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