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pci-1240 4-axis pci stepping/pulse-type servo motor control card PCI-1240U 4-axis universal pci stepping/ pulse-type servo motor control card user manual
pci-1240/PCI-1240U user manual ii copyright this documentation and the software included with this product are copyrighted 2005 by advantech co., ltd. all rights are reserved. advantech co., ltd. reserves the ri ght to make improvements in the products described in this manual at any time without notice. no part of this manual may be reproduced, copied, translated or transmitted in any form or by any means without the prior written permission of advantech co., ltd. information provided in this manual is intended to be accurate and reliab le. however, advantech co., ltd. assumes no responsibility for its use, nor for any infringements of the rights of third parties which may result from its use. acknowledgments pc-labcard is a trademark of adva ntech co., ltd. ibm and pc are trademarks of international busine ss machines corpor ation. ms-dos, windows ? , microsoft ? visual c++ and visual basic are trademarks of microsoft? corporation. intel ? and pentium ? are trademarks of intel corporation. delphi and c++build er are trademarks of inprise corporation. ce notification the pci-1240/PCI-1240U, developed by advantech co., ltd., has passed the ce test for environmenta l specifications when shielded cables are used for external wiring. we r ecommend the use of shielded cables. this kind of cable is available from advantech. please contact your local supplier for ordering information. part no. 2003124001 2nd edition printed in taiwan march 2005
iii product warranty (2 years) advantech warrants to you, the original purchaser, that each of its prod- ucts will be free from defects in materials and workmanship for two years from the date of purchase. this warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by advantech, or which have been subject to misuse , abuse, accident or improper instal- lation. advantech assumes no liability under the terms of this warranty as a consequence of such events. because of advantech?s high quality-control standards and rigorous test- ing, most of our customers never need to use our repair service. if an advantech product is defective, it wi ll be repaired or replaced at no charge during the warranty period. fo r out-of-warranty repairs, you will be billed according to th e cost of replacement materials, service time and freight. please cons ult your dealer for more details. if you think you have a defective product, follow these steps: 1. collect all the information abou t the problem encountered. (for example, cpu speed, advantech products used, other hardware and software used, etc.) note anything abnormal and list any onscreen messages you get when the problem occurs. 2. call your dealer and describe the problem. please have your man- ual, product, and any helpful information readily available. 3. if your product is diagnosed as defective, obtain an rma (return merchandize authorizatio n) number from your dealer. this allows us to process your return more quickly. 4. carefully pack the de fective product, a full y-completed repair and replacement order card and a pho tocopy proof of purchase date (such as your sales receipt) in a shippable container. a product returned without proof of the purchase date is not eligible for war- ranty service. 5. write the rma number visibly on the outside of the package and ship it prepaid to your dealer.
pci-1240/PCI-1240U user manual iv technical support and assistance step 1. visit the advantech web site at www.advantech.com/support where you can find the latest information about the product. step 2. contact your distributor, sales representative, or advantech's cus- tomer service center for technical support if you need additional assistance. please have the foll owing information ready before you call: - product name and serial number - description of your peripheral attachments - description of your software (operating system, version, appli- cation software, etc.) - a complete description of the problem - the exact wording of any error messages packing list before setting up the system, check that the items listed below are included and in good condition. if any item does not accord with the table, please contact y our dealer immediately. ? pci-1240 or PCI-1240U card ? companion cd-rom (dll driver included) ? user manual safety precaution - static electricity follow these simple precautions to pr otect yourself from harm and the products from damage. 1. to avoid electrical sh ock, always disconnect the power from your pc chassis before you work on it. don't touch any components on the cpu card or other cards while the pc is on. 2. disconnect power before making any configuration changes. the sudden rush of power as you conn ect a jumper or install a card may damage sensitive electronic components.
v table of contents contents chapter 1 introd uction ..................................................... 2 1.1 features ............................................................................. 2 1.2 applications ...................................................................... 5 1.3 installation guide .............................................................. 6 1.4 accessories........................................................................ 6 chapter 2 installation ....................................................... 8 2.1 unpacking ......................................................................... 8 2.2 driver installation ............................................................. 9 figure 2.1:the setup screen of advantech automation software ........................................................... 10 figure 2.2:different options fo r driver setup ............. 11 2.3 hardware installation ..................................................... 12 chapter 3 signal connections ........................................ 14 3.1 i/o connector pin assignments...................................... 14 3.2 location of jumpers and dip switch .............................. 14 figure 3.1:i/o connector pi n assignments for pci-1240 & PCI-1240U ........... ............ ........... ........... ...... 15 table 3.1:pci-1240/PCI-1240U i/o connector signal description (part 1) .......................................... 16 table 3.1:pci-1240/PCI-1240U i/o connector signal description (part 2) .......................................... 17 table 3.1:pci-1240/PCI-1240U i/o connector signal description (part 3) .......................................... 18 figure 3.2:location of jumpers and dip switch on pci- 1240/PCI-1240U ......... ........... ........... ......... ...... 19 table 3.2:boardid register .......................................... 19 table 3.3:boardid setting ............................................ 19 3.3 output pulse definition (np+p, np+n, np-p, np-n)....... 20 figure 3.3:output signal loop for drive pulses ......... 20 table 3.4:jumper table of jp1~8 ................................. 20 figure 3.4:photo coupler input in terface .. .................. 21 figure 3.5:line driver input interface ........................ 21 3.4 general purposed output (nout7 ~ nout4) ................ 22 figure 3.6:circuit diag. for general purpose output .. 22 3.5 over traveling limit switch input (nlmt+, nlmt-)... 22 figure 3.7:circuit diagram for movement limit input signals .............................................................. 22 figure 3.8:example of photo sens or used in the limit input signal ................................................................ 23 3.6 deceleration/instant. stop sw itch input (nin1 ~ 3) ....... 23 figure 3.9:circuit diagram of deceleration/instanta- neous stop input signal ....... ........... ........... ...... 23 3.7 general purp. inp. for s. drives (ninpos, nalarm) .. 24 figure 3.10:input signal for ser vo motor ...... ............. 24
pci-1240/PCI-1240U user manual vi 3.8 encoder input (necap, necan, necbp, necbn, ninop, nion) ......................................................................................... 25 figure 3.11:circuit diagram of encoder feedback ..... 25 figure 3.12:example of conne ction diagram for differ- ential-output line driver ................................. 26 figure 3.13:example of conne ction for open collector output encoder ................................................ 26 3.9 external pulse control input (nexop+, nexop-)......... 27 figure 3.14:circuit diagram of the external drive oper- ation signals ..................................................... 27 figure 3.15:example of connecti ng to jog .... ............. 27 3.10 emergency stop input (emg) ........................................ 28 figure 3.16:circuit diagram of emergency stop input signal ............................................................... 28 table 3.5:jumper settings of jp9 ................................ 28 3.11 external power input (vex)........................................... 28 3.12 interrupt setting............................................................... 29 figure 3.17:circuit diagram of interrupt setting .......... 29 3.13 connection examples for mo tor drivers ........................ 30 3.13.1 connection to step motor drivers ............................... 30 figure 3.18:example of conn. to kr515m drive ...... 30 figure 3.19:example of conn. to upk step drive ..... 31 3.13.2 connection to servo motor drivers ............................. 32 figure 3.20:ex. of minas x series ac s. motor drv 32 3.14 field wiring considerations ........................................... 33 3.15 i/o signal timing............................................................ 34 3.15.1 power on reset ........................................................ 34 figure 3.21:timing diagram of power on reset .... 34 3.15.2 individual axis driving ............................................... 34 figure 3.22:timing diag. of i ndividual axis driving . 34 3.15.3 interpolation driving ................................................... 35 figure 3.23:timing diagram of interpolation driving . 35 3.15.4 input pulse timing ....................................................... 35 figure 3.24:timing diagram of quadrature pulse of en- coder input ........... ........... ......... ......... ......... ...... 35 figure 3.25:timing diag. of up/down pulse input .. 35 3.15.5 instantaneous stop timing .......................................... 36 figure 3.26:timing diagram of external instantaneous stop signal ....................................................... 36 figure 3.27:timing diagram of instantaneous stop in- struction ........................................................... 36 3.15.6 deceleration stop timing ............................................ 36 figure 3.28:timing diagram of external deceleration/ stop signal ....................................................... 36 figure 3.29:timing diagram of deceleration/stop in- struction ........................................................... 36
vii table of contents 3.16 ttl level position compare output (PCI-1240U only) ...................................................................... 37 table 3.6:jumper settings of jp10 .............................. 37 appendix a specifications ................................................. 40 a.1 axes................................................................................. 40 a.2 digital input/output ........................................................ 41 a.3 input pulse for encoder interf ace.......... .............. ............ 42 a.4 external signals driving ................................................. 42 a.5 other functions ............................................................... 43 a.6 general ............................................................................ 43 appendix b block diagram ............................................... 46 appendix c register structure and format.................... 48 c.1 overview ......................................................................... 48 c.2 i/o port address map ..................................................... 48 table c.1:pci-1240/PCI-1240U write reg. func. .... 49 table c.2:pci-1240/PCI-1240U write reg. format . 50 table c.3:pci-1240/PCI-1240U read reg. function 51 table c.4:pci-1240/PCI-1240U read reg. format ... 52 c.3 mcx314/mcx314as write registers: wr0 ~ wr7 53 c.4 clear interrupt register: clrint .................................. 53 table c.5:clear interrupt register: clrint - write base +10 ........................................................ 53 c.5 pulse generator mode/sta tus register: pgm/pgsta ... 53 table c.6:pulse ge nerator mode/status register: pgm/ pgmsta - write/read base +14 ................. 54 table c.7:pulse generator mode - pgmn3 ................. 54 table c.8:pulse generator si gnal connection mode .. 55 table c.9:driving axis for sw programmable mode 55 c.6 mcx314/mcx314as read registers: rr0 ~ rr7.... 55 c.7 interrupt status register: intsta ................................. 56 table c.10:interrupt status register: intsta - read base +10 ........................................................ 56 c.8 board id register: bdid................................................ 56 table c.11:boardid reg.: bdid - read base +12 .. 56 appendix d cable pin assignments ................................. 58 appendix e wiring with third- party motor drivers .... 60 figure e.1:wiring diagram wi th mitsubishi mr-j2s se- ries motor driver ............................................. 60 figure e.2:wiring diagram with oriental limo ezmc series motor driver ......................................... 61 figure e.3:wiring diagram with panasonic minas-a series motor driver ......................................... 62 figure e.4:wiring diagram with yaskawa sgdm series motor driver .................................................... 63
pci-1240/PCI-1240U user manual viii
2 chapter 1 introduction this chapter introduces pci-1240 and PCI-1240U and lists their features and detailed specifications.
pci-1240/PCI-1240U user manual 2 chapter 1 introduction pci-1240 and PCI-1240U 4-axis stepping/pulse-type servo motor con- trol cards are designed for general-purpose extreme motion applications. the cards are high-speed 4-axis motion control cards for the pci (1240)/ universal pci (1240u) bus that simplifies stepping and pulse-type servo motor control, giving you added performance from your motors. the cards? intelligent nova mcx314/mcx314as motion asic builds in a variety of motion control functions , such as 2/3-axis linear interpola- tion, 2-axis circular in terpolation, t/s-curve acceleration/deceleration rate and more. in addition, the next generation chip, mcx314as is lead- free and not only increases the 2/3-axis linear interpolation range and the number of output pulses, but also provides the ?go home? function. pci-1240 and PCI-1240U performs th ese motion control functions with- out processor load during driving. for advanced applications, we supply windows dll drivers and user-frie ndly examples to decrease your pro- gramming load. moreover, through a free bundled pci-1240 motion util- ity, you can complete configuration and diagnosis easily. 1.1 features pci-1240/PCI-1240U provides users with the most requested motor con- trol functions as seen below: ? independent 4-axis motion control ? support hand wheel and jog function ? 2/3-axis linear interpolation function ? 2-axis circular interpolation function ? continuous interpolation function ? programmable t/s-curve acceleration and deceleration ? up to 4mpps pulse output for each axis ? two pulse output types: up/down or pulse/direction ? up to 1 mhz encoder input for each axis ? two encoder pulse input types: a/b phase or up/down ? position management and software limit switch function ? boardid switch ? free motion utility bundled for configuration and diagnosis
3 chapter 1 ? "go home? functions (PCI-1240U only) ? universal pci bus for both 3.3 and 5 v pci slots (PCI-1240U only) the advantech pci-1240/PCI-1240U offers the following main features: individual control for 4 axes each of the four axes has identical function capabilities, and is controlled by the same method of operation with constant speed, trapezoidal or s-curve driving. programmable t/s-curve acce leration and deceleration each of four axes can be preset indi vidually with s-cu rve or trapezoidal acceleration/deceleration ra tes. when using s-cu rve acceleration to con- trol driving speed, output pulse is ge nerated in parabolic-shaped accelera- tion or deceleration curves, and th e triangular curve phenomenon will not occur through the nova mcx314/mcx314as-motion asic design concept. linear and circular interpolation any two or three axes can be selected to execute linear interpolation driv- ing and any two axes can be selected to execute circular arc interpolation control. the interpolation speed range is from 1 pps to 4 mpps. powerful position management function each axis is equipped with a 32-bit logical position counter and a 32-bit real position counter. the logical position counter counts the axis? pulse output number and the real position counter is recorded with the feedback pulse from the outside en coder or linear scale. speed control the speed range of the pulse output is from 1pps to 4mpps for constant speed, trapezoidal or s-curve accel eration/deceleration driving. the accuracy of the frequency of the pulse output is less th an +/- 0.1% (at clk=16 mhz). the speed of driving pu lse output can be freely changed during the driving.
pci-1240/PCI-1240U user manual 4 bit pattern interpolation any 2 or 3 axes can be selected to perform the bit pattern interpolation, and the interpolation data is calculated by cpu; cpu writes the bit data into mcx314/mcx314as. then, mcx314/mcx314as outputs pulses continuously at the preset driving speed. so, the user can process any interpolation curve by this mode. continuous interpolation different interpolation methods can be used continuously, for example: linear interpolation ! circular interpolation ! linear interpolation. the maximum driving speed of perfor ming continuous interpolation is 2 mpps. constant vector speed control this function performs a constant vector speed. during the interpolation driving, mcx314/mcx314as can set a 1.414 times pulse cycle for 2- axis simultaneous pulse output, and a 1.732-time pulse cycle for 3-axis simultaneous pulse output that keep the constant speed during driving. position control each axis has a 32-bit logic position counter and a 32-bits real position counter. the logic position counter co unts the output pulse numbers, and the real position counter counts the feedback pulse numbers from the external encoder or linear scale. compare register and software limit each axis has two 32-bit compare registers for logical position counter and real position counter. the comparison result can be read from the sta- tus registers. the comparison result can be notified by an interrupt signal. these registers can be also fu nctioned as software limits.
5 chapter 1 driving by external signal it is possible to control each axis by external signals. the +/- direction fixed pulse driving and continuous dr iving can be also performed through the external signals. this function is used for jog or teaching modes, and will share the cpu load. input/ output signal each axis has 4 points of input signal s to perform deceler ation and stop in driving. these input signals are for high-speed near-by home search, home search and z-phase search during the home returning. each axis is with 8 output points for general output. servo motor feedback signals each axis includes input pins for se rvo feedback signals such as in-posi- tioning, close loop positioning control and servo alarm. interrupt signals interrupt signals can be generated when : (1). the start / finish of a con- stant speed drive during th e trapezoidal driving, (2). the end of driving, and (3). the compare result once highe r / lower the border-lines of the position counter range. an interrupt signal can be also generated during the interpolation driving. real time monitoring during the driving, the present status such as logical position, real position, drive speed, acceleration / d eceleration, status of accelerating / decelerating and constant driving can be read. 1.2 applications ? precise x-y-z position control ? precise rotation control ? packaging and assembly equipment ? machine control with up to 4 axes ? semiconductor pick and place and testing equipment ? other stepping/pulse-type servo motor applications
pci-1240/PCI-1240U user manual 6 1.3 installation guide before you install your pci-1240/PCI-1240U card, please make sure you have the following necessary components: ? pci-1240 or PCI-1240U das card ? pci-1240/PCI-1240U?s user manual ? driver software advantech pci-1240/PCI-1240U dll drivers (included in the com- panion cd-rom) ? motion utility advantech pci-1240/PCI-1240U motion utility (included in the com- panion cd-rom) ? pcl-10251 wiring cable ? 2pcs adam-3952 wiring board ? personal computer or workstation with a pci-bus slot after you have got the necessary components and maybe some accesso- ries for enhanced operation of your motion card, you can then begin the installation procedure. 1.4 accessories advantech offers a complete set of accessory products to support the pci-1240/PCI-1240U card. these accessories include: wiring cable ? pcl-10251 the pcl-10251 shielded cable is specially designed for pci-1240/PCI-1240U card to provide higher resistance to noise. to achieve a better signal quality, the signal wires are twisted in such away as to form a ?twisted-pair cable?, reducing cross talk and noise from other signal sources. wiring boards ? adam-3952 the adam-3952 is a 50-pin scsi wiring terminal module for din-rail mounting. this terminal module can allow easy yet reliable access to individual pin connections for the pci-1240/PCI-1240U card.
2 chapter 2 installation this chapter gives users a package item checklist, proper in structions about unpacking and step-by- step procedures for both driver and card installation.
pci-1240/PCI-1240U user manual 8 chapter 2 installation 2.1 unpacking after receiving your pci-1240/pci-124 0u package, please inspect its contents first. the package sh ould contain the following items: " pci-1240/PCI-1240U card " companion cd-rom (d ll driver included) " user?s manual the pci-1240/PCI-1240U card harbors certain electronic components vulnerable to electrostatic discharg e (esd). esd could easily damage the integrated circuits and certain compon ents if preventive measures are not carefully paid attention to. before removing the card from the anti- static plastic bag, you should take following precautions to ward off possible esd damage: ? touch the metal part of your computer chassis with your hand to discharge static electricity accumula ted on your body. or one can also use a grounding strap. ? touch the antistatic bag to a metal part of your computer chassis before opening the bag. ? take hold of the card only by the metal bracket when removing it out of the bag. after taking out the ca rd, first you should: ? inspect the card for an y possible signs of external damage (loose or damaged components, etc.). if the card is visibly damaged, please notify our service department or our local sales representative immedi- ately. avoid installing a damaged card into your system. also pay extra caution to the fo llowing aspects to ensure proper installation: avoid physical contact with materials that could hold static electricity such as plastic, vinyl and styrofoam.
9 chapter 2 2.2 driver installation we recommend yo u to install the driver before you install the pci-1240/PCI-1240U card into your sy stem, since this will guarantee a smooth installation process. the 32-bit dll driver setup program for the card is included on the companion cd-rom that is shipped w ith your das card package. please follow the steps below to install the driver software: step 1: insert the companion cd-rom into your cd-rom drive. step 2: the setup program will be la unched automatically if you have the autoplay function enabled on your system. when the setup program is launched, you?ll s ee the following setup screen. whenever you handle the card, grasp it only by its edges. do not touch the exposed metal pins of the connector or the electronic compo- nents. note keep the antistatic bag for future use. you might need the original bag to store the card if you have to remove the card fr om pc or transport it elsewhere. note if the autoplay function is not enabled on your computer, use windows explorer or windows run command to execute setup.exe on the companion cd-rom.
pci-1240/PCI-1240U user manual 10 figure 2.1: the setup screen of advantech automation software step 3: select the pci-1240/PCI-1240U dll drivers option. step 4: select the proper windows os option according to your operating system. just follow the installatio n instructions step by step to complete your dll driver setup.
11 chapter 2 figure 2.2: different options for driver setup step 5: then setup the pci-1240/PCI-1240U motion utility automati- cally. for further information on driver-related issues, an online version of software manual is available by accessing the following path: start\advantech automation\motion\pci-1240\ the example source codes could be found under the corresponding instal- lation folder such as the default installation path: \program files\advantech \motion\pci-1240\examples\
pci-1240/PCI-1240U user manual 12 2.3 hardware installation after the dll driver installation is completed, you can now go on to install the pci-1240/PCI-1240U card in any pci slot on your computer. but it is s uggested that you should refer to the computer user manual or related documentations if you have any doub t. please follow the steps below to install the card on your system. step 1: turn off your computer and unplug the power cord and cables. step 2: remove the cover of your computer. step 3: remove the slot cover on the back panel of your computer. step 4: touch the metal part on the su rface of your computer to neutralize the static electricity that might be on your body. step 5: insert the pci-1240/PCI-1240U card into a pci slot. hold the card only by its edges and carefully align it with the slot. insert the card firmly into place. us e of excessive force must be avoided, otherwise the card might be damaged. step 6: fasten the bracket of the pc i card on the back panel rail of the computer with screws. step 7: connect appropriate accessories (100-pin cable, wiring terminals, etc. if necessary) to the pci card. step 8: replace the cover of your computer chassis. re-connect the cables you removed in step 2. step 9: plug in the power cord and turn on the computer. note make sure you have installed the driver first before you install the card (please refer to 2.2 driver installation) turn off your computer before installing or removing any components on the computer.
2 chapter 3 signal connections maintaining signal connections is one of the most importan t factors in ensur- ing that your application system is sending and receiving data correctly. a good signal connection can avoid unnecessary and costly damage to your pc and other hardware devices. this chapter provides useful informa- tion about how to connect input and output signals to the pci-1240/pci- 1240u via the i/o connector.
pci-1240/PCI-1240U user manual 14 chapter 3 signal connections 3.1 i/o connector pin assignments the i/o connector on the pci-1240 /PCI-1240U is a 100-pin connector that enables you to connect to acces sories with the pcl-10251 shielded cable. figure 3.1 shows the pin assignments for the 100-pin i/o connector on the pci-1240/PCI-1240U, and table 3-1 shows its i/o connector signal description. 3.2 location of jumpers and dip switch figure 3.2 shows the names and locations of jumpers and dip switch on the pci-1240/PCI-1240U. there are nine jumpers, jp1 to jp9 on the pci- 1240/PCI-1240U. please refer to section 3.4 output pulse definition and section 3.11 emergency stop input for more information about jp1~8 and jp9 configurations. boardid switch pci-1240 and PCI-1240U have a built-in dip switch (sw1), which is used to define each card?s unique id entifier for the pci-1240/PCI-1240U motion utility. you can determine the boardid identifier on the register as shown in table 3-2. when there are multiple cards on the same chas- sis, this boardid setting is usef ul for identifying each card?s unique device number. we set the boardid switch of pci-1240/ PCI-1240U to 0 at the factory. if you need to adjust it to another number, set sw1 by referring to table 3.3. note the pcl-10251 shielded cable is especially designed for the pci-12 40/PCI-1240U to reduce noise in the analog signal lines. please refer to section 1.4 accessories.
15 chapter 3 figure 3.1: i/o connector pin assignments for pci-1240 & PCI-1240U
pci-1240/PCI-1240U user manual 16 table 3.1: pci-1240/PCI-1240U i/o connector signal description (part 1) signal name reference d irection description vex - input external power (12~24vdc) emg - input emergency stop (for all axes) xlmt+ - input + direction limit at x axis xlmt- - input - direction limit at x axis xin1 - input deceleration/instant stop at x axis xin2 - input deceleration/instant stop at x axis xin3 - input deceleration/instant stop at x axis ylmt+ - input + direction limit at y axis ylmt- - input - direction limit at y axis yin1 - input deceleration/instant stop at y axis yin2 - input deceleration/instant stop at y axis yin3 - input deceleration/instant stop at y axis xinpos - input in-position input at x axis xalarm - input servo error at x axis xecap - input encoder phase a at x axis xecan - input encoder phase a at x axis xecbp - input encoder phase b at x axis xecbn - input encoder phase b at x axis xinop - input encoder phase z at x axis xinon - input encoder phase z at x axis yinpos - input in-position input at y axis yalarm - input servo error at y axis yecap - input encoder phase a at y axis yecan - input encoder phase a at y axis yecbp - input encoder phase b at y axis yecbn - input encoder phase b at y axis yinop - input encoder phase z at y axis yinon - input encoder phase z at y axis xexop+ - input jog at the + direction of x axis xexop- - input jog at the - direction of x axis yexop+ - input jog at the + direction of y axis yexop- - input jog at the - direction of y axis gnd - - ground xout4 gnd output general output at x axis (cmp) xout5 gnd output general output at x axi
17 chapter 3 table 3.1: pci-1240/PCI-1240U i/o connector signal description (part 2) signal name reference direction description xout6 gnd output general output at x axis (server on) xout7 gnd output general output at x axis (reset) xp+p gnd output output pulse cw/pulse+ of x-axis xp+n gnd output output pulse cw/ pulse- of x-axis xp-p gnd output output pulse ccw/dir+ of x-axis xp-n gnd output output pulse ccw/dir- of x-axis gnd - - ground yout4 gnd output common output at y axis (cmp) yout5 gnd output common output at y axis yout6 gnd output common output at y axis (server on) yout7 gnd output common output at y axis (reset) yp+p gnd output output pulse cw/pulse+ of y-axis yp+n gnd output output pulse cw/pulse- of y-axis yp-p gnd output output pulse ccw/dir+ of y-axis yp-n gnd output output pulse ccw/dir- of y-axis vex - input external power (dc12~24v) zlmt+ - input + direction limit at z axis zlmt- - input - direction limit at z axis zin1 - input deceleration/instant stop at z axis zin2 - input deceleration/instant stop at z axis zin3 - input deceleration/instant stop at z axis ulmt+ - input + direction limit at u axis ulmt- - input - direction limit at u axis uin1 - input deceleration/instant stop at u axis uin2 - input deceleration/instant stop at u axis uin3 - input deceleration/instant stop at u axis zinpos - input positioning complete at z axis zalarm - input servo error at z axis zecap - input encoder phase a at z axis zecan - input encoder phase a at z axis zecbp - input encoder phase b at z axis zecbn - input encoder phase b at z axis zinop - input encoder phase z at z axis zinon - input encoder phase z at z axis uinpos - input positioning complete at u axi
pci-1240/PCI-1240U user manual 18 table 3.1: pci-1240/PCI-1240U i/o connector signal description (part 3) signal name reference direction description ualarm - input servo error at u axis uecap - input encoder phase a at u axis uecan - input encoder phase a at u axis uecbp - input encoder phase b at u axis uecbn - input encoder phase b at u axis uinop - input encoder phase z at u axis uinon - input encoder phase z at u axis zexop+ - input jog at the + direction of z axis zexop- - input jog at the - direction of z axis uexop+ - input jog at the + direction of u axis uexop- - input jog at the - direction of u axis gnd - - ground zout4 gnd output common output at z axis (cmp) zout5 gnd output common output at z axis zout6 gnd output common output at z axis (server on) zout7 gnd output common output at z axis (reset) zp+p gnd output output pulse cw/pulse+ of z-axis zp+n gnd output output pulse cw/pulse- of z-axis zp-p gnd output output pulse ccw/dir+ of z-axis zp-n gnd output output pulse ccw/dir- of z-axis gnd - - ground uout4 gnd output common output at u axis (cmp) uout5 gnd output common output at u axis uout6 gnd output common output at u axis (server on) uout7 gnd output common output at u axis (reset) up+p gnd output output pulse cw/pulse+ of u-axis up+n gnd output output pulse cw/pulse- of u-axis up-p gnd output output pulse ccw/dir+ of u-axis up-n gnd output output pulse ccw/dir- of u-axi
19 chapter 3 figure 3.2: location of jumpers and dip switch on pci-1240/PCI-1240U id0: the least significant bit (lsb) of board id id3: the most significant bit (msb) of board id table 3.2: boardid register sw1 board id register base add.+12h 3 2 1 0 abbreviation bdid3 bdid2 bdid1 bdid table 3.3: boardid setting board id setting (sw1) board id (dec.) switch position id3 id2 id1 id0 *0 #### 1 ###$ : 14 $$$$ 15 $$$$ $ = off # = on * = default
pci-1240/PCI-1240U user manual 20 3.3 output pulse definition (np+p, np+n, np-p, np-n) the output pulse command of pci-1240/PCI-1240U is from mcx314/ mcx314as chip. the pulse command has two types. one is in up/down mode and another is in pulse/directi on mode. while np+p is differential from np+n and np-p is differential from np-n. after system reset, the np+p and np-p is low level, and this invert output (np+n, np-n) is high level, and the de-fault setting of pulse output mode is up/down. user can change the output mode into pulse/direction mode by writing specified command system register. figure 3.3: output signal loop for drive pulses from the circuit shown above (figure 3- 3), the default output mode is dif- ferential output. for single ended ou tput use, user can change jumpers jp1~8 to +5v. note that you should prevent from the noise interference when using jumpers jp1~8 to output internal +5v to external device. table 3.4: jumper table of jp1~8 jumper jp1jp2jp3jp4jp5jp6jp7jp8 output sig- nal xp+p xp-p yp+p yp-p zp+p zp-p up+p up-p ic output (line driver output) pin2 and pin 3 short (default) +5v output pin1 and pin 2 shor
21 chapter 3 the following figure 3-4 and 3-5 show the examples of input circuitry connection for both photo coupler and motor driver respectively. figure 3.4: photo co upler input interface figure 3.5: line dr iver input interface
pci-1240/PCI-1240U user manual 22 3.4 general purposed output (nout7 ~ nout4) the general purposed output nout7/dsnd, nout6/asnd, nout5/ cmpm, and nout4/cmpp are from mcx314/mcx314as, and each output signal is off status after system reset. figure 3.6: circuit diagram for general purposed output general purposed output signals used in motor drives can clear error counter, alarm reset, stimulus off, et c., or select acceleration/deceleration for driving, position counter, and the status of comparison register as your output during driving. 3.5 over traveling limit switch input (nlmt+, nlmt-) over traveling limit switches are used for system protection. this input signal is connected to the limit input of mcx314/mcx314as through the connection of photo coupler and rc filter. when the limit switch is applied, the external power vex dc12~24v will source the photo cou- pler, and then the nlmtp in mcx314/mcx314as will be low level. this enables the over traveling function if the desired level of nlmtp is set to low. figure 3.7: circuit diagram for movement limit input signals
23 chapter 3 the response time of this circuit should take about 0.2 ~ 0.4 msec because of the delay of photo coupled and rc filter. the following figure 3-8 is an example of photo sensor us ed in the case of over traveling limit switch input. when writing d3 bit of register2 (xwr2) into 0 to set the limit switch is low active in x-axis, the following figure can work normally. figure 3.8: example of photo sensor used in the limit input signal 3.6 deceleration/instanta neous stop switch input (nin1 ~ 3) there are three input signals (nin1, nin2, nin3) can make the motor drives deceleration or stop. each axis has four inputs in3 ~ in0, wherein in0 is used in phase z interface of encoder feedback, and nin1, nin2, and nin3 are use as input signals near the original point. if run mode is active, the output of driving pulse is terminated after those signals are enabled; the deceleration occurs du ring acceleration/decel eration, and it will be stopped immediately during constant drive. all the signals become invalid after reset. for exampl e, when setting the d7 and d6 of xwr1 register to 1 and 0 (in3 is low active), the drive will be terminated in the case of the limit switch is on and xin3 is low. furthermore, these input signals can be used as general purposed input because user can get the level by reading the input register status (rr4, rr5) figure 3.9: circuit diagram of d eceleration/instantaneous stop input signal the response time of this circuit shoul d take about 0.25 msec because of the delay of photo coupled and rc filter.
pci-1240/PCI-1240U user manual 24 3.7 general purposed input for servo drives (ninpos, nalarm) ninpos is an input signal from servo drives for in-position check, it is active after the servo drives finish a position command. users can enable/ disable this pin. when enable this function, the n-drv bit in rr0 will change to 0 after servo drives fini sh the in-position check and ninpos pin active. nalarm is an input signal from servo drives for drives alarm output. when servo drives have an abnormal condition, they active this signal to note pci-1240/PCI-1240U to stop output pulses. when enable the nalarm function of pci-1240/PCI-1240U, the d14 bit of rr2 will set to 1 after nalarm active. if pci-1240/PCI-1240U is driving pulses out- put, the output pulses will stop immediately when nalarm active. figure 3.10: input signal for servo motor this signal must be supplied from the external source dc12 ~ 24v, and the response time of this circuit s hould take about 0.25 msec because of the delay of photo coupled and rc filter. furthermore, this two signals can be used as general purposed input while user could read the input register 1 and 2 (rr4, rr5) to get the status of this two signal.
25 chapter 3 3.8 encoder input (necap , necan, necbp, necbn, ninop, ninon) when feedback the encoder signal s, connect necap to phase a of encoder output. and necan to phase a, necbp to phase b, necbn to phase b. nin0p to phase z and nin0n to phase z. the default setting of position feedback of pci-1240/PCI-1240U is quadrature input. up/down pulses feedback is available af ter setting the input pule mode. nin0p/n is used for encoder phase z signal feedback and also can be used as general purposed input or instantaneous stop input. figure 3.11: circuit diagram of encoder feedback from the circuit diagram above, pci-1240/PCI-1240U use high speed photo coupler for isolation. the encoder output can be differential mode or open-collector mode. when n***p is high and n***n is low, the real feedback signal (n***) to mcx314/mcx314as is low. the maximum possible a/b phase feedback frequency is about 1 mhz.
pci-1240/PCI-1240U user manual 26 the following diagram is an example of the connection for encoder with differential-output linear driver. figure 3.12: example of connection di agram for differential-output line driver the following figure is an example of connection for the encoder with open-collector output. figure 3.13: example of connection for open collector output encoder
27 chapter 3 3.9 external pulse cont rol input (nexop+, nexop-) the pulses output function of mcx314/mcx314as chip is controlled by register setting or by external pu lse command input (nexop+, nexop-). there are two output pulse mode for the external control pin. one is fixed pulse output mode, and the other is continuous output mode. in pci- 1240/PCI-1240U, it provides jog an d hand wheel functions that allow you driving motors through external hand wheel or jog equipment. in jog mode, it is corresponding to the ?continuous output mode,? and in hand wheel mode, it is corresponding to the ?fixed pulse output mode.? these functions are progressed with out cpu involved on host pc. when the input signal is enabled during fixed pulse drive, the pulse specified will be output. when continuous output drive is enabled, the drive pulse will be continually output at the period of signal low. this signal should be used in combination with extern al power dc12 ~ 24v. the response time of circuitry should take about 10 msec because of the delay of photo coupled and rc filter. figure 3.14: circuit diagram of th e external drive operation signals figure 3.15: example of connecting to jog mcx314 3.3k 100k 0.01 vex(12~24v) +5v tlp121 or eq. 10k +5v 3.3k 100k 0.01 10k nexpp nexpm nexop + nexop- 74hc14 control logic
pci-1240/PCI-1240U user manual 28 3.10 emergency stop input (emg) when emergency stop input signal is enabled, the output of the drive pulse for all axes will be stopped, and error bit of main status register will be set to 1. the operation of emergency stop input is positive or negative triggered can be determined by jp9 on the board. figure 3.16: circuit diagram of emergency stop input signal this signal should be used in combination with external power dc12 ~ 24v. the response time of circuitry should take about 0.25 msec because of the delay of photo coupled and rc filter. 3.11 external power input (vex) external power is necessary for al l input signals of each axis. please apply dc12~24v voltage as your n eed. current cons umption of each point for input signal is dc12v = 3.3 ma, dc24v = 7 ma. table 3.5: jumper settings of jp9 jumper jp9 emergency stop function enabled when emer- gency stop signal (emg) and external gnd short pin 1 and pin 2 short (default) emergency stop function enabled when emer- gency stop signal (emg) and external gnd open pin 2 and pin 3 short note please check if emg and gnd are short or not when the card could not work properly.
29 chapter 3 3.12 interrupt setting when the interrupt occurs from mcx314/mcx314as, the interrupt sig- nal of mcx314/mcx314as will be ch anged from high to low. because the pci bus interrupt is high level sensitive, the pci-1240/PCI-1240U inverse the signal and latch the sign al to adapt the pci bus inta. the fig- 3.17 shows the interrupt struct ure of the pci-1240/PCI-1240U. we suggest users who want to program their own interrupt service routine (isr) should follow the procedures: step 1: when interrupt occurs. (hardware) step 2: program will jump to isr. (software) step 3: in isr program the first thing ha ve to do is clear interrupt for pre- venting hanging up the pci bus. step 4: in isr program the last thing have to do is read nrr3 of mcx314/mcx314as for accepting next interrupt occurs. figure 3.17: circuit diagram of interrupt setting
pci-1240/PCI-1240U user manual 30 3.13 connection exampl es for motor drivers 3.13.1 connection to step motor drivers the following figure is an example of pci-1240/PCI-1240U connected to 5-phase micro-step motor drives, kr515m manufactured by techno company. figure 3.18: example of connecting to kr515m drive note jp1~8 of pci-1240/PCI-1240U are set to +5v output side, +5v output for output terminals xp+p and xp-p. setting jp1~8 as single-ended output will output +5v of pci-1240/PCI-1240U to external devices, this will induce noise back to pci-1240/PCI-1240U. so, be careful when con- nection. connect xout4 to h. o. (hold off) can control the drive to hold. connect xout5 to d.s. can control the resolu- tion of micro-step drive. which will be controlled by setting d8, d9 of wr3 in mcx314/ mcx314as. and, read the rr4,5 to know the status of xin0p/n.
31 chapter 3 the following figure is an example of pci-1240/PCI-1240U connected to upk step drive manufactur ed by oriental company. figure 3.19: example of connecting to upk step drive note the differential pulse output of pci-1240/pci- 1240u is connected to cw/ccw input of upk drive. xout4 can control upk drive to hold by setting d8 of wr3. timing and over heat sig- nals can be read back by reading rr4,5. it is better to use a twisted pair cable for long connections.
pci-1240/PCI-1240U user manual 32 3.13.2 connection to servo motor drivers the figure shown below is an example of pci-1240/PCI-1240U con- nected to minas x series ac servo motor drive. figure 3.20: example of minas x series ac servo motor drive note the servo drive must be set in pulse-control drive mode and the type of pulse input is cw/ccw mode. this connection is not well for pulse/ direction mode because the timing is not match.
33 chapter 3 3.14 field wiring considerations when you use the pci-1240/PCI-1240U to acquire data from outside, noises in the environment might sign ificantly affect the accuracy of your measurements if due cautions are not ta ken. the following measures will be helpful to reduce possible interference running signal wires between sig- nal sources and the pci-1240/PCI-1240U. ? the signal cables must be kept away from strong electromagnetic sources such as power lines, large electric motors, ci rcuit breakers or welding machines, since they may cause strong electromagnetic inter- ference. keep the analog signal cab les away from any video monitor, since it can significantly aff ect a data acquisition system. ? if the cable travels through an area with significant electromagnetic interference, you should adopt individually shielded, twisted-pair wires as the analog input cable. this type of cable has its signal wires twisted together and shielded with a metal mesh. the metal mesh should only be connected to one point at the signal source ground. ? avoid running the signal cables through any conduit that might have power lines in it. ? if you have to place your signal cable parallel to a power line that has a high voltage or high current running through it, try to keep a safe dis- tance between them. or you should place the signal cable at a right angle to the power line to mi nimize the undesirable effect. ? the signals transmitted on the cable will be directly affected by the quality of the cable. in order to ensu re better signal quality, we recom- mend that you use the pcl-10251 shielded cable. it is optional to connect encoder a/b phase feedback signal. if connect to encoder signal, user can read the real position from pci-1240/ PCI-1240U. if the environment has high noise or the connection is long, we recommend you to use twist pair cable for servo drives.
pci-1240/PCI-1240U user manual 34 3.15 i/o signal timing 3.15.1 power on reset figure 3.21: timing diagram of power on reset ? output pulses (np p, np n) for drive control and general purpose output signals (nout4 ~ 7) for i/o control will be determined after 250 nsec from power on reset. ? user can access pci-1240/PCI-1240U only after 500 nsec from power- on reset. 3.15.2 individual axis driving figure 3.22: timing diagram of individual axis driving ? the maximum time to output command pulse after first pulse command is about 650nsec. ? when pulse/direction mode, the direction signal will valid after 275 nsec and pulse output will vaild after 375 nsec after direction signal.
35 chapter 3 3.15.3 interpolation driving figure 3.23: timing diagram of interpolation driving ? after interpolation command is enable, the first pulse will be outputted in 775 nsec. ? if using pulse/direction mode, direction signal (np-p) is valid in 125 nsec of high-level pulse signal. 3.15.4 input pulse timing quadrature pulse of encoder input figure 3.24: timing diagram of qu adrature pulse of encoder input ? the minimum difference time between a/b phases is 200 nsec. up/down pulse input figure 3.25: timing diagram of up/down pulse input ? minimum up/down pulse width: 130 nsec. ? minimum increased/decreased pulse interval: 130 nsec . ? minimum up/down pulse period: 260 nsec.
pci-1240/PCI-1240U user manual 36 3.15.5 instantaneous stop timing external instantaneous stop signal figure 3.26: timing diagram of ex ternal instantaneous stop signal ? when external stop signal is enab led during driving, up to 400 sec + 1 pulse will be output, and then stopped. instantaneous stop instruction figure 3.27: timing diagram of instantaneous stop instruction ? when the stop instruction is issued during driving, at most one pulse will be output, and then stopped. 3.15.6 deceleration stop timing external decelera tion/stop signal figure 3.28: timing diagram of external deceleration/stop signal ? when external deceleration signal is enabled during driving, up to 400 sec + 2 pulses will be output, and then stopped. deceleration/stop instruction figure 3.29: timing diagram of deceleratio n/stop instruction ? when the deceleration/stop instru ction is issued du ring driving, at most two pulses will be output, and then stopped.
37 chapter 3 3.16 ttl level position compare output (PCI-1240U only) this is a special design for the cu stomers who can use the position com- pare output to synchronize with other vision devices. for pci-1240, the position compare output channels are nout4 and nout5, and it is open- collector type output. in which the nout4 and nout5 represent the different direction of position compare separately. for PCI-1240U, we provide an integrated option for the position compare output. by selecting with jp10, you can choose the xout4 pin as original design as pci- 1240, or ttl level output. while the jp10 is in ?cmp? position, the output of xout4 is (xout4 xout5). with this special design you can get the compared result in both increment and decrement direction through one unified pin. table 3.6: jumper settings of jp10 jumper jp10 the xout4 is defined as the pulse out- put channel for the incremental position compare mechanism. and it?s open-col- lector type output. xout4, pin 1 and pin 2 short (default) it?s a design only for PCI-1240U. the position compare signal for both directions will output from xout4, and the output level of xout4 is ttl level. cmp, pin 2 and pin 3 short
pci-1240/PCI-1240U user manual 38
2 appendix a specifications
pci-1240/PCI-1240U user manual 40 appendix a specifications a.1 axes axes 4 2/3-axis lin- ear interpola- tion range for each axis: pci-1240: (-8,388,608 ~ +8,388,607) PCI-1240U: (-2,147,483,648 ~ +2,147,483,648) speed 1 pps ~ 4 mpps precision 0.5 lsb 2-axis circular interpolation range pci-1240: (-8,388,608 ~ +8,388,607) PCI-1240U: (-2,147,483,648 ~ +2,147,483,648) speed 1 pps ~ 4 mpps precision 1 lsb continous interpolation speed 1 pps ~ 2 mpps output signal np+p/n, np-p/n range 1 pps ~ 4 mpps precision 0.1% change of acceler- ation for s curve 954 ~ 31.25 x 10 9 pps/sec2 acceleration/ deceleration 125 ~ 500 x 10 6 pps/sec initial velocity 1 pps ~ 4 mpps drive speed 1 pps ~ 4 mpps (can be changed during driving) number of output pulses fixed pulse driving pci-1240: 0 ~ 268,435,455 PCI-1240U: 0 ~ 4,294,067,295 pulse output type pulse/direction (1-pulse, 1-direction type) or up/down (2-pulse type) output signal modes differential line driving output / single- ended output speed curve t/s curve acceleration/deceleration
41 appendix a a.2 digital input/output input signals over travel- ing limit switch input* nlmt+ and nlmt- external deceleration/ instantaneous stop signal nin1 ~ 3 input signal for servo motor drives* nalarm (servo alarm); ninpos (position command completed) emergency stop emg - one emergency stop input max. input fre- quency 4 khz input voltage low 3 v dc max. high 10 v dc min. 50 v dc max. input current 10 v dc 1.70 ma (typical) 12 v dc 2.10 ma (typical) 24 v dc 4.40 ma (typical) 48 v dc 9.00 ma (typical) 50 v dc 9.40 ma (typical) protection 2,500 v dc photo coupler isolation and rc filtering general pur- pose output signals output signal nout4 ~ 7 output voltage open collector 5 ~ 40 v dc sink current 200 ma max./channel protection 2,500 v dc photo coupler isolation note *: ?n? represents the axis (x, y, z or u) that is concerned
pci-1240/PCI-1240U user manual 42 a.3 input pulse for encoder interface a.4 external signals driving input signal* necap/n, necbp/n, nin0p/n encoder pulse input type quadrature (a/b phase) or up/down x1, x2, x4 (a/b phase only) counts per encoder cycle x1, x2, x4 (a/b phase only) max. input frequency 1 mhz input voltage low 2 v dc max. high min.: pci-1240: 10 v dc PCI-1240U: 5 v dc max. 30 v dc protection 2,500 v dc is olation protection input signal nexop+, nexpo- max. input fre- quency 100 hz input voltage low 3 v dc max. high 10 v dc min. 30 v dc max. driving mode fixed pulse driving or continuos driving. supports hand wheel and jog. protection 2,500 v dc photo coupler isolation
43 appendix a a.5 other functions a.6 general position counter range of command position counter (for output pulse) -2,147,438,648 ~ +2,147,438,647 range of actual posi- tion counter (for input pulse) -2,147,438,648 ~ +2,147,438,647 comparison register comp+ register range -2,147,438,648 ~ +2,147,438,647 comp- register range -2,147,438,648 ~ +2,147,438,647 can be used for software over traveling limit interrupt func- tions (exclud- ing interpolation) interrupt condition (all conditions could be enabled/disabled indi- vidually) position counter => comp- position counter < comp- position counter < comp+ position counter => comp+ constant speed begins or ends during acceleration/decelera- tion driving pulse finishing boardid 4-bit dip switch, id: 0~15 i/o connector type 100-pin scsi-ii female dimensions 175 x 100 mm (6.9? x 3.9?) power consump- tion typical. +5 v @ 850 ma +12 v @ 600 ma max. +5 v @ 1 a +12 v @ 700 ma external power voltage dc +12 ~ 24 v temperature operating 0 ~ 60 c (32 ~ 140 f) (refer to iec 68-2-1,2) storage -20 ~ 85 c (-4 ~ 185 f) relative humidity 5~95% rh non-condensing (refer to iec 68-2-3) certifications ce certified
pci-1240/PCI-1240U user manual 44
2 appendix b block diagram
pci-1240/PCI-1240U user manual 46 appendix b block diagram oscillator 16 mhz address decoder pci9052 reset# q d ar +5v la4 c50 la3~0 wr# rd# ld15~0 linti1 clr_int clk resetn csn a2~0 wrn rdn d15~0 intn xp+p/n xp-p/n xout7~4 xlmtp xlmtm xin3~1 xinpos xalarm line driver 26ls31 xp+p/n xp-p/n pulse output output buffer uln2803a photo coupler & rc filter high-speed photo coupler xeca xecb xinpo photo coupler & rc filter xexop+ xexop- y axis interface (identical to the input/output interface of x-axis) z axis interface (identical to the input/output interface of x-axis) u axis interface (identical to the input/output interface of x-axis) photo coupler & rc filter emg emergency stop emgn mcx314 xexop+ xexop- xecap/n xecbp/n xinpo/n encoder signal output +dir. jog -dir. jog xlmt+ xlmt- xin3~1 xinpos xalarm +limit input -limit input deceleration input servo motor signal servo alarm vex external power (dc12~24v) xout7~4 general output clk<
2 appendix c register structure and format
pci-1240/PCI-1240U user manual 48 appendix c register structure and format c.1 overview the pci-1240/PCI-1240U is delivered with an easy-to-use 32-bit dll driver for user programming under windows operating system. we advise users to program the pci-1240/PCI-1240U using 32-bit dll driver provided by advantech to avoid the complexity of low-level programming by register. the most important consideration in programming the pci-1240/pci- 1240u at the register level is to understand the function of the card?s reg- isters. the information in the following sections is provided for users who would like to do their own register-level programming. c.2 i/o port address map the pci-1240/PCI-1240U requires 20 consecutive addresses in the pc?s i/o space. the address of each register is specified as an offset from the card?s base address. for example, ba se+0 is the card?s base address and base+8 is the base address plus eigh t bytes. the following sections give the detailed information about register layout, and also the detailed infor- mation about each register or driver and its address relative to the card?s base address. table c-1 and c-2 show the function and format of each write register or driver and its address relative to the card?s base address; table c-3 and c-4 show the function and format of each read register or driver and its address relative to th e card?s base address note all base address is in hexadecimal in appendix c. users have to use a 16-bit (word) i/o command to read/write each
49 chapter c table c.1: pci-1240/PCI-1240U write register function address (hex.) write symbol register name content 0 wr0 command register settings for axis assignment and command 2 xwr1 ywr1 zwr1 uwr2 x axis mode register 1 y axis mode register 1 z axis mode register 1 u axis mode register 1 enable/disable deceleration and set deceleration level. enable/disable interrupt for each axis. 4 xwr2 ywr2 zwr2 uwr2 x axis mode register 2 y axis mode register 2 z axis mode register 2 u axis mode register 2 set the external limit signal of each axis. set the type of output pulse set the type of encoder input enable/disable the signal from servo drives bp1p bp1p register setting for the + direction bit data of the first axis for bit pattern interpolation. 6 xwr3 ywr3 zwr3 uwr3 x axis mode register 3 y axis mode register 3 z axis mode register 3 u axis mode register 3 settings for manual deceleration, individually decelerating, and s- curve acceleration/ deceleration mode of each axis.setting for external operation mode. setting for general output out7 ~ 4. bp1m bp1m register setting for the - direction bit data of the first axis for bit pattern interpolation. 8 wr4 output register setting for general output out3 ~ 0. bp2p bp2p register setting for the + direction bit data of th second axis for bit pattern interpolation. a wr5 interpolation mode register axis assignment. settings of constant linear speed, step output mode, and interrupt. bp2m bp2m register setting for the - direction bit data of the second axis for bit pattern interpolation. c wr6 data writing register 1 setting of the least significant 16-bi (d15-d0) for data writing. bp3p bp3p register setting for the + direction bit data of the third axis for bit pattern interpolation. e wr7 data writing register 2 setting of the most significant 16- bit (d31-d16) for data writing. bp3m bp3m register setting for the - direction bit data of the third axis for bit pattern interpolation. 10 clrint clear interrupt register clearing the interrupt register 12 n/a n/a 14 pgm pulse generator mode register setting for jog/hand wheel mode funtion
pci-1240/PCI-1240U user manual 50 table c.2: pci-1240/PCI-1240U write register format base add. d15 d14 d13 d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 0w command register: wr0 reset u z y x axis assignments command code 2w mode register 1: wr1 d-end c-sta c-end p c+ p < c+ p < c- p c- pulse in3-e in3-l in2-e in2-l in1-e in1-l in0-e in0-l interrupt enable/disable driving stop input signal enable/disable 4w mode register 2: wr2 inp-e inp-l alm-ealm-l pind1 pind0 pinmd dir-l pls-l plsmdcmpslhlmt- hlmt+ lmtmd slmt- slmt+ 6w mode register 3: wr3 out7 out6 out5 out4 outsl exop1exop0 sacc dsnde manld 8w output register: wr4 uout3 uout2 uout1uout0 zout3 zout2 zout1 zout0 yout3 yout2 yout1yout0xout3 xout2 xout1xout0 aw interpolation mode register: wr5 bpint cint cmpls expls lspd1 lspd0 ax31 ax30 ax21 ax20 ax11 ax10 interrupt step output constant vector speed ax3 ax2 ax1 cw data writing register 1: wr6 wd15 wd14 wd13 wd12 wd11 wd10 wd9 wd8 wd7 wd6 wd5 wd4 wd3 wd2 wd1 wd0 ew data writing register 2: wr7 wd31 wd30 wd29 wd28 wd27 wd26 wd25 wd24 wd23 wd22 wd21 wd20 wd19 wd18 wd17 wd16 10 w clear interrupt register: clrint clear interrupt register 14 w pulse generator mode register: pgm pgmu3 pgmu2 pgmu1pgmu0 pgmz3 pgmz2 pgmz1 pgmz0 pgmy3 pgmy2 pgmy1pgmy0 pgmx3 pgmx2 pgmx1pcmx0
51 chapter c table c.3: pci-1240/pci-12 40u read register function address (hex.) read symbol register name content 0 rr0 main status register limit switch status, driving status, ready for interpolation, quadrant for circle interpolation, and the stack of bp 2 xrr1 yrr1 zrr1 urr1 x axis status register 1 y axis status register 1 z axis status register 1 u axis status register 1 the result of compare, status of acceleration, and ending status. 4 xrr2 yrr2 zrr2 urr2 x axis status register 2 y axis status register 2 z axis status register 2 u axis status register 2 error message 6 xrr3 yrr3 zrr3 urr3 x axis status register 3 y axis status register 3 z axis status register 3 u axis status register 3 interrupt message 8 rr4 input register 1 i/o input for x- and y-axis a rr5 input register 2 i/o input for z- and u-axis c rr6 data reading register 1 low word of data register (d15 ~ d0) e rr7 data reading register 2 high word of data register (d31 ~ d16) 10 intsta interrupt status register the status of interrupt register 12 bdid board id register the card's board id 14 pgsta pulse generator status register jog/hand wheel mode function status
pci-1240/PCI-1240U user manual 52 table c.4: pci-1240/pci-1 240u read register format base add.1514131211109876543210 0r main status register: rr0 bpsc1 bpsc0 zone2zone1zone0cnext i-drv u-err z-err y-err x-err u-drv z-drv y-drv z-drv error s tatus of each axis driving s tatus of each axis 2r status register 1: rr1 emg alarm lmt- lmt+ in3 in2 in1 in0 adsndacnstaasnd dsnd cnst asnd cmp- cmp+ stop status 4r status register 2: rr2 emg alarm hlmt- hlmt+ slmt- slmt+ 6r status register 3: rr3 d-end c-sta c-end p c+ p < c+ p < c- p c- pulse 8r input register 1: rr4 y-alm y-inp y-ex- y-ex+ y-in3 y-in2 y-in1 y-in0 x-alm x-inp x-ex- x-ex+ x-in3 x-in2 x-in1 x-in0 ar input register 2: rr5 u- alm u- inp u-ex- u-ex+ u-in3 u-in2 u- in 1 u- in 0 z- alm z- inp z- ex- z- ex+ z- in 3 z- in 2 z- in 1 z- in0 cr data reading register 1: rr6 rd15 rd14 rd13 rd12 rd11 rd10 rd9 rd8 rd7 rd6 rd5 rd4 rd3 rd2 rd1 rd0 er data reading register 2: rr7 rd31 rd30 rd29 rd28 rd27 rd26 rd25 rd24 rd23 rd22 rd21 rd20 rd19 rd18 rd17 rd16 10 r interrupt status register: intsta intf 12 r board id register: bdid bdid3 bdid2 bdid1 bdid0 14 r pulse generator status register: pgsta pgmu3 pgmu2 pgmu1pgmu0 pgmz3 pgmz2 pgmz1 pgmz0 pgmy3 pgmy2 pgmy1pgmy0 pgmx3 pgmx2 pgmx1pcmx0
53 chapter c c.3 mcx314/mcx314as write registers: wr0 ~ wr7 the pci-1240/PCI-1240U registers from wr0 (base add. + 0) to wr7 (base add. + e) are the same as mapping registers on mcx314/ mcx314as chip, and please refer to mcx314/mcx314as user?s man- ual section 4.3 ~ section 4.9 for detailed information. c.4 clear interrupt register: clrint write any value to this address to clear the interrupt register. c.5 pulse generator m ode/status register: pgm/ pgsta the pulse generator function is powerful for users to drive specific axis by jog or hand wheel. there are tw o operation modes - jog mode and hand wheel mode. in jog mode, it is corresponding to the ?continuous pulse driving mode?, and in hand wheel mode, it is correspondi ng to the ?fixed pulse driving mode?. please refer to mcx314/mcx314as user?s manual section 2.6.1 for detailed information. table c.5: clear interrupt regi ster: clrint - write base +10 base add. d15 d14 d13 d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 10 w clear interrupt register: clrint clear interrupt register
pci-1240/PCI-1240U user manual 54 d3 ~ 0 x-axis pules generator mode control d7 ~ 4 y-axis pules generator mode control d11 ~ 8 z-axis pules generator mode control d15 ~ 12 u-axis pules generator mode control the following table indicates the external signal routing path. the external signals generate the pulses to drive the motor are connected to the pins nexop+ and nexop- (pl ease refer to the pin assignment). table c.6: pulse generator mode/status register: pgm/pgmsta - write/read base +14 table c.7: pulse generator mode - pgmn3 base add. d15 d14 d13 d12 d11 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0 14 w pulse generator mode register: pgm pgmu3 pgmu2 pgmu1 pgmu0 pgmz3 pgmz2 pgmz1 pgmz0 pgmy3 pgmy2 pgmy1pgmy0 pgmx3 pgmx2 pgmx1 pcmx0 r pulse generator status register: pgsta pgmu3 pgmu2 pgmu1 pgmu0 pgmz3 pgmz2 pgmz1 pgmz0 pgmy3 pgmy2 pgmy1pgmy0 pgmx3 pgmx2 pgmx1 pcmx0 pgm n3, n=x, y, z or u m e aning signal type 0 jog mode isolated digital input 1 hand wheel mode a/b phase pulse input
55 chapter c c.6 mcx314/mcx314as read registers: rr0 ~ rr7 the pci-1240/PCI-1240U registers from rr0 (base add. + 0) to rr7 (base add. + e) are the same as mapping registers on mcx314/ mcx314as chip, and please refer to mcx314/mcx314as user?s man- ual section 4.10 ~ section 4.15 for detailed information. table c.8: pulse generator signal connection mode table c.9: driving axis for software programmable mode pgmn2 pgmn1 pgmn0 meaning 0 0 0 function disabled 0 0 1 signal from pins nexo p+/- for driving n- axis 010 software programmable mode - signal from pins xexo p+/- for driving axis selected by pins u_in2 and u_in1 011 software programmable mode - signal from pins yexo p+/- for driving axis selected by pins u_in2 and u_in1 1 0 0 signal from pins xexo p+/- for driving n- axis 1 0 1 signal from pins yexo p+/- for driving n- axis 1 1 0 signal from pins zexo p+/- for driving n- axis 1 1 1 signal from pins uexo p+/- for driving n- axis note: n= x, y, z or u u_in2 u_in1 driving axis 00x-axis 01y-axis 10z-axis 11u-axis
pci-1240/PCI-1240U user manual 56 c.7 interrupt stat us register: intsta d0 interrupt flag this bit indicates whether interrupt occurred or not. 1 means that an interrupt has occurred. c.8 board id register: bdid bdid shows the board id of the pci-1240/PCI-1240U. table c.10: interrupt status register: intsta - read base +10 table c.11: board id register: bdid - read base +12 base add. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 10 r interrupt status register: intsta intf base add. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 12 r board id register: bdid bdid3 bdid2 bdid1 bdid0
2 appendix d cable pin assignments
pci-1240/PCI-1240U user manual 58 appendix d cable pin assignments
2 appendix e wiring with third-party motor drivers
pci-1240/PCI-1240U user manual 60 appendix e wiring with third-party motor drivers figure e.1: wiring diag ram with mitsubishi mr-j2s series motor driver
61 chapter e figure e.2: wiring diagram with oriental limo ezmc series motor driver
pci-1240/PCI-1240U user manual 62 figure e.3: wiring diagram with panasonic minas-a series motor driver
63 chapter e figure e.4: wiring diagram with yaskawa sgdm series motor driver
pci-1240/PCI-1240U user manual 64

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