ADLINK Technology PCI-8136M Podręcznik Użytkownika Strona 1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Getting service from ADLINK Customer Satisfaction is always the most important thing for ADLink Tech Inc. If you need any help or service, please co

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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