Advantech PCI-1242 User Manual

PCI-12414-Axis Voltage-type Servo Motor Control CardPCI-12424-Axis Pulse-type Servo motor Control CardUser Manual

PCI-1241/1242 User Manual xC.2 Home Mode0 ... 79Figure C.1:Velocity Profile of Home Mod

PCI-1241/1242 User Manual 90C.14 Home Mode12In Home mode12, the motor will start up at low speed FL, and then accel-erate to high speed FH towards th

2 APPENDIX DRemote I/OThis chapter provides information on the remote I/O function of PCI-1241/42 and the PCLD-8241 I/O Module.

PCI-1241/1242 User Manual 92Appendix D Remote I/OBoth PCI-1241 and PCI-1242 support a powerful remote IO function that dramatically save wiring by tr

93 Appendix D D.2 Specifications• Size: 107 x 290 mm• Din rail package--- TS32 (A)/TS35 (A)• 5EHDBV terminals (DINKLE)• Ambient Temperature: 0

PCI-1241/1242 User Manual 94• Load current: 400mA• Off-state leakage current: 1uA Max. • Turn-ON time: 2ms Max.• Turn-OFF time: 0.2 ms Max.• Arc-

2CHAPTER 1General InformationThis chapter provides general informa-tion on the PCI-1241/42.Sections include:• Introduction• Features• Applications•

PCI-1241/1242 User Manual 2Chapter 1 Introduction1.1 IntroductionPCI-1242 is a 4-Axis Pulse-type Motion Control Card and PCI-1241 is a 4-axis Pulse/

3 Chapter 1 1.2 FeaturesPCI-1241/1242 provides the motor control functions as seen below:• Independent 4-axis motion control• Each axis of PCI-124

PCI-1241/1242 User Manual 41.3 Applications• Precise X-Y-Z position control• Precise rotation control• Packaging and assembly equipment• Machine

5 Chapter 1 Figure 1.1: Installation Flow ChartInstall Driver from CD-ROM, then power off PCInstall Hardware and power on PCUse PCI-1241_42_61 Utilit

PCI-1241/1242 User Manual 61.5 Software Programming ChoicesAdvantech offers complete DLL drivers and utility support to help fully exploit the functi

2CHAPTER 2InstallationThis chapter provides information on the installation of PCI-1241/42.Sections include:• Software Installation• Hardware Instal

PCI-1241/1242 User Manual 8Chapter 2 Installation2.1 Software InstallationWe recommend you to install the driver before you install the PCI-1241/42

9 Chapter 2 Step 3: After the installation completed, you will find PCI-1241/1242/1261 Card Index Manager, User Manual and Utility under the followin

PCI-1241/1242 User Manual iiCopyrightThis documentation and the software included with this product are copy-righted 2007 by Advantech Co., Ltd. All r

PCI-1241/1242 User Manual 102.2.1 Board Layout and Jumper/Switch SettingsFigure 2.2 shows the names and locations of jumpers and VRs on the PCI-1241/1

11 Chapter 2 Table 2.1: Summary of Jumper and Connector SettingsJumpers No. Function DescriptionJ1 Remote I/O channel 1 for PCLD-8241, 10-pin simple

PCI-1241/1242 User Manual 12JP6 Set Local Input channels as source type. On-board Common Input of Local Input Channel connects to VEX pin.(Default) Se

2CHAPTER 3Signal ConnectionsThis chapter provides useful informa-tion about how to connect input and output signals to the PCI-1241/1242 via the I/O c

PCI-1241/1242 User Manual 14Chapter 3 Signal ConnectionsMaintaining signal connections is one of the most important factors in ensuring that your app

15 Chapter 3 Figure 3.2: J2 Remote I/O Connector Pin AssignmentsTable 3.1: PCI-1241/1242 I/O J1 Conn. Signal Description – Remote I/OPin No.Signal Na

PCI-1241/1242 User Manual 16Figure 3.3: J3 MPG connector pin assignmentsTable 3.2: PCI-1241/1242 I/O J2 Conn. Signal Description – Remote I/OPin NoSig

17 Chapter 3 Table 3.3: PCI-1241/1242 I/O J3 Conn. Signal Description – MPG InputPin No.Signal NameReference Direction Description1 MPG_ECAP - Input

PCI-1241/1242 User Manual 18Figure 3.4: SCSI-II 68-pin Connector Pin AssignmentsA3_PBN 68 34 A2_PBNA3_PBP 67 33 A2_PBPA3_PAN 66 32 A2_PANA3_PAP 65 31

19 Chapter 3 Table 3.4: PCI-1241/1242 I/O Conn. Signal Desc. – DDA Pulse OutputPin No.Signal NameReference Direction Description27 A0_PAP - Output Ax

iii2 Year Product WarrantyAdvantech warrants to you, the original purchaser, that each of its prod-ucts will be free from defects in materials and wor

PCI-1241/1242 User Manual 20Table 3.5: PCI-1241/1242 I/O Conn. Signal Desc. – Encoder InputPin No.Signal NameReference Direction Description15 A0_ECAP

21 Chapter 3 Table 3.6: PCI-1241/1242 I/O Connector Signal Description – Local I/OPin No.Signal Name Reference Direction Description7 A0_HOME VEX_GND

PCI-1241/1242 User Manual 22Note: Pin 36, 3, 37, 4 are provided by PCI-1241 onlyTable 3.7: PCI-1241 I/O Conn. Signal Desc. – Voltage Output & Othe

23 Chapter 3 3.2 Voltage Output Connection (PCI-1241 only)PCI-1241 supports 4-axis voltage output channels for servo driver con-trol. PCI-1241 pro

PCI-1241/1242 User Manual 24Figure 3.5: Wiring Diagram between PCI-1241 and Servo Motor Driver

25 Chapter 3 3.3 Pulse Output ConnectionPCI-1241/1242 supports 4-axis pulse output channels for pulse-type servo motor driver and stepping motor dri

PCI-1241/1242 User Manual 26Figure 3.7: Pulse Output FormatWiring ConsiderationsThe following is the wiring considerations, and Figure 3-8 shows the w

27 Chapter 3 Figure 3.8: Wiring Diagram Between PCI-1241/42 and Pulse-Type Driver3.4 Local Input ConnectionPCI-1241/42 provides 13 dedicated input c

PCI-1241/1242 User Manual 28Local Input Specifications• Active (Logic 0 in real hardware signal) when input voltage is between 18 V and 30 V• Inacti

29 Chapter 3 .Figure 3.9: Local Input Wiring Diagram3.5 Local Output ConnectionPCI-1241/42 provides 5 dedicated output channels, and Figure 3-10 sho

PCI-1241/1242 User Manual ivCE NotificationThe PCI-1241/42, developed by ADVANTECH CO., LTD., has passed the CE test for environmental specifications

PCI-1241/1242 User Manual 30Driving CapabilityMaximum driving capability of each output load of each channel is 100 mA and overall maximum driving cap

31 Chapter 3 3.6 Local I/O Wiring ExampleIn this section, it shows a local I/O wiring example of PCI-1241/42 that helps you to setup a system quickl

PCI-1241/1242 User Manual 32• G and H zones: When the servo-ON signal of the first axis (A1_SERVON) is changed from 1 to 0, the open collector output

33 Chapter 3 • Zone J: Under normal conditions the emergency stop switch is CLOSED. Therefore, a current loop forms in the E_STOP circuit. At this t

PCI-1241/1242 User Manual 34.Figure 3.12: Local I/O Wiring Example of Axis One (II)3.6.1 MPG Encoder Input Connection

35 Chapter 3 Figure 3.13: MPG Encoder Input DB-9 Connector Pin AssignmentFigure 3.14: MPG Encoder Input Wiring Diagram9651MPG_GNDMPG_GNDMPG_ECZPMPG_E

PCI-1241/1242 User Manual 363.6.2 Remote I/O ConnectionIn PCI-1241/42, we provide capability to connect to the PCLD-8241 remote I/O module. The remote

37 Chapter 3 Figure 3.17: Remote I/O Wiring Diagram in PCI-1242

PCI-1241/1242 User Manual 383.6.3 Field Wiring ConsiderationsWhen you use the PCI-1241/42 motor control card to connect with motor drivers, noises in

2CHAPTER 4Configuration UtilityThis chapter provides information on the configuration utility for PCI-1241 and PCI-1242.Sections include:• Utility Ma

vPacking ListBefore setting up the system, check that the items listed below are included and in good condition. If any item does not accord with the

PCI-1241/1242 User Manual 40Chapter 4 Configuration UtilityThe Configuration Utility is designed for easy installation, configuration, and diagnosis

41 Chapter 4 You can start with the operation buttons in the lower-right corner. The operation flow chart is as follows:Figure 4.2: Utility Operation

PCI-1241/1242 User Manual 424.3 Set ParametersThere are a total of four pages in the parameter-setting window. They are categorized as “Mechanism”, “

43 Chapter 4 Figure 4.5: Mechanical Parameter DefinitionFollowing are introductions of each parameter:Axis: Defines which axis the parameters will af

PCI-1241/1242 User Manual 44Software Limit: Besides the hardware limitation switch, PCI-1241/42 also provides a software limit as the secondary safety

45 Chapter 4 4.3.2 General/PtP Motion ConfigurationIn this page, you can define the motion characteristics for point-to-point movement.Unit: The appl

PCI-1241/1242 User Manual 46Figure 4.6: General/PtP Configuration Page4.3.3 System ConfigurationSome important system parameters are defined in this p

47 Chapter 4 Figure 4.7: System Configuration Page4.3.4 Home ConfigurationIn this page, you can set every detailed parameter related to the home func

PCI-1241/1242 User Manual 48Home Mode Diagram: This diagram clearly shows the velocity profile, the return, slow down, and stop point in each mode.Let

49 Chapter 4 4.4 Initializing the CardWhen the ‘Initialize’ button is pressed, the utility will process the initial-ization commands to the PCI-1241

PCI-1241/1242 User Manual vi

PCI-1241/1242 User Manual 504.6 Operate MotorThe configuration utility provides some basic operations in the main page. You can perform “Motion Comma

51 Chapter 4 4.6.1 Motion CommandThere are four types of commands that can be operated here, PtP, Line, Circle, and Arc. PtP: Point to Point, all axe

PCI-1241/1242 User Manual 52CircleXY, CircleYZ, and CircleZX: Performs two-dimensional circles. You need to define the center point and rotation direc

53 Chapter 4 ArcXY, ArcYZ, ArcZX: Similar to ArcXYZ, but only a 2D arc is per-formed in this command. Figure 4.16: 2D Arc Motion Configuration Window

PCI-1241/1242 User Manual 544.6.3 HomeIn the home mode, the checked axes can perform the home function according to the home mode setting in the param

55 Chapter 4 4.8 Motion ProfileThis is a user aid tool, in this page, users can check the position profile and velocity profile of each axis. Then t

PCI-1241/1242 User Manual 56

2CHAPTER 5Software Startup GuideIn this chapter you can get detailed information about card index configu-rations, and some samples of program usage.S

PCI-1241/1242 User Manual 58Chapter 5 Software Startup Guide5.1 Card Index ManagerThe card index manager is designed for applications that use more

59 Chapter 5 In the ‘Installed Device’ area, all installed cards will be listed. The card’s name, base address, and card index is also displayed.You

vii Table of ContentsContentsChapter 1 Introduction ... 21.1 Introduction ...

PCI-1241/1242 User Manual 60CheckHWStock Yes Yes Yes Yes For stable control perfor-mance, the amount of hard-ware pulse stocks must exceed 60 in motio

61 Chapter 5 GetENCLatch Yes Yes Yes Yes Demonstrates how to latch a encoder value in defined con-ditions. GetStatus Yes Yes Yes Yes Displays current

PCI-1241/1242 User Manual 62RIOCtrl Yes Yes Yes Yes Demonstrates how to enable remote I/O functions and read/write remote I/O signalsRIOError Yes Yes

2 APPENDIX ASpecificationsThis chapter provides information on the specifications of PCI-1241/42.Sections include:• Axes• Pulse Output• Input

PCI-1241/1242 User Manual 64Appendix A SpecificationsA.1 Axis:Number of Axis 4 Axes 2/3-Axis LinearInterpolationRange -8,388,608 ~ +8,388,607 for ea

65 Appendix A A.2 Voltage Output: (PCI-1241 only)Voltage Output Resolution16 bitsOutput Range-10V ~ +10VMax. Update Rate625 KHzRelative Accuracy1 LS

PCI-1241/1242 User Manual 66A.3 Pulse Output:Pulse Output Range1 PPS ~ 4M PPSPrecision+- 0.1%Change of Acceleration for S Curve954 ~ 31.25 x 109 PPS/

67 Appendix A A.4 Encoder Input:Input Pulse for Encoder InterfaceInput5 channelsEncoder Pulse Input TypeQuadrature (A/B phase) or Up/DownCounts per

PCI-1241/1242 User Manual 68A.5 Local Input/OutputInputSignalPositive-direction Limit Switch4 channelsNegative-direction Limit Switch Signal4 channel

69 Appendix A A.6 Other Motion Functions:A.7 General:Position CounterRange of Command Position Counter (for output pulse)-2,147,483,648 ~ +2,147,48

PCI-1241/1242 User Manual viiiMotor Driver 243.3 Pulse Output Connection... 25Figure 3.6:Differential Si

PCI-1241/1242 User Manual 70

2 APPENDIX BBlock DiagramThis chapter provides information on the block diagram for PCI-1241/1242.

PCI-1241/1242 User Manual 72Appendix B Block DiagramB.1 Appendix B. Block DiagramFigure B-1 shows PCI-1241/1242 system block diagram. Circuits of

73 Appendix B B.2 Open Loop Motion Control (Pulse Command)PC Controller sends commands to the PCI BUS interface circuit (4) on PCI-1241/1242 card th

PCI-1241/1242 User Manual 74B.3 Close Loop Motion Control (Velocity Command) The PC Controller sends commands to the PCI BUS interface circuit (4) on

75 Appendix B Figure B.3: P-type Control Method in Close Loop ControlB.4 Local Input / OutputThe PC Controller sends commands to the ASIC on PCI-124

PCI-1241/1242 User Manual 76

2 APPENDIX CHome FunctionAn accurate home position is funda-mental for every precision machine. In order to manage the various require-ments for

PCI-1241/1242 User Manual 78Appendix C Home FunctionC.1 How to Read the Home Velocity ProfileSince the homing process is quite complex, PCI-1241/124

79 Appendix C C.2 Home Mode0 In Home mode0, the motor will start up at low speed FL, and acc

ix Table of Contents4.6.1 Motion Command ... 51Figure 4.11:Point-to-Point Motion Configuration W

PCI-1241/1242 User Manual 80C.3 Home Mode1In Home Mode1, the motor will start up at speed FL, and accelerate to speed FH towards the home sensor. Onc

81 Appendix C C.4 Home Mode2In Home mode2, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once th

PCI-1241/1242 User Manual 82C.5 Home Mode3In Home mode3, the motor will start up at low speed FL, and accelerate to high speed FH towards the home se

83 Appendix C C.6 Home Mode4In Home mode4, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once th

PCI-1241/1242 User Manual 84C.7 Home Mode5In Home mode5, the motor will start up at low speed FL, and accelerate to high speed FH towards the home se

85 Appendix C C.8 Home Mode6In Home mode6, the motor will start up at low speed FL, and accelerate to high speed FH towards the limit switch. Once t

PCI-1241/1242 User Manual 86C.10 Home Mode8In Home mode8, the motor will start up at low speed FL, and accelerate to high speed FH towards the limit

87 Appendix C C.11 Home Mode9In Home mode9, the motor will start up at speed FL, and accelerate to speed FH towards the home sensor. Once the home s

PCI-1241/1242 User Manual 88C.12 Home Mode10In Home mode10, the motor will start up at low speed FL, and accelerate to high speed FH towards the home

89 Appendix C C.13 Home Mode11In Home mode11, the motor will start up at low speed FL, and then accel-erate to high speed FH towards the home sensor