel MaxVel Start velocity Time Acce. Acceleration Time Jerk Time Figure 4-20: Maximum speed by auto-velocity Acceleration profile and its rule described above applies with single axis point-to-point movement (PTP), velocity movement, home movement, and interpolation among multiple axis.
PCI-8254 / PCI-8258 • Relevant axis parameters Param. No. Define symbol Description 12h (18) PRA_HOME_CURVE Home move S-factor 20h (32) PRA_SF Move S-factor 42h (66) PRA_JG_SF Jog S-factor You may set up S-factor directly in some API, please refer to Function library manual for detail.
4.4 Home Move After power on and before executing any motion control, a motion control system executes home movement to set up the zero position of the coordinate system. Commonly available stepper motor, servo drive or linear motor mechanism accompanied by optical scale employs incremental type encoder which requires some mechanical signal to set up the original position during home operation. These mechanical signals are ORG, EZ, PEL, and MEL. Some servo drives are featured with absolute type encoder, e.
PCI-8254 / PCI-8258 Param. No. Define symbol Description 17h (23) PRA_HOME_SHIFT Home position and shift distance of positioning signal 18h (24) PRA_HOME_EZA EZ alignment enable 19h (25) PRA_HOME_VO Homing velocity away from ORG signal 1Bh (27) PRA_HOME_POS Position command setup after homing completion • Example: #include "APS168.h" #include "APS_define.h" #include "ErrorCodeDef.
// 2. Start home move return_code = APS_home_move( axis_id ); //Start homing if( return_code != ERR_NoError ) { /* Error handling */ } // 3. Wait for home move done, do{ Sleep( 100 ); msts = APS_motion_status( axis_id );// Get motion status msts = ( msts >> MTS_NSTP ) & 1; // Get motion done bit }while( msts == 1 ); // 4.
PCI-8254 / PCI-8258 This controller provides multiple auto-home searching process for different hardware platform which may refer to three mechanical signals: ORG, EL, and EZ. You may define three homing mode with these reference signal. User may design required homing process by any combination of these three signals. Each mode can have multiple parameters to meet various positioning requirements.
• Relevant axis parameters setup Axis parameter values Axis parameters Description to axis parameter value PRA_HOME_MODE 0 Employing home mode 0 (homing by ORG signal) PRA_HOME_DIR 0 Homing by moving forward in positive direction PRA_HOME_EZA 0 Further align with signal EZ, 0: No, 1: Yes PRA_HOME_S 0 S-curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of (distance unit of measure/sec.2) PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.
PCI-8254 / PCI-8258 ORG signal of most mechanical device has two directional edges (the two ends of signal fender). Figure above indicates that when the homing direction parameter in axis parameters is set to positive direction (PRA_HOME_DIR), the control axis starts searching from positive direction (the ascending direction of position command). And stops at the left edge of ORG signal (close to MEL mechanical signal).
Condition A Home Position Condition B Initial position Condition C Initial position Home position VM: Home searching speed VO: Home approaching speed Figure 4-22: Home mode 0 (Case: ORG) When axis parameter PRA_HOME_EZA is set to 1 it means to align with EZ, move forward to homing direction, until the first EZ is detected and place control axis at the edge of EZ, then the home movement is completed.
PCI-8254 / PCI-8258 Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_VM VM Speed of original position searching in unit of (distance unit of measure/sec.) PRA_HOME_VO VO Homing speed in unit of (distance unit of measure/sec.
Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_ACC ACC Acceleration and deceleration in unit of (distance unit of measure/sec.2) PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.) PRA_HOME_VM VM Speed of original position searching in unit of (distance unit of measure/sec.) PRA_HOME_VO VO Homing speed in unit of (distance unit of measure/sec.
PCI-8254 / PCI-8258 • Relevant axis parameters setup Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 0 Employing home mode 0 (homing by ORG signal) PRA_HOME_DIR 0 Employing positive direction forward homing PRA_HOME_EZA 0 Further align with signal EZ, 0: No, 1: Yes PRA_HOME_S 0 S-curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of (distance unit of measure/sec.
4.4.2 EL Signal Homing - Home Mode 1 This is a home movement based on PEL or MEL mechanical signal. After the homing command is received, the control axis searches PEL or MEL signal position and stops at edge of the signal. You may set up to align with EZ signal and to set up shift amount. Figure 1 below illustrates how to set up Home mode 1 (EZ signal) with postive direction homing and without EZ alignment. After home movement is completed the control axis stops at the edge of PEL signal.
PCI-8254 / PCI-8258 EL homing mode: Positive direction home movement with control axis stops at edge of PEL signal For EL signal homing mode with negative direction homing and without EZ alignment, the control axis stops at MEL signal edge after home movement is completed as shown in figure below.
Condition A Initial position Home position Initial position Condition B VM: Home searching speed VO: Home approaching speed Figure 4-27: Home mode 1 (Case: EL+EZ) For EL signal homing mode with negative direction homing and EZ alignment, the control axis stops at EZ signal edge after home movement is completed as shown in figure below: Condition A Initial position Condition B Home position Initial position VM: Home searching speed 120 VO: Home approaching speed Motion Control Theory
PCI-8254 / PCI-8258 4.4.3 Single EZ Signal Homing Most linear motor mechanism set up only one position mark signal. This mode is used in the said mechanism. Figure below illustrates how to set up Home mode 2 (single EZ signal) with positive direction homing. After home movement is completed the control axis stops at the edge of EZ signal.
Condition A Home position Condition B Initial position Home position VM: Home searching speed VO: Home approaching speed Figure 4-28: Home mode 2 (Case: EZ) Figure below set up "Home mode 2 (single EZ signal)" with negative direction homing. After home movement is completed the control axis stops at the edge of EZ signal.
PCI-8254 / PCI-8258 Condition A Initial position Condition B Initial position VM: Home searching speed Home position VO: Home approaching speed Figure 4-29: Home mode 2 adverse (Case: EZ) In this mode parameter PRA_HOME_EZA is functionless NOTE Motion Control Theory 123
4.5 Velocity Move In this motion mode, the motion axis move along specified speed profile after proper command is received. Movement continues untill a stop movement command is received. In velocity movement mode functions listed below are supported: • Dynamic changing maximum speed: You may change to any maximum speed during movement. • Dynamic giving point-to-point (PTP) command: Switch velocity movement to PTP movement and then move to given position.
PCI-8254 / PCI-8258 • Example 1: Set up parameters and start up velocity movement. See below for example process: 1. Change maximum speed after 2 seconds 2. Change maximum speed after 2 seconds 3. Stop by deceleration after 2 seconds #include "APS168.h" #include "APS_define.h" #include "ErrorCodeDef.h" void velocity_move_example() { I32 axis_id = 0; F64 speed_1 = 500.0; F64 speed_2 = 1000.0; F64 speed_3 = 600.0; APS_set_axis_param_f( axis_id, PRA_STP_DEC, 10000.
Motion control input signal EMG, ALM, PEL, and MEL may lead to termination of movement, please refer to sections about CAUTION safety protection In velocity movement mode the target position may be updated from time to time as the command position does.
PCI-8254 / PCI-8258 4.6 Jog Move Jog operation is commonly available at control panel of machine. Its main function is to manually control the movement of motion axis or function together with mechanical switch with digital input to use DI signal as the jog movement startup signal. You may use switch on control panel to operate jog movement by setting up relevant parameters instead of coding control program. There are two jog movement modes: 1.
2. Step mode: In addition to velocity parameters this mode requires specific offset and so is easy for stop position prediction. After the JOG-ON control signal is triggered at the rising edge, the axis being controlled moves a distance of given offset then stops, pauses for a period of time (known as the delay time), if the control signal remains ON in delay time, the control axis moves in given speed profile until the signal disappears.
PCI-8254 / PCI-8258 • Relevant axis parameters Parameter code Parameter definition 40h () PRA_JG_MODE Set up JOG mode [0: Continuous, 1: Step] 41h () PRA_JG_DIR Set up JOG direction: [0: Negative, 1: Positive direction] Meaning of parameter value 42h () PRA_JG_SF Set up JOG S factor [0 ~ 1] 43h () PRA_JG_ACC Set up JOG acceleration [ Value 0 ] 44h () PRA_JG_DEC Set up JOG deceleration [ Value 0 ] 45h () PRA_JG_VM Set up JOG Max.
NOTE 1. Motion control input signal EMG, ALM, PEL, and MEL may lead to movement termination. Please refer to safety protection related sections. 2. In continuous mode the target position may be updated from time to time (so does the command position). 3. When control axis is in jog movement, other movement commands is disabled to prevent malfunctions. 4. When the control axis is running other movements (e.g. home movement) the jog command will be ignored.
PCI-8254 / PCI-8258 4.7 Point-to-Point Move 4.7.1 Point-to-Point Move Point-to-Point movement (PTP movement) is to move one axis from position A to position B at given speed. PTP movement can be relative or absolute movement based on its given position parameter. This controller provides T-curve and S-factor adjustable S-curve. Each profile contains start velocity, maximum velocity, end velocity, and acceleration / deceleration parameters that can be adjusted individually as shown in figure below.
Relevant APS API described below: I32 APS_ptp (); // PTP move I32 APS_ptp_v (); // PTP move with maximum speed parameter I32 APS_ptp_all (); // PTP move with all speed parameter I32 APS_relative_move (); // Relative PTP move in I32 data format I32 APS_absolute_move (); // Absolute PTP move in I32 data format I32 APS_stop_move (); // deceleration stop I32 APS_emg_stop (); // immediately stop • Relevant axis parameters Param. No.
PCI-8254 / PCI-8258 4.7.3 On The Fly Change You may dynamically change position and velocity parameter in PTP movement process by methods described below: 1. Dynamically change to new position while the velocity parameter remain intact. 2. Dynamically change the maximum velocity while target position remain intact. 3. Dynamically change to new position and speed profile. That is, give whole new PTP command. New PTP command T Figure 4-33: Dynamically change position and velocity 4.7.
Take example. V-T chart with 3 continuous PTP movements and different speed blending settings: 1. Buffered T Figure 4-34: Continuous three position V-T chart 2. Blend low: Blend with the one with slower maximum speed T Figure 4-35: Continuous three position V-T chart (auto speed connection (1) 3.
PCI-8254 / PCI-8258 4. Blend previous: Blend in the maximum speed of the previous one T Figure 4-37: Continuous three position V-T chart (auto speed connection (3) 5.
4.8 Interpolation Interpolation is a multi-axes locus movement based on given locus properties, e.g. center of circle and end point, and velocity data. The controller then calculate relations between path and time. Axis involved in interpolation start up at the same time and end at the same time after operation completed. This controller supports couple of interpolation including straight line interpolation of any 2~6 axes, arc interpolation of any 3 axes and spiral interpolation of any 3 axes.
PCI-8254 / PCI-8258 If synthetic velocity is set to V, the velocity of each axes Vn should be: See figure below for a two dimension straight line interpolation with starting point at S and ending point at E: Y component E S X compone Figure 4-39: Two-dimension straight line interpolation ΔX and ΔY is the offset at X-axis and Y-axis respectively. Interpolation distance is set according to component of each axis (e.g. relative distance ΔX and ΔY or absolute coordinates of ending point E).
Relevant APS API described below: I32 APS_line (); // multi axes straight line interpolation I32 APS_line_v (); // multi axes straight line interpolation with maximum speed settings I32 APS_line_all (); // multi axes straight line interpolation with all speed settings I32 APS_stop_move (); // deceleration stop I32 APS_emg_stop (); // immediately stop I32 APS_absolute_linear_move (); // straight line interpolation with given absolute position (in I32 data format) I32 APS_relative_linear_move (); // straight
PCI-8254 / PCI-8258 Relevant commands are described below: Function name Description APS_arc3_ca APS_arc3_ca_v APS_arc3_ca_all Execute 3-dimension arc interpolation with center, angle, and normal vector APS_arc3_ce APS_arc3_ce_v APS_arc3_ce_all Execute 3-dimension arc interpolation with center and end point Limit: Cannot execute half or full circle interpolation ¾ method 1: given center of circle, angle and normal vector as shown in figure below: Figure 4-40: Three-dimension arc interpolation (metho
Figure 4-41: Defining spatial normal vector • How to determine arc direction and path of multiple laps Use the right-hand grip rule as shown in figure below, where the your thumb indicates normal vector direction and the other four fingers the positive rotating direction. Enter negative value for angle parameter to rotate in opposite direction. Set up angle value directly to execute multiple laps (circles greater than 360 degrees), e.g. 2 laps = 720 degree.
PCI-8254 / PCI-8258 Coordinates of end point may have certain error caused by computing accuracy of your computer. To get precise end point position, you may use method 2 to enter exact end position accurately (as described in next section) ¾ method 2: given center of circle and end point This method requires center of circle and position of end point only.
Take example. If θ = 30 degree, then Dir calculation formula Angle (Degree) 0 30 + 0 x 360 30 1 30 + 1 x 360 390 2 30 + 2 x 360 750 -1 30 + (-1) x 360 -330 -2 30 + (-2) x 360 -690 • Example: S E Figure 4-44: Three dimension arc interpolation example 4.8.2.2 2D Arc Interpolation Same as 3D arc, two description methods are provided for 2D arc: Method 1: given center of circle and angle method 2: given center of circle and end point 2D arc has the same setup method as the 3D one does.
PCI-8254 / PCI-8258 4.8.2.3 Helical Interpolation This controller supports 3-dimension helical interpolation (also known as Spiral–Helix interpolation) as well as multiple input methods to deal with demands of various applications. See below for its setup: Method 1: Given center of circle and angle (Center-Angle) Method 2: Given center of circle and end point (Center-End) Both methods are described below.
¾ Method 2: Given center of circle and end point (Center-End) See table and figure below for helical curve parameters Parameters Description Center point Center of circle (relative or absolute) Normal vector Normal vector of starting point circle plane End point Ending point of cone (relative or absolute) Direction Rotating direction and laps Direct parameters can be set up as the 3D arc does. See prior section for detail.
PCI-8254 / PCI-8258 All helical interpolation input methods described above requires giving normal vector. If there is error with the normal vector, the controller corrects it automatically. See Section 4.8.2 Arc interpolation for correction method.
4.8.3 Continuous Interpolation With continuous interpolation the controller continuously executes multiple interpolation paths including straight line, arc and helical interpolations described above. You do continuous interpolation by giving multiple interpolation commands in sequence. These commands shall be saved in buffer of the controller queueing for execution.
PCI-8254 / PCI-8258 You can set up this with input parameter "Flag". See ASP API user manual for detailed parameter description. In essence, the first three methods, method (1), (2) and (3), stops any running interpolation when new interpolation command is received and start executing the new interpolation command immediately. Pending interpolation command in motion buffer shall be cleared now.
2. Aborting forced Characteristic of this kind of command is that the track transfer to new command immediately. The controller makes no smoothing treatment and so the motion track match with the command exactly. In this mode speed component of each axes may become un-smooth. You must pay special attention to transfer speed and angle to prevent vibration from happening. E1 S1 E2 Figure 4-49: Velocity blending (method 2) 3.
PCI-8254 / PCI-8258 4. Buffered When new interpolation command is received it is saved in motion buffer first. Commands in queue then continues to execute after the original interpolation command is finished. Take figure below. When executing a straight line interpolation command from S1 to E1, a "buffered" interpolation command is given during movement in progress. The controller then saves interpolation command in queue and move from E1 to E2 after interpolation command is completed.
6. Blending when residue-distance met The controller saves newly received command in motion buffer first. You may set up an offset amount, e.g. the so called residual distance as shown in figure below, and start the new interpolation command for blending after the distance of original interpolation command path from target position is smaller than the residual distance (E1) as shown in figure below. Distance E1 S1 Blending E2 Figure 4-53: Velocity blending (method 6) 5.
PCI-8254 / PCI-8258 • Example: Figure 4-55: Continuous interpolation examples Motion Control Theory 151
4.9 Motion Status Monitoring During the motion control process it is necessary to monitor motion status of control axis and convert to next process control at appropriate time. Take example. During system initialization the upper control program (the control program of user) execute home operation to each control axis at first. The controller starts home movement once the command is received and the control program must wait for the completion of home operation.
PCI-8254 / PCI-8258 4.9.1 Motion Status Use following API functions to read motion status of each axes: I32 APS_motion_status (); Motion status data of individual axis is combined in return parameter I32 (32 bit integer). See table below for motion status and meaning represented by each bit: Bit No. 7 Status Bit No. 15 Status JOG Bit No.
Bit No.
PCI-8254 / PCI-8258 Relation between movement and signal shown in figure below: Velocity Time CSTP MV ACC DEC DIR Time Figure 4-57: Relation of different motion signals VS motions Bit 5: Motion Done – MDN Single movement command or multiple movement command is completed. Single movement command is a single axis point to point movement and multiple axes point to point movement. Multiple movement is like homing movement combinated by a series of movement.
Velocity home() ptp() Time MDN Time Figure 4-58: Relation of motion done (MDN) signals VS motion Bit 6: In Homing signal - HMV When home movement command home () is received at the controller and home movement starts being executed the HMV signal sets NO (=1). When home movement is completed or aborted, this signal is turned off (=0) See Section 4.4 for detailed home movement.
PCI-8254 / PCI-8258 Velocity home() Time HMV MDN Time Figure 4-59: Relation of motion done (MDN), In-homing (HMV) signals VS motion Bit10: Wait Move Trigger – WAIT This signal is set ON when the signal is at status ready for movement triggering. When trigger is sent: Use move_trigger () function to trigger queueing axis. When parameter Flag is set to MF_WAIT (0x00100) for motion control functions listed below, the relevant commands are set to trigger initiated.
Move_trigger( 0x3 ); Velocity ptp( axis0, MF_WAIT…); Axis 0 Time ptp( axis1, MF_WAIT…); Axis 1 Time Axis0: WAIT Axis1: WAIT Time Figure 4-60: Relation of WAIT signals VS motion Bit11: Point Buffer movement signal - PTB When point buffer movement is started, this signal is set to ON and to OFF when movement is completed. Bit 15: Jog movement signal - JOG When an axis is doing jog movement, the JOG signal is set to ON and to OFF when jog movement is completed. See Section 4.6 for detailed jog movement.
PCI-8254 / PCI-8258 Velocity Time ON(1) OFF(0) JOG-ON 訊號 JOG MDN Time Figure 4-61: Relation of JOG and motion done(MDN) signals VS motion Bit 16: Abnormal stop – ASTP This signal turns on when movement is aborted by certain reasons. See table below for causes to abnormal stop. You may use get_stop_code () function to get abnormal stop code (Stop code). This code can be used in follow-up error handling procedure.
Bit 17: Blending movement - BLD Continuous interpolation has several speed succession method. The blending method has a transition region at the interconnection points of two paths (as shown in figure below). The BLD signal indicate that the axis is entering this area.
PCI-8254 / PCI-8258 Velocity Pre-distance Post-distance Time Pre-distance event (PRED) Post-distance event (POSTD) Motion done event (MDN) Time Figure 4-64: Relation between pre- and post distance event signals and movement Motion Control Theory 161
4.10 Application Functions 4.10.1 Electronic Gearing Electronic gear function: You may set up movement relation of one axis (slave axis) against another axis (master axis) that is similar to a mechanical gear structure. Relation between two gears is usually expressed with gear ratio. Take example. For a pair of gears with gear ratio 1:2, then the Y (slave) axis rotate 2 turns when the X (master axis) rotate 1 turn.
PCI-8254 / PCI-8258 Ratio Change gear ratio to ratio-2 Change gear ratio to ratio-3 Ratio 2 Ratio 1 Ratio 3 Time Start gearing A Figure 4-65: Adjust electronic gear's auto engagement speed There are several conditions that may relieve gear relations in standard mode: 1. Relieve gear relation by APS_start_gear () manually 2. If the EMG / ALM / PEL / MEL / ALM signal of slave axis turns ON, the master axis is not affected if it is moving. 3.
level 2 position error settings, the controller executes Servo-Off operation to both axes. The setup value of this protection mechanism is to set axis parameter of slave axis by 1: master axis selected to follow and 2: two level of position error protection. Start up gantry mode with APS_start_gear (slave axis ID) after set up is completed. After the gantry mode is active, only the master axis need to be operated and the slave axis functions exactly the same as the master axis does. Param. No.
PCI-8254 / PCI-8258 Figure 4-66: Compare trigger block diagram TRG / PWM / Timer relevant parameter setup NO Define Description 0x06 TGR_TRG_EN TRG0~3 output switch 0x10~0x13 TGR_TRGx_SRC Set up TRG0~3 trigger source. You can have multiple sources to choose.
See APS Library operation manual for details on compare trigger relevant parameter list. Set up parameter APIs as described below APS_set_trigger_param (); APS_get_trigger_param (); You may select either encoder counter or internal timer as the source of compare device. Relevant APIs are described below: APS_get_timer_counter (); // read timer counter APS_get_timer_counter (); // set up timer counter 4.10.2.1 Manual Trigger Use APS_set_trigger_manual () API to output pulse signal.
PCI-8254 / PCI-8258 interval. Linear compare trigger can have compare speed up to 1MHz and integral times of 32 bit comparable points. Use APIs below to set up start point, repeat times and interval of linear compare.
4.10.2.2.2 Table Compare Trigger Table compare trigger differs from the linear compare trigger in that compare points can be determined by user. That is, intervals between compare points are variable. You may set up any four points (P1~P4) and send triggers when motor reaches each of them as shown in figure below.
PCI-8254 / PCI-8258 There are two levels of FIFO buffer design contained in controller and hardware to accelerate compare speed. The hardware FIFO can have 255 records with compare speed up to 1 MHz. The controller contains 999 FIFO buffers and execute points filling in operation in every motion control cycle. You can input point array of any size in the APS function library (limited by system memory size). The APS function library shall load all compare points to the controller dynamically.
4.10.3 4.10.3.1 PWM Control (Laser Control) (VAO Table Control) Structure Overview Laser cutting is now commonly applied in various metal, non-metal, and composite material processing. The application is highly associated with motion control. To meet this requirements the VAO module is offered by your PCI-8254/8. The VAO module enables quality cutting by controlling laser intensity with speed information. Laser intensity is commonly controlled by pulse-width modulation (PWM).
PCI-8254 / PCI-8258 Structure of the VAO module 4.10.3.2 Control Modes Your PCI-8254/8 VAO module now supports three control nodes: a. Mode1: PWM mode This control mode adjust PWM duty cycle according to fixed PWM frequency and variable speeds as shown in figure below. The fixed PWM frequency is 1/T and the PWM duty cycle W1/T, W2/T and W3/T based on VAO table under speed V1, V2 and V3 with different PWM pulse width at W1, W2 and W3. See below for details on VAO table. To use this control mode to set 1.
b. Mode 2: PWM frequency mode with fixed width This control mode changes PWM frequency according to speed at fixed PWM pulse width. Under fixed PWM pulse width W, the VAO table gives PWM frequency 1/T1, 1/T2 and 1/T3 at speed V1, V2 and V3 as shown in figure below. To use this mode to 1. Set up control mode: Use APS_set_vao_param( ) to set up value of VAO_TABLE_OUTPUT_TYPE parameter to 0x2. 2.
PCI-8254 / PCI-8258 c. Mode 3: PWM frequency mode with fixed duty cycle This control mode changes PWM frequency according to speed at fixed PWM duty cycle. As shown in figure below, the duty cycle W1/T1, W2/T2 and W3/T3 are the same under varying speed while their frequency and pulse width changes according to the VAO table. 1. Set up control mode: Use APS_set_vao_param( ) to set up value of VAO_TABLE_OUTPUT_TYPE parameter to 0x3. 2.
Table below suggests power range and resolution that can be set up by different control modes' VAO tables. Mode Power output range Resolution 1. PWM mode Duty cycle: 0~2000 (0.05%~100%) 0.05% 2. PWM frequency mode with fixed width Frequency: 3Hz ~ 50MHz 1 Hz 3. PWM frequency mode with fixed duty cycle Frequency: 3Hz ~ 50MHz 1 Hz 4.10.3.4 Output Settings The VAO module now supports 4 PWM output channels for users' selection.
PCI-8254 / PCI-8258 4.10.3.5 VAO Parameter Table The VAO parameter table helps you in determining settings for control modes and VAO table. See table below on definitions of VAO parameters. NO Define 0x00 + (2 * N) Note: N is Table No, range is 0 ~ 7. VAO_TABLE_OUTPUT_TYPE Table output type 0x01 + (2 * N) Note: N is Table No, range is 0 ~ 7. VAO_TABLE_INPUT _TYPE Table input type 0x10 + N Note: N is Table No, range is 0 ~ 7. VAO_TABLE_PWM_Config Configure PWM according to output type a.
output and logic status. See description below for a use case outline. 1. Use APS_set_board_param() to set up PWM output channel and relevant digital output and judgment logic according to the board parameters. 2. Click Option indicated by point table to open DO_Enable, select DO_Channels and DO_ON or DO_OFF. Pairing relation diagram Table 4-4: Board parameter table NO SYMBOL Description Default 110h PRB_PWM0_MAP_DO (1) -1: Disable mapping ; > 0: Enable mapping (2) Bit0~7: Specify a Do channel.
PCI-8254 / PCI-8258 4.10.3.7 Operation Process Examples Operation flow for various control modes are outlined below for your reference. Mode Description 1: PWM mode a. VAO parameter table - APS_set_vao_param () 0x00: set to 1 – PWM mode 0x01: set to 1 – command speed 0x10: set to 1000 – set fixed frequency to 1000 Hz 0x20: set to 3 – Axis0 and Axis1 are selected b.
4.10.4 4.10.4.1 Motion Control and I/O Sampling Function Sampling Source This control card supports multiple signal sampling for analysis. There are two signal sources: the one belongs to motion kernel signal and the other the close-loop control signal.
PCI-8254 / PCI-8258 Table 4-5: Motion kernel signal table Signal name Range Data type Descriptions SAMP_SRC_COM_POS Axis 0~7 Integer Position command: Unit: pulse SAMP_SRC_FBK_POS Axis 0~7 Integer Feedback position Unit: pulse SAMP_SRC_CMD_VEL Axis 0~7 Integer Command velocity; Unit: pulse/sec SAMP_SRC_FBK_VEL Axis 0~7 Integer Feedback velocity; Unit: pulse/sec SAMP_SRC_MIO Axis 0~7 Integer Motion I/O, see Note 1 for its definition.
Signal name Range Data type Descriptions SAMP_SRC_FBK_POS_F64 Axis 0~7 Double Same as SAMP_SRC_FBK_POS but presented in float point numbers SAMP_SRC_CMD_VEL_F64 Axis 0~7 Double Same as SAMP_SRC_CMD_VEL but presented in float point numbers SAMP_SRC_FBK_VEL_F64 Axis 0~7 Double Same as SAMP_SRC_FBK_VEL but presented in float point numbers SAMP_SRC_CONTROL_VOL_F64 Axis 0~7 Double Same as SAMP_SRC_CONTROL_VOL but presented in float point numbers SAMP_SRC_ERR_POS_F64 Axis 0~7 Double Same as
PCI-8254 / PCI-8258 Data type Signal name Range Descriptions PID_CALC_COUNT Axis 0~7 Integer PID and feedforward control combined output; Unit: pulse BIQUAD_0_CALC_COUNT Axis 0~7 Integer Biquad Filter 0 output; Unit: pulse BIQUAD_1_CALC_COUNT Axis 0~7 Integer Biquad Filter 1 output; Unit: pulse PID_ERR_POS_SUM_COUNT Axis 0~7 Integer Error position accumulation of integral control PID_LAST_ERR_POS_COUNT Axis 0~7 Integer Error position of derivative control at last moment; Unit: pulse PID_E
Bit number detail description: Bit Define Description 0 ALM Servo alarm input status 1 PEL Positive end limit 2 MEL Minus end limit 3 ORG Original input (Home input) 4 EMG Emergency stop input 5 EZ Servo index input 6 INP In-Position input 7 SVON Servo ON output status 11 SPEL 1: Soft-positive-end limit condition match.
PCI-8254 / PCI-8258 Bit number detail description: Bit Define 0 CSTP Description Command stopped (But it could be in motion) 1 VM In maximum velocity 2 ACC: In acceleration 3 DEC: In deceleration 4 DIR: Move direction. 1:Positive direction, 0:Negative direction 5 MDN Motion done. 0: In motion, 1: Motion done (It could be abnormal stop) 6 HMV In homing 10 WAIT Axis is in waiting state. (Wait move trigger) 11 PTB Axis is in point buffer moving.
4.10.5 4.10.5.1 Simultaneous Move Simultaneous Start Synchronized (Simultaneous) start: This movement can set to be enabled by trigger. When proper command is received, the axis enters a waiting-for-trigger-signal status and starts moving after the trigger is received. When multiple axes are in waiting-fortrigger-signal status you may send trigger signal at the same time for synchronized enabling.
PCI-8254 / PCI-8258 After an axis movement is set to startup-by-trigger mode it enters the trigger waiting status, i.e. the WAIT signal of Bit 10 in table below is ON.
I32 APS_arc3_ca ();I32 APS_arc3_ca_v ();I32 APS_arc3_ca_all ();I32 APS_arc3_ce (); I32 APS_arc3_ce_v ();I32 APS_arc3_ce_all ();I32 APS_arc3_ca ();I32 APS_arc3_ca_v (); I32 APS_arc3_ca_all ();I32 APS_sprial_ca ();I32 APS_sprial_ca_v ();I32 APS_sprial_ca_all (); I32 APS_sprial_ce ();I32 APS_sprial_ce_v ();I32 APS_sprial_ce_all (); b.
PCI-8254 / PCI-8258 • Example: #include "APS168.h" #include "APS_define.h" #include "ErrorCodeDef.
a. Movement parameter setup Please set up movement parameters before executing movement commands including absolute and relative movement, maximum, ending velocity, acceleration and deceleration, S-factor and speed blending method between adjacent paths, for speed and path planning applicable to applications. Please note that these parameter settings are kept by the program memory once being set up. Existing settings may be applied to other movement commands automatically.
PCI-8254 / PCI-8258 c. Set movement command to point table The point table offers movement commands of straight line, arc and spiral interpolation which can set movement commands in point table with the paired APS function.
a. Enable/disable point table function Please enable the point table function, set up its ID (0~1), movement dimension and axis number before using it. Please disable it after the point table function is ended. I32 APS_pt_enable (I32 Board_ID, I32 PtbId, I32 Dimension, I32 *AxisArr); Point table functions Paired APS function Enable the point table function APS_pt_enable Disable the point table function APS_pt_disable b.
PCI-8254 / PCI-8258 • Example: #include "APS168.h" #include "APS_define.h" #include "ErrorCodeDef.h" void pt_move_example () //This example shows how pt move operation I32 ret; I32 Board_ID = 0; I32 PtbId = 0; //Point table 0 I32 Dimension = 2; //2D Dimension I32 AxisArr[2] = { 0, 1 }; //Set Axis 0 & Axis 1 to point table 0 PTLINE Prof; PTSTS Status; //Enable point table id 0 for 2D dimension with aixs 0 and axis 1.
4.11 Safety Protection During equipment operation, there maybe errors or situations where emergency stops are required. In case of this, the usual method is to stop the mechanical equipment from operation. This controller provides some safety mechanism to detect predefined error situations. When these conditions are encountered, the controller take proper actions to protect personnel safety and to prevent damage to equipments.
PCI-8254 / PCI-8258 4.11.1.2 Servo Alarm (ALM) See table below for ALM hardware input pins and corresponding axis number: P1A Pin No Signal Name Axis # P1B Pin No Signal Name Axis # 35 ALM1 0 35 ALM5 4 41 ALM2 1 41 ALM6 5 85 ALM3 2 85 ALM7 6 91 ALM4 3 91 ALM8 7 ALM signal is a hardware input signal where ALM signal is from servo drive to controller through ALM pin. When ALM signal is set to ON status, the controller responses with following actions: 1.
EL signal is a hardware input signal including PEL and MEL. PEL is the limit signal in positive direction and MEL the negative direction one. An asserted EL signal causes the controller responses with following actions: 1. If PEL signal is asserted for an axis in positive motion status, the controller stops motion of the axis immediately and error stop code of the axis is set to "4" (STOP_PEL) and motion status of axis is set to abnormal stop (ASTP = ON). 2.
PCI-8254 / PCI-8258 4.11.2 Software Protection The controller provides software protection mechanism of software limit and position error protection. 4.11.2.1 Soft-limit Signal Software limit functions almost the same as that of the hardware limit with the exception that limit signal is generated by checking location of each axis with the software limit function. There are the same plus limit (PEL) and minus limit (MEL) signals. Steps of using the software limit are described below: 1.
When software limit signal is set to ON status the controller responses with following actions: 1. If SPEL signal is asserted for an axis in positive direction motion status, the controller stops motion of the axis immediately and error stop code of the axis is set to "6" (STOP_SPEL) and motion status of axis is set to abnormal stop (ASTP). 2.
PCI-8254 / PCI-8258 4.11.2.3 Watch Dog The watchdog protection mechanism is a timer inside the controller. Timeout of the timer will enable predefined response actions including Servo off, turning off digital output and turning off PWM output. After the watchdog protection mechanism is enabled, the user program must be in responsible status. Before timeout of the timer, the watchdog mechanism should be reset continuously to restart timing of the timer.
3. Reset timer continuously After the watchdog protection mechanism is enabled, the watchdog mechanism should be reset within timeout period to rest the timer and retiming from beginning. In case of timer timeout relevant events are triggered per setting given by step 1. Use APS_wdt_reset_counter () to reset watchdog. • Example: void watchdog_example() { // This example shows how interrupt functions work.
PCI-8254 / PCI-8258 4.12 Host Interrupt An interrupt is a process starting when specified event is encountered, the device (this controller) issue hardware interrupt signal to the operating system, the operating system enable the driver to execute corresponding interrupt service routine. See figure below for illustration to this flow. Either interrupt or polling mechanism is employed to detect the certain event. The polling mechanism consumes CPU time repetitively and lead to CPU over utilization.
Axis interrupt type contains all control axis relevant events. The digital input interrupt contains rising edge interrupt and falling edge interrupt. And other events are contained in system interrupt type. See table below for all interrupt event types contained in this controller. Here items 0~7 are interrupt relevant to each control axis, item 8 is system relevant interrupt and item 9 and 10 are digital input interrupt. (Note: For PCI-8254 items 0~3 and 4~7 are reserved.
PCI-8254 / PCI-8258 • Axis interrupt events description: bit.
• Item = 8: System interruption events overview Bit No. 7 6 5 4 3 2 1 0 Factor -- IHOV IMOV IFCF1 IFCF0 ILCF1 ILCF0 IEMG Bit No. 15 14 13 12 11 10 9 8 Factor -- -- -- -- -- -- -- -- Bit No. 23 22 21 20 19 18 17 16 Factor -- -- -- -- -- -- -- -- Bit No. 31 30 29 28 27 26 25 24 Factor -- -- -- -- -- -- -- -- • System interrupt events description bit.
PCI-8254 / PCI-8258 • Item = 9: Digital input rising edge interrupt Bit No. 7 6 5 4 3 2 1 0 Factor IDIR7 IDIR6 IDIR5 IDIR4 IDIR3 IDIR2 IDIR1 IDIR0 Bit No. 15 14 13 12 11 10 9 8 Factor IDIR15 (TTL7) IDIR14 (TTL6) IDIR13 (TTL5) IDIR12 (TTL4) IDIR11 (TTL3) IDIR10 (TTL2) IDIR9 (TTL1) IDIR8 (TTL0) Bit No.
CAUTION Digital input signal (DI) status changes are detected by controller in every motion cycle. Interrupt can be generated only when the period of external input signal change cycle is greater than that of motion cycle. You may use interrupt function in Windows environment as described below: 1. Set up interrupt events 2. Enable main interrupt switch 3. Waiting for interrupt trigger 4. Reset interrupt to non-signaled state 5.
PCI-8254 / PCI-8258 Detailed operation methods are described below: 1. Set up interrupt events: Use APS_set_int_factor( ) to set up interrupt event for waiting. The function returns interrupt event number if setup is successful. You shall store event number in a parameter to be used by later Wait functions. The APS_set_int_factor( ) function can be used to close opened interrupt event as required by application. 2.
• Example: void interrupt_example() { // This example shows how interrupt functions work.
PCI-8254 / PCI-8258 #include // Using event handle #include "APS168.h" #include "ErrorCodeDef.h" void interrupt_with_win32_example() { // This example shows how interrupt functions work.
208 Motion Control Theory
PCI-8254 / PCI-8258 Important Safety Instructions For user safety, please read and follow all instructions, WARNINGS, CAUTIONS, and NOTES marked in this manual and on the associated equipment before handling/operating the equipment. X Read these safety instructions carefully. X Keep this user’s manual for future reference. X Read the specifications section of this manual for detailed information on the operating environment of this equipment.
X Never attempt to fix the equipment. Equipment should only be serviced by qualified personnel. A Lithium-type battery may be provided for uninterrupted, backup or emergency power. WARNING X 210 Risk of explosion if battery is replaced with one of an incorrect type. Dispose of used batteries appropriately.
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