Beijing ART Tech PCI1040 User manual

PCI1040
User’s Manual
Beijing ART Technology Development Co., Ltd.

PCI1040 Motion Control Card
Contents
Chapter 1Overview................................................................................................................................................ 3
1.1 Introduction .............................................................................................................................................. 3
1.2 Features..................................................................................................................................................... 3
Chapter 2 Component Layout and Pin Layout....................................................................................................... 5
2.1 Component Layout ................................................................................................................................... 5
2.1.1 Signal Input and Output Connectors.............................................................................................. 5
2.2.2 Status Indicator .............................................................................................................................. 5
2.2.3 Physical ID of DIP Switch............................................................................................................. 5
2.2 Pin Layout................................................................................................................................................. 7
Chapter 3 The Description of Functions .............................................................................................................. 12
3.1 Pulse Output Command.......................................................................................................................... 12
3.1.1 Fixed Pulse Driving Output ......................................................................................................... 12
3.1.2 Continuous Pulse Driving Output................................................................................................ 14
3.2 Acceleration and Deceleration................................................................................................................ 15
3.2.1 Constant Speed Driving............................................................................................................... 15
3.2.2 S-shaped Acceleration/Deceleration Driving............................................................................... 15
3.3 Interpolation............................................................................................................................................ 16
3.4 General Purpose Input/Output Signal ..................................................................................................... 17
3.5 The Output of Sensor.............................................................................................................................. 17
3.6 The Output of CLR................................................................................................................................. 17
3.7 Synchronous Action................................................................................................................................ 18
3.8 External start-up and origin search setting.............................................................................................. 18
3.8.1 Return-to-Origin Operation ......................................................................................................... 18
3.8.2 External Start-up.......................................................................................................................... 18
3.8.3 External Drive Mode ................................................................................................................... 18
Chapter 4 Interrupt Function ............................................................................................................................... 22
4.1 Pulse Oscillation Interrupt ...................................................................................................................... 22
4.2 Counter Interrupt .................................................................................................................................... 23
4.3 Sensor Interrupt ...................................................................................................................................... 24
4.4 Comparator Interrupt .............................................................................................................................. 25
Chapter 5 Hardware Limit Signals....................................................................................................................... 26
5.1 Initial Setting for Filter ........................................................................................................................... 26
5.2 Over Limit Signal ................................................................................................................................... 26
5.3 In-position Signal for Servo Motor......................................................................................................... 26
5.4 Alarm Signal ........................................................................................................................................... 26
5.5 Deceleration Stop Signal ........................................................................................................................ 27
Chapter 6 Status Display...................................................................................................................................... 28
Chapter 7 Notes, Warranty Policy........................................................................................................................ 29
7.1 Notes....................................................................................................................................................... 29
7.2 Warranty Policy ...................................................................................................................................... 29
Appendix PCI1040 Brief Test Method .................................................................................................................. 30
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PCI1040 Motion Control Card
Chapter 1 Overview
1.1 Introduction
PCI1040 that generates a pulse for controlling the speed and positioning of pulse train input-type servo motors
and stepping motors. PCI1040 enables 8-axis control.
This unit is comprised of an S-shaped or linear acceleration/deceleration pulse generator, a line interpolation
divider, an automatic deceleration point calculator based on trapezoidal or triangular driver, multi-counter and
encoder inputs that can be used as the current position counter or deviation counter, a return-to-origin sensor
interface, a limit sensor interface, a servo drive interface, a limit sensor interface, a servo drive interface, an
8-bit general-purpose input, and an 8-bit general-purpose output.
1.2 Features
◇CPU interface
Applicable microcomputers: 80 series, 68 series, etc.
Address occupancy: 6 bits (64 bytes) for X7083
Data bit width 8 bits
◇Drive commands
Index drive:
Continuous pulse drive:
Return-to-origin drive:
Sensor positioning drive:
◇Drive modes
Acceleration/deceleration mode: S-shaped (sine, parabolic), linear
Deceleration start point: Automatic calculation, manual setting, offset setting
Synchronization mode: Multi-axis linear interpolation, sync start
◇Encoder counter
Number of counters: 2
Bit length: 32 bits
Count inputs: Internal pulse only, external-input pulses only,
Internal pulse and external-input pulses
◇Encoder converter inputs
Number of channels: 1 channel
Input format: 2-clock, 2-phase clock 90°phase error
Multiplication: 1/2/4 multiplication
◇Comparator
Bit length: 24 bits
Comparison targets: Register and counter, counter and counter
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PCI1040 Motion Control Card
Comparison methods: =, >
◇I/O
Inputs: 8
Outputs: 8
◇Other functions
Independent setting functions for accelerator and decelerator
Timer function
Input filtering function
Interrupt function
I/O logic switching function
Status functions
◇Clock: 20.0 MHz (max), 16.384 MHz or 19.6608 MHz recommended
◇Technology: CMOS
◇Power source: Internal voltage: 3.3V IO voltage: 5V or 3.3V
◇Operating temperatures: -40 to +85℃
◇Others
Multiplication: 1~250
Actual initial speed, drive speed, acceleration, and deceleration vary directly with multiplication.
If multiplication=1, then
¾Acceleration: 125~2047875
¾Deceleration: 125~2047857
¾Initial Speed: Linear movement: 1~16383
S-shaped movement: 1~10000
¾Drive Speed: Linear movement: 1~16383
S-shaped movement: 1~10000
If multiplication=250, then
¾Acceleration: 31250~511968750
¾Deceleration: 31250~511968750
¾Initial Speed: Linear movement: 250~4095750
S-shaped movement: 250~2500000
¾Drive Speed: Linear movement: 250~4095750
S-shaped movement: 250~2500000
Pulse Output Mode: CW/CCW (2-pulse output) and Pulse/DIR(single-pulse output)
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PCI1040 Motion Control Card
Chapter 2 Component Layout and Pin Layout
2.1 Component Layout
2.1.1 Signal Input and Output Connectors
CN1: analog signal input and output connectors
2.2.2 Status Indicator
+5V: 5V power supply indicator, on for normal
2.2.3 Physical ID of DIP Switch
DID1: Set physical ID number. When the PC is installed more than one PCI1040 , you can use the DIP switch to
set a physical ID number for each board, which makes it very convenient for users to distinguish and visit each
board in the progress of the hardware configuration and software programming. The following four-place
numbers are expressed by the binary system: When DIP switch points to "ON", that means "1", and when it
points to the other side, that means "0." As they are shown in the following diagrams: place "ID3" is the high
bit."ID0" is the low bit, and the black part in the diagram represents the location of the switch. (Test software of
the company often uses the logic ID management equipments and at this moment the physical ID DIP switch is
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PCI1040 Motion Control Card
invalid. If you want to use more than one kind of the equipments in one and the same system at the same time,
please use the physical ID as much as possible. As for the differences between logic ID and physical ID, please
refer to the function explanations of "CreateDevice" and "CreateDeviceEx" of The Prototype Explanation of
Device Object Management Function in PCI1040S software specification).
ON
1
ID0ID1ID2ID3
234
ON
DID1
ON
1
ID0ID1ID2ID3
234
ON
DID1
ON
1
ID0ID1ID2ID3
234
ON
DID1
The above chart shows"1111", so it means that the physical ID is 15.
The above chart shows"0111", so it means that the physical ID is 7.
The above chart shows"0101", so it means that the physical ID is 5.
ID3 ID2 ID1 ID0 Physical ID（Hex）Physical ID（Dec）
OFF（0）OFF（0）OFF（0）OFF（0）0 0
OFF（0）OFF（0）OFF（0）ON（1）1 1
OFF（0）OFF（0）ON（1）OFF（0）2 2
OFF（0）OFF（0）ON（1）ON（1）3 3
OFF（0）ON（1）OFF（0）OFF（0）4 4
OFF（0）ON（1）OFF（0）ON（1）5 5
OFF（0）ON（1）ON（1）OFF（0）6 6
OFF（0）ON（1）ON（1）ON（1）7 7
ON（1）OFF（0）OFF（0）OFF（0）8 8
ON（1）OFF（0）OFF（0）ON（1）9 9
ON（1）OFF（0）ON（1）OFF（0）A 10
ON（1）OFF（0）ON（1）ON（1）B 11
ON（1）ON（1）OFF（0）OFF（0）C 12
ON（1）ON（1）OFF（0）ON（1）D 13
ON（1）ON（1）ON（1）OFF（0）E 14
ON（1）ON（1）ON（1）ON（1）F 15
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PCI1040 Motion Control Card
2.2 Pin Layout
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PCI1040 Motion Control Card
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PCI1040 Motion Control Card
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PCI1040 Motion Control Card
Pin name Description
ALM1 ~ALM8 Driver alarm emergency stop unit
EL P1 ~ELP8 +direction immediate stop end limit input
EL M1 ~ELM8 -direction immediate stop end limit input
SLD P1 ~SLDP8 + direction slow-down limit input
SLD M1 ~SLDM8 - direction slow-down limit input
ORG1 ~ORG8 Origin sensor input
EZ1 ~ EZ8 Encoder phase Z input
IN P1 ~INP8 Servo driver positioning completion input
MARK1 ~MARk8 Sensor positioning start input
INO ~IN7 General-purpose input
CLRA1 ~CLRA8 Clear Counter A
POUT1 ~ POUT8 Instruction pulse output
PDIR1 ~PDIR8 Direction output or instruction pulse output
CLR1 ~CLR8 1-short or general-purpose output for clearing the
deviation counter of the servo driver
SON1 ~ SON8 Servo ON output for the servo driver
OUT0 ~ OUT7 General-purpose output
EA1 ~EA8 Phase A input of encoder input
EB1 ~EB8 Phase B input of encoder input
SYNC Sync start input
INT Interrupt request signal
24V 24V Power Supply
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PCI1040 Motion Control Card
OGND Ground
+5VD 5V Power Supply
DGND Ground
NC No Connection
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PCI1040 Motion Control Card
Chapter 3 The Description of Functions
3.1 Pulse Output Command
There are two kinds of pulse output command: fixed pulse driving output and continuous pulse driving output.
3.1.1 Fixed Pulse Driving Output
When host CPU writes a pulse numbers into PCI1040 for fixed pulse
driving and configures the performance such as acceleration/
deceleration and speed, PCI1040 will generate the pulses and output
them automatically. Fixed pulse driving operation is performed at
acceleration/deceleration where the acceleration and deceleration are
equal. As shown in Fig.2.1, automatic deceleration starts when the
number of pulses becomes less than the number of pulses that were
utilized at acceleration, and driving terminates at completion of the
output of the specified output pulses. For fixed pulse driving in linear
acceleration, the following parameters must be set.
Parameter name Comment
Acceleration/Deceleration When acceleration and deceleration are equal, the
setting of deceleration is not required.
Initial Speed
Drive Speed
Number of Output Pulse
■Changing the Number of Output Pulse in Driving
The number of output pulse can be changed in the fixed
pulse driving. If the command is for increasing the output
pulse, the pulse output profile is shown as Fig. 2.2 or 2.3.
If the command is for decreasing the output pulses, the
output pulse will be stopped immediately as shown in
Fig. 2.4. Furthermore, when in the S-shaped acceleration
/deceleration driving mode, the output pulse number
change will occur to an incomplete deceleration S-shaped.
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PCI1040 Motion Control Card
■Automatic Setting Deceleration forAcceleration/Deceleration Driving
This mode can be used when the acceleration rate and deceleration rate are identical. Counter D is cleared to 0 at
the start of drive and counting is performed during drive. When the value of remaining pulse count management
counter C becomes equal to or less the value of counter D, the drive starts to decelerate. Counter D need not be
preset before the startup.
■Offset Setting Deceleration forAcceleration/Deceleration Driving
The offset function can be used for compensating the pulses when the decelerating speed does not reach the
setting initial speed during the S-shaped fixed pulse driving. The method is calculating the output acceleration
pulses and comparing them with the remaining pulses. When the remaining pulses are equal to or less the pulses
in acceleration, it starts the deceleration. The setting value is between -8,388,608 and 8,388,607. The operations
that occur are shown below.
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PCI1040 Motion Control Card
■Manual Setting Deceleration forAcceleration/Deceleration Driving
As shown in Fig. 2.1, generally the deceleration of fixed pulse acceleration/deceleration driving is controlled
automatically. However, in the following situations, it should be preset the deceleration point by the users.
●The change of speed is too often in the trapezoidal fixed pulse acceleration/deceleration driving.
●Set an acceleration, a deceleration, an jerk (acceleration increasing rate), and deceleration increasing rate
individually for S-shaped deceleration fixed pulse driving.
S-shaped acceleration/deceleration
In the S-shaped acceleration/deceleration mode, two kinds of acceleration/deceleration shapes can be used.
Namely, the parabolic curve and sine functional curve.
3.1.2 Continuous Pulse Driving Output
When the Continuous Pulse Driving is performed, PCI1040 will drive pulse output in a specific speed until stop
command or external stop signal is happened. The main application of continuous pulse driving is: home
searching, teaching or speed control. The drive speed can be changed freely during continuous pulse driving.
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PCI1040 Motion Control Card
3.2 Acceleration and Deceleration
Basically, driving pulses of each axis are output by a fixed driving command or a continuous pulse driving
command of the +direction or –direction. These types of driving can be performed with a speed curve constant
speed, linear acceleration, non-symmetrical linear acceleration, S-shaped acceleration/deceleration, or
non-symmetrical S-shaped acceleration/deceleration according to the mode that is set or operation parameter
value.
3.2.1 Constant Speed Driving
When the drive speed set in PCI1040 is lower than the initial speed (or a speed higher than the drive speed is set
as the initial speed), the acceleration/decoration will not be performed, instead, a constant speed driving starts.
If the user wants to perform the sudden stop when the home sensor or encoder Z-phase signal is active, it is
better not to perform the acceleration/deceleration driving, but the low-speed constant driving from the
beginning.
3.2.2 S-shaped Acceleration/Deceleration Driving
PCI1040 creates an S curve by increasing/reducing acceleration/deceleration in a primary line at acceleration
and deceleration of drive speed.
Fig.2.5 shows the operation of S-shaped acceleration/deceleration driving where the acceleration and the
deceleration are symmetrical. When driving starts, the acceleration increases on a straight line at the specified
jerk (K). In this case, the speed data forms a secondary parabolic curve (section a). If the difference between the
specified drive speed (V) and the current speed becomes less than the speed that was utilized at the increase of
acceleration, the acceleration starts to decrease towards 0. The decrease ratio is the same as the increase ratio
and the acceleration decreases in a linear form of the specified jerk (K). In this case, the rate curve forms a
parabola of reverse direction (section b).
The speed reaches the specified drive speed (V) or the acceleration reaches 0, the speed is maintained (section c).
In fixed pulse driving of S-shaped acceleration/deceleration where acceleration and deceleration are symmetrical,
deceleration starts when the number of remaining output pulses becomes less than the number of pulses that
were utilized. At the deceleration also, the speed forms an S curve by increasing/decreasing the deceleration in a
primary linear form (section d and e). The same operation is performed in acceleration/deceleration where the
drive speed is changed during continuous pulse driving.
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PCI1040 Motion Control Card
Fig.2.5SymmetricalS-shapedAcceleration/DecelerationDriving
3.3 Interpolation
This 8-axis motion control card can perform any 2, 3, 4 axes linear interpolation. In the process of interpolation
driving, all the calculations will follow the main axis (ax1). So, the user has to set the parameters such as initial
speed and drive speed of the main axis before performing the interpolation. During the linear interpolation, it is
not necessary to set the main axis as “long axis”.
Axes #1 to #4 of the 8 axes can be set for linear interpolation. To execute the linear interpolation, the user can,
according to the present point coordinates, set the finish point coordinates. Fig.2.6 shows an example of axis
interpolation where linear interpolation is performed from the current coordinates to the finish point coordinates.
For individual axis control, the command pulse number is unsigned, and it is controlled by +direction command
or –direction command. For interpolation control, the command pulse number is signed. The resolution of linear
interpolation is within ±0.5 LSB, as shown in Fig.2.6.
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PCI1040 Motion Control Card
Fig.2.6ThePositionAccuracyforLinearInterpolation
3.4 General Purpose Input/Output Signal
In PCI1040, there are 8 general purpose inputs and 8 general purpose outputs, OUT0~OUT7 are output pins,
IN0~IN7 are input pins. IN0 (LSB) to IN7 (MSB) form an 8-bit parallel input. Interrupt is possible at the
change of IN0 from High to Low.
OUT0 (LSB) to OUT7 (MSB) form an 8-bit parallel, general-purpose output. The 8 bits can be rewritten
simultaneously while the bit operation of each bit is possible.
3.5 The Output of Sensor
Servo ON output for the servo driver. Can be used as the general-purpose output, SON1 to SON8 are output
pins.
3.6 The Output of CLR
1-shot or general-purpose output for clearing the deviation counter of the servo driver. The 1-shot and
general-purpose output can be switched with the initial setting register of the output. The pulse duration of shot
is 32 times the reference clock period. The output logic can be switched with the output logic register. CLR1 to
CLR8 are CLR pins.
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PCI1040 Motion Control Card
3.7 Synchronous Action
Sync start input. When the sync start mode is activated, the pulse starts to be output when SYNC changes
from High to Low.
3.8 External start-up and origin search setting
3.8.1 Return-to-Origin Operation
With the return-to-coordinate-basic-origin drive, the return-to-origin operation is based on either the ORG
input alone or the ORG and EZ (Encoder phase Z) inputs.
The input sensitivity is 1 or 16 times the reference clock period.
3.8.2 External Start-up
When the sensor positioning drive is used, the set number of pulses are output when the MARK input
becomes active. The input sensitivity is 1 or 16 times the reference clock period.
3.8.3 External Drive Mode
1. Sensor positioning drive I: Positioning drive from the position where the MARK input terminal goes
active. Acceleration starts from the beginning of the drive.
2. Sensor positioning drive Ⅱ: Positioning drive from the position where the MARK input terminal goes
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PCI1040 Motion Control Card
active. Acceleration starts when the MARK input goes active.
3. Sensor positioning drive Ⅲ: Positioning drive from the position where the MARK input terminal goes
active. Acceleration and deceleration are not performed.
4. Return-to-origin Ⅰ: Return-to-origin accompanied with acceleration and deceleration. The drive
decelerates and stops when ORG goes active.
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PCI1040 Motion Control Card
5. Return-to-origin Ⅱ: Return-to-origin accompanied with acceleration and deceleration. The drive
decelerates when ORG goes active and stops when EZ goes active after reaching startup speed.
6. Return-to-origin Ⅲ: Return-to-origin at the startup speed. Immediate stop occurs when ORG goes
active.
7. Return-to-origin Ⅳ: Return-to-origin at the startup speed. Immediate stop occurs when EZ goes active
after ORG has been activated.
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