ICP DAS USA I-8092F Parts list manual

http://www.icpdas.com I8092F Getting Started ManualVer.2.31
I-8092F Getting Started Manual
(Version 2.3)
Hardware & Software & Application
Using I-8092F PAC Motion Control Module

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Warranty
All products manufactured by ICPDAS Inc. are warranted against defective
materials for a period of one year from the date of delivery to the original
purchaser.
Warning
ICPDAS Inc. assumes no liability for damages consequent to the use of this
product. ICPDAS Inc. reserves the right to change this manual at any time
without notice. The information furnished by ICPDAS Inc. is believed to be
accurate and reliable. However, no responsibility is assumed by ICPDAS Inc. for
its use, or for any infringements of patents or other rights of third parties
resulting from its use.
Copyright
Copyright 1997-2005 by ICPDAS Inc., LTD. All rights reserved worldwide.
Trademark
The names used for identification only maybe registered trademarks of
their respective companies.
License
The user can use, modify and backup this software on a single machine.
The user may not reproduce, transfer or distribute this software, or any copy, in
whole or in part.

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Contents of I8092F
1 INTRODUCTION...............................................................6
1.1 Introduction................................................................................................6
1.2 Hardware Specification.............................................................................7
1.2.1 Main Specification .................................................................................... 7
1.2.2 Interpolation Function............................................................................... 7
1.2.3 Pulse Output............................................................................................. 7
1.2.4 Encoder Input ........................................................................................... 8
1.2.5 Position counter........................................................................................ 8
1.2.6 Servo Motor Input Signal.......................................................................... 8
1.2.7 Limit Switch Input Signal .......................................................................... 8
1.2.8 Other Input Signals................................................................................... 8
1.2.9 Emergency Stop Signal Input ................................................................... 9
1.2.10 General Output Signal............................................................................ 9
1.2.11 Integral Input Signal Filters ..................................................................... 9
1.2.12 Software Limit......................................................................................... 9
1.2.13 Manual Pulse Generator ........................................................................ 9
1.2.14 LED for Module status............................................................................ 9
1.2.15 FRnet ..................................................................................................... 9
1.3 Environment.............................................................................................10
1.4 Ordering Information..............................................................................10
2 HARDWARE INSTALLATION......................................11
2.1 Checking Package and Installation........................................................ 11
2.1.1 Checking package...................................................................................11
2.1.2 Installation ...............................................................................................11
2.2 DN-8237-GB Daughter Board ................................................................12
2.2.1 Board Layout for DN-8237-GB ............................................................... 12
2.2.2 Signal Connections for DN-8237-GB...................................................... 13
2.2.3 Jumper and Switch Settings ................................................................... 17
2.3 Input/Output Connections......................................................................20
2.3.1 Pulse output signals ............................................................................... 20
2.3.2 Connection for Limit switch Signal.......................................................... 22
2.3.3 General Purpose Input Signals(nINPOS,nALARM)................................ 22
2.3.4 Encoder Signals ..................................................................................... 23
2.3.5 Emergency Stop Signal .......................................................................... 23

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2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-)............................... 24
2.3.7 General Purpose Output signals(Servo On/Off) ..................................... 24
2.4 Connection Example for Motor Driver .................................................25
3 SOFTWARE DEVELOPMENT OVERVIEW...............26
3.1 Software development Overview............................................................26
3.1.1 Register Module ..................................................................................... 27
3.2 Safety IO Setting......................................................................................27
3.2.1 Emergency Stop Signal Input ................................................................. 27
3.2.2 Configure the Servo ALARM Signals...................................................... 27
3.2.3 Configure the Limit Switch Signals(±EL) ................................................ 27
3.2.4 Configure the Software Limite(±SEL) ..................................................... 28
3.3 Error Checking ........................................................................................28
3.4 Basic Configuration of Motion...............................................................28
3.5 Manual Pulse Generator Testing............................................................29
3.6 Home Search.............................................................................................30
3.6.1 Home Search Configuration ................................................................... 30
3.7 Basic Motion.............................................................................................32
3.7.1 Speed Profie of the Motion Control......................................................... 32
3.7.2 Basic Setting of Single Axis .................................................................... 33
3.7.3 Basic Motion of Single Axis .................................................................... 34
3.7.4 Basic Setting of Muti-Axes Interpolation................................................. 34
3.7.5 Basic Motion of Muti-Axes Interpolation ................................................. 35
3.8 Advance Motion .......................................................................................35
4 GETTING STARTED OF SOFTWARE.........................37
4.1 WinCon eVC++ Guideline ......................................................................37
4.1.1 Confirm the Relative Files ...................................................................... 37
4.1.2 Create a new eVC++ Application Project ............................................... 37
4.1.3 Add the I8094.h into eVC++ Application Project ..................................... 39
4.1.4 Add the Reference Path into eVC++ Application Project ........................ 40
4.1.5 Start the eVC++ Sample......................................................................... 41
4.1.6 Build the Project ..................................................................................... 44
4.1.7 Download and Run................................................................................. 45
4.2 Microsoft Visual Studio .NET 2003(VB.NET，C#) Guideline............46
4.2.1 Confirm the Relative Files ...................................................................... 46
4.2.2 Create a new VB.NET/C# Application Project ........................................ 46

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4.2.3 Add the DLL into Application Project....................................................... 48
4.2.4 Start the VB.NET/C# Sample ................................................................. 50
4.2.5 Build the Project ..................................................................................... 53
4.2.6 Download and Run................................................................................. 53
4.3 I-8000 Turbo C Guideine.........................................................................53
4.3.1 Confirm the Relative Files ...................................................................... 53
4.3.2 Create a new TC ++ Application Project................................................. 54
4.3.3 Start the TC Sample ............................................................................... 56
4.3.4 Build the Project ..................................................................................... 63
4.3.6 Download and Run................................................................................. 63
APPENDIX-A SETUPTOOLS & OTHERS.....................65
A.1 Setup the Development Environment of I8094 ....................................65
A.1.1 eVC ++ 4.0............................................................................................. 65
A.1.2 Visual Studio .NET 2003(VB.NET，C#)................................................. 65
A.1.3 Turbo C .................................................................................................. 65
A.2 I8094 Surface...........................................................................................66
A.3 Dimensions...............................................................................................67
A.4 The Version Upgrades Note....................................................................67
APPENDIX B OTHER TERMINAL BOARDS................68
B.1 DN-8237-DB Daughter Board................................................................68
B.1.1 Board Layout for DN-8237-DB ............................................................... 68
B.1.2 Signal Connections for DN-8237-DB ..................................................... 69
B.1.3 Jumper and Switch Settings................................................................... 74
B.2 DN-8237-MB Daughter Board...............................................................77
B.2.1 Board Layout for DN-8237-MB............................................................... 77
B.2.2 Signal Connections for DN-8237-MB ..................................................... 78
B1.3 Jumper and Switch Settings.................................................................... 85
B.3 DN-8237-PB Daughter Board ................................................................87
B.3.1 Board Layout for DN-8237-PB ............................................................... 87
B.3.2 Signal Connections for DN-8237-PB...................................................... 88
B.3.3 Jumper and Switch Settings................................................................... 93
B.4 DN-8237-YB Daughter Board................................................................95
B.4.1 Board Layout for DN-8237-YB ............................................................... 95
B.4.2 Signal Connections for DN-8237-YB...................................................... 96
B.4.3 Jumper and Switch Settings................................................................. 101

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1 INTRODUCTION
1.1 Introduction
The I-8092F are the 2-axis pulse-type stepping/servo motor motion control
module that can be used on any of the ICPDAS I-8000, WinCon and LinCo series
controllers, and is suitable for general-purpose motion application. These modules
contain a high-performance motion ASIC. Apart from a wide speed range, these
intelligent motion controllers have a variety of motion control functions built in, such as
2-axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/
deceleration, automatic homing, and others. Besides, it is a module that has full
functions of I-8092F plus one port of FRnet. The FRnet port allows this module to
expand its fast remote I/O easily. This two-wired FRnet can automatically scan its 128
DI and 128 DO with a period of 0.72/2.88ms. In addition, most of the I-8092F motion
control functions are performed with little load on the processor. While driving the
motors, the motion status, and the other I/O status on the I-8000, WinCon, or LinCon
controllers, can still be monitored. As a result of the low CPU loading requirements of
I-8092F, one or more motion modules may be used on a single I-8000, WinCon, ot
LinCon controllers. ICPDAS also has provided a wide range of functions and
examples to reduce the need for programming by user, making it a highly
cost-effective solution for machine makers.
I8092f with PAC controller (WinCon-8000、LinCon-8000、I-8000)

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1.2 Hardware Specification
1.2.1 Main Specification
ASICChip MCX312
Number of controllable 2-axis, Pulse output (stepping & servo
motor)
Up to 4M PPS pulse output
1.2.2 Interpolation Function
2-axis linear interpolation
Interpolation range −8,388,607 ~ +8,388607
Vectors speed of interpolation 1 PPS ~ 4M PPS
Precision of interpolation ± 0.5 LSB
Circular interpolation
Interpolation range −8,388,607 ~ +8,388607
Vectors Speed of interpolation 1 PPS ~ 4M PPS
Bit interpolation
Vectors Speed of interpolation 1 PPS ~ 4M PPS(Dependent on CPIU
data writing time)
Relative interpolation function
Fixed vectors speed
Continuous interpolation
1.2.3 Pulse Output
Output speed range 1 PPS ~ 4 MPPS
Output precision ± 0.1%
Jerk range of S-curve 954 ~ 62.5 x 10^6 PPS/S^2
477 x 10^3 ~ 31.25 x 10^9 PPS/S^2 
Acceleration/deceleration range 125 ~ 1 x 10^6 PPS/S
62.5×10^3 ~ 500 x 10^6 PPS/S
Speed precision 1 PPS ~ 500PPS( Depend on the
max.speed)
Output numbers 0 ~ 4,294,967,295 / unlimited
Velocity profiles mode:
Fixed
Symmetrical & Asymmetrical Trapezoidal velocity profile

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Symmetrical & Asymmetrical S-curve velocity profile
Acceleration & Deceleration mode
Auto
By user define
Position & Speed change on the fly
Fixed pulse output by Trapezoidal and S-curve velocity profile
Pulse output option: CW/CCW, PULSE/DIR
Programmable logic level （Rising Edge/ Falling Edge）
1.2.4 Encoder Input
Encoder option: A/B phase, Up/Down
Programmable A/B phase mode: 1, 1/2, and 1/4 A/B phase
Programmable direction of counter
1.2.5 Position counter
Command counter range −2,147,483,648 ~ +2,147,483,647
Encoder counter range −2,147,483,648 ~ +2,147,483,647
Programmable ring counter
Programmable direction of counter
Programmable read & write counter
1.2.6 Servo Motor Input Signal
Alarm
Choose IN2: In Position or Servo Ready signal
Choose input signal: Enable/Disable and logical level.
1.2.7 Limit Switch Input Signal
Two-limit switch signal for each axis: +Limit, −Limit
Programmable logic level
Programmable action mode( slow-down stop or immediately stop)
1.2.8 Other Input Signals
IN3 : Digital Input of general purpose.

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1.2.9 Emergency Stop Signal Input
There is a Emergency stop signal for Each module.
1.2.10 General Output Signal
Capability of configurable nOUT0 of each axes as general purpose DO
signals.
Capability of configurable nOUT1 of each axes as Servo On/Off signal.
1.2.11 Integral Input Signal Filters
The motion module is equipped with an integral type filter in the input step of
each input signal. User can be selected a filter time constant.
1.2.12 Software Limit
There are two software-limit for each axis: -SLimit & + SLimit ( Setting range :
−2,147,483,646 ~ +2,147,483,646)
1.2.13 Manual Pulse Generator
Fixed Pulse Driving Mode (CW/CCW pulse mode)
Continuous Pulse Driving Mode (CW/CCW pulse mode)
Manual pulsar mode(A/B phase pulse mode)
Disable Mode: Disable manual pulse function
1.2.14 LED for Module status
Red LED ÆPower light
Orange LED ÆServo Alarm
Ex:Misuibishi driver, No Alm: turn Orange LED on
Green LED Æduring Running Motion
1.2.15 FRnet
Connect to the distributed DI/DO module DI Æmax up to 128
DO Æmax up to 128
Read the status of distributed DI
Control the status of distributed DO
Support interrupt and frequence division function
Reset function

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1.3 Environment
Operating Temp: -20 ~ + 75°C
Storage Temp: -30 ~ +85°C
Operating Humidity: 10 ~ 85%，non-condensing
Storage Humidity: 5 ~ 90%，non-condensing
I/O optically isolated 2500Vrms
External Power supply( Input): 24V DC (connect to terminal board)
1.4 Ordering Information
i8092F 2-axis motion control module
DN-8237GB For general purpose usage
DN-8237DB For Delta ASDA Servo motor
DN-8237MB For Mitsubishi J2 Servo motor
DN-8237PB For Panasonic minas A4 Servo motor
DN-8237YB For Yaskawa Σ-Ⅱ Servo motor
CA-3710DM 37-pin Dsub cable，length:1.0 m
CA-3730DM 37-pin Dsub cable，length:3.0 m
CA3750DM 37-pin Dsub cable，length:5.0 m
4PCA-SCSI20-M1 20-pin SCSI cable, length: 1.0 m
4PCA-SCSI50-D1 50-pin SCSI cable for Delta, length: 1.0 m
4PCA-SCSI50-PY1 50-pin SCSI cable for Panasonic and Yaskawa, length:
1.0 m


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2 HARDWARE INSTALLATION
2.1 Checking Package and Installation
2.1.1 Checking package
The i8092F are a 2-axis stepping/servo motor control module that can be
used on any of the ICPDAS I-8000, WinCon and WinPAC series controllers.
2.1.2 Installation
Prepare controller
1. Choose a PAC controller of ICPDAS (I-8000 or W-8000series) and have empty
slot.
2. Turn power off
Module Plug in controller and wiring
1. Plug in the i8092F into a empty slot of I-8000/W-8000.
2. Connect the i8092F with DN-8237 by a CA-3710DM cable, as the below figure:
Figure. i8092F with PAC controller (WinCon-8000、LinCon-8000、I-8000)

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2.2 DN-8237-GB Daughter Board
The DN-8237-GB is the daughter board for General Purpose Ampilifiers. It has 2-axis I/O
signals.
2.2.1 Board Layout for DN-8237-GB
TB1
RJ1
CON3 CON2
CON1
37 PIN CONNECTOR
EMG
SW
CON4
JP5
Y X
DN-8237-MB
107mm
110mm
JP1
JP2
JP3
JP4
Fig. 2-1 Board layout for the DN-8237-GB

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2.2.2 Signal Connections for DN-8237-GB
Maintaining signal connections is one of the most important factors in ensuring that your
application system is sending and receiving data correctly.
Pin Assignment for CON1
The I/O connector on the DN-8237-GB is a 37-pin connector that enables you to connect to the
PISO-PS200(or I-8092F) motion card. Fig. 2-2 shows the pin assignment for the 37-pin I/O
connector on the DN-8237-GB (or on the motion card), and refer to Table 2-2 for description of
each motion I/O signal.
Fig. 2-2 I/O connector pin assignment for the CON1

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Table 2-2 DN-8237-MB CON1 I/O connector signal description
Pin name Pin number Description
FR_A 19 FRnet A-phase signal
FR_B 37 FRnet B-phase signal
X_ECA 18 Encoder A-phase signal for the X axis
Y_ECA 36 Encoder A-phase signal for the Y axis
X_ECB 17 Encoder B-Phase signal for the X axis
Y_ECB 35 Encoder B-Phase signal for the Y axis
X_STOP2 16 Stop 2 signal for the X axis
Y_STOP2 34 Stop 2 signal for the Y axis
X_INPOS 15 In-position signal for the X axis
Y_INPOS 33 In-position signal for the Y axis
X_ALARM 14 Alarm signal for the X axis
Y_ALARM 32 Alarm signal for the Y axis
X_LMTP 13 Limit switch input signal (+) for the X axis
Y_LMTP 31 Limit switch input signal (+) for the Y axis
X_LMTM 12 Limit switch input signal (-) for the X axis
Y_LMTM 30 Limit switch input signal (-) for the Y axis
X_STOP0 11 Stop 0 signal for the X axis
Y_STOP0 29 Stop 0 signal for the Y axis
X_STOP1 10 Stop 1 signal for the X axis
Y_STOP1 28 Stop 1 signal for the Y axis
X_IN3 9 Input 3 signal for the X axis
Y_IN3 27 Input 3 signal for the Y axis
X_EXPP 8
EXT pulsar input signal (+) for the X axis
Y_EXPP 26
EXT pulsar input signal (+) for the Y axis
X_EXPM 7
EXT pulsar input signal (-) for the X axis
Y_EXPM 25
EXT pulsar input signal (-) for the Y axis
X_OUT0 6
Output 0 signal for the X axis
Y_OUT0 24
Output 0 signal for the Y axis
X_OUT1 5
Output 1 signal for the X axis
Y_OUT1 23
Output 1 signal for the Y axis
XPP 4
Driving pulsar signal (+) for the X axis
YPP 22
Driving pulsar signal (+) for the Y axis
XPM 3
Driving pulsar signal (+) for the X axis
YPM 21
Driving pulsar signal (+) for the Y axis
EMGN 2 Emergency stop input signal
VCC 20 Module power (+5V)
GND 1 Ground

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CON2 & CON3 (I/O connector for each AXIS)
The connectors CON2 and CON3 are 20-pin connectors that enable you to connect to the I/O
signals for general purpose motor drivers. Fig.2-3 shows the pin assignment for the 20-pin
connector on the DN-8237-GB, and the Table 2-3 shows its I/O connector signal description.

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CON4
The connector CON4 is 16-pin connector that enables you to connect to the signals of your
motor drivers. Fig.2-4 shows the pin assignment for the 11-pin connector on the DN-8237-GB,
and the Table 2-4 shows its I/O connector signal description.
TB1
The connector TB1 is 5-pin connector that enables you to connect to the signals of your motor
drivers. Fig.2-4 shows the pin assignment for the 5-pin connector on the DN-8237-GB, and the
Table 2-4 shows its I/O connector signal description.

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RJ1 (The I/O signals of the FRnet)
The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of
FRnet. Fig.3-5 shows the pin assignment for the 8-pin connector on the DN-8237-GB, and the
Table 3-5 shows its I/O connector signal description.
2.2.3 Jumper and Switch Settings
JP5
Jumper 5 controls the EMG-A signal of the CON4 connector. The following diagram is shown the
selection condition of the jumper 5.
Fig. 3-6 Jumper 5 setting

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SW 1
The emergency stop signal for each servo ampilfier can be selected from SW1. The number 1
and 2 on SW1 are denoted as axis X and Y, respectively. The number 3 and 4 on SW1 are
reserved for future work. Fig. 3-7 is the default setting to connect the EMG singals to GND.
The X-EMG and Y-EMG signal from CON4 not take effect. If the switch is disconnected as
shown in Fig. 3-8, the emergency stop signals can be controlled from the X-EMG and Y-EMG
signal in CON4.
Fig. 3-7 SW1 setting for normally GND (Default setting)
Fig. 3-8 SW1 setting for user controlled signals.

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JP1/2 & JP3/4
Jumper 1, 2 controls the XPP, XPM signals of the CON2. The couple of jumpers are indicated the
type of pulse output signal for X axis. However there are the same jumper settings for Y axis
(Jumper 3, 4 for Y axis). The following diagram is shown the selection condition of the jumper 1,
2.
Fig. 3-9 Jumper 1, 2 setting

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2.3 Input/Output Connections
The signal connections of all the I/O signals are described in this chapter. Please refer
the contents of this chapter befor wiring the cable between the i8092F and the motor
drivers.
2.3.1 Pulse output signals
There are 2-axis pulse output signals on I8092F, For every axis, two pairs of CW and
CCW signals are used to send the pulse train. The CW and CCW signals can also be
programmed as PULSE and DIR signals pait. Two types of the pulse output signal,
Differential-Type and Open-Collector Type, can be selected from JP2/3 and JP4/5 and are
described in section 2.2.2. The following wiring diagram is for the CW and CCW signals of the
2-axis.
Output to Motor Drivers in Differential Circuit
Fig. 2.8 Differential-Type pulse output circuit
Open Collector TTL Output
Fig. 2.9 The wiring is open collector output