ADLINK Technology AMP-204C User Manual
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ADLINK Technology AMP-204C User Manual

Advanced dsp pulse motion controller for 4/8 axis
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AMP-204C / AMP-208C
Advanced DSP Pulse Motion Controller
for 4/8 Axis
User Manual
Manual Rev.: 2.00
Revision Date: July 25, 2014
Part No: 50-15089-2000
Advance Technologies; Automate the World.

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  • Page 1 AMP-204C / AMP-208C Advanced DSP Pulse Motion Controller for 4/8 Axis User Manual Manual Rev.: 2.00 Revision Date: July 25, 2014 Part No: 50-15089-2000 Advance Technologies; Automate the World.
  • Page 2 Revision History Revision Release Date Description of Change (s) 2.00 2014-07-25 Initial release...

  • Page 3: Preface

    AMP-204C / AMP-208C Preface Copyright 2014 ADLINK Technology, Inc. This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.
  • Page 4 Conventions Take note of the following conventions used throughout this reference to make sure that users perform certain tasks and instructions properly. Additional information, aids, and tips that help users perform tasks. NOTE NOTE Information to prevent minor physical injury, component damage, data loss, and/or program corruption when trying to complete a task.

  • Page 5: Table Of Contents

    MotionCreatorPro 2 ............8 Terminal Board ..............8 2 Getting Start with The Installation ........9 Package Contents ............... 9 AMP-204C / AMP-208C Exterior Profile Diagram ..... 10 Hardware Installation ............12 Hardware Configuration ..........12 Installation Procedures ..........12 Troubleshooting ............
  • Page 6 Definitions to Connector ..........26 P1 Connector: For Connecting to PCI-8254 / PCI-8258 / AMP-204C / AMP-208C ..........28 S1, S2: EDO/ALM_RST Selection Switch ....37 3 Signal Connection ............39 Pulse Command ..............40 Encoder Input, EA & EB & EZ..........43 Emergency Stop Input ............
  • Page 7 AMP-204C / AMP-208C 4.6.2 Synchronous Start ..........102 4.6.3 On The Fly Change ..........103 4.6.4 Continuous PTP Move..........103 Interpolation ..............106 4.7.1 Linear Interpolation..........106 4.7.2 Arc Interpolation ............. 108 4.7.3 Continuous Interpolation......... 116 Motion Status Monitoring ..........122 4.8.1...
  • Page 8 viii Contents...

  • Page 9: List Of Figures

    List of Figures Figure 1-1: AMP-204C/208Csystem block diagram...... 2 Figure 1-2: System installation flow chart ........3 Figure 2-1: AMP-204C exterior profile diagram ......10 Figure 2-2: AMP-208C exterior profile diagram ......11 Figure 2-3: Exterior of DIN-825-GP4 .......... 25 Figure 2-4: Exterior of DIN-825-GP4 ..........
  • Page 10 Figure 4-11: Home mode 0 adverse (Case: ORG+EZ)....86 Figure 4-12: Home mode 0 decelerate to stop (Case: ORG)..87 Figure 4-13: Home mode 1 (Case: EL) ........88 Figure 4-14: Home mode 1 (Case: EL+EZ) ......... 90 Figure 4-15: Home mode 2 (Case: EZ)........
  • Page 11 AMP-204C / AMP-208C Figure 4-45: Relation of motion done (MDN) signal VS motion .. 126 Figure 4-46: Relation of motion done (MDN), In-homing (HMV) signals VS motion127 Figure 4-47: Relation of WAIT signals VS motion....... 128 Figure 4-48: Relation of JOG and motion done(MDN) signals VS...
  • Page 12 List of Figures...

  • Page 13: List Of Tables

    AMP-204C / AMP-208C List of Tables Table 1-1: Cross-reference table of exclusive cables for pulse servo drive8 Table 4-1: Encoder input format ............. 63 Table 4-2: Encoder input format ............. 63 Table 4-3: Board parameter table ..........146 Table 4-4: Motion kernel signal table ..........
  • Page 14 List of Tables...

  • Page 15: Introduction

    T/S speed profile planning, point-to-point movement, multi-dimension interpolation, and master/slave motion. The AMP-204C / 208C, see Figure 1 below for its system functions, uses one digital signal processor (DSP) from Texas Instrument (TI) as its main computing unit and integrates high speed large volume...

  • Page 16: Figure 1-1: Amp-204C/208Csystem Block Diagram

    Figure 1-1: AMP-204C/208Csystem block diagram Graphical motion control interface – MotionCreatorPro 2 is a Windows-based motion control software development tool motion control and I/O status monitoring. It captures motion curves and data at the same time for analysis. Its Setup Wizard guides...

  • Page 17: Figure 1-2: System Installation Flow Chart

    AMP-204C / AMP-208C The Windows Programming Libraries supports Windows coding environment including: Visual Studio C++ 6.0, Microsoft .NET framework based VB.NET and C++, and Borland's C++ Builder. There are sample programs available in the installation folders. The flow chart below will guide you in using this manual as well as help you to locate any required information effectively.

  • Page 18: Product Specifications

    Flash ROM: 16M-bit 1x SCSI-II 100P for AMP-204C Board-to-board Connector 1x Dual SCSI VHDCI 100P interface for AMP-208C 4/8 axis for AMP-204C / Number of axes supported AMP-208C 500us, 1ms, 2ms Track update rate (programmable) Position / speed command 32 bit...
  • Page 19 AMP-204C / AMP-208C Item Description Trapezoidal Curve and Motion control Speed Profile Planning S-Curve function Jogging Trajectory Planing Point-to-point movement Online position/speed change Linear interpolation: 3 axes arc interpolation 2-6 axes 3 axes spiral interpolation 3 axes helix interpolation User customization (see...
  • Page 20 Supports DO function Motion control relevant I/O monitoring Motion Status Monitoring Motion status monitoring 4/8 axes corresponding Synchronous move AMP-204C / AMP-208C Up to 4/8 axis (including Master-client axes control ganty control) Motion speed profile/ Industrial Data sampling motion status/motion...
  • Page 21 AMP-204C / AMP-208C Item Description Maximum number of 2/4 CH correspondence PWM control channels AMP-204C / AMP-208C ● Fixed frequency, variable duty cycle ratio ● Variable frequency, fixed Control modes duty cycle ratio ● Variable frequency, variable duty cycle ratio...

  • Page 22: Software Support

    1.2 Software Support 1.2.1 Software Support Library AMP-204C / AMP-208C supports Windows XP/7 32/64 bit operating system and provides a complete function library and DLL files for easy application development by users. 1.2.2 MotionCreatorPro 2 MotionCreatorPro 2 is a user interface exclusively developed for...

  • Page 23: Getting Start With The Installation

    AMP-204C / AMP-208C Getting Start with The Installation This chapter teaches you how to install AMP-204C / AMP-208C hardware and software as well as its I/O wiring. • Package Contents • Hardware installation • Software installation • I/O wiring 2.1 Package Contents...

  • Page 24: Amp-204C / Amp-208C Exterior Profile Diagram

    2.2 AMP-204C / AMP-208C Exterior Profile Diagram Dimension in unit of millimeter (mm). NOTE NOTE Figure 2-1: AMP-204C exterior profile diagram P1: for Motion control command, Position feedback, and Servo I/O feedback. (with SCSI 100-PINS connector) P2: for 16 channel digital TTL I/O. (with DSUB 37-PINS connector)

  • Page 25: Figure 2-2: Amp-208C Exterior Profile Diagram

    AMP-204C / AMP-208C Figure 2-2: AMP-208C exterior profile diagram P1: for Motion control command, Position feedback, and Servo I/O feedback. (with SCSI-VHDCI 200-PINS connector) P2: for 16 channel digital TTL I/O. (with DSUB 37-PINS connector) SW2: Card ID setup (0-15)

  • Page 26: Hardware Installation

    2.3 Hardware Installation 2.3.1 Hardware Configuration AMP-204C/208C employs PCI Rev. 2.2 bus. System BIOS can auto configure memory and IRQ channel. Exclusive terminal board DIN-825-GP4 provides isolation circuit and indicator lights for easy connections to varieties of servo drive and stepper drive.

  • Page 27: Troubleshooting

    AMP-204C / AMP-208C 2.3.3 Troubleshooting If the computer cannot power on normally or the motion control system operates abnormally after system installation, please follow steps described below for troubleshooting. If the problem persists after you have taken steps described, please consult the dealer where your product is purchased for technical services.

  • Page 28: Software Installation Procedure

    2.4 Software Installation Procedure Windows driver installation procedure: Step 1. Execute AMP-204C / AMP-208C WDM file and run installation procedure automatically. Step 2. Click "Next" as prompted to complete the installation process. Getting Start with The Installation...
  • Page 29 AMP-204C / AMP-208C Step 3. Restart your computer after installation is completed. Step 4. Ensure the Windows Device Manager identify your AMP-204C / AMP-208C correctly. Recommendations: Please download latest installation software from ADLINK official website to maintain the optimum operation environment.

  • Page 30: Definitions To Key Connector Signal

    2.5 Definitions to Key Connector Signal 2.5.1 AMP-204C:P1 Connector • P1 Name I/O Function of Axis Name I/O Function of Axis DGND Digital ground IEMG Emergency stop input DGND Digital ground Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv.
  • Page 31 AMP-204C / AMP-208C Name I/O Function of Axis Name I/O Function of Axis EZ1+ Encoder Z-phase (+),(1) EZ3+ Encoder Z-phase (+),(3) EZ1- Encoder Z-phase (-),(1) EZ3- Encoder Z-phase (-),(3) EA2+ Encoder A-phase (+),(2) EA4+ Encoder A-phase (+),(4) EA2- Encoder A-phase (-),(2)

  • Page 32: Amp-208C:p1-A/B Connector

    2.5.2 AMP-208C:P1-A/B Connector • P1-A Name I/O Function of Axis Name I/O Function of Axis DGND Digital ground IEMG Emergency stop input DGND Digital ground Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv.
  • Page 33 AMP-204C / AMP-208C Name I/O Function of Axis Name I/O Function of Axis EA2+ Encoder A-phase (+),(2) EA4+ Encoder A-phase (+),(4) EA2- Encoder A-phase (-),(2) EA4- Encoder A-phase (-),(4) EB2+ Encoder B-phase (+),(2) EB4+ Encoder B-phase (+),(4) EB2- Encoder B-phase (-),(2)
  • Page 34 Name Function of Axis Name Function of Axis Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved Rsv. Reserved EA5V 5V power DGND Digital ground EA5V 5V power DGND Digital ground OUT5+ Pulse output (+), (5) OUT7+ Pulse output (+), (7) OUT5-...

  • Page 35: Amp-204C/208C:p2 Connector

    AMP-204C / AMP-208C Name Function of Axis Name Function of Axis PEL5 Positive limit, (5) PEL7 Positive limit, (7) INP5 In-Position (5) INP7 In-Position (7) MEL5 Negative limit, (5) MEL7 Negative limit, (7) ALM6 Servo alarm,(6) ALM8 Servo alarm,(8) ORG6...
  • Page 36 Name I/O Function of Axis Name I/O Function of Axis TDI13 TTL input, (13) TDO13 TTL output, (13) TDI14 TTL input, (14) TDO14 TTL output, (14) TDI15 TTL input, (15) TDO15 TTL output, (15) TDI16 TTL input, (16) TDO16 TTL output, (16) DGND Digital ground DGND...

  • Page 37: Dip Switch

    AMP-204C / AMP-208C 2.6 DIP Switch 2.6.1 SW2: Card ID Switch This switch is used for adjusting card ID for easy identification in user application programs. Take example. If you set card ID to “0-0-0-1” (OFF-OFF-OFF-ON) then the card ID is “1” and the ID table...

  • Page 38: Ide 44P - Dsub 37P Bus

    2.7 IDE 44p – DSUB 37p Bus This card include one IDE cable from IDE 44 pin to DSUB 37 pin. It is used for AMP-204C / AMP-208C P2 extension 16 channel digital input and 16 channel digital output. Getting Start with The Installation...

  • Page 39: Exclusive Board - Din-825-Gp4

    Mitsubishi's J3A and Yaskawa's Sigma V series, or third party's servo or stepper drives with single end open cables. The DIN-825-GP4 board supports both PCI-8254 / PCI-8258 and AMP-204C / AMP-208C. DO NOT connect it to other ADLINK's motion controllers as it may be damaged. CAUTION Power &...

  • Page 40: Definitions To Connector

    2.8.1 Definitions to Connector 1. P1: This is one SCSI 100-PINS connector for motion control signals. CMA1 2. CMA1–4: These are four 26-PINS connector for CMA2 connecting to servo CMA3 drive to do S/T mode control and analog CMA4 control commands output.
  • Page 41 AMP-204C / AMP-208C 7. J6: This is one 5-PINS connector for connecting to four isolation digital output channel. 8. P2: This is one DSUB 37-PINS connector for connecting to 16 channel digital input signal and 16 channel digital output signal in the controller (TTL).

  • Page 42: P1 Connector: For Connecting To Pci-8254 / Pci-8258 / Amp-204C / Amp-208C

    2.8.2 P1 Connector: For Connecting to PCI-8254 / PCI-8258 / AMP-204C / AMP-208C • P1: No. Name I/O Function of Axis No. Name I/O Function of Axis DGND Digital ground IEMG Emergency stop input DGND Digital ground Rsv. Reserved Rsv.
  • Page 43 AMP-204C / AMP-208C No. Name I/O Function of Axis No. Name I/O Function of Axis EZ1+ Encoder Z-phase (+),(1) EZ3+ Encoder Z-phase (+),(3) EZ1- Encoder Z-phase (-),(1) EZ3- Encoder Z-phase (-),(3) EA2+ Encoder A-phase (+),(2) EA4+ Encoder A-phase (+),(4) EA2-...
  • Page 44 Name I/O Function of Axis Name I/O Function of Axis TDI2 TTL input, (2) TDO2 TTL output, (2) TDI3 TTL input, (3) TDO3 TTL output, (3) TDI4 TTL input, (4) TDO4 TTL output, (4) TDI5 TTL input, (5) TDO5 TTL output, (5) TDI6 TTL input, (6) TDO6...
  • Page 45 AMP-204C / AMP-208C • J2: Name I/O Function of Axis Name I/O Function of Axis DICOM Digital input common EDI2 Isolated digital input, (2) EDI1 Isolated digital input, (1) PEL2 Positive limit, (2) PEL1 Positive limit, (1) ORG2 Origin Signal, (2)
  • Page 46 • J5 Name I/O Function of Axis Name I/O Function of Axis I24V Ext. power supply, +24V DOCOM Digital output common IGND Ext. power ground EEMG Ext. Emergency signal DICOM Digital input common 1. Please connect DICOM to external power supply (24VDC in general) if possible.
  • Page 47 AMP-204C / AMP-208C • IOIF2: Name I/O Function of Axis Name I/O Function of Axis Additional isolated digital Additional isolated digital DI14 input, (9) input, (14) Additional isolated digital Additional isolated digital DI10 DI15 input, (10) input, (15) Additional isolated digital...
  • Page 48 • IOIF4: Name I/O Function of Axis Name I/O Function of Axis Additional isolated digital Additional isolated digital DO14 output, (9) output, (14) Additional isolated digital Additional isolated digital DO10 DO15 output, (10) output, (15) Additional isolated digital Additional isolated digital DO11 DO16 output, (11)
  • Page 49 AMP-204C / AMP-208C • CMA1-CMA4 (compatible with PCI-8254/8258 only): ALM_RST / DO: You may set this signal to general purpose digital output signal (EDO) or alarm clearance function (ALM_RST) by switch S1 or S2. NOTE NOTE Getting Start with The Installation...
  • Page 50 • CMP1~CMP4: ALM_RST / DO: You may set this signal to general purpose digital output signal (EDO) or alarm clearance function (ALM_RST) by switch S1 or S2. NOTE NOTE Getting Start with The Installation...

  • Page 51: S1, S2: Edo/Alm_Rst Selection Switch

    AMP-204C / AMP-208C 2.8.3 S1, S2: EDO/ALM_RST Selection Switch Reset servo drive Reset servo drive Reset servo drive Reset servo drive DIN-825-GP4 is equipped with 4 servo drive reset signals. You may set up CMA1~CMA4 PIN 10 and CMP1~CMP4 PIN 10 for servo drive rest or J6 connector DO.1~DO.4 by switch S1 and S2.
  • Page 52 Getting Start with The Installation...

  • Page 53: Signal Connection

    AMP-204C/AMP-208C Signal Connection AMP-204C / AMP-208C must connect to servo or stepper motor drive with exclusive terminal board DIN-825-GP4. All optical isolation circuit of mechanical relevant I/O and servo relevant I/O are set to DIN-825-GP4 to prevent damages to primary controller AMP-204C / AMP-208C from any invalid signal connection to it.

  • Page 54: Pulse Command

    3.1 Pulse Command AMP-204C / AMP-208C can provide 4/8 pulse control command channel with each of them supports up to 6.5MHz output frequency. In general, you may set the servo driver to P (position) mode for open-loop control with AMP-204C / AMP-208C pulse control commands.

  • Page 55: Figure 3-1: Line Driver Type Pulse Control Command Signal

    AMP-204C/AMP-208C Either servo motor drive or stepper motor drive employs one of the two input interfaces described below: 1. Line Driver input interface provides better anti noise-resistant and longer wiring length. • Signal connection diagram: Figure 3-1: Line Driver type pulse control command signal connection example 2.

  • Page 56: Figure 3-2: Open-Collector Type Pulse Control Command Signal

    • Signal connection diagram: Figure 3-2: Open-Collector type pulse control command signal connection example To avoid damages to Line Driver components on controller casued by invalid wiring please connect the OUT-, DIR- pins of controller to OUT, DIR pins of motor drive. CAUTION The controller employs Line Driver component -26LS31 with maximum Sink Current at 20mA.

  • Page 57: Encoder Input, Ea & Eb & Ez

    AMP-204C/AMP-208C 3.2 Encoder Input, EA & EB & EZ AMP-204C / AMP-208C provides 4/8 encoder input channels respectively which accept single end input frequency up to 5MHz with each channel containing EA, EB, and EZ signal. Each group of EA, EB, and EZ signal contains a pair of differential signal, e.g.

  • Page 58: Figure 3-3: Line Driver Type Encoder Input Signal Connection Example

    • Signal connection diagram: Figure 3-3: Line driver type encoder input signal connection example Signal Connection...

  • Page 59: Emergency Stop Input

    AMP-204C/AMP-208C 3.3 Emergency Stop Input AMP-204C/ AMP-208C provides one hardware input emergency stop signal (EMG). If the external emergency stop signal is triggered, all motion control commands will be stopped immediatly. In addition, the DIN-825-GP4 is designed to transmit external emergency stop signal to servo/stepper motor drive to stop operation of every motor immediately.

  • Page 60: Pel/Mel Input

    The Plus Limited Switch (PEL) is used as the mechanical protection switch for movement in the positive direction. When this switch is triggered the AMP-204C / AMP-208C stops its positive direction movement immediately. The Minus Limited Switch (MEL) is used as the mechanical protection switch for movement in the negative direction.

  • Page 61: Figure 3-5: Mechanical Limit Switch Signal Connection Example

    AMP-204C/AMP-208C • Signal connection diagram: Figure 3-5: Mechanical limit switch signal connection example Signal Connection...

  • Page 62: Org Input

    3.5 ORG Input AMP-204C / AMP-208C provides 4/8 original position switch input channels. Working together with the home movement described in Section 4.3, this function returns the body to its original position (also known as the zero position). See below for corresponding...

  • Page 63: Inp Input

    AMP-204C/AMP-208C 3.6 INP Input AMP-204C / AMP-208C provides 4/8 In-position (INP) input channels. Working with function described in Section 4.8, it can be used as the trigger source for in-position events of individual motion. In general, when servo drive is set to position mode (P mode), the servo issues a (INP) pulse signal to controller when movement get into position.

  • Page 64: Alm Input

    3.7 ALM Input AMP-204C / AMP-208C provides 4/8 servo alarm input channels. Working with function described in Section 4.11 it can be used as the trigger source for motion interrupt event. In general, when abnormality is encountered during servo drive movement, it issues an (ALM) pulse signal to controller for abnormality occurrence.

  • Page 65: Svon Output

    If there is abnormality is encountered during movement, the AMP-204C / AMP-208C turns off this signal automatically and stops all motion control commands. See below...

  • Page 66: Comapre & Trigger Output

    Trigger output (-), (1)/(3) TRG1-/TRG3- Trigger output (+), (1)/(3) TRG1+/TRG3+ The compare trigger pulse output channel of AMP-204C / AMP-208C employs line driver output interface for better noise signal resistance and wiring length where trigger output (3) & NOTE NOTE (4) require #2 DIN-825-GP4 for wiring.

  • Page 67: Figure 3-11: Open-Collector Type Compare Trigger Signal Connection

    AMP-204C/AMP-208C 2. Open-Collector interface: Figure 3-11: Open-Collector type compare trigger signal connection example Signal Connection...

  • Page 68: Digital Output/Input

    3.10 Digital Output/Input AMP-204C / AMP-208C provides 20/24 digital output/input channels. See below for corresponding pins of general purpose digital input and output signals on DIN-825-GP4: J1/J2 Pin No. Signal Name Description EDI(3) / EDI (1) General purpose digital input signal (3), (1) EDI(4) / EDI (2) General purpose digital input signal (4), (2) J6 Pin No.

  • Page 69: Figure 3-12: General Purpose Digital I/O Signal Connection Example

    AMP-204C/AMP-208C • Signal connection diagram: Figure 3-12: General purpose digital I/O signal connection example Signal Connection...
  • Page 70 IOIF1 Pin No. Signal Name Description General purpose IOIF2 digital input signal (1)~(8) DI(1)~(8) IOIF2 Pin No. Signal Name Description General purpose digital input signal (9)~(16) DI(9)~(16) IOIF3 Pin No. Signal Name Description Axis # General purpose digital output signal ※1~5 DO(1)~(5) (1)~(5)
  • Page 71 AMP-204C/AMP-208C • Signal connection diagram: Signal Connection...

  • Page 72: Figure 3-13: General Purpose Digital I/O Signal Connection Example

    Figure 3-13: General purpose digital I/O signal connection example Signal Connection...

  • Page 73: Motion Control Theory

    AMP-204C / AMP-208C Motion Control Theory This chapter introduces you the motion control function of AMP-204C / AMP-208C as well as relevant precautions in using them. Contents: Motion Control Mode and Interface Overview Section 4.1: Motion Control Operations Section 4.2: Home Move Section 4.3:...

  • Page 74: Motion Control Mode And Interface Overview

    AMP-204C / AMP-208C 4.1 Motion Control Mode and Interface Overview This section describes basic setups of AMP-204C and AMP-208C before doing motion control and fundamental concepts of its core operations. 4.1.1 Motion Control Interface 4.1.1.1 Control Mode and Output Interface...

  • Page 75: Figure 4-1: Format Of Pulse Signal

    AMP-204C / AMP-208C In this mode users must pay special attention to pulse signal format acceptable to the motor to be drived. The motor works normally only when being drived by correct pulse format signal, otherwise the motor may fail to work in erroneous direction or with abnormal shaking.
  • Page 76 AMP-204C / AMP-208C 4.1.1.3 Encoder The positon encoder of this controller supports 9 kinds of digital signal input formats as described below. Please set up the position encoder before doing motion con- trol. This is especially true for analog output type closed-loop control as invalid setup may lead to motor burst.

  • Page 77: Table 4-1: Encoder Input Format

    AMP-204C / AMP-208C Positive direction Negative direction Decode Mode CW/CCW (2) High High Table 4-1: Encoder input format • Axis parameter setup: Param. No. Define symbol Description 80h (128) PRA_ENCODER_MODE Encoder input signal format 85h (133) PRA_ENCODER_DIR Encoder counting direction setup Table 4-2: Encoder input format •...
  • Page 78 AMP-204C / AMP-208C 4.1.1.4 Motion Control I/O Some motion control I/O signal of this controller definition are summarized in table below: Defined Param. Type Description Symbol Input Servo alarm Input Plus end limit Input Minus end limit Input Home input...
  • Page 79 AMP-204C / AMP-208C • Signal direction These signal logic may be inversed by software. Relevant axis parameters are listed below: • Board parameter Param. No. Define symbol Description 00h (0) PRA_EL_LOGIC PEL/MEL input logic 01h (1) PRA_ORG_LOGIC ORG input logic...

  • Page 80: Control Cycle

    AMP-204C / AMP-208C 4.1.2 Control Cycle In general, a motion controller features three control cycles for different works. They are: 1. Servo control cycle 2. Motion control cycle 3. Host control cycle 4.1.2.1 Servo Control Cycle The servo control cycle is the time required to complete one close loop control.

  • Page 81: Figure 4-2: Control Cycle

    AMP-204C / AMP-208C Movement control Elapsed time System work Elapsed time Movement control duration Time System work duration Figure 4-2: Control cycle The motion program is executed in motion control cycle to control jobs to be executed in each motion control cycle directly for more precise completion of realtime jobs.

  • Page 82: Motion Control Operations

    AMP-204C / AMP-208C 4.2 Motion Control Operations This section describes motion control modes provided by the controller and their operation principle. The objective is to help users make most of the motion control capacity of your controller to accomplish desired applications.

  • Page 83: Unit Factor

    AMP-204C / AMP-208C I32 coordinate format compliant API functions the same as API described above I32 APS_get_command( I32 Axis_ID, I32 *Command ); I32 APS_set_command(I32 Axis_ID, I32 Command); I32 APS_get_position( I32 Axis_ID, I32 *Position ); I32 APS_set_position (I32 Axis_ID, I32 Position);...
  • Page 84 AMP-204C / AMP-208C Unit factor can be calculated as described below: 10000 × μ × 1000 Example 2: Conveyor system Assume number of pulses generated by one spin of the motor is 8192, the conveyor belt shift 5cm by one spin of the belt pulley, the...
  • Page 85 AMP-204C / AMP-208C Unit factor can be set up in axis parameter: Param. No. Define symbol Description Value Default 86h (134) Unit factor F64 value In general, you should define unit of measure at first and set up other position relevant parameter before designing any motion control application.

  • Page 86: Acc/Deceleration Profile

    AMP-204C / AMP-208C 4.2.3 Acc/Deceleration Profile Basic motion command usually contains distance, velocity, and acceleration data. This controller plans and calculates Acceleration & Deceleration profile based on these motion command parameters to make motion operation completed as desired by users.

  • Page 87: Figure 4-5: Maximum Speed By Auto-Planning

    AMP-204C / AMP-208C In a V-T chart the area under the trapezoidal curve equals motion distance. If the user does not set up sufficient motion distance the controller shall increase (decrease) the maximum speed while maintian the acceleration, as shown in figure below:...

  • Page 88: Figure 4-6: Relation Of S-Curve Speed Profile's

    AMP-204C / AMP-208C 4.2.3.2 S-curve An S-curve is a curve where the speed profile in the jerk area can be represented by second-order profile. This helps to reduce motor vibration at start up and stop time as indicated by points (t1, t3, t5, t7) in figure below.
  • Page 89 AMP-204C / AMP-208C This controller employs S-factor (S) to control jerk ratio. Its equation is described below Value of S is between 0 and 1, when S = 0, the speed profile becomes a T-curve S >0 and S<=1: S - curve When S = 1, the profile comes to a Pure S–...

  • Page 90: Figure 4-7: Auto-Planning The Maximum Velocity

    AMP-204C / AMP-208C Velocity MaxVel MaxVel’ Start velocity Time Acce. Acceleration Time Jerk Time Figure 4-7: Auto-planning the maximum velocity Acceleration profile and its rule described above applies with single axis point-to-point movement (PTP), velocity movement, home movement, and interpolation among multiple axis.
  • Page 91 AMP-204C / AMP-208C • Relevant axis parameters Param. No. Define symbol Description 12h (18) PRA_HOME_CURVE Home move S-factor 20h (32) PRA_SF Move S-factor 42h (66) PRA_JG_SF Jog S-factor You may set up S-factor directly in some API, please refer to Function library manual for detail.

  • Page 92: Home Move

    AMP-204C / AMP-208C 4.3 Home Move After power on and before executing any motion control, a motion control system executes home movement to set up the zero position of the coordinate system. Commonly available stepper motor, servo drive or linear motor...
  • Page 93 AMP-204C / AMP-208C Param. No. Define symbol Description 18h (24) PRA_HOME_EZA EZ alignment enable 19h (25) PRA_HOME_VO Homing velocity away from ORG signal 1Bh (27) PRA_HOME_POS Position command setup after homing completion • Example: #include "APS168.h" #include "APS_define.h" #include "ErrorCodeDef.h"...
  • Page 94 AMP-204C / AMP-208C // 2. Start home move return_code = APS_home_move( axis_id ); //Start homing if( return_code != ERR_NoError ) /* Error handling */ // 3. Wait for home move done, Sleep( msts = APS_motion_status( axis_id );// Get motion status msts = ( msts >>...

  • Page 95: Ogr Signal Homing - Home Mode = 0

    AMP-204C / AMP-208C This controller provides multiple auto-home searching process for different hardware platform which may refer to three mechanical signals: ORG, EL, and EZ. You may define three homing mode with these reference signal. User may design required homing process by any combination of these three signals.

  • Page 96: Figure 4-8: Home Mode 0 (Case: Org)

    AMP-204C / AMP-208C • Relevant axis parameters setup Axis Axis parameters parameter Description to axis parameter value values PRA_HOME_MODE Employing home mode 0 (homing by ORG signal) PRA_HOME_DIR Homing by moving forward in positive direction PRA_HOME_EZA Further align with signal EZ, 0: No, 1: Yes...
  • Page 97 AMP-204C / AMP-208C ORG signal of most mechanical device has two directional edges (the two ends of signal fender). Figure above indicates that when the homing direction parameter in axis parameters is set to positive direction (PRA_HOME_DIR), the control axis starts searching from positive direction (the ascending direction of position command).

  • Page 98: Figure 4-9: Home Mode 0 (Case: Org)

    AMP-204C / AMP-208C Condition A Home Position Condition B Initial position Condition C Initial position Home position VM: Home searching speed VO: Home approaching speed Figure 4-9: Home mode 0 (Case: ORG) When axis parameter PRA_HOME_EZA is set to 1 it means to...

  • Page 99: Figure 4-10: Home Mode 0 (Case: Org+Ez)

    AMP-204C / AMP-208C Axis Axis parameters parameter Description to axis parameter value values Speed of original postion searching in unit of (distance PRA_HOME_VM unit of measure/sec.) Homing speed in unit of (distance unit of PRA_HOME_VO measure/sec.) Shift amount of homing position (distance unit onf...

  • Page 100: Figure 4-11: Home Mode 0 Adverse (Case: Org+Ez)

    AMP-204C / AMP-208C Axis Axis parameters parameter Description to axis parameter value values Acceleration and deceleration in unit of (distance unit PRA_HOME_ACC of measure/sec. PRA_HOME_VS Initial speed in unit of (distance unit of measure/sec.) Speed of original postion searching in unit of (distance PRA_HOME_VM unit of measure/sec.)

  • Page 101: Figure 4-12: Home Mode 0 Decelerate To Stop (Case: Org)

    AMP-204C / AMP-208C • Relevant axis parameters setup Axis Axis parameters parameter Description to axis parameter value values PRA_HOME_MODE Employing home mode 0 (homing by ORG signal) PRA_HOME_DIR Employing positive direction forward homing PRA_HOME_EZA Further align with signal EZ, 0: No, 1: Yes...

  • Page 102: El Signal Homing - Home Mode 1

    AMP-204C / AMP-208C 4.3.2 EL Signal Homing - Home Mode 1 This is a home movement based on PEL or MEL mechaincal signal. After the homing command is received, the control axis searches PEL or MEL signal position and stops at edge of the signal. You may set up to align with EZ signal and to set up shift amount.
  • Page 103 AMP-204C / AMP-208C For EL signal homing mode with negative direction homing and without EZ alignment, the control axis stops at MEL signal edge after home movement is completed as shown in figure below. Condition A Initial position Home position...

  • Page 104: Figure 4-14: Home Mode 1 (Case: El+Ez)

    AMP-204C / AMP-208C Condition A Initial position Home position Initial position Condition B VM: Home searching speed VO: Home approaching speed Figure 4-14: Home mode 1 (Case: EL+EZ) For EL signal homing mode with negative direction homing and EZ alignment, the control axis stops at EZ signal edge after home...

  • Page 105: Single Ez Signal Homing

    AMP-204C / AMP-208C 4.3.3 Single EZ Signal Homing Most linear motor mechanism set up only one position mark signal. This mode is used in the said mechanism. Figure below illustrates how to set up Home mode 2 (single EZ signal) with positive direction homing. After home movement is completed the control axis stops at the edge of EZ signal.

  • Page 106: Figure 4-15: Home Mode 2 (Case: Ez)

    AMP-204C / AMP-208C Condition A Home position Initial position Condition B Home position VM: Home searching speed VO: Home approaching speed Figure 4-15: Home mode 2 (Case: EZ) Figure below set up "Home mode 2 (single EZ signal)" with negative direction homing. After home movement is completed the control axis stops at the edge of EZ signal.

  • Page 107: Figure 4-16: Home Mode 2 Adverse (Case: Ez)

    AMP-204C / AMP-208C Condition A Initial position Condition B Home position Initial position VM: Home searching speed VO: Home approaching speed Figure 4-16: Home mode 2 adverse (Case: EZ) In this mode parameter PRA_HOME_EZA is functionless NOTE NOTE Motion Control Theory...

  • Page 108: Velocity Move

    AMP-204C / AMP-208C 4.4 Velocity Move In this motion mode, the motion axis move along specified speed profile after proper command is received. Movement continues untill a stop movement command is received. In velocity movement mode functions listed below are supported: •...
  • Page 109 AMP-204C / AMP-208C • Example 1: Set up parameters and start up velocity movement. See below for example process: 1. Change maximum speed after 2 seconds 2. Change maximum speed after 2 seconds 3. Stop by deceleration after 2 seconds #include "APS168.h"...
  • Page 110 AMP-204C / AMP-208C Motion control input signal EMG, ALM, PEL, and MEL may lead to termination of movement, please refer to sections about safety protection CAUTION In velocity movement mode the target position may be updated from time to time as the command position does.

  • Page 111: Jog Move

    AMP-204C / AMP-208C 4.5 Jog Move Jog operation is commonly available at control panel of machine. Its main function is to manually control the movement of motion axis or fucntion together with mechanical switch with digital input to use DI signal as the jog movement startup signal. You may use switch on control panel to operate jog movement by setting up relevant parameters instead of coding control program.

  • Page 112: Figure 4-18: Jog Step Mode

    AMP-204C / AMP-208C 2. Step mode: In addition to velocity parameters this mode requires specific offset and so is easy for stop position prediction. After the JOG-ON control signal is triggered at the rising edge, the axis being controlled moves a distance of given offset then stops, pauses for a...
  • Page 113 AMP-204C / AMP-208C • Relevant axis parameters Paramete Parameter definition Meaning of parameter value r code 40h () PRA_JG_MODE Set up JOG mode [0: Continuous, 1: Step] 41h () PRA_JG_DIR Set up JOG direction: [0: Negative, 1: Positive direction] 42h ()
  • Page 114 AMP-204C / AMP-208C 1. Motion control input signal EMG, ALM, PEL, and MEL may lead to movement termination. Please refer to safety NOTE NOTE protection related sections. 2. In continuous mode the target position may be updated from time to time (so does the command position).

  • Page 115: Point-To-Point Move

    AMP-204C / AMP-208C 4.6 Point-to-Point Move 4.6.1 Point-to-Point Move Point-to-Point movement (PTP movement) is to move one axis fomr postion A to position B at given speed. PTP movement can be relative or absolute movement based on its given position parameter.

  • Page 116: Synchronous Start

    AMP-204C / AMP-208C Relevant APS API described below: I32 APS_ptp (); // PTP move I32 APS_ptp_v (); // PTP move with maximum speed parameter I32 APS_ptp_all (); // PTP move with all speed parameter I32 APS_relative_move (); // Relative PTP move in I32 data format I32 APS_absolute_move ();...

  • Page 117: On The Fly Change

    AMP-204C / AMP-208C 4.6.3 On The Fly Change You may dynamically change position and velocity parameter in PTP movement process by methods described below: 1. Dynamically change to new postion while the velocity parameter remain intact. 2. Dynamically change the maximum velocity while target position remian intact.

  • Page 118: Figure 4-21: Continuous Three Position V-T Chart

    AMP-204C / AMP-208C Take example. V-T chart with 3 continuous PTP movements and different speed blending settings: 1. Buffered Figure 4-21: Continuous three position V-T chart 2. Blend low: Blend with the one with slower maximum speed Figure 4-22: Continuous three position V-T chart (auto speed connection (1) 3.
  • Page 119 AMP-204C / AMP-208C 4. Blend previous: Blend in the maximum speed of the previous one Figure 4-24: Continuous three position V-T chart (auto speed connection (3) 5. Blend next: Blend in the maximum speed of the next Figure 4-25: Continuous three position V-T chart...

  • Page 120: Interpolation

    AMP-204C / AMP-208C 4.7 Interpolation Interpolation is a multi-axes locus movement based on given locus properties, e.g. center of circle and end point, and velocity data. The controller then calculate relations between path and time. Axis involved in interpolation start up at the same and end at the same time after operation completed.

  • Page 121: Figure 4-26: Two-Dimension Straight Line Interpolation

    AMP-204C / AMP-208C If synthetic velocity is set to V, the velocity of each axes Vn should See figure below for a two dimension straight line interpolation with starting point at S and ending point at E: Figure 4-26: Two-dimension straight line interpolation ΔX and ΔY is the offset at X-axis and Y-axis respectively.

  • Page 122: Arc Interpolation

    AMP-204C / AMP-208C Relevant APS API described below: I32 APS_line (); // multi axes straight line interpolation I32 APS_line_v (); // multi axes straight line interpolation with maximum speed settings I32 APS_line_all (); // multi axes straight line interpolation with all speed settings I32 APS_stop_move ();...

  • Page 123: Figure 4-27: Three-Dimension Arc Interpolation (Method 1)

    AMP-204C / AMP-208C Relevant commands are described below: Function name Description APS_arc3_ca Execute 3-dimension arc interpolation with center, angle, and normal APS_arc3_ca_v vector APS_arc3_ca_all APS_arc3_ce Execute 3-dimension arc interpolation with center and end point APS_arc3_ce_v Limit: Cannot execute half or full circle interpolation...

  • Page 124: Figure 4-28: Defining Spatial Normal Vector

    AMP-204C / AMP-208C Figure 4-28: Defining spatial normal vector • How to determine arc direction and path of multiple laps Use the right-hand grip rule as shown in figure below, where the your thumb indicates normal vector direction and the other four fingers the positive rotating direction.

  • Page 125: Figure 4-30: Three Dimension Arc Interpolation (Method 2)

    AMP-204C / AMP-208C Coordinates of end point may have certain error caused by computing accuracy of your computer. To get precise end point position, you may use method 2 to enter exact end position accurately (as described in next section)

  • Page 126: Figure 4-31: Three Dimension Arc Interpolation Example

    AMP-204C / AMP-208C θ Take example. If = 30 degree, then calculation formula Angle (Degree) 30 + 0 x 360 30 + 1 x 360 30 + 2 x 360 30 + (-1) x 360 -330 30 + (-2) x 360 -690 •...

  • Page 127: Figure 4-32: Three Dimension Spiral Interpolation (Method 1)

    AMP-204C / AMP-208C 4.7.2.3 Helical Interpolation This controller supports 3-dimension helical interpolation (also known as Spiral–Helix interpolation) as well as multip input methods to deal with demands of various applications. See below for its setup: Method 1: Given center of circle and angle (Center-Angle) Method 2: Given center of circle and end point (Center-End) Both methods are described below.

  • Page 128: Figure 4-33: Three-Dimension Spiral Interpolation (Method 2)

    AMP-204C / AMP-208C Method 2: Given center of circle and end point (Center-End) See table and figure below for helical curve parameters Parameters Description Center point Center of circle (relative or absolute) Normal vector Normal vector of starting point circle plane...
  • Page 129 AMP-204C / AMP-208C All helical interpolation input methods described above requires giving normal vector. If there is error with the normal vector, the controller corrects it automatically. See Section 4.7.2 Arc interpolation for correction method. Relevant APS API described below:...

  • Page 130: Continuous Interpolation

    AMP-204C / AMP-208C 4.7.3 Continuous Interpolation With continuous interpolation the controller continuously executes multiple interpolation paths including straight line, arc and helical interpolations described above. You do continuous interpolation by giving multipe interpolation commands in sequecne. These commands shall be saved in buffer of the controller queueing for execution.

  • Page 131: Figure 4-35: Velocity Blending (Method 1)

    AMP-204C / AMP-208C You can set up this with input parameter "Flag". See ASP API user manual for detailed parameter description. In essence, the first three methods, method (1), (2) and (3), stops any running interpolation when new interpolation command is received and start executing the new interpolation command immediately.

  • Page 132: Figure 4-36: Velocity Blending (Method 2)

    AMP-204C / AMP-208C 2. Aborting forced Characteristics of this kind of command is that the track transfer to new command immediately. The controller makes no smoothing treatment and so the motion track match with the command exactly. In this mode speed component of each axes may become un-smooth.

  • Page 133: Figure 4-38: Velocity Blending (Method 4)

    AMP-204C / AMP-208C 4. Buffered When new interpolation command is received it is saved in motion buffer first. Commands in queue then continues to execute after the original interpolation command is finished. Take figure below. When exectuing a straight line interpolation command from S1 to E1, a "buffered"...

  • Page 134: Figure 4-40: Velocity Blending (Method 6)

    AMP-204C / AMP-208C 6. Blending when residue-distance met The controller saves newly received command in motion buffer first. You may set up an offset amount, e.g. the so called residual distance as shown in figure below, and start the new...

  • Page 135: Figure 4-42: Continuous Interpolation Examples

    AMP-204C / AMP-208C • Example: Figure 4-42: Continuous interpolation examples Motion Control Theory...

  • Page 136: Motion Status Monitoring

    AMP-204C / AMP-208C 4.8 Motion Status Monitoring During the motion control process it is necessary to monitor motion status of control axis and convert to next process control at appropriate time. Take example. Druing system initialization the upper control program (the control program of user) execute homing operation to each control axis at first.

  • Page 137: Motion Status

    AMP-204C / AMP-208C 4.8.1 Motion Status Use following API functions to read motion status of each axes: I32 APS_motion_status (); Motion status data of individual axis is combined in return paramter I32 (32 bit integer). See table below for motion status and meaning represented by each bit: Bit No.
  • Page 138 AMP-204C / AMP-208C Bit No. Define Description Jog movement in progress Abnormal stop. Clear this signal after next ASTP movement is executed The axis is running blending movement Pre-offset event, clear this signal after next PRED movement is executed Post-offset event, clear this signal after next...

  • Page 139: Figure 4-44: Relation Of Different Motion Signals Vs Motions

    AMP-204C / AMP-208C Relation between movement and signal shown in figure below: Velocity Time CSTP Time Figure 4-44: Relation of different motion signals VS motions Bit 5: Motion Done – MDN Single movement command or multiple movement command is completed. Single movement command is a single axis point to point movement and multiple axes point to point movement.

  • Page 140: Figure 4-45: Relation Of Motion Done (Mdn) Signal Vs Motion

    AMP-204C / AMP-208C Velocity home() ptp() Time Time Figure 4-45: Relation of motion done (MDN) signal VS motion Bit 6: In Homing Signal - HMV When home movement command home () is received at the controller and home movement starts being executed, the HMV signal sets NO (=1).

  • Page 141: Figure 4-46: Relation Of Motion Done (Mdn), In-Homing (Hmv) Signals

    AMP-204C / AMP-208C Velocity home() Time Time Figure 4-46: Relation of motion done (MDN), In-homing (HMV) signals VS motion Bit10: Wait Move Trigger – WAIT This signal is set ON when the signal is at status ready for movement triggering. When trigger is sent: Use move_trigger() function to trigger standby axis.

  • Page 142: Figure 4-47: Relation Of Wait Signals Vs Motion

    AMP-204C / AMP-208C Move_trigger( 0x3 ); Velocity ptp( axis0, MF_WAIT…); Axis 0 Time ptp( axis1, MF_WAIT…); Axis 1 Time Axis0: WAIT Axis1: WAIT Time Figure 4-47: Relation of WAIT signals VS motion Bit11: Point Buffer movement signal - PTB When point buffer movement is started, this signal is set to ON and to OFF when movement is completed.

  • Page 143: Figure 4-48: Relation Of Jog And Motion Done(Mdn) Signals Vs

    AMP-204C / AMP-208C Velocity Time ON(1) JOG-ON Signal OFF(0) Time Figure 4-48: Relation of JOG and motion done(MDN) signals VS motion Bit 16: Abnormal stop – ASTP This signal turnes on when movement is aborted by certain reasons. See table below for causes to abnormal stop. You may use get_stop_code () function to get abnormal stop code (Stop code).

  • Page 144: Figure 4-50: Relation Of Blending (Bld) Signal Vs Motion

    AMP-204C / AMP-208C Bit 17: Blending movement - BLD Continuous interpolation has several speed succession method. The blending method has a transition region at the interconnection points of two paths (as shown in figure below). The BLD signal indicate that the axis is entering this area.

  • Page 145: Figure 4-51: Relation Between Pre- And Post-Distance Event Signals

    AMP-204C / AMP-208C Velocity Pre-distance Post-distance Time Pre-distance event (PRED) Post-distance event (POSTD) Motion done event (MDN) Time Figure 4-51: Relation between pre- and post-distance event signals and movement Motion Control Theory...

  • Page 146: Application Functions

    AMP-204C / AMP-208C 4.9 Application Functions 4.9.1 Electronic Gearing Electronic gear function: You may set up movement relation of one axis (slave axis) against another axis (master axis) that is similar to a mechanical gear structure. Relation between two gears is usually expressed with gear ratio.

  • Page 147: Figure 4-52: Adjust Electronic Gear's Auto Engagement Speed

    AMP-204C / AMP-208C Ratio Change gear ratio to ratio-3 Change gear ratio to ratio-2 Ratio 2 Ratio 1 Ratio 3 Time Start gearing A Figure 4-52: Adjust electronic gear's auto engagement speed There are several conditions that may relieve gear relations in standard mode: 1.

  • Page 148: High Speed Position Compare Trigger

    AMP-204C / AMP-208C The setup value of this protection mechanism is to set axis parameter of slave axis by 1: master axis selected to follow and 2: two level of position error protection. Start up gantry mode with APS_start_gear (slave axis ID) after set up is completed. After the...

  • Page 149: Figure 4-53: Compare Trigger Block Diagram

    AMP-204C / AMP-208C Figure 4-53: Compare trigger block diagram TRG / PWM / Timer relevant parameter setup Define Description 0x06 TGR_TRG_EN TRG0~3 output switch Set up TRG0~3 trigger source. You can 0x10~0x13 TGR_TRGx_SRC have multiple sources to choose. 0x14~0x17 TGR_TRGx_PWD...
  • Page 150 AMP-204C / AMP-208C See APS Library operation manual for details on compare trigger relevant parameter list. Set up parameter APIs as described below APS_set_trigger_param (); APS_get_trigger_param (); You may select either encoder counter or internal timer as the source of compare device. Relevant APIs are described below: APS_get_timer_counter ();...

  • Page 151: Figure 4-54: Linear Compare Trigger Example

    AMP-204C / AMP-208C Use APIs below to set up start point, repeat times and interval of linear compare. APS_set_trigger_linear (); Parameters of linear compare trigger Define Description Compare source of linear comparator 0x00 TGR_LCMP0_SRC LCMP0 Compare source of linear comparator...

  • Page 152: Figure 4-55: Table Compare Trigger Example

    AMP-204C / AMP-208C 4.9.2.2.2 Table Compare Trigger Table compare trigger differs from the linear compare trigger in that compare points can be determined by user. That is, intervals between compare points are variable. You may set up any four points (P1~P4) and send triggers when motor reaches each of them as shown in figure below.

  • Page 153: Figure 4-56: Table Compare Trigger Block Diagram

    No extra program coding is required for loading compare point dynamically in the controller even in case of many compare points. APIs for loading compare table array: APS_set_trigger_table (); APS driver Inside AMP-204C / AMP-208C memory Hardware Kernel memory Table array...

  • Page 154: Pwm Control (Laser Control) (Vao Table Control)140

    Each VAO controller may switch among different VAO table to meet the multi-level cutting requirements. Your AMP-204C / AMP-208C features eight VAO tables, Table 0~7, to come up with corresponding PWM settings, by interpolating composite speed among multiple axes, for laser output intensity control.
  • Page 155 AMP-204C / AMP-208C Structure of the VAO module 4.9.3.2 Control Modes Your AMP-204C / AMP-208C VAO module now supports three control modes: a. Mode1: PWM mode This control mode adjust PWM duty cycle according to fixed PWM frequency and variable speeds as shown in figure below. The fixed...
  • Page 156 AMP-204C / AMP-208C b. Mode 2: PWM frequency mode with fixed width This control mode changes PWM frequency according to speed at fixed PWM pulse width. Under fixed PWM pulse width W, the VAO table gives PWM frequency 1/T , 1/T...
  • Page 157 AMP-204C / AMP-208C c. Mode 3: PWM frequency mode with fixed duty cycle This control mode changes PWM frequency according to speed at fixed PWM duty cycle. As shown in figure below, the duty cycle and W are the same under varying speed while thier frequency and pulse width changes according to the VAO table.
  • Page 158 AMP-204C / AMP-208C = (P – P ) * (V – V ) / (V – V ) + P Table below suggests power range and resolution that can be set up by different control modes' VAO tables. Mode Power output range...
  • Page 159 AMP-204C / AMP-208C 4.9.3.5 VAO Parameter Table The VAO parameter table helps you in determining settings for control modes and VAO table. See table below on definitons of VAO parameters. Define Description Value Default: 0x00 + (2 * N) VAO_TABLE_OUTPUT_TYPE Table output...

  • Page 160: Table 4-3: Board Parameter Table

    AMP-204C / AMP-208C PWM output may start or stop in accordance with existing digital output and logic status. See description below for a use case outline. 1. Use APS_set_board_param() to set up PWM output channel and relevant digital output and judgment logic according to the board parameters.
  • Page 161 AMP-204C / AMP-208C 4.9.3.7 Operation Process Examples Operation flow for various control modes are outlined below for your reference. Mode Description 1: PWM mode a. VAO parameter table - APS_set_vao_param () 0x00: set to 1 – PWM mode 0x01: set to 1 – command speed 0x10: set to 1000 –...

  • Page 162: Motion Control And I/O Sampling Function

    AMP-204C / AMP-208C 4.9.4 Motion Control and I/O Sampling Function 4.9.4.1 Sampling Source This control card supports multiple signal sampling for analysis. There are two signal sources: the one belongs to motion kernel signal and the other the close-loop control signal. In figure below,...

  • Page 163: Table 4-4: Motion Kernel Signal Table

    AMP-204C / AMP-208C Table 4-4: Motion kernel signal table Data Signal name Range Descriptions type Position command: SAMP_SRC_COM_POS Axis 0~7 Integer Unit: pulse Feedback position SAMP_SRC_FBK_POS Axis 0~7 Integer Unit: pulse Command velocity; SAMP_SRC_CMD_VEL Axis 0~7 Integer Unit: pulse/sec Feedback velocity;...
  • Page 164 AMP-204C / AMP-208C Data Signal name Range Descriptions type Same as SAMP_SRC_FBK_POS but SAMP_SRC_FBK_POS_F64 Axis 0~7 Double presented in float point numbers Same as SAMP_SRC_CMD_VEL but SAMP_SRC_CMD_VEL_F64 Axis 0~7 Double presented in float point numbers Same as SAMP_SRC_FBK_VEL but SAMP_SRC_FBK_VEL_F64...
  • Page 165 AMP-204C / AMP-208C Bit number detail description: Define Description Servo alarm input status Positive end limit Minus end limit Original input (Home input) Emergency stop input Servo index input In-Position input SVON Servo ON output status … SPEL 1: Soft-positive-end limit condition match.
  • Page 166 AMP-204C / AMP-208C Bit number detail description: Define Description CSTP Command stopped (But it could be in motion) In maximum velocity ACC: In acceleration DEC: In deceleration DIR: Move direction. 1:Positive direction, 0:Negative direction Motion done. 0: In motion, 1: Motion done (It could be abnormal stop) In homing …...

  • Page 167: Simultaneous Movement

    AMP-204C / AMP-208C 4.9.5 Simultaneous Movement 4.9.5.1 Simultaneous Start Synchronized (Simultaneous) start: This movement can set to be enabled by trigger. When proper command is received, the axis enters a waiting-for-trigger-signal status and starts moving after trigger received. When multiple...
  • Page 168 AMP-204C / AMP-208C After an axis movement is set to startup-by-trigger mode it enters the trigger waiting status, i.e. the WAIT signal of Bit 10 in table below is ON. . You may display its signal status with function library, the motion status monitoring function is I32 APS_motion_status ();...
  • Page 169 AMP-204C / AMP-208C I32 APS_arc3_ca ();I32 APS_arc3_ca_v ();I32 APS_arc3_ca_all ();I32 APS_arc3_ce (); I32 APS_arc3_ce_v ();I32 APS_arc3_ce_all ();I32 APS_arc3_ca ();I32 APS_arc3_ca_v (); I32 APS_arc3_ca_all ();I32 APS_sprial_ca ();I32 APS_sprial_ca_v ();I32 APS_sprial_ca_all (); I32 APS_sprial_ce ();I32 APS_sprial_ce_v ();I32 APS_sprial_ce_all (); b. Send the trigger signal to run synchronized start...

  • Page 170: Point Table Movement

    AMP-204C / AMP-208C 4.9.6 Point Table Movement The controller features two point table which contains 50 buffer points respectively. You may enjoy point table functions of large amount of points and free from any practical limits by monitoring the usages status of buffer point space and reloading these 50 buffer point space repetitively.
  • Page 171 AMP-204C / AMP-208C Movement parameter setup Paired APS function Absolute / relative movement APS_pt_set_absolute / APS_pt_set_relative Maximum speed APS_pt_set_vm Ending speed APS_pt_set_ve Acceleration APS_pt_set_acc Deceleration APS_pt_set_dec Acceleration and APS_pt_set_acc_dec deceleration S-factor APS_pt_set_s APS_pt_set_trans_buffered (buffer) Speed blending between APS_pt_set_trans_inp (buffered in-place)
  • Page 172 AMP-204C / AMP-208C You may set up relevant movement parameter and required synchronous instruction command as well as save them in the point table with these three steps. Follow the same steps to save all graphic sections in point table.
  • Page 173 AMP-204C / AMP-208C Point table functions Paired APS function Monitor buffer status APS_get_pt_status c. Start /stop point table movement After enabling the point table and fill in the buffers with movement commands you can then start up the point table function. The...
  • Page 174 AMP-204C / AMP-208C • Example: #include "APS168.h" #include "APS_define.h" #include "ErrorCodeDef.h" void pt_move_example () //This example shows how pt move operation I32 ret; I32 Board_ID = 0; I32 PtbId = 0; //Point table 0 I32 Dimension = 2; //2D Dimension I32 AxisArr[2] = { 0, 1 };...

  • Page 175: Safety Protection

    AMP-204C / AMP-208C 4.10 Safety Protection During equipment operation there maybe errors or situations where emergency stops are required. In case of this, the usual method is to stop the mechanical equipment from operation. This controller provides some safety mechanism to detect predefined error situations.
  • Page 176 AMP-204C / AMP-208C 4.10.1.2 Servo Alarm (ALM) See table below for ALM hardware input pins and corresponding axis number: P1A Pin No Signal Name Axis # P1B Pin No Signal Name Axis # ALM1 ALM5 ALM2 ALM6 ALM3 ALM7 ALM4...
  • Page 177 AMP-204C / AMP-208C EL signal is a hardware input signal including PEL and MEL. PEL is the limit signal in positive direction and MEL the negative direction one. An asserted EL signal causes the controller responses with following actions: 1. If PEL signal is asserted for an axis in positive motion status, the controller stops motion of the axis immediately and error stop code of the axis is set to "4"...

  • Page 178: Software Protection

    AMP-204C / AMP-208C 4.10.2 Software Protection The controller provides software protection mechanism of software limit and postion error protection. 4.10.2.1 Soft-limit Signal Software limit functions almost the same as that of the hardware limit with the exception that limit signal is generated by checking location of each axis with the software limit function.
  • Page 179 AMP-204C / AMP-208C When software limit signal is set to ON status the controller responses with following actions: 1. If SPEL signal is asserted for an axis in positive direction motion status, the controller stops motion of the axis immediately and error stop code of the axis is set to "6"...
  • Page 180 AMP-204C / AMP-208C of the axis is set to STOP_ERROR_LEVEL (6) and motion status of axis is set to abnormal stop (ASTP). 4.10.2.3 Watchdog Timer The watchdog protection mechanism is a timer inside the controller. Timeout of the timer will enable predefined response actions including Servo off, turning off digital output and turning off PWM output.
  • Page 181 AMP-204C / AMP-208C Use APS_wdt_get_timeout_period () to read in the timeout settings. 3. Reset timer continuously After the watchdog protection mechanism is enabled, the watchdog mechanism should be reset within timeout period to rest the timer and retiming from beginning. In case of timer timeout relevant events are triggered per setting given by step 1.

  • Page 182: Host Interrupt

    AMP-204C / AMP-208C 4.11 Host Interrupt An interrupt is a process starting when specified event is encountered, the device (this controller) issue hardware interrupt signal to the operating system, the operating system enable the driver to execute corresponding interrupt service routine. See figure below for illustration to this flow.
  • Page 183 See table below for all interrupt event types contained in this controller. Here items 0~7 are interrupt relevant to each control axis, item 8 is system relevant interrupt and item 9 and 10 are digital input interrupt. (Note: For AMP-204C items 0~3 and 4~7 are reserved.) • Interrupt Item overview:I...
  • Page 184 AMP-204C / AMP-208C • Axis interrupt events description: bit. Symbol Interrupt event description IALM ALM signal occurrence IPEL PEL signal occurrence IMEL MEL signal occurrence IORG ORG signal occurrence Motor Z phase signal (EZ) occurrence IINP Drive in-place (INP) signal occurrence...
  • Page 185 AMP-204C / AMP-208C • Item = 8: System interrupt events overview Bit No. IHOV IMOV IFCF1 IFCF0 ILCF1 ILCF0 IEMG Factor Bit No. Factor Bit No. Factor Bit No. Factor • System interrupt events description bit. Symbol Interrupt event description...
  • Page 186 AMP-204C / AMP-208C • Item = 9: Digital input rising edge interrupt Bit No. IDIR7 IDIR6 IDIR5 IDIR4 IDIR3 IDIR2 IDIR1 IDIR0 Factor Bit No. IDIR15 IDIR14 IDIR13 IDIR12 IDIR11 IDIR10 IDIR9 IDIR8 Factor (TTL7) (TTL6) (TTL5) (TTL4) (TTL3) (TTL2)
  • Page 187 AMP-204C / AMP-208C Digital input signal (DI) status changes are detected by controller in every motion cycle. Interrupt can be generated only when the period of external input signal change cycle is CAUTION greater than that of motion cycle. You may use interrupt function in Windows environment as described below: 1.
  • Page 188 AMP-204C / AMP-208C Detailed operation methods are described below: 1. Set up interrupt events: Use APS_set_int_factor( ) to set up interrupt event for waiting. The function returns interrupt event number if setup is successful. You shall store event number in a parameter to be used by later Wait functions.
  • Page 189 AMP-204C / AMP-208C In addition, you may use Event handle of win32 by using APS_int_no_to_handle() after step 1 to convert Event number into format of win32 Event handle. Motion Control Theory...

  • Page 190: Important Safety Instructions

    AMP-204C / AMP-208C Important Safety Instructions For user safety, please read and follow all instructions, WARNINGS, CAUTIONS, and NOTES marked in this manual and on the associated equipment before handling/operating the equipment. Read these safety instructions carefully. Keep this user’s manual for future reference.
  • Page 191 Never attempt to fix the equipment. Equipment should only be serviced by qualified personnel. A Lithium-type battery may be provided for uninterrupted, backup or emergency power. Risk of explosion if battery is replaced with one of an incorrect type. Dispose of used batteries appropriately. Please check WARNING local regulations for disposal of batteries.

  • Page 192: Getting Service

    San Jose, CA 95138, USA Tel: +1-408-360-0200 Toll Free: +1-800-966-5200 (USA only) Fax: +1-408-360-0222 Email: info@adlinktech.com ADLINK Technology (China) Co., Ltd. Address: (201203) 300 Fang Chun Rd., Zhangjiang Hi-Tech Park Pudong New Area, Shanghai, 201203 China Tel: +86-21-5132-8988 Fax: +86-21-5132-3588 Email: market@adlinktech.com...
  • Page 193 +65-6844-2261 Fax: +65-6844-2263 ADLINK Technology Singapore Pte. Ltd. Email: singapore@adlinktech.com Address: 84 Genting Lane #07-02A, Cityneon Design Centre ADLINK Technology Singapore Pte. Ltd. (Indian Liaison Office) Singapore 349584 Address: Tel: #50-56, First Floor, Spearhead Towers +65-6844-2261 Fax: +65-6844-2263 Margosa Main Road (between 16th/17th Cross) Email: singapore@adlinktech.com...

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Amp-208c

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