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.
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
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Please contact us should you require any service or assistance.
ADLINK TECHNOLOGY INC.
Web Site: http://www.adlinktech.com
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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

Introduction 1
1 Introduction
The PCI-8174 is an advanced DSP-based 4-axis motion control
card with a PCI interface. Unlike other dummy pulse motion con-
trollers, the PCI-8174 provides DSP kernel for high level machine
makers to integrate time-critical motion procedure into a motion
controller and eliminates the timing issue in traditional PC-based
controllers.
For high-end systems, timing is very important for high throughput
demands. Using traditional polling and event-driven methods, all
production procedures must be programmed on a PC. It contents
many “check” and “do” procedures, wasting CPU time and missing
“checks” if the CPU is busy. Even it is checked, the “do” action will
be delayed when CPU is busy, which can result in serious conse-
quences.
The PCI-8174 was designed to improve timing issues in traditional
PC-based controllers. It reserves the flexibility of PC-based con-
troller for open architecture and enhances the time-critical applica-
tion capability by a built-in DSP. A real-time OS is not necessary
either.
The PCI-8174 unique by different DSP kernels. One DSP kernel
contains one specific feature and can be used for one specific
application field or for one specific customer. Loading a different
DSP kernel gives the PCI-8174 different features. The DSP kernel
could also be customized to help speed up and stabilize systems.
The PCI-8174 has various terminal boards for connecting to many
kinds of AC servos. The pin definitions are the same as ADLINK 4-
axis stepper/servo motion controller, such as the PCI-8134 or PCI-
8164. If you currently use such ADLINK product, simply transfer
your old design to new one. The PCI-8174 also provides the same
traditional motion functions to migrate from old 4-axis board to
new PCI-8174.
Figure 1-1 shows the functional block diagram of the PCI-8174
card. A DSP as a main chip. Around the DSP are the major motion
ASIC, PCL6045, and some necessary components for DSP, such
as SDRAM and DPRAM.

2Introduction
Figure 1-1: PCI-8174 Block Diagram
MotionCreatorPro is a Windows-based application development
software package included with the PCI-8174. MotionCreatorPro
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 I/O signal status of the PCI-8174.
Windows programming libraries are also provided for C++ com-
piler and Visual Basic. Sample programs are provided to illustrate
the operations of the functions.
Figure 1-2 illustrates a flow chart of the recommended process in
using this manual in developing an application. Refer to the
related chapters for details of each step.
DSP
Bus Bridge
Aux
I/O
Computer
Bus
Pulse
PEL
MEL
ORG
DIO
EA
EB
EZ
DPRAM
SDRAM
Flash
ROM
PCL 6045
CN2
Encoder
I/O
SCSI 100 pins
Isolation
OUT
DIR

Introduction 3
Figure 1-2: Flow chart for building an application

4Introduction
1.1 Features
The following list summarizes the main features of the PCI-8174
motion control system.
X32-bit/33Mhz PCI bus (Universal type for both 3.3V and 5V)
XOn board 200Mhz DSP TI TMS320C6711D with 1200
MFLOPS
XTime-critical specific DSP kernel for options
X4 axes of step and direction pulse output for controlling
stepping or servomotor
XMaximum output frequency of 6.55 MPPS
XPulse output options: OUT/DIR, CW/CCW, AB phase
XPulse input options: CW/CCW, AB phase x1,x2,x4
XMaximum pulse input frequency of 3.2Mhz in CW/CCW or
AB phase X1 mode. (AB phase x4 could reach 6.5Mhz)
XProgrammable acceleration and deceleration time for all
modes
XTrapezoidal and S-curve velocity profiles for all modes
X2 to 4 axes linear interpolation
X2 axes circular interpolation and 3 axes helical interpolation
XContinuous interpolation for contour following motion
XChange position and speed on the fly
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
X4-axis high speed position latch input
X4-axis position compare and trigger output
XAll digital input and output signals are 2500Vrms isolated
XProgrammable interrupt sources
XSimultaneous start/stop motion on multiple axes
XManual pulser input interface

Introduction 5
XCard index selection
XSecurity protection on EERPOM
XDedicated emergency input pin for wiring
XSoftware supports a maximum of up to 12 PCI-8174 cards
operation in one system
XCompact PCB design
XIncludes MotionCreatorPro, a Microsoft Windows-based
application development software
XPCI-8174 libraries and utilities for Windows 2000/XP/Vista.

6Introduction
1.2 Specifications
Applicable Motors:
XStepping motors
XAC or DC servomotors with pulse train input servo drivers
Performance:
XNumber of controllable axes: 4
XMaximum pulse output frequency: 6.55MPPS, linear, trape-
zoidal, or S-Curve velocity profile drive
XInternal reference clock: 19.66MHz
X28-bit up/down counter range: 0-268, 435, 455 or –134,
217, 728 to +134, 217, 727
XPosition pulse setting range (28-bit): -134, 217, 728 to
+134, 217, 728
XPulse rate setting range (Pulse Ratio = 1: 65535):
Z0.1 PPS to 6553.5 PPS. (Multiplier = 0.1)
Z1 PPS to 65535 PPS. (Multiplier = 1)
Z100 PPS to 6553500 PPS. (Multiplier = 100)

Introduction 7
I/O Signals:
XInput/Output signals for each axis
XAll I/O signal are optically isolated with 2500Vrms isolation
voltage
XCommand pulse output pins: OUT and DIR
XIncremental encoder signals input pins: EA and EB
XEncoder index signal input pin: EZ
XMechanical limit/home signal input pins: ±EL, ORG
XComposite pins: DI / LTC (Latch) / SD (Slow-down) / PCS
(Position Change Signal) / CLR (Clear) / EMG (Emergency
Input)
XServomotor interface I/O pins: INP, ALM, and ERC
XGeneral-purposed digital output pin: SVON, DO
XGeneral-purposed digital input pin: RDY, GDI
XPulse signal input pin: PA and PB (with Isolation)
XSimultaneous Start/Stop signal: STA and STP
General Specifications
XConnectors: 100-pin SCSI-type connector
XOperating Temperature: 0°C - 50°C
XStorage Temperature: -20°C - 80°C
XHumidity: 5 - 85%, non-condensing
Power Consumption
XSlot power supply (input): +5V DC ±5%, 900mA max
XExternal power supply (input): +24V DC ±5%, 500mA max
XExternal power supply (output): +5V DC ±5%, 300mA, max
PCI-8174 Dimensions (PCB size):
X185mm(L) X 100 mm(W)

8Introduction
1.3 Supported Software
1.3.1 Programming Library
Windows 2000/XP/Vista DLLs are provided for the PCI-8174.
These function libraries are shipped with the board.
1.3.2 MotionCreatorPro
This Windows-based utility is used to setup cards, motors, and
systems. It can also aid in debugging hardware and software prob-
lems. It allows users to set I/O logic parameters to be loaded in
their own program. This product is also bundled with the card.
Refer to Chapter 5 for more details.
1.4 Available Terminal Board
ADLINK provides the servo & steppers use terminal board for
easy connection. For steppers, we provide DIN-100S which is pin-
to-pin terminal board. For servo users, ADLINK offers DIN-814M,
DIN-814M-J3A, DIN-814Y and DIN-814P-A4. The suitable servos
are listed as follows:
Mitsubishi J2 Super DIN-814M
Mitsubishi J3A DIN-814M-J3A
Yaskawa Sigma II DIN-814Y
Panasonic MINAS A4 DIN-814P-A4

Installation 9
2 Installation
This chapter describes how to install PCI-8174. Please follow
these steps below:
XCheck what you have (section 2.1)
XCheck the PCB (section 2.2)
XInstall the hardware (section 2.3)
XInstall the software driver (section 2.4)
XUnderstanding the I/O signal connections (chapter 3) and
their operation (chapter 4)
XUnderstanding the connector pin assignments (the remain-
ing sections) and wiring the connections
2.1 Package Contents
In addition to this User’s Guide, the package also includes the fol-
lowing items:
XPCI-8174: advanced 4-axis Servo / Stepper Motion Control
Card
XADLINK All-in-one Compact Disc
Note: The terminal board is an optional accessory and would not
be included in PCI-8174 package.
If any of these items are missing or damaged, contact the dealer
from whom you purchased the product. Save the shipping materi-
als and carton to ship or store the product in the future.

10 Installation
2.2 PCI-8174 Outline Drawing
Figure 2-1: PCB Layout of the PCI-8174
XCN2/CN3: DSP Synchronous Signal Connector
X*CN1: Input / Output Signal Connector (100-pin)
X*CN2: Simultaneous start / stop signal input/output
X*CN3: Manual Pulsar
XSW1: DIP switch for card index selection (0-15)
Note: ‘*’ means which connector on Daughter board.