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Advantech PCI-1261 User Manual

Advantech PCI-1261 User Manual

6-axis pulse-type stepping motor control card
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PCI-1261
6-axis Pulse-Type Stepping
Motor Control Card
User Manual

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Summary of Contents for Advantech PCI-1261

  • Page 1 PCI-1261 6-axis Pulse-Type Stepping Motor Control Card User Manual...
  • Page 2 No part of this man- ual may be reproduced, copied, translated or transmitted in any form or by any means without the prior written permission of Advantech Co., Ltd. Information provided in this manual is intended to be accurate and reli- able.
  • Page 3 Two Years Product Warranty 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 CE Notification The PCI-1261, developed by ADVANTECH CO., LTD., 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: Packing List

    If any item does not accord with the table, please contact your dealer immediately. The package should contain the following items: • PCI-1261 motor control card • User Manual • Driver CD-ROM (DLL driver and Utility included) •...
  • Page 6 PCI-1261 User Manual...

  • Page 7: Table Of Contents

    Figure 3.2:SCSI-II 100-pin Connector Pin Assig..16 Table 3.2:PCI-1261 I/O Conn. Sig. Desc. - DDA P.O 17 Table 3.3: PCI-1261 I/O Conn. Sig. Desc. – Enc. I ..18 Table 3.4:PCI-1261 I/O Conn. Sig. Desc. – Local I/O 19 3.2Pulse Output Connection ..............
  • Page 8 5.2Sample Program Usage ..............53 Table 5.1:Sample Program Usage ....... 53 AppendixASpecifications ............58 A.1Axes: ..................58 A.2Pulse Output: ................59 A.3Input Pulse for Encoder Interface:..........59 A.4Local Input/Output ..............60 A.5Other Motion Functions: ............. 61 PCI-1261 User Manual viii...
  • Page 9 A.6General: ..................61 AppendixBBlock Diagram ............. 64 Figure B.1:PCI-1261 System Block Diagram ..... 64 B.1Open Loop Motion Control (Pulse Command) ......64 B.1.1Digital Differential Analyzer (DDA) ........65 Figure B.2:DDA Example ........... 65 B.2Local Input / Output..............65 B.3Remote Input / Output ..............66 ChapterCHome Function............
  • Page 10 PCI-1261 User Manual...

  • Page 11: General Information

    General Information This chapter provides general informa- tion on the PCI-1261. Sections include: • Introduction • Installation...

  • Page 12: Chapter1Introduction

    PCI-1261 also supports the PCLD-8241 remote I/O module that brings you great benefits in wire saving. PCLD-8241 provides 64-ch isolated digital input, 64-ch isolated digital output, and the output channel sup- ports both sink type and source type output. PCI-1261 can connect one PCLD-8241 module. PCI-1261 User Manual...

  • Page 13: 1Features

    1.1.1 Features PCI-1261 provides users with frequently requested motor control func- tions as listed below: • Independent 6-axis motion control • 2/3-axis linear interpolation function • 2/3-axis circular interpolation function • Continuous interpolation function • Multiple group function. 72 groups can be performed at the same time •...

  • Page 14: 2Applications

    • Semiconductor pick, place and testing equipment • Other stepping motor and pulse/velocity-type servo motor applications 1.1.3 What You Need to Get Started Before you install your PCI-1261 card, please make sure you have the following necessary components: • PCI-1261 motor control card •...
  • Page 15 Install Driver from CD-ROM, then power off PC Install Hardware and power on PC Use PCI-1241_42_61 Utility to configure hardware Use PCI-1241_42_61 Utility to test hardware Read Examples & Hardware/Software manual Start to write your own application Figure 1.1: Installation Flow Chart Chapter 1...

  • Page 16: 4Software Programming Choices

    1.1.4 Software Programming Choices Advantech offers complete DLL drivers and utility support to help fully exploit the functions of your PCI-1261. • Driver Software Advantech PCI-1261 DLL drivers (Included in the companion CD- ROM) • Motion Utility Advantech PCI-1241_42_61 Utility (Included in the companion CD- ROM) 1.1.5 Accessories...

  • Page 17: Installation

    This chapter gives users a package item check lists, proper instructions about unpacking and step-by-step procedures for both driver and card installation. 1.2.1 Unpacking After receiving your PCI-1261 package, please inspect its contents first. The package should contain the following items: • PCI-1261 motor control card • User Manual •...
  • Page 18 TOUCH the exposed metal pins of the connector or the electronic com- ponents. Note: Keep the antistatic bag for future use. You might need the original bag to store the card if you have to remove the card from PC or trans- port it elsewhere. PCI-1261 User Manual...
  • Page 19 Installation This chapter provides information on the installation of PCI-1261. Sections include: • Software Installation • Hardware Installation...

  • Page 20: Chapter2Installation

    Chapter 2 Installation 2.1 Software Installation We recommend you to install the driver before you install the PCI-1261 card into your system, since this will guarantee a smooth installation pro- cess. The 32-bit DLL driver Setup program for the card is included on the com- panion CD-ROM that is shipped with your DAS card package.

  • Page 21: Hardware Installation

    Step 5: Insert the PCI-1261 card into a PCI slot. Hold the card only by its edges and carefully align it with the slot. Insert the card firmly into place.

  • Page 22: 1Board Layout And Jumper/Switch Settings

    2.2.1 Board Layout and Jumper/Switch Settings Figure 2-3 shows the names and locations of jumpers and connectors on PCI-1261. There are 3 jumpers and two connectors. Table 2-1 shows jumpers and connectors functionalities. Figure 2.2: Location of Jumpers and Connectors on PCI-1261 Table 2.1: Summary of Jumper and Connector Settings...
  • Page 23 Signal Connections This chapter provides information on the VGA setup. Sections include: • Introduction • Installation of VGA Drivers - for Windows 98/2000/ME - for Windows NT - for Windows XP • Further Information...

  • Page 24: Chapter3Signal Connections

    1261 via the I/O connector. 3.1 I/O Connector Pin Assignments There are two I/O connectors on the PCI-1261. J2 is an internal onboard 10-pin simple horn connector for remote I/O module PCLD-8241, and the other connector is a SCSI-II 100-pin connector that enables you to con- nect to accessories with the PCL-101100M shielded cable.
  • Page 25 Table 3.1: PCI-1261 I/O J2 Conn. Signal Description Remote I/O Pin No. Signal Name Reference Direction Description RIO1_CLKP Output RI/O Channel 1 Clock Output + RIO1_CLKN Output RI/O Channel 1 Clock Output - RIO1_SCSP Output RI/O Channel 1 Slave Module Acti-...
  • Page 26 A5_LMT- A4_LMT- A5_LMT+ A4_LMT+ A5_HOME A4_HOME A3_SERVON A2_SERVON A3_LMT- A2_LMT- A3_LMT+ A2_LMT+ A3_HOME A2_HOME A1_SERVON A0_SERVON A1_LMT- A0_LMT- A1_LMT+ A0_LMT+ A1_HOME A0_HOME P-RDY DI_COM E_STOP DI_COM VEX_GND VEX_GND DGND DGND Figure 3.2: SCSI-II 100-pin Connector Pin Assignments PCI-1261 User Manual...
  • Page 27 Table 3.2: PCI-1261 I/O Connector Signal Desc. - DDA Pulse Output Signal Reference Direction Description Name A0_PAP Output Axis 0 Pulse Output Phase A A0_PAN Output Axis 0 Pulse Output Phase A/ A0_PBP Output Axis 0 Pulse Output Phase B...
  • Page 28 Table 3.3: PCI-1261 I/O Connector Signal Description – Encoder Input Signal Reference Direction Description Name A0_ECAP Input Axis 0 Encoder Input Phase A A0_ECAN Input Axis 0 Encoder Input Phase A/ A0_ECBP Input Axis 0 Encoder Input Phase B A0_ECBN...
  • Page 29 Table 3.3: PCI-1261 I/O Connector Signal Description – Encoder Input Signal Reference Direction Description Name A4_ECZN Input Axis 4 Encoder Input Phase Z/ A5_ECAP Input Axis 5 Encoder Input Phase A A5_ECAN Input Axis 5 Encoder Input Phase A/ A5_ECBP...
  • Page 30 Table 3.4: PCI-1261 I/O Connector Signal Description – Local I/O Signal Name Reference Direction Description A4_SERVON - Output Axis 4 Servo On Output A5_HOME Input Axis 5 Home Sensor Input A5_LMT+ Input Axis 5 + Direction Limit Input A5_LMT- Input...

  • Page 31: Pulse Output Connection

    3.2 Pulse Output Connection PCI-1261 supports 6-axis pulse output channels for pulse-type servo motor driver and stepping motor driver control. Pulse Output Specifications • Differential signal transmission method. Refer to Figure 3-3. A transmitter will convert the input signal X into X and X/ before outputting, and a receiver will compare the X and X/ inputs to obtain Y.
  • Page 32 P+, P+/, P- and P-/ channels of the pulse-type servo motor driver / stepping motor driver accordingly, as shown in Figure 3- • Be noted that PCI-1261 ground channel DGND must be connected to the ground pin of the motor driver.

  • Page 33: Local Input Connection

    Figure 3.5: Wiring Diagram Between PCI-1261 and Pulse-Type Driver 3.3 Local Input Connection PCI-1261 provides 19 dedicated input channels. There are four types of local input channels: • 6-channel Positive-direction Limit Switch Inputs – A0_LMT+, A1_LMT+, A2_LMT+, A3_LMT+, A4_LMT+ and A5_LMT+.
  • Page 34 RC filter. Emergency Input If an emergency stop occurs (value is 1), pulse outputs will be disabled, voltage output values become 0 V and PCI-1261’s built-in LATCH will latch the status of the emergency stop channel. Bouncing State When the mechanical switch in Figure 3-6 is turned from ”Open”...

  • Page 35: Local Output Connection

    • 2500VDC isolation protection Output Type PCI-1261 output channels are all open collectors. When the output signal value is “0”, an open collector channel is in “ON” state and the load is activated. When the output signal value is “1”, an open collector channel is in “OFF”...

  • Page 36: Pci-1261 Local I/O Wiring Example

    Figure 3.7: Local Output Wiring Diagram 3.5 PCI-1261 Local I/O Wiring Example In this section, it shows a local I/O wiring example of PCI-1261 that helps you to setup a system quickly. Figure 3-8 and Figure 3-9 show examples of PCI-1261 local I/O wiring diagram of axis one. In the example, all input channels are configured as source type.
  • Page 37 • For the same reason as above, zone C and zone D are for the negative- direction limit switch (LS_A1_LMT-). Zone E and zone F are for the home limit switch (LS_A1_HOME). • G and H zones: When the servo-ON signal of the first axis (A1_SERVON) is changed from 1 to 0, the open collector output stage is conductive, allowing current to flow through it and enable driver to servo-on.
  • Page 38 MR in zone P closed and then the control coil MC of the magnetic contact M is activated. Finally the magnetic con- tact M is closed and the power to the driver is linked. PCI-1261 User Manual...

  • Page 39: 1Remote I/O Connection

    In PCI-1261, we provide capability to connect to the PCLD-8241 remote I/O module. The remote I/O module PCLD-8241 is designed to save wir- ing. The wiring cable between PCI-1261 and PCLD-8241 is a DB-9 serial cable. PCI-1261 supports one PCLD-8241 module.

  • Page 40: 2Field Wiring Considerations

    Figure 3.11: Remote I/O Wiring Diagram in PCI-1261 3.5.2 Field Wiring Considerations When you use the PCI-1261 motor control card to connect with motor drivers, noises in the environment might significantly affect the accuracy of your control if due cautions are not taken. The following measures will be helpful to reduce possible interference running signal wires between signal sources and the PCI-1261.
  • Page 41 ference. Keep the analog signal cables away from any video monitor, since it can significantly affect a data acquisition system. • If the cable travels through an area with significant electromagnetic interference, you should adopt individually shielded, twisted-pair wires as the analog input cable. This type of cable has its signal wires twisted together and shielded with a metal mesh.
  • Page 42 PCI-1261 User Manual...
  • Page 43 Configuration Utility This chapter provides information on the configuration utility for PCI-1261. Sections include: • Utility Main Page • Select Device • Set Parameters • Initializing the Card • Servo On • Operate Motor • Remote I/O Page • Motion Profile...

  • Page 44: Chapter4Configuration Utility

    Chapter 4 Configuration Utility The Configuration Utility is designed for easy installation, configuration, and diagnosis of PCI-1241, PCI-1242, and PCI-1261. With the configura- tion utility you can set mechanical parameters, electric parameters, and home modes in the parameter table. Some basic motion functions can be operated in the utility, such as line, arc, circle, jog, and home.

  • Page 45: Select Device

    You can start with the operation buttons in the lower-right corner. The operation flow chart is as follows: Figure 4.2: Utility Operation Flow Chart 4.2 Select Device When users press the “Select Device” button, a new dialog box will popup. In the dialog box, all the installed PCI-1241/1242/1261 cards are listed, and you can pick one for configuration and operation.

  • Page 46: Set Parameters

    “Mechanism”, “General/PtP Motion”, “System”, and “Home”. 4.3.1 Mechanism Configuration Advantech provides a convenient tool design the moving patterns in physical units, like mm, or mm/s. Define the entire mechanical factor in the “Mechanism” page, and then use the physical units directly when call- ing the API.
  • Page 47 Figure 4.5: Mechanical Parameter Definition Following are introductions of each parameter: Axis: Defines which axis the parameters will affect. Max. Speed: The maximum moving speed of the object driven by the motor. For example, if the motor is driving a table, you can define the maximum speed here for safety considerations.
  • Page 48 Software Limit: Besides the hardware limitation switch, PCI-1261 also provides a software limit as the secondary safety factor. If the software limit was reached the motion card will stop outputting commands. Encoder: There are three types of encoders that can be defined here.

  • Page 49: 2General/Ptp Motion Configuration

    4.3.2 General/PtP Motion Configuration In this page, you can define the motion characteristics for point-to-point movement. Unit: The applied length unit. It can be in millimeters (mm) or inches. Coordination Mode: The type of coordinate system is set here. It can be a relative coordinate or absolute coordinate system.

  • Page 50: 3System Configuration

    However, that will also consume more CPU resources. Generally, 10 ms is recommended for most applications. Command Mode: This setting is only for PCI-1241, which can be set as pulse output or voltage output. For PCI-1242 and PCI-1261, it has to be “Pulse Command”. PCI-1261User Manual...

  • Page 51: 4Home Configuration

    With well-defined parameters, moving objects can reach their home precisely when requested. Home mode: PCI-1261 provides different home modes to fulfill different needs. There are overall fourteen home modes, from mode0 to mode13. Please refer to appendix C for further details.
  • Page 52 Home Mode Diagram: This diagram clearly shows the velocity profile, the return, slow down, and stop point in each mode. Let’s take Home mode0 as an example. In Home mode0, the motor will start at low speed FL, accelerate to high speed FH as it goes towards the home sensor.

  • Page 53: Initializing The Card

    4.4 Initializing the Card When the ‘Initialize’ button is pressed, the utility will process the initial- ization commands to the PCI-1261. If the card is correctly plugged, the message “Card is active” will show on the top of utility, and the ‘Close card’...

  • Page 54: Operate Motor

    4.6 Operate Motor The configuration utility provides some basic operations in the main page. You can perform “Motion Command”, “Jog”, and “Home” here. In the mean time, the digital input signals are also displayed in the main page, so you can check the status of sensors if the hardware limit switch is not disabled.

  • Page 55: 1Motion Command

    4.6.1 Motion Command There are four types of commands that can be operated here, PtP, Line, Circle, and Arc. PtP: Point to Point, all axes can be operated together. The moving dis- tance of each axis need to be defined, and all axes will start moving when the “Run”...
  • Page 56 CircleXY, CircleYZ, and CircleZX: Performs two-dimensional circles. You need to define the center point and rotation direction, CW and CCW. The motor will start from its current point and the diameter will be calcu- lated automatically. Figure 4.13: 2D Circle Motion Configuration Window CircleXY_UVW: Similar to CircleXY, only the UVW axes will perform line movement along with XY axes.

  • Page 57: 2Jog

    ArcXY, ArcYZ, ArcZX: Similar to ArcXYZ, but only a 2D arc is per- formed in this command. Figure 4.16: 2D Arc Motion Configuration Window ArcXY_UVW: Performs a 2D arc where the UVW axes will perform a line movement at the same time. All axes will start and stop together. Figure 4.17: 3D Arc with Line motion Configuration Window 4.6.2 Jog In ‘Jog’...

  • Page 58: 3Home

    Figure 4.19: Home Motion Configuration Window 4.7 Remote IO Page PCI-1261 supports powerful remote IO functions. The high-density IO modules are controlled and monitored via communication lines. You can control and monitor the IO modules through this page. Please also refer to appendix D for details about the remote IO modules.

  • Page 59: Motion Profile

    4.8 Motion Profile This is a user aid tool, in this page, users can check the position profile and velocity profile of each axis. Then they can easily clarify if the parameters were set correctly. Figure 4.21: Motion Profile Display Window Chapter 4...
  • Page 60 PCI-1261User Manual...
  • Page 61 Software Startup Guide In this chapter you can get detailed information about card index configu- rations, and some samples of program usage. Sections include: • Card Index Manager • Sample Program Usage...

  • Page 62: Chapter5Software Startup Guide

    IO address is assigned by the system. If you put two cards in one system, it can be difficult to identity the cards without an additional identifier. In PCI-1261 a special utility called “Card Index Manager” is provided along with the software driver. With this utility you can configure the software index by yourself.

  • Page 63: Sample Program Usage

    0 to 11. 5.2 Sample Program Usage Beside driver library, Advantech also provides variant sample programs along with the PCI-1241/1242/1261 DLL driver. There are over 30 sam- ples programs written in VC and VB can be found in following folder...
  • Page 64 ISR, and this ISR will be triggered when the encoder's counter is equal to the preset value. ErrorStatus Verifying the parameters passing into the library. GeneralMotion Demonstrates executing a general motion command (i.e. line, arc, and circle motions) PCI-1261 User Manual...
  • Page 65 Table 5.1: Sample Program Usage GetENCLatch Demonstrates how to latch a encoder value in defined con- ditions. GetStatus Displays current position, speed, and information of an executing motion command. GoHome Demonstrates how to use go- home functions and acquire the status of executing a go- home process.
  • Page 66 Enables/disables motion blending. SetSpeed Sets speeds for general and point-to-point motions TimerTrigger Demonstrates how to design a timer ISR and use the timer expiration signal to trigger this ISR. WatchDog Demonstrates how to use the watch dog facility PCI-1261 User Manual...
  • Page 67 Specifications This chapter provides information on the specifications of PCI-1261. Sections include: • Axes • Pulse Output • Input Pulse for Encoder Interface • Local Input/Output • Other Motion Functions • General...

  • Page 68: Appendixaspecifications

    Pulse/Direction, CW/CCW, A/B Phase Position Accuracy In Position Check Continuous Moving Blending Mode Compensation 256 Divisions Limit Switch Software and Hardware Limit Switch Check Go Home 14 Modes Motion Operation Hold, Continuous, Abort Changing Speed in Over Speed Control Moving PCI-1261 User Manual...

  • Page 69: A.2Pulse Output

    A.2 Pulse Output: Range 1 PPS ~ 4M PPS Precision +- 0.1% Change of Acceleration for S Curve 954 ~ 31.25 x 10 PPS/sec Acceleration / Deceleration 125 ~ 500 x 10 PPS/sec Initial Velocity 1 PPS ~ 4M PPS Drive Speed 1 PPS ~ 4M PPS (can be changed during driving)

  • Page 70: A.4Local Input/Output

    RC filtering Output Signal Servo On 6 channels Position Ready 1 channel Output Voltage Open Collector 5 ~ 40 VDC Sink Current 100 mA max. / channel; 500mA max. total Protection 2,500 Vrms photo coupler isolation PCI-1261 User Manual...

  • Page 71: A.5Other Motion Functions

    A.5 Other Motion Functions: Position Counter Range of Com- -2,147,483,648 ~ mand Position +2,147,483,647 for each axis Counter (for out- put pulse) Range of Actual -2,147,483,648 ~ Position Counter +2,147,483,647 for each axis (for input pulse) Comparison Register Register Range -2,147,483,648 ~ +2,147,483,647 Interrupt Functions...
  • Page 72 PCI-1261 User Manual...
  • Page 73 Block Diagram This chapter provides information on the VGA setup. Sections include: • Introduction • Installation of VGA Drivers - for Windows 98/2000/ME - for Windows NT - for Windows XP • Further Information...

  • Page 74: Appendixbblock Diagram

    B.1 Open Loop Motion Control (Pulse Command) The PC Controller sends commands to the PCI BUS interface circuit (4) on the PCI-1261 card through PCI BUS (1). At this time, the command and state register (5) with system control circuit (8) will decode com-...

  • Page 75: B.1.1Digital Differential Analyzer (Dda)

    Figure B.2: DDA Example B.2 Local Input / Output The PC Controller sends commands to the ASIC on PCI-1261 through the PCI Bus. This ASIC will read or write information to the local I/O (21) based on instructions. The outputs through photo coupling isolation (22) are amplified by the Darlington output stage.

  • Page 76: B.3Remote Input / Output

    The remote digital I/O is designed with wire-saving technology. It uses a serial communication cable to remotely control the I/O module PCLD- 8241 (27) via a serial I/O interface (25). The maximum capability is 64 outputs (28) and 64 inputs (29). PCI-1261 User Manual...
  • Page 77 An accurate home position is funda- mental for every precision machine. In order to manage the various require- ments for the home position, PCI-1261 provides a total of 14 home modes. This chapter gives users an overview of each home mode and its characteristics.

  • Page 78: Chapterchome Function

    There are only two movement speeds that can be defined in the homing process. One is the start up speed FL, and the other is the maximum speed FH. For velocity, the slants means speed up or slow down. PCI-1261 User Manual...

  • Page 79: C.2Home Mode0

    C.2 Home Mode0 In Home mode0, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate. And then stop when the speed is down to FL.

  • Page 80: C.3Home Mode1

    Then it will keep moving until it crosses the home sensor, and finally search the home signal again. HOME Case 1 Case 2 Case 3 Figure C.2: Velocity Profile of Home Mode1 PCI-1261 User Manual...

  • Page 81: C.4Home Mode2

    C.4 Home Mode2 In Home mode2, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate, and search for an encoder index signal with FL.

  • Page 82: C.5Home Mode3

    Then it will keep moving until it crosses the home sensor, and finally search the home signal again. Like case 3 and case 4 in figure C-4. HOME (EIC=1) Case 1 (EIC=2) Case 2 (EIC=1) Case 3 (EIC=1) Case 4 Figure C.4: Velocity Profile of Home Mode3 PCI-1261 User Manual...

  • Page 83: C.6Home Mode4

    C.6 Home Mode4 In Home mode4, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate, and go backward while the velocity reaches FL.

  • Page 84: C.7Home Mode5

    Then it will keep moving until it crosses the home sensor, and finally search the home signal again. Like case 3 and case 4 in figure C-6. HOME (EIC=1) Case 1 (EIC=0) Case 2 (EIC=0) Case 3 (EIC=0) Case 4 Figure C.6: Velocity Profile of Home Mode5 PCI-1261 User Manual...

  • Page 85: C.8Home Mode6

    C.8 Home Mode6 In Home mode6, the motor will start up at low speed FL, and accelerate to high speed FH towards the limit switch. Once the limit switch is reached, the motor will stop immediately. Case 1 Figure C.7: Velocity Profile of Home Mode6 C.9 Home Mode7 In Home mode7, the motor will start up at low speed FL, and accelerate to high speed FH towards the limit switch.

  • Page 86: C.10Home Mode8

    ‘1’, it means one index will be ignored and the motor will stop at the second index after turning around. Like case 1 in following diagram. (EIC=1) Case 1 Figure C.9: Velocity Profile of Home Mode8 PCI-1261 User Manual...

  • Page 87: C.11Home Mode9

    C.11 Home Mode9 In Home mode9, the motor will start up at speed FL, and accelerate to speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate and go backward at speed FL. Once the motor leave the triggered area of home sensor, it will stop immediately.

  • Page 88: C.12Home Mode10

    Then it will keep moving until it crosses the home sensor, and finally search the home signal again. HOME (EIC=1) Case 1 (EIC=1) Case 2 (EIC=1) Case 3 Figure C.11: Velocity Profile of Home Mode10 PCI-1261 User Manual...

  • Page 89: C.13Home Mode11

    C.13 Home Mode11 In Home mode11, the motor will start up at low speed FL, and then accel- erate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate, and go backward while the velocity goes down to FL.

  • Page 90: C.14Home Mode12

    FH towards the limit switch. Once the limit switch is reached, the motor will decelerate and go backwards at speed FL. Once the motor leave the triggered area of the limit switch, it will stop immediately. Case 1 Figure C.14: Velocity Profile of Home Mode13 PCI-1261 User Manual...
  • Page 91 Remote I/O This chapter provides information on the remote I/O function of PCI-1261 and the PCLD-8241 I/O Module.

  • Page 92: Appendixdremote I/O

    The PCLD-8241 is a remote IO module that can work with PCI- 1241, 1242 and 1261 without extra configuration. You simply connect the PCLD-8241 and PCI-1261 with a 9-pin cable, and they can operate remote IO points with motion commands.

  • Page 93: D.2Specifications

    D.2 Specifications • Size: 107 x 290 mm • Din rail package--- TS32 (A)/TS35 (A) • 5EHDBV terminals (DINKLE) • Ambient Temperature: 0 ~ 55° C • 64 Source-Type or Sink-Type input points (Figure D.1) Figure D.1: • Bi-directional photo coupler with current limit resistor •...
  • Page 94 • Load current: 400mA • Off-state leakage current: 1uA Max. • Turn-ON time: 2ms Max. • Turn-OFF time: 0.2 ms Max. • Arc-Free with no snubbing circuits • Isolation: 1500Vrms • Power requirements: E5V: DC+5V (4.8V~5.5V) ---500 mA Note: If the voltage of E5V is less than +4.8 V, the PCLD-8241 will not work properly.