ADLINK Technology PCI-8366+ User manual

Advance Technologies; Automate the World.

Manual Rev. 2.04

Revision Date: June 13, 2008

Part No: 50-1H001-1020

PCI-8372+/8366+

cPCI-8312H

SSCNET Motion Control Card

User’s Manual

The information in this document is subject to change without prior

notice in order to improve reliability, design, and function and does

not represent a commitment on the part of the manufacturer.

In no event will the manufacturer be liable for direct, indirect, spe-

cial, incidental, or consequential damages arising out of the use or

inability to use the product or documentation, even if advised of

the possibility of such damages.

This document contains proprietary information protected by copy-

right. All rights are reserved. No part of this manual may be repro-

duced by any mechanical, electronic, or other means in any form

without prior written permission of the manufacturer.

Trademarks

Product names mentioned herein are used for identification pur-

poses only and may be trademarks and/or registered trademarks

of their respective companies.

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: [email protected]

TEL: +886-2-82265877

FAX: +886-2-82265717

Address: 9F, No. 166, Jian Yi Road, Chungho City,

Taipei, 235 Taiwan

Please email or FAX this completed service form for prompt and

satisfactory service.

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Table of Contents i

Table of Contents

Table of Contents..................................................................... i

List of Tables........................................................................... v

List of Figures....................................................................... vii

1 Introduction ........................................................................ 1

1.1 Specifications....................................................................... 4

1.2 Environmental Conditions.................................................... 9

1.3 Software Support............................................................... 10

Programming Library ....................................................10

Motion Creator ..............................................................10

2 Installation ........................................................................ 11

2.1 What You Have.................................................................. 11

2.2 PCI-8372+/8366+ Outline Drawing.................................... 12

2.3 cPCI-8312(H) Outline Drawing.......................................... 13

2.4 Hardware Installation......................................................... 15

Installation Procedures .................................................15

LED Status ...................................................................15

KernelUpdate Utility of SSCNET card ..........................16

SSCNET Communication Test Utility ...........................19

2.5 Software Driver Installation................................................ 21

2.6 CN1 Pin Assignment: SSCNet Connector on PCB............ 22

2.7 CN5 Pin Assignment: PCI-8372+/8366+ I/O Connector.... 23

2.8 SP1 Pin Assignment: cPCI-8312(H) I/O Connector .......... 24

2.9 CN3 Pin Assignment: TTL output Connector on bracket... 25

2.10 HS1A - HS2B Pin Assignments: HSL Communication Signal

(RJ-45)..................................................................... 26

3 Signal Connections.......................................................... 27

3.1 SSCNet Servo Driver Connection...................................... 27

3.2 Encoder Feedback Signals: EA, EB and EZ .................... 29

3.3 PEL, MEL, ORG, EMG and General Purpose DI .............. 32

3.4 General Purpose DO......................................................... 36

3.5 TTL Output......................................................................... 37

3.6 Analog Output.................................................................... 38

3.7 Analog Input (cPCI-8312(H) Only)..................................... 38

ii Table of Contents

3.8 Pulse Output (cPCI-8312(H) Only) .................................... 39

4 Operation Theory.............................................................. 41

4.1 Architecture........................................................................ 41

HOST PC and SSCNET Board .....................................41

SSCNet Communication ...............................................41

4.2 Frame Architecture ............................................................ 42

Frame Introduction ........................................................42

4.3 Single Motion..................................................................... 44

Single axis velocity motion ............................................44

Single axis P to P motion ..............................................45

Multi axes velocity motion .............................................47

Multi axes P to P motion ...............................................48

Linear Interpolation .......................................................48

Circular Interpolation .....................................................53

Change Velocity on the Fly ...........................................54

Position Compensation on the Fly ................................57

4.4 Home move........................................................................ 59

Declaration for Beginning of Motion List .......................60

Add Trajectory pieces ...................................................61

Declaration for End of Motion List .................................68

Start/Stop command .....................................................69

4.5 Motion Related IO.............................................................. 69

Position control and feedback .......................................70

Velocity Feedback ........................................................72

Motion DIO status .........................................................72

Software limit ................................................................73

Motion Status ................................................................74

Motion Input as General Input ......................................76

4.6 General Purpose IO........................................................... 77

Encoder Counter ...........................................................77

DIO ...............................................................................81

DA .................................................................................81

AD .................................................................................82

Analog channel auto calibration ....................................82

4.7 Driver Management ........................................................... 84

Driver parameter ...........................................................84

Data monitoring ............................................................86

Servo Information .........................................................93

Servo On .......................................................................94

Table of Contents iii

Driver information .........................................................94

Servo Alarm ..................................................................95

4.8 Control Gain Tuning........................................................... 95

Control Gains ................................................................96

Mechanical resonance suppression filter ......................98

Low pass filter .............................................................101

4.9 Interrupt control................................................................ 102

4.10 Position Compare Function ............................................. 105

4.11 Interlock Function ............................................................ 106

4.12 Absolute Position System................................................ 108

4.13 Compared Trigger Output................................................ 109

4.14 Sequence Motion Control ................................................ 114

Conceptual Flow Chart ...............................................115

Coding Example 1: Using C Language ......................120

Coding Example 2: Compare Start Condition ............124

5 Motion Creator................................................................ 131

5.1 Overview.......................................................................... 131

5.2 Main Window................................................................... 131

Component description ...............................................132

Operation Steps ..........................................................137

5.3 General Purpose IO Operation Window (PCI-8372+/8366+) .

137

Component description ...............................................138

Operation Steps ..........................................................139

5.4 General Purpose IO Operation Window (cPCI-8312H)... 140

Operation Steps ..........................................................141

Pulse Output Page .....................................................142

Component description ...............................................143

5.5 Tuning Window................................................................ 143

Component Description ..............................................144

Operation Steps ..........................................................149

Example ......................................................................149

5.6 XY-Interpolation Window ................................................. 150

Component description ...............................................151

Operation steps ..........................................................151

5.7 Two-Axes Operation Window.......................................... 152

Component description ...............................................152

Operation Steps ..........................................................154

5.8 Single Axis Operation Window ........................................ 155

iv Table of Contents

Component description ...............................................155

Motion I/O Configration Window .................................157

Interrupt Configration Window ....................................158

Operation Steps ..........................................................159

5.9 Driver Parameter Configuration Window ........................ 160

Component description ...............................................160

Operation Steps ..........................................................162

6 Appendix.......................................................................... 163

6.1 MR-J2S-B Alarm List ....................................................... 163

6.2 MR-J2S-B Warning List ................................................... 165

6.3 Driver Parameter List ...................................................... 166

6.4 Handshake Procedure..................................................... 168

Card Initial Procedure .................................................168

Card Close Procedure ................................................169

Card Soft Reset Procedure .........................................170

Motion Command Procedure ......................................170

Motion Command Timing ............................................172

6.5 cPCI-8312H High Speed Link Initial Guide...................... 174

Warranty Policy ................................................................... 175

List of Tables v

List of Tables

Table 1-1: Specifications ........................................................... 4

Table 1-2: Vibration Resistance ................................................. 9

Table 2-1: CN1 Pin Assignment .............................................. 22

Table 2-2: CN5 Pin Assignment .............................................. 23

Table 2-3: SP1 Pin Assignment ............................................... 24

Table 2-4: CN3 Pin Assignment .............................................. 25

Table 2-5: HS1A - HS2B Pin Assignment ................................ 26

Table 3-1: Encoder Feedback Signals: EA, EB and EZ .......... 29

Table 3-2: Encoder Power ....................................................... 31

Table 3-3: PEL, MEL, ORG, EMG and General Purpose DI ... 32

Table 3-4: General Purpose DO Pinout ................................... 36

Table 3-5: TTL Output Pinout .................................................. 37

Table 3-6: Analog Output Pinout ............................................. 38

Table 3-7: Analog Input Pinout ................................................ 38

Table 3-8: Pulse Output Pinout ................................................ 39

Table 4-1: start_tr_move Data Table ....................................... 44

Table 4-2: set_position_compensate Values ........................... 58

Table 4-3: Axis Status .............................................................. 74

Table 4-4: Motion Status .......................................................... 75

Table 4-5: Encoder Resistor .................................................... 78

Table 4-6: MR-J2SB Parameters ............................................. 84

Table 4-7: Monitoring Targets .................................................. 88

Table 4-8: Axis Parameters ..................................................... 91

Table 4-9: Data Array Offset .................................................... 93

Table 4-10: Servo Bit Information .............................................. 93

Table 4-11: Selectable Gains .................................................... 98

Table 4-12: Notch Frequency Settings ...................................... 99

Table 4-13: Notch Gain Settings .............................................. 100

Table 4-14: Suppression Control Settings ............................... 100

Table 4-15: Axis Interrupts ....................................................... 104

Table 4-16: System Interrupts ................................................. 104

Table 4-17: GPIO Interrupts .................................................... 104

Table 4-18: Pattern Index ........................................................ 118

Table 4-19: Sequences ............................................................ 120

Table 6-1: MR-J2S-B Alarm List ............................................ 163

Table 6-2: MR-J2S-B Warning List ........................................ 165

Table 6-3: Driver Parameter List ............................................ 166

Table 6-4: Card Initial Procedure ........................................... 168

vi List of Tables

Table 6-5: Card Close Procedure .......................................... 169

Table 6-6: Card Soft Reset Procedure ................................... 170

Table 6-7: Motion Command Procedure ................................ 171

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