ICP DAS USA i8094A User manual

http://www.icpdas.com I8094A &I8094HGetting Started manualVer 1.3-- 1
i8094A & i-8094H Getting Started
(Version 1.3)
PAC WinCon-8000 Series Controllers
(Applied to: i8094A & i8094H)

http://www.icpdas.com I8094A &I8094HGetting Started manualVer 1.3-- 2
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 1997-2009 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
1 INTRODUCTION OF I8094A/I8094H MOTION
CONTROL MODULE...........................................................7
1.1 i8094A/i8094H 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 ..................................... 10
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 ...................................... 11
1.2.15 Module status LED Indicators ................................ 11
1.2.16 Compare Trigger Output ...................................... 11
1.2.16 FRnet (i8094F only)......................................... 11
1.3 Environment.............................................................................................12
1.4 Ordering Information..............................................................................12
2 HARDWARE INSTALLATION......................................13
2.1 i8094A/i8094H Check Package & Installation......................................13
2.1.1 Check Package................................................ 13
2.1.2 i8094A/i8094H Installation ................................... 13
2.2 DN-8468GB Terminal Board..................................................................15
2.2.1 DN-8468GB Board Layout....................................... 15
2.2.2 Pin Assignment............................................... 16
2.2.3 Jumper and Switch Settings ................................... 22
2.3 Input/Output Connections......................................................................24
2.3.1 Pulse output signals......................................... 24

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2.3.2 Connection for Limit switch Signal ........................... 26
2.3.3 General Purpose DI Signals(nINPOS,nALARM) .................... 27
2.3.4 Encoder Signals.............................................. 28
2.3.5 External pulse signal........................................ 29
2.3.6 Emergency Stop Signal........................................ 30
2.3.7 External Pulse Input Signal (EXP+,EXP-) ...................... 31
2.3.8 Servo On/Off Output Signal (ENABLE) .......................... 32
2.3.9 Compare Trigger Output....................................... 32
2.4 Connection Example for Motor Driver .................................................33
3 I8094A/I8094H SOFTWARE DEVELOPMENT...........34
3.1 Software development Overview............................................................34
3.1.1 Register Module.............................................. 35
3.2 Safety IO Setting (Troubleshooting for Motion not working).............35
3.2.2 Configure the Servo ALARM Signals ............................ 35
3.2.3 Configure the Limit Switch Signals(±EL) ...................... 36
3.2.4 Configure the Software Limit(±SEL) ........................... 36
3.3 Error Checking(GET_ERROR).............................................................36
3.5 Manual Pulse Generator Testing (Optional).........................................38
3.6 Home Search.............................................................................................40
3.6.1 Home Search Configuration .................................... 40
3.6.2 Running the Home Search ...................................... 41
3.7 Basic Motion.............................................................................................42
3.7.1 Speed Profile of the Motion Control .......................... 42
3.7.2 Basic Settings For Single Axis ............................... 44
3.7.3 Basic Motion of Single Axis .................................. 45
3.7.4 Basic Setting of Muti-Axes Interpolation ..................... 46
3.7.5 Basic Motion of Muti-Axes Interpolation ...................... 47
3.8 Advance Motion .......................................................................................48
3.9 Motion Synchronization Action..............................................................49
4 SOFTWARE GETTING STARTED GUIDE.................50
4.1 WinCon eVC++........................................................................................50
4.1 WinCon eVC++ Guideline ......................................................................50
4.1.1 Files you will need.......................................... 50
4.1.2 Create a new eVC++ Application Project ....................... 50
4.1.3 Add the Reference Path into eVC++ Application Project ........ 52
4.1.4 Start the eVC++ Sample....................................... 53

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4.2 WinCon Microsoft Visual Studio .NET 2003(VB.NET，C#)..............55
4.3 I-8000 Turbo C++.....................................................................................55
5 MPTOOL : EZMAKE......................................................56
5.1 Start EzMake............................................................................................56
5.2 Specify the I-8094H to be used ...............................................................56
5.3 Operation Page.........................................................................................57
5.3.1 Tree Diagram................................................. 57
5.3.2 Main Menu.................................................... 58
5.3.3 Function & Parameter Editor .................................. 61
5.3.4 Function Library Groups Menu ................................. 62
5.3.5 Function Display Menu........................................ 62
5.3.6 Message & Status............................................. 63
5.4 Download files and programs execution................................................65
5.4.1 Download the file............................................ 65
5.4.2 Program execution............................................ 65
APPENDIX A .......................................................................66
A.1 Setup the Development Environment of I8094A/I8094H....................66
A.1.1 eVC ++ 4.0................................................... 66
A.2 Appearance and Dimension ...................................................................67
APPENDIX B DN-8468 SERIES DAUGHTER BOARD.68
B.1 DN-8468M Daughter Board...................................................................68
B.1.1 Board Layout for DN-8468M .................................... 68
B.1.2 Signal Connections for DN-8468M .............................. 70
B.1.3 Jumper and Switch Settings ................................... 76
B.2 DN-8468PDaughter 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 ................................... 84
B.3 DN-8486Y Daughter Board....................................................................86
B.3.1 Board Layout for DN-8468Y .................................... 86
B.3.2 Signal Connections for DN-8468Y .............................. 87
B.3.3 Jumper and Switch Settings ................................... 92
B.4 DN-8468D Daughter Board....................................................................94
B.4.1 Board Layout for DN-8468D .................................... 94

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B.4.2 Signal Connections for DN-8468D .............................. 95
B.4.3 Jumper and Switch Settings .................................. 103
B.5 DN-8468FB Daughter Board................................................................106
B.5.1 Board Layout for DN-8468FB .................................. 106
B.5.2 Signal Connections for DN-8468FB ............................ 107
B.5.3 Jumper and Switch Settings .................................. 115

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1 Introduction of i8094A/i8094H Motion Control Module
1.1 i8094A/i8094H Introduction
i8094A/i8094H is a motor motion control module with built-in CPU, DPRAM, FRAM
and SRAM; it is integrated axis control module that support 4-axis stepper/servo motor
motion control; the maximum output Pluse could reach 4M PPS, this module could be applied
to ICP DAS WinCon-8000 controllers. I8094A/i8094H motor motion control module is good
for motion control applications for general purposes; it provides a lot of motion control
features that offers customers easy-to-use and intuitive solutions. These features include:
2/32~3-axes linear interpolation, 2-axes circular interpolation, T/S-curve acceleration/
deceleration, various synchronous actions, automatic homing, and many others.
In addition, i8094H equips with built-in ICP DAS’s unique FRnet distributed DI/DO
control functions, it could connect externally to 128 DI and 128 DO control points; each with
cycle time of 0.74ms. Moreover, when i8094A/i8094H performs functions above, it does not
consume WinCon system resources. The CPU could monitor other status at the same time. It
require very little system resources, therefore one WinCon-8000 could insert with a couple of
i8094A/i8094H modules, to perform control of multi-axis (4,8 ....) motion Control on the
same controller.
Besides, this module has a few built-in hardware like CPU, etc, therefore supports a
series of macro programming functions. It provides customers multiple sets of macro
programming functions, hence will reduce programming effort and enable programmers to
develop programs more flexibly. ICP DAS also provides a wide range of demo programs and
macro programming functions sets to eliminate programming tasks; making it a highly
cost-effective motion control system designed platform.

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1.2 Hardware Specification
1.2.1 Main Specification
ASIC Chip MCX314As
CPU 80186
FRAM 128KB
SRAM 512KB
EEPROM 512KB
Number of controllable 4-Axes, Pulse output (stepping &
servo motor)
Up to 4M PPS pulse output 4 M PPS
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( Depends on the
max. speed)

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Output numbers 0 ~ 4,294,967,295 / unlimited
Velocity profiles mode:
Fixed
Symmetrical & Asymmetrical Trapezoidal velocity profile
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
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)
By software functions, each step enables user to configure actions and
directions, therefore, offers user more than 10 homing modes to choose from.

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1.2.7 Servo Motor Input Signal
Alarm
IN2 options: In Position or Servo Ready signal
Input signal options: Enable/Disable and logical level.
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 : could be used for other applications; for example: as a trigger of
synchronal control, etc.
1.2.10 Emergency Stop Signal Input
There is an 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)

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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)
1.2.15 Module status LED Indicators
Red LED ÆPower Indicator (will turn on when power is on)
Orange LED ÆServo Alarm Indicator
Ex: Misuibishi driver, No Alm: Orange LED will turn on.
Green LED ÆRunning Motion Indicator ( will turn on when under Running
Motion)
1.2.16 Compare Trigger Output
For X-axis and Y-axis only
Output mode: 5V TTL
1.2.16 FRnet (i8094F only)
DI Æup to 128 connecting points
DO Æup to 128 connecting points

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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
W-8x31-GM1 PAC controllers
i8094A/i8094H 4-axes motion control module
DN-8468GB i8094A/i8094H interface board
DN-8468DB i8094A/i8094H interface board
DN-8468MB i8094A/i8094H interface board
DN-8468PB i8094A/i8094H interface board
DN-8468YB i8094A/i8094H interface board
CA-SCSI15 68-pin SCSI-II cable, length: 1.5 m
CA-SCSI30 68-pin SCSI-II cable, length:3 m
CA-SCSI50 68-pin SCSI-II cable, length:5 m

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2 HARDWARE INSTALLATION
2.1 i8094A/i8094H Check Package & Installation
2.1.1 Check Package
i8094A/i8094H is a 4-axes stepping/servo motor control module; you will need
a WinCON-8000 series PAC to serve as the controller.
You will need:
W-8x31-GM1 PAC controller
You will also need the following items to implement installation of i8094A/i8094H
modules:
i8094A/i8094H 4-axes motion control module
DN-8468 series i8094A/i8094H interface board
CA-SCSI15 68-pin SCSI-II cable, length: 1.5 m
2.1.2 i8094A/i8094H Installation
Before Installation
1. You will need a ICP DAS (W-8000series) PAC controller with I/O expansion slot
(currently we offer a variety of 3- or 7- slot)
2. Turn off the power.
Modules Installation & Wiring
1. Position the i8094/i8094F module over the I/O Expansion Slot, aligning the
module card with the groove at the side of the Expansion Slot.
2. Insert the module into the I/O Expansion Slot, glide the module card along the
groove; press down the module until it is completely seated on the Expansion
Slot.
3. Secure the module by push down the “LOCK” latch.
4. Connect the i8094/i8094F with DN-8468G by a CA-SCSI15 cable, as the below
figure:

http://www.icpdas.com I8094A &I8094HGetting Started manualVer 1.3-- 14
[此圖要修正為I-8094A/H]

http://www.icpdas.com I8094A &I8094HGetting Started manualVer 1.3-- 15
2.2 DN-8468GB Terminal Board
2.2.1 DN-8468GB Board Layout
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 DN-8468G Board layout

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2.2.2 Pin Assignment
CON1
68-pin SCSI II Pin Assignment (connector to connect modules and wiring terminal board)
Fig. 2.1 CON1 I/O connector pin assignment

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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 (AXIS X、Y、Z、U I/O connector Wiring information)

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The connector CON6 is 16-pin connector for you to connect to the RDY & EMG signals,
external Pulse input, and FRnet connectors (i8094H only) of the motor drivers, enables to
connect with external DI/DO modules, etc.. FRnet(i8094HF)connectors could connect to
FRnet series IO modules, such as FR-2053, FR-2057, etc. For more information, please go
to website: http://www.icpdas.com/products/Remote_IO/frnet/frnet_introduction.htm
TB2: External power supply input connector