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Advantech PCM-3240 User Manual

Advantech PCM-3240 User Manual

4-axis stepping/pulse-type servo motor control card
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PCM-3240
4-Axis Stepping/Pulse-type
Servo Motor Control Card
User Manual

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Summary of Contents for Advantech PCM-3240

  • Page 1 PCM-3240 4-Axis Stepping/Pulse-type Servo Motor Control Card User Manual...
  • Page 2 Acknowledgments PC-LabCard is a trademark of Advantech Co., Ltd. IBM and PC are trademarks of International Business Machines Corporation. MS-DOS, ®...
  • Page 3 Product Warranty (2 years) Advantech warrants to you, the original purchaser, that each of its prod- ucts will be free from defects in materials and workmanship for two years from the date of purchase. This warranty does not apply to any products which have been repaired or...
  • Page 4 This product has passed the CE test for environmental specifications when shielded cables are used for external wiring. We recommend the use of shielded cables. This kind of cable is available from Advantech. Please contact your local supplier for ordering information.

  • Page 5: Table Of Contents

    Table 3.1:Module I/O Addresses (SW1) ..... 15 Table 3.2:PC bus Address Control ......15 Figure 3.1:I/O Conn. Pin Assig. for the PCM-3240 ..16 Table 3.3:PCM-3240 I/O Conn. Signal Desc. (part 1) 17 Table 3.3:PCM-3240 I/O Conn. Signal Desc. (part 2) 18 Table 3.3:PCM-3240 I/O Conn.
  • Page 6 Stop Signal ............37 Figure 3.27:Timing diagram of Instantaneous Stop In- struction ............38 3.15.6 Deceleration Stop Timing ..........38 Figure 3.28:Timing diagram of External Deceleration/ Stop Signal ............38 Figure 3.29:Timing diagram of Deceleration/Stop In- struction ............38 PCM-3240 User Manual...
  • Page 7 Appendix C Register Structure and Format....48 Overview ................. 48 I/O Port Address Map ............. 48 Table C.1:PCM-3240 WRITE Register Function ..49 Table C.2:PCM-3240 WRITE Register Format ..51 Table C.3:PCM-3240 READ Register Function ..52 Table C.4:PCM-3240 READ Register Format .... 54 MCX314AS WRITE Registers: WR0 ~ WR7 ....
  • Page 8 PCM-3240 User Manual viii...
  • Page 9 Introduction...

  • Page 10: Chapter 1 Introduction

    2/3-axis linear interpolation, 2- axis circular interpolation, T/S-curve acceleration/deceleration rate and more. In addition, the PCM-3240 performs these motion control func- tions without processor load during driving. For advanced applications, we supply Windows DLL drivers and user-friendly examples to decrease your programming load.
  • Page 11 Individual Control for 4 Axes Each of the four axes has identical function capabilities, and is controlled by the same method of operation with constant speed, trapezoidal or S-curve driving. Programmable T/S-curve Acceleration and Deceleration Each of four axes can be preset individually with S-curve or trapezoidal acceleration/deceleration rates.
  • Page 12 (2). The end of driving, and (3). The compare result once higher / lower the border-lines of the position counter range. An interrupt signal can be also generated during the interpolation driving. PCM-3240 User Manual...

  • Page 13: Applications

    • Semiconductor pick and place and testing equipment • Other stepping/pulse-type servo motor applications 1.3 Installation Guide Before you install your PCM-3240 card, please make sure you have the following necessary components: • PCM-3240 DAS card • PCM-3240 User Manual •...

  • Page 14: Accessories

    1.4 Accessories Advantech offers a complete set of accessory products to support the PCM-3240 card. These accessories include: Wiring Cables • PCL-10150 IDC 50-pin flat cable. • PCL-12150 IDC 50-pin to SCSI 50-pin flat able. PCL-12150 is spe- cially designed to work with wiring board ADAM-3952 Wiring Boards •...
  • Page 15 Installation This chapter gives users a package item checklist, proper instructions about unpacking and step-by-step procedures for both driver and card installation.

  • Page 16: Chapter 2 Installation

    Chapter 2 Installation 2.1 Unpacking After receiving your PCM-3240 package, please inspect its contents first. The package should contain the following items: " PCM-3240 card " Companion CD-ROM (DLL driver included) " User Manual The PCM-3240 card harbors certain electronic components vulnerable to electrostatic discharge (ESD).

  • Page 17: Driver Installation

    2.2 Driver Installation We recommend you to install the driver before you install the PCM-3240 card into your system, since this will guarantee a smooth installation process. The 32-bit DLL driver Setup program for the card is included on the companion CD-ROM that is shipped with your DAS card package.

  • Page 18: Software

    DLL driver setup. Figure 2.2: Different Options for Driver Setup Step 5: Then setup the PCM-3240 Motion Utility automatically. For further information on driver-related issues, an online version of Software Manual is available by accessing the following path:...

  • Page 19: Hardware Installation

    Step 4: Touch the metal part on the surface of your computer to neutralize static electricity that might be in your body. Step 5: Insert the PCM-3240 card into a PC/104 slot. Hold the card only by its edges. Place the card firmly in place. Use of excessive force must be avoided, or the card might be damaged.
  • Page 20 PCM-3240 User Manual...
  • Page 21 A good signal connection can avoid unnecessary and costly damage to your PC and other hardware devices. This chapter provides useful informa- tion about how to connect input and output signals to the PCM-3240 via the I/O connector.

  • Page 22: Chapter 3 Signal Connections

    3.2 Location of Jumpers and DIP switch Figure 3-2 shows the names and locations of jumpers and DIP switch on the PCM-3240. There are nine jumpers, JP1 to JP5 on the PCM-3240. Please refer to Section 3.4 Output Pulse Definition and Section 3.11 Emergency Stop Input for more information about JP1~4 and JP5 config- urations.

  • Page 23: Base Address Selection (Sw1)

    Valid base addresses range from Hex 000 to Hex 3F0. Other devices in your system can use some of these addresses. PCM-3240’s base address was set to Hex 300 at the factory. If you need to adjust it to other address ranges, set SW1 by referring to table 2.1 Table 3.1: Module I/O Addresses (SW1)
  • Page 24 XOUT6/2 ZOUT6/2 XOUT7/3 ZOUT7/3 XP+P ZP+P XP+N ZP+N XP-P ZP-P XP-N ZP-N YOUT4 UOUT4 YOUT5 UOUT5 YOUT6/2 UOUT6/2 YOUT7/3 UOUT7/3 YP+P UP+P YP+N UP+N YP-P UP-P YP-N UP-N Figure 3.1: I/O Connector Pin Assignments for the PCM-3240 PCM-3240 User Manual...
  • Page 25 Table 3.3: PCM-3240 I/O Connector Signal Description (part 1) Signal Name Reference Direction Description VEX1 Input External Power (12~24VDC), for X and Y axis Input Emergency Stop (for all axes) XLMT+ Input + Direction Limit at X axis XLMT- Input...
  • Page 26 Table 3.3: PCM-3240 I/O Connector Signal Description (part 2) Signal Name Reference Direction Description XOUT6/2 Output General Output at X axis (Server XOUT7/3 Output General Output at X axis (Reset) XP+P Output Output pulse CW/Pulse+ of X-axis XP+N Output Output pulse CW/ Pulse- of X-axis...
  • Page 27 Table 3.3: PCM-3240 I/O Connector Signal Description (part 3) Signal Name Reference Direction Description UALARM Input Servo Error at U axis UECAP Input Encoder Phase A at U axis UECAN Input Encoder Phase A at U axis UECBP Input Encoder Phase B at U axis...
  • Page 28 Figure 3.2: Location of Jumpers and DIP switch on PCM-3240 PCM-3240 User Manual...

  • Page 29: Output Pulse Definition (Np+P, Np+N, Np-P, Np-N)

    3.3 Output Pulse Definition (nP+P, nP+N, nP-P, nP-N) The output pulse command of PCM-3240 is from MCX314AS chip. The pulse command has two types. One is in Up/Down mode and another is in Pulse/Direction mode. While nP+P is differential from nP+N and nP-P is differential from nP-N.
  • Page 30 Pin3 short with Pin1, and Pin4 short with Pin2 Output The following figure 3-4 and 3-5 show the examples of input circuitry connection for both photo coupler and motor driver respectively. Figure 3.4: Photo coupler input interface PCM-3240 User Manual...

  • Page 31: General Purpose Output

    Figure 3.5: Line driver input interface 3.4 General Purpose Output In PCM-3240, there are two possible options for the general purpose out- put channels. You can choose the general purpose output channels as nOUT4 to nOUT7 from MCX314 or nOUT2 to nOUT5 from MCX314 by software.

  • Page 32: Over Traveling Limit Switch Input (Nlmt+, Nlmt-)

    When writing D3 bit of register2 (XWR2) into 0 to set the limit switch is low active in X-axis, the following figure can work normally. PCM-3240 Figure 3.8: Example of photo sensor used in the limit input signal PCM-3240 User Manual...

  • Page 33: Dec./Instantaneous Stop Switch Input (Nin1 ~ 3)

    3.6 Deceleration/Instantaneous Stop Switch Input (nIN1 ~ 3) There are three input signals (nIN1, nIN2, nIN3) can make the motor drives deceleration or stop. Each axis has four inputs IN3 ~ IN0, wherein IN0 is used in phase Z interface of encoder feedback, and nIN1, nIN2, and nIN3 are use as input signals near the original point.

  • Page 34: General Purpose Input For Servo Drives

    When servo drives have an abnormal condition, they active this signal to note PCM-3240 to stop output pulses. When enable the nALARM func- tion of PCM-3240, the D4 bit of RR2 will set to 1 after nALARM active. If PCM-3240 is driving pulses output, the output pulses will stop immedi- ately when nALARM active.

  • Page 35: Encoder Input

    Figure 3.11: Circuit Diagram of Encoder Feedback From the circuit diagram above, PCM-3240 use high speed photo coupler for isolation. The encoder output can be differential mode or open-collec- tor mode. When n***P is high and n***N is low, the real feedback signal (n***) to MCX314AS is low.
  • Page 36 Figure 3.12: Example of the connection diagram of differential-output line driver The following figure is an example of connection for the encoder with open-collector output. Figure 3.13: Example of the connection for open collector output encoder PCM-3240 User Manual...

  • Page 37: External Pulse Control Input (Nexop+, Nexop-)

    (nEXOP+, nEXOP-). There are two output pulse mode for the external control pin. One is fixed pulse output mode, and the other is continuous output mode. In PCM-3240, it provides Jog and Hand wheel functions that allow you driving motors through external Hand wheel or Jog equipment.

  • Page 38: Emergency Stop Input (Emg)

    3.11 External Power Input (VEX) External power is necessary for all input signals of each axis. Please apply DC12~24V voltage as your need. Current consumption of each point for input signal is DC12V = 3.5 mA, DC24V = 7.5 mA. PCM-3240 User Manual...

  • Page 39: Interrupt Setting

    When the interrupt occurs from MCX314AS, the interrupt signal of MCX314AS will be changed from high to low. Because the interrupt is high level sensitive, the PCM-3240 inverse the signal and latch the signal to adapt the INTA. The Fig- 3.17 shows the interrupt structure of the PCM-3240.

  • Page 40: Connection Examples For Motor Drivers

    3.13 Connection Examples for Motor Drivers 3.13.1 Connection to Step Motor Drivers The following figure is an example of PCM-3240 connected to 5-phase micro-step motor drives, KR515M manufactured by TECHNO company. PCM-3240 Figure 3.18: Example of connecting to KR515M drive...
  • Page 41 The following figure is an example of PCM-3240 connected to UPK step drive manufactured by ORIENTAL company. Figure 3.19: Example of Connecting to UPK Step Drive Note The differential pulse output of PCM-3240 is connected to CW/CCW input of UPK drive.

  • Page 42: Connection To Servo Motor Drivers

    3.13.2 Connection to Servo Motor Drivers The figure shown below is an example of PCM-3240 connected to MINAS X series AC servo motor drive. Figure 3.20: Connection Example to MINAS X series AC servo motor drive Note The servo drive must be set in pulse-control drive mode and the type of pulse input is CW/CCW mode.

  • Page 43: Field Wiring Considerations

    3.14 Field Wiring Considerations When you use the PCM-3240 to acquire data from outside, noises in the environment might significantly affect the accuracy of your measure- ments if due cautions are not taken. The following measures will be helpful to reduce possible interference running signal wires between sig- nal sources and the PCM-3240.

  • Page 44: I/O Signal Timing

    (nOUT4 ~ 7) for I/O control will be determined after 250 nsec from power on reset. • User can access PCM-3240 only after 500 nsec from power-on reset. 3.15.2 Individual Axis Driving Figure 3.22: Timing diagram of Individual Axis Driving •...

  • Page 45: Input Pulse Timing

    • After interpolation command is enable, the first pulse will be outputted in 775 nsec. • If using pulse/direction mode, direction signal (nP-P) is valid in ± 125 nsec of high-level pulse signal. 3.15.4 Input Pulse Timing Quadrature Pulse of Encoder Input Figure 3.24: Timing diagram of Quadrature Pulse of Encoder Input •...

  • Page 46: Struction

    µ SEC + 2 pulses will be output, and then stopped. Deceleration/Stop Instruction Figure 3.29: Timing diagram of Deceleration/Stop Instruction • When the Deceleration/Stop instruction is issued during driving, at most two pulses will be output, and then stopped. PCM-3240 User Manual...
  • Page 47 Specifications...

  • Page 48: Appendix A Specifications

    Number of Output 0 ~ 4,294,067,295 Pulses Fixed pulse driving Pulse Output Type Pulse/Direction (1-pulse, 1-direction type) or Up/Down (2-pulse type) Output Signal Differential line driving output / Single- Modes ended output Speed Curve T/S curve acceleration/deceleration PCM-3240 User Manual...

  • Page 49: Digital Input/Output

    A.2 Digital Input/Output Input Signals Over Travel- nLMT+ and nLMT- ing Limit Switch Input* External nIN1 ~ 3 Deceleration/ Instantaneous Stop Signal Input Signal for nALARM (servo alarm); nINPOS (position Servo Motor command completed) Drives* Emergency EMG - one emergency stop input Stop Max.

  • Page 50: Input Pulse For Encoder Interface

    100 Hz quency Input Voltage 3 V DC max. High 10 V DC min. 30 V DC max. Driving Mode Fixed pulse driving or continuos driving. Supports Hand wheel and Jog. Protection 2,500 V DC photo coupler isolation PCM-3240 User Manual...

  • Page 51: Other Functions

    A.5 Other Functions Position Range of Command -2,147,438,648 ~ Counter Position Counter (for +2,147,438,647 output pulse) Range of Actual Posi- -2,147,438,648 ~ tion Counter (for input +2,147,438,647 pulse) Comparison COMP+ Register Range -2,147,438,648 ~ Register +2,147,438,647 COMP- Register Range -2,147,438,648 ~ +2,147,438,647 Can be used for software over traveling limit Interrupt Func-...
  • Page 52 PCM-3240 User Manual...
  • Page 53 Block Diagram...

  • Page 54: Appendix B Block Diagram

    Appendix B Block Diagram ISA Bus PCM-3240 User Manual...
  • Page 55 Register Structure and Format...

  • Page 56: Appendix C Register Structure And Format

    Appendix C Register Structure and Format C.1 Overview The PCM-3240 is delivered with an easy-to-use 32-bit DLL driver for user programming under Windows operating system. We advise users to program the PCM-3240 using 32-bit DLL driver provided by Advantech to avoid the complexity of low-level programming by register.
  • Page 57 Table C.1: PCM-3240 WRITE Register Function Address Write (Hex.) Sym- Register Name Content Command Register Settings for axis assignment and command XWR1 X Axis Mode Register 1 Enable/Disable deceleration Y Axis Mode Register 1 and set deceleration level. Z Axis Mode Register 1...
  • Page 58 Table C.1: PCM-3240 WRITE Register Function Interpolation Mode Axis assignment. Settings of Register constant linear speed, step output mode, and interrupt. BP2M BP2M Setting for the - direction bit data of the second axis for bit pattern interpolation. Data Writing Register 1...
  • Page 59 Table C.2: PCM-3240 WRITE Register Format Base D15 D14 D13 D12 D11 D10 D9 Add. Command Register: WR0 Axis Assignments Command Code Mode Register 1: WR1 P>= P<C P<C- P>= IN3- IN3- IN2- IN2- IN1- IN1- IN0- IN0- Interrupt Enable/Disable...
  • Page 60 Table C.3: PCM-3240 READ Register Function Address Read (Hex.) Symbol Register Name Content Main status register Limit switch status, driving status, ready for interpolation, quadrant for circle interpolation, and the stack of BP XRR1 X Axis Status Register 1 The result of com-...
  • Page 61 Table C.3: PCM-3240 READ Register Function INT Number Status Reg- Read back the num- ister ber you set for IRQ channel. Please note that if the IRQ number written into the regis- ter was not supported by PCM-3240, then the interrupt function will not take effect.
  • Page 62 Table C.4: PCM-3240 READ Register Format Base Add. Main Status Register: RR0 Error Status of Each Driving Status of Each Axis Axis Status Register 1: RR1 IN3 IN2 IN1 IN0 ADS Stop Status Status Register 2: RR2 Status Register 3: RR3 p>=...

  • Page 63: Mcx314As Write Registers: Wr0 ~ Wr7

    C.3 MCX314AS WRITE Registers: WR0 ~ WR7 The PCM-3240 registers from WR0 (Base Add. + 0) to WR7 (Base Add. + E) are the same as mapping registers on MCX314AS chip, and please refer to MCX314AS user’s manual Section 4.3 ~ Section 4.9 for detailed information.
  • Page 64 A/B phase pulse input The following table indicates the external signal routing path. The external signals generate the pulses to drive the motor are connected to the pins nEXOP+ and nEXOP- (Please refer to the pin assignment). PCM-3240 User Manual...

  • Page 65: Mcx314As Read Registers: Rr0 ~ Rr7

    U-axis C.6 MCX314AS READ Registers: RR0 ~ RR7 The PCM-3240 registers from RR0 (Base Add. + 0) to RR7 (Base Add. + E) are the same as mapping registers on MCX314AS chip, and please refer to MCX314AS user’s manual Section 4.10 ~ Section 4.15 for detailed information.

  • Page 66: Interrupt Status Register: Intsta

    Channel 4, 5, 7, 10, 11, 12, and 15. A total of seven possible choices. If the number user set in the register does not match to the supported Interrupt channels, the interrupt function of PCM-3240 could not be used. The default setting of the register is zero “0”, which means the interrupt functions are disabled.

  • Page 67: Output Channel Selection Register

    C.9 Output Channel Selection Register Output Channel Selection Register: OCS uO7/ uO6/ zO7/ zO6/ yO7/ yO6/ xO7/ xO6/ Output Channel Configuration Status Register: OCCS uO7/ uO6/ zO7/ zO6/ yO7/ yO6/ xO7/ xO6/ Bit 7 ~ Bit 0: Select Output signal (n = x, y, z, u) nO6/2: 0: The nOut6/2 pin is set to nOut6 signal of n axis 1: The nOut6/2 pin is set to nOut2 signal of n axis...
  • Page 68 PCM-3240 User Manual...
  • Page 69 Wiring with Third-Party Motor Drivers...

  • Page 70: Appendix D Wiring With Third-Party Motor Drivers

    Appendix D Wiring with Third-Party Motor Drivers PCM-3240 side Figure D.1: Wiring Diagram with Mitsubishi MR-J2S Series Motor Driver PCM-3240 User Manual...
  • Page 71 PCM-3240 side Figure D.2: Wiring Diagram with Oriental LIMO EZMC Series Motor Driver Chapter D...
  • Page 72 PCM-3240 side Figure D.3: Wiring Diagram with Panasonic MINAS-A Series Motor Driver PCM-3240 User Manual...
  • Page 73 PCM-3240 side Figure D.4: Wiring Diagram with Yaskawa SGDM Series Motor Driver Chapter D...
  • Page 74 PCM-3240 User Manual...

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