ADLINK Technology PCI-8132 User manual

PCI
-
8132
2 Axes Servo / Stepper
Motion Control Card
User’s Guide

@Copyright 2000 ADLink Technology Inc.
All Rights Reserved.
Manual Rev. 1.00: September 10, 2000
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, 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.
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.
Trademarks
NuDAQ, PCI-8132 are registered trademarks of ADLink Technology Inc,
MS-DOS , Windows 95/98 , Windows NT/2000 are registered trademarks
of Microsoft Corporation., Borland C++ is a registered trademark of
Borland International, Inc. Other product names mentioned herein are
used for identification purposes only and may be trademarks and/or
registered trademarks of their respective companies.

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Table of Contents•i
Table of Contents
Chapter 1 Introduction..................................................................1
1.1 Features............................................................................4
1.2 Specifications...................................................................5
1.3 Software Supporting.........................................................6
Chapter 2 Installation....................................................................7
2.1 What You Have..................................................................7
2.2 PCI-8132 Outline Drawing.................................................8
2.3 Hardware Installation........................................................9
2.3.1 Hardware configuration...................................................................9
2.3.2 PCI slot selection ..............................................................................9
2.3.3 Installation Procedures...................................................................9
2.3.4 Trouble shooting:..............................................................................9
2.4 Software Driver Installation.............................................10
2.5 CN1 Pin Assignments: External Power Input..................10
2.6 CN2 Pin Assignments: Main connector...........................11
2.7 CN3 Pin Assignments: Simultaneous Start/Stop.............12
2.8 Jumper Setting ...............................................................13
2.9 Switch Setting.................................................................13
Chapter 3Signal Connections....................................................14
3.1 Pulse Output Signals OUT and DIR.................................15
3.2 Encoder Feedback Signals EA, EB and EZ.....................17
3.3 Origin Signal ORG ..........................................................19
3.4 End-Limit Signals PEL and MEL .....................................20
3.5 Ramping-down Signals PSD and MSD............................21
3.6 In-position Signal INP .....................................................22
3.7 Alarm Signal ALM...........................................................23
3.8 Deviation Counter Clear Signal ERC...............................24
3.9 General-purpose Signal SVON........................................25
3.10 General-purpose Signal RDY ..........................................26
3.11 Isolated Digital Output DOx ............................................27
3.12 Isolated Digital Input DIx.................................................28
3.13 Pulser Input Signals PA and PB......................................29
3.14 Simultaneously Start/Stop Signals STA and STP............30
3.15 Daughter Board Connector.............................................31
3.16 Comparison Output CMP1 and CMP2.............................32

ii •Table of Contents
Chapter 4Operation Theorem.....................................................33
4.1 Motion Control Modes....................................................33
4.1.1 Pulse Command Output...............................................................34
4.1.2 Constant Velocity Motion.............................................................35
4.1.3 Trapezoidal Motion ........................................................................36
4.1.4 S-curve Profile Motion..................................................................40
4.1.5 Linear and Circular Interpolated Motion..................................43
4.1.6 Home Return Mode........................................................................44
4.1.7 Manual Pulser Mode......................................................................46
4.2 Motor Driver Interface.....................................................47
4.2.1 INP......................................................................................................47
4.2.2 ALM....................................................................................................47
4.2.3 ERC..................................................................................................48
4.3 The Limit Switch Interface and I/O Status.......................49
4.3.1 SD.......................................................................................................49
4.3.2 EL........................................................................................................49
4.3.3 ORG....................................................................................................50
4.3.4 SVON and RDY................................................................................50
4.4 The Encoder Feedback Signals (EA, EB, EZ)..................50
4.5 Multiple PCI-8132 Cards Operation.................................52
4.6 Change Speed on the Fly................................................53
4.7 Position Comparison ......................................................55
4.8 Interrupt Control .............................................................59
Chapter 5Motion Creator............................................................63
5.1 Main Menu......................................................................64
5.2 Axis Configuration Window ............................................65
5.3 Axis Operation Windows................................................68
5.3.1 Motion Status Display...................................................................68
5.3.2 Axis Status Display........................................................................68
5.3.3 I/O Status Display...........................................................................69
5.3.4 Set Position Control ......................................................................69
5.3.5 Operation Mode Control...............................................................69
5.3.6 Motion Parameters Control.........................................................70
5.3.7 Play Key Control.............................................................................70
5.3.8 Velocity Profile Selection.............................................................71
5.3.9 RepeatMode....................................................................................71
5.4 2-D Motion Windows.......................................................72
5.4.1 Linear Interpolation .......................................................................73
5.4.2 Circular Interpolation ....................................................................73
5.4.3 Continuous Jog ..............................................................................73
5.4.4 Incremental Jog..............................................................................74
5.4.5 Other Control Objects...................................................................74

Table of Contents•iii
Chapter 6Function Library.........................................................76
6.1 List of Functions.............................................................76
6.2 C/C++ Programming Library...........................................80
6.3 Initialization....................................................................81
6.4 Pulse Input / Output Configuration .................................83
6.5 Continuously Motion Move .............................................84
6.6 Trapezoidal Motion Mode................................................85
6.7 S-Curve Profile Motion....................................................88
6.8 Multiple Axes Point to Point Motion................................90
6.9 Linear and Circular Interpolated Motion .........................92
6.10 Interpolation Parameters Configuring.............................93
6.11 Home Return...................................................................95
6.12 Manual Pulser Motion .....................................................96
6.13 Motion Status..................................................................98
6.14 Servo Drive Interface ......................................................99
6.15 I/O Control and Monitoring ...........................................101
6.16 Position Control............................................................102
6.17 Interrupt Control ...........................................................103
6.18 Digital Input/Output Control..........................................106
6.19 Position Compare Control ............................................107
Chapter 7Connection Example................................................ 110
7.1 General Description of Wiring....................................... 110
7.2 Connection Example with Servo Driver........................ 113
Product Warranty/Service......................................................... 115

How to Use This Guide
This manual is designed to help you use the PCI-8132. The manual
describes how to modify various settings on the PCI-8132 card to meet
your requirements. It is divided into seven chapters:
ŸChapter 1, "Introduction", gives an overview of the product
features, applications, and specifications.
ŸChapter 2, "Installation", describes how to install the PCI-8132.
ŸChapter 3, "Signal Connection", describes the connectors' pin
assignment and how to connect the outside signal and devices
with the PCI-8132.
ŸChapter 4, "Operation Theorem", describes detail operations of
the PCI-8132.
ŸChapter 5, “Motion Creator”, describe how to utilize a Microsoft
Windows based utility program to configure and test running the
PCI-8132
ŸChapter 6,"Function Library", describes high-level programming
interface in C/C++ and VB language. It helps programmer to
control PCI-8132 in high level language style.
ŸChapter 7, “Connection Example” shows some typical connection
examples between PCI-8132 and servo driver and stepping driver.

Introduction •1
1
Introduction
The PCI-8132 is a 2 axes motion control card with PCI interface. It can
generate high frequency pulses to drive stepping motors and servo motors.
Multiple PCI-8132 cards can be used in one system. Incrementalencoder
interface on all four axes provide the ability to correct for positioning errors
generated by inaccurate mechanical transmissions. In addition,
mechanical sensor interface, servo motor interface and general purpose
I/O signals are provided for system integration. Hardware position
compare function and trigger signal output provide users a way of taking
pictures while the motors are still in motion.
Figure 1.1 shows the function block diagram of PCI-8132 card. PCI-8132
uses one ASIC (PCL5023) to perform 2 axes motion control. This ASIC is
made of Nippon Pulse Motor incooperation. The motion control functions
include linear and S-curve acceleration/deceleration, interpolation
between two axes, continuous motion, in positioning and home return are
done by the ASIC. Since these functions needing complex computations
are done internally on the ASIC, the PC’s CPU is free to supervise and
perform other tasks.
Motion Creator, a Microsoft Windows based software is equipped with the
PCI-8132 card for supporting application development. The Motion
Creator is very helpful for debugging a motion control system during the
design phase of a project. The on-screen monitor shows all installed axis
information and I/O signals status of PCI-8132 cards. In addition to Motion
Creator, both DOS and Windows version function library are included for
programmers using C++ and Visual Basic language. Several sample
programs are given to illustrate how to use the function library.
Figure 1.2 is a flowchart that shows a recommending process of using this
manual to develop an application. Please also refer the relative chapters
for the detail of each step.

2•Introduction
Figure 1.1 Block Diagram of PCI-8132
CN2
DC/DC
Ext+24V Input
PCI Bus
Controller
PCL 5023
for axes
X & Y
FPGA for
Position
Comparison
Simultaneousl
y
CN3
Isolation
Pulse I/O
Mechanic
al
Interface
Servo
Driver
Interface
General
Purpose
I/O
Pulser
Compariso
n
Output
OUT,
DIR,
EA, EB,
EZ
+EL, -EL,
+SD,-SD,
ORG
INP,ALM
ERC SVON/RDY DI/DO 0~15
PA/PB
CMP1
CMP2
PCI Bus
Ext +5V out
CN1

Introduction •3
Figure 1.2 Flowchart of building an application
Hardware Installation
Jumper Setting
Wiring
Run Motion Creator
To Configure System
System is
OK?
END
Chapter 2 & 3
Chapter 5
Run Motion Creator
To Verify Operation
Chapter 4 & 5
Use Function Lib
rary
Todevelop Applications
Chapter 4 & 6
No
Yes

4•Introduction
1.1 Features
The following lists summarize the main features of the PCI-8132 motion
control system.
Ÿ32-bit PCI-Bus, plug and play.
Ÿ2 axes of step and direction pulse output for controlling stepping or
servomotor.
ŸMaximum output frequency of 2.4 Mpps.
Ÿ2-axis circular and linear interpolation.
Ÿ28-bit up/down counter for incremental encoder feedback.
ŸHome switch, index signal, positive and negative limit switches
interface provided for all axes.
ŸProgrammable interrupt sources.
ŸChange Speed on the Fly.
ŸPositiion Compare and Trigger Signal output.
ŸSimultaneous start/stop motion on multiple axes.
ŸManual pulser input interface.
ŸSoftware supports maximum up to 12 PCI-8132 cards (24 axes)
operation.
ŸCompact, half size PCB.
ŸMotion Creator, Microsoft Windows based application
development software.
ŸPCI-8132 Library and Utility for DOS library and Windows
95/98/NT DLL.

Introduction •5
1.2 Specifications
♦Applicable Motors:
ŸStepping motors.
ŸAC or DC servomotors with pulse train input servodrivers.
♦Performance:
ŸNumber of controllable axes: 2 axes.
ŸMaximum pulse output frequency: 2.4Mpps, linear, trapezoidal or
S-Curve velocity profile drive.
ŸInternal reference clock: 9.8304 MHz
ŸPosition pulse setting range: 0~268,435,455 pulses(28-bit).
ŸUp / down counter counting range: 0~268,435,455 (28-bit.)
or –134,217,728 to +134,217,727
ŸPulse rate setting steps: 0 to 2.4Mpps.
ŸPosition Comparison Range:-8,388,608 ~ +8388607(24 bits)
♦I/O Signales:
ŸInput/Output Signals for each axis
ŸAll I/O signal are optically isolated with 2500Vrmsisolation voltage
ŸCommand pulse output pins: OUT and DIR.
ŸIncremental encoder signals input pins: EA and EB.
ŸEncoder index signal input pin: EZ.
ŸMechanical limit/switch signal input pins: ±EL, ±SD and ORG.
ŸServomotor interface I/O pins: INP, ALM and ERC.
ŸGeneral purpose digital output pin: SVON.
ŸGeneral purpose digital input pin: RDY.
ŸPulser signal input pin: PA and PB.
ŸSimultaneous Start/Stop signal I/O pins: STA and STP.
Ÿ16 Channels Open collector digital output
Ÿ16 Channels Isolated digital input
ŸTrigger Output Signals:CMP1/CMP2
Ÿ
♦General Specifications
ŸConnectors: 100-pin SCSI-type connector
ŸOperating Temperature: 0°C ~ 50°C
ŸStorage Temperature: -20°C ~ 80°C
ŸHumidity: 5 ~ 85%, non-condensing
ŸPower Consumption:
²Slot power supply(input): +5V DC ±5%, 900mA max.

6•Introduction
²External power supply(input): +24V DC ±5%, 500mA max.
²External power supply(output): +5V DC ±5%, 500mA, max.
ŸDimension: 164mm(L) X 98.4mm(H)
1.3 Software Supporting
For the customers who are writing their own programs, we provide
MS-DOS Borland C/C++ programming library and Windows-95/98/NT DLL
for PCI-8132. These function libraries are shipped with the board.

Installation •7
2
Installation
This chapter describes how to install the PCI-8132. Please follow the
follow steps to install the PCI-8132.
ŸCheck what you have (section 2.1)
ŸCheck the PCB (section 2.2)
ŸInstall the hardware (section 2.3)
ŸInstall the software driver (section 2.4)
ŸUnderstanding the I/O signal connections (chapter 3) and their
operation (chapter 4)
ŸUnderstanding the connectors’ pinassignments (the rest of the
sections) and wiring the connections
2.1 What You Have
In addition to thisUser's Guide, the package includes the following items:
ŸPCI-8132 2 axes Servo / Stepper Motion Control Card
ŸADLINK CD
ŸUser’s Manual
Ÿ+24V power input cable (for CN1)
If any of these items are missing or damaged, contact the dealer from
whom you purchased the product. Save the shipping materials and carton
in case you want to ship or store the product in the future.

8•Installation
2.2 PCI-8132 Outline Drawing
Figure 2.1 PCB Layout of the PCI-8132
CN1: External Power Input Connector
CN2: Input / Output Signal Connector
CN3: Simultaneous Start/Stop
Front Panel

Installation •9
2.3 Hardware Installation
2.3.1 Hardware configuration
PCI-8132 has plug and play PCI controller on board. The memory usage
(I/O port locations) of the PCI card is assigned by system BIOS. The
address assignment is done on a board-by-board basis for all PCI cards in
the system.
2.3.2 PCI slot selection
Your computer will probably have both PCI and ISA slots. Donot force the
PCI card into a PC/AT slot. The PCI-8132 can be used in any PCI slot.
2.3.3 Installation Procedures
1. Read through this manual, and setup the jumper according to your
application
2. Turn off your computer, Turn off all accessories (printer, modem,
monitor, etc.) connected to computer.
Remove the cover from your computer.
3. Select a 32-bit PCI expansion slot. PCI slots are short than ISA or
EISA slots and are usually white or ivory.
4. Before handling the PCI-8132, discharge any static buildup on
your body by touching the metal case of the computer. Hold the
edge and do not touch the components.
5. Position the board into the PCI slot you selected.
6. Secure the card in place at the rear panel of the system unit using
screw removed from the slot.
2.3.4 Trouble shooting:
If your system won‘t boot or if you experience erratic operation with your
PCI board in place, it’s likely caused by an interrupt conflict (perhaps
because you incorrectly described the ISA setup). In general, the solution,
once you determine it is not a simple oversight, is to consult the BIOS
documentation that come with your system.

10 •Installation
2.4 Software Driver Installation
Please refer to thePCI Software Installation Guide.
2.5CN1 Pin Assignments: External Power Input
CN1 Pin No
Name Description
1EXGND Grounds of the external power.
2EX+24V External power supply of +24V DC±5%
Notes:
1. CN1 is a plug-in terminal board with no screw.
2. Be sure to use the external power supply. The +24V DC is used
by external input/output signal circuit. The power circuit is
configured as follows.
3.Wires for connection to CN1
Solid wire:ϕ0.32mm toϕ0.65mm (AWG28 to AWG22)
Twisted wire:0.08mm2to 0.32mm2(AWG28 to AWG22)
Naked wire length:10mm standard
The following diagram shows the external power supply system of the
PCI-8132. The external +24V power must be provided, an on-board
regulator generates +5V for both internal and external usage.
Isolation
DC/DC
+5V
GND
I/O
SIGNALS
EX+5V
EXGND
EX+24V
External
Power Supply
(OUTPUT)
Internal
Power Supply from PCI BUS
(Bus Power)
(External Power)
I/O SIGNALS

Installation •11
2.6CN2 Pin Assignments: Main connector
The CN2 is the major connector for the motion control I/O signals.
No.
Name
I/O
Function(axis•/‚)No.
Name
I/O
Function(axisƒ/„)
1VPP +5V
O
+5V power supply output 51
DO COM+
I
Ext power input for Dout
2EXGND
O
Ext. power ground 52
EXGND O
Ext. power ground
3OUT1+
O
Pulse signal (+),•53
DO0 O
Isolated digital output 0
4OUT1-O
Pulse signal (-),•54
DO1 O
Isolated digital output 1
5DIR1+ O
Dir. signal (+),•55
DO2 O
Isolated digital output 2
6DIR1-O
Dir. signal (-),•56
DO3 O
Isolated digital output 3
7SVON1
O
Multi-purpose signal, •57
DO4 O
Isolated digital output 4
8ERC1 O
Dev. ctr, clr. signal, •58
DO5 O
Isolated digital output 5
9ALM1 I
Alarm signal, •59
DO6 O
Isolated digital output 6
10
INP1 I
In-position signal, •60
DO7 O
Isolated digital output 7
11
RDY1 I
Multi-purpose signal, •61
DO8 O
Isolated digital output 8
12
EXGND
O
Ext. power ground 62
DO9 O
Isolated digital output 9
13
EA1+ I
Encoder A-phase (+), •63
DO10 O
Isolated digital output 10
14
EA1-I
Encoder A-phase (-), •64
DO11 O
Isolated digital output 11
15
EB1+ I
Encoder B-phase (+), •65
DO12 O
Isolated digital output 12
16
EB1-I
Encoder B-phase (-), •66
DO13 O
Isolated digital output 13
17
EZ1+ I
Encoder Z-phase (+), •67
DO14 O
Isolated digital output 14
18
EZ1-I
Encoder Z-phase (-), •68
DO15 O
Isolated digital output 15
19
VPP +5V
O
+5V power supply output 69
EXGND O
Ext. power ground
20
EXGND
O
Ext. power ground 70
EXGND O
Ext. power ground
21
OUT2+
O
Pulse signal (+), ‚71
DI COM+
I
Ext power input for Din
22
OUT2-O
Pulse signal (-), ‚72
DI COM+
I
Ext power input for Din
23
DIR2+ O
Dir. signal (+), ‚73
DI0 I
Isolated digital input 0
24
DIR2-O
Dir. signal (-), ‚74
DI1 I
Isolated digital input 1
25
SVON2
O
Multi-purpose signal, ‚75
DI2 I
Isolated digital input 2
26
ERC2 O
Dev. ctr, clr. signal, ‚76
DI3 I
Isolated digital input 3
27
ALM2 I
Alarm signal, ‚77
DI4 I
Isolated digital input 4
28
INP2 I
In-position signal, ‚78
DI5 I
Isolated digital input 5
29
RDY2 I
Multi-purpose signal, ‚79
DI6 I
Isolated digital input 6
30
EXGND
O
Ext. power ground 80
DI7 I
Isolated digital input 7
31
EA2+ I
Encoder A-phase (+), ‚81
DI8 I
Isolated digital input 8
32
EA2-I
Encoder A-phase (-), ‚82
DI9 I
Isolated digital input 9
33
EB2+ I
Encoder B-phase (+), ‚83
DI10 I
Isolated digital input 10
34
EB2-I
Encoder B-phase (-), ‚84
DI11 I
Isolated digital input 11
35
EZ2+ I
Encoder Z-phase (+), ‚85
DI12 I
Isolated digital input 12
36
EZ2-I
Encoder Z-phase (-), ‚86
DI13 I
Isolated digital input 13
37
PEL1 I
End limit signal (+), •87
DI14I
Isolated digital input 14
38
MEL1 I
End limit signal (-), •88
DI15 I
Isolated digital input 15
39
PSD1 I
Ramp-down signal (+), •
89
EXGND I
Ext. power ground
40
MSD1 I
Ramp-down signal (-), •90
EXGND I
Ext. power ground
41
ORG1 I
Origin signal, •91
PA+ I
Manual Pulser Input PHA+
42
EXGND
O
Ext. power ground 92
PA-I
Manual Pulser Input PHA-
43
PEL2 I
End limit signal (+), ‚93
PB+ I
Manual Pulser Input PHB+
44
MEL2 I
End limit signal (-), ‚94
PB-I
Manual Pulser Input PHB-
45
PSD2 I
Ramp-down signal (+), ‚
95
EXGND I
Ext. power ground
46
MSD2 I
Ramp-down signal (-), ‚96
CMP1 O
Position compare Trigger 1
47
ORG2 I
Origin signal, ‚97
CMP2 O
Position compare Trigger 2
48
EXGND
O
Ext. power ground 98
EXGND O
Ext. power ground
49
EXGND
O
Ext. power ground 99
VPP +24V
O
+24V power supply output
50
EXGND
O
Ext. power ground 100
VPP +24V
O
+24V power supply output

12 •Installation
2.7CN3 Pin Assignments: Simultaneous
Start/Stop
The signals on CN3 is for simultaneously start/stop signals for multiple
axes andmultiple cards.
No.
Name
Function(Axis )
1
GND Bus power ground
2
STP Simultaneous stop signal input/output
3
STA Simultaneous start signal input/output
4
STP Simultaneous stop signal input/output
5
STA Simultaneous start signal input/output
6
+5V Bus power, +5V
Note: +5V and GND pins are directly given by the PCI Bus power.