PMC MultiFlex PCI 1000 Series User Manual

Pci motion controller

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Summary of Contents for PMC MultiFlex PCI 1000 Series

Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
Page 2 Flex PCI 1000 Series PCI Motion Controller - User’s Manual Revision 2.5 Precision MicroControl Corporation 2075-N Corte del Nogal Carlsbad, CA 92009 * USA Tel: +1-760-930-0101 Fax: +1-760-930-0222 www.pmccorp.com Information: info@pmccorp.com Technical Support: support@pmccorp.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 3 LIMITED WARRANTY All products manufactured by PRECISION MICROCONTROL CORPORATION are guaranteed to be free from defects in material and workmanship, for a period of 2 years from the date of shipment. Liability is limited to FOB Factory repair, or replacement, of the product. Other products supplied as part of the system carry the warranty of the manufacturer.
Page 4: Table Of Contents
Moving Stepper Axes with Motor Mover....................85 Contour Motion (arcs and lines) ......................91 Electronic Gearing ..........................100 Jogging ..............................101 MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 5 Table of Content Defining Motion Limits ........................... 102 Homing Axes ............................105 Motion Complete Indicators........................117 On the Fly changes ..........................119 Feed Forward (Velocity, Acceleration, Deceleration)................120 Save and Restore Axis Configuration Settings ..................122 Application Solutions ..........................123 Backlash Compensation........................
Page 6: Prologue
Motion Control API (Application Programming Interface) Reference Manual Motion Control Command Language (MCCL) Reference Manual The latest versions of these documents can be downloaded from the Support section of PMC’s web site at: www.pmccorp.com/support/mfxpci1000.php. This user manual applies to all MultiFlex PCI 1000 Series models, which include the following: Table 1.
Page 7 Page intentionally left blank Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 8: Introduction
DRAM Figure 1. MultiFlex PCI 1000 Series Board Layout The MultiFlex PCI 1000 Series are programmable, board-level, PCI-bus motion controllers designed for high-performance multi-axis control of servo and stepper motors and I/O. Features offered by models in this series include: ...
Page 9 Custom features and performance enhancements are available upon request Processor MultiFlex PCI 1000 series motion controllers feature an advanced 64-bit floating-point MIPS CPU core coupled with PCI interface logic and internal cache memory to provide a powerful processing engine for high-performance motion control.
Page 10 Motion Control API’s pmccmdex() function, most Motion Control API functions ease the task of programming by encapsulating additional functionality within each function. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 11 Introduction Programming Tools PMC’s Motion Control API provides programmers with a comprehensive function library. Develop application programs with Visual Comprehensive on-line help provides detailed C/C++/.NET function descriptions and program samples Sample programs with full source code are supplied with the MCAPI. These C++, Visual Basic, and Delphi sample programs allow the user to;...
Page 12 Introduction Software Tools & Utilities PMC’s Motion Integrator's Setup Wizards PMC’s Motor Mover allows users to: move any or walk the user through the integration all motors, change velocities on the fly, define process with external components (motors, cycling routines, monitor position and status...
Page 13 Introduction I/O Configuration Panel PMC's I/O Configuration Panel (accessible from Windows Control Panel) allows users to re-configure the channel numbers and logical functions of the digital I/O. The flexibility provided by this unique feature allows more efficient use of I/O resources and eases the task of connecting the controller to external devices.
Page 14: Motion Control Primer
Motor - servo or stepper Lead screw Stage Encoder (stepper optional) Negative Limit Positive Limit sensor sensor Figure 3: Typical PC-based Motion Control System MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 15 Motion Control Primer Motion Controller Functional Block Diagram Stepper Stepper Motor Driver Digital outputs Analog inputs Digital inputs +2V to +24V General Purpose Digital I/O (PLC type event sequencing) Axis I/O (home, limits, amp enable..) Pulse Timer Axis inputs Interrupts (optional) (+/- 10V) Servo...
Page 16 Motion Control Primer Motion Controller Tasks The MultiFlex PCI 1000 Series motion controllers feature a 64-bit floating-point CPU, FPGA, I/O buffering circuitry, a real time kernel and proprietary motion control firmware which work in combination to control the position, velocity, or torque of as many as twelve axes. The primary operations performed by the...
Page 17 Motion Control Primer Position Feedback via Incremental Encoder The motion controller monitors the position of a servo via an incremental encoder. Both differential (A+, A- , B+, B-, Z+, Z-) and single ended (A, B, Z) incremental encoders are supported. The maximum encoder frequency is 20 MHz (@ 50% duty cycle).
Page 18: Axis I/O
32 digital inputs and 28 digital outputs. 16 of the digital inputs are bi- directional optically isolated (+3V to +25 V) and 16 are TTL level. For MultiFlex PCI 1000 series model 1440, four of the bi-directional optically isolated inputs (Limit +, Limit -, Encoder Coarse Home, and Amplifier Fault) are shared between an analog command axis and a pulse command axis.
Page 19: The Command Set - The Heart Of The Motion Controller
PMC’s Motion CD and online at: www.pmccorp.com/support/support.php. For quick application prototyping and troubleshooting, PMC’s WinControl utility allows the user to issue MCCL commands directly to the controller. From the keyboard, MCCL commands can be entered one command at a time and executed as soon as the user hits the ‘Return’...
Page 20: Executing Operations With Mccl
On receiving this response, you should re-enter the entire command/command string. If you make a mistake in typing, the backspace can be used to correct it, the controller will not begin to execute MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 21 Motion Control Primer a command until a carriage return is received. Once you are satisfied that the communication link is correctly conveying your commands and responses, you are ready to check the motor interface. When the controller is powered up or reset, each axis is automatically set to the "motor off"...
Page 22 If after pausing command execution, the user decides to abort execution, this can be done by pressing the escape key. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 23: Closed Loop, Open Loop, And Position Verification
Motion Control Primer Closed loop, open loop, and position verification As it applies to motion control, there are three recognized control modes: Closed loop control Open loop control Open loop with position verification Closed loop control A broadly applied term, relating to any system in which the output is measured and compared to the input.
Page 24 For additional information on open loop with position verification systems please refer to page 143. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 25: Why Does A Servo Need To Be Tuned
Motion Control Primer Why does a servo need to be tuned? A servo is a closed loop system, which the dictionary describes as: An automatic system in which the output is constantly compared with the input through some form of feedback.
Page 26 (command signal) (encoder) To tune a servo axis use the Servo Tuning program included with PMC’s Motion Integrator software. For assistance with servo tuning, refer to the Motion Control chapter of this manual or view or the PowerPoint Servo Tuning tutorial available at www.pmccorp.com/support/mfxpci1000.php.
Page 27: Position Feedback - Quadrature Incremental Encoder
Motion Control Primer Position Feedback - Quadrature Incremental Encoder Quadrature Incremental Encoders are the default standard for providing position / velocity feedback for today's motion control systems. A quadrature incremental encoder is an opto electric feedback device. A light source and photo sensor pickup are used to detect markings on a glass ‘scale’. The more markings on the glass scale, the higher the resolution of the encoder.
Page 28: Servo Amplifiers: Current Mode Versus Velocity Mode
(minimal overshoot and no oscillation) before attempting to tune the position loop of the servo controller. For additional information on working with velocity mode amplifiers please refer to page 71. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 29: Stepper Motors - Full Step Versus Micro Step
Increased system performance by minimizing resonance Increased velocity resolution As it relates to a stepper motor controller like the MultiFlex PCI 1000 Series, full step versus microstepping is not an issue. The microstepping function of a motor occurs entirely in the stepper motor driver - it has nothing to do with the motion controller.
Page 30: Homing - Why, When, And How
Stage Negative Limit Positive Limit Home sensor sensor sensor Figure 7. Homing an open loop stepper with a Home sensor MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 31 Motion Control Primer Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 32: Software, Programming And Utilities
Motion Control Command Language (MCCL) allows machine designers to execute motion control routines independent of the host PC. PMC’s Motion Control API is a group of Windows components that, taken together, provide a consistent, high level, Applications Programming Interface (API) for PMC's motion controllers. The difficulties of interfacing to new controllers, as well as resolving controller specific details, are handled by the API, leaving the applications programmer free to concentrate on the application program.
Page 33: Controller Interface Types
Sitting above that, and communicating with the driver is the API Dynamic Link Library (DLL). The DLL layer implements the high level motion functions that make up the API. This layer also handles the differences in operation of the various PMC Motion Controllers, making these differences virtually transparent to users of the API.
Page 34: Building Application Programs Using Motion Control Api
Included with the installation of the Motion Control API is the Sources ‘folder’. In this folder are complete program sample source files for C++, Visual Basic, and Delphi. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 35 Software, Programming and Utilities C/C++ Programming Included with each of the C program samples (CWDemo. Joystick demo, and WinControl) is a read me file (readme.txt) that describes how to build the sample program. The following text was reprinted from the readme.txt file for the CWDemo program sample.
Page 36 Visual Basic v6.0) included with the sample. Include the following files if you create your own project: About32.frm Main32.frm Servo32.frm Step32.frm VBDemo.bas ..\mcapi32.bas ..\mcdlg32.bas Set frmMain as the startup object for the project. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 37 Software, Programming and Utilities Delphi Programming Included with each of the Delphi program sample (PasDemo) is a read me file (readme.txt) that describes how to build the sample program. The following text was reprinted from the readme.txt file for the PasDemo program sample.
Page 38 Software, Programming and Utilities LabVIEW Programming PMC’s LabVIEW Virtual Instrument Library includes an On-Line help with a Getting Started guide. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 39: Mcspy - Application Program Diagnostic Tool
Software, Programming and Utilities MCSpy - application program diagnostic tool MCSpy is a debugging tool for application programs that use PMC's Motion Control API programming interface. MCSpy captures commands and replies sent between the application program and the motion control card. These commands are displayed in Motion Control Command Language (MCCL), which is...
Page 40: Pmc Sample Programs
Monitor axis I/O (Limits +/-, Home, Index, an Amplifier Enable)  Define or change move parameters (Maximum velocity, Acceleration/Deceleration)  Define or change the servo PID parameters MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 41: Motion Control Api On-Line Help
Software, Programming and Utilities Motion Control API On-line Help Electronic help files are available for PMC’s Motion Control API. Help documents include; installation and basic usage, complete function call reference and examples, high level dialog descriptions, and LabVIEW VI Library reference.
Page 42 Status displays, Scaling, and I/O configuration. The Motion VI Library On-line Help provides installation assistance and detailed descriptions of available VI’s. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 43: Motion Integrator
General purpose Analog I/O  Comprehensive on-line help For first time PMC motion control users, Motion Integrator can be run as a series of Windows Wizards The Motion System Setup program opens with a listing of the recommended integration steps...
Page 44 Software, Programming and Utilities Once the systems has been tested and tuned (servo’s only) PMC’s Motor Mover allows users to: move any or all motors, change velocities on the fly, define cycling routines, monitor position and status Digital and Analog I/O Test Panels The Digital I/O, and Analog Test panels allow the user to verify the operation of the general purpose I/O.
Page 45 Software, Programming and Utilities Tuning servo’s with Motion Integrator Motion Integrator provides a powerful and easy to use tool for ‘dialing in’ the performance of servo systems. From simple current/torque mode amplifiers to sophisticated Digital Drives, Motion Integrator makes tuning a servo is quick and easy. By disabling the Trajectory generator, the user can execute repeated Gain mode (no ramping - maximum velocity or acceleration/deceleration) step responses to determine the optimal PID filter parameters: Proportional gain...
Page 46: Pmc Utilities
A PC keyboard key stroke is passed directly to the controller, and/or download a MCCL command text file via the File – Open menu options MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 47 All operational program code (firmware) for the MultiFlex PCI Series controllers is stored in non-volatile memory on-board the controller. PMC’s Flash Wizard is a windows application that allows users to easily upgrade controller firmware via software. Users can download the latest firmware revisions from the Support page of PMC’s web site at www.pmccorp.com/support/support.php.
Page 48 Software, Programming and Utilities Status Panel Allows the user to monitor the status any or all axes (servo or stepper). MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 49 Software, Programming and Utilities Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 50: Connecting To The Controller
For detailed connector and screw-terminal board board signal pin-outs, please see the chapter titled Connectors, I/O and Schematics beginning on page 177. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 51: +/- 10V Analog Servo Command Connections
Connecting to the Controller +/- 10V Analog Servo Command Connections Connectors J1 and J2 each provide two analog command signal pairs for controlling the position of two analog command servos. The 16 bit +/- 10V Analog Command Output signals are available on pins 1 and 2.
Page 52: Pwm (Pulse Width Modulation) Command Connections
Digital Outputs can be configured to this function. For information on configuring the Digital Outputs please refer to page 165. The typical interconnections for a Unipolar PWM servo are shown below. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 53 Connecting to the Controller PWM Driver Motion Controller Nat Semi 4.7K LMD18200 PWM Command PWM Out 75453 Output Ground Dir. PWM Sign Dig. #2 Out Brake LS541 Axis #1 Amp Enable 4.7K Amp Enable 75453 ADAM-3968 wiring module Figure 11. Unipolar PWM command wiring example (axis #1). For this example the PWM Direction output is configured to use Digital Output #2.
Page 54: Pulse Command Connections
1) Not all drivers / amplifiers provide an optical isolator current limiting resistor. An external current limiting resistor can be added between the terminal strip contact and the input contact on the driver / amplifier. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 55: Amplifier / Driver Enable Connections - Low Active
Connecting to the Controller Amplifier / Driver Enable Connections - Low Active Connectors J1 and J2 each provide two Amplifier Enable command signal pairs. The typical interconnections for Low Active Amplifier Enable are shown below. Servo Amplifier Motion Controller Amp Enable AE 1 Axis 1 Amp Enable Output 75453...
Page 56: Driver Disable Connections - Low Active
1) Not all drivers / amplifiers provide an optical isolator current limiting resistor. An external current limiting resistor can be added between the terminal strip contact and the input contact on the driver / amplifier. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 57: Amplifier / Driver Enable Connections - High Active
Connecting to the Controller Amplifier / Driver Enable Connections - High Active The controller uses open collector drivers (TI SN 75453B) for the Amplifier Enable/Driver outputs. These are current sinking devices which, when turned on, will 'pull' the Amplifier Enable output low (near ground).
Page 58: Amplifier / Driver Fault Connections
Amplifier/Driver Fault Amp Fault supply/return To Motor ADAM-3968 wiring module Figure 16. High Active Amplifier Fault input wiring example (axis #1) MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 59: Differential Incremental Encoder Connections
Connecting to the Controller Differential Incremental Encoder Connections Each of the four VHDCI connectors provide two incremental encoders interfaces. These encoder interfaces support either differential encoders (A+, A-, B+, B-, Z+, and Z-) or single ended encoders (A, B, and Z). When differential encoders are used the controller supports hardware encoder error detection. For additional information on incremental encoder basics please refer to page Motion Controller Differential...
Page 60: Single Ended Incremental Encoder Connections
Depending on the current drive capability of the encoder the controller may not support Encoder Fail Detection for single ended encoders. For additional information please contact PMC Tech Support. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 61: Over-Travel Limit Connections
Connecting to the Controller Over-Travel Limit Connections Sourcing Sensor The controller provides eight optically isolated inputs for monitoring over-travel limit sensors. Bi-directional optical isolators are used, so the over travel sensors may be either sinking or sourcing devices. By default each over-travel limit input is shared between an Analog Command axis and a Pulse Command axis (a Limit + is shared by axes 1 and 5, a Limit + is shared by axes 2 and 6, etc...).
Page 62 In Torque mode, the controller will ignore the activation of a limit input. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 63: Home Sensor Connections
Connecting to the Controller Home Sensor Connections The controller provides four optically isolated inputs for defining the home position of an axis. Bi- directional optical isolators are used, so the sensors may be either sinking or sourcing devices. By default each Coarse Home / Stepper Home input is shared between an Analog Command axis and a Pulse Command axis (a Coarse Home / Stepper Home is shared by axes 1 and 5, a Coarse Home / Stepper Home is shared by axes 2 and 6, etc...).
Page 64: Ttl Digital Input Connections
Digital input #3 Ground +5 VDC Digital input #4 Ground ADAM-3968 wiring module Figure 22. TTL digital inputs wiring example (first 4 channels) MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 65: Ttl Digital Output Connections
Connecting to the Controller TTL Digital Output Connections Each of the four VHDCI connectors provide four TTL level digital output channels that can be used to activate external devices. A 74LS541 is used as the buffering device. On power up (until the controller has completed initialization - 30 seconds to 3 minutes) all outputs will go to a TTL 'high' level.
Page 66: A/D Input Connections Wiring Example
For more information about how to read the analog input values, please refer to the section titled “A/D Inputs” on page 170. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 67: Watchdog Relay Connections
Connecting to the Controller Watchdog Relay Connections The controller incorporates a watchdog circuit and relay to protect against improper CPU operation. After a controller reset, PC reset, or PC power cycle, once the controller is initialized (Run LED D3 on) the watchdog circuit is enabled and the normally open watchdog relay is energized (contacts closed).
Page 68: Motion Control
Unlike the Connect Encoder Wizard, the Motion System Setup Test panel does not allow the user to verify the operation of the encoder Index. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 69 Motion Control Manually rotate the motor/encoder in either direction, the position reported should increment or decrement accordingly. Refer to the Troubleshooting Guide later in this manual if the controller does not report an appropriate change of position. Setting the Allowable Following Error Following error is the difference between where an axis ‘is’...
Page 70 (available from Motor Mover, Servo Tuning program, CWDemo32.exe). For additional information on trajectory profiles and velocity profiles please refer to pages 86 and 88. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 71: Tuning The Servo
PID filter parameters until an acceptable system response is achieved. For additional information on tuning a servo please refer to: PMC Servo Tuning program on-line help Servo Tuning PowerPoint tutorials (on the Motion CD) Precision MicroControl Corp.
Page 72 Motion Control Figure 26. PMC's Servo Tuning Utility is used to: execute moves, plot the response of the servo, and adjust PID gains Saving the Tuning Parameters Once an axis has been tuned you should save the PID and trajectory parameters. Select Save All Axis Settings from the File menu.
Page 73 Motion Control Electing to save the Auto Initialize settings causes the Servo Tuning utility to call the Motion Control API Common Dialog function MCDLG_SaveAxis. All servo parameters (PID, Trajectory, Limits, etc...) will be saved in the dialog To define these servo parameters from a user’s application program, call the Motion Control API Common Dialog function MCDLG_RestoreAxis.
Page 74 Prior to tuning velocity mode amplifier servo system the velocity feed forward term must be determined. The following example describes how to calculate and set velocity feed forward of a servo axis: MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 75 Motion Control Setting the Velocity Feed Forward The main component required to set the velocity feed forward of a servo axis is to determine the output level of the tachometer at a specific motor velocity. For this example, a typical tachometer specification would state: Output Range 0.0 to +10V...
Page 76 Increase the ‘P’ term and repeat the move until the following error begins to oscillate around a following error of 0. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 77 Motion Control Reduce the ‘P’ term by 15% to 20%. Begin adding derivative gain until the oscillations have been dampened. If the axis is not within a acceptable target range (typically +/- 1 encoder count) I gain is used to reduce the static error at the end of the move.
Page 78 Integral gain is only calculated after the calculated trajectory has been completed. For additional information on Integral gain options please refer to page 156. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 79 Acceleration and deceleration feed forward values should be set prior to using the Servo Tuning Utility to set the proportional and integral gain. For additional information please contact PMC Tech support. Systems with Electrical or Mechanical Deadband Some servo systems may demonstrate significant dead band due to friction, sticktion, or insufficient amplifier drive power.
Page 80: Moving Servo Axes With Motor Mover
Moving Servo Axes with Motor Mover Once the servo is tuned, the axis is ready to perform velocity profile moves. PMC’s Motor Mover program allows the user to execute absolute, relative, and cycle move sequences, monitor position and status of the axis.
Page 81: Stepper (Pulse Command) Axis Setup
Motion Control Stepper (pulse command) Axis Setup The controller supports three modes for controlling stepper motors or pulse command servo's: Open loop pulse command Open loop pulse command with encoder feedback Closed loop pulse command Open Loop Pulse Command Motion Controlling the position and velocity of a stepper motor with no component of the command output adjusted based on encoder feedback from the electro mechanical system is called open loop control.
Page 82 For auxiliary encoder connection information please refer to the Connectors, I/O and Schematics chapter. For additional information please refer to the Application Solutions chapter. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 83 Motion Control Closed Loop Steppers The advancements in stepper motor/micro stepping driver technology have allowed many machine builders to maintain ‘servo like’ performance while reducing costs by moving to closed loop stepper systems. While closed loop steppers will still be susceptible to ‘stalling’, they are not plagued with the familiar open loop stepper system problem of loosing steps due to friction (mechanical binding) or system resonance.
Page 84 After switching a stepper axis into or out of closed loop mode the axis must be disabled and then enabled. From a PMC program (Motor Mover, Cwdemo, Servo Tuning, etc...) select the Motor Off and then the Motor On buttons). From a user application issue the MCEnableAxis ( ) function with state = False and then state = True.
Page 85 Eliminate slow speed slewing of the axis near the end of the move Settle within 1 encoder count of the target Use the PMC Servo Tuning program (\Start\Programs\Motion Control\Motion Integrator\Servo Tuning) to tune the closed loop stepper. Step 1 - Enter a typical move distance (in encoder counts) and move duration (in milliseconds) using the Test Setup dialog (Setup\Test Setup).
Page 86 Axis 5 is a 51,200 micro steps per rotation stepper motor. A 2,000 count (500 line) incremental encoder is coupled to the stepper motor shaft. The required maximum step rate for this application is 896,000 steps MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 87 File menu Save All Axis Settings option. From a users application program to load the closed loop configuration call the MCDLG_RestoreAxis function from the PMC Common Motion Dialog Library. To load the closed loop axis configuration from a PMC application program (Servo Tuning or Motor Mover) select Auto Initialize from the File menu.
Page 88: Moving Stepper Axes With Motor Mover
By selecting the Setup button the user can; set velocity parameters (maximum velocity, acceleration, and deceleration), set velocity profile (Trapezoidal, S curve, or Parabolic), and enable motion limits. Figure 34. PMC's Motor Mover can be used to command motion for as many as 8 axes simultaneously MultiFlex PCI 1000 Series User's Manual...
Page 89 Motion Control Defining the Characteristics of a Move Prior to executing any move, the user should define the parameters of the move. The components that make up a move are: // Set axis 1 maximum velocity // Set axis 1 acceleration // Set axis 1 deceleration // Set profile as Trapezoidal // Set Position mode...
Page 90 If user unit parameters Scale and / or Rate are set to values other than 1 then the Velocity, Acceleration, and Deceleration units will change as well. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 91 Motion Control Velocity Profiles The user can select one of three different velocity profiles that the controller will then use to calculate the trajectory of a move. DCX Velocity Profiles Max. Velocity 10,000 counts / sec. Time Time Time Trapezoidal Profile Parabolic Profile S curve Profile DCX Accel / Decel Profiles...
Page 92 MCSetProfile( hCtlr, 1, MC_PROF_TRAPEZOIDAL ); MCSetVelocity( hCtlr, 1, 10000.0 ); MCSetAcceleration( hCtlr, 1, 25000.0 ); MCSetDeceleration( hCtlr, 1, 50000.0 ); MCMoveRelative( hCtlr, 1, 122.5 ); MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 93 Motion Control Constant Velocity Motion To move a servo or stepper at a continuous velocity until commanded to stop: // Enable the axis // Enable Velocity mode // Define the velocity profile (trapezoidal, S curve, or parabolic) // define maximum velocity // define acceleration // define deceleration // define the direction (positive or negative) of the move...
Page 94: Contour Motion (Arcs And Lines)
The nMode parameter of the MCBlockBegin( ) function is used to define the type of contour move to be executed. The following types of contour motion are supported: MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 95 Motion Control Table 2. Contour Mode Parameters nMode parameter Contour move type Description MC_BLOCK_CONTR_USER User defined, 1 to 8 axes Specifies that this block is a user defined contour path motion. lNum should be set to the controlling axis number. MC_BLOCK_CONTR_LIN Linear interpolated move, 1 Specifies that this block is a linear contour...
Page 96 MCBlockBegin( hCtlr, MC_BLOCK_CONTR_LIN, 1 ); MCMoveAbsolute( hCtlr, 1, 5000.0 ); MCMoveRelative( hCtlr, 2, 23000.0 ); MCMoveAbsolute( hCtlr, 3, -16000.0 ); MCBlockEnd( hCtlr, NULL ); MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 97 Motion Control Arc Motion The controller supports specifying an arc motion in two axes in any of three different ways: Specify center and end point Specify radius and end point (not supported by the Motion Control API) Specify center and ending angle (not supported by Motion Control API) When the first arc motion is issued, motion of the two axes will start immediately (at the specified vector velocity).
Page 98 MCBlockBegin( hCtlr, MC_BLOCK_CONTR_CW, 1 ); MCArcRadius( hCtlr, 1, -10000.0 ); MCMoveRelative( hCtlr, 1, -10000.0 ); MCMoveRelative( hCtlr, 2, -10000.0 ); MCBlockEnd( hCtlr, NULL ); MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 99 Motion Control End point of first arc 10,000 Radius = 10,000 10,000 Starting point -10,000 1st move - 90 degree clockwise arc 2nd move - 270 degree clockwise arc Arc motions by specifying the center point and ending angle The MCArcEndingAngle( ) function is used to execute an arc move by specifying the ending angle and center point of an arc.
Page 100 When executing contour motion the controller assumes that the axes are arranged in an orthogonal geometry. The controller will calculate the distance and period of a move as follows: MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 101 Motion Control Beginning position: X=0 Target position: X=10,000 Y=10,000 Z=1000 Calculated Contour Distance = (X = (10,000 + 10,000 + 1,000 = (100,000,000 + 100,000,000 + 1,000,000) = 201,000,000 = 14177.44 The period, or elapsed time of the move, is a simple matter of applying the current settings for Vector Acceleration + Vector Velocity + Vector Deceleration to the Calculated Contour Distance.
Page 102 If the commanded move distance of axis one was 2000 counts it would move at a higher velocity than axis two, but it would not reach its maximum velocity as set by the MCSetVelocity( ) command. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 103: Electronic Gearing
Motion Control Electronic Gearing MultiFlex motion controllers support slaving any axis or axes to a master. Moving the master axis will cause the slave to move based on the specified slave ratio. The optimal position of the slave axis is calculated by multiplying the optimal position of the master by the gearing ratio of the slave.
Page 104: Jogging
After the Motion Control API has been installed the source files for the Joystick Demo are available in the Motion Control folder \Program Files\Motion Control\Motion Control API\Sources\Joy. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 105: Defining Motion Limits
Motion Control Defining Motion Limits The controller implements two types of motion limits error checking. End of travel or 'Hard' limit switch/sensor inputs and 'soft' user programmable position limits. Servo or stepper motor Lead screw Stage Negative Limit Positive Limit sensor sensor Hard Limits...
Page 106 // Set the both hard limits of axis 1 to stop smoothly when tripped, ignore // soft limits: MCSetLimits( hCtlr, 1, MC_LIMIT_BOTH | MC_LIMIT_SMOOTH, 0, 0.0, 0.0 ); MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 107 Motion Control // Set the positive hard limit of axis 2 to stop by turning the motor off. // Because axis 2 uses normally closed limit switches we must also invert // polarity of the limit switch. Soft limits are ignored. MCSetLimits( hCtlr, 2, MC_LIMIT_PLUS | MC_LIMIT_OFF | MC_LIMIT_INVERT, 0, 0.0, 0.0 );...
Page 108: Homing Axes
Most closed loop system applications will use the Index mark of the encoder to define the ‘home’ position of a servo. Use Motion Integrator’s Connect Encoder Wizard to verify the proper operation of the encoder index. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 109 Motion Control Programming Homing Routines The controller provides sophisticated programming support for homing closed loop servos, Closed Loop Steppers, and Open Loop Steppers. The following two tables summarize which commands are provided for homing operations. Table 4. Motion Control API Homing Functions Axis Type Functions Input...
Page 110 1) Protect against damage of the mechanical components. 2) Provide a reference point during the initial move of the homing sequence MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 111 Motion Control Servo motor and encoder Lead screw Stage Negative Limit Coarse Home Positive Limit sensor sensor sensor Figure 36. Typical Linear Stage When power is applied or the controller is reset, the position of the stage is unknown. To home the axis a velocity mode move in the positive direction is commanded, checking the status of both the Coarse Home sensor and the Limit + sensor.
Page 112 (!MCIsStopped( hCtlr, 1, 2.0 )) { // Motor failed to stop within time limit (2 seconds), // error handling code goes here MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 113 Motion Control Sleep( 100 ); // let motor settle 100 msec (WIN32 API function) // Move back to location of index mark MCSetOperatingMode( hCtlr, 1, 0, MC_MODE_POSITION ); MCEnableAxis( hCtlr, 1, TRUE ); MCMoveAbsolute( hCtlr, 1, 0.0 ); MCIsStopped( hCtlr, 1, 2.0 ); if (!MCIsStopped( hCtlr, 1, 2.0 )) { // Motor failed to stop within time limit (2 seconds), // error handling code goes here...
Page 114 MCSetPosition( hCtlr, 1, 0.0 ); MCSetOperatingMode( hCtlr, 1, 0, MC_MODE_POSITION ); MCEnableAxis( hCtlr, 1, TRUE ); MCMoveAbsolute( hCtlr, 1, -100.0 ); MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 115 Motion Control The following MCCL example uses the Define Home (aDHn) command to redefine the encoder position of a closed loop system. ; MCCL linear stage homing sequence using the positive limit sensor MD1,1LM2,1LN3,MJ10 ;call homing macro MD10,1VM,1DI0,1GO,LU”STATUS”,1RL@0,IS10,MJ11,NO,JR-5 ;move and poll the Limit + sensor MD11,1WS0.01,1MN,1DI1,1SV1000,1GO,LU”STATUS”,1RL@0,IC28,MJ12,NO,JR-5 ;move negative until limit + inactive MD12,1AB,1WS.1,1DH0,1PM,1MN,1MA-100...
Page 116 // let motor settle 100 msec (WIN32 API function) // Move back to location of home sensor edge MCSetOperatingMode( hCtlr, 1, 0, MC_MODE_POSITION ); MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 117 Motion Control MCEnableAxis( hCtlr, 1, TRUE ); MCMoveAbsolute( hCtlr, 1, 0.0 ); MCIsStopped( hCtlr, 1, 2.0 ); if (!MCIsStopped( hCtlr, 1, 2.0 )) { // Motor failed to stop within time limit (2 seconds), // error handling code goes here Sleep( 100 );...
Page 118 ;move and poll the Limit + sensor MD11,5WS0.01,5MN,5DI1,5SV1000,5GO,LU”STATUS”,5RL@0,IC28,MJ12,NO,JR-5 ;move negative until limit + inactive MD12,5AB,5WS.1,5DH0,5PM,5MN,5MA-100 ;stop immediately when limit + not active, MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 119 Motion Control ;define position as 0. Move to position – 100. Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 120: Motion Complete Indicators
(pulses issued) is equal to the move target, the trajectory of the move has been completed and the MC_STAT_TRAJ status flag will be set. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 121 Motion Control The MC_STAT_TRAJ status flag is the conditional component of the MCIsStopped( ) and MCWaitForStop( ) functions. As shown by the trajectory graph above, the typical lag or following error during a servo move can cause the MC_STAT_TRAJ flag to be set before the axis has reached its target.
Page 122: On The Fly Changes
If an on the fly change requires the axis to change direction, the command interpreter will stall, not accepting any additional commands, until the change of direction has occurred (deceleration complete). MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 123: Feed Forward (Velocity, Acceleration, Deceleration)
Motion Control Feed Forward (Velocity, Acceleration, Deceleration) Feed forward is a method in which the controller increases the command output to a servo in order to reduce the following error of an axis. Traditionally feed forward is associated with servo systems that use velocity mode amplifiers, but simple torque mode amplifiers used for high velocity and high rate of change applications can also benefit from the use of feed forward.
Page 124 Servo Tuning Utility to set the proportional and integral gain. Acceleration feed forward and deceleration feed forward are not supported during Contour Mode (multi-axes lines and/or arcs). MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 125: Save And Restore Axis Configuration Settings
Motion Control Save and Restore Axis Configuration Settings The Motion Control API Motion Dialog library includes MCDLG_SaveAxis( ) and MCDLG_RestoreAxis( ). These high level dialogs allow the programmer to easily maintain and update the settings for servo and stepper axes. MCDLG_SaveAxis( ) encodes the motion controller type into a signature that is saved with the axis settings.
Page 126: Application Solutions
// move to middle of backlash MCWaitForStop( hCtlr, 1 ); // let motion finish MCEnableBacklash( hCtlr, 1, 100.0, TRUE ); // enable backlash compensation MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 127 Application Solutions Gear backlash Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 128: Emergency Stop
When the E-stop condition has been cleared, motion can be resumed after issuing the MCEnableAxis function with the parameter wAxis set to MC_ALL_AXES. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 129 Application Solutions E-stop Switch ADAM-3968 wiring module #1 Motion Controller (axes 1 & 2) +24 VDC Axis 1 Amplifier Fault Relay - Amp Fault supply/ Amplifier return Power Supply Axis 2 Amplifier Fault Amp Fault supply/ return AC Power In Axis 3 Amplifier Fault Amp Fault supply/ return...
Page 130: Encoder Rollover
(MCFindIndex or MCSetPosition) to position 0. Defining a offset to the home position will cause the axis to pause at the rollover point. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 131: Flash Memory Firmware Update
Application Solutions Flash Memory Firmware Update PMC’s Flash Wizard is a windows utility that allows the user to easily update the controller’s firmware code. Firmware updates for most PMC motion controllers are available for download from from the Support section of PMC’s web site www.pmccorp.com/support/support.php. Note: Please contact PMC if firmware is not available for your model.
Page 132: Saving And Restoring Axis Configuration Settings
(initialize) axis settings via the menu selections in PMC’s application programs. The first time that the Motion Control API recognizes that one or more PMC motion controllers are installed, a (mcapi.ini) text file is created in the C:\Windows\ folder. Initially mcapi.ini contains only information about the controller type and interface settings.
Page 133 Integrator also allows users to conveniently save all settings to C:\Windows\mcapi.ini. Once the desired settings are saved, users can direct other PMC application programs to load and use the saved setting by selecting Auto Initialize from each program’s File menu.
Page 134 As a helpful guide for programmers, PMC’s Motion Control API also includes a Sample Source Code folder which contains the source code for all of PMC’s sample programs. For example, the following source code performs the saving and restoring functions for the "Save All Axis Settings"...
Page 135 Application Solutions case IDM_INIT: SkipTimer = true; MCDLG_RestoreAxis(hCtlr, MC_ALL_AXES, MCDLG_PROMPT | MCDLG_CHECKACTIVE, NULL); Cycle = SkipTimer = false; break; case IDM_SAVE_SETTINGS: SkipTimer = true; MCDLG_SaveAxis(hCtlr, MC_ALL_AXES, 0, NULL); SkipTimer = false; break; Saving and restoring configuration settings via individual function or MCCL calls In addition to the MCDLG functions, programmers can selectively save and restore one, some, or all settings individually according to their needs.
Page 136: Learning/Teaching Points
MCMoveToPoint( ) command to the controlling axis with the point numbers as the command parameter. Note that when point memory is used with motors in contour mode, point 0 should not be used. This MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 137 Application Solutions example executes linearly interpolated moves through three stored points of axes 1, 2, and 3. MCSetOperatingMode( hCtlr, 1, 1, MC_MODE_CONTOUR ); MCSetOperatingMode( hCtlr, 2, 1, MC_MODE_CONTOUR ); MCSetOperatingMode( hCtlr, 3, 1, MC_MODE_CONTOUR ); Linear interpolated move sequence through stored points for (wIndex = 1;...
Page 138: Building Mccl Macro Sequences
For information on communicating with the controller while executing macro’s please refer to the section titled MCCL Multi-Tasking. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 139 Application Solutions The controller can store up to 1024 user defined macros. Each macro can include as many as 255 bytes, resulting in a total macro capacity of 255K bytes. Depending on the type of command and type of parameter, a command can range from 2 bytes (a command with no parameter) to 10 bytes (a command with a 64 bit floating point parameter).
Page 140: Mccl Multi-Tasking
MD101,1ST,1WS.05,AL1,AR10,ET@100 ;stop axis #1. Terminate background task GT100,AR@100,1VM,1DI0,1GO ;spawn macro #10 as background task. Store ;task ID into register #100. Start axis ;moving in velocity mode, MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 141 Application Solutions Note: Immediately after ‘spawning’ the background task (with the GTn command), the value in the accumulator (task identifier) should be stored in a user register. This value will be required to terminate execution of the background task. Another way to create a background task is to place the Generate Task command as the first command in a command line, using a parameter of 0.
Page 142 ; task ID into user register 150 ET@150 ;to terminate background task issue escape ; task command with parameter n = Task MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 143: Position Capture
Application Solutions Position Capture The controller features versatile high-speed position capture circuits that allow users to precisely synchronize motion with external events. The controller supports capturing the position of a closed loop servo or stepper encoder or step count (of an open loop stepper) on the rising edge of a TTL Position Capture input.
Page 144: Position Compare
MCConfigureCompare ( ) function. Mode Description MC_COMPARE_DISABLE Disables the compare output MC_COMPARE_INVERT Inverts the active level of the compare output MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 145 Application Solutions Configures the compare output for one shot operation (one shot period is defined by the period parameter of McConfigureCompare ( ) function. The one shot pulse period MC_COMPARE_ONESHOT range is from 1millisecond to 1.0 second. For one shot periods less than 50 milliseconds the timer resolution is 1 millisecond.
Page 146: Position Verification Of An Open Loop Pulse Axis
(MCGetAuxEncPosEx( hCtlr, 1, &Position ) == MCERR_NOERROR) if (Position < 122.0) . . . // print error message Homing the auxiliary encoder of an open loop stepper MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 147 Application Solutions The encoder of an open loop stepper may be homed in one of two ways: Home the encoder using the Auxiliary Encoder Index input Re-define the position of the encoder when the axis is homed If no encoder index mark output is available, the position of the auxiliary encoder can be redefined at anytime using the Motion Control API function MCSetAuxEncPos( ).
Page 148 ;count to 0 For MCCL homing samples that can be downloaded to the controller and executed please refer to PMC’s Motion CD. Verifying the Operation of the encoder of an open loop stepper To verify the operation of the encoder of an open loop stepper use either WinControl or Motor Mover.
Page 149 Application Solutions Toggle the Off & On buttons The Motor Mover position display will report the position of the encoder. Figure 45. Rotate the motor / encoder shaft back and forth. Verify that the position is changing accordingly If Motor Mover was used to verify proper auxiliary encoder operation don't forget to disable Closed Loop Stepper mode.
Page 150: Pwm Servo Command
Bipolar Mode Unipolar Mode PWM Command output at 50% Torque 38.4 12.8 25.6 25.6 usec's usec's usec's usec's Bipolar Mode Unipolar Mode MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 151 For PWM Command wiring examples please refer to page 49. The following screen captures detail how to associate Digital output #2 (channel 34) with the PWM Direction function by using PMC's Motion Control Panel. Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 152 +5 volts. Once the PWM Mode has been selected the servo can be tuned and exercised using any the standard PMC tools (Servo Tuning utility and Motor Mover). MultiFlex PCI 1000 Series User's Manual...
Page 153: Record Motion Data
Captured position data is typically used to analyze servo motor performance and PID loop tuning parameters. PMC's Servo Tuning utility uses this function to analyze servo performance. The Motion Control API function MCCaptureData( ) is used to acquire motion data for a servo axis. This function supports capturing: ...
Page 154: Resetting The Controller
Reset Controller from the WinControl File menu. Figure 46. Resetting the Controller Resetting the controller from a user application program (with MCReset( )) or from one of a PMC’s software programs (by selecting Reset Controller from: Motor Mover, WinControl, Servo Tuning, etc...) will cause the controller to revert to default settings (PID, velocity, accel/decel, limits, etc...).
Page 155: Single Stepping Mccl Programs
Application Solutions Single Stepping MCCL Programs While the controller is executing any Motion Control Command Language (MCCL) macro program, the user can enable single step mode by entering <ctrl> <B>. Each time this keyboard sequence is entered, the next MCCL command in the program sequence will be executed. The following macro program will be used for this example of single stepping: MD10,WA1,1MR1000,1WS.1,1TP,1MR-1000,1WS.1,1TP,RP This sample program will: wait for 1 second, move 1000 encoder counts, report the position 100 msec’s...
Page 156 {C7,M10} RP10 [REPEAT] < <space bar> 01 997 01 0 BREAK AT COMMAND 6, MACRO 10 wait {C7,M10} RP10 [REPEAT] < > MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 157: Torque Mode Output Control
Application Solutions Torque Mode Output Control The +/- 10V Analog Command outputs channels provide two methods of directly and completely controlling the Torque/Velocity of a axis. When executing closed loop servo motion in Position or Velocity mode, the MCSetTorque( ) command allows the user to limit the output signal or duty cycle to a specific level.
Page 158 When operating in Torque Mode the Following Error and Limit error checking is disabled. If either or both of these error conditions exist the controller will not command the axis to stop. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 159: Turning Off Integral Gain During A Move
Servo Tuning description in the Motion Control chapter of this manual  the Servo tuning tutorials on PMC’s Motion CD and available for download from the Support section of PMC’s web site. For some applications, integral gain has a tendency to cause bounce or oscillation of the command signal during a move.
Page 160 = 1) has completed, enable the integration term applications with unbalanced load. From PMC application programs like Servo Tuning and Motor Mover the integral gain mode can be MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 161 Application Solutions selected from the Servo Setup Dialog. Figure 49. Using Servo Tuning’s Servo Setup Dialog to set the integral gain mode of operation Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 162: Defining User Units
1 has 1000 quadrature counts per rotation, and the mechanics move 1 inch per rotation of the servo, then to setup the controller for user units of inches: MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 163 Application Solutions MCSCALE Scaling; MCEnableAxis( hCtlr, 3, False); MCGetScale( hCtlr, 3, &Scaling ); Scaling.Scale = 1000.0; // 1000 encoder counts/inch MCSetScale( hCtlr, 3, &Scaling ); MCEnableAxis( hCtlr, 3, True); Prior to issuing the Scale member, the parameters to all motion commands for a particular axis are rounded to the nearest integer.
Page 164 // define offset to 12.25 inches Scaling.Zero = 1.25; // define ‘part zero’ to 1.25 inches MCSetScale( hCtlr, 3, &Scaling ); MCEnableAxis( hCtlr, 3, True); MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 165 Application Solutions XY Pick and Place Assembly X & Y servo motor home Work area Part program zero zero (User Zero) (UserOffset) PCB clamp assembly Defining the output constant for velocity gain The member Constant allows the user to define the units to be used for setting the Velocity Gain parameters.
Page 166: Watchdog Circuit
When the watchdog circuit has tripped, the green Run LED will be disabled. To clear the watchdog error either cycle power to the computer (recommended), or reset the computer MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 167 Application Solutions Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 168: General Purpose I/O
I/O assignments. The Windows I/O Configuration dialog is used to change the default digital I/O configuration. Figure 51. Digital I/O configuration panel MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 169 General Purpose I/O The configuration dialog is launched from the Motion Control Panel (\Properties\Advanced\Configure) The Stepper Home function cannot be reassigned to a different digital input channel. An open loop stepper axis can only be 'homed' by applying an active level on the controller's SCSI connector pin, #27.
Page 170: Configuring And Exercising The Digital I/O
Windows registry. Configuring and Exercising the Digital I/O The configuration of the digital I/O is accomplished using either PMC’s Motion Integrator software or the Motion Control API function MCConfigureDigitalIO( ). The screen shot that follows shows the Motion Integrator Digital I/O test panel.
Page 171: Using The Digital I/O
General Purpose I/O Using the Digital I/O After configuring the Digital I/O channels with the MCConfigureDigitalIO( ) function, three Motion Control API functions are available for activating and monitoring the digital I/O: MCEnableDigitalIO( ) set digital output channel state MCGetDigitalIO( ) get digital input channel state MCWaitForDigitalIO( ) wait for digital input channel to reach specific state...
Page 172 Sub MCWaitForDigitalIO (ByVal hCtrlr As Integer, ByVal channel As Integer, ByVal state As VB Function: Integer) WF, WN MCCL command: LabVIEW VI: MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 173: A/D Inputs
You can read the analog input values using either the Motion Control API function MCGetAnalogEx( ), or by issuing the MCCL command Tell Analog (TAx, x=channel number) from PMC’s WinControl program. The value returned for each input channel will be a number between 0 and 65536, corresponding to the entire input voltage range.
Page 174 Delphi Function: Function MCGetAnalogEx( ) (ByVal hCtrlr As Integer, ByVal channel As Integer) As Integer VB Function: MCCL command: LabVIEW VI: MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 175 General Purpose I/O Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 176: Specifications
3.3V and 5V (connector is keyed for Universal PCI bus support) Form Factor Half-length, full-height PCI-bus card (6.875” x 4.2”) Operating Temperature range C to 55 C, non-condensing MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 177: Analog Command Axis Specifications
Specifications Analog Command Axis Specifications Function Closed Loop Servo Motor Control Operating Modes Position, Velocity, Contouring, Torque, and Gain Filter Algorithm PID with Velocity, Accel / Decel Feed-Forward (PID-VAFF) Servo Filter Update Rate 4, 2, or 1 KHz - software selectable Trapezoidal, Parabolic or S-Curve Trajectory Generator Independent Acceleration and Deceleration...
Page 178: Pulse Command Axis Specifications
TTL (0 - +5V), 1 per four servo axes Active level Programmable, default = TTL high Minimum pulse duration < nanosecond Maximum re-trigger frequency >1 MHz, (programmable trigger modes) MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 179 Specifications General Purpose I/O Specifications Digital Inputs 16 channels, TTL, Buffered (74LS541) Active level Programmable TTL high level input min. voltage 2.0V TTL high level input max. voltage 5.0V TTL low level input min. voltage 0.0V TTL low level input max. voltage 0.6V Input termination (pull up/down) None...
Page 180: Connectors, I/O And Schematics
16 MB J2 & J4 PCI-bus Connector Failure Detection Circuits Point RISC CPU DRAM Figure 53. MultiFlex PCI 1000 Series Board Layout MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 181: Vhdci Connectors
Connectors, I/O and Schematics VHDCI Connectors The controller uses four 68 contact SCSI VHDCI (Very High Density Cable Interconnect) receptacles for all signal connections. These high density shielded connectors (AMP P/N 787962-2) mate with widely available industry-standard cables that are often used in RAID (Redundant Array of Independent Disks) network servers.
Page 182: Controller Status Led Indicators
Cable Plug (offset): Amp P/N 787801-1 Backshell (offset): Molex P/N 788362-1 VHDCI SCSI cables supplied by PMC: PMC P/N: CBL-VH68-6: VHDCI male to HD68 (SCSI-II) male, 6’ (~2M) (compatible with ADAM 3968 Wiring Terminal Board). Controller Status LED Indicators LED #...
Page 183: Controller Potentiometers
Connectors, I/O and Schematics Controller Potentiometers POT1 - Axis #1 offset adjustment potentiometer Adjust the analog command output offset of axis #1 (measured between J1 pins 1 and 35).Maximum adjustment range is approximately 1.0 volt. POT2 - Axis #2 offset adjustment potentiometer Adjust the analog command output offset of axis #2 (measured between J2 pins 1 and 35).Maximum adjustment range is approximately 1.0 volt.
Page 184: Connector Pinout - Multiflex Pci 1440
Analog In #1 return / An. Ground J1 – 34 Analog Input #2 (option) J1 – 68 Analog In #2 return / An. Ground MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 185 Connectors, I/O and Schematics Connector Pinout – MultiFlex PCI 1440 (continued) Connector J2 (Analog Command Axes 3 & 4, Dig. inputs 5-8, Dig. outputs 5-8, A/D inputs 3 & 4) VHDCI Digital I/O Description (default Adam-3968 Circuit Type Pin # Channel configuration) Pin #...
Page 186 Analog In #5 return / An. Ground J3 – 34 Analog Input #6 (option) J3 – 68 Analog In #6 return / An. Ground MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 187 Connectors, I/O and Schematics Connector Pinout – MultiFlex PCI 1440 (continued) Connector J4 (Pulse Command Axes 7 & 8, Dig. inputs 13-16, Dig. outputs 13-16, A/D inputs 7 & 8) VHDCI Digital I/O Description (default Adam-3968 Circuit Type Pin # Channel configuration) Pin #...
Page 188: Connector Pinout - Multiflex Pci 1040
Analog In #1 return / An. Ground J1 – 34 Analog Input #2 (option) J1 – 68 Analog In #2 return / An. Ground MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 189 Connectors, I/O and Schematics Connector Pinout – MultiFlex PCI 1040 (continued) Connector J2 (Digital inputs 5-8, Digital outputs 5-8, A/D inputs 3 & 4) VHDCI Digital I/O Description (default Adam-3968 Circuit Type Pin # Channel configuration) Pin # J2 - 1 J2 –...
Page 190 Analog In #5 return / An. Ground J3 – 34 Analog Input #6 (option) J3 – 68 Analog In #6 return / An. Ground MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 191 Connectors, I/O and Schematics Connector Pinout – MultiFlex PCI 1040 (continued) Connector J4 (Pulse Command Axes 3 & 4, Dig. I/O 13-16, An. in 7 & 8) Digital I/O Description (default Adam-3968 VHDCI Circuit Type Pin # Channel configuration) Pin # Output - open collector driver J4 - 1 Axis 3 All Windings Off output...
Page 192 'outside world' allowing external components to monitor the 'basic status' of the motion controller. J8 Mating connector: Pin Housing: Molex P/N 22-01-3027 Crimp pin: Molex P/N 08-50-0114 MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 193: Signal Descriptions
Connectors, I/O and Schematics Signal Descriptions Motor Command Signals +/- 10 Analog Command Outputs signal type: +/- 10V analog, 16 bit notes: Connects to servo amplifier motor command input (Ref+) explanation: This output signal is used to control the servo amplifier's output. When connected to the command input of a velocity mode amplifier, the voltage level on this signal should cause the amplifier to drive the servo at a proportional velocity.
Page 194: Encoder Feedback Signals
The input device is a bi-directional optical isolator. The allowable voltage range for this signal is 3.0 VDC to 25.0 VDC. For I/O systems operating outside of this range consult the factory. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 195 Connectors, I/O and Schematics Coarse Home / Stepper Home Input signal type: Bi-directional optical isolator, 0.25 mA min., 3.0V – 25.0V range notes: The Home operation of a Pulse command axis cannot be re-assigned to use a different controllerinput explanation: This input is used to determine the proper zero position of an axis.
Page 196: Default Axis Outputs
The user can change any of the default I/O function assignments by using the I/O Configuration Panel, described on pages 10 and 165. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 197 Connectors, I/O and Schematics Drive Disable signal type: Open collector, current sink, 100ma max. current sink, 30V max. notes: External pull-up may be required explanation: This output signal should be connected to the disable input of the stepper driver or servo amplifier.
Page 198: Default Configuration Of General Purpose I/O
Two 74LS541 octal buffers are used to provide 16 TTL level digital inputs that allow the user to monitor external events. For additional information please refer to the General Purpose I/O chapter. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 199 Connectors, I/O and Schematics TTL Digital Outputs signal type: TTL (buffered by 74LS541) Active level = programmable, default = TTL high TTL low level current sink max. = 24 mA TTL high level current source max. = 15 mA TTL high level output min. voltage = 2.4V TTL high level output max.
Page 200: Circuit Schematics
J2 - 1 J2 - 35 -12V +VREF +12V POT4 Axis 4 +/- 10V output J2 - 2 J2 - 36 -12V MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 201 Connectors, I/O and Schematics Pulse Command Circuit Schematic (connector pin-outs reference connectors on the controller) +5VDC 4.7K SN75453B Axis 1 Step / CCW J3 - 2 +5VDC J3 - 36 +5VDC 4.7K SN75453B Axis 1 Direction / CW J3 - 3 +5VDC J3 - 37 +5VDC...
Page 202 J3 - 47 Axis 5 Enc. Error +5VDC Encoder Reference (1.5V) J1 - 10 J1 - 44 J3 - 10 J3 - 44 MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 203 Connectors, I/O and Schematics General-Purpose I/O Circuit Schematic (connector pin-outs reference connectors on the controller) Dig. Out #1 / 1- 4 Pos. Compare Dig. Out #5 J1 - 19 J2 - 19 74LS541 74LS541 J1 - 53 J2 - 53 Dig.
Page 204: Troubleshooting
On the following pages you will find troubleshooting flow charts to assist the with diagnosis of motion control system failures. The steps described in these flow charts will direct you to programs installed with PMC’s Motion Control API (Motion Integrator, Motor Mover, CWDemo, Servo Tuning, WinControl, etc.). These programs can be used to help diagnose and resolve system problems.
Page 205 I/O) working Troubleshooting flow as expected? charts Go to the Is the Miscellaneous controller operating as operation expected? Troubleshooting flow charts Contact PMC technical support. Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 206 Update the drivers (MCAPI). Uninstall the old MCAPI, then install the current MCAPI. Refer to chapter 3 of the user's manual. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 207 Turn on the PC power. The controller requires +5 & +/- 12 For additional information Is the controller's' power VDC power. Check contact PMC technical OK" LED on? support.. your power supply or call PMC. Within 1 second does the...
Page 208 Near but not Increase the Integral gain / at target? Integral limit. If the problem persists contact PMC technical support. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 209 Servo Tuning utility The servo control system has failed. Is the motion OK? Contact PMC technical support Motor moving as commanded. If problem persists contact PMC technical support. Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 210 The controller is decoding noise as valid encoder counts. Checkout wiring. A differential encoder may be required. If problem persists contact PMC technical support. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 211 Troubleshooting Troubleshooting - Servo Motion chart #3 A commanded move begins as expected but fails to reach the commanded target The commanded maximum velocity, Tune the Does motion accel, or decel exceeds servo using occur without the system capability. the Servo errors? Tuning utility Reduce the trajectory...
Page 212 1) The stepper motor driver commanded. has failed If problem persists contact 2) The Step/Dir PMC technical support. open collector output has failed MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 213 {MCSetLimits( )}. Contact PMC followed by Find Index/ technical support Find Edge and Stop. Did If problem persists the motor stop? contact PMC technical support. The controller is recognizing the Home and/or Index sensor. Contact PMC technical support. Precision MicroControl Corp.
Page 214: Controller Error Codes
Both the Motion Control API functions and the Motion Control Command Language (MCCL) provide error code and interface status information to the user. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 215: Motion Control Api Error Codes
Controller Error Codes Motion Control API Error Codes Motion Control API defined error messages are listed numerically in the table below. Where possible corrective action is included in the description column. Please note that many Motion Control API function descriptions also include information regarding errors that are specific to that function. Error Constant Description...
Page 216: Mccl Error Codes
The next command sequence turns on 3 motors and then calls macro 10. The command MC10 is a valid command but with no macros in memory error code –6 is displayed. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 217 Controller Error Codes Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 218: Glossary
Driver - Electronics that convert step and direction inputs to high power currents and voltages to drive a step motor. The step motor driver is analogous to the servo motor amplifier. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 219 MCAPI - The Motion Control Application Programming Interface - this is the programming interface used by Windows programmers to control PMC's family of motion control cards. MCCL - Motion Control Command Language - this is the command language used to program PMC's family of motion control cards.
Page 220 Velocity Move - A move where no final stopping position is given to the motion controller. When a start command is issued the motor will rotate indefinitely until it is commanded to stop. MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 221 Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 222: Appendix
Stepper Pulse Range HS (High) Position Count Optimal Count Index Count Auxiliary Status Position Target Optimal Position Breakpoint Position Position Dead band MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 223 Appendix User Scale User Zero User Offset User Rate Conversion User Output Constant Sampling Frequency 4 KHz Slave Ratio Precision MicroControl Corp. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 224: Index
C++ ...............32 Closed loop mode Delphi............34 described............20 LabVIEW ............35 Closed loop stepper control Visual Basic ..........33 described............80 Arc motion ............91 MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 225 ............107 MultiFlex PCI 1000 Series controllers ..3 wiring ............80 Driver disable Coarse home sensor wiring ............53 wiring ............60 Driver fault Coarse Home switch/sensor wiring ............55 voltage range..........192 Command format MCCL............17 Compare output Encoder described ............141 auxiliary ............143 mode, checkout ............
Page 226 ............102 required settings........... 86 hard (switch / sensor) .........102 theory of operation ......... 13, 14 homing an axis ........111, 115 MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 227 Torque mode ..........154 Operating systems ..........6 Motion Control Opto isolated inputs defined ............11 wiring ..........58, 59, 60 Motion Integrator description ............40 digital I/O ............167 encoder checkout .........65 Parabolic velocity profile encoder index checkout......105 description ............ 88 home sensor checkout .......105 Pausing limit sensor checkout ........102 MCCL command / sequence......
Page 228 Servo tuning utility ........68 source code ..........37, 38 Velocity mode amplifier ........ 71 Status Panel ......45, 67, 103, 117 WinControl........43, 152, 213 Specifications MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 229 firmware............43 MCAPI ............43 Visual Basic programming ....... 33 Update firmware ............44 User units controller time base ........160 description ..........159 Wait machine zero ..........161 for 'at target'..........118 output constant ...........162 for trajectory complete........ 117 part zero .............161 Watchdog circuit setting ............159 description ..........
Page 230 MultiFlex PCI 1000 Series User's Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 231: Precision Microcontrol Corp
Precision MicroControl Corporation 2075-N Corte del Nogal Carlsbad, CA 92009-1415 USA Tel: (760) 930-0101 Fax: (760) 930-0222 www.pmccorp.com Information: info@pmccorp.com Technical Support: support@pmccorp.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 232 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

This manual is also suitable for:

Multiflex pci 1400 Multiflex pci 1440 Multiflex pci 1040 Multiflex pci 1802

PMC MultiFlex PCI 1000 Series User Manual

Prologue

Introduction

Motion Control Primer

Software, Programming and Utilities

Connecting to the Controller

Motion Control

Application Solutions

General Purpose I/O

Specifications

Connectors, I/O and Schematics

Troubleshooting

Controller Error Codes

Glossary

Appendix

Index

Quick Links

Summary of Contents for PMC MultiFlex PCI 1000 Series

This manual is also suitable for:

Table of Contents