Advantech PCI-1243U User manual

PCI-1243U
4-Axis Stepping Motor Control
Card
User Manual

PCI-1243U 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. 2003124300 1st Edition
Printed in Taiwan January 2005

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.

PCI-1243U 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.
1. PCI-1243U card
2. Companion CD-ROM (DLL driver included)
3. User Manual

v
Contents
Chapter 1 General Information........................................... 2
1.1 Introduction................................................................................... 2
1.2 Features......................................................................................... 3
1.3 Applications.................................................................................. 3
1.4 Specifications................................................................................ 4
1.4.1 Digital Input / Output .................................................................... 4
1.4.2 General .......................................................................................... 4
1.5 Block Diagram.............................................................................. 5
Figure 1.1:PCI-1243U 4-Axis Stepping Motor Control Card ....... 5
Chapter 2 Installation ........................................................... 8
2.1 Hardware Installation.................................................................... 8
2.1.1 Installing the Card in your Computer: ........................................... 8
2.2 Pin Assignments ........................................................................... 9
Figure 2.1:PCI-1243U Pin Assignment ......................................... 9
2.2.1 Input / Output Circuit Connections ............................................. 11
Figure 2.2:Output Connections Example .................................... 11
Figure 2.3:Pulse Output Test Conf. (Open Collector Type) ....... 11
Figure 2.4:Isolated Digital Input Wiring Configuration ............. 12
Figure 2.5:Isolated Digital Output Wiring Configuration ........... 12
2.3 Limit Switch Configuration)....................................................... 13
Figure 2.6:Limit Switches ........................................................... 13
2.3.1 Lim+/ Lim- .................................................................................. 14
Figure 2.7:Lim Switch Test Configuration ................................. 14
2.3.2 SD+/SD- ...................................................................................... 14
Figure 2.8:SD Switch Test Configuration ................................... 14
2.3.3 ORG ............................................................................................. 15
Figure 2.9:ORG Switch Test Configuration ................................ 15
2.4 Jumper Settings........................................................................... 16
Table 2.1:JP1 Settings ................................................................. 16
Figure 2.10:EMG / Tri_STA Test Configuration ........................ 16
2.5 Setting the BoardID Switch (SW1) ............................................ 17
Table 2.2:BoardID Setting (SW1) ............................................... 17
2.5.1 BoardID Register ......................................................................... 17
Table 2.3:BoardID register of PCI-1243U .................................. 17
2.6 Software Driver Installation ....................................................... 18
Chapter 3 Motion Utility .................................................... 20
3.1 Introduction................................................................................. 20
3.1.1 Main Page .................................................................................... 20
Figure 3.1:Displaying Available PCI-1243U Cards on System .. 20
Figure 3.2:Accessing the PCI-1243U Card ................................. 21
Figure 3.3:Information Page ........................................................ 21
3.2 Configuration.............................................................................. 22
3.2.1 Machine Configuration Page ....................................................... 22
Figure 3.4:Machine Configuration Page ..................................... 23

PCI-1243U User Manual vi
3.2.2 Motion I/O Configuration Page ................................................... 23
Figure 3.5:Motion I/O Configuration .......................................... 23
3.2.3 Home Configuration Page ........................................................... 24
Figure 3.6:Home Configuration .................................................. 24
Figure 3.7:Save and Load Configuration Files ........................... 25
3.3 Motion Operations ...................................................................... 25
3.3.1 Testing Motion Movement .......................................................... 25
3.3.2 Point to Point Movement ............................................................. 26
Figure 3.8:Point to Point Movement ........................................... 27
3.3.3 Home Function ............................................................................ 28
Figure 3.9:Home Function .......................................................... 28
3.3.4 Digital I/O Operation ................................................................... 29
Figure 3.10:Digital I/O Operation ............................................... 29
Chapter 4 Register Programming ..................................... 32
4.1 Motion Control Registers ........................................................... 32
4.1.1 R0: Preset Pulse Counter (24 bits) .............................................. 32
4.1.2 R1: FL Speed Register (13 bits) .................................................. 33
4.1.3 R2: FH Speed Register (13 bits) .................................................. 33
Figure 4.1:R4’s Effect on Output Pulse Speed ............................ 33
4.1.4 R3: Accel/decel Rate Register (10 bits) ...................................... 34
Figure 4.2:R3’s Effect ................................................................. 34
4.1.5 R4: Multiplier Register (10 bits) ................................................. 35
4.1.6 R5: Ramping-Down Point Register (16 bits) .............................. 36
Figure 4.3:Setting the Ideal Ramping-Down Point ..................... 37
Figure 4.4:Pulse Calculation ....................................................... 38
4.1.7 R6: Idling Pulse Register (3-bit) ................................................. 39
4.1.8 R7: Environmental Data Register (1-bit) .................................... 39
4.2 Programming PCI-1243U........................................................... 40
4.2.1 I/O Control Register Map: ........................................................... 40
4.2.2 Command Buffer Register Format .............................................. 44
4.3 Command Modes........................................................................ 45
4.3.1 Start-Stop Commands .................................................................. 45
4.3.2 Operation Mode Select Command .............................................. 47
4.3.3 Register Select Command ........................................................... 48
4.3.4 Output Mode Select Command ................................................... 50
4.4 Status Registers........................................................................... 51
4.4.1 Status0: Channel Status Buffers (RD0, RD4, RD8 and RD13) .. 52
4.4.2 Extension Monitor ....................................................................... 52
4.5 General I/O Registers ................................................................. 54
4.5.1 Base+10h: Read Board ID ........................................................... 54
4.5.2 Base+11h: Read/Write IDO Port ................................................. 54
4.5.3 Base+12h: Read/Write IDI Port .................................................. 54
4.5.4 Base+13h: R/W IDI Port Trigger Control Register ..................... 55
4.5.5 Base+14h: IRQ Control/Enable Register Low Byte ................... 55
4.5.6 Base+15h: IRQ Control/Enable Register High Byte ................... 55
4.5.7 Base+16h: IRQ Status Low Byte ................................................ 56
4.5.8 Base+17h: IRQ Status High Byte ................................................ 56

vii
4.5.9 Timer Function Specification ...................................................... 56
4.5.10 Base+18h: Counter Data Register Low byte ............................... 57
4.5.11 Base+19h: Counter Data Register High Byte .............................. 57
4.5.12 Base+1Ah: Counter Gate Control Register ................................. 57
4.5.13 Base+1Bh: Counter Load Trigger ............................................... 57
4.6 Motion Status Register ............................................................... 58
4.6.1 Base+1Ch: STA Motion Start Trigger Source Control Register . 58
4.6.2 Base+1Dh: STA Software Source Trigger .................................. 58
4.6.3 Base+1Eh: Software Reset PCD4541 ......................................... 58
4.6.4 Base+20h: X-Axis Limit Switch Control Reg./Status ................. 59
4.6.5 Base+21h: Y-Axis Limit Switch Control Reg./Status ................. 59
4.6.6 Base+22h: Z-Axis Limit Switch Control Reg./ Status ................ 59
4.6.7 Base+23h: U-Axis Limit Switch Control Reg./Status ................. 60
4.6.8 Base+24h: +/- Limit Switch Status ............................................. 60
4.6.9 Example of reading Status Register ............................................ 61
4.7 Typical Operational Procedures ................................................ 63
4.7.1 Initialization ................................................................................. 63
4.7.2 Setting Speed Data ...................................................................... 64
4.7.3 Constant Speed Preset Model ...................................................... 65
4.7.4 High Speed Preset Model ............................................................ 66
4.7.5 Constant Speed Continuous Mode .............................................. 67
4.7.6 High Speed Continuous Mode .................................................... 68
4.7.7 Constant Speed Origin Return Model ......................................... 69
4.7.8 High Speed Origin Return Model ............................................... 70
Appendix A Diagrams ........................................................ 72
A.1 Jumper and Switch Layout ......................................................... 72
A.2 PCI-1243U Block Diagram ........................................................ 73
A.3 Output Circuit Diagram .............................................................. 73
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 Stepping Motor Power Control Circuit ....... 79
Appendix C Home Function .............................................. 82
C.1 How to Read the Home Velocity Profile.................................... 82
C.2 Home Mode0 ..................... 83
Figure C.1:Velocity Profile of Home Mode0 .............................. 83
C.3 Home Mode1 .............................................................................. 84
Figure C.2:Velocity Profile of Home Mode1 .............................. 84
C.4 Home Mode6 .............................................................................. 85
Figure C.3:Velocity Profile of Home Mode6 .............................. 85
C.5 Home Mode9 .............................................................................. 86
Figure C.4:Velocity Profile of Home Mode9 .............................. 86

PCI-1243U User Manual viii

2
CHAPTER
1
General Information
If you have just purchased the PCI-
1243U, 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

PCI-1243U User Manual 2
Chapter 1 General Information
1.1 Introduction
PCI-1243U is a high-speed four-axis stepping motor control card that
simplifies stepping motor control, giving you added performance from
your stepping motors.
Four-Axis Control
PCI-1243U has one single-chip pulse generator on-board, which enables
the simultaneous and independent control of three axes. PCI-1243U pro-
vides digital pulse and directional control (+ and -) for each stepping
motor axis.
User-Friendly Interface
PCI-1243U has been designed to act as a user-friendly solution for your
stepping motor control applications. Programming the PCI-1243U is very
easy. Windows DLL drivers and a utility are provided, and they contain
all the command functions needed for total control of your stepping
motors.
Digital I/O
PCI-1243U features 8 isolated digital inputs and 8 isolated digital outputs
for general I/O use (on/off control etc.).
Isolation Protection
The PCI-1243U's PULSE and DIRECTION outputs and five limits input
switches are isolated from the PC side.

3 Chapter1
1.2 Features
• One on-board pulse generator that enables simultaneous independent
control of four stepping motors
• Two operating modes - two-pulse (+ and - direction pulse) or one-pulse
(pulse-direction) mode
• Programmable step rate from 1 to 400k 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
• Command Interpreter provided that eases learning the PCI-1243U com-
mand set
1.3 Applications
• Precise X-Y-Z position control
• Precise rotation control
• Robotics and assembly equipment
• Other stepping-motor applications

PCI-1243U 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 - 400 kpps
• Acceleration/deceleration ramping: User programmable start, run and
ramping rates.
• Output polarity: Positive/negative going pulse (programmable)
• Output Sink Protection: 1.1 A / all channels
• Output Type: Open Collector, 150 mA/ch, Vmax = 30 V DC
• Limit *5 / EMG *1 / All Isolated / Ref DOC
• Limit switch input voltage: external +12V to +24V
• Limit: ORG/+-SD/+-EL:NC,NO Control By Register
• EMG/Tri-Start: Isolated : NC, NO Control By Jumper
1.4.1 Digital Input / Output
• Input channels: 8 Isolated DI
• Output channels: 8 Isolated open-collector DO
• Input voltage range: DC+12V ~ +24V
• Output capability: Open Collector, 150 mA/ch, Vmax = 30 V DC
1.4.2 General
• Power Consumption:
Normal: 340 mA/ 5 V
Max: 500 mA / 5 V
• Connector: 62-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: PCI-1243U 4-Axis Stepping Motor Control Card
P
C
B
U
S
Address
Address
Decoder
Buffer
IRQ Selecteor
DATA
BUS
PCD-4541
2 Phase Stepping
Motor Controller
System
DIO
BLOCK
OUTPUT
ISOLATOR
DIR &
PULSE
OUTPUT
S
INPUT
ISOLATOR
ORG,EL
+
,
EL- &
SD+,SD
-
INPUTS
DIGITAL
OUTPUTS
DIGITAL
INPUTS

PCI-1243U User Manual 6

2
CHAPTER
2
Installation
If you have not yet configured and/or
installed your PCI-1243U, or need to
change the configuration this chapter
will give you the information you
require.
Sections include:
• Hardware Installation
• Pin Assignments
• Limit Switch Configuration
• Jumper Settings
• BoardID

PCI-1243U User Manual 8
Chapter 2 Installation
2.1 Hardware Installation
After you have set the jumpers and BoardID switch, you will be ready to
install the card in your PC's chassis. The following section will assist you
in installing PCI-1243U.
2.1.1 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 that the back of the unit faces
you.
3. Remove the chassis cover (see your computer users guide if neces-
sary).
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 chas-
sis. Save the screw to secure PCI-1243U.
6. Carefully grasp the upper edge of the PCI-1243U 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. Replace the chassis cover.
9. Connect the D-62 male connector to the PCI-1243U's 62-pin
female connector. Connect the connector to your stepping motor
driver according to the specifications outlined in Section 2.2.
10. Connect the cables you removed in step 2. Turn on the computer.
Hardware installation is now complete.
Warning! Disconnect power from your PC whenever you
install or remove the PCI-1243U or its cables.

9 Chapter2
2.2 Pin Assignments
This section assists with connecting the PCI-1243U’s 62-pin connector to
a variety of stepping motor drivers.
The following diagrams shows PCI-1243U’s pin connector assignments,
and offer some examples of input/output circuit connections from the
card to the driver. You should select the example that best supports your
application needs and the capabilities of your stepping motor driver.
Figure 2.1: PCI-1243U Pin Assignment
Note: Output circuit diagrams of the stepping motor
can be found in Appendix B
57
30
35
BDIR
E
XT_COM
2
CSD-
DLCOM
26
16
53
59
45
EXT_GND
52
31
60
36
IDO_COM 38
15
CLIM+
62
BLIM+
42
IDI2
56
ASD+
EXT_GND 24
BSD-
CPulse
11
IDO6
47
IDI5
IDI0
AORG
39
25
Tri_STA (reverse
d)
21
IDO1
DORG
7
EXT_GND
13
46
58
48
EXT_GND
43
BORG
CORG
22
1
6
9
CLCOM
41
8
NC
IDI7
27
ALIM-
55
DLIM+
20
51
DSD-
BLIM-
BPulse
DLIM-
ADIR
37
5
ALCOM
IDI_COM
IDO7
19
34
ASD-
CSD+
23
IDO3
49
APulse
50
54
DPulse
BSD+
CLIM-
12
32
10
44
IDI4
BLCOM
IDO4
14
3
28
IDI1
61
IDO0
29
33
40
EMG
IDO5
IDO2
ALIM+
IDI3
17
4
EXT_GND
NC
DDIR
CDIR
EXT_GND
DSD+
18
IDI6
NC

PCI-1243U User Manual 10
Driving Pins for Each Axis
DIR/-dir Direction signal output (in direction mode) or (-) direction
pulse output (in pulse mode)
Pulse/+dir Pulse signal output (in direction mode) or (+) direction
pulse output (in pulse mode)
Emergency Stop Pins
EMG Emergency Stop input
Tri_STA Input channel for motion start external trigger signal.
The hardware trigger start function is reserved for future
usage.
EXT_COM Isolated inputs common point for EMG and Tri_STA
channel
Limit Switch Pins
Lim+ (+) Direction limit switch input
Lim- (-) Direction limit switch input
SD+ (+) Direction slowdown limit switch input
SD- (-) Direction slowdown limit switch input
ORG Original (home) point limit switch input
LCOM Limit switch common point for each channel
Isolated Digital Input Pins
IDIx Isolated Digital Input channels, x= 0~7
IDI_COM Common ground for IDI channels
Isolated Digital Output Pins
IDOx Isolated Digital Output channels, x=0~7
IDO_COM Common point for IDO channels
EXT_GND Ground pin for IDO channels

11 Chapter2
2.2.1 Input / Output Circuit Connections
The figure below illustrates an example of PCI-1243U output connec-
tions to the stepping motor driver.
Figure 2.2: Output Connections Example
The following figure illustrates the connection of the pulse output pin to
the external device.
Figure 2.3: Pulse Output Test Configuration (Open Collector Type)
+5V
390 Ohm
CW+
390 Ohm
CW-
EXT_GND
CCW-
CCW+
GND
CW/PULSE
PCI-1243 KR-5MC-5M Motor Driver
CCW/DIR
V
OUTx/DIRx
IVCC (5V)
+
Load
Imax= 100mA
Driver
-
EXT_GND
Vmax = 30V DC

PCI-1243U User Manual 12
PCI-1243U provides 8 isolated DI channels and 8 isolated DO channels.
With general purpose I/O points, users can control and monitor peripheral
sensors in their applications. The following figures illustrate how the I/O
points are connected.
Figure 2.4: Isolated Digital Input Wiring Configuration
Figure 2.5: Isolated Digital Output Wiring Configuration
IDI0 ~ 7
IDI_COM
(4.7k)
V
V = 12 ~ 24 Vdc
V
V-
IDO_COM +
Load
IDO0 ~ 7
EXT_GND
Imax = 200 mA/CH (1.1A/all
)
IVCC (5V) Vmax = 30 V DC