ICP DAS USA I-8094 Parts list manual

I-8094 and I-8094F Getting Started
Manual
(Version 2.3)
Hardware & Software & Application
Using I-8094/I-8094F 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 I8094/I8094F
1 INTRODUCTION...............................................................7
1.1 Introduction ................................................................................................7
1.2 Hardware Specification .............................................................................8
1.2.1 Main Specification..................................................................................... 8
1.2.2 Interpolation Function ............................................................................... 8
1.2.3 Pulse Output............................................................................................. 8
1.2.4 Encoder Input ........................................................................................... 9
1.2.5 Position counter........................................................................................ 9
1.2.6 Auto-Homing............................................................................................. 9
1.2.7 Servo Motor Input Signal .......................................................................... 9
1.2.8 Limit Switch Input Signal......................................................................... 10
1.2.9 Other Input Signals ................................................................................. 10
1.2.10 Emergency Stop Signal Input ............................................................... 10
1.2.11 General Output Signal .......................................................................... 10
1.2.12 Integral Input Signal Filters ................................................................... 10
1.2.13 Software Limit....................................................................................... 10
1.2.14 Manual Pulse Generator....................................................................... 10
1.2.15 LED for Module status .......................................................................... 10
1.2.16 FRnet (i8094F only) .............................................................................. 10
1.3 Environment .............................................................................................11
1.4 Ordering Information..............................................................................11
2 HARDWARE INSTALLATION......................................12
2.1 Checking Package and Installation ........................................................12
2.1.1 Checking package .................................................................................. 12
2.1.2 Installation .............................................................................................. 12
2.2 DN-8468GTerminal Board......................................................................15
2.2.1 Board Layout for DN-8468G ................................................................... 15
2.2.2 Signal Connections for DN-8468G.......................................................... 15
2.2.3 Jumper and Switch Settings ................................................................... 22
2.3 Input/Output Connections.......................................................................24
2.3.1 Pulse output signals................................................................................ 24
2.3.2 Connection for Limit switch Signal.......................................................... 25
2.3.3 General Purpose Input Signals(nINPOS,nALARM) ................................ 26
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2.3.4 Encoder Signals ..................................................................................... 26
2.3.5 Emergency Stop Signal .......................................................................... 27
2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-) ............................... 27
2.3.7 General Purpose Output signals(Servo On/Off)...................................... 28
2.4 Connection Example for Motor Driver..................................................29
3 SOFTWARE DEVELOPMENT OVERVIEW ..............30
3.1 Software development Overview ............................................................30
3.1.1 Register Module ..................................................................................... 31
3.2 Safety IO Setting.......................................................................................31
3.2.1 Emergency Stop Signal Input ................................................................. 31
3.2.2 Configure the Servo ALARM Signals ...................................................... 31
3.2.3 Configure the Limit Switch Signals(±EL)................................................. 31
3.2.4 Configure the Software Limite(±SEL) ..................................................... 32
3.3 Error Checking.........................................................................................32
3.4 Basic Configuration of Motion................................................................32
3.5 Manual Pulse Generator Testing ............................................................33
3.6 Home Search.............................................................................................34
3.6.1 Home Search Configuration ................................................................... 34
3.6.2 Running the Home Search ..................................................................... 35
3.7 Basic Motion .............................................................................................36
3.7.1 Speed Profie of the Motion Control......................................................... 36
3.7.2 Basic Setting of Single Axis .................................................................... 37
3.7.3 Basic Motion of Single Axis..................................................................... 38
3.7.4 Basic Setting of Muti-Axes Interpolation ................................................. 38
3.7.5 Basic Motion of Muti-Axes Interpolation.................................................. 39
3.8 Advance Motion........................................................................................40
3.9 Synchronization Action............................................................................40
4 GETTING STARTED OF SOFTWARE.........................41
4.1 WinCon eVC++ Guideline.......................................................................41
4.1.1 Confirm the Relative Files....................................................................... 41
4.1.2 Create a new eVC++ Application Project................................................ 41
4.1.3 Add the I8094.h into eVC++ Application Project ..................................... 43
4.1.4 Add the Reference Path into eVC++ Application Project ........................ 44
4.1.5 Start the eVC++ Sample ......................................................................... 45
4.1.6 Build the Project ..................................................................................... 48
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4.1.7 Download and Run ................................................................................. 49
4.2 Microsoft Visual Studio .NET 2003(VB.NET，C#) Guideline............50
4.2.1 Confirm the Relative Files....................................................................... 50
4.2.2 Create a new VB.NET/C# Application Project ........................................ 50
4.2.3 Add the DLL into Application Project....................................................... 52
4.2.4 Start the VB.NET/C# Sample.................................................................. 54
4.2.5 Build the Project ..................................................................................... 56
4.2.6 Download and Run ................................................................................. 56
4.3 I-8000 Turbo C Guideine.........................................................................57
4.3.1 Confirm the Relative Files....................................................................... 57
4.3.2 Create a new TC ++ Application Project ................................................. 57
4.3.3 Start the TC Sample ............................................................................... 59
4.3.4 Build the Project ..................................................................................... 65
4.3.6 Download and Run ................................................................................. 65
APPENDIX-A SETUPTOOLS & OTHERS.....................67
A.1 Setup the Development Environment of I8094.....................................67
A.1.1 eVC ++ 4.0 ............................................................................................. 67
A.1.2 Visual Studio .NET 2003(VB.NET，C#) ................................................. 67
A.1.3 Turbo C .................................................................................................. 67
A.2 I8094 Surface ...........................................................................................68
A.3 Dimensions ...............................................................................................69
A.4 The Version Upgrades Note....................................................................70
APPENDIX-B OTHERS TERMINAL BOARDS.............71
B.1 DN-8468M Daughter Board....................................................................71
B.1.1 Board Layout for DN-8468M .................................................................. 71
B.1.2 Signal Connections for DN-8468M......................................................... 72
B.1.3 Jumper and Switch Settings................................................................... 76
B.2 DN-8468P Daughter Board.....................................................................78
B.2.1 Board Layout for DN-8468P ................................................................... 78
B.2.2 Signal Connections for DN-8468P.......................................................... 79
B.2.3 Jumper and Switch Settings................................................................... 83
B.3 DN-8486Y Daughter Board.....................................................................85
B.3.1 Board Layout for DN-8468Y ................................................................... 85
B.3.2 Signal Connections for DN-8468Y.......................................................... 86
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B.3.3 Jumper and Switch Settings................................................................... 90
B.4 DN-8468D Daughter Board ....................................................................92
B4.1 Board Layout for DN-8468D.................................................................... 92
B4.2 Signal Connections for DN-8468D .......................................................... 94
B4.3 Jumper and Switch Settings.................................................................. 102
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1 INTRODUCTION
1.1 Introduction
The I-8094 and I-8094F are the 4-axes pulse-type stepping/servo motor motion
control module that can be used on any of the ICPDAS I-8000 and WinCon 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
2~3-axes linear interpolation, 2-axes circular interpolation, T/S-curve
acceleration/deceleration, various synchronous actions, automatic homing, and others.
Besides, it is a module that has full functions of I-8094F 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-8094 and I-8094F 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 or WinCon controllers, can still be monitored. As a result of the low CPU
loading requirements of I-8094 and I-8094F, one or more motion modules may be used
on a single I-8000 or WinCon 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.
I8094 with PAC controller (WinCon-8000 and I-8000)
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1.2 Hardware Specification
1.2.1 Main Specification
ASIC Chip MCX314As
Number of controllable 4-Axes, Pulse output (stepping & servo
motor)
Up to 4M PPS pulse output
1.2.2 Interpolation Function
2-axes & 3-axes linear interpolation
Interpolation range −2,147,483,646 ~ +2,147,483,646
Vectors speed of interpolation 1 PPS ~ 4M PPS
Precision of interpolation ± 0.5 LSB
Circular interpolation
Interpolation range −2,147,483,646 ~ +2,147,483,646
Vectors Speed of interpolation 1 PPS ~ 4M PPS
Relative interpolation function
Any 2-axes or 3-axes interpolation
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
Symmetrical & Asymmetrical S-curve velocity profile
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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
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
Using DI(IN3) to Clear feedback counter
Programmable read & write counter
1.2.6 Auto-Homing
Four Steps
Step 1 ( High-speed ”Near Home” searching)
Step 2 ( Low-speed ”Home” searching)
Step 3 ( Low-speed Index Z searching)
Step 4 ( High-speed offset drive)
Even though there are only 4 steps of the home searching, but user can vary
the operations into over 10 homing modes by software function since its
configurable action and direction of each step.
1.2.7 Servo Motor Input Signal
Alarm
Choose IN2: In Position or Servo Ready signal
Choose input signal: Enable/Disable and logical level.
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1.2.8 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)
1.2.9 Other Input Signals
IN3 : other purpose, as a trigger of synchronal control……
1.2.10 Emergency Stop Signal Input
There is a Emergency stop signal for Each module.
1.2.11 General Output Signal
The Servo-on signal (nOUT1) can be used as servo-on control or general
purpose output signal for each axis.
1.2.12 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.
1.2.13 Software Limit
There are two software-limit for each axis: -SLimit & + SLimit ( Setting range :
−2,147,483,646 ~ +2,147,483,646)
1.2.14 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
1.2.15 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
1.2.16 FRnet (i8094F only)
Connect to the distributed DI/DO module DI Æmax up to 128
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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
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
I-8000、W-8000 PAC controllers
i8094 4-axes motion control module
DN-8468GB For general purpose usage
DN-8468MB For Mitsubishi Servo motor
DN-8468PB For Panasonic servo motor
DN-8468DB For Detal servo motor
CA-SCSI15 68-pin SCSI-II cable，length:1.5 m
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2 HARDWARE INSTALLATION
2.1 Checking Package and Installation
2.1.1 Checking package
The i8094 and i8094F are a 4-axes stepping/servo motor control module that can
be used on any of the ICPDAS I-8000 and WinCon series controllers. The base system
package is as below list:
I-8000、W-8000 Embedded PAC control system series(Two systems choose
one)
i8094/i8094F-G/S includes the following item
i8094/i8094F 4-axes motion module
DN-8468 Terminal board for i8094 and i8094F
CA-SCSI15 68-pin SCSI-II cable，length:1.5 m
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 i8094/i8094F into a empty slot of I-8000/W-8000.
2. Connect the i8094/i8094F with DN-8468G by a CA-SCSI15 cable, as the below
figure:
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Figure. i8094 with PAC controller (WinCon-8000 and I-8000)
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2.2 DN-8468G Terminal Board
The DN-8468 is the terminal board for general purpose amplifier usage. It has 4-axis I/O signals.
2.2.1 Board Layout for DN-8468G
CON6
RJ1
CON2CON4 CON3CON5
CON1
68 PIN SCSI
EMG
SW
TB2
JP7
JP5 JP6
X Y
Z U
DN-8468G
107mm
162mm
JP8
JP9
JP13
JP12
JP11
JP10
JP15
JP14
Fig. 2.0 Board layout for the DN-8468G
2.2.2 Signal Connections for DN-8468G
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-8468G is a 68-pin SCSI II connector that enables you to connect to
the I8094/I8094F motion modue. Fig. 2.1 shows the pin assignment for the 68-pin I/O connector
on the DN-8468G (or on the PISO-PS400), and refer to Table 2.1, 2.2 for description of each
motion I/O signal.
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Fig. 2.1 I/O connector pin assignment for the CON1
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Table 2.1 DN-8468G I/O connector signal description (part 1)
Pin name Pin number Description
XECA 1 Encoder A-phase signal for X axis
YECA 36 Encoder A-phase signal for Y axis
ZECA 33 Encoder A-phase signal for Z axis
UECA 68 Encoder A-phase signal for U axis
XECB 2 Encoder B-Phase signal for X axis
YECB 37 Encoder B-Phase signal for Y axis
ZECB 32 Encoder B-Phase signal for Z axis
UECB 67 Encoder B-Phase signal for U axis
XINPOS 3 In-position signal for X axis
YINPOS 38 In-position signal for Y axis
ZINPOS 31 In-position signal for Z axis
UINPOS 66 In-position signal for U axis
XALARM 4 Alarm signal for X axis
YALARM 39 Alarm signal for Y axis
ZALARM 30 Alarm signal for Z axis
UALARM 65 Alarm signal for U axis
XLMTP 5 Limit switch input signal (+) for X axis
YLMTP 40 Limit switch input signal (+) for Y axis
ZLMTP 29 Limit switch input signal (+) for Z axis
ULMTP 64 Limit switch input signal (+) for U axis
XLMTM 6 Limit switch input signal (-) for X axis
YLMTM 41 Limit switch input signal (-) for Y axis
ZLMTM 28 Limit switch input signal (-) for Z axis
ULMTM 63 Limit switch input signal (-) for U axis
XIN3 7 Input 3 signal for X axis
YIN3 42 Input 3 signal for Y axis
ZIN3 27 Input 3 signal for Z axis
UIN3 62 Input 3 signal for U axis
XIN2 8 Input 2 signal for X axis
XIN2 43 Input 2 signal for Y axis
XIN2 26 Input 2 signal for Z axis
XIN2 61 Input 2 signal for U axis
XIN1 9 Input 1 signal for X axis
YIN1 44 Input 1 signal for Y axis
ZIN1 25 Input 1 signal for Z axis
UIN1 60 Input 1 signal for U axis
XIN0 10 Input 0 signal for X axis
YIN0 45 Input 0 signal for Y axis
ZIN0 24 Input 0 signal for Z axis
UIN0 59 Input 0 signal for U axis
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Table 2.2 DN-8468G I/O connector signal description (part 2)
Pin name Pin number Description
XEXPP 11 EXT pulsar input signal (+) for X axis
YEXPP 46 EXT pulsar input signal (+) for Y axis
ZEXPP 23 EXT pulsar input signal (+) for Z axis
UEXPP 58 EXT pulsar input signal (+) for U axis
XEXPM 12 EXT pulsar input signal (-) for X axis
YEXPM 47 EXT pulsar input signal (-) for Y axis
ZEXPM 22 EXT pulsar input signal (-) for Z axis
UEXPM 57 EXT pulsar input signal (-) for U axis
XDRIVE 13 Driver enable signal for X axis
YDRIVE 48 Driver enable signal for Y axis
ZDRIVE 21 Driver enable signal for Z axis
UDRIVE 56 Driver enable signal for U axis
XPP 14 Driving pulsar signal (+) for X axis
YPP 49 Driving pulsar signal (+) for Y axis
ZPP 20 Driving pulsar signal (+) for Z axis
UPP 55 Driving pulsar signal (+) for U axis
XPM 15 Driving pulsar signal (+) for X axis
YPM 50 Driving pulsar signal (+) for Y axis
ZPM 19 Driving pulsar signal (+) for Z axis
UPM 54 Driving pulsar signal (+) for U axis
XOUT1 16 Output 1 signal for X axis
YOUT1 48 Output 1 signal for Y axis
ZOUT1 21 Output 1 signal for Z axis
UOUT1 56 Output 1 signal for U axis
EXPLSN1 17 EXT pulse input signal for interpolation
EMGN1 52 Emergency stop input signal
FrnetA 16 FRnet port A
FrnetB 18 FRnet port B
XDCC 51 Deviation Counter Clear for X axis
YDCC 53 Deviation Counter Clear for Y axis
GND 34 Ground
VCC 35 External power (12~24V)
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CON2 ~ CON5 (I/O connector for each AXIS)
The connectors CON2 ~ CON5 are 20-pin connectors that enable you to connect to the I/O
signals for general purpose motor drivers. Fig. 2.2 shows the pin assignment for the 20-pin
connector on the DN-8468G, and the Table 2.3 shows its I/O connector signal description.
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CON6
The connector CON6 is 16-pin connector that enables you to connect to the signals of your
motor drivers. The FRnet connectors, FR-A and FR-B, can be used to serially connect a I/O
module of FRnet series, as FR-2053,FR-2057…. The more information, please refer to
web-site of ICPDAS :
http://www.icpdas.com/products/Remote_IO/frnet/frnet_introduction.htm
Fig.2.3 shows the pin assignment for the 16-pin connector on the DN-8468G, and the Table 2.4
shows its I/O connector signal description.
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