isel automation PSPCI User manual

isel-automation GmbH & Co. KG D-36466 Dermbach Untere Röde 2 
isel - PSPCI
User manual for stepper motor
control PSPCI Version 3
(036964)84510(036964)844 

About this manual:
The information, technical data and dimensions contained in this print have been up-to-date when
published. Any eventually existing misprints and mistakes cannot be excluded however. We are
thankful for any suggestion for improvement and indication of mistakes.
Please note that the used software- and hardware descriptions of each individual company are
generally subject to protection of trademarks and patent law.
All rights reserved. It is not permitted to reproduce or electronically process, duplicate or spread
any part of our prints in any way (print, copy etc.) without written permission of isel-automation.
Producer: iselautomation GmbH & Co. KG
Bürgermeister-Ebert-Straße 40
D-36124 Eichenzell
Tel.: [phone]
Fax: [phone]
email: [email protected]
http://www.isel.com
In cooperation with TRIMETA Software GmbH.
Art.-Nr. 970326 BE852 10/2005

Contents
1Introduction .......................................................................................................................1
1.1 Preamble.....................................................................................................................1
2Description of stepper motor PCI-card PSPCI...............................................................2
2.1 System requirements..................................................................................................2
2.2 Assembly of control board in personal computer ......................................................2
3Installation of drivers........................................................................................................2
3.1 Technical Data............................................................................................................3
3.2 Connecting control board to power electronics..........................................................3
3Initiation of machines with the adjusting software MtConfig.......................................4
3.1 Introduction................................................................................................................4
3.2 Starting the adjusting program...................................................................................4
3.3 The windows of MtConfig.........................................................................................5
3.3.1 The Main Window 5
3.3.2 The Toolbar 5
3.3.3 Select Parameters 6
3.3.4 Save and Close 6
3.3.5 The Coordinate Window 6
3.3.6 Inputs/Outputs 7
3.3.7 The Editor 7
3.3.8 Error-Status 7
3.4 Notes...........................................................................................................................8
3.4.1 Referencing 8
3.4.2 Manual Jogging 8
3.5 Adjusting Parameters .................................................................................................9
3.5.1 Driver Parameters 9
3.5.1.1 Addresses .......................................................................................................9
3.5.1.2 Timer..............................................................................................................9
3.5.1.3 Current settings ............................................................................................10
3.5.1.4 Units.............................................................................................................11
3.5.1.5 Axes..............................................................................................................11
3.5.1.6 Range Limits................................................................................................13
3.5.1.7 Manual Moving............................................................................................13
3.5.2 Mtasc-Parameters 14
3.5.2.1 Feed Rate / Ramps........................................................................................14

3.5.2.2 Referencing ..................................................................................................14
3.5.2.3 Inputs and Outputs .......................................................................................15
3.5.2.4 Extended Inputs / Outputs............................................................................18
3.5.2.5 I/O- Actions..................................................................................................20
3.6 Configuration of axis direction ................................................................................21
3.6.1 Starting point 22
3.6.2 Adjusting the axis- and reference directions of gantry units 23
3.6.2.1 X-Axis..........................................................................................................23
3.6.2.2 Y-Axis..........................................................................................................25
3.6.2.3 Z-Axis...........................................................................................................27
3.6.3 Adjusting the axis- and reference direction of flatbed units 29
3.6.3.1 X-Axis..........................................................................................................29
3.6.3.2 Y-Axis..........................................................................................................29
3.6.3.3 Z-Axis...........................................................................................................30
3.7 Optimising................................................................................................................31
3.7.1 Procedure 31
3.7.2 Further details for the optimisation 32
3.7.3 The monitor window 33

isel-PSPCI V3 User Manual
1 Introduction
1.1 Preamble
iselautomation has been known for many years for its driving systems and CNC controls with
stepper motors. Stepper motors have become globally accepted in the small and medium
performance range.
They have practically become irreplaceable for driving systems with medium precision and
dynamic requirements. Stepper motor controls usually do not work with closed loops, so
expensive sensor- and evaluation units become dispensable. The result is a favourable cost-
performance ratio among an easy assembly and initiation.
For many years we have been offering systems basing on stepper motor controls, which have
been applied in many areas of production, automation, research and training.
The control PSPCI has been developed to continue this product line. It is a stepper motor
control, which was implemented as PCI plug-in card for PCs. It is possible to control up to 4
axes with the help of clock and direction signals.
This manual is to serve as support for initiating the control or machine and explain the most
important parameters and adjustments.
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isel-PSPCI V3 User Manual
2 Description of stepper motor PCI-card PSPCI
2.1 System requirements
Supported System Software
- Microsoft Win 2000 Pro, WinXP Home/Pro SP2
Minimum hardware- requirements of control computer
CPU Pentium 4 or AMD at least 1GHz
RAM 128MB RAM
Graphic/Monitor Graphics card with resolution 800 x 600 Pixel
Recommended hardware- requirements of control computer
CPU Pentium 4 or AMD ≥1,5GHz
RAM ≥256 MB RAM
Graphic/Monitor 3D Graphics card with resolution 1024 x 768 Pixel or more
2.2 Assembly of control board in personal computer
For the assembly of the PCI-card PSPCI please follow the following steps:
1 Make sure there is one PCI slot unoccupied on your main board.
2 Remove the PC Casing to be able to reach the fixing screws for the PCI slot plates.
3 Now look for an unoccupied PCI bus slot.
4 Remove the according slot plate of the PCI slot.
5 Now plug the PSPCI stepper motor control into the slot. Make sure the card was plugged
in correctly!
6 Fix the card with screws.
7 Close the casing of your PC.
3 Installation of drivers
The PCI card PSPCI will automatically be identified when booting Windows for the first time
after the successful assembly of the card. The hardware installation assistant opens up. You
will be asked to name the data carrier or the path, where the driver can be found. You will
find the necessary driver on the ProNC/Remote installation- CD-Rom. Put a check mark to
the option CD-Rom. Click on Next. The assistant will now automatically search for the driver
on the CD-Rom and install it. Should the according driver not be found, you can search it
yourself with the help of Windows hardware manager on the CD-Rom.
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isel-PSPCI V3 User Manual
3.1 Technical Data
Control specific data
Number of axes 4
Inputs 3
Outputs -
Analog output 0...V Yes
3.2 Connecting control board to power electronics
A 37pole 1:1 cable is used as connecting cable between stepper motor control card PSPCI and
performance electronics. Connect the SubD37 plug with the SubD37 socket of the PCI card.
Connect the other end of this cable with the SubD37 socket to the designated plug on the
circuit board for the output stages.
Pin Signal Pin Signal
1 Pulse X 20 Pulse Y
2 Pulse Z 21 Pulse A
3 Pulse B 22 Direction X
4 Direction Y 23 Direction Z
5 Direction A 24 Direction B
6 +24VDC 25 +12VDC
7 User output 1 26 User output 2
8 User output 3 27 Output Spindle Start
9 Output Enable output stages 28 --------------------------------
10 GND 24V 29 positive limit switch A
11 Reference switch /negative limit switch A 30 positive limit switch Z
12 Reference switch /negative limit switch Z 31 positive limit switch Y
13 Reference switch /negative limit switch Y 32 positive limit switch X
14 Reference switch /negative limit switch X 33 positive limit switch B
15 Reference switch B 34 Analogue output 0...10V
16 Analogue GND 35 Input Stop button
17 Input Power_ok 36 User input 1
18 User input 2 37 GND 24V
19 Input Start button
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isel-PSPCI V3 User Manual
3 Initiation of machines with the adjusting software MtConfig
3.1 Introduction
MtConfig is a program to configure CNC-machines, which are navigated through Mtasc. The
program does not depend on any buttons or objects visible on the screen. It configures the
setting of machine and start parameters, especially for EdiTasc, ProNc and Remote-
applications.
From the main-window of MtConfig you have the following options
 Configure your driver settings of the Mtdrv.ini file
 Configure the startup-variables for Mtasc.dll files stored in the Mtasc.ini file.
 Optimize and check the parameters of a running machine.
While working with MtConfig you can
 display the current coordinates.
 reference the axes.
 display Inputs and Outputs.
 issue motion commands from the editor and display values.
perform manual jogging with your keyboard.
Notice when using MtConfig:
 Start MtConfig only out of a folder which contains the configuration-files and
MTasc.dll.
 MtConfig uses MTasc. Never start MtConfig if any running program uses Mtasc.
3.2 Starting the adjusting program
To start the adjusting program MtConfig.exe, you have to click on the shortcut in the
startmenu after successfully installing and rebooting the computer.
Start Programs MtConfig PSPCI MtConfig PSPCI
You can also start the adjusting program with the shortcut MtConfig PSPCI on your desktop.
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3.3 The windows of MtConfig
3.3.1 The Main Window
The main window shows on the left
 at the top the toolbar along with driver information
 in the middle the list for choosing parameters and the Input pane for parameters
 at the bottom buttons for referencing and for saving your settings and closing the
program
On the right side you will find helpful information related to the parameter or button selected.
3.3.2 The Toolbar
The toolbar shows the following buttons (from left to right):
 referencing of the axis
 enable/disable watching of the range limits
 Stop motion (F9)
 display coordinates
 display inputs and outputs
 open the editor
The text field to the right contains driver information, the version of both the driver and the
MTasc.dll file.
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isel-PSPCI V3 User Manual
3.3.3 Select Parameters
You can choose between parameters of the
driver (Mtdrv.ini) and the MTasc-parameter
(MTasc.ini).
3.3.4 Save and Close
If you press "Save" all changes will overwrite the original settings. It is not possible to get the
original settings back after the new settings have been saved.
By pressing the "Close"-button MtConfig will be closed. You will be prompted for saving the
changes if there are any.
3.3.5 The Coordinate Window
The coordinate window shows the current coordinates of the machine. Mtasc is able to
manage several coordinate systems ("object coordinates"), which are based on a fixed system
of machine coordinates.
If you press Shift+F1 to Shift+F7 you can change between the following displays:
Shift+F1: Display Off
Shift+F2: Object Coordinates
Shift+F3: Machine Coordinates
Shift+F4: Speed
Shift+F5: Increments (Target)
Shift+F6: Increments (Actual)
Shift+F7: Trailing Offset (Incr.)
The shown speed is a digital size.
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isel-PSPCI V3 User Manual
3.3.6 Inputs/Outputs
This window shows the state of all
Inputs and Outputs defined by the
descriptors _InpDsc (inputs) and
_OutDsc (outputs).
The number of Input/Output lines may
be changed with the "+" and "-" buttons
respectively. More lines can be shown
using the scrollbar.
The button "Refresh continuously"
switches the continuous updating of the
values on or off.
3.3.7 The Editor
The editor is used to send commands to the MTasc-
interpreter. This makes it possible to test moving
instructions and to display or change the parameter
settings of the machine.
If you press Strg+Enter the following part of the
input will be executed:
 the highlighted text, if there is any.
 the line where the keyboard cursor is located
if there is no highlighted text.
The example on the right shows the input "? AxisLetters;" which is not highlighted.
Strg+Enter will therefore execute the whole line and show the result - XYZ - on the bottom of
the Editor.
3.3.8 Error-Status
If an errors occurs which is related to one axis the error
status will be displayed in a separate window.
The error-type will be shown along with the axis on
which the error occurred.
In the example the machine moved too far in negative x-
direction. In this case the machine will have to be moved
manually in positive x-direction. It might be necessary to
reset the machine by pressing F9.
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isel-PSPCI V3 User Manual
Error Description
Range limit The machine has moved beyond the range limit. More details
see MTASC-Function MLIMIT in MTasc help file).
Limit switch The machine has moved into a hardware limit switch in one
or more axis. The corrosponding hardware limit switch (+,-)
will be shown in the list.
Following error The difference between desired and current position of at least
one axis has exceeded some internal limit.
TimeOut Depends on the type of the controller. Only when
communicating with intelligent circuit boards.
In these cases the machine will stop immediately.
Error while using Programs (for Ex. Syntax error) will be shown in a separate window
along with name and path of the file and the line in which the error occurred.
3.4 Notes
3.4.1 Referencing
When referencing the axes (in order Z, X, Y, A, B ) will be moved towards one end to find
the appropriate zero position.
Before referencing the following values have to be assigned:
 The output addresses for the axes
 The moving direction of the axes (axes)
 The direction used to reference (reference run)
 The functionality of the reference switch
To check if the settings are correct use manual jogging.
3.4.2 Manual Jogging
To move the machine manually use the keyboard combinations Strg+Alt+Arrow or
AltGr+Arrow:
Alt + Ctrl + right arrow: X- axis right
Alt + Ctrl + left arrow: X- axis left
Alt + Ctrl + up arrow: Y- axis backward
Alt + Ctrl + down arrow: Y- axis forward
Alt + Ctrl + page up: Z- axis up
Alt + Ctrl + page down: Z- axis down
Alt + Ctrl + Pos1: A- axis plus
Alt + Ctrl + End: A- axis minus
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isel-PSPCI V3 User Manual
3.5 Adjusting Parameters
For the adjustment of parameters, there is a destinction between driver-parameters and
Mtasc parameters. These parameters will be explained in the following subchapters.
3.5.1 Driver Parameters
3
3. .5 5. .1 1. .1 1 Addresses Addresses
The address-pane offers for each axis a field to insert a
"Data-output" address and to get a "Data-feedback". Not
each PC-card supports data feedback.
There should be “0000“ in every field.
3
3. .5 5. .1 1. .2 2 Timer Timer
The control cycle frequency indicates how
often the real-time loop is called per second. At
the same rate the position of the machine is
calculated.
The background frequency is used for example
to configure the cycle speed of the stepper
motors. The frequency must be much higher
than the control cycle frequency. If a driver is in use which does not need a background
frequency, enter 0.
"Delay" inserts extreme short delays into the background loop. The number entered in this
field is a loop counter, the generated delay depends on the hardware.
The pre-adjusted value for the cycle frequency is 1000 Hz, the value for the base
frequency is 100000 Hz using a step precision of a tenth step. These values should
not be changed.
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isel-PSPCI V3 User Manual
Speed limits
Speed limits limit the
requests which are sent to
the driver by MTasc.
When a request exceeds
the limit, the request will
be decreased accordingly.
If watching of following
errors is enabled all axes
will be stopped when the
should/is-difference is
reached by at least one axis. If an axis is blocked, the other axes only move with disabled
should/is-difference supervision.
The first input (X-axis) of maximum acceleration takes affect on all further axis. Other
inputs for residual axis will be ignored!
The values in the figure can be used for machines with ball screw spindles (pitch 4, 5, 10
mm).
For belt drive slides (e. g. perimeter of belt pulley is 70mm and gear 2:1) speed values of
800 mm/sec and accelerations of 2000-3000 mm/sec2can be put in here.
The pre-adjusted value for “Actuate Trailing Error “ is 12100. The value for “Speed“ is
12000. The value for “Speed Jump“ is 4000.
These values should not be changed in any case!
3
3. .5 5. .1 1. .3 3 Current
settings Current settings
These adjustments are not of interest for this control board. They are only mentioned for the
sake of completeness.
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isel-PSPCI V3 User Manual
3
3. .5 5. .1 1. .4 4 Units Units
Here you can configure the units in which the
speed and acceleration will be measured in.
There are predefined unit pairs such as "mm and
seconds", "cm and seconds" and "m and minutes".
You can also define your own unit by pressing
"user defined".
The figure on the right shows the standard
adjustment of area boundaries after the installation
of the driver software.
Enter the travel areas of the according axis into the according fields. You can either
experimentally ascertain the values by manual operation or use the traverse paths of the
data sheet, enclosed to the machine.
3
3. .5 5. .1 1. .5 5 Axes Axes
Here you can select the number of axes you want to use.
For each axis you indicate
• The axis letter
• Whether the axis is enabled or not.
• Alignment. The leading sign of "Move" indicates, in which direction the axis is to move
with increasing increments. These leading signs should be adjusted thusly that each axis
moves in manual jogging in the direction, you expect due to the keyboard-input
• The type of the axis; L/R: linear- or rotary axis
• Calibration. Indicate the distance one axis moves per increment. You can put in this value
directly or click on "Formula". You will then see an input window, in which you have the
opportunity to put in axis parameters.
• The reversal clearance correction is the number of increments, that has to be added to the
calculated reference value so the axis is on the expected position. To ascertain the reversal
clearance correction put in the value 0 and let the axis alternately go in both directions for
x increments. The value, at which the axis does not yet move, is the double reversal
clearance correction
• The number of axes.
By clicking on the button „Calc“ of the individual axis, you see a window in which you can
configure the axis. There is a distinction between linear- and rotary axes.
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isel-PSPCI V3 User Manual
Linear axes
You have to indicate the following parameters:
• pitch. You can find it on the enclosed data sheet or the label plate of the machine.
• steps per revolution. This value indicates the number of steps per revolution of the stepper
motor. The most common stepper motors make 200 full steps per revolution and have a
step angle of 1,8°.
• The factor for the resolution in increments/ full steps complies with the adjustment of the
step resolution of the used output stage. This factor can be changed by using the pull-
down menu. The standard adjustment is tenth step. Keep this adjustment!
• Transmission or reduction ratio. These values have to be indicated if a gear is used. The
transmission/ reduction ratio is indicated through:
revolutions / output end (roe) : revolutions / motor end (rme)
Confirm the adjustments with “OK“.
Rotary-/Tilting axes
You have to indicate the following parameters:
• pitch. For tilting axes the adjustment value has to be 360°.
• steps per revolution. This value indicates the number of steps per revolution of the stepper
motor. The most common stepper motors make 200 full steps per revolution and have a
step angle of 1,8°.
• The factor for the resolution in increments/ full steps complies with the adjustment of the
step resolution of the used output stage. This factor can be changed by using the pull-
down menu. The standard adjustment is tenth step. Keep this adjustment!
• Transmission or reduction ratio. These values have to be indicated if a gear is used. The
transmission/ reduction ratio is indicated through:
revolutions / output end (roe) : revolutions / motor end (rme)
Confirm the adjustments with “OK“.
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isel-PSPCI V3 User Manual
3
3. .5 5. .1 1. .6 6 Range Limits Range Limits
The range limits define the space in which
the machine is allowed to move. All values
have to be machine coordinates.
By pressing "Set" the current position of the
machine will be used as range limit.
The supervision of the range limit will be
deactivated while referencing. It is possible to activate/ deactivate it for each individual axis
by mark the check boxes on the right.
If the range limit watching is activated and the machine crosses the border it will stop moving
immediately and report the error in the error-status window. The machine has to be moved in
a permitted area to continue.
3
3. .5 5. .1 1. .7 7 Manual Moving Manual Moving
On this pane you can set up all needed
values for manual moving.
"minimum distance" describes the distance
the axis will move by pressing a key once.
"V max" sets the maximum speed the axis
should be able to reach.
If you press a key more than once in a short time, the speed will increase in 20 steps until it
reaches V max.
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isel-PSPCI V3 User Manual
3.5.2 Mtasc-Parameters
3
3. .5 5. .2 2. .1 1 Feed Rate / Ramps Feed Rate / Ramps
On this pane you can set the speed and
acceleration which will be loaded when the
program starts.
The values can be changed, if needed, while
MTasc is running through programs or
MTasc-commands.
The "Angle tolerance" indicates until which angle the machine should work as if it were a
straight line. That means that until this angle no ramps will be calculated.
3
3. .5 5. .2 2. .2 2 Referencing Referencing
On this pane you indicate the number of axes.
For each axis you have to indicate:
• The axis label.
• The direction of referencing.
• The distance between the referencing point and the „zero point“ of the axis.
• Whether referencing takes place or not.
• The number of the input for the reference switch.
• The referencing speed. “fast” is the speed to approach the reference switch. With
“slow” the axis is moved off the switch while referencing takes place.
For all axes you can select
• The sequence of the axes in which referencing takes place. To change this sequence,
highlight one of the axis letters and move it with the arrow keys to the right or to the
left.
The „Test“-button start the referencing for one axis.
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isel-PSPCI V3 User Manual
3
3. .5 5. .2 2. .3 3 Inputs and Outputs Inputs and Outputs
Fixed predefined inputs and outputs can be configured in this frame. In each case one byte
will be addressed. Please enter the hexadecimal offset of the basis-address in the address-
field.
The mask allows the selection of the bits which should be used for input and if they should be
inverted (-) or not (+). Click on the space above the diode to change the bits.
The inputs will only be read if ">" is selected. Each change of the output state will be written
immediately to the corresponding address. The gained values can be re-imported through
appropriate outputs by selecting ">".
The LED shows the status of the bits read:
• Deselected: grey
• Input bit "1": red
• Input bit "0": blue
• Non inverted bits ("+") are shown normally.
• Inverted bits ("-") are shown in an inverted mode.
• Deselected bits (" ") are shown with shadowed colours.
Inputs
The PCI card inputs are already
pre-adjusted. The inputs no. 1 –
8 serve the evaluation of the
hardware limit switches.
The classification of the
limit switches must not be
changed!
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isel-PSPCI V3 User Manual
The inputs no. 9-11 are user
inputs. Using these inputs it is
possible to connect peripheral
devices, e. g. length callipers,
pressure monitors etc. to the
circuit board.
These user inputs have already
been pre-configured for certain
peripheral devices. Depending
on the machine type the
according inputs are either
assigned or not.
Standard Assignment:
No. 9 ... Stop button of operating unit.
No. 10 ... Start button of operating unit
No. 11 ... free user input
Before connecting new peripheral devices, please check whether the according input isn’t
already assigned.
Input No. 12 serves as Power_ok signal of the safety circuit module. It should not be changed
under any circumstances because it is being scanned periodically by the control to evaluate a
case of Emergency Stop. If there is no safety circuit module used, this input has to be
connected with +24VDC.
The indicated mode MMAP of inputs no. 1-12 is the so-called Memory-MAP mode. This
means that the inputs are not read directly through the hardware but through the two MAP
ports. Within these MAP ports the accordingly set “-“ above the LED affects the bit which is
to be switched.
Ports no. 13 and 14 are the so-called Memory- MAP ports. They each define an 8-bit port
with the physical addresses 0x00B0h and 0x00C0h.
The indicated mode PTI2 is the device type for the PSPCI card. You can find the description
of the assignment of the inputs with MMAP mode to the Memory-Map ports on tab I/O –
activities.
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