ADLINK Technology AMP-208C Manuals

Manuals and User Guides for ADLINK Technology AMP-208C. We have 1 ADLINK Technology AMP-208C manual available for free PDF download: User Manual

ADLINK Technology AMP-208C User Manual (193 pages)

Advanced DSP Pulse Motion Controller for 4/8 Axis

Brand: ADLINK Technology | Category: Controller | Size: 6 MB

Preface
3
Table of Contents
5
List of Figures
9
List of Tables
13
Introduction
15
Figure 1-1: AMP-204C/208Csystem Block Diagram
16
Figure 1-2: System Installation Flow Chart
17
Product Specifications
18
Software Support
22
Software Support Library
22
Motioncreatorpro 2
22
Terminal Board
22
Table 1-1: Cross-Reference Table of Exclusive Cables for Pulse Servo
22
Getting Start with the Installation
23
Package Contents
23
AMP-204C / AMP-208C Exterior Profile Diagram
24
Figure 2-1: AMP-204C Exterior Profile Diagram
24
Figure 2-2: AMP-208C Exterior Profile Diagram
25
Hardware Installation
26
Hardware Configuration
26
Installation Procedures
26
Troubleshooting
27
Software Installation Procedure
28
Definitions to Key Connector Signal
30
AMP-204C:P1 Connector
30
AMP-208C:P1-A/B Connector
32
AMP-204C/208C:P2 Connector
35
DIP Switch
37
SW2: Card ID Switch
37
IDE 44P - DSUB 37P Bus
38
Exclusive Board - DIN-825-GP4
39
Figure 2-3: Exterior of DIN-825-GP4
39
Definitions to Connector
40
Figure 2-4: Exterior of DIN-825-GP4
40
P1 Connector: for Connecting to PCI-8254 / PCI-8258 / AMP-204C / AMP-208C
42
S1, S2: EDO/ALM_RST Selection Switch
51
Signal Connection
53
Pulse Command
54
Figure 3-1: Line Driver Type Pulse Control Command Signal
55
Figure 3-2: Open-Collector Type Pulse Control Command Signal
56
Encoder Input, EA & EB & EZ
57
Figure 3-3: Line Driver Type Encoder Input Signal Connection Example
58
Emergency Stop Input
59
Figure 3-4: Emergency Stop Signal Connection Example
59
PEL/MEL Input
60
Figure 3-5: Mechanical Limit Switch Signal Connection Example
61
ORG Input
62
Figure 3-6: Original Position Switch Signal Connection Example
62
INP Input
63
Figure 3-7: In-Position Signal Connection Example
63
ALM Input
64
Figure 3-8: Servo Alarm Signal Connection Example
64
SVON Output
65
Figure 3-9: Servo-On Signal Connection Example
65
Comapre & Trigger Output
66
Figure 3-10: Line Driver Type Compare Trigger Signal Connection
66
Figure 3-11: Open-Collector Type Compare Trigger Signal Connection
67
Digital Output/Input
68
Figure 3-12: General Purpose Digital I/O Signal Connection Example
69
Figure 3-13: General Purpose Digital I/O Signal Connection Example
72
Motion Control Theory
73
Motion Control Mode and Interface Overview
74
Motion Control Interface
74
Figure 4-1: Format of Pulse Signal
75
Table 4-1: Encoder Input Format
77
Table 4-2: Encoder Input Format
77
Control Cycle
80
Figure 4-2: Control Cycle
81
Motion Control Operations
82
Coordinated System
82
Figure 4-3: Controller Coordinates System Block
82
Unit Factor
83
Acc/Deceleration Profile
86
Figure 4-4: Relation of Trapezoidal Speed Profile's
86
Figure 4-5: Maximum Speed by Auto-Planning
87
Figure 4-6: Relation of S-Curve Speed Profile's
88
Figure 4-7: Auto-Planning the Maximum Velocity
90
Home Move
92
OGR Signal Homing - Home Mode = 0
95
Figure 4-8: Home Mode 0 (Case: ORG)
96
Figure 4-9: Home Mode 0 (Case: ORG)
98
Figure 4-10: Home Mode 0 (Case: ORG+EZ)
99
Figure 4-11: Home Mode 0 Adverse (Case: ORG+EZ)
100
Figure 4-12: Home Mode 0 Decelerate to Stop (Case: ORG)
101
EL Signal Homing - Home Mode 1
102
Figure 4-13: Home Mode 1 (Case: EL)
102
Figure 4-14: Home Mode 1 (Case: EL+EZ)
104
Single EZ Signal Homing
105
Figure 4-15: Home Mode 2 (Case: EZ)
106
Figure 4-16: Home Mode 2 Adverse (Case: EZ)
107
Velocity Move
108
Jog Move
111
Figure 4-17: Relation between V-T Chart of JOG Movement and
111
Figure 4-18: Jog Step Mode
112
Point-To-Point Move
115
Figure 4-19: T-Curve V-T Chart
115
Synchronous Start
116
On the Fly Change
117
Continuous PTP Move
117
Figure 4-20: Dynamically Change Position and Velocity
117
Figure 4-21: Continuous Three Position V-T Chart
118
Figure 4-22: Continuous Three Position V-T Chart
118
Interpolation
120
Linear Interpolation
120
Figure 4-26: Two-Dimension Straight Line Interpolation
121
Arc Interpolation
122
Figure 4-27: Three-Dimension Arc Interpolation (Method 1)
123
Figure 4-28: Defining Spatial Normal Vector
124
Figure 4-29: Determining Arc Direction in Space
124
Figure 4-30: Three Dimension Arc Interpolation (Method 2)
125
Figure 4-31: Three Dimension Arc Interpolation Example
126
Figure 4-32: Three Dimension Spiral Interpolation (Method 1)
127
Figure 4-33: Three-Dimension Spiral Interpolation (Method 2)
128
Continuous Interpolation
130
Figure 4-34: Illustration on Continuous Interplotation (Buffer)
130
Figure 4-35: Velocity Blending (Method 1)
131
Figure 4-36: Velocity Blending (Method 2)
132
Figure 4-37: Velocity Blending (Method 3)
132
Figure 4-38: Velocity Blending (Method 4)
133
Figure 4-39: Velocity Blending (Method 5)
133
Figure 4-40: Velocity Blending (Method 6)
134
Figure 4-41: Velocity Blending (Method 7)
134
Figure 4-42: Continuous Interpolation Examples
135
Motion Status Monitoring
136
Figure 4-43: Motion Status Monitoring Process
136
Motion Status
137
Figure 4-44: Relation of Different Motion Signals VS Motions
139
Figure 4-45: Relation of Motion Done (MDN) Signal VS Motion
140
Figure 4-46: Relation of Motion Done (MDN), In-Homing (HMV) Signals
141
Figure 4-47: Relation of WAIT Signals VS Motion
142
Figure 4-48: Relation of JOG and Motion Done(MDN) Signals VS
143
Figure 4-49: Relation of ASTP VS Motion
143
Figure 4-50: Relation of Blending (BLD) Signal VS Motion
144
Figure 4-51: Relation between Pre- and Post-Distance Event Signals
145
Application Functions
146
Electronic Gearing
146
Figure 4-52: Adjust Electronic Gear's Auto Engagement Speed
147
High Speed Position Compare Trigger
148
Figure 4-53: Compare Trigger Block Diagram
149
Figure 4-54: Linear Compare Trigger Example
151
Figure 4-55: Table Compare Trigger Example
152
Figure 4-56: Table Compare Trigger Block Diagram
153
PWM Control (Laser Control) (VAO Table Control)140
154
Table 4-3: Board Parameter Table
160
Motion Control and I/O Sampling Function
162
Figure 4-57: Signal Sampling Structure Diagram
162
Table 4-4: Motion Kernel Signal Table
163
Simultaneous Movement
167
Point Table Movement
170
Safety Protection
175
Hardware Protection
175
Software Protection
178
Host Interrupt
182
Figure 4-58: Interruption Flow Chart
182
Important Safety Instructions
190
Getting Service
192

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