ADLINK Technology PCI-8254 Controller Manuals

Manuals and User Guides for ADLINK Technology PCI-8254 Controller. We have 1 ADLINK Technology PCI-8254 Controller manual available for free PDF download: User Manual

ADLINK Technology PCI-8254 User Manual (226 pages)

DSP-Based 4/8 Advanced Motion Control Card

Brand: ADLINK Technology | Category: PCI Card | Size: 10 MB

Preface
3
Table of Contents
5
List of Figures
9
List of Tables
13
Introduction
15
Figure 1-1: PCI-8254/58 System 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
23
Table 1-2: Cross-Reference Table of Exclusive Cables for Analog Servo
23
Getting Start with the Installation
25
Package Contents
25
PCI-8254/PCI-8258 Exterior Profile Diagram
26
Figure 2-1: Exterior of Your PCI-8254
26
Figure 2-2: Exterior of Your PCI-8258
27
Hardware Installation
28
Hardware Configuration
28
Installation Procedures
28
Troubleshooting
29
Software Installation Procedure
30
Definitions to Key Connector Signal
32
Connector
32
PCI-8258: P1-A/B Connector
34
PCI-8254/58: P2 Connector
37
DIP Switch
38
S1: Analog Output Mode Settings
38
SW2: Card ID Switch
39
IDE 44P - DSUB 37P Bus
40
Exclusive Board - DIN-825-GP4
41
Figure 2-3: Exterior of DIN-825-GP4
41
Definitions to Connector
42
Figure 2-4: Exterior of DIN-825-GP4
42
Connector: for Connecting to
44
Pci-8254/Pci-8258/Amp-204C/Amp-208C
44
S1, S2: EDO/ALM_RST Selection Switch
53
Signal Connection
55
Analog Control Command Signal
56
Single-Ended Type Signal: AOUT
56
Single-Ended Type Signal: AOUT+, AOUT
56
Figure 3-1: Connection Example of Differential Analog Output Signal
57
Pulse Command
58
Figure 3-2: Line Driver Type Pulse Control Command Signal Connec
59
Figure 3-3: Open-Collector Type Pulse Control Command Signal con
60
Encoder Input, EA & EB & EZ
61
Figure 3-4: Line Driver Type Encoder Input Signal Connection Example
62
Emergency Stop Input
63
Figure 3-5: Emergency Stop Signal Connection Example
63
PEL/MEL Input
64
Figure 3-6: Mechanical Limit Switch Signal Connection Example
65
ORG Input
66
Figure 3-7: Original Position Switch Signal Connection Example
66
INP / ZSP Input
67
Figure 3-8: Place / Zero Speed Detection Signal Connection Example
67
ALM Input
68
Figure 3-9: Servo Alarm Signal Connection Example
68
SVON Output
69
Figure 3-10: Servo-On Signal Connection Example
69
Analog Input Signals
70
Figure 3-11: Analog Input Signal Connection Example
70
Compare & Trigger Output
71
Figure 3-12: Line Driver Type Compare Trigger Signal Connection Exam
71
Figure 3-13: Open-Collector Type Compare Trigger Signal Connection
72
Digital Output/Input
73
Figure 3-14: General Purpose Digital I/O Signal Connection Example
74
Figure 3-15: General Purpose Digital I/O Signal Connection Example
77
Motion Control Theory
79
Motion Control Mode and Interface Overview
80
Motion Control Interface
80
Figure 4-1: Format of Pulse Signal
81
Figure 4-2: Illustration of Analog Command Output
82
Table 4-1: Encoder Input Format
83
Table 4-2: Encoder Input Format
84
Control Cycle
87
Figure 4-3: Control Cycle
88
Closed-Loop Control
89
Close-Loop Control Overview
89
Figure 4-4: PCI-8254/PCI-8258 Close Loop Control Structure Diagram
92
Figure 4-5: Gain and Gain Shiftrelationship Diagram
92
Auto Servo Tuning
94
Figure 4-6: the Auto Fine Tuning Setup Page in MCP2
97
Table 4-3: PCI-8254/8 Auto-Tuning Setup
97
Manual Servo Tuning
98
Filter
99
Figure 4-7: Structure of PCI-8254/8 Biquad Filters in Serial Connection
100
Figure 4-8: Ideal Low Pass Filter
101
Figure 4-9: Simulation Results of Low Pass Filter with 1000Hz Cutoff
102
Figure 4-10: MCP2 Low Pass Filter Setup Page
103
Figure 4-11: MCP2 Notch Filter Setup Page
103
Figure 4-12: an Ideal Notch Filter (A) 50 Hz
104
Figure 4-13: Simulation Results of Notch Filter with 100Hz Cutoff Fre
106
Figure 4-14: MCP2 Low Pass Filter Setup Page
106
Figure 4-15: MCP2 Notch Filter Setup Page
106
Bode Plot
107
Motion Control Operations
112
Coordinated System
112
Figure 4-16: Controller Coordinates System Block
112
Unit Factor
113
Acc/Deceleration Profile
116
Figure 4-17: Relation of Trapezoidal Speed Profile's Speed/Accelera
116
Figure 4-18: Maximum Speed by Auto-Planning
117
Figure 4-20: Maximum Speed by Auto-Velocity
120
Home Move
122
OGR Signal Homing - Home Mode = 0
125
Figure 4-21: Home Mode 0 (Case: ORG)
126
Figure 4-22: Home Mode 0 (Case: ORG)
128
Figure 4-23: Home Mode 0 (Case: ORG+EZ)
129
Figure 4-24: Home Mode 0 Adverse (Case: ORG+EZ)
130
Figure 4-25: Home Mode 0 Decelerate to Stop (Case: ORG)
131
EL Signal Homing - Home Mode 1
132
Figure 4-26: Home Mode 1 (Case: EL)
132
Figure 4-27: Home Mode 1 (Case: EL+EZ)
134
Single EZ Signal Homing
135
Figure 4-28: Home Mode 2 (Case: EZ)
136
Figure 4-29: Home Mode 2 Adverse (Case: EZ)
137
Velocity Move
138
Jog Move
141
Figure 4-30: Relation between V-T Chart of JOG Movement and
141
Figure 4-31: Jog Step Mode
142
Point-To-Point Move
145
Figure 4-32: T-Curve V-T Chart
145
Synchronous Start
146
On the Fly Change
147
Continuous PTP Move
147
Figure 4-33: Dynamically Change Position and Velocity
147
Figure 4-34: Continuous Three Position V-T Chart
148
Figure 4-35: Continuous Three Position V-T Chart
148
Interpolation
150
Linear Interpolation
150
Figure 4-39: Two-Dimension Straight Line Interpolation
151
Arc Interpolation
152
Figure 4-40: Three-Dimension Arc Interpolation (Method 1)
153
Figure 4-41: Defining Spatial Normal Vector
154
Figure 4-42: Determining Arc Direction in Space
154
Figure 4-43: Three Dimension Arc Interpolation (Method 2)
155
Figure 4-44: Three Dimension Arc Interpolation Example
156
Figure 4-45: Three Dimension Spiral Interpolation (Method 1)
157
Figure 4-46: Three-Dimension Spiral Interpolation (Method 2)
158
Continuous Interpolation
160
Figure 4-47: Illustration on Continuous Interpolation (Buffer) Move
160
Figure 4-48: Velocity Blending (Method 1)
161
Figure 4-49: Velocity Blending (Method 2)
162
Figure 4-50: Velocity Blending (Method 3)
162
Figure 4-51: Velocity Blending (Method 4)
163
Figure 4-52: Velocity Blending (Method 5)
163
Figure 4-53: Velocity Blending (Method 6)
164
Figure 4-54: Velocity Blending (Method 7)
164
Figure 4-55: Continuous Interpolation Examples
165
Motion Status Monitoring
166
Figure 4-56: Motion Status Monitoring Process
166
Motion Status
167
Figure 4-57: Relation of Different Motion Signals VS Motions
169
Figure 4-58: Relation of Motion Done (MDN) Signals VS Motion
170
Figure 4-59: Relation of Motion Done (MDN), In-Homing (HMV) Signals
171
Figure 4-60: Relation of WAIT Signals VS Motion
172
Figure 4-61: Relation of JOG and Motion Done(MDN) Signals VS Mo
173
Figure 4-62: Relation of ASTP VS Motion
173
Figure 4-63: Relation of Blending (BLD) Signal VS Motion
174
Figure 4-64: Relation between Pre- and Post Distance Event Signals
175
Application Functions
176
Electronic Gearing
176
Figure 4-65: Adjust Electronic Gear's Auto Engagement Speed
177
High Speed Position Compare Trigger
178
Figure 4-66: Compare Trigger Block Diagram
179
Figure 4-67: Linear Compare Trigger Example
181
Figure 4-68: Table Compare Trigger Example
182
Figure 4-69: Table Compare Trigger Block Diagram
183
PWM Control (Laser Control) (VAO Table Control)170
184
Table 4-4: Board Parameter Table
190
Motion Control and I/O Sampling Function
192
Figure 4-70: Signal Sampling Structure Diagram
192
Table 4-5: Motion Kernel Signal Table
193
Table 4-6: Closed Circuit Control Signal Table
194
Simultaneous Move
198
Point Table Movement
201
Safety Protection
206
Hardware Protection
206
Software Protection
209
Host Interrupt
213
Figure 4-71: Interruption Flow Chart
213

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