Advantech PCL-832 User manual

PCL-832
3-axis servo motor
control card

Copyright
This documentation and the software routines contained on the PCL-
832 software disk are copyrighted 1994 by Advantech Co., Ltd. All
rights are reserved.Advantech Co., Ltd. reserves the right to make
improvements in the products described in this manual at any time
without notice.
No part of this manual may be reproduced, copied, translated or
transmitted in any form or by any means without the prior written
permission of Advantech Co., Ltd. Information provided in this
manual is intended to be accurate and reliable. However, Advantech
Co., Ltd. assumes no responsibility for its use, nor for any infringe-
ments of the rights of third parties which may result from its use.
Acknowledgments
PC-LabCard is a trademark of Advantech Co., Ltd. IBM and PC are
trademarks of International Business Machines Corporation. MS-
DOS, Microsoft C and Quick Basic are trademarks of Microsoft
Corporation. BASIC is a trademark of Dartmouth College. Intel is a
trademark of Intel Corporation. Turbo C is a trademark of Borland
International.
Part No. 2005832000 1st Edition
Printed in Taiwan December 1994

Contents
Chapter 1 General information....................................... 1
Introduction........................................................................... 2
Features.................................................................................. 3
Applications ........................................................................... 3
Specifications......................................................................... 4
General................................................................................... 4
Board layout .......................................................................... 5
Chapter 2 Installation....................................................... 7
Initial inspection.................................................................... 8
Switch and jumper settings.................................................. 8
Base I/O address (SW1).................................................................8
Quadrature input multiplier (JP1, JP2, JP3) ................................10
DDA time and Error counter overflow interrupt levels (JP4) ......10
I/O Wait state level (JP5) .............................................................10
Connector pin assignments ................................................ 11
Hardware installation......................................................... 13
Chapter 3 Operation ....................................................... 1 5
PCL-832 Operating Principles .......................................... 16
Digital Differential Analysis ........................................................16
Closed-loop position control........................................................17

Chapter 3 Operation (ctd.)
Operation............................................................................. 18
The DDA cycle time ....................................................................19
The DDA pulse buffer..................................................................20
The scaling gain ...........................................................................21
The Error counter.........................................................................21
The Status register .......................................................................23
The frequency-to-voltage (F/V) converter ...................................23
Using multiple PCL-832s in one system .....................................24
Chapter 4 Programming ................................................ 2 5
Software installation ........................................................... 26
Microsoft C drivers and Turbo C drivers......................... 27
Special Procedures .......................................................................27
The Microsoft C Driver Parameter Files .......................... 28
PCLB.PAR ...................................................................................28
HOME.PAR .................................................................................29
MACHINE.PAR...........................................................................30
Microsoft C driver functions.............................................. 32
System functions..........................................................................32
Preparatory functions...................................................................32
Motion functions..........................................................................35
Motion function return codes.......................................................42
Utility functions ...........................................................................42
Turbo C low-level driver functions.................................... 45
Chapter 5 Register structure and format................... 4 9
I/O Address space................................................................ 50
I/O address Map.................................................................. 50
Register format.................................................................... 51
Appendix A Calibration .................................................. 5 7
VR Assignments ..........................................................................58
Test-Points....................................................................................59

Chapter 1 General information 1
CHAPTER
1
General information

2PCL-832 User's Manual
Introduction
3-axis control
The PCL-832 3-axis Servo-motor Control Card turns your IBM PC or
compatible computer into a sophisticated position controller. The
card's custom ASIC implementation provides high performance at an
affordable price.
The PCL-832 uses digital differential analysis techniques to imple-
ment position control. Each axis has its own position control chip,
allowing completely independent control of up to three servo motors.
A special synchronization circuit synchronizes all three axes. The card
can supply a simulated tachometer output to the servo motor driver.
This signal makes a tachometer unnecessary in some applications,
reducing overall system costs.
Software Drivers
The PCL-832's programming library (accessible from Microsoft C)
supports high-level commands and functions, making control easy.
The library includes commands to set the DDA cycle time and
acceleration/deceleration curve as well as functions for linear interpo-
lation, circular interpolation, return home and jog. Numerous exam-
ples of driving programs have also been included on the utility/
software disk.

Chapter 1 General information 3
Features
• Independent 3-axis servo control
• Fully continuous closed-loop P+offset controller
• Industry-standard two-phase index position encoder interface
• Single-ended or differential encoder interface inputs
• x1, x2, x4 quadrature feedback input
• 12-bit analog output with ±10 V range
• Built-in F/V converter
• Easy programming from C and other high-level languages
• 3-axis linear interpolation
• 2-axis circular interpolation
• Half-size AT (ISA bus) add-on card
Applications
• Precise position control
• Robotics control
• Machine control with up to three axes
• PC-based NC controller

4PCL-832 User's Manual
Specifications
• No. axes: 3 independent
• Control algorithm: Proportional control
• Positional accuracy: ±1 quadrature count
• Effective travel length: No limit
• Output type: 12-bit D/A, ±10 V full scale
• DDA cycle time: 1 msec. to 2 sec. (programmable)
• Error counter: ±12 bit
• Tachometer simulation output (F/V converter): ±10 V at 250 KHz
(default),VR adjustable
• Home sensor input: 1 channel per axis
• Encoder input: Single-ended or differential
• Counts per encoder cycle: x1, x2, x4 (jumper selectable)
• Max. quadrature input freq.: 250 KHz
General
• Bus: 16-bit AT (ISA bus)
• IRQ: 2, 3, 5, 7, 10, 11, 12 or 15
• I/O addresses: 32 I/O ports
• Connector:DB-9 for servo control
DB-25 for encoder and home signals
• Power consumption: 5 V @ 500 mA max.
12 V @ 200 mA max.
• Dimensions: 7.3" x 4" (185 mm x 100 mm)

Chapter 1 General information 5
Board layout

6PCL-832 User's Manual

Chapter 2 Installation 7
2
Installation
CHAPTER

8PCL-832 User's Manual
1 2 3 4 5
ON
A9 8 7 6 5
Initial inspection
In addition to this manual the shipping container should contain the
PCL-832 card and a utility diskette. We carefully inspected the PCL-
832 mechanically and electrically before we shipped it. It should be
free of marks and scratches and in perfect electrical order on receipt.
As you unpack the card, check it for signs of shipping damage
(damaged box, scratches, dents, etc.). If it is damaged or fails to meet
its specifications, notify our service department or your local sales
representative immediately.You will need to contact the carrier so that
it can inspect the shipping carton and packing material. We will then
arrange to repair or replace the unit.
Remove the PCL-832 interface card from its protective packaging
carefully. Keep the antistatic package. Whenever you are not using the
board, please store it in the packaging for protection.
Warning! Discharge any static electric charge on your body by
touching grounded metal before you handle the
board.You should avoid contact with materials that
create static electricity such as plastic, vinyl, and
styrofoam. Handle the board by its edges to avoid
contacting the board's integrated circuits.
Switch and jumper settings
Before you start using your PCL-832, you have to set the card's base
I/O address, quadrature multiplier (for each channel), I/O wait state
level and the interrupt levels for DDA time and the error counter.
Base I/O address (SW1)
The PCL-832 requires 32 consecutive I/O addresses. DIP switch SW1
(shown below) sets the base I/O address.

Chapter 2 Installation 9
Choose a base address that is not in use by any other I/O device. A
conflict with another device may cause one or both devices to fail.
The factory address setting (hex 240) is usually free as it is reserved
for PC prototype boards.
Switch settings for various base addresses appear below:
Card I/O addresses (SW1)
Range (hex) Switch position
12345
200 - 21F l ¡¡¡¡
220 - 23F l ¡¡¡l
*240 - 25F l ¡¡l ¡
×
300 - 31F l l ¡¡¡
×
3E0 - 3FF lllll
¡= On l= Off * = default
Note: Switches 1-5 control the PC bus address lines as follows:
Switch 12345
Address Line A9 A8 A7 A6 A5
Calculating the base address
The base address is calculated using simple mathematics. The
following example illustrates this.
Example
Calculate the base address of switch SW1.
Base address = 512+256+128+32 = 928 = 3A0 (Hex).
Base Decimal HEX
add. line value value
A9 512 200
A8 256 100
A7 128 80
A6 64 40
A5 32 20
ON
A9 A8 A7 A6 A5

10 PCL-832 User's Manual
Quadrature input multiplier (JP1, JP2, JP3)
Jumper switches JP1, JP2 and JP3 select the quadrature input multipli-
er for channels 1, 2 and 3 respectively. Set these switches as below :
(only channel 1, JP1, is shown)
JP1 ¡¡¡¡¡¡
¡¡¡¡¡¡
x1 x2 x4 (default)
DDA time and Error counter overflow
interrupt levels (JP4)
The jumper JP4 selects both the DDA time's and the Error counter's
interrupt levels (2, 3, 5, 7, 10, 11, 12, 15), as shown below:
¡¡¡¡¡¡¡¡
¡¡¡¡¡¡¡¡
¡¡¡¡¡¡¡¡
Do not select a level that is being used by another device unless you
have performed special programming to share several devices on one
interrupt.
I/O Wait state level (JP5)
Jumper JP5 (shown below) sets the wait state level of the PCL-832 to
0, 2, 3 or 4.
¡¡ 4
¡¡ 3
¡¡ 2
¡¡ 0
IRQ 15 12 11 10 7 5 3 2
ERC
DDA

Chapter 2 Installation 11
Connector pin assignments
You make all connections to the PCL-832 through one DB-25 and one
DB-9 connector, as shown below:
Connector pin assignments appear below: (only channel 1 shown -
channels 2 and 3 are similar)
CH1AIN+
DGND
CH1AIN-
CH1BIN-
CH1INDEX-
DGND
CH2AIN-
CH2BIN-
CH2INDEX-
DGND
CH3AIN-
CH3BIN-
CH3INDEX-
DGND
CH1BIN+
CH1INDEX+
CH1HOME
CH2AIN+
CH2BIN+
CH2INDEX+
CH2HOME
CH3AIN+
CH3BIN+
CH3INDEX+
CH3HOME
1
2
3
4
5
6
7
10
8
9
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
CH1FV
CH1VCMD
AGND
CH2FV
CH3VCMD
AGND
CH2VCMD
AGND
CH3FV
1
2
3
4
5
6
7
8
9
Pin Function
AGND Analog signal ground
CH1VCMD Channel 1 voltage command output
CH1FV Channel1 F/V output
DGND Digital signal ground
CH1AIN+ Channel 1 A differential positive input
CH1AIN- Channel 1 A differential negative input
CH1BIN+ Channel 1 B differential positive input
CH1BIN- Channel 1 B differential negative input
CH1INDEX+ Channel 1 index differential positive input
CH1INDEX- Channel 1 index differential negative input
CH1HOME Channel 1 home sense input
CN1 CN2

12 PCL-832 User's Manual
Connector wiring
Differential/single-ended input
With differential inputs connect the negative wire to the negative pin
and the positive wire to the positive pin. For example, with channel 3
A connect the negative input wire to CH3AIN- and the positive wire
to CH3AIN+.
With single-ended inputs connect the input to the positive pin and
leave the negative pin open.
Test-Points and VRs
Test-Points
TP1 : CH1 F/V output
TP2 : CH2 F/V output
TP3 : CH3 F/V output
TP4 : CH1 DA output
TP5 : CH2 DA output
TP6 : CH3 DA output
TP7 : Analog ground
VR
VR1 : CH1 DA output full scale adjustment
VR2 : CH1 DA output offset adjustment
VR3 : CH1 F/V output full scale adjustment
VR4 : CH1 F/V output offset adjustment
VR5 : CH2 DA output full scale adjustment
VR6 : CH2 DA output offset adjustment
VR7 : CH2 F/V output full scale adjustment
VR8 : CH2 F/V output offset adjustment
VR9 : CH3 DA output full scale adjustment
VR10 : CH3 DA output offset adjustment
VR11 : CH3 F/V output full scale adjustment
VR12 : CH3 F/V output offset adjustment

Chapter 2 Installation 13
Hardware installation
Warning! Disconnect power from your PC whenever you
install or remove the PCL-832 or its cables
Installing the card in your computer:
1. Turn off the computer and all peripheral devices (such as printers
and monitors).
2. Disconnect the power cord and any other cables from the back of
the computer. Turn the chassis so the back of the unit faces you.
3. Remove the chassis cover (see your computer users guide if
necessary).
4. Locate the expansion slots at the rear of the unit and choose an
unused slot.
5. Remove the screw that secures the expansion slot cover to the
chassis. Save the screw to secure the PCL-832.
6. Carefully grasp the upper edge of the PCL-833 card.Align the
hole in the retaining bracket with the hole on top of the expansion
slot, and align the gold striped edge connector with the expansion
slot socket. Press the board firmly into the socket.
7. Replace the screw in the expansion slot retaining bracket.
8. Attach necessary accessories to the card.
9. Replace the chassis cover. Connect the cables you removed in step
2. Turn on the computer.
Hardware installation is now complete. The installation of the soft-
ware is described in Chapter 4.

14 PCL-832 User's Manual

Chapter 3 Operation 15
CHAPTER
3
Operation

16 PCL-832 User's Manual
PCL-832 Operating Principles
Digital Differential Analysis
To understand how the PCL-832 works, it is necessary to understand
the principles of DDA (Digital DifferentialAnalysis).
In order to obtain synchronization in a multi-joint servo motor system,
all axis start sending position commands simultaneously (T1), and
stop sending these commands simultaneously (T2) as well. The
duration of this period (T2 - T1) is defined as one DDA cycle. The
duration of the DDA cycle can be set (by software) from 1 msec. to 2
seconds.
Consider the figure below. For every pulse output, the servo motor
driver will advance the servo motor "one step" (n degrees). One pulse
therefore represents one position-command.You can set the number of
pulses in one DDA cycle, from 0 to 4095. The number of pulses in
one DDA cycle represents the total position change possible by that
DDA cycle.
DDA cycle
T1 T2
CH1
CH2
CH3