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Summary of Contents for Hivertec CPD Board Series
- Page 1 PCI Express, PCI, ISA, PC/104, CompuctPCI, USB CPD Board Series User's Manual <Introduction> NC Board Multifunctional High-Speed Circular/Linear Interpolation and Positioning Hivertec,inc. http://www.hivertec.co.jp/...
- Page 3 Other company and product names are the trademarks or registered trademarks of their respective companies. Hivertec Inc. 1-8-11 Shin-Ohashi, Koto-Ku, Tokyo 135-0007, Japan Mitsuiseimei Shin-Ohashi Bldg. TEL +81-3-3846-3801 FAX +81-3-3846-3773 sales@hivertec.co.jp Revision 5.52 Feb 4, 2020 released Copyright Hivertec Inc.
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Page 4: Table Of Contents
Please be sure to read the "Please read first" section carefully before using the product. Table of Contents ◼ Please read first ............................1 ◼ Extent of Warranty ..........................1 ◼ Limitations to Liability .......................... 1 ◼ Important Safety Instructions ....................... 1 ◼... - Page 5 2.4.3 With Windows 98 SE ........................ 23 2.4.4 Uninstallation ........................... 23 USB Products............................ 24 2.5.1 With Windows 10 (64bit) ......................24 2.5.2 With Windows 10 (32bit) ......................24 2.5.3 With Windows 7 or later (64bit) ....................24 2.5.4 With Windows 7 or later (32bit) ....................25 2.5.5 With Windows XP ........................
- Page 6 Table of Figures Table 1.2-1 Axes names ........................... 8 Table 1.3-1 Common specifications ........................9 Table 1.4-1 Number of axes and servo I/F ....................... 10 Table 1.4-2 Machine I/F ..........................11 Table 1.4-3 Comparators..........................12 Table 1.4-4 General-purpose DIO and others ....................13 Table 1.5-1 Combination operations between axes ..................
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Page 7: Please Read First
Hivertec within the period of warranty, Hivertec will repair or replace the product upon return of the product to Hivertec. Hivertec is not responsible beyond the purchase price of the product for any damages or loss of profit, direct, indirect, or secondary, caused by application, delivery, or failure of a Hivertec product either within or outside of the period of warranty. -
Page 8: Authorized For
◼ Authorized For Caution This product and this manual are designed for those with the following knowledge. • A basic knowledge for installing and wiring expansion boards. • A basic knowledge of electronic control devices and personal computers. ◼ Transportation and Installation Warning When transporting or installing, make sure to read through the warnings and cautions described in “User’s Manual <Hardware>”... -
Page 9: Trial And Sample Program (Getting Started)
◼ Trial and Sample Program (Getting started) Warning The trial and sample program bundled with this product (Getting started) is for confirming whether a board is properly set and connected, or whether the operating environmental conditions are properly set, and for understanding the functions and operations of the board. Do not use “Getting started”... -
Page 10: Trial Operation And Tuning
◼ Trial Operation and Tuning Warning Always debug the program thoroughly before using a product of this series to drive devices. Any error in the program may result in unexpected operation leading to death and/or serious injury. When using application software provided with a product of this series to operate devices, always start at low speed and be sure that settings match the mechanical system before attempting operation. -
Page 11: Manual Configuration Of The Cpd Series
◼ Manual Configuration of the CPD Series Manuals for the CPD Series are composed of the following 4 documents. (1) CPD Series User’s Manual <Introduction> (Separate volume provided for INtime version) (2) CPD Series User’s Manual <Operation> (3) User’s Manual <Hardware> (4) User’s Manual <Software>... -
Page 12: Terms And Names Appearing In This Manual
◼ Terms and Names appearing in this Manual As for input/output description in this manual of various kinds, about which axis is clearly specified. Example：XCWP (CW : pulse output+ for X-axis) Abbreviations appearing in this Manual here after End Limit Sensor (XELS : End Limit Sensor of X-axis) Deceleration Sensor (YDLS : Deceleration Sensor of Y-axis) Origin Sensor (ZOLS : Origin Sensor of Z-axis) Comparator coincident output (CMPX : Comparator output of X-axis) -
Page 13: Introduction
1. Introduction This manual provides common introductory explanation of high-speed, multifunctional circular/linear interpolation and positioning motion control boards of the “CPD Board Series” using PCL6045 (4 axes), PCL6025 (2 axes) or equivalent as control LSI (hereafter generically referred to as “PCL”). -
Page 14: Axes Names
1.2 Axes Names Model no. Axes Axes names HPCI-CPD532 X, Y HPCI-CPD553 X,Y,Z HPCI-CPD534 X, Y, Z, U HPCI-CPD508 X, Y, Z, U, V, W, A, B HPCI-CPD574N X, Y, Z, U HPCI-CPD578N X, Y, Z, U, V, W, A, B HPCIe-CPD632 HPCIe-CPD674N X, Y, Z, U... -
Page 15: Common Specifications
1.3 Common Specifications Item Specification Remarks Position command Command pulses Positioning pulse-train command output Output element: Differential driver Position command range -134,217,728 to +134,217,727 [pulse] Command coordinate Relative coordinate command Command range for Unlimited continuous feed Target position change before Position override Only positioning is allowed positioning completion... -
Page 16: Functional Comparison
1.4 Functional Comparison 1.4.1 Servo I/F Encoder Output Input Model no. Phase-A/B input SVON SVRST SVCTRCL INPOS SVALM (When multiplied by 4) ○ ○ ○ ○ ○ HPCI-CPD532/534 4MHz ○ ○ ○ ○ ○ HPCI-CPD553r1 6.5MHz HPCI-CPD508 None None None 6.5MHz ○... -
Page 17: Machine I/F
1.4.2 Machine I/F Model no. LATCH Shared with Switches with PCS Switches with DLS None HPCI-CPD532/534/553r1 Shared with HPCI-CPD508 None Switches with BOLS None Switches Switches with PCS Switches with DLS Optional HPCI-CPD574Nr1/578Nr1 with DLS Shared with HPCIe-CPD632 Switches with PCS Switches with DLS None Shared with... -
Page 18: Comparators
1.4.3 Comparators CMP5→STP CMP4→STA CMP5→STP Comparator Model no. internal external output external output output connection Substituted by ○ HPCI-CPD532/534 Optional Optional STA/STP ○ ○ ○ Switched with HPCI-CPD553r1 OUT4 HPCI-CPD508 None None None None ○ ○ ○ ○ HPCI-CPD574Nr1/578Nr1 Substituted by ○... -
Page 19: General-Purpose Dio And Others
1.4.4 General-purpose DIO and others General- Manual Model no. purpose Consumption current Size pulsar +5V 700mA max. ○ HPCI-CPD532 None Short size +5V 1,150mA max. ○ HPCI-CPD534 None Short size ○ 12i/12o Short size +5V (Max 200mA), +3.3V (Max 1500mA) HPCI-CPD553r1 16i/8o +5V 1,700mA max. -
Page 20: Axis Operation Functions
1.5 Axis Operation Functions One set of 4-axis PCL can operate each axis independently, linearly interpolate a set of 2 to 4 axes, or circularly interpolate a set of 2 axes. One set of 2-axis PCL can operate each axis independently, linearly interpolate a set of 2 axes, or circularly interpolate a set of 2 axes. -
Page 21: Example Of Connection Configuration
1.6 Example of Connection Configuration Servo motor サーボモータ or Pulse 又は パルスモータ motor ＋ － モータ Motor +ELS -ELS エンコーダ Encoder モータドライバ Motor driver xCWP Command pulse 指令パルス CW xCWN xCCWP Command pulse 指令パルス CCW xCCWN HPCI-CPD578Nr1 A相 Phase-A HPCI-CPD578N B相... -
Page 22: Installing The Device Driver
2. Installing the Device Driver 2.1 PCI and CompuctPCI Products PCI products include HPCI-CPD532/534/508/574N/578N/5016/5212M/553 (including “r1” types). CompuctPCI products include HCPCI-CPD734/738. 2.1.1 With Windows 7 or later (64bit) 1. Before connecting CPD to the PC PCI bus slot, turn ON the PC to start Windows. 2. -
Page 23: Figure 2.1-1 Installing On Windows 7 Or Later
(Continued from the previous page) After completing, shut down the PC to connect CPD. Starting Windows again automatically installs the device driver and prompts for restart. Restart Windows to complete the installation. Figure 2.1-1 Installing on Windows 7 or later... -
Page 24: With Windows Xp
2.1.3 With Windows XP After checking that the PC is turned OFF, connect CPD to the PC PCI bus slot. Turn ON the PC to start Windows. When Windows starts, the system detects CPD and automatically displays the screen for installing the necessary device driver. -
Page 25: With Windows 2000
Follow the directions given by the system to complete the installation. 2.1.7 Uninstalling from Windows 7 or later Select [Start] → [Control Panel] → [Uninstall a program] → right-click [Windows Driver Package Hivertec HPCI-CPD5xx] to uninstall. 2.1.8 Uninstalling from Windows XP Insert the accompanying CD into the CD drive. -
Page 26: Pci Express Products (Hpcie-Cpd674N/678N)
4. After completing the installer, turn OFF the PC and connect CPD to the PC PCI bus slot. After completing, shut down the PC to connect CPD. Displays “Hivertec HPCI-CPD5xx(x64)” but is not a problem. 5. Turn ON the PC to start Windows. 6. The device installs automatically. When prompted, restart to complete the installation. -
Page 27: With Windows 7 Or Later (32Bit)
2.2.2 With Windows 7 or later (32bit) Before connecting CPD to the PC PCI bus slot, turn ON the PC to start Windows. Start CD drive:\win7_x86\dpinst.exe. When “dpinst.exe” starts, click [Next] to continue. The message [Windows can’t verify the publisher of this driver software] may display. In that case, click [Install this driver software anyway]. -
Page 28: Uninstalling From Windows 7 Or Later
Uninstalling from Windows 7 or later Select [Start] → [Control Panel] → [Uninstall a program] → right-click [Windows Driver Package Hivertec HPCI-CPD5xx] to uninstall. 2.3 PCI Express Products (HPCIe-NCB674N and NCB674N(1)) For the installation method of these products, see “HPCIe-NCB674N(1) User’s Manual <Software>”. -
Page 29: Isa And Pc/104 Products
2.4 ISA and PC/104 Products ISA products include HPC-CPD234/278. PC/104 products include HPC104-CPD132 and HP104D-CPD364. The "xxx" portion in the explanations respectively represent the following: HPC-CPD234/278 xxx = 230 HPC104-CPD132 xxx = 130 HP104D-CPD364 xxx = 360 2.4.1 With Windows XP and 2000 Insert the accompanying FD into the FD drive. -
Page 30: Usb Products
2.5 USB Products USB products include the HUSB-CPD434v2, HUSB-CPD434U, HETN-CPD834T, and HWIF-CPD834W. Please note that the support range of OS varies depending on the product. （Only HUSB-CPD 434v2 is compatible with Windows XP, 2000, 98 SE） For HETN-CPD834T and HWIF-CPD834W, Ethernet or WiFi interface is installed in addition to the USB interface. -
Page 31: With Windows 7 Or Later (32Bit)
2.5.4 With Windows 7 or later (32bit) Before connecting CPD to the PC USB port, turn ON the PC to start Windows. Insert the attached disk in the drive and start CD drive “:¥x86¥dpinst.exe”. （In case CD Version 7 （for HUSB-CPD434U/HETN-CPD834T/HWIF-CPD834W）, start “\Usb\x86\dpinst.exe”）... -
Page 32: Uninstallation With Windows 7 Or Later
2.5.8 Uninstallation with Windows 7 or later [Uninstalling the device driver with CD version 7.0.0.0(device driver version 6.0.0.0)] Disconnect the device and turn OFF its power. Start Control Panel from the Windows start menu Select [Add or remove programs]. Uninstall from [Uninstall or change a program].（Delete all three driver packages.） Figure 2.5-1 Uninstalling Screen [Uninstalling the device driver with CD version 5.0.0.0(device driver version 3.0.0.0)]¥... -
Page 33: Uninstallation With Windows Xp / 2000 / 98Se
2.5.9 Uninstallation with Windows XP / 2000 / 98SE Disconnect the device and turn OFF its power. Insert the accompanying CD into the CD drive. Start Explorer to run CD drive:¥cp430uin.exe. Restart Windows. Caution When uninstalling the device driver, make sure the device is disconnected and the power of CPD is turned OFF. -
Page 34: Getting Started
3. Getting Started “Getting started” is a software program that allows you to confirm minimum operation of a board on the screen just by connecting it to a PC. Warning "Getting started" is for confirming whether a board is properly set and connected, or whether the operating environmental conditions are properly set, and for understanding the functions and operations of the board. -
Page 35: Hpci-Cpd532/534/508/574N/578N/553, Hcpci-Cpd734/738, Hpcie-Cpd674N/678N
* CPD is not connected, or not recognized by the system. * The device driver is not installed. * Check the device driver version. * There may be an inconsistency and the like in the system. Contact Hivertec Support desk. 3.1.1 Operation confirmation screen Running “Getting started”... -
Page 36: Figure 3.1-2 Operation Confirmation Screen Of Hpci-Cpd553R1
Figure 3.1-2 Operation confirmation screen of HPCI-CPD553r1 Device information display The device information of the selected board is displayed in the area shown below: [Mgt num] is “-1” for Windows 98. [BoardID] is the value set in the switch on the board. - Page 37 (d) Start/Stop operation commands for an axis Each axis supports the following operations: Positioning operation (both at constant speed or with acceleration/deceleration), Feed operation (both at constant speed or with acceleration/deceleration, and in both + direction or – direction), Homing operation (both at constant speed or with acceleration/deceleration), and Stop operation.
- Page 38 (3) General Purpose Input/output In HPCI-CPD553r1, general purpose input/output can be configured． Displayed input port states． Green：ON, White：OFF Input/output points can be changed by click this． Initial setting is 16IN/8OUT If changed, it become 12IN/12OUT as described below． Displayed output port states． Green：ON, White：OFF This can be switched ON/OFF by clicking．...
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Page 39: Configuration Screen
3.1.2 Configuration screen Selecting the “setting” tab after stopping all axes on the operation confirmation screen displays the following screen: Figure 3.1-2 Configuration screen of HPCI-CPD532/534/508/574Nr1/578Nr1/553r1, HCPCI-CPD734/738, and HPCIe-CPD674Nr1 (1) Board selection and device information When two or more boards are connected, specify the board for “Getting started” by “BoardID” or “Dev Num”. A board is initialized each time the specified board is changed. -
Page 40: Hpcie-Ncb674N And Hpcie-Ncb674N(1)
3.2 HPCIe-NCB674N and HPCIe-NCB674N(1) For the “Getting started” of these products, see “HPCIe-NCB674N(1) User’s Manual <Software>”. -
Page 41: Husb-Cpd434V2，Husb-Cpd434U
3.3 HUSB-CPD434v2，HUSB-CPD434U This may be updated resently. The discription of this section is for older version. The “Let’s try to move” program software allows you to check minimal operations on the display by simply connecting Board to computer. Execute the A:\test\Release\tpc43000.exe file on the provided floppy disk. (In this case, the floppy disk drive is drive A.) <... - Page 42 (1) Device Information Display The information of the device being selected is displayed as shown below: Note: 1. Board ID: The setup value on the board ID rotary switch 2. Other values: The values displayed above are normal for actual operations. (2) Display of Each Axis and Operation Commands Operation on the board for each axis is identical.
- Page 43 +Constant speed / High-speed operation Origin returning [OLS] operation (Constant speed operation. Returns to origin at an OLS signal) Origin returning [OSL+Z] operation (High-speed operation. Returns to origin at an OLS signal plus a first Z-phase inuput)Stop Positioning operation and switching between Hi / Lo speeds of continuous operation are set on the control screen.
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Page 44: Let's-Try-To-Move" Settings Window
［Setting High-speed Operation］ 1. High-speed positioning in “+” direction at operation speed. (Set positioning amount in Settings Window.) 2. High-speed positioning in “–“ direction at operation speed. (Set positioning amount in Settings Window.) 3. High-speed operation in “+” direction at operation speed. 4. - Page 46 (1)Board Selection and Device Information When two or more Boards have been installed in the computer, the Board used for the Let’s try to move can be specified by selecting its device number or Board ID, as shown below. Select Board ID (2) Changeable Axis Operating Conditions The operating conditions can be set individually for each axis that can operate.
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Page 47: Trial Operation
4. Trial Operation This chapter describes the general procedure for the trial operation since actual trial operation varies depending on the mechanism. 4.1 Procedure Set the motor to run alone. Disconnect the load of the motor shaft and machine if possible. (1) First, turn ON the power of the PC and start “Getting started”. -
Page 48: Overview
4.2.1 Overview In the Boardchecker, the input/output signals of the servo interface and the machine interface for 4 servo axes are substituted by LEDs or switches. It also has command pulse counter and output encoder feedback functions. By using these functions, it helps you to check the input/output to/from the board, and perform failure analysis or software debug. -
Page 49: Connection Configuration
4.2.4 Connection configuration Connector board ボ ー ド Boardchecker ス イ ッ チ ボ ー ド Target board タ ー ゲ ッ ト ボ ー ド Connector board Cable Target board ACB-MU0502 HCL-015W HPCI-CPD532 HPCIe-CPD632 ACB-MU1004 HCL-018W HPCI-CPD534 HPC-CPD234 HUSB-CPD434v2MS HUSB-CPD434UMS HUSB-CPD734 HCPCI-CPD734... -
Page 50: Table 4.2-3 Cables Between Boardchecker And Abc Board
Board name Servo side Sensor side CMP output HPCI-CPD532 26Pin 10Pin None ACB-MU0502 HPCIe-CPD632 HPC-CPD234 26Pin 10Pin ACB-MU1004 HPCI-CPD534 HCPCI-CPD734 HCPCI-CPD738 HUSB–CPD434MSv2 HUSB-CPD434UMS 26Pin 10Pin 16Pin HUSB–CPD434CBv2 HUSB-CPD434UCB HPCI-CPD553 26Pin 10Pin ACB-MU1003 HPCI-CPD574N 16Pin ACB-HU1004 HPCI-CPD578N HPCIe-CPD674N HPCIe-CPD678N HPCIe-NCB674N HPCIe-NCB674N(1) HPC-CPD278 HPCI-CPD5212M None... -
Page 51: Interface Diagram (For 1 Axis)
4.2.5 Interface diagram (for 1 axis) Signed 10-digit 符号付10桁 counter （10進表示） (Decimal display) 加算 Addition Counter カウンター 指令ﾊﾟﾙｽ CW Command pulse CW 32Bit Subtraction 減算 指令ﾊﾟﾙｽ CCW Command pulse CCW A相 Phase-A 90° Pulse number switch パルス数切り替え 90º phase Pulse generator パルスジェネレータ 位相差... -
Page 52: Connector Signal List (Hchk-Cpdv1 Side)
4.2.7 Connector signal list (HCHK-CPDv1 side) Servo I/F connector Comparator connector Machine I/F connector (1) Servo I/F connector ■ 26Pin XG4A-2631: OMRON (Cable side: XG2630-T) Signal name Signal name EXTPOW (24V) EXTPOW (24V) SVALM (servo alarm) INPOS (positioning complete) SVON (servo ON) SVRST (servo reset) SVCTRCL (servo error counter CTRCLGND (24GND) - Page 53 (2) Machine I/F connector ■ 10Pin XG4A-1031: OMRON (Cable side: XG1030-T) Signal name Signal name EXTPOW (24V) EXTPOW (24V) +ELS (+end limit) -ELS (+end limit) DLS (deceleration sensor) SVBRK (servo brake) OLS (origin sensor) CMP (comparator) EXTGND (24GND) EXTGND (24GND) ■...
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Page 54: Switch Description
4.2.8 Switch description AC input Counter +24V power supply POW LED Monitor terminal GND Monitor terminal (CW/CCW, phase-A/B) Power switch Handle terminal (+5V, GND, AP, AN, BP, BN) 24V supply switching jumper Open when supplying power to HUSB-CPD434v2CB and ACB. Short-circuited in other cases. -
Page 55: Glossary
5. Glossary 5.1 Terms Used in Motion Control 5.1.1 Configuration example of motion control system Pulse command Current control Motion controller Motor driver Motor 5.1.2 Pulse command and motor rotation (a) Stepping (pulse) motor The stepping motor is a motor that rotates on its axis at a certain angle (step angle) for every pulse signal it receives. -
Page 56: Control Axes And Their Axis Name
5.1.3 Control axes and their axis name A control axis originally refers to the coordinates used to control a machine device. The control axis on the motion controller should be matched with their respective axis on the machine device. Motion controller Motion controller control axes Distribution (on the software) -
Page 57: Coordinates And The Travel Distance Command
5.1.5 Coordinates and the travel distance command (1) Equipment coordinates The positions of a machine movable portion are typically managed on a coordinate system where its origin is the homing completion position. A control axis is available in various types 1000 Current position (2000,1000) including the linear axis and rotation axis. -
Page 58: Constant-Speed Operation And Acceleration/Deceleration Operation
5.1.7 Constant-speed operation and acceleration/deceleration operation (1) Constant-speed operation In constant-speed operation, the carriage travels at constant speed from the beginning to the end of the operation. Not recommended for acceleration/deceleration operation. (Strong vibration and shock) (2) Acceleration/deceleration operation In acceleration operation, the carriage starts to move at base speed, accelerates to the operation speed, moves at operation speed, and decelerates to the base speed before it stops. -
Page 59: Types Of Axis Operation
5.1.9 Types of axis operation There are two major types of axis operations: independent axis control and interpolation control. In independent axis control, the axes operate individually without any relation to each other. An interpolation control is a control in which multiple axes move by interpolating. The movable portions move by drawing a desired profile (contour) to reach the target position. - Page 60 (d) Timer operation (dwell) Timer operation is an operation that stops the carriage (does not perform next operation) for an indicated length of time. (2) Interpolation operation (a) Linear interpolation Linear interpolation is an operation that linearly moves the carriage from the starting point to the end point. End point Starting point X = major axis, Y = minor axis...
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Page 61: Input/Output Signal
5.1.10 Input/output signal (1) Normal open and normal close (a) Normal open Normal open refers to a contact that is open in the normal state and closes when operated. ON when current flows through the switch. It operates conversely to normal close. (b) Normal close Normal close refers to a contact that is closed in normal state and opens when operated. - Page 62 ⚫ SVCTRCL (Servo error counter clear) This signal clears the error counter within the servo driver (ex. accumulated pulse counter and error pulse counter). The purpose of the servo driver is to bring down the deviation between the command pulse and the encoder FB (feedback) to zero.
- Page 63 ⚫ Multiplication Phase-A Phase-B x1 multiplication + It counts up one when the phase-A input changes during LOW phase-B x2 multiplication + + + It counts up one when the phase-A input changes. x4 multiplication + + + + + - - - - - It counts up one when the phase-A or phase-B input changes.
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Page 64: Others
(4) Interface for external device synchronization (a) Output ⚫ CMP (Comparator output) Compares the specified counter with the set comparator data to produce an external output upon matching comparator conditions. (b) Input ⚫ LATCH (Latch input) This input latches the count value of the motion controller. ⚫... - Page 65 If the carriage already passed the newly set target position, or if the carriage is decelerating and the new target position is closer to the origin than the original target position, it reverses the direction to complete positioning at the new target. Speed Time Target changed to a passed position...
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Page 66: Manual Revision History
6. Manual Revision History Version Date Modification Remarks 5.25 2015/10/06 Newly Created English Version “Terms and Names appearing in this Manual” revised 5.26 2015/12/01 Deleted description “HPCIe-CPD674N(x86)” or 5.27 2016/4/01 “HPCIe-CPD674N(x64)” will be displayed for driver name but is not a problem.“ from Page20” Added “3.2 HPCI-CPD5212M”...
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