Advantech PCL-839+ User manual

PCL-839+
3-Axis Stepping Motor Control
Card
User Manual

PCL-839+ User Manual ii
Copyright
The documentation and the software included with this product are copy-
righted 2004 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 man-
ual 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 reli-
able. However, Advantech Co., Ltd. assumes no responsibility for its use,
nor for any infringements of the rights of third parties, which may result
from its use.
Acknowledgements
PC-LabCard is a trademark of Advantech Co., Ltd.
IBM and PC are trademarks of International Business Machines Corpora-
tion.
MS-DOS, Microsoft C and Quick Basic are trademarks of Microsoft Cor-
poration.
BASIC is a trademark of Dartmouth College.
Intel is a trademark of Intel Corporation.
Turbo C is a trademark of Borland International.
All other product names or trademarks are properties of their respective
owners.
Part No. 2003083900 1st Edition
Printed in Taiwan May 2004

iii
Product Warranty (2 years)
Advantech warrants to you, the original purchaser, that each of its prod-
ucts will be free from defects in materials and workmanship for two years
from the date of purchase.
This warranty does not apply to any products which have been repaired or
altered by persons other than repair personnel authorized by Advantech,
or which have been subject to misuse, abuse, accident or improper instal-
lation. Advantech assumes no liability under the terms of this warranty as
a consequence of such events.
Because of Advantech’s high quality-control standards and rigorous test-
ing, most of our customers never need to use our repair service. If an
Advantech product is defective, it will be repaired or replaced at no
charge during the warranty period. For out-of-warranty repairs, you will
be billed according to the cost of replacement materials, service time and
freight. Please consult your dealer for more details.
If you think you have a defective product, follow these steps:
1. Collect all the information about the problem encountered. (For
example, CPU speed, Advantech products used, other hardware
and software used, etc.) Note anything abnormal and list any
onscreen messages you get when the problem occurs.
2. Call your dealer and describe the problem. Please have your man-
ual, product, and any helpful information readily available.
3. If your product is diagnosed as defective, obtain an RMA (return
merchandize authorization) number from your dealer. This allows
us to process your return more quickly.
4. Carefully pack the defective product, a fully-completed Repair and
Replacement Order Card and a photocopy proof of purchase date
(such as your sales receipt) in a shippable container. A product
returned without proof of the purchase date is not eligible for war-
ranty service.
5. Write the RMA number visibly on the outside of the package and
ship it prepaid to your dealer.

PCL-839+ User Manual iv
CE
This product has passed the CE test for environmental specifications
when shielded cables are used for external wiring. We recommend the use
of shielded cables. This kind of cable is available from Advantech. Please
contact your local supplier for ordering information.
Technical Support and Assistance
Step 1. Visit the Advantech web site at www.advantech.com/support
where you can find the latest information about the product.
Step 2. Contact your distributor, sales representative, or Advantech's cus-
tomer service center for technical support if you need additional
assistance. Please have the following information ready before
you call:
- Product name and serial number
- Description of your peripheral attachments
- Description of your software (operating system, version, appli-
cation software, etc.)
- A complete description of the problem
- The exact wording of any error messages
Packing List
Before setting up the system, check that the items listed below are
included and in good condition. If any item does not accord with the
table, please contact your dealer immediately.
The IPPC-9170 Series industrial panel PCs include the following models:
1. PCL-839+ card
2. Companion CD-ROM (DOS and DLL driver included)
3. User Manual

v Table of Contents
Contents
Chapter 1 General Information ....................................... 2
1.1Introduction .................................................................................... 2
1.2Features .......................................................................................... 3
1.3Applications.................................................................................... 3
1.4Specifications ................................................................................. 4
1.4.1Digital Input / Output ................................................................. 4
1.4.2General ....................................................................................... 4
1.5Block Diagram................................................................................ 5
Figure 1.1:PCL-839+ 3-Axis Stp. Motor Control Card . 5
Chapter 2 Installation ....................................................... 8
2.1Switch and Jumper Settings............................................................ 8
2.1.1Setting the PCL-B39 Base I/O address (S1) ............................... 8
Table 2.1:Card I/O addresses (S1) ................................. 8
Figure 2.1:S1 - Base Address Setting ............................ 9
2.2Limit Switch Configuration (JP1, JP2, JP3)................................... 9
2.2.1EL+/ EL ...................................................................................... 9
2.2.2SD+/SD ...................................................................................... 9
2.2.3ORG ........................................................................................ 9
2.3Limit Switch Polarity Setting ....................................................... 10
2.3.1JP1, JP2 and JPJ Selection ........................................................ 10
Figure 2.2:Using Limit Switches (1) ........................... 10
Figure 2.3:Normally-Open Wiring .............................. 11
Figure 2.4:Normally-Closed Wiring ............................ 11
2.3.2Interrupt Level Selection (JP4) ................................................. 12
Figure 2.5:Setting the Interrupt Level .......................... 12
2.4Hardware Installation .................................................................. 12
2.4.1Installing the Card in Your Computer: ..................................... 13
2.5PCL-839+ Pin Connections.......................................................... 13
2.5.1The 37-pin Female Connector (CN3) ....................................... 14
2.5.2Example Input / Output Circuit Connections ........................... 15
Figure 2.6:Isolated Output Connection ........................ 15
Figure 2.7:Non-Isolated 12 V Bias Connection ........... 16
Figure 2.8:TTL Compatible Output Connection ......... 16
Figure 2.9:Current Driver Output Connection ............. 17
2.5.3Digital Input and Output Connectors (CN1, CN2) ................... 17
Figure 2.10:CN1 (Digital Output) ............................... 18
Figure 2.11:CN2 (Digital Input) .................................. 18
Chapter 3 PCL-839+ Software Library ........................ 20
3.1Introduction .................................................................................. 20
3.2The PCL839P.H Header File........................................................ 20
3.3The PCL839Px.LIB Library file................................................... 22
3.4Function Call Descriptions ........................................................... 23

PCL-839+ User Manual vi
3.4.1Function 1: set base .................................................................. 23
3.4.2Function 2: set mode ................................................................ 24
3.4.3Function 3: set_speed ............................................................... 25
3.4.4Function 4: status ...................................................................... 26
3.4.5Function 5: stop ........................................................................ 27
3.4.6Function 6: slowdown .............................................................. 28
3.4.7Function 7: sldn_stop ............................................................... 29
3.4.8Function 8: waitrdy ................................................................... 30
3.4.9Function 9: out_port ................................................................. 31
3.4.10Function 10: in_port ............................................................... 32
3.4.11Function 11: org ..................................................................... 33
3.4.12Function 12: cmove ................................................................ 34
3.4.13Function 13: pmove ................................................................ 35
3.4.14Function 14: line ..................................................................... 36
3.4.15Function 15: arc ...................................................................... 37
Chapter 4 Register Programming.................................. 40
4.1PCL-839+ Registers ..................................................................... 40
4.1.1R0 : Down-Counter (24 bits) .................................................... 40
4.1.2R1: FL Register (13 bits) .......................................................... 41
4.1.3R2: FH Register (13 bits) ......................................................... 41
4.1.4R3: Acc. / Dec. Rate Register (10 bits) .................................... 42
4.1.5R4: Multiplier Register (10 bits) .............................................. 43
4.1.6R5 :Ramping-down Point Register (16 bits) ............................ 43
Figure 4.1:Relation Btw. R5 & the Rmp. Down V. ..... 44
4.1.7R6: Idling pulse register (3-bit) ................................................ 46
4.1.8R7: Output type register (1-bit) ................................................ 46
4.2Programming the PCL-839+ ........................................................ 47
4.3I/O Register Control Format......................................................... 47
Table 4.1:Register I/O Address Map ........................... 47
4.4Command Buffers: WRO, WR4 and WR8. ................................. 49
4.4.1Register Format ........................................................................ 49
Table 4.2:Register Format ........................................... 49
4.4.2Selection Modes ....................................................................... 49
Table 4.3:Selection Modes .......................................... 49
4.5Commands.................................................................................... 50
4.5.1Start-Stop Command ................................................................ 50
4.5.2Operation Mode Select Command ........................................... 52
4.5.3Register Select Command ........................................................ 53
4.5.4Output Mode Select Command ................................................ 55
4.6Read Status ................................................................................... 56
4.6.1Channel Status Buffers (RD0, RD4 and RD8) ......................... 57
Figure 4.2:Status 0-bit Configuration .......................... 57
4.6.2Data Buffers: WR1, WR5 and WR9 ........................................ 57
4.6.3Data Buffers: WR2, WR6 and WR10 ...................................... 57
4.6.4Data Buffers: WR3, WR4 and WR11 ...................................... 58
Figure 4.3:Status 1 Bit Configuration .......................... 58

vii Table of Contents
Figure 4.4:Status 2 Bit Configuration .......................... 59
4.6.5Digital Outputs: WR12 and WR13 ........................................... 60
4.6.6Digital Inputs: RD12 and RD13 ............................................... 60
4.6.7Interrupt Control: WR14 .......................................................... 61
Figure 4.5:Interrupt Path of the PCL-839+ .................. 61
4.6.8Interrupt Status Register: RD14 ............................................... 61
4.7Typical Operational Procedures .................................................. 62
4.7.1Initialization .............................................................................. 62
4.7.2Setting Speed Data ................................................................... 63
4.7.3Constant Speed Preset Mode .................................................... 64
4.7.4High Speed Preset Mode .......................................................... 65
4.7.5Constant Speed Continuous Mode ........................................... 66
4.7.6High Speed Continuous Mode .................................................. 67
4.7.7Constant Speed Origin Return Mode ....................................... 68
4.7.8High Speed Origin Return Mode .............................................. 69
Appendix A Diagrams ........................................................ 72
A.1Jumper and Switch Layout .......................................................... 72
A.2PCL-839+ Block Diagram........................................................... 73
A.3Output Circuit Diagram ............................................................... 74
Appendix B Simple St. Motor Driver ............................... 76
Figure B.1:Simple Stepping Motor Driver Block Diagram
76
Figure B.2:Pattern Encoder Connection ...................... 76
Figure B.3:JP1 at Full Step Control ............................. 77
Figure B.4:JP1 at Half Step Control ............................ 78
Figure B.5:4-Phase Stp. Motor Power Control Circuit 79

PCL-839+ User Manual viii

2
CHAPTER
1
General Information
If you have just purchased the PCL-
839+, or just need to brush up on its
features or specifications, you would
want to read this chapter.
Sections include:
• Introduction
• Features
• Applications
• Specifications
• Block Diagram

PCL-839+ User Manual 2
Chapter 1 General Information
1.1 Introduction
The PCL-839+ is a high-speed three-axis stepping motor control card that
simplifies stepping motor control, giving you added performance from
your stepping motors.
Three-Axis Control
The PCL-839+ has three single-chip pulse generators on-board, which
enables the simultaneous and independent control of three axes. The
PCL-839+ provides digital pulse and directional control (+ and -) for each
stepping motor axis.
User-Friendly Interface
The PCL-839+ has been designed to act as a user-friendly solution for
your stepping motor control applications. Programming the PCL-839+ is
very easy. 'C' Libraries are provided and they contain all the command
functions needed for total control of your stepping motors.
Stand-Alone Interpreter
A stand-alone, non-resident command interpreter, PROGg39.EXE, can
also be used to control your stepping motors without any programming.
Digital I/O
The PCL-839+ features 16 digital inputs and 16 digital outputs for gen-
eral I/O use (on/off control etc.).
Isolation Protection
The PCL-839+'s PULSE and DIRECTION outputs and five limits input
switches are isolated from the PC side.

3 Chapter1
1.2 Features
• Three on-board pulse generators that enables simultaneous independent
control of three stepping motors
• Two operating modes - two-pulse (+ and - direction pulse) or one-pulse
(pulse-direction) mode
• Programmable step rate from 1 to 200k pps (pulses per second).
• Programmable initial speed, final speed and time duration. Automatic
trapezoidal acceleration/deceleration tamping is performed
16 I/O TTL Compatible Channels
• All inputs/outputs are optically isolated, providing 5000Vrms isolation
protection
• 'C' libraries containing device drivers provided
• Command Interpreter provided that eases learning the PCL-839+ com-
mand set
1.3 Applications
• Precise X-Y-Z position control
• Precise rotation control
• Robotics and assembly equipment
• Other stepping-motor applications

PCL-839+ User Manual 4
1.4 Specifications
• Number of axes: Three independent axes (individually programmable)
• Operating modes: Two-pulse mode (+ or – direction) or one-pulse
(pulse-direction) mode
• Steps per command: ±16777215 steps
• Step Rate: 1-200K
• Acceleration/deceleration ramping: User programmable start, run and
ramping rates.
• Output polarity: Positive/negative going pulse (programmable)
• Pull-up voltage: external +5 V ~ +12 V
• Output protection: Opto-coupled with 1 kΩpull-up resistor
• Output driving capacity: 20mA @ 0.4VDC
• Limit switch inputs: 2 “Emergency stop” inputs, 2 “Slow down/Accel-
erate” inputs and 1 “ORG” input. All limits switches are isolated from
the PC.
• Limit switch input voltage: external +5V to +12V
• Interrupt channels: IRQ 2, 4, 5, 7, 10, 11, 12 or 15 (jumper selectable)
• Limit switch types: Normal –open (NO) or normal-closed (NC) –
jumper selectable
1.4.1 Digital Input / Output
• Input channels: sixteen (+5V TTL compatible)
• Output channels: sixteen (+5V TTL compatible)
• I/O address range: sixteen consecutive I/O address
1.4.2 General
• Power Consumption: Typical 330mA, +5VDC
• Connector: 37-pin D-type connector
• Board Dimensions: 183.5 x 99.06 mm
• Operating Temperature: 0 ~70° C

5 Chapter1
1.5 Block Diagram
Figure 1.1: PCL-839+ 3-Axis Stepping Motor Control Card
P
C
B
U
S
Address
Address
Decoder
Buffer
IRQSelecteor
PCL-AK
STEPPINGMOTOR
CONTROLLER
DATA
BUS
PCD-4541
FOR
FUNCTION
DECODER
DIO
BLOCK
OUTPUT
ISOLATOR
DIR &
PULSE
OUTPUT
S
INPUT
ISOLATOR
ORG,EL+,
EL- &
SD+,SD-
INPUTS
DIGITAL
OUTPUTS
DIGITAL
INPUTS
PCL-839+HIGHSPEEDSTEPPING MOTOR CONTROL
CARD

PCL-839+ User Manual 6

2
CHAPTER
2
Installation
If you have not yet configured and/or
installed your PCL-839+, or need to
change the configuration (e.g. set a dif-
ferent base address), this chapter will
give you the information you require.
Sections include:
• Switch and Jumper Settings
• Limit Switch Configuration
• Limit Switch Polarity Setting
• Hardware Installation
• PCL-839+ Pin Connections

PCL-839+ User Manual 8
Chapter 2 Installation
2.1 Switch and Jumper Settings
Before you install the PCL-839+, you need to select the card's base
address, and set the limit switch configurations as well as the interrupt
level that the card will use. This section describes this procedure in detail.
2.1.1 Setting the PCL-B39 Base I/O address (S1)
The PCL-839+ requires 16 consecutive I/O addresses. DIP switch S1
(shown below) sets the base I/O address.
Choose a base address that is not in use by any other I/O device. A con-
flict with another device may cause one or both devices to fail. The fac-
tory address setting (hex 300) is usually free as it is reserved for PC
prototype boards.
Switch settings for various base addresses appear below:
Switches 1-6 control the PC bus address lines as follows:
Table 2.1: Card I/O addresses (S1)
Range (hex) Switch position
9 8 7654<=Addr.
Line
200 - 20F OFF ON ON ON ON ON
210 - 21F OFF ON ON ON ON OFF
:
*300 - 30F OFF OFF ON ON ON ON
:
3F0 – 3FF OFF OFF OFF OFF OFF OFF
* = default

9 Chapter2
Figure 2.1: S1 - Base Address Setting
2.2 Limit Switch Configuration (JP1, JP2, JP3)
The PCL-839+ features 5 limit switches for additional control of the out-
put.
2.2.1 EL+/ EL
These are the End Limit signal inputs. When the signal of the same direc-
tion as the pulse output (in direction or pulse mode) becomes active, pulse
output stops immediately.
2.2.2 SD+/SD
These are the Slow-Down signal inputs. They are in operation in the SD-
enable mode (refer to the control select modes). When the signal of the
same direction as the pulse output (in direction or pulse mode) becomes
active during high-speed start, the frequency ramps down. When the sig-
nal becomes inactive, the frequency ramps up again.
2.2.3 ORG
This is the Origin point input. When this signal becomes active during
origin return (refer to the control select modes), pulse output stops imme-
diately.
Although the PCL-839+ caters for five limit switches, not all of them
have to be operation in one application. Refer to Fig 2.2 (on the next
page) for an example of the use of limit switches.
SWITCH 1 2 3 4 5 6
Line A9 A8 A7 A6 A5 A4
123456
ON

PCL-839+ User Manual 10
2.3 Limit Switch Polarity Setting
JP1, JP2 and JP3 set the polarity for channels C, B and A respectively.
When the jumper is set to LO (normal), the limit switch uses 'normally
open' as default. When the jumper is set to HI, the limit switch uses' nor-
mally closed' as default.
2.3.1 JP1, JP2 and JPJ Selection
HI Normally Closed
LO Normally Open
The figures on below illustrate limit switch use and settings.
Figure 2.2: Using Limit Switches (1)
TABLE
MOTOR
DRIVER
INPUT
ISOLATOR
OUTPUT
ISOLATOR
PCL-839+
EL+
ORG
EL-
SD+
SD-
DIR
PULS
E
(+)DIRECTION (-)DIRECTION

11 Chapter2
Figure 2.3: Normally-Open Wiring
Figure 2.4: Normally-Closed Wiring
LCOM
+5V ~ +12V
EL+
EL-
GND
GND
Limit switch is --normalopen type
Limitswitch polarityjumper (JP1,2,3)mustbe putto-- LO position
PCL-839+
LCOM
+5V ~ +12V
EL +
EL -
GND
GND
Limit switch is -- normalclosetype
Limitswitch polarityjumper(JP1,2,3) mustbeput to-- HI position
PCL-839+

PCL-839+ User Manual 12
2.3.2 Interrupt Level Selection (JP4)
You have to set jumper JP4 to select the card's interrupt level (2, 4, 5, 7,
10, 11, 12 or 15), as shown below:
Card interrupt (default = 7)
Figure 2.5: Setting the Interrupt Level
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.
You can also control interrupt generation by software. If the interrupt is
enabled by software, and the PCL-839+ completes a motion, it will gen-
erate an interrupt. Your program can then determine which channel
caused the interrupt by reading the status register.
2.4 Hardware Installation
After you have set the base address, limit-switch configuration and the
interrupt level (as described in the previous section), you are ready to
install the card in your PC's chassis. The following section will assist you
in installing the PCL-839+.
Warning! Disconnect power from your PC whenever you
install or remove the PCL-839+ or its cables
245710111215
JP4
IRQ