ADLINK Technology MPC-8164 Manuel utilisateur

Advance Technologies; Automate the World.

Manual Rev. 2.00

Revision Date: August 25, 2006

Part No: 50-11124-1050

PCI-8164/MPC-8164/PXI-8164

Advanced 4-Axis Servo/Stepper

Motion Control Card

User’s Manual

The information in this document is subject to change without prior

notice in order to improve reliability, design, and function and does

not represent a commitment on the part of the manufacturer.

In no event will the manufacturer be liable for direct, indirect, spe-

cial, incidental, or consequential damages arising out of the use or

inability to use the product or documentation, even if advised of

the possibility of such damages.

This document contains proprietary information protected by copy-

right. All rights are reserved. No part of this manual may be repro-

duced by any mechanical, electronic, or other means in any form

without prior written permission of the manufacturer.

Trademarks

NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK

TECHNOLOGY INC.

Product names mentioned herein are used for identification pur-

poses only and may be trademarks and/or registered trademarks

of their respective companies.

Getting service from ADLINK

Customer satisfaction is top priority for ADLINK TECHNOLOGY

INC. Please contact us should you require any service or assis-

tance.

ADLINK TECHNOLOGY INC.

Web Site: http://www.adlinktech.com

Sales & Service: [email protected]

TEL: +886-2-82265877

FAX: +886-2-82265717

Address: 9F, No. 166, Jian Yi Road, Chungho City,

Taipei, 235 Taiwan

Email or fax this completed service form for prompt and satisfac-

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Table of Contents i

Table of Contents

Table of Contents..................................................................... i

List of Tables.......................................................................... vi

List of Figures ....................................................................... vii

1 Introduction ........................................................................ 1

1.1 Features............................................................................... 6

PCI-8164 ........................................................................ 6

MPC-8164 ....................................................................... 8

PXI-8164 ......................................................................... 9

1.2 Specifications..................................................................... 11

1.3 Software support................................................................ 14

Programming library ..................................................... 14

Motion Creator .............................................................. 14

2 Installation ........................................................................ 15

2.1 Package contents .............................................................. 16

2.2 PCI-8164 layout ................................................................. 17

2.3 MPC-8164 layout ............................................................... 18

2.4 PXI-8164 layout ................................................................. 19

2.5 PCI-8164/PXI-8164 hardware installation.......................... 20

Hardware configuration ................................................. 20

PCI slot selection .......................................................... 20

Installing the PCI-8164 card ......................................... 20

Installing the PXI-8164 card .......................................... 21

2.6 MPC-8164 hardware installation........................................ 22

Hardware configuration ................................................. 22

2.7 Driver installation ............................................................... 24

2.8 CN1 pin assignments: External Power Input

(PCI-8164 only) ....................................................... 25

2.9 CN3 pin assignments: Manual Pulse Input

(PCI-8164 only) ....................................................... 26

2.10 J4 pin assignments: Manual Pulse Input

(PXI-8164 only)........................................................ 27

2.11 CN3 pin assignments: General Purpose DIO

(MPC-8164 only) ..................................................... 28

2.12 J3 pin assignments: Isolated DIO

ii Table of Contents

(PXI-8164 only)........................................................ 29

2.13 CN2 pin assignments: Main Connector ............................. 30

2.14 CN4 pin assignments: Simultaneous Start/Stop

(PCI-8164 only)........................................................ 32

2.15 CN5 pin assignment: TTL Output (PCI-8164 only) ............ 33

2.16 Jumper setting for pulse output (PCI-8164 only) ............... 34

2.17 Switch setting for EL Logic................................................. 35

2.18 CN3 pin assignment: General Purpose DI/DO ports

(MPC-8164 only)...................................................... 36

2.19 S2 card ID switch setting (PXI-8164 only) ......................... 37

3 Signal Connections .......................................................... 39

3.1 Pulse Output Signals OUT and DIR................................... 40

3.2 Encoder Feedback Signals EA, EB and EZ....................... 43

3.3 Origin Signal ORG ............................................................. 46

3.4 End-Limit Signals PEL and MEL........................................ 47

3.5 Ramping-down and PCS ................................................... 48

3.6 In-position Signal INP ........................................................ 49

3.7 Alarm Signal ALM .............................................................. 50

3.8 Deviation Counter Clear Signal ERC ................................. 51

3.9 General-purpose Signal SVON.......................................... 52

3.10 General-purpose Signal RDY ............................................ 53

3.11 Position compare output pin: CMP .................................... 54

3.12 Position latch input pin: LTC .............................................. 55

3.13 Pulser Input Signals PA and PB (PCI-8164 only) .............. 56

3.14 Simultaneously Start/Stop Signals STA and STP

(PCI-8164 only)........................................................ 57

3.15 General Purpose TTL Output (PCI-8164 only) .................. 59

3.16 Termination board.............................................................. 60

3.17 General Purpose DIO (MPC-8164/PXI-8164 only) ............ 61

Isolated input channels ................................................. 62

Isolated output channels ............................................... 62

Example of input connection ......................................... 63

Example of output connections ..................................... 64

4 Operation Theory .............................................................. 65

4.1 Motion Control Modes........................................................ 66

Pulse Command Output ............................................... 67

Velocity mode motion ................................................... 71

Trapezoidal motion ....................................................... 72

Table of Contents iii

S-curve profile motion ................................................... 75

Linear interpolation for 2-4 axes ................................... 77

Circular interpolation for 2 axes .................................... 82

Circular interpolation with Acc/Dec time ....................... 84

Relationship between velocity and acceleration time ... 85

Continuous motion ........................................................ 88

Home Return Mode ...................................................... 95

Home Search Mode .................................................... 103

Manual Pulser Mode (PCI-8164 Only) ........................ 104

Synchronous starting modes ...................................... 105

4.2 The motor driver interface................................................ 107

INP .............................................................................. 107

ALM ............................................................................ 109

ERC ............................................................................ 110

SVON and RDY .......................................................... 111

4.3 The limit switch interface and I/O status .......................... 112

SD/PCS ...................................................................... 112

EL ............................................................................... 114

ORG ........................................................................... 115

4.4 Counters .......................................................................... 116

Command position counter ......................................... 116

Feedback position counter .......................................... 117

Position error counter ................................................. 119

General purpose counter ............................................ 120

Target position recorder .............................................. 122

4.5 Multiple PCI-8164 Card Operation (PCI-8164 Only)........ 123

4.6 Change position or speed on the fly ................................ 124

Change speed on the fly ............................................. 124

Change position on the fly .......................................... 129

4.7 Position compare and Latch ............................................ 132

Comparators of the 8164 ............................................ 132

Position compare with trigger output .......................... 134

Position Latch ............................................................. 138

4.8 Hardware backlash compensator and

vibration suppression............................................. 139

4.9 Software Limit Function ................................................... 140

4.10 Interrupt Control............................................................... 141

4.11 PXI Trigger Bus (PXI-8164 only) ..................................... 147

5 Motion Creator................................................................ 149

iv Table of Contents

5.1 Execute Motion Creator ................................................... 150

5.2 Notes on Motion Creator.................................................. 151

5.3 Using Motion Creator....................................................... 152

Main Menu .................................................................. 152

Interface I/O Configuration Menu ................................ 152

Pulse I/O and Interrupt Configuration Menu ............... 155

Operation menu: ......................................................... 156

6 Function Library.............................................................. 163

6.1 List of Functions............................................................... 163

6.2 C/C++ Programming Library ............................................ 174

6.3 Initialization ...................................................................... 175

6.4 Pulse Input/Output Configuration..................................... 179

6.5 Velocity mode motion....................................................... 182

6.6 Single Axis Position Mode ............................................... 186

6.7 Linear Interpolated Motion ............................................... 193

6.8 Circular Interpolation Motion ............................................ 201

6.9 Home Return Mode.......................................................... 211

6.10 Manual Pulser Motion ...................................................... 214

6.11 Motion Status................................................................... 218

6.12 Motion Interface I/O ......................................................... 220

6.13 Motion I/O Monitoring....................................................... 224

6.14 Interrupt Control ............................................................... 226

6.15 Position Control and Counters......................................... 234

@ Return Code ........................................................... 238

6.16 Position Compare and Latch............................................ 239

6.17 Continuous motion ........................................................... 249

6.18 Multiple Axes Simultaneous Operation ............................ 251

6.19 General-purposed TTL output (PCI-8164 Only)............... 257

6.20 General-purposed DIO (MPC-8164/PXI-8164 only) ........ 259

6.21 Card ID (PXI-8164 Only).................................................. 261

6.22 PXI Trigger Bus (PXI-8164 Only)..................................... 262

7 Connection Example ...................................................... 265

7.1 General Wiring Description.............................................. 265

7.2 Connection Example with Servo Driver ........................... 267

7.3 Wiring with DIN-814M ...................................................... 270

PIN Assignments: ....................................................... 271

Signal Connections ..................................................... 274

Mechanical Dimensions: ............................................. 275

Table of Contents v

7.4 Wiring with DIN-814P ...................................................... 276

Mechanical Dimensions: ............................................. 277

PIN Assignment: ......................................................... 278

How to wire ................................................................. 280

7.5 Wiring with DIN-814PA .................................................... 281

Wiring Example: .......................................................... 283

Mechanical Dimensions: ............................................. 285

PIN Assignment: ......................................................... 286

7.6 Wiring with DIN-814M-J3A .............................................. 288

PIN Assignment: ......................................................... 289

7.7 Wiring with DIN-814Y ...................................................... 292

PIN Assignment: ......................................................... 293

8 Appendix......................................................................... 295

8.1 Color code of CN3 Cable (MPC-8164 Only).................... 295

Warranty Policy................................................................... 297

vi List of Tables

List of Tables

Table 2-1: GEME hardware configuration ................................ 22

Table 2-2: Base Addresses ...................................................... 22

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