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ADLINK Technology PCI-8174 User Manual

Dsp-based 4-axis servo / stepper motion control card
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Manual Rev.
Revision Date:
Part No:
Advance Technologies; Automate the World.
PCI-8174
DSP-based
4-Axis Servo / Stepper
Motion Control Card
User's Manual
2.00
April 22, 2007
50-11148-1000

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  • Page 1 PCI-8174 DSP-based 4-Axis Servo / Stepper Motion Control Card User’s Manual Manual Rev. 2.00 Revision Date: April 22, 2007 Part No: 50-11148-1000 Advance Technologies; Automate the World.
  • Page 2 Trademarks NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK TECHNOLOGY INC. Product names mentioned herein are used for identification pur- poses only and may be trademarks and/or registered trademarks...
  • Page 3 Getting Service from ADLINK Customer Satisfaction is top priority for ADLINK Technology Inc. Please contact us should you require any service or assistance. ADLINK TECHNOLOGY INC. Web Site: http://www.adlinktech.com Sales & Service: Service@adlinktech.com TEL: +886-2-82265877 FAX: +886-2-82265717 Address: 9F, No. 166, Jian Yi Road, Chungho City,...

  • Page 5: Table Of Contents

    Programming Library ............8 MotionCreatorPro ............8 Available Terminal Board............. 8 2 Installation ................9 Package Contents ............... 9 PCI-8174 Outline Drawing ..........10 PCI-8174 Hardware Installation......... 11 Hardware configuration ..........11 PCI slot selection ............11 Installation Procedures ..........11 Troubleshooting4: ............
  • Page 6 3.10 Multi-Functional output pin: DO/CMP ........ 31 3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG........32 3.12 Pulser Input Signals PA and PB (PCI-8174)...... 33 3.13 Simultaneously Start/Stop Signals STA and STP....34 4 Operation Theory .............. 35 Classifications of Motion Controller........35 Voltage motion control interface ........
  • Page 7 Servo alarm reset switch ..........70 Mechanical switch interface..........71 Original or home signal ..........71 End-Limit switch signal ..........71 Slow down switch ............71 Positioning Start switch ..........72 Counter Clear switch ............ 72 Counter Latch switch ............ 72 Emergency stop input ...........
  • Page 8 Single Axis Operation Menu ......... 96 Help Menu ..............102 6 Function Library.............. 103 List of Functions............... 104 C/C++ Programming Library ..........108 System and Initialization ..........109 Pulse Input/Output Configuration........111 Velocity mode motion............114 Single Axis Position Mode ..........117 Home Return Mode............

  • Page 9: List Of Tables

    List of Tables Table 2-1: *CN1 Pin Assignment: Main Connector ....13 Table 2-2: *CN2 Pin Assignment: Simultaneous Start/Stop ..14 Table 2-3: SW1 Switch Setting for Card Index ......15 Table 2-4: *CN3 Manual Pulsar ..........16 Table 6-1: Data type definitions ..........108 List of Tables...

  • Page 10: List Of Figures

    List of Figures Figure 1-1: PCI-8174 Block Diagram ........... 2 Figure 1-2: Flow chart for building an application ......3 Figure 2-1: PCB Layout of the PCI-8174 ........10 List of Figures...

  • Page 11: Introduction

    The PCI-8174 has various terminal boards for connecting to many kinds of AC servos. The pin definitions are the same as ADLINK 4- axis stepper/servo motion controller, such as the PCI-8134 or PCI- 8164.

  • Page 12: Figure 1-1: Pci-8174 Block Diagram

    An on-screen display lists all installed axes information and I/O signal status of the PCI-8174. Windows programming libraries are also provided for C++ com- piler and Visual Basic. Sample programs are provided to illustrate the operations of the functions.

  • Page 13: Figure 1-2: Flow Chart For Building An Application

    Figure 1-2: Flow chart for building an application Introduction...

  • Page 14: Features

    1.1 Features The following list summarizes the main features of the PCI-8174 motion control system. 32-bit/33Mhz PCI bus (Universal type for both 3.3V and 5V) On board 200Mhz DSP TI TMS320C6711D with 1200 MFLOPS Time-critical specific DSP kernel for options...
  • Page 15 Card index selection Security protection on EERPOM Dedicated emergency input pin for wiring Software supports a maximum of up to 12 PCI-8174 cards operation in one system Compact PCB design Includes MotionCreatorPro, a Microsoft Windows-based application development software PCI-8174 libraries and utilities for Windows 2000/XP/Vista.

  • Page 16: Specifications

    1.2 Specifications Applicable Motors: Stepping motors AC or DC servomotors with pulse train input servo drivers Performance: Number of controllable axes: 4 Maximum pulse output frequency: 6.55MPPS, linear, trape- zoidal, or S-Curve velocity profile drive Internal reference clock: 19.66MHz 28-bit up/down counter range: 0-268, 435, 455 or –134, 217, 728 to +134, 217, 727 Position pulse setting range (28-bit): -134, 217, 728 to +134, 217, 728...
  • Page 17 Humidity: 5 - 85%, non-condensing Power Consumption Slot power supply (input): +5V DC ±5%, 900mA max External power supply (input): +24V DC ±5%, 500mA max External power supply (output): +5V DC ±5%, 300mA, max PCI-8174 Dimensions (PCB size): 185mm(L) X 100 mm(W) Introduction...

  • Page 18: Supported Software

    Refer to Chapter 5 for more details. 1.4 Available Terminal Board ADLINK provides the servo & steppers use terminal board for easy connection. For steppers, we provide DIN-100S which is pin- to-pin terminal board. For servo users, ADLINK offers DIN-814M, DIN-814M-J3A, DIN-814Y and DIN-814P-A4.

  • Page 19: Installation

    Installation This chapter describes how to install PCI-8174. Please follow these steps below: Check what you have (section 2.1) Check the PCB (section 2.2) Install the hardware (section 2.3) Install the software driver (section 2.4) Understanding the I/O signal connections (chapter 3) and...

  • Page 20: Pci-8174 Outline Drawing

    2.2 PCI-8174 Outline Drawing Figure 2-1: PCB Layout of the PCI-8174 CN2/CN3: DSP Synchronous Signal Connector *CN1: Input / Output Signal Connector (100-pin) *CN2: Simultaneous start / stop signal input/output *CN3: Manual Pulsar SW1: DIP switch for card index selection (0-15) Note: ‘*’...

  • Page 21: Pci-8174 Hardware Installation

    PCI cards in the system. 2.3.2 PCI slot selection Some computer system may have both PCI and ISA slots. Do not force the PCI card into a PC/AT slot. The PCI-8174 can be used in any PCI slot. 2.3.3 Installation Procedures 1.

  • Page 22: Software Driver Installation

    1. Autorun the ADLINK All-In-One CD. Choose Driver Installation -> Motion Control -> PCI-8174. 2. Follow the procedures of the installer. 3. After setup installation is completed, restart windows. Note: Please download the latest software from ADLINK website if necessary. Installation...

  • Page 23: Cn1 Pin Assignment: Main Connector

    2.5 *CN1 Pin Assignment: Main Connector *CN1 is the major connector for the motion control I/O signals. No. Name I/O Function No. Name I/O Function +5V Power Supply Output +5V Power Supply Output EXGND Ext. Power Ground EXGND Ext. Power Ground OUT0+ Pulse Signal (+) OUT2+...

  • Page 24: Cn2 Pin Assignment: Simultaneous Start/Stop

    No. Name I/O Function No. Name I/O Function EZ1+ Encoder Z-phase (+) EZ3+ Encoder Z-phase (+) EZ1- Encoder Z-phase (-) EZ3- Encoder Z-phase (-) PEL0 End limit signal (+) PEL2 End limit signal (+) MEL0 End limit signal (-) MEL2 End limit signal (-) GDI0 DI/LTC/PCS/SD/CLR0...

  • Page 25: Sw1 Switch Setting For Card Index

    2.7 SW1 Switch Setting for Card Index The SW1 switch is used to set the card index. If 0 is set to ON and others are OFF, the card index as 0. Refer to the following table for values from 0-15. Switch Setting Card ID (ON=0)

  • Page 26: Cn3 Manual Pulsar

    2.8 *CN3 Manual Pulsar The signals on *CN3 are for manual pulsar input. Name Function (Axis) +5V Power Supply Output Pulser A+ phase signal input Pulser A- phase signal input Pulser B+ phase signal input Pulser B- phase signal input EXGND Ext.

  • Page 27: Signal Connections

    Signal Connections Signal connections of all I/O’s are described in this chapter. Refer to the contents of this chapter before wiring any cable between the PCI-8174 and any motor driver. This chapter contains the following sections: Section 3.1 Pulse Output Signals OUT and DIR Section 3.2...

  • Page 28: Pulse Output Signals Out And Dir

    3.1 Pulse Output Signals OUT and DIR There are 4 axes pulse output signals on the PCI-8174. For each axis, two pairs of OUT and DIR differential signals are used to transmit the pulse train and indicate the direction. The OUT and DIR signals can also be programmed as CW and CCW signal pairs.
  • Page 29 The following wiring diagram is for OUT and DIR signals of axis. PCI-8174: The default settings for OUT and DIR are pulse out mode. If high speed trigger signaling is needed, the OUT/DIR pin can be set to trigger out mode via software. The following wiring diagram is for TRIG signal.
  • Page 30 Suggest Usage: Jumper 2-3 shorted and connect OUT-/DIR- to a 470 ohm pulse input interface’s COM of driver. See the following figure. Choose OUT-/DIR- to connect to driver’s OUT/DIR. Warning: The sink current must not exceed 20mA or the 26LS31 will be damaged! Signal Connections...

  • Page 31: Encoder Feedback Signals Ea, Eb And Ez

    3.2 Encoder Feedback Signals EA, EB and EZ The encoder feedback signals include EA, EB, and EZ. Every axis has six pins for three differential pairs of phase-A (EA), phase-B (EB), and index (EZ) inputs. EA and EB are used for position counting, and EZ is used for zero position indexing.
  • Page 32 Connection to Line Driver Output To drive the PCI-8174 encoder input, the driver output must pro- vide at least 3.5V across the differential pairs with at least 8mA driving capacity. The grounds of both sides must be tied together.
  • Page 33 The connection between the PCI-8174, encoder, and the power supply is shown in the diagram below. Note that an external current limiting resistor R is necessary to protect the PCI-8174 input circuit. The following table lists the suggested resistor values according to the encoder power supply.

  • Page 34: Origin Signal Org

    3.3 Origin Signal ORG The origin signals (ORG0-ORG3) are used as input signals for the origin of the mechanism. The following table lists signal names, pin numbers, and axis numbers: *CN1 Pin No Signal Name Axis # ORG0 ORG1 ORG2 ORG3 The input circuit of the ORG signals is shown below.

  • Page 35: End-Limit Signals Pel And Mel

    3.4 End-Limit Signals PEL and MEL There are two end-limit signals PEL and MEL for each axis. PEL indicates the end limit signal is in the plus direction and MEL indi- cates the end limit signal is in the minus direction. The signal names, pin numbers, and axis numbers are shown in the table below: *CN1 Pin No Signal Name Axis # CN3 Pin No Signal Name Axis #...

  • Page 36: In-Position Signal Inp

    3.5 In-position Signal INP The in-position signal INP from a servo motor driver indicates its deviation error. If there is no deviation error then the servo’s posi- tion indicates zero. The signal names, pin numbers, and axis num- bers are shown in the table below: *CN1 Pin No Signal Name Axis # INP0 INP1...

  • Page 37: Alarm Signal Alm

    3.6 Alarm Signal ALM The alarm signal ALM is used to indicate the alarm status from the servo driver. The signal names, pin numbers, and axis numbers are shown in the table below: *CN1 Pin No Signal Name Axis # ALM0 ALM1 ALM2...

  • Page 38: Deviation Counter Clear Signal Erc

    3.7 Deviation Counter Clear Signal ERC The deviation counter clear signal (ERC) is active in the following 4 situations: 1. Home return is complete 2. End-limit switch is active 3. An alarm signal stops OUT and DIR signals 4. An emergency stop command is issued by software (operator) The signal names, pin numbers, and axis numbers are shown in the table below:...

  • Page 39: General-Purpose Signal Svon

    3.8 General-purpose Signal SVON The SVON signal can be used as a servomotor-on control or gen- eral purpose output signal. The signal names, pin numbers, and its axis numbers are shown in the following table: *CN1 Pin No Signal Name Axis # SVON0 SVON1 SVON2...

  • Page 40: General-Purpose Signal Rdy

    3.9 General-purpose Signal RDY The RDY signals can be used as motor driver ready input or gen- eral purpose input signals. The signal names, pin numbers, and axis numbers are shown in the following table: *CN1 Pin No Signal Name Axis # RDY0 RDY1 RDY2...

  • Page 41: Multi-Functional Output Pin: Do/Cmp

    3.10 Multi-Functional output pin: DO/CMP The PCI-8174 provides 4 multi-functional output channels: DO0/ CMP0 to DO3/CMP3 corresponds to 4 axes. Each of the output pins can be configured as Digit Output (DO) or as Comparison Output (CMP) individually. When configured as a Comparison Out- put pin, the pin will generate a pulse signal when the encoder counter matches a pre-set value set by the user.

  • Page 42: Multi-Functional Input Pin

    3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG The PCI-8174 provides 4 multi-functional input pins. Each of the 4 pins can be configured as DI (Digit Input) or LTC (Latch) or SD (Slow down) or PCS (Target position override) or CLR (Counter clear) or EMG (Emergency). To select the pin function, please refer to 6.12.

  • Page 43: Pulser Input Signals Pa And Pb (Pci-8174)

    3.12 Pulser Input Signals PA and PB (PCI-8174) The PCI-8174 can accept differential pulser input signals through the pins of *CN3 listed below. The pulser behaves like an encoder. The A-B phase signals generate the positioning information, which guides the motor.

  • Page 44: Simultaneously Start/Stop Signals Sta And Stp

    With software control, the signals can be generated from any one of the PCI-8174. An exter- nal open collector or switch can be used to drive the STA/STP sig- nals for simultaneous start/stop.

  • Page 45: Operation Theory

    Operation Theory This chapter describes the detail operation of the motion controller card. Contents of the following sections are as follows: Section 4.1: Classifications of Motion Controller Section 4.2: Motion Control Modes Section 4.3: Motor Driver Interface Section 4.4: Mechanical switch Interface Section 4.5: The Counters Section 4.6:...

  • Page 46: Pulse Motion Control Interface

    4.1.2 Pulse motion control interface The second interface of motion and motor control is a pulse train type. As a trend of digital world, pulse trains represent a new con- cept to motion control. The counts of pulses show how many steps of a motor rotates and the frequency of pulses show how fast a motor runs.

  • Page 47: Software Real-Time Motion Control Kernel

    4.1.4 Software real-time motion control kernel For motion control kernel, there are three ways to accomplish it: DSP, ASIC, and software real-time. A motion control system needs an absolutely real-time control cycle and the calculation on controller must provide a control data at the same cycle.

  • Page 48: Compare Table Of All Motion Control Types

    ** DSP or real-time OS required 4.1.8 PCI-8174 motion controller type The PCI-8174 is a DSP plus ASIC based and a pulse motion con- troller made into five blocks: on board DSP, DSP kernel, motion ASIC, PCI card, software motion library. The motion ASIC can be accessed via our software motion library under many kinds of Win- dows 2000/XP/Vista, Linux, and RTX driver.

  • Page 49: Motion Control Modes

    The on board DSP makes the PCI-8174 act as a standalone sys- tem. Besides accessing motion ASIC via the motion library, it can be accessed via other means. For example, time-critical motion...

  • Page 50: Absolute And Relative Position Move

    But we can solve this problem by calculating the difference between current position and target position first. Then send the differences to motor driver. For example, if current position is 1000 and we want to move a motor to 9000, you can use an absolute command to set a target position of 9000.
  • Page 51 movement, users can specify the speed profile. It means user can define how fast and at what speed to reach the position. Operation Theory...

  • Page 52: Trapezoidal Speed Profile

    4.2.3 Trapezoidal speed profile Trapezoidal speed profile means the acceleration/deceleration area follows a 1st order linear velocity profile (constant accelera- tion rate). The profile chart is shown as below: The area of the velocity profile represents the distance of this motion.

  • Page 53: S-Curve And Bell-Curve Speed Profile

    4.2.4 S-curve and Bell-curve speed profile S-curve means the speed profile in accelerate/decelerate area fol- lows a 2nd order curve. It can reduce vibration at the beginning of motor start and stop. In order to speed up the acceleration/decel- eration during motion, we need to insert a linear part into these areas.
  • Page 54 If VSacc or VSdec=0, it means acceleration or deceleration use pure S-curve without linear part. The Acceleration chart of bell curve is shown below: The S-curve profile motion functions are designed to always pro- duce smooth motion. If the time for acceleration parameters com- bined with the final position don’t allow an axis to reach the maximum velocity (i.e.

  • Page 55: Velocity Mode

    4.2.5 Velocity mode Velocity mode means the pulse command is continuously output- ting until a stop command is issued. The motor will run without a target position or desired distance unless it is stopped by other reasons. The output pulse accelerates from a starting velocity to a specified maximum velocity.

  • Page 56: One Axis Position Mode

    The unit of distance or position is pulse internally on the motion controller. The minimum length of distance is one pulse. However, in PCI-8174, we provide a floating point function for users to transform a physical length to pulses. Inside our software library, we will keep those distance less than one pulse in register and apply them to the next motion function.

  • Page 57: Two Axes Linear Interpolation Position Mode

    4.2.7 Two axes linear interpolation position mode “Interpolation between multi-axes” means these axes start simul- taneously, and reach their ending points at the same time. Linear means the ratio of speed of every axis is a constant value. Assume that we run a motion from (0,0) to (10,4). The linear inter- polation results are shown as below.

  • Page 58: Two Axes Circular Interpolation Mode

    ∆ ∆ The speed ratio along X-axis and Y-axis is ( Y), respectively, and the vector speed is: When calling 4-axis linear interpolation functions, the vector speed needs to define the start velocity, StrVel, and maximum velocity, MaxVel. 4.2.8 Two axes circular interpolation mode Circular interpolation means XY axes simultaneously start from ini- tial point, (0,0) and stop at end point, (1800,600).

  • Page 59: Continuous Motion

    The command precision of circular interpolation is shown below. The precision range is at radius ±1/2 pulse. 4.2.9 Continuous motion Continuous motion means a series of motion command or position can be run continuously. Users can set a new command right after previous one without interrupting it.
  • Page 60 to set a new command into 2nd buffer before executing register is finished, the motion can run endlessly. The following diagram shows this architecture of continuous motion. Besides position command, the speed command should be set correctly to perform a speed continuous profile. For the following example, there are three motion command of this continuous motion.
  • Page 61 If the 2nd command’s speed value is lower than the others, the settings would be like as following diagram: For 4-axis continuous arc interpolation is the same concept. You can set the speed matched between two command speed set- tings. If the INP checking is enabled, the motion will have some delayed between each command in buffers.

  • Page 62: Home Return Mode

    4.2.10 Home Return Mode Home return means searching a zero position point on the coordi- nate. Sometimes, users use a ORG, EZ or EL pin as a zero posi- tion on the coordinate. At the beginning of machine power on, the program needs to find a zero point of this machine.
  • Page 63 Home mode=0: (ORG Turn ON then reset counter) When SD is not installed When SD is installed and SD is not latched Operation Theory...
  • Page 64 Home mode=1: (Twice ORG turn ON then reset counter) Home mode=2: (ORG ON then Slow down to count EZ num- bers and reset counter) Operation Theory...
  • Page 65 Home mode=3: (ORG ON then count EZ numbers and reset counter) Home mode=4: (ORG On then reverse to count EZ number and reset counter) Operation Theory...
  • Page 66 Home mode=5: (ORG On then reverse to count EZ number and reset counter, not using FA Speed) Home mode=6: (EL On then reverse to leave EL and reset counter) Home mode=7: (EL On then reverse to count EZ number and reset counter) Operation Theory...
  • Page 67 Home mode=8: (EL On then reverse to count EZ number and reset counter, not using FA Speed) Home mode=9: (ORG On then reverse to zero position, an extension from mode 0) Operation Theory...
  • Page 68 Home mode=10: (ORG On then counter EZ and reverse to zero position, an extension from mode 3) Home mode=11: (ORG On then reverse to counter EZ and reverse to zero position, an extension from mode 5) Operation Theory...

  • Page 69: Home Search Function

    Home mode=12: (EL On then reverse to count EZ number and reverse to zero position, an extension from mode 8) 4.2.11 Home Search Function This mode is used to add auto searching function on normal home return mode described in previous section no matter which posi- tion the axis is.

  • Page 70: Manual Pulser Function

    4.2.12 Manual Pulser Function Manual pulser is a device to generate pulse trains by hand. The pulses are sent to motion controller and re-directed to pulse output pins. The input pulses could be multiplied or divided before send- ing out. The motion controller receives two kinds of pulse trains from man- ual pulser device: CW/CCW and AB phase.

  • Page 71: Speed Override Function

    4.2.14 Speed Override Function Speed override means that users can change command’s speed during the operation of motion. The change parameter is a per- centage of original defined speed. Users can define a 100% speed value then change the speed by percentage of original speed when motion is running.

  • Page 72: Position Override Function

    4.2.15 Position Override Function Position override means that when users issue a positioning com- mand and want to change its target position during this operation. If the new target position is behind current position when override command is issued, the motor will slow down then reverse to new target position.

  • Page 73: The Motor Driver Interface

    4.3 The motor driver interface We provide several dedicated I/Os which can be connected to motor driver directly and have their own functions. Motor drivers have many kinds of I/O pins for external motion controller to use. We classify them to two groups. One is pulse I/O signals including pulse command and encoder interface.
  • Page 74 Single Pulse Output Mode (OUT/DIR Mode) In this mode, the OUT pin is for outputting command pulse chain. The numbers of OUT pulse represent distance in pulse. The fre- quency of the OUT pulse represents speed in pulse per second. The DIR signal represents command direction of positive (+) or negative (-).
  • Page 75 Dual Pulse Output Mode (CW/CCW Mode) In this mode, the waveform of the OUT and DIR pins represent CW (clockwise) and CCW (counter clockwise) pulse output respectively. The numbers of pulse represent distance in pulse. The frequency of the pulse represents speed in pulse per second. Pulses output from the CW pin makes the motor move in positive direction, whereas pulse output from the CCW pin makes the motor move in negative direction.

  • Page 76: Pulse Feedback Input Interface

    4.3.2 Pulse feedback input interface Our motion controller provides one 28-bit up/down counter of each axis for pulse feedback counting. This counter is called position counter. The position counter counts pulses from the EA and EB signal which have plus and minus pins on connector for differential signal inputs.
  • Page 77 Plus and Minus Pulses Input Mode (CW/CCW Mode) The pattern of pulses in this mode is the same as the Dual Pulse Output Mode in the Pulse Command Output section except that the input pins are EA and EB. In this mode, pulses from EA pin cause the counter to count up, whereas EB pin caused the counter to count down.

  • Page 78: In Position Signal

    4.3.3 In position signal The in-position signal is an output signal from motor driver. It tells motion controllers a motor has been reached a position within a predefined error. The predefined error value is in-position value. Most motor drivers call it as INP value. After motion controller issues a positioning command, the motion busy status will keep true until the INP signal is ON.

  • Page 79: Error Clear Signal

    4.3.5 Error clear signal The ERC signal is an output from the motion controller. It tells motor driver to clear the error counter. The error counter is counted from the difference of command pulses and feedback pulses. The feedback position will always have a delay from the command position.

  • Page 80: Servo Ready Signal

    4.3.7 Servo Ready Signal The servo ready signal is a general digital input on motion control- ler. It has no relative purpose to motion controller. Users can con- nect this signal to motor driver’s RDY signal to check if the motor driver is in ready state.

  • Page 81: Mechanical Switch Interface

    4.4 Mechanical switch interface We provide some dedicated input pins for mechanical switches like original switch (ORG), plus and minus end-limit switch (±EL), slow down switch (SD), positioning start switch (PCS), counter latch switch (LTC), emergency stop input (EMG) and counter clear switch (CLR).

  • Page 82: Positioning Start Switch

    4.4.4 Positioning Start switch The positioning start switch is used to move a specific position when it is turned on. The function is shown as below. 4.4.5 Counter Clear switch The counter clear switch is an input signal which makes the counters of motion controller to reset.

  • Page 83: The Counters

    4.5 The Counters There are four counters for each axis of this motion controller. They are described in this section. Command position counter: counts the number of output pulses Feedback position counter: counts the number of input pulses Position error counter: counts the error between command and feedback pulse numbers.

  • Page 84: Feedback Position Counter

    4.5.2 Feedback position counter The feedback position counter is a 28-bit binary up/down counter. Its input source is the input pulses from the EA/EB pins. It counts the motor position from motor’s encoder output. This counter could be set from a source of command position for an option when no external encoder inputs.

  • Page 85: General Purpose Counter

    4.5.4 General purpose counter The source of general purpose counter could be any of the follow- ing: 1. Command position output – the same as a command position counter 2. Feedback position input – the same as a feedback posi- tion counter 3.

  • Page 86: The Comparators

    4.6 The Comparators There are 5 counter comparators of each axis. Each comparator has dedicated functions. They are: 1. Positive soft end-limit comparator to command counter 2. Negative soft end-limit comparator to command counter 3. Command and feedback error counter comparator 4.

  • Page 87: Trigger Comparator

    4.6.4 Trigger comparator The trigger comparator is much like general comparator. It has an additional function, generating a trigger pulse when condition is met. Once the condition is met, the CMP pin on the connector will output a pulse for specific purpose like triggering a camera to catch picture.

  • Page 88: Other Motion Functions

    4.7 Other Motion Functions We provide many other functions on the motion controller. Such as backlash compensation, slip correction, vibration restriction, speed profile calculation and so on. The following sections will describe these functions. 4.7.1 Backlash compensation and slip corrections The motion controller has backlash and slip correction functions.

  • Page 89: Speed Profile Calculation Function

    4.7.3 Speed profile calculation function Our motion function needs several speed parameters from users. Some parameters are conflict in speed profile. For example, if users input a very fast speed profile and a very short distance to motion function, the speed profile is not exist for these parame- ters.

  • Page 90: Multiple Card Operation

    4.8 Multiple Card Operation The motion controller allows more than one card in one system. Since the motion controller is plug-and-play compatible, the base address and IRQ setting of the card are automatically assigned by the PCI BIOS at the beginning of system booting. Users don’t need and can’t change the resource settings.

  • Page 91: Dsp-Based Triggering Functions

    DSP. Please see the following diagram. All these three blocks are on the PCI-8174 and will not be affected by programs on PC side. The RT program will load next points into comparator when last trigger is fired.

  • Page 92: Dsp-Based Gantry Functions

    It looks like 1:1 electric gearing in master-slave motion and also looks like 1:1 interpolation motion of two axes. With the PCI-8174, use the linear motion functions of two axes to achieve this function from the PC side.

  • Page 93: Closed-Loop Gantry Mode

    4.10.1 Closed-loop gantry mode In order to solve open loop gantry problem, use the PCI-8174 to make a closed loop system to control gantry stage. The control architecture is shown as below: 4.10.2 Error handling of gantry mode During closed loop gantry motion, there might be an error condi- tion to stop one of the gantry axes.
  • Page 94 Operation Theory...

  • Page 95: Motioncreatorpro

    MotionCreatorPro After installing the hardware (Chapters 2 and 3), it is necessary to correctly configure all cards and double check the system before running. This chapter gives guidelines for establishing a control system and manually testing the 8174 cards to verify correct oper- ation.

  • Page 96: About Motioncreatorpro

    5.2 About MotionCreatorPro Before Running MotionCreatorPro, the following issues should be kept in mind. 1. MotionCreatorPro is a program written in VB.NET 2003, and is available only for Windows 2000/XP with a screen resolution higher than 1024x768. It cannot be run under DOS.

  • Page 97: Motioncreatorpro Introduction

    5.3 MotionCreatorPro Introduction 5.3.1 Main Menu The main menu appears after running MotionCreatorPro. It is used MotionCreatorPro...

  • Page 98: Select Menu

    5.3.2 Select Menu The select menu appears after running MotionCreatorPro. It is used to: MotionCreatorPro...

  • Page 99: Card Information Menu

    5.3.3 Card Information Menu In this menu, it shows some Information about this card: MotionCreatorPro...

  • Page 100: Configuration Menu

    5.3.4 Configuration Menu In this menu, users can configure ALM, INP, ERC, EL, ORG, and MotionCreatorPro...
  • Page 101 1. ALM Logic and Response mode: Select logic and response modes of ALM signal. The related function call is _8174_set_alm(). 2. INP Logic and Enable/Disable selection: Select logic, and Enable/ Disable the INP signal. The related function call is _8174_set_inp() 3.
  • Page 102 In this menu, users can configure LTC, SD, PCS, and Select_Input. MotionCreatorPro...
  • Page 103 1. LTC Logic: Select the logic of the LTC signal. The related function call is _8174_set_ltc_logic(). 2. LTC latch_source: Select the logic of the latch_source signal. related function call _8174_set_latch_source(). 3. SD Configuration: Configure the SD signal. The related function call is _8174_set_sd(). 4.
  • Page 104 In this menu, users can configure pulse input/output and move ratio and INT factor. MotionCreatorPro...
  • Page 105 1. Pulse Output Mode: Select the output mode of the pulse signal (OUT/ DIR). The related function call is _8174_set_pls_outmode(). 2. Pulse Input: Sets the configurations of the Pulse input signal(EA/EB). related function calls _8174_set_pls_iptmode(), _8174_set_feedback_src(). 3. Buttons: Next Card: Change operating card. Next Axis: Change operating axis.

  • Page 106: Single Axis Operation Menu

    5.3.5 Single Axis Operation Menu In this menu, users can change the settings a selected axis, including velocity mode motion, preset relative/absolute motion, manual pulse move, and home return. MotionCreatorPro...
  • Page 107 1. Position: Command: displays the value of the command counter. The related function is _8174_get_command(). Feedback: displays the value of the feedback position counter. The related function is _8174_get_position() Pos Error: displays the value of the position error counter. The related function is _8174_get_error_counter().
  • Page 108 added. To close it, click the same button again. To clear data, click on the curve. 7. Operation Mode: Select operation mode. Absolute Mode: “Position1” and “position2” will be used as absolution target positions for motion. The related functions are _8174_start_ta_move(), _8174_start_sa_move().
  • Page 109 Home Mode: Home return motion. Clicking this button will invoke the home move configuration window. The related function is _8174_set_home_config(). If the check box “ATU” is checked, it will execute auto homing when motion starts. ERC Output: Select if the ERC signal will be sent when home move completes.
  • Page 110 position1<-->position2). It is only effective when “Rela- tive Mode” or “Absolute Mode” is selected. 11. Vel. Profile: Select the velocity profile. Both Trapezoidal and S-Curve are available for “Absolute Mode,” “Relative Mode,” and “Cont. Move.” 12.FA Speed/ATU: Sets the configurations of the FA Speed.
  • Page 111 14.Servo On: Set the SVON signal output status. The related function is _8174_set_servo(). 15.Play Key: Left play button: Clicking this button will cause the 8174 start to outlet pulses according to previous setting. In “Absolute Mode,” it causes the axis to move to position1.

  • Page 112: Help Menu

    Save Config: Save current configuration to 8174.ini And 8174MC.ini. Close: Close the menu. 5.3.6 Help Menu In this menu, click the right mouse button to show Help Informa- tion. MotionCreatorPro...

  • Page 113: Function Library

    Function Library This chapter describes the supporting software for the PCI-8174 card. User can use these functions to develop programs in C, C++, or Visual Basic. If Delphi is used as the programming envi- ronment, it is necessary to transform the header files, pci_8174.h manually.

  • Page 114: List Of Functions

    6.1 List of Functions System & Initialization, Section 6.3 Function Name Description _8174_initial Card initialization _8174_close Card Close _8174_get_version Check the hardware and software version Pulse Input/Output Configuration, Section 6.4 Function Name Description _8174_set_pls_outmode Set pulse command output mode _8174_set_pls_iptmode Set encoder input mode _8174_set_feedback_src Set counter input source...
  • Page 115 Home Return Mode, Section 6.7 Function Name Description _8174_set_home_config Set the home/index logic configuration _8174_home_move Begin a home return action _8174_home_search Perform an auto search home _8174_set_fa_speed Set the FA speed Manual Pulser Motion, Section 6.8 Function Name Description _8174_set_pulser_iptmode Set pulser input mode _8174_disable_pulser_input Disable the pulser input _8174_pulser_vmove...
  • Page 116 Position Control and Counters, Section 6.11 Function Name Description _8174_get_position Get the value of the feedback position counter _8174_set_position Set the feedback position counter _8174_get_command Get the value of the command position counter _8174_set_command Set the command position counter _8174_get_error_counter Get the value of the position error counter _8174_reset_error_counter Reset the position error counter...
  • Page 117 Section 6.15 Function Name Description Get DSP Version & CPLD on DB _8174_get_dsp_version board version _8174_get_dsp_class_id Get the Class ID _8174_get_encoder Get Encoder Value _8174_clear_encoder Reset Encoder Counter _8174_set_encoder_input_mode Set Encoder Pulse Input Mode Set trigger type for choosing linear _8174_choose_trigger_type or table trigger _8174_choose_trigger_form...

  • Page 118: C/C++ Programming Library

    1.797683134862315E309 Boolean Boolean logic value TRUE, FALSE Table 6-1: Data type definitions The functions of the PCI-8174 software drivers use full-names to represent the functions real meaning. The naming convention rules are: In a ‘C’ programming environment: _{hardware_model}_{action_name}. e.g. _8174_initial().

  • Page 119: System And Initialization

    6.3 System and Initialization @ Name _8174_initial – Card initialization _8174_close – Card close _8174_get_version – Check hardware and software version information @ Description _8174_initial: This function is used to initialize an 8174 card without assign- ing the hardware resources. All 8174 cards must be initialized by this function before calling other functions in your applica- tions.
  • Page 120 The CardID could be decided by: 0: the sequence of PCI slot. 1: on board DIP switch (SW1). card_id: Specify the PCI-8174 card index. The card_id could be decided by DIP switch (SW1) or depend on slot sequence. Please refer to _8174_initial().

  • Page 121: Pulse Input/Output Configuration

    6.4 Pulse Input/Output Configuration @ Name _8174_set_pls_iptmode – Set the configuration for feedback pulse input. _8174_set_pls_outmode – Set the configuration for pulse command output. _8174_set_feedback_src – Enable/Disable the external feed- back pulse input @ Description _8174_set_pls_iptmode: Configure the input modes of external feedback pulses. There are 4 types for feedback pulse input.
  • Page 122 Visual Basic6 (Windows 2000/XP) B_8174_set_pls_iptmode(ByVal AxisNo As Integer, ByVal pls_iptmode As Integer, ByVal pls_logic As Integer) As Integer B_8174_set_pls_outmode(ByVal AxisNo As Integer, ByVal pls_outmode As Integer) As Integer B_8174_set_feedback_src(ByVal AxisNo As Integer, ByVal Src As Integer) As Integer @ Argument AxisNo: Axis number designated to configure the pulse input/out- put.
  • Page 123 pls_outmode: Setting of command pulse output mode. Value Type Positive Direction Negative Direction OUT/DIR OUT/DIR OUT/DIR OUT/DIR CW / CW / Src: Counter source Value Meaning External signal feedback Command pulse Function Library...

  • Page 124: Velocity Mode Motion

    6.5 Velocity mode motion @ Name _8174_tv_move – Accelerate an axis to a constant velocity with trapezoidal profile _8174_sv_move – Accelerate an axis to a constant velocity with S-curve profile _8174_emg_stop – Immediately stop _8174_sd_stop – Decelerate to stop _8174_get_current_speed – Get current speed @ Description _8174_tv_move: This function is to accelerate an axis to the specified constant...
  • Page 125 move, or home return function is performed. Note: The velocity profile is decided by original motion profile. _8174_get_current_speed: This function is used to read the current pulse output rate (pulse/sec) of a specified axis. It is applicable in any time in any operation mode.
  • Page 126 @ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo … … StrVel: Starting velocity in units of pulse per second MaxVel: Maximum velocity in units of pulse per second Tacc: Specified acceleration time in units of second SVacc: Specified velocity interval in which S-curve acceleration is performed.

  • Page 127: Single Axis Position Mode

    6.6 Single Axis Position Mode @ Name _8174_start_tr_move – Begin a relative trapezoidal profile move _8174_start_ta_move – Begin an absolute trapezoidal profile move _8174_start_sr_move – Begin a relative S-curve profile move _8174_start_sa_move – Begin an absolute S-curve profile move _8174_set_move_ratio – Set the ration of command pulse and feedback pulse @ Description General:...
  • Page 128 _8174_start_ta_move: This function causes the axis to accelerate from a starting velocity (StrVel), rotate at constant velocity (MaxVel), and decelerates to stop at the specified absolute position with trapezoidal profile. The acceleration (Tacc) and deceleration (Tdec) time is specified independently. This command does not let the program wait for motion completion, but immediately returns control to the program.
  • Page 129 I16 _8174_start_sr_move(I16 AxisNo, F64 Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8174_start_sa_move(I16 AxisNo, F64 Pos, F64 StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec); I16 _8174_set_move_ratio(I16 AxisNo, F64 move_ratio); Visual Basic6 (Windows 2000/XP) B_8174_start_tr_move(ByVal AxisNo As Integer, ByVal Dist As Double, ByVal StrVel As Double, ByVal MaxVel As Double, ByVal Tacc...
  • Page 130 card_id Physical axis AxisNo … … Dist: Specified relative distance to move (unit: pulse) Pos: Specified absolute position to move (unit: pulse) StrVel: Starting velocity of a velocity profile in units of pulse per second MaxVel: Maximum velocity in units of pulse per second Tacc: Specified acceleration time in units of seconds Tdec: Specified deceleration time in units of seconds SVacc: Specified velocity interval in which S-curve acceleration is...

  • Page 131: Home Return Mode

    6.7 Home Return Mode @ Name _8174_set_home_config – Set the configuration for home return move motion _8174_home_move – Perform a home return move. _8174_home_search – Perform an auto search home @ Description _8174_set_home_config Configures the home return mode, origin (ORG) and index sig- nal (EZ) logic, EZ count, and ERC output options for the home_move() function.
  • Page 132 @ Syntax C/C++ (Windows 2000/XP) I16 _8174_set_home_config(I16 AxisNo, I16 home_mode, I16 org_logic, I16 ez_logic, I16 ez_count, I16 erc_out); I16 _8174_home_move(I16 AxisNo, F64 StrVel, F64 MaxVel, F64 Tacc); I16 _8174_home_search(I16 AxisNo, F64 StrVel, F64 MaxVel, F64 Tacc, F64 ORGOffset); Visual Basic (Windows 2000/XP) B_8174_set_home_config(ByVal AxisNo As Integer, ByVal home_mode As Integer, ByVal org_logic As Integer, ByVal ez_logic As Integer, ByVal...
  • Page 133 org_logic: Action logic configuration for ORG Value Meaning Active low Active high ez_logic: Action logic configuration for EZ Value Meaning Active low Active high ez_count: 0-15 (Please refer to section 4.2.10) erc_out: Set ERC output options. Value Meaning no ERC out ERC signal out when home-move finishing StrVel: Starting velocity of a velocity profile.

  • Page 134: Manual Pulser Motion

    6.8 Manual Pulser Motion @ Name _8174_disable_pulser_input – Disable the pulser input _8174_pulser_vmove – Manual pulser v_move _8174_set_pulser_iptmode – Set the input signal modes of pulser @ Description _8174_disable_pulser_input This function is used to set the pulser input disable or enable. _8174_pulser_vmove With this command, the axis begins to move according to the manual pulse input.
  • Page 135 B_8174_pulser_vmove(ByVal AxisNo As Integer, ByVal SpeedLimit As Double) As Integer B_8174_set_pulser_iptmode(ByVal AxisNo As Integer, ByVal InputMode As Integer, ByVal Inverse As Integer) As Integer @ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo … … Disable: Disable pulser input.

  • Page 136: Motion Status

    6.9 Motion Status @ Name _8174_motion_done – Return the motion status @ Description _8174_motion_done: Return the motion status of the 8174. The return code show as below: Normal stopped condition Waiting for DR Waiting for CSTA input Waiting for an internal synchronous signal Waiting for another axis to stop Waiting for a completion of ERC timer Waiting for a completion of direction change timer...
  • Page 137 @ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo … … Function Library...

  • Page 138: Motion Interface I/O

    6.10 Motion Interface I/O @ Name _8174_set_servo – Set the ON-OFF state of the SVON signal _8174_set_pcs_logic – Set the logic of PCS signal _8174_set_pcs – Enable the PCS for position override _8174_set_inp – Set the logic of INP signal and operating mode _8174_set_alm –...
  • Page 139 _8174_set_pcs: Enable the position override when input signal PCS is turn ON. The PCS terminal status can be monitored by the “_8174_get_io_status” function. _8174_set_inp: Set the active logic of the In-Position signal input from the servo driver. Users can select whether they want to enable this function.
  • Page 140 Get all the I/O statuses for each axis. The definition for each bit is as follows: Bit Name Description RDY pin input Alarm Signal Positive Limit Switch Negative Limit Switch Origin Switch DIR output EMG status PCS signal input ERC pin output Index signal Clear signal Latch signal input...
  • Page 141 I16 _8174_set_limit_mode(I16 AxisNo, I16 limit_mode); I16 _8174_get_io_status(I16 AxisNo, U16 *io_sts); Visual Basic (Windows 2000/XP) B_8174_set_servo(ByVal AxisNo As Integer, ByVal on_off As Integer) As Integer B_8174_set_pcs_logic(ByVal AxisNo As Integer, ByVal pcs_logic As Integer) As Integer B_8174_set_pcs(ByVal AxisNo As Integer, ByVal enable As Integer)As Integer B_8174_set_inp(ByVal AxisNo As Integer, ByVal inp_enable As Integer, ByVal inp_logic As Integer) As Integer...
  • Page 142 @ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo … … on_off: ON-OFF state of SVON signal Value Meaning pcs_logic: PCS signal input logic Value Meaning Negative logic Positive logic enable: enable or disable Value Meaning Disable Enable targetCounterInBit: Enable/Disable clear target counter in bit...
  • Page 143 inp_enable: INP function enabled/disabled inp_enable = 0, Disabled (default) inp_enable = 1, Enabled inp_logic: Set the active logic for the INP signal Value Meaning Negative logic Positive logic alm_logic: Setting of active logic for ALARM signals Value Meaning Negative logic Positive logic alm_mode: Reacting modes when receiving an ALARM signal.
  • Page 144 erc_mode: Value Meaning Disable Output ERC when stopped by EL, ALM, or EMG input Output ERC when complete home return Both 1 and 2 sd_logic: Value Meaning Negative logic Positive logic sd_latch: Set the latch control for the SD signal Value Meaning Do not latch...
  • Page 145 limit_mode: Value Meaning Stop immediately Slow down then stop *io_sts: I/O status. Please refer to 6.11 function description. Function Library...

  • Page 146: Position Control And Counters

    6.11 Position Control and Counters @ Name _8174_get_position – Get the value of feedback position counter _8174_set_position – Set the feedback position counter _8174_get_command – Get the value of command position counter _8174_set_command – Set the command position counter _8174_get_error_counter – Get the value of position error counter _8174_reset_error_counter –...
  • Page 147 _8174_get_command: This function is used to read the value of the command position counter. The source of the command position counter is the pulse output of the 8174. _8174_set_command: This function is used to change the value of the command posi- tion counter.
  • Page 148 @ Syntax C/C++ (Windows 2000/XP) I16 _8174_get_position(I16 AxisNo, F64 *Pos); I16 _8174_set_position(I16 AxisNo, F64 Pos); I16 _8174_get_command(I16 AxisNo, I32 *Command); I16 _8174_set_command(I16 AxisNo, I32 Command); I16 _8174_get_error_counter(I16 AxisNo, I16 *error); I16 _8174_reset_error_counter(I16 AxisNo); I16 _8174_get_target_pos(I16 AxisNo, F64 *T_pos); I16 _8174_reset_target_pos(I16 AxisNo, F64 T_pos);...
  • Page 149 card_id Physical axis AxisNo … … Pos, *Pos: Feedback position counter value, (_8174_get/ set_position) range: -134217728 to 134217727 Cmd, *Cmd: Command position counter value, range: -134217728 to 134217727 *error: Position error counter value, range: -32768 to 32767 TargetPos, *TargetPos: Target position recorder value, range: -134217728 to 134217727 Function Library...

  • Page 150: Position Compare And Latch

    6.12 Position Compare and Latch @ Name _8174_set_latch_source – Set the latch timing for a counter _8174_set_ltc_logic – Set the logic of LTC signal _8174_get_latch_data – Get the latch data from counter @ Description _8174_set_latch_source: There are 4 latch triggering source. By using this function, user can choose the event source to latch counters’...
  • Page 151 @ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo … … CmpSrc: The comparing source counters Value Meaning Command counter Feedback counter Error counter General counter CmpMethod: The comparing methods Value Meaning No Compare (Disable) Data = Source counter (direction independent) Data = Source counter (Count up only) Data = Source counter (Count down only)
  • Page 152 ltc_src: Value Meaning LTC pin input ORG pin input general comparator conditions are met trigger comparator conditions are met ltc_logic: LTC signal operation edge Value Meaning Negative logic Positive logic CounterNo: Specified the counter to latch Value Meaning Command counter Feedback counter Error counter General counter...

  • Page 153: General-Purpose Dio

    _8174_set_gpio_input_function – Set the signal types for any digital inputs @ Description _8174_set_gpio_output: The PCI-8174 has 4 digital output channels. By this function, user could control the digital outputs. _8174_get_gpio_output: This function is used to get the digital output status.
  • Page 154 Select As Integer, ByVal Logic As Integer)As Integer @ Argument card_id: Specify the PCI-8174 card index. The card_id could be decided by DIP switch (SW1) or depend on slot sequence. Please refer to _8174_initial(). DoValue, *DoValue: Digital output value. Bit 0-3: D_out 0-3.

  • Page 155: Soft Limit

    6.14 Soft Limit @ Name _8174_disable_soft_limit – Disable soft limit function _8174_enable_soft_limit – Enable soft limit function _8174_set_soft_limit – Set soft limit @ Description _8174_disable_soft_limit: This function is used to disable the soft limit function. _8174_enable_soft_limit: This function is used to enable the soft limit function. Once enabled, the action of soft limit will be exactly the same as physical limit.
  • Page 156 @ Argument AxisNo: Axis number designated to move or stop. card_id Physical axis AxisNo … … Action: The reacting method of soft limit Value Meaning INT only Immediately stop slow down then stop PlusLimit: Soft limit value, positive direction MinusLimit: Soft limit value, negative direction Function Library...

  • Page 157: Class Id=0X1999 For Channel Trigger

    6.15 Class ID=0X1999 for Channel Trigger @ Name _8174_get_dsp_version – Get DSP version & CPLD on DB board version _8174_get_dsp_class_id – Get the class ID _8174_get_encoder – Get encoder value _8174_clear_encoder – Reset encoder counter _8174_set_encoder_input_mode – Set encoder pulse input mode _8174_choose_trigger_type –...
  • Page 158 _8174_clear_triggered_count – Clear linear triggered count _8174_build_compare_table – Set data array and sizes for table trigger _8174_get_table_size – Get table size @ Description _8174_get_dsp_version: Reads back DSP_Version and CPLD on DB board version. _8174_get_dsp_class_id: Reads back the class ID from DSP. _8174_get_encoder: This function is used to get the feedback position counter.
  • Page 159 _8174_get_comparator_value: This function is used to get current comparing data. _8174_set_comparator_method: This function is used to set the comparing method for the trigger comparator. _8174_set_linear_trigger_interval: This function is used to set linear trigger interval. The linear trigger formula is, (First point) + (Interval) * (Max_count) = (Last point) _8174_get_linear_trigger_interval: This function is used to get linear trigger interval.
  • Page 160 _8174_set_trigger_logic: This function is used to set the logic of CMP single. _8174_build_compare_table: This function is used to set data array for table trigger. The func- tion stores those data to SDRAM and set the first data of array to comparator.
  • Page 161 I16 _8174_set_linear_trigger_interval(I16 card_id, I16 channel, I32 Comp_Interval); I16 _8174_get_linear_trigger_interval(I16 card_id, I16 channel, I32 *Comp_Interval); I16 _8174_set_linear_trigger_max_count(I16 card_id, I16 channel, I32 Max_Count); I16 _8174_get_linear_trigger_max_count(I16 card_id, I16 channel, I32 *Max_Count); I16 _8174_get_triggered_count(I16 card_id, I16 channel, I32 *Triggered_Count); I16 _8174_clear_triggered_count(I16 card_id, I16 channel); I16 _8174_build_compare_table(I16 card_id, I16 channel, I32 *TableArray, U32 Table_Size);...
  • Page 162 B_8174_set_comparator_method(ByVal card_id As Integer, ByVal channel As Integer, ByVal Comp_Method As Integer) As Integer B_8174_set_comparator_value(ByVal card_id As Integer, ByVal channel As Integer, ByVal Comp_Value As Long) As Integer B_8174_get_comparator_value(ByVal card_id As Integer, ByVal channel As Integer, Comp_Value As Long) As Integer B_8174_set_linear_trigger_interval(ByVal card_id As Integer, ByVal channel As Integer, ByVal Comp_Interval As Long) As Integer...
  • Page 163 CPLD_vesion: The version of CPLD on DB board. Encoder_Count: Feedback position counter value. Range: -134217728~134217727. Input_mode: Encoder feedback pulse input mode setting (EA/EB signals). Value Meaning 1X A/B 2X A/B 4X A/B CW/CCW pls_logic: Logic of encoder feedback pulse Value Meaning Not inverse direction inverse direction...
  • Page 164 trigger_Type: Two trigger types are provided. 0: Linear trigger (default) 1: Table trigger trigger_form: There are four choices to use Linear/Table func- tion. When users set “trigger_form” to 0, channel 0 only can be used for trigger. 1800000 points can be used for table trigger. The default is 3, so all channels can be used for trigger.
  • Page 165 Logic: logic of comparing trigger Value Meaning Negative logic Positive logic *TableArray: Data array of table trigger. Table_Size: The numbers of Table Array. If table size isn’t matching with numbers of table array, It will return error. trigger_Type: Two trigger types are provided. 0: Linear trigger (default) 1: Table trigger Function Library...
  • Page 166 Function Library...

  • Page 167: Connection Example

    This chapter shows some connection examples between the PCI- 8174 and servo drivers and stepping drivers. 7.1 General Description of Wiring Main connection between the PCI-8174 and the pulse input servo driver or stepping driver. The following figure illustrates how to integrate the PCI-8174 and DIN-814M-J3A.
  • Page 168 Connection Example...

  • Page 169: Warranty Policy

    Warranty Policy Thank you for choosing ADLINK. To understand your rights and enjoy all the after-sales services we offer, please read the follow- ing carefully. 1. Before using ADLINK’s products please read the user man- ual and follow the instructions exactly. When sending in...
  • Page 170 3. Our repair service is not covered by ADLINK's guarantee in the following situations: Damage caused by not following instructions in the User's Manual. Damage caused by carelessness on the user's part dur- ing product transportation. Damage caused by fire, earthquakes, floods, lightening, pollution, other acts of God, and/or incorrect usage of voltage transformers.

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