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ICP DAS USA I-8092F Getting Started Manual

Motion control module
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I-8092F Getting Started Manual
(Version 2.3)
Hardware & Software & Application
Using I-8092F PAC Motion Control Module
1
http://www.icpdas.com
I8092F Getting Started ManualVer.2.3

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  • Page 1 I-8092F Getting Started Manual (Version 2.3) Hardware & Software & Application Using I-8092F PAC Motion Control Module http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 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.

  • Page 3: Table Of Contents

    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 ................
  • Page 4 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 ..............
  • Page 5 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 ................

  • Page 6: Introduction

    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.

  • Page 7: Hardware Specification

    1.2 Hardware Specification 1.2.1 Main Specification ASIC Chip 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 ±...

  • Page 8: Encoder Input

    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...

  • Page 9: Emergency Stop Signal Input

    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.

  • Page 10: Environment

    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...

  • Page 11: Hardware Installation

    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.

  • Page 12: Dn-8237-Gb Daughter Board

    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 107mm CON4 DN-8237-MB Fig. 2-1 Board layout for the DN-8237-GB http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 13: Signal Connections For Dn-8237-Gb

    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.
  • Page 14 Table 2-2 DN-8237-MB CON1 I/O connector signal description Pin name Pin number Description FR_A FRnet A-phase signal FR_B FRnet B-phase signal X_ECA Encoder A-phase signal for the X axis Y_ECA Encoder A-phase signal for the Y axis X_ECB Encoder B-Phase signal for the X axis Y_ECB Encoder B-Phase signal for the Y axis X_STOP2...
  • Page 15 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. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 16 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. The connector TB1 is 5-pin connector that enables you to connect to the signals of your motor drivers.

  • Page 17: Jumper And Switch Settings

    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 Jumper 5 controls the EMG-A signal of the CON4 connector.
  • Page 18 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.
  • Page 19 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, Fig.

  • Page 20: Input/Output Connections

    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.
  • Page 21 Example: wiring of pulse signal Two types of pulse output signal, Differential-Type and Open-Collector Type, can be selected from JP2/3 and JP4/5 for each axis. The following wiring diagram is an example to select pulse type of the output signal Fig.

  • Page 22: Connection For Limit Switch Signal

    ALARM is a digital input signal to indicate the servo alarm signal of the driver. The output pulse will be stop if I-8092F receives the ALARM signal. User can enable or disable the signal from the software instruction in I8092F software manual.

  • Page 23: Encoder Signals

    2.3.4 Encoder Signals The following diagram is for Differential-Type encoder signals. Connect the Phase A signal to A+ and A- pins and connect Phase B signal to B+ and B- pins. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC. Fig.

  • Page 24: Manual Pulse Generator Input Signal (Exp+,Exp-)

    2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-) The signals, EXP+ and EXP-, are used for manual pulsar signals. The following diagram is an example connection for the external inputs. User can set the signals as fixed pulse CW/CCW mode, continuous pulse CW/CCW mode, or A/B phase manual pulsar mode by using the setting in section 3.5.

  • Page 25: Connection Example For Motor Driver

    2.4 Connection Example for Motor Driver The following diagram is the connection example between MITSUBISH MR-J2S AC servo driver and the extension boardDN-8237. Fig. 2.17 The connection between MR-J2S AC servo driver and DN-8237 extension board. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 26: Software Development Overview

    3 Software Development Overview 3.1 Software development Overview Please refer to the demo_start sample Driver Initialize DRIVER_INIT Scheme the Safety Emg.Stop Servo Alarm Travel Limits Retrieve the ErrorCode Software Limits(if necessary) GET_ERROR_CODE() Error Checking GET_ERROR() Motion Basic Settings Pulse output Max.

  • Page 27: Register Module

    To insure the machine in safety, hardware limit switches are placed at the both ends of machine traveling range. If the machine touch the hardware limit switch sensors, I-8092F will stop immediately. The operating mode (Enable or Disable) and the proper trigger level of Please refer to i8092MF_SET_HLMT () function, the these signals can be set by user.

  • Page 28: Configure The Software Limite(±Sel)

    In addition, user can set the software limits to avoid the happening of the over range before the hardware limit takes effect. If the machine reach the software limits condition, I-8092F will stop immediately. The operating mode (Enable or Disable) and Please refer to the proper trigger condition of these signals can be set by user.

  • Page 29: Manual Pulse Generator Testing

    i8092MF_VRING_ENABLE()(Please refer to the section 2.16 of I8092F user manual ) 3.5 Manual Pulse Generator Testing User can use the manual pulse generator function directly to drive motion forward or backward. For further wiring and parameter tuning, user have to check the correction of the DI signals and the moving direction.

  • Page 30: Home Search

    Disable external pulse input by this command after operating anyone of three functions above. i8092MF_EXD_DISABLE() ( Please refer to section 2.18.4 of I8092F user manual) 3.6 Home Search I8092F provides the home function of automatic search. Operate that automatically after setting properly.
  • Page 31 BYTE i8092MF_SEARCH_HOME() BYTE i8092MF_SEARCH_ZPHASE() Please refer to section 5.3 of I8092F user manual. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 32: Basic Motion

    3.7 Basic Motion 3.7.1 Speed Profie of the Motion Control 1 Symmetrical T-profile of motion volicety (If SV is larger than V or equal to V, perform constant velocity driving) 2 Asymmetrical T-profile of motion velocity 3 Symmetrical S-curve of motion velocity http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 33: Basic Setting Of Single Axis

    4 Asymmetrical S-curve of motion velocity 3.7.2 Basic Setting of Single Axis 1 Setting the mode of Acceleration/deceleration: There are four speed modes Symmetrical T-Profile (SV、V、A、AO) Symmetrical S-curve (SV、V、K、AO) Asymmetrical T-profile (SV、V、A、D、AO) Asymmetrical S-curve (SV、V、K、L、AO) i8092MF_NORMAL_SPEED()( Please refer to section 6.1.1 of I8092F user manual) 2 Setting the start velocity: Set lowest speed i8092MF_SET_SV ()( Please refer to section 6.1.2 of I8092F user manual)

  • Page 34: Basic Motion Of Single Axis

    3.7.3 Basic Motion of Single Axis 1 Fixed-pulse driving output: Perform fixed-quantity of single axis pulse output. i8092MF_FIXED_MOVE()( Please refer to section 6.1.9 of I8092F user manual) 2 Continuous-pulse driving output: Perform continuous pulse output of single axis. i8092MF_CONTIUNE_MOVE ()( Please refer to section 6.1.10 of I8092F user manual) 3 Waiting for motion done: Waiting for the axis driving accomplished.

  • Page 35: Basic Motion Of Muti-Axes Interpolation

    Acceleration/Deceleration of vector. i8092MF_SET_VA()( Please refer to section 6.2.5 of I8092F user manual) i8092MF_SET_VD()( Please refer to section 6.2.6 of I8092F user manual) 3.7.5 Basic Motion of Muti-Axes Interpolation 1 2-axis linear interpolation: Perform 2-axis linear interpolation. i8092MF_LINE_2D()( Please refer to section 6.2.10 of I8092F user manual) 2 2-axis ARC interpolation: Perform 2-axis ARC interpolation.
  • Page 36 manual) Perform 2-axis continuous interpolation of line. i8092MF_LINE_2D_CONTINUE()( Please refer to section 6.4.2 of I8092F user manual) 3 Others continuous interpolation: Muti-point continuous interpolation, 3-axes Helix interpolation, 2-axis Ratio motion ( Please refer to section 6.4.4~6.4.7 of I8092F user manual) http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 37: Getting Started Of Software

    4 GETTING STARTED OF SOFTWARE 4.1 WinCon eVC++ Guideline 4.1.1 Confirm the Relative Files Please confirm you have the following relevance files: 1. I8092.lib 2. I8092.dll 3. I8092.h If you don’t have, please look for CD or download the latest edition from ICPDAS’s website http://www.icpdas.com/download/download-list.htm 4.1.2 Create a new eVC++ Application Project...
  • Page 38 Click “Finish” and finish the new project establishment. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 39: Add The I8094.H Into Evc++ Application Project

    4.1.3 Add the I8094.h into eVC++ Application Project Add the i8092.h into the WorkSpace of application project, as below: Click the right key of mouse on Header Files, then choose “Add Files to Folder….” It will appear on a dialog of selecting file, find out the I8092.h and click OK. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 40: Add The Reference Path Into Evc++ Application Project

    4.1.4 Add the Reference Path into eVC++ Application Project A. Open the “Options” dialog in “Tools” menu. B. Select “Directories“ , then select the “SA_IA” in “Platform” item. Then select the “Win32 [WCE ARMV4]” in “CPUS” item and select the “include files” in “Show directories“...

  • Page 41: Start The Evc++ Sample

    4.1.5 Start the eVC++ Sample Add a BUTTON on Dialog, as below snapshot: Double-click on BUTTON and generate subprogram, then add ”#include “i8092.h”, “WinConSDK.h”, and declare CI8092MF I8092MF & bool Driver_Open & BYTE cardNo=0 in start point, as below snapshot: http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 42 Because we have built a class “CI8092MF(For Macro function)”, it is convenient to guide in designing program. User also can use the function of manual directly. Double-click on BUTTON that will generate a subprogram, then key in “I8092MF”, then it will appear a windows guide to help user to select a relevance function.
  • Page 43 I8092MF.SERVO_ON (cardNo, AXIS_XYZU); //set the Servo_ON to servo motors //======'Step 3 Check ERROR WORD KK=0; KK= I8092MF.GET_ERROR(cardNo); CString MSGG; if (KK != YES) //No ERROR: Step 4 Move X axis BYTE axis=AXIS_X; //for AXIS_X it can be to AXIS_XYZU I8092MF.SET_MAX_V(cardNo, axis, 20000); I8092MF.NORMAL_SPEED(cardNo, axis, 0);...

  • Page 44: Build The Project

    After you finished that, please choose the “Project”->”Setting” menu will appear the a dialgo as below, then select the “Link” item and key in “WinConSDK.lib i8092.lib”(as below snapshot) into the Object/library modules box and the click OK. 4.1.6 Build the Project Please select the “Build”...

  • Page 45: Download And Run

    4.1.7 Download and Run Please copy the ”i8092Demo.exe” and “I8092.dll” into the same floder of WinCon ( User can use the eVC++ Online Download/FTP/USB disk to do), then execute it. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 46: Microsoft Visual Studio .Net 2003(Vb.net，C#) Guideline

    4.2 Microsoft Visual Studio .NET 2003(VB.NET，C#) Guideline Because the Microsoft Visual Studio .NET 2003 has similar environment, therefore we make an example with VB.NET. 4.2.1 Confirm the Relative Files Please confirm you have the following relevance files: i8092.dll i8092_NET.dll If you don’t have, please look for CD or download the latest edition from ICPDAS’s website http://www.icpdas.com/download/download-list.htm 4.2.2 Create a new VB.NET/C# Application Project...
  • Page 47 Select the “WinDows CE” and “Windows Application”, then click “OK”. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 48: Add The Dll Into Application Project

    4.2.3 Add the DLL into Application Project Click the right key of mouse on”Solution Explorer” =>add Reference =>Select “Browse” button. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 49 Select the i8902 _NET.DLL Select the “Open” button, as above snapshot: http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 50: Start The Vb.net/C# Sample

    4.2.4 Start the VB.NET/C# Sample Add a “BUTTON” on the Form1, then double-click the BUTTON, then it will appear a code of Form1.vb, then add the “imports i8092MF_NET” in top, as below snapshot: Add the “i8092MF” into the Button1_Click, then it will appear a windows guide to help user to select a relevance function.
  • Page 51 If Not Driver_Open Then i8092MF.i8092MF_REGISTRATION(cardNo, 1) Driver_Open = True End If '====='Step 2 CONFIG IO i8092MF.i8092MF_RESET_CARD(cardNo) i8092MF.i8092MF_SET_PULSE_MODE(cardNo, AXIS_XYZU, 2) 'set the pulse output mode i8092MF.i8092MF_SET_ALARM(cardNo, AXIS_XYZU, 0, 0) 'disable the SERVO ALARM Input i8092MF.i8092MF_SET_ENCODER(cardNo, AXIS_XYZU, 0, 0, 0) 'set the encoder input type i8092MF.i8092MF_SET_MAX_V(cardNo, AXIS_XYZU, Convert.ToUInt32(16000)) 'set the max speed for XYZU i8092MF.i8092MF_EXD_DISABLE(cardNo, AXIS_XYZU)
  • Page 52 'Get X ERROR CODE KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_X)) 'Get Y ERROR CODE KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_Y)) 'Get Z ERROR CODE KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_Z)) 'Get U ERROR CODE KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_U)) '==================================== End If Please refer to a example “ demo_First” http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 53: Build The Project

    4.2.5 Build the Project Please select the “Build” -> ”Build Solution” in pull-down menu, then you will be finished this example program if there isn’t any wrong. 4.2.6 Download and Run Please copy the ”Demo_First.exe”, “I8092.dll” and “I8092_NET.dll” into the same floder of WinCon ( User can use the VS.NET Online Download/FTP/USB disk to do), then execute it.

  • Page 54: Create A New Tc ++ Application Project

    4.3.2 Create a new TC ++ Application Project 1. Execute the TC.EXE in the demo100 folder, then create a new Project( demo100.prj). 2. Add the contents of project：demo100.cpp and ..\lib\8000l.lib，I8092.lib 3. Setting the relevance option Compiler -> Code Generation item as below： http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 55 Compiler -> Advance Code Generation item as below： Debugger setting as below, close the Source debugging. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 56: Start The Tc Sample

    4.3.3 Start the TC Sample 1. Add the declared contents into the demo100.cpp: #include <dos.h> #include <math.h> #include "8000.h" #include "I8092.h" BYTE cardNo; long x_value, y_value, z_value, u_value; 2. Add the relevance code into the main program( Please refer to demo100.cpp): void main () //=================== I-8000 ===================...
  • Page 57 i8094_IN3_LEVEL(cardNo,AXIS_XYZU, 1); i8092MF_SET_ALARM(cardNo, AXIS_XYZU, 1, 1); i8092MF_SET_ENCODER(cardNo, AXIS_XYZU, 0, 0, 0); i8092MF_SET_MAX_V(cardNo, AXIS_XYZU, 16000); //========================================================================== BYTE ret1 = 0; BYTE chkey; DWORD sv; //PPS DWORD v; //PPS DWORD a; //PPS/s i8092MF_SERVO_ON(cardNo, AXIS_XYZU); Print(" (0:Exit, 1:HELIX_3D_1, 2:HELIX_3D_2, 3:RATIO, 4:FRnet output, 5:FRnet input) \r\n");...
  • Page 58 case '0': i8092MF_RESET_CARD(cardNo); Print("EXIT! \r\n"); return; //--------------------------------------------------------------- case '1': v=50000;//PPS。 i8092MF_SET_MAX_V(cardNo, AXIS_XYZU,160000L); ret1=i8092MF_HELIX_3D(cardNo, AXIS_Y, AXIS_Z, AXIS_X, 1, v, 0, 1000, 5, -2000); Delay(1000); Print("HELIX_3D_1 ! \r\n"); Print("ret1= %d \r\n",ret1); break; //--------------------------------------------------------------- case '2': v=100000;//PPS。 i8092MF_SET_MAX_V(cardNo, AXIS_XYZU,1600000L); ret1=i8092MF_HELIX_3D(cardNo, AXIS_Y, AXIS_Z, AXIS_U, 1, v, 0, 25000, 10, 3600);...
  • Page 59 (loop1 = 0; loop1 < 5; loop1++) i8092MF_RATIO_2D(cardNo, 0, 3600, 0); i8092MF_RATIO_2D(cardNo, 0, 3600, 1); i8092MF_RATIO_2D(cardNo, 0, 7200, 0); i8092MF_RATIO_2D(cardNo, 0, 3600, 1); i8092MF_RATIO_2D(cardNo, 1, 7200, 1); Delay(3000); Print("RATIO_2D OK ! \r\n"); break; //--------------------------------------------------------------- case '4': WORD wSA; WORD data; Print("FRnet wSA ? \r\n");...
  • Page 60 case '7': i8092MF_STOP_SLOWLY(cardNo, AXIS_XYZU); Print("STOP! \r\n"); break; //--------------------------------------------------------------- case '8': i8092MF_CLEAR_ERROR(cardNo); Print("CLEAR ERROR ! \r\n"); break; //--------------------------------------------------------------- case case 120: BYTE m_Axis=AXIS_X; i8092MF_SET_MAX_V(cardNo, m_Axis, 32000); i8092MF_NORMAL_SPEED(cardNo, m_Axis, 0); //set axis as Symmetrical T curve mode i8092MF_SET_A(cardNo, m_Axis, 50000); //set Acc =50000 PPS/S i8092MF_SET_V(cardNo, m_Axis, 50000);...
  • Page 61 break; //--------------------------------------------------------------- case case 122: m_Axis=AXIS_Z; i8092MF_SET_MAX_V(cardNo, m_Axis, 32000); i8092MF_NORMAL_SPEED(cardNo, m_Axis, 0); //set axis as Symmetrical T curve mode i8092MF_SET_A(cardNo, m_Axis, 50000); //set Acc =50000 PPS/S i8092MF_SET_V(cardNo, m_Axis, 10000); i8092MF_EXD_MP(cardNo, AXIS_Z, 100); i8092MF_EXD_DISABLE(cardNo, AXIS_X); i8092MF_EXD_DISABLE(cardNo, AXIS_Y); i8092MF_EXD_DISABLE(cardNo, AXIS_U); break; //--------------------------------------------------------------- case case 117:...
  • Page 62 break; //--------------------------------------------------------------- default: break; while (1); http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 63: Build The Project

    4.3.4 Build the Project Click F9 to compile program, LINK or demo100.EXE。 4.3.6 Download and Run 1. Please execute the “7188.EXE” on computer （The “7188.EXE” is a executed file of DOS, it can be used in DOS or DOS BOX of Win9X/WINNT/WIN2K）. 2.
  • Page 64 5. Press the F2 button on the keyboard, then key in “demo100.exe”, then press the F10 button to download and execute demo100.exe, as following drawing: Please refer to the 7188 getting started manual. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 65: Appendix-A Setup Tools & Others

    APPENDIX-A Setup Tools & Others A.1 Setup the Development Environment of I8094 A.1.1 eVC ++ 4.0 1. Microsoft eVC++ 4.0: at least ServicPack2 (Have already got at present ServicPack4) 2. WinCon8000_EVC4_SP1: WinCon in eVC++ Development Environment (SA_IA) 3. WinConSDK:WinCon Software Tool(inc,lib,dll,demo…) A.1.2 Visual Studio .NET 2003(VB.NET，C#) 1.

  • Page 66: I8094 Surface

    A.2 I8094 Surface I-8092F motion module WinCon W-8331, I-8092F and DN-8237 http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 67: Dimensions

    A.3 Dimensions A.4 The Version Upgrades Note New i8092.DLL New i8092.h New i8092_NET.DLL http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 68: Appendix B Other Terminal Boards

    APPENDIX B Other Terminal Boards B.1 DN-8237-DB Daughter Board The DN-8237DB is the daughter board for Delta ASDA-A Series Ampilifier. It has 2-axis I/O signals. B.1.1 Board Layout for DN-8237-DB 107mm DN-8237-DB Fig. B1-1 Board layout for the DN-8237-DB http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 69: Signal Connections For Dn-8237-Db

    The I/O connector on the DN-8237-DB is a 37-pin connector that enables you to connect to the PISO-PS200 or I-8092F motion card. Fig. B1-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-DB (or on the motion card), and refer to Table B1-2 for description of each motion I/O signal.
  • Page 70 Table B1-2 DN-8237-DB CON1 I/O connector signal description Pin name Pin number Description FR_A FRnet A-phase signal FR_B FRnet B-phase signal X_ECA Encoder A-phase signal for the X axis Y_ECA Encoder A-phase signal for the Y axis X_ECB Encoder B-Phase signal for the X axis Y_ECB Encoder B-Phase signal for the Y axis X_STOP2...
  • Page 71 The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B1-3 shows the pin assignment for the 7-pin connector on the DN-8237-DB, and the Table B1-3 shows its I/O connector signal description. The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers.
  • Page 72 CN-X & CN-Y (CN1 connector for each AXIS in Driver) The connectors CN-X and CN-Y are 50-pin connectors that enable you to connect to the CN1 connector of Delta ASDA-A series motor drivers. Fig.B1-5 shows the pin assignment for the 50-pin connector on the DN-8468-DB, and the Table B1-5 shows its I/O connector signal description.
  • Page 73 CN1 & CN2 (The I/O signals of the X and Y AXIS ) The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B1-6 shows the pin assignment for the 20-pin connector on the DN-8237-DB, and the Table B1-6 shows its I/O connector signal description.

  • Page 74: Jumper And Switch Settings

    B.1.3 Jumper and Switch Settings Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the selection condition of the jumper 5. Fig. B1-8 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 75 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. B1-9 is the default setting to connect the EMG singals to GND. The EMG signals from CN1 and CN2 will not take effect.
  • Page 76 JP1 ~ JP2 Jumper 1 ~ Jumper 2 can select the reset function in CN1 and CN2 for each axis. The following diagram is shown the selection condition of the JP1. Fig. B1-15 JP 1 and 2 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 77: Dn-8237-Mb Daughter Board

    B.2 DN-8237-MB Daughter Board The DN-8237MB is the daughter board for Mitsubishi J2 Series Ampilifier. It has 2-axis I/O signals. B.2.1 Board Layout for DN-8237-MB 107mm DN-8237-MB Fig. B2-1 Board layout for the DN-8237-MB http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 78: Signal Connections For Dn-8237-Mb

    The I/O connector on the DN-8237-MB is a 37-pin connector that enables you to connect to the PISO-PS200 or I-8092F motion card. Fig. B2-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-MB (or on the motion card), and refer to Table B2-2 for description of each motion I/O signal.
  • Page 79 Table B2-2 DN-8237-MB CON1 I/O connector signal description Pin name Pin number Description FR_A FRnet A-phase signal FR_B FRnet B-phase signal X_ECA Encoder A-phase signal for the X axis Y_ECA Encoder A-phase signal for the Y axis X_ECB Encoder B-Phase signal for the X axis Y_ECB Encoder B-Phase signal for the Y axis X_STOP2...
  • Page 80 The connector TB2 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B2-3 shows the pin assignment for the 7-pin connector on the DN-8237-MB, and the Table B2-3 shows its I/O connector signal description. Table B2-3 TB2 Signal Connection Name Number Description...
  • Page 81 The connector TB1 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.B2-4 shows the pin assignment for the 5-pin connector on the DN-8237-MB, and the Table B2-4 shows its I/O connector signal description. Table B2-4 TB1 Signal Connection Name Number Description...
  • Page 82 CN-XA & CN-YA (Fig B2-5 connector for each AXIS ) The connectors CN-XA and CN-YA are 20-pin connectors that enable you to connect to the CNA connector of Mitsubishi motor drivers. Fig.B2-5 shows the pin assignment for the 20-pin connector on the DN-8237-MB, and the Table B2-5 shows its I/O connector signal description. Table B2-5 CN-X A,CN-YA Name Number Description...
  • Page 83 CN-XB & CN-YB (Fig B2-6 connector for each AXIS ) The connectors CN-XB and CN-YB are 20-pin connectors that enable you to connect to the CNB connector of your motor drivers. Fig.B2-6 shows the pin assignment for the 20-pin connector on the DN-8237-MB, and the Table B2-6 shows its I/O connector signal description.
  • Page 84 CN1 & CN2 (The I/O signals of the X and Y AXIS ) The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B2-7 shows the pin assignment for the 20-pin connector on the DN-8237-MB, and the Table B2-7 shows its I/O connector signal description.

  • Page 85: B1.3 Jumper And Switch Settings

    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.B2-8 shows the pin assignment for the 8-pin connector on the DN-8237-MB, and the Table B2-8 shows its I/O connector signal description. B2.3 Jumper and Switch Settings Jumper 5 controls the EMG-A signal of the TB1 connector.
  • Page 86 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. B2-10 is the default setting to connect the EMG singals to GND. The EMG signals from CN1 and CN2 will not take effect.

  • Page 87: Dn-8237-Pb Daughter Board

    B.3 DN-8237-PB Daughter Board The DN-8237PB is the daughter board for Panasonic A4 Series Ampilifier. It has 2-axis I/O signals. B.3.1 Board Layout for DN-8237-PB 107mm DN-8237-PB Fig. B3-1 Board layout for the DN-8237-PB http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 88: Signal Connections For Dn-8237-Pb

    The I/O connector on the DN-8237-PB is a 37-pin connector that enables you to connect to the PISO-PS200(or I-8092F) motion card. Fig. B3-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-PB (or on the motion card), and refer to Table B3-2 for description of each motion I/O signal.
  • Page 89 Table B3-2 DN-8237-PB CON1 I/O connector signal description Pin name Pin number Description FR_A FRnet A-phase signal FR_B FRnet B-phase signal X_ECA Encoder A-phase signal for the X axis Y_ECA Encoder A-phase signal for the Y axis X_ECB Encoder B-Phase signal for the X axis Y_ECB Encoder B-Phase signal for the Y axis X_STOP2...
  • Page 90 The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B3-3 shows the pin assignment for the 7-pin connector on the DN-8237-PB, and the Table B3-3 shows its I/O connector signal description. The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers.
  • Page 91 CN-X &CN-Y(CN X5 connector for each Axis in Driver) The connectors CN-X and CN-Y are 50-pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers. Fig.B3-5 shows the pin assignment for the 50-pin connector on the DN-8468-PB, and the Table B3-5 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 92 CN1& CN2 (The I/O signals of the X and Y axis) The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B3-6 shows the pin assignment for the 20-pin connector on the DN-8237-PB, and the Table B3-6 shows its I/O connector signal description.

  • Page 93: Jumper And Switch Settings

    B.3.3 Jumper and Switch Settings Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the selection condition of the jumper 5. Fig. B3-8 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 94 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. B3-9 is the default setting to connect the EMG singals to GND. The EMG signals from CN1 and CN2 will not take effect.

  • Page 95: Dn-8237-Yb Daughter Board

    B.4 DN-8237-YB Daughter Board The DN-8237YB is the daughter board for Yaskawa Series Ampilifier. It has 2-axis I/O signals. B.4.1 Board Layout for DN-8237-YB 107mm DN-8237-YB Fig. B4-1 Board layout for the DN-8237-YB http://www.icpdas.com I8092F Getting Started ManualVer.2.3...

  • Page 96: Signal Connections For Dn-8237-Yb

    The I/O connector on the DN-8237-YB is a 37-pin connector that enables you to connect to the PISO-PS200 or I-8092F motion card. Fig. B4-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-YB (or on the motion card), and refer to Table B4-2 for description of each motion I/O signal.
  • Page 97 Table B4-2 DN-8237-YB CON1 I/O connector signal description Pin name Pin number Description FR_A FRnet A-phase signal FR_B FRnet B-phase signal X_ECA Encoder A-phase signal for the X axis Y_ECA Encoder A-phase signal for the Y axis X_ECB Encoder B-Phase signal for the X axis Y_ECB Encoder B-Phase signal for the Y axis X_STOP2...
  • Page 98 The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B4-3 shows the pin assignment for the 7-pin connector on the DN-8237-YB, and the Table B4-3 shows its I/O connector signal description. The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers.
  • Page 99 CN-X & CN-Y (CN1 connector for each AXIS in Driver) The connectors CN-X and CN-Y are 50-pin connectors that enable you to connect to the CN1 connector of Yaskawa motor drivers. Fig.B4-5 shows the pin assignment for the 50-pin connector on the DN-8468-YB, and the Table B4-5 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 100 CN1 & CN2 (The I/O signals of the X and Y AXIS ) The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B4-6 shows the pin assignment for the 20-pin connector on the DN-8237-YB, and the Table B4-6 shows its I/O connector signal description.

  • Page 101: Jumper And Switch Settings

    B.4.3 Jumper and Switch Settings Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the selection condition of the jumper 5. Fig. B4-8 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3...
  • Page 102 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. B4-9 is the default setting to connect the EMG singals to GND. The EMG signals from CN1 and CN2 will not take effect.

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