ADLINK Technology PCI-8174 User manual

Advance Technologies; Automate the World.
Manual Rev. 2.00
Revision Date: April 22, 2007
Part No: 50-11148-1000
PCI-8174
DSP-based
4-Axis Servo / Stepper
Motion Control Card
User’s Manual

Copyright 2007 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.
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.
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duced by any mechanical, electronic, or other means in any form
without prior written permission of the manufacturer.
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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.

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ADLINK TECHNOLOGY INC.
Web Site: http://www.adlinktech.com
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Address: 9F, No. 166, Jian Yi Road, Chungho City,
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Table of Contents i
Table of Contents
Table of Contents..................................................................... i
List of Tables........................................................................... v
List of Figures........................................................................ vi
1 Introduction ........................................................................ 1
1.1 Features............................................................................... 4
1.2 Specifications....................................................................... 6
1.3 Supported Software............................................................. 8
Programming Library ......................................................8
MotionCreatorPro ...........................................................8
1.4 Available Terminal Board..................................................... 8
2 Installation .......................................................................... 9
2.1 Package Contents ............................................................... 9
2.2 PCI-8174 Outline Drawing................................................. 10
2.3 PCI-8174 Hardware Installation......................................... 11
Hardware configuration .................................................11
PCI slot selection ..........................................................11
Installation Procedures .................................................11
Troubleshooting4: .........................................................11
2.4 Software Driver Installation................................................ 12
2.5 *CN1 Pin Assignment: Main Connector............................. 13
2.6 *CN2 Pin Assignment: Simultaneous Start/Stop ............... 14
2.7 SW1 Switch Setting for Card Index ................................... 15
2.8 *CN3 Manual Pulsar .......................................................... 16
3 Signal Connections.......................................................... 17
3.1 Pulse Output Signals OUT and DIR .................................. 18
3.2 Encoder Feedback Signals EA, EB and EZ....................... 21
3.3 Origin Signal ORG............................................................. 24
3.4 End-Limit Signals PEL and MEL........................................ 25
3.5 In-position Signal INP ........................................................ 26
3.6 Alarm Signal ALM.............................................................. 27
3.7 Deviation Counter Clear Signal ERC................................. 28
3.8 General-purpose Signal SVON.......................................... 29
3.9 General-purpose Signal RDY ............................................ 30

ii Table of Contents
3.10 Multi-Functional output pin: DO/CMP ................................ 31
3.11 Multi-Functional input pin:
DI/LTC/SD/PCS/CLR/EMG...................................... 32
3.12 Pulser Input Signals PA and PB (PCI-8174)...................... 33
3.13 Simultaneously Start/Stop Signals STA and STP.............. 34
4 Operation Theory.............................................................. 35
4.1 Classifications of Motion Controller.................................... 35
Voltage motion control interface ...................................35
Pulse motion control interface ......................................36
Network motion control interface ..................................36
Software real-time motion control kernel ......................37
DSP motion control kernel ............................................37
ASIC motion control kernel ...........................................37
Compare Table of all motion control types ...................38
PCI-8174 motion controller type ...................................38
4.2 Motion Control Modes........................................................ 39
Coordinate system ........................................................39
Absolute and relative position move .............................40
Trapezoidal speed profile .............................................42
S-curve and Bell-curve speed profile ............................43
Velocity mode ...............................................................45
One axis position mode ................................................46
Two axes linear interpolation position mode .................47
Two axes circular interpolation mode ...........................48
Continuous motion ........................................................49
Home Return Mode ......................................................52
Home Search Function .................................................59
Manual Pulser Function ................................................60
Simultaneous Start Function .........................................60
Speed Override Function ..............................................61
Position Override Function ...........................................62
4.3 The motor driver interface.................................................. 63
Pulse Command Output Interface ................................63
Pulse feedback input interface ......................................66
In position signal ...........................................................68
Servo alarm signal ........................................................68
Error clear signal ...........................................................69
Servo ON/OFF switch ...................................................69
Servo Ready Signal ......................................................70

Table of Contents iii
Servo alarm reset switch ..............................................70
4.4 Mechanical switch interface............................................... 71
Original or home signal .................................................71
End-Limit switch signal .................................................71
Slow down switch .........................................................71
Positioning Start switch .................................................72
Counter Clear switch ....................................................72
Counter Latch switch ....................................................72
Emergency stop input ...................................................72
4.5 The Counters..................................................................... 73
Command position counter ...........................................73
Feedback position counter ............................................74
Command and Feedback error counter ........................74
General purpose counter ..............................................75
Target position recorder ................................................75
4.6 The Comparators............................................................... 76
Soft end-limit comparators ............................................76
Command and feedback error counter comparators ....76
General comparator ......................................................76
Trigger comparator .......................................................77
4.7 Other Motion Functions ..................................................... 78
Backlash compensation and slip corrections ................78
Vibration restriction function .........................................78
Speed profile calculation function .................................79
4.8 Multiple Card Operation..................................................... 80
4.9 DSP-based Triggering functions........................................ 81
Function block diagram .................................................81
Compared points ..........................................................81
4.10 DSP-based Gantry functions ............................................. 82
Closed-loop gantry mode ..............................................83
Error handling of gantry mode ......................................83
5 MotionCreatorPro............................................................. 85
5.1 Execute MotionCreatorPro ................................................ 85
5.2 About MotionCreatorPro.................................................... 86
5.3 MotionCreatorPro Introduction........................................... 87
Main Menu ....................................................................87
Select Menu ..................................................................88
Card Information Menu .................................................89
Configuration Menu ......................................................90

iv Table of Contents
Single Axis Operation Menu .........................................96
Help Menu ..................................................................102
6 Function Library.............................................................. 103
6.1 List of Functions............................................................... 104
6.2 C/C++ Programming Library............................................ 108
6.3 System and Initialization.................................................. 109
6.4 Pulse Input/Output Configuration..................................... 111
6.5 Velocity mode motion....................................................... 114
6.6 Single Axis Position Mode ............................................... 117
6.7 Home Return Mode.......................................................... 121
6.8 Manual Pulser Motion...................................................... 124
6.9 Motion Status................................................................... 126
6.10 Motion Interface I/O ......................................................... 128
6.11 Position Control and Counters......................................... 136
6.12 Position Compare and Latch............................................ 140
6.13 General-Purpose DIO...................................................... 143
6.14 Soft Limit.......................................................................... 145
6.15 Class ID=0X1999 for Channel Trigger............................. 147
7 Connection Example ...................................................... 157
7.1 General Description of Wiring.......................................... 157
7.2 Terminal Board User Guide............................................. 157
Warranty Policy ................................................................... 159

List of Tables v
List of Tables
Table 2-1: *CN1 Pin Assignment: Main Connector .................. 13
Table 2-2: *CN2 Pin Assignment: Simultaneous Start/Stop .... 14
Table 2-3: SW1 Switch Setting for Card Index ........................ 15
Table 2-4: *CN3 Manual Pulsar ............................................... 16
Table 6-1: Data type definitions ............................................. 108

vi List of Figures
List of Figures
Figure 1-1: PCI-8174 Block Diagram........................................... 2
Figure 1-2: Flow chart for building an application ........................ 3
Figure 2-1: PCB Layout of the PCI-8174 ................................... 10