ICP DAS USA I-8091 User manual

I-8091 User Manual Version 2.0 04/2003

I-8091

2-axis stepping/servo motor control card

User Manual

Version 1.0 06/2001 Edition

Warranty: All products manufactured by ICP DAS are warranted against

defective materials for one year from the date of delivery to the original

purchaser

Warning: ICP DAS assumes no liability for damage consequent to the

use of this product. ICP DAS reserves the right to change this manual at

any time without notice. The information furnished by ICP DAS is

believed to be accurate and reliable. However, no responsibility is

assumed by ICP DAS for it’s use, nor for any infringements of patents or

other rights of third parties resulting from it’s use.

Trademark

The names used for identification only maybe registered trademarks of

their respective companies.

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I-8091 User Manual Version 2.0 04/2003

I-8091 2-axis Stepping/Servo Motor Control Card

The I-8091 card is a 2-axis command-type stepping motor control card

on I-8000 platform, it also can be used as servo motor control (pulse input

type). This card has an embedded CPU which performs motion commands

transfered from I-8000 main system to increase the system performance. A

2Kbytes-FIFO is introduced as command buffer. This buffer can provide over

700ms buffer time.

A system including I-8000(main system), I-8091(2-axis stepping/servo

control card), I-8090(3-axis encoder card) can be implemented as a stand

along motion controller system for low cost automatical machine.

Features

 I-8000 series.

 2-axis independent, simultaneous stepping motor control / servo motor

control (pulse input type).

 Maximum pulse rate: 1Mpps.

 Maximum step counts: steps.

32 −1

 DOS driver.

 embedded CPU.

 command type interface.

 2-axis linear, 2-axis circular interpolation.

 automatic trapezoidal acceleration / deceleration.

 output pulse modes : CW/CCW or pulse/direction.

 output polarity can be programmable.

 2500Vrms optical isolated signal output.

 3 optical isolated digital inputs per axis for limit switches.

 programmable limit switch initial condition as normal open(N.O.) or normal

close(N.C.).

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I-8091 User Manual Version 2.0 04/2003

I-8091 Contents _

1. Introduction 2-4

1.1 System Block Diagram 2-4

1.2 DDA technology 2-5

2. Hardware 2-8

2.1 I-8000 hardware address 2-8

2.2 Register of I-8091 board 2-9

2.3 LED indicator 2-10

2.4 Hardware configuration 2-11

2.4.1 Limit switch configuration 2-11

2.4.2 Output pulse mode configuration 2-12

2.4.3 Direction configuration 2-12

2.4.4 Turn Servo ON/OFF (Hold ON/OFF) 2-12

2.4.5 Automatic protection 2-12

2.4.6 Set limit switch as normal close condition 2-13

2.5 Connection 2-14

2.5.1 Pin assignment of connector CN2 2-14

2.5.2 The internal circuit of CW_PULSE, CCW_DIR, HOLD 2-15

2.5.3 The internal circuit of limit switch input 2-15

2.5.4 Example of connection 2-16

3. Software 2-18

3.1 Functions 2-18

3.1.1 Setting commands 2-20

3.1.2 Stop commands 2-24

3.1.3 Simple motion commands 2-25

3.1.4 Interpolation commands 2-30

3.1.5 Others 2-35

3.2 Start up and end of program 2-37

4. Example 2-39

4.1 Detect I-8091 card 2-39

4.2 Example: DEMO.cpp 2-40

4.3 Example: DEMO1.cpp 2-40

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I-8091 User Manual Version 2.0 04/2003

1. Introduction _

1.1 System Block Diagram

The I-8091 stepping motor control card is a micro-computer controlled, 2-axis

pulse generation card. It includes a 2Kbytes-FIFO to receive motion command

from host, a micro-computer for profile generation and protection, 2-axis DDA

chip to execute DDA function when interpolation command is used, 2500Vrms

optical isolation inserted for industrial application.

2K FIFO

Interface

CPU DDA Chip

X-axis

DDA Chip

Y-axis

Optical

Isolation

Limit Switch

Input Port

Connector

Limit Switch Signal

Profile Generation

Protection

Limit Switch

Input Port

Bus

Fig.(1) block diagram of I-8091 card

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I-8091 User Manual Version 2.0 04/2003

1.2 DDA Technology

The DDA chip is the heart of I-8091 card, it will generate equal-space

pulse train corresponding to specific pulse number during a DDA period.

This mechanism is very useful to execute pulse generation and

interpolation function. The DDA period can be determined by DDA cycle.

Table(1) shows the relation among DDA cycle, DDA period and output

pulse rate. When DDA cycle set to 1, the DDA period is equal to

(1+1)x1.024ms = 2.048ms. The output pulse number can be set to 0~2047,

therefore the maximum output pulse rate will be 1Mpps. The minimum

output pulse rate is 3.83pps when set DDA cycle=254 (DDA period =

(254+1)x1.024ms = 261.12ms).

DDA period

Z pulse = 4

Y pulse = 6

X pulse = 3

DDA cycle

Fig.(2) DDA mechanism

Table(1) The Relation among DDA cycle, DDA period and output pulse rate.

DDA cycle DDA period Max. pulse

rate(n=2047)

Min. pulse rate (n=1)

1 2.048ms 999511pps 488pps

2 3.072ms 666341pps 325pps

3 4.096ms . .

. . . .

N (N+1)*1.024ms 2047/(DDA period) 1/(DDA period)

. . . .

254 261.12ms 7839pps 3.83pps

The DDA cycle can be set by i8091_SET_VAR() command which decribed

in charpter 3. The selection criterion of DDA cycle was described as

following.

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I-8091 User Manual Version 2.0 04/2003

(1) The required max. output pulse rate.

PRmax = Vmax*N/60

PRmax =

2047

1 1 024*.

DDAcycle ms

()

PRmax : max. output pulse rate.

Vmax : max. speed (rpm).

N : the pulse number of stepping motor per revolution.

(pulse/rev).

2. The required speed resolution.

The maximum output pulse number is Np(0~2047), therefore

the speed resolution is Vmax(max. speed)/Np. The DDA cycle

can be obtained by following equation.

PRmax =

DDAcycle ms

+1 1 024()

3. When choose large DDA cycle (DDA period), it will occur

vibration between different pulse input which generally can be

observed during acceleration or deceleration. So, the small

DDA cycle , the smooth acceleration/deceleration curve as long

as the speed resolution is acceptable.

Example: Stepping Motor

The specification of stepping motor is 500 pulse/rev, max. speed 500

rpm, speed resolution 2 rpm.

The required max. pulse rate

PRmax = 500 rpm*500/60 = 4166.67 pps

The maximum output pulse

Np = 500rpm/2rpm =250 pulse number

The DDA cycle can be calculated by follow equation

PRmax =

DDAcycle ms

+1 1 024()

4166.67 =

250

1 1 024*.

DDAcycle ms

()

DDA cycle = 58

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I-8091 User Manual Version 2.0 04/2003

High Speed = 247 pulse (4166.67*58*0.001024)

The above results means that maximum speed is 500rpm when send

command i8091_SET_VAR(0, 58, 2, 2, 247) to I-8091 card.

Example: Pulse type input Servo Motor

The specification of servo motor is 8000 pulse/rev, max. speed 3000 rpm,

speed resolution 2 rpm.

The required max. pulse rate

PRmax = 3000 rpm*8000/60 = 400,000 pps

The maximum output pulse

Np = 3000rpm/2rpm =1500 pulse number

The DDA cycle can be calculated by follow equation

PRmax =

DDAcycle ms

+1 1 024()

400,000 =

1500

1 1 024*.

DDAcycle ms

()

DDA cycle = 3

High Speed = 1638 pulse (400,000*4*0.001024)

The above results means that maximum speed is 3000rpm when send

command i8091_SET_VAR(0, 3, 2, 2, 1638) to I-8091 card.

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I-8091 User Manual Version 2.0 04/2003

2 Hardware

2.1 I-8000 hardware address

The hardware address of I-8000 main system is fixed as following table.

There are 4 slots I-8000 and 8 slots I-8000.

Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Slot 6 Slot 7 Slot 8

I-8000, 4 slot

address

0x080 0x0A0 0x0C0 0x0E0 --- --- --- ---

I-8000, 8 slot

address

0x080 0x0A0 0x0C0 0x0E0 0x140 0x160 0x180 0x1A0

Slot 1 Slot 2 Slot 3 Slot 4

Slot 8Slot 7Slot 6Slot 5Slot 4Slot 3Slot 2Slot 1

88888

I-8000, 4 slots

I-8000, 8 slots

Fig.(3) I-8000 hardware address

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I-8091 User Manual Version 2.0 04/2003

2.2 Registers of I-8091 board

The I-8091 card’s registers table as following.

ID 0x00 R 0x0E

LIMIT1 0x01 R /EMG /FFFF /FFEF /LS14 /LS11 /ORG1

LIMIT2 0x02 R /YSTOP /XSTOP /LS24 /LS21 /ORG2

WRFF 0x01 W Command port

RSTFF 0x02 W Reset FIFO

ID 0x00 R 0x0E

The ID register is read only and its value is fixed as 0x0E. User can check

this register to identify I-8091 card or not.

LIMIT1 0x01 R /EMG /FFFF /FFEF /LS14 /LS11 /ORG1

/ORG1 : original point limit switch of X-axis.

/LS11, /LS14 : limit switches of X-axis, which must be configured as chapter

2.4.1.

/EMG : emergency switch.

/FFEF : active low, indicate FIFO is empty.

/FFFF : active low, indicate FIFO is full.

LIMIT2 0x02 R /YSTOP /XSTOP /LS24 /LS21 /ORG2

/ORG2 : original point switch of Y-axis.

/LS21, /LS24 : limit switches of Y-axis, which must be configured as chapter

2.4.1.

/XSTOP, /YSTOP : These signals indicate the operating situation of X, Y axis

in CPU.

1 : busy, 0 : stop

The commands i8091_WAIT_X( ) and i8091_WAIT_Y( ) just to waiting for

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I-8091 User Manual Version 2.0 04/2003

'/XSTOP' or '/YSTOP' signal become to '0'.

WRFF 0x01 W Command port

I-8091 driver will send motion command by way of this register. Please do not

use this register to write any thing, or I-8091 will not operate properly.

RSTFF 0x02 W Reset FIFO

This register is used to reset FIFO for clear all of commands pending in the

FIFO buffer.

2.3 LED Indicator

power

/EMG

/LS21 /LS24/ORG2/LS14/LS11

/ORG1

Fig.(4) I-8091 LED indicator

Where

/ORG1: X-axis’s original limit switch for machine home position.

/LS11, /LS14 : X-axis’s negative and positive limit switches.

/ORG2: Y-axis’s original limit switch for machine home position.

/LS21, /LS24 : Y-axis’s negative and positive limit switches.

/EMG : system’s emergency signal input.

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