NPM PPCI7443 User manual

PPCI7443
Advanced 4 Axes Servo / Stepper
Motion Control Card
User's Guide
(Version : 2.00)

Table of Contents •
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Table of Contents
INTRODUCTION...................................................................................................... 1
1.1 FEATURES ..................................................................................................... 4
1.2 SPECIFICATIONS ............................................................................................ 5
1.3 SOFTWARE SUPPORTING ................................................................................ 6
1.3.1 Programming Library.......................................................................... 6
1.3.2 PPCI7443 Utility.................................................................................. 6
INSTALLATION....................................................................................................... 7
2.1 WHAT YOU HAVE ......................................................................................... 7
2.2 PPCI7443 OUTLINE DRAWING ...................................................................... 8
2.3 HARDWARE INSTALLATION............................................................................ 9
2.3.1 Hardware configuration....................................................................... 9
2.3.2 PCI slot selection ................................................................................. 9
2.3.3 Installation Procedures........................................................................ 9
2.3.4 Trouble shooting:................................................................................. 9
2.4 SOFTWARE DRIVER INSTALLATION .............................................................. 10
2.5 CN1 PIN ASSIGNMENTS:EXTERNAL POWER INPUT ...................................... 10
2.6 CN2 PIN ASSIGNMENTS:MAIN CONNECTOR ................................................ 11
2.7 CN3 PIN ASSIGNMENTS:MANUAL PULSER INPUT........................................ 12
2.8 CN4 PIN ASSIGNMENTS:SIMULTANEOUS START/STOP................................. 12
2.9 CN5 PIN ASSIGNMENT : TTL OUTPUT ......................................................... 13
2.10 JUMPER SETTING FOR PULSE OUTPUT .......................................................... 13
2.11 SWITCH SETTING FOR EL LOGIC .................................................................. 14
SIGNAL CONNECTIONS...................................................................................... 15
3.1 PULSE OUTPUT SIGNALS OUT AND DIR...................................................... 16
3.2 ENCODER FEEDBACK SIGNALS EA, EB AND EZ........................................... 18
3.3 ORIGIN SIGNAL ORG .................................................................................. 21
3.4 END-LIMIT SIGNALS PELAND MEL............................................................ 22
3.5 RAMPING-DOWN & PCS.............................................................................. 23
3.6 IN-POSITION SIGNAL INP............................................................................. 24
3.7 ALARM SIGNAL ALM.................................................................................. 25
3.8 DEVIATION COUNTER CLEAR SIGNAL ERC.................................................. 26
3.9 GENERAL-PURPOSE SIGNAL SVON.............................................................. 27
3.10 GENERAL-PURPOSE SIGNAL RDY................................................................ 28
3.11 POSITION COMPARE OUTPUT PIN: CMP......................................................... 29
3.12 POSITION LATCH INPUT PIN: LTC................................................................. 30
3.13 PULSER INPUT SIGNALS PA AND PB ............................................................ 31
3.14 SIMULTANEOUSLY START/STOP SIGNALS STAAND STP ............................. 32
3.15 GENERAL-PURPOSED TTL OUTPUT.............................................................. 33
OPERATION THEOREM...................................................................................... 35

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•Table of Contents
4.1 MOTION CONTROL MODES .......................................................................... 35
4.1.1 Pulse Command Output...................................................................... 36
4.1.2 Velocity mode motion......................................................................... 39
4.1.3 Trapezoidal Motion Profile................................................................ 40
4.1.4 S-curve Motion Profile....................................................................... 42
4.1.5 Linear interpolation for 2~4 axes....................................................... 44
4.1.6 Circular interpolation for 2 axes........................................................ 48
4.1.7 Circular interpolation with Acc/Dec time .......................................... 50
4.1.8 The Relationship between Velocity and Acceleration Time................ 51
4.1.9 Continuous motion ............................................................................. 54
4.1.10 Home Return Mode ............................................................................ 59
4.1.11 Manual Pulser Mode.......................................................................... 67
4.1.12 Timer Mode........................................................................................ 67
4.1.13 Pulser Interpolation ........................................................................... 68
4.2 THEMOTORDRIVERINTERFACE................................................................... 69
4.2.1 INP.................................................................................................... 69
4.2.2 ALM................................................................................................... 70
4.2.3 ERC................................................................................................... 71
4.2.4 SVON and RDY.................................................................................. 71
4.3 THE LIMIT SWITCH INTERFACE AND I/O STATUS.................................................. 72
4.3.1 SD/PCS............................................................................................... 72
4.3.2 EL...................................................................................................... 73
4.3.3 ORG .................................................................................................. 73
4.4 THE COUNTERS ........................................................................................... 75
4.4.1 Command position counter ................................................................ 75
4.4.2 Feedback position counter ................................................................. 75
4.4.3 Position error counter........................................................................ 77
4.4.4 General-Purposed counter................................................................. 77
4.4.5 Target position recorder .................................................................... 79
4.5 MULTIPLE PPCI7443 CARDS OPERATION .................................................... 80
4.6 CHANGE POSITION OR SPEED ON THE FLY...................................................... 81
4.6.1 Change speed on the fly...................................................................... 81
4.6.2 Change position on the fly.................................................................. 85
4.7 POSITION COMPARE AND LATCH .................................................................. 87
4.7.1 Comparators of PPCI7443................................................................. 87
4.7.2 Position compare................................................................................ 88
4.7.3 Position Latch .................................................................................... 91
4.8 HARDWARE BACKLASH COMPENSATOR AND VIBRATION SUPPRESSION .......... 92
4.9 SOFTWARE LIMIT FUNCTION........................................................................ 93
4.10 INTERRUPT CONTROL .................................................................................. 94
4.11 IDLING CONTROL ......................................................................................... 99
PPCI7443 UTILITY .............................................................................................. 101
5.1 EXECUTE PPCI7443 UTILITY .................................................................... 102
5.2 ABOUT PPCI7443 UTILITY........................................................................ 102
5.3 PPCI7443 UTILITY FORM INTRODUCING ................................................... 103

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5.3.1 Main form......................................................................................... 103
5.3.2 Interface I/O Configuration Form.................................................... 103
5.3.3 Pulse IO & Interrupt Configuration Form....................................... 104
5.3.4 Operate form:................................................................................... 105
FUNCTION LIBRARY......................................................................................... 111
6.1 LIST OF FUNCTIONS ................................................................................... 111
6.2 C/C++ PROGRAMMING LIBRARY ............................................................... 118
6.3 INITIALIZATION ......................................................................................... 119
6.4 PULSE INPUT/OUTPUT CONFIGURATION..................................................... 121
6.5 VELOCITY MODE MOTION........................................................................... 123
6.6 SINGLE AXIS POSITION MODE.................................................................... 126
6.7 LINEAR INTERPOLATED MOTION................................................................ 131
6.8 CIRCULAR INTERPOLATION MOTION.......................................................... 137
6.9 HOME RETURN MODE ............................................................................... 143
6.10 MANUAL PULSER MOTION......................................................................... 145
6.11 MOTION STATUS ....................................................................................... 148
6.12 MOTION INTERFACE I/O ............................................................................ 149
6.13 MOTION I/O MONITORING......................................................................... 151
6.14 INTERRUPT CONTROL ................................................................................ 152
6.15 POSITION CONTROL AND COUNTERS .......................................................... 158
6.16 POSITION COMPARE AND LATCH................................................................ 161
6.17 CONTINUOUS MOTION................................................................................ 167
6.18 MULTIPLE AXES SIMULTANEOUS OPERATION ............................................ 168
6.19 GENERAL-PURPOSED TTL OUTPUT............................................................. 171
CONNECTION EXAMPLE................................................................................. 172
7.1 GENERAL DESCRIPTION OF WIRING ........................................................... 172
7.2 CONNECTION EXAMPLE WITH SERVO DRIVER ............................................ 173

How to Use This Guide
This manual is designed to help you use the PPCI7443. The manual
describes how to modify various settings on the PPCI7443 card to meet
your requirements. It is divided into six chapters:
Chapter 1
“ Introduction ” , gives an overview of the product features,
applications, and specifications.
Chapter 2
“ Installation ” , describes how to install the PPCI7443.
Chapter 3
“ Signal Connection ” , describes the connectors’ pin
assignment and how to connect the outside signal and
devices with the PPCI7443.
Chapter 4 “ Operation Theorem ” , describes detail operations of the
PPCI7443.
Chapter 5 “ PPCI7443 Utility ” , describes how to utilize a Microsoft
Windows based utility program to configure and test running
the PPCI7443.
Chapter 6 “ C/C++ Function Library ” , describes high-level
programming interface in C/C++ language. It helps
programmer to control PPCI7443 in high level language
style.
Chapter 7
“ Connection Example ” shows some typical connection
examples between PPCI7443 and servo driver and stepping
driver.

Introduction •
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1
Introduction
The PPCI7443 is an advanced 4 axes motion controller card with PCI
interface. It can generate high frequency pulses (6.4MHz) to drive
stepping/micro stepping motors and servo motors. In motion functions, it
provides 2-axis circular, 4-axis linear interpolation, continuous interpolation
with velocity continuity. Also, change position/speed on the fly are available
in single axis operation. Multiple PPCI7443 cards can be used in one
system. Incremental encoder interface on all four axes provide the ability to
correct positioning errors generated by inaccurate mechanical
transmissions, and with the help of on board FIFO, PPCI7443 can also
perform precise and extremely fast position compare and trigger function
without consuming CPU resource. In addition, mechanical sensor interface,
servo motor interface and general-purpose I/O signals are provided for
system integration.
Figure 1.1 shows the function block diagram of PPCI7443 card. PPCI7443
uses one ASICs (PCL6045) to perform 4 axes motion control. These ASICs
are made of Nippon Pulse Motor incorporation. The motion control
functions include linear and S-curve acceleration/deceleration, circular
interpolation between two axes, linear interpolation between 2~4 axes,
continuous motion, in positioning and 13 home return modes are done by
the ASIC. Since these functions needing complex computations are done
internally on the ASIC, the PC’s CPU is free to supervise and perform other
tasks.
PPCI7443 Utility, a Microsoft Windows based software is equipped with the
PPCI7443 card for supporting application development. The PPCI7443
Utility is very helpful for debugging a motion control system during the
design phase of a project. The on-screen monitor shows all installed axis
information and I/O signals status of PPCI7443 cards. In addition to
PPCI7443 Utility, both DOS and Windows version function library are

2•Introduction
included for programmers using C++ and Visual Basic language. Several
sample programs are given to illustrate how to use the function library.
Figure 1.2 is a flowchart that shows a recommending process of using this
manual to develop an application. Please also refer the relative chapters
for the detail of each step.
Figure 1.1 Block Diagram of PPCI7443
PCI Bus
PCI Bus
Controller
FPGAFIFO
PCL6045
Pulser
(CN3)
STA/STP
(CN4)
TTL Dout
(CN5)
Pulse I/O Mechanical
Interface Servo Driver Interface Latch Input Compare Output
Isolation
OUT
DIR
EA,EB,EZ
+EL,-EL
SD
ORG
INP,ALM
ERC
SVON
RDY
CMP1
CMP2
LTC3
LTC4
DC/DC
Ext +24V
+5VExt +5V
CN2
CN1