PCI-1240 4-Axis PCI Stepping/Pulse-type Servo Motor Control Card PCI-1240U 4-Axis Universal PCI Stepping/ Pulse-type Servo Motor Control Card User Manual
Copyright This documentation and the software included with this product are copyrighted 2005 by Advantech Co., Ltd. All rights are reserved. Advantech Co., Ltd. reserves the right to make improvements in the products described in this manual at any time without notice. No part of this manual may be reproduced, copied, translated or transmitted in any form or by any means without the prior written permission of Advantech Co., Ltd. Information provided in this manual is intended to be accurate and reliable.
Product Warranty (2 years) Advantech warrants to you, the original purchaser, that each of its products will be free from defects in materials and workmanship for two years from the date of purchase. This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech, or which have been subject to misuse, abuse, accident or improper installation.
Technical Support and Assistance Step 1. Visit the Advantech web site at www.advantech.com/support where you can find the latest information about the product. Step 2. Contact your distributor, sales representative, or Advantech's customer service center for technical support if you need additional assistance.
Contents Chapter 1 Introduction ..................................................... 2 1.1 1.2 1.3 1.4 Chapter Chapter Features ............................................................................. 2 Applications ...................................................................... 5 Installation Guide .............................................................. 6 Accessories........................................................................ 6 2 Installation ...........................
3.8 Encoder Input (nECAP, nECAN, nECBP, nECBN, nINOP, nION) ......................................................................................... 25 Figure 3.11:Circuit Diagram of Encoder Feedback ..... 25 Figure 3.12:Example of Connection Diagram for Differential-output Line Driver ................................. 26 Figure 3.13:Example of Connection for Open Collector Output Encoder ................................................ 26 3.9 External Pulse Control Input (nEXOP+, nEXOP-).........
3.16 TTL Level Position Compare Output (PCI-1240U only) ...................................................................... 37 Table 3.6:Jumper Settings of JP10 .............................. 37 Appendix A Specifications ................................................. 40 A.1 A.2 A.3 A.4 A.5 A.6 Axes................................................................................. 40 Digital Input/Output ........................................................ 41 Input Pulse for Encoder Interface.....
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CHAPTER 1 2 Introduction This chapter introduces PCI-1240 and PCI-1240U and lists their features and detailed specifications.
Chapter 1 Introduction PCI-1240 and PCI-1240U 4-Axis Stepping/Pulse-type Servo Motor Control Cards are designed for general-purpose extreme motion applications. The cards are high-speed 4-Axis motion control cards for the PCI (1240)/ Universal PCI (1240U) bus that simplifies stepping and pulse-type servo motor control, giving you added performance from your motors.
• "Go home” functions (PCI-1240U only) • Universal PCI Bus for both 3.3 and 5 V PCI slots (PCI-1240U only) The Advantech PCI-1240/PCI-1240U offers the following main features: Individual Control for 4 Axes Each of the four axes has identical function capabilities, and is controlled by the same method of operation with constant speed, trapezoidal or S-curve driving.
Bit Pattern Interpolation Any 2 or 3 axes can be selected to perform the bit pattern interpolation, and the interpolation data is calculated by CPU; CPU writes the bit data into MCX314/MCX314AS. Then, MCX314/MCX314AS outputs pulses continuously at the preset driving speed. So, the user can process any interpolation curve by this mode. Continuous Interpolation Different interpolation methods can be used continuously, for example: Linear interpolation!Circular interpolation!Linear interpolation.
Driving by External Signal It is possible to control each axis by external signals. The +/- direction fixed pulse driving and continuous driving can be also performed through the external signals. This function is used for JOG or teaching modes, and will share the CPU load. Input/ Output Signal Each axis has 4 points of input signals to perform deceleration and stop in driving. These input signals are for high-speed near-by home search, home search and z-phase search during the home returning.
1.
CHAPTER 2 2 Installation This chapter gives users a package item checklist, proper instructions about unpacking and step-by-step procedures for both driver and card installation.
Chapter 2 Installation 2.1 Unpacking After receiving your PCI-1240/PCI-1240U package, please inspect its contents first. The package should contain the following items: " PCI-1240/PCI-1240U card " Companion CD-ROM (DLL driver included) " User’s Manual The PCI-1240/PCI-1240U card harbors certain electronic components vulnerable to electrostatic discharge (ESD). ESD could easily damage the integrated circuits and certain components if preventive measures are not carefully paid attention to.
Whenever you handle the card, grasp it only by its edges. DO NOT TOUCH the exposed metal pins of the connector or the electronic components. Note Keep the antistatic bag for future use. You might need the original bag to store the card if you have to remove the card from PC or transport it elsewhere. 2.2 Driver Installation We recommend you to install the driver before you install the PCI-1240/PCI-1240U card into your system, since this will guarantee a smooth installation process.
Figure 2.1: The Setup Screen of Advantech Automation Software Step 3: Select the PCI-1240/PCI-1240U DLL Drivers option. Step 4: Select the proper Windows OS option according to your operating system. Just follow the installation instructions step by step to complete your DLL driver setup.
Figure 2.2: Different options for Driver Setup Step 5: Then setup the PCI-1240/PCI-1240U Motion Utility automatically.
2.3 Hardware Installation Note Make sure you have installed the driver first before you install the card (please refer to 2.2 Driver Installation) After the DLL driver installation is completed, you can now go on to install the PCI-1240/PCI-1240U card in any PCI slot on your computer. But it is s uggested that you should refer to the computer user manual or related documentations if you have any doubt. Please follow the steps below to install the card on your system.
3 CHAPTER 2 Signal Connections Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly. A good signal connection can avoid unnecessary and costly damage to your PC and other hardware devices. This chapter provides useful information about how to connect input and output signals to the PCI-1240/PCI1240U via the I/O connector.
Chapter 3 Signal Connections 3.1 I/O Connector Pin Assignments The I/O connector on the PCI-1240/PCI-1240U is a 100-pin connector that enables you to connect to accessories with the PCL-10251 shielded cable. Figure 3.1 shows the pin assignments for the 100-pin I/O connector on the PCI-1240/PCI-1240U, and Table 3-1 shows its I/O connector signal description. Note The PCL-10251 shielded cable is especially designed for the PCI-1240/PCI-1240U to reduce noise in the analog signal lines.
Figure 3.
Table 3.
Table 3.
Table 3.
Figure 3.2: Location of Jumpers and DIP switch on PCI-1240/PCI-1240U Table 3.2: BoardID register SW1 Board ID register Base Add.+12h 3 2 1 0 Abbreviation BDID3 BDID2 BDID1 BDID ID0: the least significant bit (LSB) of Board ID ID3: the most significant bit (MSB) of Board ID Table 3.3: BoardID setting Board ID setting (SW1) Board ID (Dec.
3.3 Output Pulse Definition (nP+P, nP+N, nP-P, nP-N) The output pulse command of PCI-1240/PCI-1240U is from MCX314/ MCX314AS chip. The pulse command has two types. One is in Up/Down mode and another is in Pulse/Direction mode. While nP+P is differential from nP+N and nP-P is differential from nP-N. After system reset, the nP+P and nP-P is low level, and this invert output (nP+N, nP-N) is high level, and the de-fault setting of pulse output mode is Up/Down.
The following figure 3-4 and 3-5 show the examples of input circuitry connection for both photo coupler and motor driver respectively. Figure 3.4: Photo Coupler Input Interface Figure 3.
3.4 General Purposed Output (nOUT7 ~ nOUT4) The general purposed output nOUT7/DSND, nOUT6/ASND, nOUT5/ CMPM, and nOUT4/CMPP are from MCX314/MCX314AS, and each output signal is OFF status after system reset. Figure 3.6: Circuit Diagram for General Purposed Output General purposed output signals used in motor drives can clear error counter, alarm reset, stimulus off, etc., or select acceleration/deceleration for driving, position counter, and the status of comparison register as your output during driving.
The response time of this circuit should take about 0.2 ~ 0.4 msec because of the delay of photo coupled and RC filter. The following figure 3-8 is an example of photo sensor used in the case of over traveling limit switch input. When writing D3 bit of register2 (XWR2) into 0 to set the limit switch is low active in X-axis, the following figure can work normally. Figure 3.8: Example of photo sensor used in the limit input signal 3.
3.7 General Purposed Input for Servo Drives (nINPOS, nALARM) nINPOS is an input signal from servo drives for in-position check, it is active after the servo drives finish a position command. Users can enable/ disable this pin. When enable this function, the n-DRV bit in RR0 will change to 0 after servo drives finish the in-position check and nINPOS pin active. nALARM is an input signal from servo drives for drives alarm output.
3.8 Encoder Input (nECAP, nECAN, nECBP, nECBN, nINOP, nINON) When feedback the encoder signals, connect nECAP to phase A of encoder output. And nECAN to phase A, nECBP to phase B, nECBN to phase B. nIN0P to phase Z and nIN0N to phase Z. The default setting of position feedback of PCI-1240/PCI-1240U is quadrature input. Up/Down pulses feedback is available after setting the input pule mode.
The following diagram is an example of the connection for encoder with differential-output linear driver. Figure 3.12: Example of Connection Diagram for Differential-output Line Driver The following figure is an example of connection for the encoder with open-collector output. Figure 3.
3.9 External Pulse Control Input (nEXOP+, nEXOP-) The pulses output function of MCX314/MCX314AS chip is controlled by register setting or by external pulse command input (nEXOP+, nEXOP-). There are two output pulse mode for the external control pin. One is fixed pulse output mode, and the other is continuous output mode. In PCI1240/PCI-1240U, it provides Jog and Hand wheel functions that allow you driving motors through external Hand wheel or Jog equipment.
3.10 Emergency Stop Input (EMG) When emergency stop input signal is enabled, the output of the drive pulse for all axes will be stopped, and error bit of main status register will be set to 1. The operation of emergency stop input is positive or negative triggered can be determined by JP9 on the board. Figure 3.16: Circuit Diagram of Emergency Stop Input Signal This signal should be used in combination with external power DC12 ~ 24V. The response time of circuitry should take about 0.
3.12 Interrupt Setting When the interrupt occurs from MCX314/MCX314AS, the interrupt signal of MCX314/MCX314AS will be changed from high to low. Because the PCI bus interrupt is high level sensitive, the PCI-1240/PCI-1240U inverse the signal and latch the signal to adapt the PCI bus INTA. The Fig- 3.17 shows the interrupt structure of the PCI-1240/PCI-1240U. We suggest users who want to program their own interrupt service routine (ISR) should follow the procedures: Step 1: When interrupt occurs.
3.13 Connection Examples for Motor Drivers 3.13.1 Connection to Step Motor Drivers The following figure is an example of PCI-1240/PCI-1240U connected to 5-phase micro-step motor drives, KR515M manufactured by TECHNO company. Figure 3.18: Example of Connecting to KR515M Drive Note JP1~8 of PCI-1240/PCI-1240U are set to +5V output side, +5V output for output terminals XP+P and XP-P.
The following figure is an example of PCI-1240/PCI-1240U connected to UPK step drive manufactured by ORIENTAL company. Figure 3.19: Example of Connecting to UPK Step Drive Note The differential pulse output of PCI-1240/PCI1240U is connected to CW/CCW input of UPK drive. XOUT4 can control UPK drive to hold by setting D8 of WR3. TIMING and Over HEAT signals can be read back by reading RR4,5. It is better to use a twisted pair cable for long connections.
3.13.2 Connection to Servo Motor Drivers The figure shown below is an example of PCI-1240/PCI-1240U connected to MINAS X series AC servo motor drive. Figure 3.20: Example of MINAS X series AC servo Motor Drive Note The servo drive must be set in pulse-control drive mode and the type of pulse input is CW/CCW mode. This connection is not well for pulse/ direction mode because the timing is not match.
It is optional to connect encoder A/B phase feedback signal. If connect to encoder signal, user can read the real position from PCI-1240/ PCI-1240U. If the environment has high noise or the connection is long, we recommend you to use twist pair cable for servo drives. 3.14 Field Wiring Considerations When you use the PCI-1240/PCI-1240U to acquire data from outside, noises in the environment might significantly affect the accuracy of your measurements if due cautions are not taken.
3.15 I/O Signal Timing 3.15.1 Power On RESET Figure 3.21: Timing Diagram of Power On RESET • Output pulses (nP ± P, nP ± N) for drive control and general purpose output signals (nOUT4 ~ 7) for I/O control will be determined after 250 nsec from power on reset. • User can access PCI-1240/PCI-1240U only after 500 nsec from poweron reset. 3.15.2 Individual Axis Driving Figure 3.22: Timing diagram of Individual Axis Driving • The maximum time to output command pulse after first pulse command is about 650nsec.
3.15.3 Interpolation Driving Figure 3.23: Timing diagram of Interpolation Driving • After interpolation command is enable, the first pulse will be outputted in 775 nsec. • If using pulse/direction mode, direction signal (nP-P) is valid in ± 125 nsec of high-level pulse signal. 3.15.4 Input Pulse Timing Quadrature Pulse of Encoder Input Figure 3.24: Timing diagram of Quadrature Pulse of Encoder Input • The minimum difference time between A/B phases is 200 nsec. UP/DOWN Pulse Input Figure 3.
3.15.5 Instantaneous Stop Timing External Instantaneous Stop Signal Figure 3.26: Timing diagram of External Instantaneous Stop Signal • When external stop signal is enabled during driving, up to 400 µ SEC + 1 pulse will be output, and then stopped. Instantaneous Stop Instruction Figure 3.27: Timing diagram of Instantaneous Stop Instruction • When the Stop instruction is issued during driving, at most one pulse will be output, and then stopped. 3.15.
3.16 TTL Level Position Compare Output (PCI-1240U only) This is a special design for the customers who can use the position compare output to synchronize with other vision devices. For PCI-1240, the position compare output channels are nOUT4 and nOUT5, and it is opencollector type output. In which the nOUT4 and nOUT5 represent the different direction of position compare separately. For PCI-1240U, we provide an integrated option for the position compare output.
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APPENDIX A 2 Specifications
Appendix A Specifications A.1 Axes Axes 4 2/3-Axis Linear Interpolation Range For each axis: PCI-1240: (-8,388,608 ~ +8,388,607) PCI-1240U: (-2,147,483,648 ~ +2,147,483,648) Speed 1 PPS ~ 4 MPPS Precision ± 0.5 LSB Range PCI-1240: (-8,388,608 ~ +8,388,607) PCI-1240U: (-2,147,483,648 ~ +2,147,483,648) Speed 1 PPS ~ 4 MPPS Precision ± 1 LSB Speed 1 PPS ~ 2 MPPS Output Signal nP+P/N, nP-P/N Range 1 PPS ~ 4 MPPS Precision ± 0.
A.2 Digital Input/Output Input Signals Over Traveling Limit Switch Input* nLMT+ and nLMT- External Deceleration/ Instantaneous Stop Signal nIN1 ~ 3 Input Signal for Servo Motor Drives* nALARM (servo alarm); nINPOS (position command completed) Emergency Stop EMG - one emergency stop input Max. Input Fre- 4 kHz quency Input Voltage Low 3 V DC max. High 10 V DC min. 50 V DC max. Input Current General Purpose Output Signals Note 10 V DC 1.70 mA (typical) 12 V DC 2.
A.3 Input Pulse for Encoder Interface Input Signal* nECAP/N, nECBP/N, nIN0P/N Encoder Pulse Input Type Quadrature (A/B phase) or Up/Down x1, x2, x4 (A/B phase only) Counts per Encoder Cycle x1, x2, x4 (A/B phase only) Max. Input Frequency 1 MHz Input Voltage Low 2 V DC max. High Min.: PCI-1240: 10 V DC PCI-1240U: 5 V DC Max. 30 V DC Protection 2,500 V DC Isolation Protection A.4 External Signals Driving Input Signal nEXOP+, nEXPO- Max.
A.
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APPENDIX B 2 Block Diagram
Appendix B Block Diagram PCI9052 RESET# LA4 C50 Oscillator 16 MHz Address Decoder CLK RESETN CSN XP+P/N XP-P/N Output Buffer ULN2803A Line driver 26LS31 Photo coupler & RC filter XP+P/N XP-P/N Pulse output +Dir. Jog -Dir.
C APPENDIX 2 Register Structure and Format
Appendix C Register Structure and Format C.1 Overview The PCI-1240/PCI-1240U is delivered with an easy-to-use 32-bit DLL driver for user programming under Windows operating system. We advise users to program the PCI-1240/PCI-1240U using 32-bit DLL driver provided by Advantech to avoid the complexity of low-level programming by register. The most important consideration in programming the PCI-1240/PCI1240U at the register level is to understand the function of the card’s registers.
Table C.1: PCI-1240/PCI-1240U WRITE register function Write Address (Hex.) Symbol 0 WR0 2 4 6 8 Register Name Command Register XWR1 X Axis Mode Register 1 Enable/disable deceleration and set YWR1 Y Axis Mode Register 1 deceleration level. ZWR1 Z Axis Mode Register 1 Enable/disable interrupt for each axis. UWR2 U Axis Mode Register 1 XWR2 X Axis Mode Register 2 YWR2 Y Axis Mode Register 2 ZWR2 Z Axis Mode Register 2 UWR2 U Axis Mode Register 2 Set the external limit signal of each axis.
Table C.2: PCI-1240/PCI-1240U WRITE register format Base Add.
Table C.3: PCI-1240/PCI-1240U READ register function Read Address (Hex.) Symbol 0 RR0 2 XRR1 YRR1 ZRR1 URR1 X Axis Status Register 1 Y Axis Status Register 1 The result of compare, status of Z Axis Status Register 1 acceleration, and ending status.
Table C.4: PCI-1240/PCI-1240U READ register format Base Add.
C.3 MCX314/MCX314AS WRITE Registers: WR0 ~ WR7 The PCI-1240/PCI-1240U registers from WR0 (Base Add. + 0) to WR7 (Base Add. + E) are the same as mapping registers on MCX314/ MCX314AS chip, and please refer to MCX314/MCX314AS user’s manual Section 4.3 ~ Section 4.9 for detailed information. C.4 Clear Interrupt Register: CLRINT Write any value to this address to clear the interrupt register. Table C.5: Clear Interrupt Register: CLRINT - Write BASE +10 Base Add.
Table C.6: Pulse Generator Mode/Status Register: PGM/PGMSTA Write/Read BASE +14 Base Add.
Table C.
C.7 Interrupt Status Register: INTSTA Table C.10: Interrupt Status Register: INTSTA - Read BASE +10 Base Add. 10 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Interrupt Status Register: INTSTA R INTF D0 Interrupt flag This bit indicates whether interrupt occurred or not. 1 means that an interrupt has occurred. C.8 Board ID Register: BDID BDID shows the Board ID of the PCI-1240/PCI-1240U. Table C.11: Board ID Register: BDID - Read BASE +12 Base Add.
D APPENDIX 2 Cable Pin Assignments
Appendix D Cable Pin Assignments PCI-1240/PCI-1240U User Manual 58
APPENDIX 2 E Wiring with Third-Party Motor Drivers
Appendix E Wiring with Third-Party Motor Drivers Figure E.
Figure E.
Figure E.
Figure E.
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