ADLINK Technology MPC-8164 User manual

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

Copyright 2006 ADLINK TECHNOLOGY INC.
All Rights Reserved.
The information in this document is subject to change without prior
notice in order to improve reliability, design, and function and does
not represent a commitment on the part of the manufacturer.
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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

List of Figures vii
List of Figures
Figure 1-1: PCI-8164 block diagram ............................................ 2
Figure 1-2: MPC-8164 block diagram .......................................... 3
Figure 1-3: PXI-8164 block diagram ............................................ 4
Figure 1-4: Application building flow chart ................................... 5
Figure 2-1: PCI-8164 PCB layout .............................................. 17
Figure 2-2: PCI-8164 face plate................................................. 17
Figure 2-3: MPC-8164 PCB layout ............................................ 18
Figure 2-4: MPC-8164 face plate............................................... 18
Figure 2-5: PXI-8164 layout and front panel .............................. 19
Figure 7-1: System Integration with PCI-8164 ......................... 266
Figure 7-2: Connection of PCI-8164 with Panasonic Driver .... 268
Figure 7-3: Connection of PCI-8164 with SANYO Driver......... 269

Introduction 1
1 Introduction
The PCI-/MPC-/PXI-8164 is an advanced 4-axis motion controller
card that generates high frequency pulses (6.55 MHz) to drive
stepper or servomotors, and provides a 2-axis circular interpola-
tion, 4-axis linear interpolation, or continuous interpolation for con-
tinual velocity. The PCI-/MPC-/PXI-8164 also changes position
and/or speed on the fly with a single axis operation.
Multiple PCI-/MPC-/PXI-8164 cards may be installed in one sys-
tem. Incremental encoder interface on all four axes provide the
ability to correct positioning errors generated by inaccurate
mechanical transmissions. With the aid of an onboard FIFO, the
PCI-/MPC-/PXI-8164 also performs precise and extremely fast
position comparison and trigger functions without compromising
CPU resources. In addition, a mechanical sensor interface, a
servo motor interface, and general-purposed I/O signals are pro-
vided for easy system integration.
The following figures show the functional block diagrams of the
8164 card in PCI, MPC, and PXI interfaces. The PCI-/MPC-/PXI-
8164 uses one ASIC (PCL6045) to perform all 4 axes motion con-
trols. The motion control functions include linear and S-curve
acceleration/deceleration, circular interpolation between two axes,
linear interpolation between 2-4 axes, continuous motion position-
ing, and more than 13 home return modes. All these functions and
complex computations are performed internally by the ASIC, thus
minimizing CPU usage and eliminating real-time issues.

2Introduction
Figure 1-1: PCI-8164 block diagram

Introduction 3
The MPC-8164 is an advanced 4-axis motion controller card with
a PC104 interface. All features and specification are leveraged
with the PCI-8164, except for some differences in the user I/O
interfaces. Figure 1-2 shows the MPC-8164 card block diagram.
Figure 1-2: MPC-8164 block diagram

4Introduction
The PXI-8164 is an advanced 4-axis motion controller card with a
PXI interface. All features and specification are the same with the
PCI-8164, except for some differences in the user I/O interfaces.
Figure 1-3 shows the PXI-8164 the block diagram.
Figure 1-3: PXI-8164 block diagram

Introduction 5
Motion Creator is a Windows-based application development soft-
ware package that comes with the card. Motion Creator is useful
for debugging a motion control system during the design phase of
a project. An on-screen display lists all installed axes information
and the card’s I/O signal status.
DOS and Windows programming libraries for C++ and Visual
Basic are included together with some sample programs to illus-
trate the operations of these functions.
Figure 1-4 illustrates a flow chart of application development using
the contents of this manual. Refer to the related chapters for
details.
Figure 1-4: Application building flow chart

6Introduction
1.1 Features
1.1.1 PCI-8164
X32-bit PCI bus, Plug and Play
X4 axes of step and direction pulse output for controlling
stepping or servomotor
X6.55 MPPS maximum output frequency
XOUT/DIR, CW/CCW pulse output options
XProgrammable acceleration and deceleration time for all
modes
XTrapezoidal and S-curve velocity profiles for all modes
XAny 2 of 4 axes circular interpolation
XAny 2-4 of 4 axes linear interpolation
XContinuous interpolation for contour following motion
XChange position and speed on the fly
XChange speed by condition comparing
X13 home return modes with auto searching
XHardware backlash compensator and vibration suppression
X2 software end-limits for each axis
X28-bit up/down counter for incremental encoder feedback
XHome switch, index signal (EZ), positive, and negative end
limit switches interface on all axes
X2-axis high speed position latch input
X2-axis position compare trigger output with 4k FIFO auto-
loading
X2500Vrms isolated digital input and output signals
XProgrammable interrupt sources
XSimultaneous start/stop motion on multiple axes
XManual pulser input interface (A small steering device that gen-
erates pulses when turned)
XSoftware supports a maximum of up to 12 PCI-8164 cards
(48 axes) operation in one system
XCompact, half-sized PCB

Introduction 7
XIncludes Motion Creator, a Microsoft Windows-based appli-
cation development software
XLibraries and utilities support DOS, Windows®9X/NT/2000/
XP, and Linux

8Introduction
1.1.2 MPC-8164
X16-bit PC104 bus
X4 axes of step and direction pulse output for controlling
stepping or servomotor
X6.55 MPPS maximum output frequency
XOUT/DIR, CW/CCW pulse output options
XProgrammable acceleration and deceleration time for all
modes
XTrapezoidal and S-curve velocity profiles for all modes
XAny 2 of 4 axes circular interpolation
XAny 2-4 of 4 axes linear interpolation
XContinuous interpolation for contour following motion
XChange position and speed on the fly
XChange speed by comparator condition
X13 home return modes with auto searching
XHardware backlash compensator and vibration suppression
X2 Software end-limits for each axis
X28-bit up/down counter for incremental encoder feedback
XHome switch, index signal (EZ), positive, and negative end
limit switches interface on all axes
X2-axis high speed position latch input
X2-axis position compare trigger output with 4k FIFO auto-
loading
X2500Vrms isolated digital input and output signals
XProgrammable interrupt sources
X8 channels of general purpose photo-isolated digital inputs
X8 channels of general purpose open collector digital outputs
XSoftware supports a maximum of up to 4 MPC-8164 cards
(16 axes) operation in one system
XIncludes Motion Creator, a Microsoft Windows-based appli-
cation development software
XLibraries and utilities support DOS, Windows®98/NT/2000/
XP, and Windows®XP/NT Embedded
XLibraries for Linux and Windows®CE systems