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Beijing ART Tech PCI1040 User Manual

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PCI1040
User's Manual
Beijing ART Technology Development Co., Ltd.

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Summary of Contents for Beijing ART Tech PCI1040

  • Page 1 PCI1040 User’s Manual Beijing ART Technology Development Co., Ltd.

  • Page 2: Table Of Contents

    5.5 Deceleration Stop Signal ........................27 Chapter 6 Status Display ............................28 Chapter 7 Notes, Warranty Policy ........................29 7.1 Notes............................... 29 7.2 Warranty Policy ............................29 Appendix PCI1040 Brief Test Method ........................30 BUY ONLINE at art-control.com/englishs or CALL +86-(0)10-51289836(CN)

  • Page 3: Chapter 1 Overview

    Chapter 1 Overview 1.1 Introduction PCI1040 that generates a pulse for controlling the speed and positioning of pulse train input-type servo motors and stepping motors. PCI1040 enables 8-axis control. This unit is comprised of an S-shaped or linear acceleration/deceleration pulse generator, a line interpolation...
  • Page 4 PCI1040 Motion Control Card Comparison methods: =, > ◇ I/O Inputs: Outputs: ◇ Other functions Independent setting functions for accelerator and decelerator Timer function Input filtering function Interrupt function I/O logic switching function Status functions ◇ Clock: 20.0 MHz (max), 16.384 MHz or 19.6608 MHz recommended ◇...

  • Page 5: Chapter 2 Component Layout And Pin Layout

    2.2.3 Physical ID of DIP Switch DID1: Set physical ID number. When the PC is installed more than one PCI1040 , you can use the DIP switch to set a physical ID number for each board, which makes it very convenient for users to distinguish and visit each board in the progress of the hardware configuration and software programming.
  • Page 6 PCI1040 Motion Control Card invalid. If you want to use more than one kind of the equipments in one and the same system at the same time, please use the physical ID as much as possible. As for the differences between logic ID and physical ID, please refer to the function explanations of "CreateDevice"...

  • Page 7: Pin Layout

    PCI1040 Motion Control Card 2.2 Pin Layout BUY ONLINE at art-control.com/englishs or CALL +86-(0)10-51289836(CN)
  • Page 8 PCI1040 Motion Control Card BUY ONLINE at art-control.com/englishs or CALL +86-(0)10-51289836(CN)
  • Page 9 PCI1040 Motion Control Card BUY ONLINE at art-control.com/englishs or CALL +86-(0)10-51289836(CN)
  • Page 10 PCI1040 Motion Control Card Pin name Description ALM1 ~ ALM8 Driver alarm emergency stop unit EL P1 ~ EL P8 +direction immediate stop end limit input EL M1 ~ EL M8 -direction immediate stop end limit input SLD P1 ~ SLD P8...
  • Page 11 PCI1040 Motion Control Card OGND Ground +5VD 5V Power Supply DGND Ground No Connection BUY ONLINE at art-control.com/englishs or CALL +86-(0)10-51289836(CN)

  • Page 12: Chapter 3 The Description Of Functions

    There are two kinds of pulse output command: fixed pulse driving output and continuous pulse driving output. 3.1.1 Fixed Pulse Driving Output When host CPU writes a pulse numbers into PCI1040 for fixed pulse driving and configures the performance such as acceleration/ deceleration and speed, PCI1040 will generate the pulses and output them automatically.
  • Page 13 PCI1040 Motion Control Card ■ Automatic Setting Deceleration for Acceleration/Deceleration Driving This mode can be used when the acceleration rate and deceleration rate are identical. Counter D is cleared to 0 at the start of drive and counting is performed during drive. When the value of remaining pulse count management counter C becomes equal to or less the value of counter D, the drive starts to decelerate.

  • Page 14: Continuous Pulse Driving Output

    Namely, the parabolic curve and sine functional curve. 3.1.2 Continuous Pulse Driving Output When the Continuous Pulse Driving is performed, PCI1040 will drive pulse output in a specific speed until stop command or external stop signal is happened. The main application of continuous pulse driving is: home searching, teaching or speed control.

  • Page 15: Acceleration And Deceleration

    3.2.1 Constant Speed Driving When the drive speed set in PCI1040 is lower than the initial speed (or a speed higher than the drive speed is set as the initial speed), the acceleration/decoration will not be performed, instead, a constant speed driving starts.

  • Page 16: Interpolation

    PCI1040 Motion Control Card Fig.2.5 Symmetrical S-shaped Acceleration/Deceleration Driving 3.3 Interpolation This 8-axis motion control card can perform any 2, 3, 4 axes linear interpolation. In the process of interpolation driving, all the calculations will follow the main axis (ax1). So, the user has to set the parameters such as initial speed and drive speed of the main axis before performing the interpolation.

  • Page 17: General Purpose Input/Output Signal

    3.4 General Purpose Input/Output Signal In PCI1040, there are 8 general purpose inputs and 8 general purpose outputs, OUT0~OUT7 are output pins, IN0~IN7 are input pins. IN0 (LSB) to IN7 (MSB) form an 8-bit parallel input. Interrupt is possible at the change of IN0 from High to Low.

  • Page 18: Synchronous Action

    PCI1040 Motion Control Card 3.7 Synchronous Action Sync start input. When the sync start mode is activated, the pulse starts to be output when SYNC changes from High to Low. 3.8 External start-up and origin search setting 3.8.1 Return-to-Origin Operation With the return-to-coordinate-basic-origin drive, the return-to-origin operation is based on either the ORG input alone or the ORG and EZ (Encoder phase Z) inputs.
  • Page 19 PCI1040 Motion Control Card active. Acceleration starts when the MARK input goes active. Sensor positioning drive Ⅲ: Positioning drive from the position where the MARK input terminal goes active. Acceleration and deceleration are not performed. Return-to-origin Ⅰ : Return-to-origin accompanied with acceleration and deceleration. The drive decelerates and stops when ORG goes active.
  • Page 20 PCI1040 Motion Control Card Return-to-origin Ⅱ: Return-to-origin accompanied with acceleration and deceleration. The drive decelerates when ORG goes active and stops when EZ goes active after reaching startup speed. Return-to-origin Ⅲ: Return-to-origin at the startup speed. Immediate stop occurs when ORG goes active.
  • Page 21 PCI1040 Motion Control Card BUY ONLINE at art-control.com/englishs or CALL +86-(0)10-51289836(CN)

  • Page 22: Chapter 4 Interrupt Function

    PCI1040 Motion Control Card Chapter 4 Interrupt Function The PCI1040 has an interrupt function based on the pulse output, counter and sensor factors. It is also possible to mask the interrupt due to each factor. Interrupt signals can be generated when: (1). the start/finish of a constant speed drive during the acceleration/deceleration driving, (2).the end of driving, and (3).

  • Page 23: Counter Interrupt

    PCI1040 Motion Control Card 4.2 Counter Interrupt In counter interrupt mode, there are four interrupt modes: Counter A carry interrupt disabled, Counter A borrow interrupt disabled, Counter B carry interrupt disable and Counter B borrow interrupt disabled. Table3-3: Counter Interrupt Mask Register...

  • Page 24: Sensor Interrupt

    PCI1040 Motion Control Card 4.3 Sensor Interrupt In sensor interrupt mode, there are four interrupt modes: ORG interrupt disabled, EZ interrupt disabled, IN0 interrupt disabled and MARK interrupt disabled. Table 3-5: Sensor Interrupt Mask Register Table 3-6: Sensor Interrupt Flag...

  • Page 25: Comparator Interrupt

    PCI1040 Motion Control Card 4.4 Comparator Interrupt In comparator interrupt mode, there are two interrupt modes: P=Q interrupt disabled and P>Q interrupt disabled. Table 3-7: Comparator Interrupt Mask Register Table 3-8: Comparator Interrupt Flag BUY ONLINE at art-control.com/englishs or CALL +86-(0)10-51289836(CN)

  • Page 26: Chapter 5 Hardware Limit Signals

    PCI1040 Motion Control Card Chapter 5 Hardware Limit Signals Hardware limit signals, are used for stopping the pulse output if the limit sensors of + and – direction are triggered. 5.1 Initial Setting for Filter The setting values of the input filter decides the sensitivity of +EL , -EL , ALM , +SLD and -SLD .

  • Page 27: Deceleration Stop Signal

    PCI1040 Motion Control Card 5.5 Deceleration Stop Signal In this case, three parameters must be set: Parameter name Description Logical Direction Positive logic and negative logic Signal Mode Level signal and edge signal Movement Mode Immediate stop and deceleration stop In movement mode, immediate stop occurs when this command is written during drive.

  • Page 28: Chapter 6 Status Display

    PCI1040 Motion Control Card Chapter 6 Status Display In this department, we can see the value of speed, logic counters and real-bit counter, and the graphics of motor movement. According to the signal, we also can see the following status: hardware limit, origin flag, encoder Z, subtract bit, external in-position signal, external start, acceleration status, constant speed status, deceleration status, termination status and interrupt status.

  • Page 29: Chapter 7 Notes, Warranty Policy

    ART, we will provide good after-sale service and solve the problem as quickly as we can. When using PCI1040, in order to prevent the IC (chip) from electrostatic harm, please do not touch IC (chip) in the front panel of PCI1040 module.

  • Page 30: Appendix Pci1040 Brief Test Method

    PCI1040 Motion Control Card Appendix PCI1040 Brief Test Method Configuration of public parameters Linear Movement Set the public parameters of linear movement in the upper left corner of the box, we can configure multiplication, pulse output mode, pulse out direction, logic level of direction signal, initial speed, acceleration, drive speed, deceleration.
  • Page 31 PCI1040 Motion Control Card When select linear movement, only need to select the movement direction and drive mode (it is necessary to set fixed- pulses when fixed- pulse in the choice). When select S-shaped movement, need to select the deceleration mode, if you want acceleration and deceleration curves are the same, select auto-deceleration.
  • Page 32 PCI1040 Motion Control Card Make a brief description of the various functions 1. Pulse Output Mode: First select the CW/CCW (2-pulse mode). 2. Logic level test of direction signal: must select the Pulse/DIR (single-pulse mode) pulse output mode. Low level is +direction, high level is -direction. That is, when movement is +direction, PDIR(negative pulse output pins) will output low level, on the contrary, movement is -direction, PDIR will output high level.
  • Page 33 PCI1040 Motion Control Card Counter B is similar with the Counter A. ORG interrupt: generate interrupt when ORG from high level to low level EZ interrupt: generate interrupt when EZ from high level to low level INO interrupt: generate interrupt when INO from high level to low level...

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