ADLINK Technology AMP-204C User manual

Advance Technologies; Automate the World.
Manual Rev.: 2.00
Revision Date: July 25, 2014
Part No: 50-15089-2000
AMP-204C / AMP-208C
Advanced DSP Pulse Motion Controller
for 4/8 Axis
User Manual

ii
Revision History
Revision Release Date Description of Change (s)
2.00 2014-07-25 Initial release

Preface iii
AMP-204C / AMP-208C
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.
Disclaimer
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.
Under no circumstances will ADLINK be held liable to this
document.
In no event will the manufacturer be liable for direct, indirect,
special, 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.
Environmental Responsibility
ADLINK is committed to fulfill its social responsibility to global
environmental preservation through compliance with the
European Union's Restriction of Hazardous Substances (RoHS)
directive and Waste Electrical and Electronic Equipment (WEEE)
directive. Environmental protection is a top priority for ADLINK.
We have enforced measures to ensure that our products,
manufacturing processes, components, and raw materials have as
little impact on the environment as possible. When products are at
their end of life, our customers are encouraged to dispose of them
in accordance with the product disposal and/or recovery programs
prescribed by their nation or company.
Trademarks
Product names mentioned herein are used for identification
purposes only and may be trademarks and/or registered
trademarks of their respective companies.

iv Preface
Conventions
Take note of the following conventions used throughout this
reference to make sure that users perform certain tasks and
instructions properly.
NOTE
NOTE
Additional information, aids, and tips that help users perform
tasks.
CAUTION
Information to prevent minor physical injury, component
damage, data loss, and/or program corruption when trying to
complete a task.
WARNING
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.

Contents v
AMP-204C / AMP-208C
Contents
Revision History...................................................................... ii
Preface.................................................................................... iii
List of Figures........................................................................ ix
List of Tables........................................................................ xiii
1 Introduction ........................................................................ 1
1.1 Product Specifications ......................................................... 4
1.2 Software Support ................................................................. 8
Software Support Library ................................................ 8
MotionCreatorPro 2 ........................................................ 8
1.3 Terminal Board .................................................................... 8
2 Getting Start with The Installation.................................... 9
2.1 Package Contents ............................................................... 9
2.2 AMP-204C / AMP-208C Exterior Profile Diagram ............. 10
2.3 Hardware Installation ......................................................... 12
Hardware Configuration ................................................ 12
Installation Procedures ................................................. 12
Troubleshooting ............................................................ 13
2.4 Software Installation Procedure......................................... 14
2.5 Definitions to Key Connector Signal .................................. 16
AMP-204C:P1 Connector ............................................. 16
AMP-208C:P1-A/B Connector ...................................... 18
AMP-204C/208C:P2 Connector .................................... 21
2.6 DIP Switch ......................................................................... 23
SW2: Card ID Switch .................................................... 23
2.7 IDE 44p – DSUB 37p Bus.................................................. 24
2.8 Exclusive Board - DIN-825-GP4 ........................................ 25

vi Contents
Definitions to Connector ............................................... 26
P1 Connector: For Connecting to PCI-8254 / PCI-8258 /
AMP-204C / AMP-208C ................................................ 28
S1, S2: EDO/ALM_RST Selection Switch .................... 37
3 Signal Connection ............................................................ 39
3.1 Pulse Command ................................................................ 40
3.2 Encoder Input, EA & EB & EZ............................................ 43
3.3 Emergency Stop Input ....................................................... 45
3.4 PEL/MEL Input................................................................... 46
3.5 ORG Input.......................................................................... 48
3.6 INP Input ............................................................................ 49
3.7 ALM Input .......................................................................... 50
3.8 SVON Output ..................................................................... 51
3.9 Comapre & Trigger Output:................................................ 52
3.10 Digital Output/Input ............................................................ 54
4 Motion Control Theory ..................................................... 59
4.1 Motion Control Mode and Interface Overview.................... 60
4.1.1 Motion Control Interface ........................................... 60
4.1.2 Control Cycle ............................................................ 66
4.2 Motion Control Operations................................................. 68
4.2.1 Coordinated System ................................................. 68
4.2.2 Unit Factor ................................................................ 69
4.2.3 Acc/Deceleration Profile ........................................... 72
4.3 Home Move........................................................................ 78
4.3.1 OGR Signal Homing - Home Mode = 0 .................... 81
4.3.2 EL Signal Homing - Home Mode 1 ........................... 88
4.3.3 Single EZ Signal Homing.......................................... 91
4.4 Velocity Move..................................................................... 94
4.5 Jog Move ........................................................................... 97
4.6 Point-to-Point Move ......................................................... 101
4.6.1 Point-to-Point Move ................................................ 101

Contents vii
AMP-204C / AMP-208C
4.6.2 Synchronous Start .................................................. 102
4.6.3 On The Fly Change ................................................ 103
4.6.4 Continuous PTP Move............................................ 103
4.7 Interpolation ..................................................................... 106
4.7.1 Linear Interpolation................................................. 106
4.7.2 Arc Interpolation ..................................................... 108
4.7.3 Continuous Interpolation......................................... 116
4.8 Motion Status Monitoring ................................................. 122
4.8.1 Motion Status.......................................................... 123
4.9 Application Functions....................................................... 132
4.9.1 Electronic Gearing .................................................. 132
4.9.2 High Speed Position Compare Trigger................... 134
4.9.3 PWM Control (Laser Control) (VAO Table Control)140
4.9.4 Motion Control and I/O Sampling Function............. 148
4.9.5 Simultaneous Movement ........................................ 153
4.9.6 Point Table Movement............................................ 156
4.10 Safety Protection ............................................................. 161
4.10.1 Hardware Protection............................................... 161
4.10.2 Software Protection ................................................ 164
4.11 Host Interrupt ................................................................... 168
Important Safety Instructions............................................ 176
Getting Service.................................................................... 178

viii Contents

List of Figures ix
AMP-204C / AMP-208C
List of Figures
Figure 1-1: AMP-204C/208Csystem block diagram...................... 2
Figure 1-2: System installation flow chart ..................................... 3
Figure 2-1: AMP-204C exterior profile diagram .......................... 10
Figure 2-2: AMP-208C exterior profile diagram .......................... 11
Figure 2-3: Exterior of DIN-825-GP4 .......................................... 25
Figure 2-4: Exterior of DIN-825-GP4 .......................................... 26
Figure 3-1: Line Driver type pulse control command signal
connection example41
Figure 3-2: Open-Collector type pulse control command signal
connection example42
Figure 3-3: Line driver type encoder input signal connection example
44
Figure 3-4: Emergency stop signal connection example ............ 45
Figure 3-5: Mechanical limit switch signal connection example.. 47
Figure 3-6: Original position switch signal connection example . 48
Figure 3-7: In-position signal connection example...................... 49
Figure 3-8: Servo alarm signal connection example................... 50
Figure 3-9: Servo-on signal connection example........................ 51
Figure 3-10: Line Driver type compare trigger signal connection
example52
Figure 3-11: Open-Collector type compare trigger signal connection
example53
Figure 3-12: General purpose digital I/O signal connection example
55
Figure 3-13: General purpose digital I/O signal connection example
58
Figure 4-1: Format of pulse signal .............................................. 61
Figure 4-2: Control cycle............................................................. 67
Figure 4-3: Controller coordinates system block......................... 68
Figure 4-4: Relation of trapezoidal speed profile's
speed/acceleration/jerk VS time72
Figure 4-5: Maximum speed by auto-planning............................ 73
Figure 4-6: Relation of S-curve speed profile's
speed/acceleration/jerk VS time74
Figure 4-7: Auto-planning the maximum velocity........................ 76
Figure 4-8: Home mode 0 (Case: ORG) .................................... 82
Figure 4-9: Home mode 0 (Case: ORG) .................................... 84
Figure 4-10: Home mode 0 (Case: ORG+EZ) ............................. 85

xListofFigures
Figure 4-11: Home mode 0 adverse (Case: ORG+EZ)................ 86
Figure 4-12: Home mode 0 decelerate to stop (Case: ORG)....... 87
Figure 4-13: Home mode 1 (Case: EL) ........................................ 88
Figure 4-14: Home mode 1 (Case: EL+EZ) ................................. 90
Figure 4-15: Home mode 2 (Case: EZ)........................................ 92
Figure 4-16: Home mode 2 adverse (Case: EZ) .......................... 93
Figure 4-17: Relation between V-T chart of JOG movement and
JOG-ON signal97
Figure 4-18: Jog step mode .......................................................... 98
Figure 4-19: T-curve V-T chart.................................................... 101
Figure 4-20: Dynamically change position and velocity .............. 103
Figure 4-21: Continuous three position V-T chart ....................... 104
Figure 4-22: Continuous three position V-T chart
(auto speed connection (1)104
Figure 4-23: Continuous three position V-T chart
(auto speed connection (2)104
Figure 4-24: Continuous three position V-T chart
(auto speed connection (3)105
Figure 4-25: Continuous three position V-T chart
(auto speed connection (4)105
Figure 4-26: Two-dimension straight line interpolation ............... 107
Figure 4-27: Three-dimension arc interpolation (method 1)........ 109
Figure 4-28: Defining spatial normal vector ................................ 110
Figure 4-29: Determining arc direction in space ......................... 110
Figure 4-30: Three dimension arc interpolation (method 2)........ 111
Figure 4-31: Three dimension arc interpolation example............ 112
Figure 4-32: Three dimension spiral interpolation (method 1) .... 113
Figure 4-33: Three-dimension spiral interpolation (method 2) .... 114
Figure 4-34: Illustration on continuous interplotation (Buffer)
movement116
Figure 4-35: Velocity blending (method 1) .................................. 117
Figure 4-36: Velocity blending (method 2) .................................. 118
Figure 4-37: Velocity blending (method 3) .................................. 118
Figure 4-38: Velocity blending (method 4) .................................. 119
Figure 4-39: Velocity blending (method 5) .................................. 119
Figure 4-40: Velocity blending (method 6) .................................. 120
Figure 4-41: Velocity blending (method 7) .................................. 120
Figure 4-42: Continuous interpolation examples......................... 121
Figure 4-43: Motion status monitoring process ........................... 122
Figure 4-44: Relation of different motion signals VS motions ..... 125