ADLINK Technology PCI-8366+ User manual

Advance Technologies; Automate the World.
Manual Rev. 2.04
Revision Date: June 13, 2008
Part No: 50-1H001-1020
PCI-8372+/8366+
cPCI-8312H
SSCNET Motion Control Card
User’s Manual

Copyright 2008 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.
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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
Sales & Service: [email protected]
TEL: [phone]
FAX: [phone]
Address: 9F, No. 166, Jian Yi Road, Chungho City,
Taipei, 235 Taiwan
Please email or FAX this completed service form for prompt and
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Table of Contents i
Table of Contents
Table of Contents..................................................................... i
List of Tables........................................................................... v
List of Figures....................................................................... vii
1 Introduction ........................................................................ 1
1.1 Specifications....................................................................... 4
1.2 Environmental Conditions.................................................... 9
1.3 Software Support............................................................... 10
Programming Library ....................................................10
Motion Creator ..............................................................10
2 Installation ........................................................................ 11
2.1 What You Have.................................................................. 11
2.2 PCI-8372+/8366+ Outline Drawing.................................... 12
2.3 cPCI-8312(H) Outline Drawing.......................................... 13
2.4 Hardware Installation......................................................... 15
Installation Procedures .................................................15
LED Status ...................................................................15
KernelUpdate Utility of SSCNET card ..........................16
SSCNET Communication Test Utility ...........................19
2.5 Software Driver Installation................................................ 21
2.6 CN1 Pin Assignment: SSCNet Connector on PCB............ 22
2.7 CN5 Pin Assignment: PCI-8372+/8366+ I/O Connector.... 23
2.8 SP1 Pin Assignment: cPCI-8312(H) I/O Connector .......... 24
2.9 CN3 Pin Assignment: TTL output Connector on bracket... 25
2.10 HS1A - HS2B Pin Assignments: HSL Communication Signal
(RJ-45)..................................................................... 26
3 Signal Connections.......................................................... 27
3.1 SSCNet Servo Driver Connection...................................... 27
3.2 Encoder Feedback Signals: EA, EB and EZ .................... 29
3.3 PEL, MEL, ORG, EMG and General Purpose DI .............. 32
3.4 General Purpose DO......................................................... 36
3.5 TTL Output......................................................................... 37
3.6 Analog Output.................................................................... 38
3.7 Analog Input (cPCI-8312(H) Only)..................................... 38

ii Table of Contents
3.8 Pulse Output (cPCI-8312(H) Only) .................................... 39
4 Operation Theory.............................................................. 41
4.1 Architecture........................................................................ 41
HOST PC and SSCNET Board .....................................41
SSCNet Communication ...............................................41
4.2 Frame Architecture ............................................................ 42
Frame Introduction ........................................................42
4.3 Single Motion..................................................................... 44
Single axis velocity motion ............................................44
Single axis P to P motion ..............................................45
Multi axes velocity motion .............................................47
Multi axes P to P motion ...............................................48
Linear Interpolation .......................................................48
Circular Interpolation .....................................................53
Change Velocity on the Fly ...........................................54
Position Compensation on the Fly ................................57
4.4 Home move........................................................................ 59
Declaration for Beginning of Motion List .......................60
Add Trajectory pieces ...................................................61
Declaration for End of Motion List .................................68
Start/Stop command .....................................................69
4.5 Motion Related IO.............................................................. 69
Position control and feedback .......................................70
Velocity Feedback ........................................................72
Motion DIO status .........................................................72
Software limit ................................................................73
Motion Status ................................................................74
Motion Input as General Input ......................................76
4.6 General Purpose IO........................................................... 77
Encoder Counter ...........................................................77
DIO ...............................................................................81
DA .................................................................................81
AD .................................................................................82
Analog channel auto calibration ....................................82
4.7 Driver Management ........................................................... 84
Driver parameter ...........................................................84
Data monitoring ............................................................86
Servo Information .........................................................93
Servo On .......................................................................94

Table of Contents iii
Driver information .........................................................94
Servo Alarm ..................................................................95
4.8 Control Gain Tuning........................................................... 95
Control Gains ................................................................96
Mechanical resonance suppression filter ......................98
Low pass filter .............................................................101
4.9 Interrupt control................................................................ 102
4.10 Position Compare Function ............................................. 105
4.11 Interlock Function ............................................................ 106
4.12 Absolute Position System................................................ 108
4.13 Compared Trigger Output................................................ 109
4.14 Sequence Motion Control ................................................ 114
Conceptual Flow Chart ...............................................115
Coding Example 1: Using C Language ......................120
Coding Example 2: Compare Start Condition ............124
5 Motion Creator................................................................ 131
5.1 Overview.......................................................................... 131
5.2 Main Window................................................................... 131
Component description ...............................................132
Operation Steps ..........................................................137
5.3 General Purpose IO Operation Window (PCI-8372+/8366+) .
137
Component description ...............................................138
Operation Steps ..........................................................139
5.4 General Purpose IO Operation Window (cPCI-8312H)... 140
Operation Steps ..........................................................141
Pulse Output Page .....................................................142
Component description ...............................................143
5.5 Tuning Window................................................................ 143
Component Description ..............................................144
Operation Steps ..........................................................149
Example ......................................................................149
5.6 XY-Interpolation Window ................................................. 150
Component description ...............................................151
Operation steps ..........................................................151
5.7 Two-Axes Operation Window.......................................... 152
Component description ...............................................152
Operation Steps ..........................................................154
5.8 Single Axis Operation Window ........................................ 155

iv Table of Contents
Component description ...............................................155
Motion I/O Configration Window .................................157
Interrupt Configration Window ....................................158
Operation Steps ..........................................................159
5.9 Driver Parameter Configuration Window ........................ 160
Component description ...............................................160
Operation Steps ..........................................................162
6 Appendix.......................................................................... 163
6.1 MR-J2S-B Alarm List ....................................................... 163
6.2 MR-J2S-B Warning List ................................................... 165
6.3 Driver Parameter List ...................................................... 166
6.4 Handshake Procedure..................................................... 168
Card Initial Procedure .................................................168
Card Close Procedure ................................................169
Card Soft Reset Procedure .........................................170
Motion Command Procedure ......................................170
Motion Command Timing ............................................172
6.5 cPCI-8312H High Speed Link Initial Guide...................... 174
Warranty Policy ................................................................... 175

List of Tables v
List of Tables
Table 1-1: Specifications ........................................................... 4
Table 1-2: Vibration Resistance ................................................. 9
Table 2-1: CN1 Pin Assignment .............................................. 22
Table 2-2: CN5 Pin Assignment .............................................. 23
Table 2-3: SP1 Pin Assignment ............................................... 24
Table 2-4: CN3 Pin Assignment .............................................. 25
Table 2-5: HS1A - HS2B Pin Assignment ................................ 26
Table 3-1: Encoder Feedback Signals: EA, EB and EZ .......... 29
Table 3-2: Encoder Power ....................................................... 31
Table 3-3: PEL, MEL, ORG, EMG and General Purpose DI ... 32
Table 3-4: General Purpose DO Pinout ................................... 36
Table 3-5: TTL Output Pinout .................................................. 37
Table 3-6: Analog Output Pinout ............................................. 38
Table 3-7: Analog Input Pinout ................................................ 38
Table 3-8: Pulse Output Pinout ................................................ 39
Table 4-1: start_tr_move Data Table ....................................... 44
Table 4-2: set_position_compensate Values ........................... 58
Table 4-3: Axis Status .............................................................. 74
Table 4-4: Motion Status .......................................................... 75
Table 4-5: Encoder Resistor .................................................... 78
Table 4-6: MR-J2SB Parameters ............................................. 84
Table 4-7: Monitoring Targets .................................................. 88
Table 4-8: Axis Parameters ..................................................... 91
Table 4-9: Data Array Offset .................................................... 93
Table 4-10: Servo Bit Information .............................................. 93
Table 4-11: Selectable Gains .................................................... 98
Table 4-12: Notch Frequency Settings ...................................... 99
Table 4-13: Notch Gain Settings .............................................. 100
Table 4-14: Suppression Control Settings ............................... 100
Table 4-15: Axis Interrupts ....................................................... 104
Table 4-16: System Interrupts ................................................. 104
Table 4-17: GPIO Interrupts .................................................... 104
Table 4-18: Pattern Index ........................................................ 118
Table 4-19: Sequences ............................................................ 120
Table 6-1: MR-J2S-B Alarm List ............................................ 163
Table 6-2: MR-J2S-B Warning List ........................................ 165
Table 6-3: Driver Parameter List ............................................ 166
Table 6-4: Card Initial Procedure ........................................... 168

vi List of Tables
Table 6-5: Card Close Procedure .......................................... 169
Table 6-6: Card Soft Reset Procedure ................................... 170
Table 6-7: Motion Command Procedure ................................ 171