Adlink PCI-8258 manuels

Adlink PCI-8258 Manuel d'utilisateur (226 pages)

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Table des matières

PCI-8254 / PCI-8258

1

DSP-Based 4/8

1

Advanced Motion Control Card

1

User manual

1

Revision History

2

Preface iii

3

Conventions

4

Table of Contents

5

Table of Contents vii

7

List of Figures

9

List of Figures xi

11

List of Tables

13

1 Introduction

15

2Introduction

16

Introduction 3

17

1.1 Product Specifications

18

Environment Condition

21

1.2 Software Support

22

1.3 Terminal Board

22

Pulse command:

23

Analog commands:

23

10 Introduction

24

2.1 Package Contents

25

2.3 Hardware Installation

28

2.3.3 Troubleshooting

29

2.5.1 PCI-8254:

32

Connector

32

2.5.3 PCI-8254/58:

37

P2 Connector

37

2.6 DIP Switch

38

2.6.2 SW2: Card ID Switch

39

2.7 IDE 44p – DSUB 37p Bus

40

(ALM_RST) by switch S1 or S2

51

3 Signal Connection

55

42 Signal Connection

56

3.2 Pulse Command

58

Signal Connection 45

59

• Signal connection diagram:

60

3.4 Emergency Stop Input

63

3.5 PEL/MEL Input

64

3.6 ORG Input

66

3.7 INP / ZSP Input

67

3.8 ALM Input

68

3.9 SVON Output

69

3.10 Analog Input Signals

70

2. Open-Collector interface:

72

3.12 Digital Output/Input

73

Signal Connection 61

75

62 Signal Connection

76

Signal Connection 63

77

64 Signal Connection

78

4 Motion Control Theory

79

4.1.1.2 Pulse Type

80

Motion Control Theory 67

81

Counter:

81

4.1.1.3 Analog Type

82

4.1.1.4 Encoder

83

70 Motion Control Theory

84

4.1.1.5 Motion Control I/O

85

72 Motion Control Theory

86

4.1.2 Control Cycle

87

4.1.2.1 Servo Control Cycle

87

4.1.2.2 Motion Control Cycle

87

4.1.2.3 Host Control Cycle

87

4.2 Closed-loop Control

89

76 Motion Control Theory

90

)(kCmdPos )(kFbkPos

91

)(kCmdVel

91

)(kCmdAcc

91

78 Motion Control Theory

92

(UOM: Volt)

93

4.2.2 Auto Servo Tuning

94

Motion Control Theory 81

95

82 Motion Control Theory

96

Motion Control Theory 83

97

4.2.3 Manual Servo Tuning

98

)(kR )(kX

99

)(kY )(kR

99

86 Motion Control Theory

100

4.2.4.1 Low Pass Filter

101

Pass band

101

Stop band

101

(b) 1200Hz sine wave

102

(a) 30Hz sine wave

102

Motion Control Theory 89

103

4.2.4.2 Notch Filter

104

Pass band Pass band

104

(a) 50Hz sine wave

105

(b) 100Hz sine wave

105

(c) 200 Hz sine wave

106

4.2.5 Bode Plot

107

4.2.5.1 Structure Overview

107

4.2.5.2 How to Use

108

Motion Control Theory 95

109

96 Motion Control Theory

110

MCP2 Bode plot page

111

4.3 Motion Control Operations

112

4.3.2 Unit Factor

113

100 Motion Control Theory

114

Picth= 5 cm

114

102 Motion Control Theory

116

Velocity

117

4.3.3.2 S-curve

118

Motion Control Theory 105

119

106 Motion Control Theory

120

• Relevant axis parameters

121

20h (32) PRA_SF Move S-factor

121

4.4 Home Move

122

Motion Control Theory 109

123

110 Motion Control Theory

124

Motion Control Theory 113

127

Condition B

133

Initial position

133

Home position

133

Condition A

133

Motion Control Theory 121

135

4.5 Velocity Move

138

Motion Control Theory 125

139

126 Motion Control Theory

140

4.6 Jog Move

141

Motion Control Theory 129

143

130 Motion Control Theory

144

4.7 Point-to-Point Move

145

4.7.2 Synchronous Start

146

4.7.3 On The Fly Change

147

4.7.4 Continuous PTP Move

147

4.8 Interpolation

150

-axis respectively

151

4.8.2 Arc Interpolation

152

4.8.2.1 3D Arc Interpolation

152

Motion Control Theory 139

153

140 Motion Control Theory

154

Motion Control Theory 141

155

4.8.2.2 2D Arc Interpolation

156

4.8.2.3 Helical Interpolation

157

144 Motion Control Theory

158

Motion Control Theory 145

159

146 Motion Control Theory

160

Motion Control Theory 147

161

148 Motion Control Theory

162

Buffered

163

Start deceleration

163

Blending

163

Distance

164

•Example:

165

4.9 Motion Status Monitoring

166

4.9.1 Motion Status

167

154 Motion Control Theory

168

Motion Control Theory 155

169

Motion Control Theory 157

171

158 Motion Control Theory

172

Motion Control Theory 159

173

160 Motion Control Theory

174

Motion Control Theory 161

175

4.10 Application Functions

176

4.10.1.2 Gantry Mode

177

164 Motion Control Theory

178

Motion Control Theory 165

179

4.10.2.1 Manual Trigger

180

4.10.2.2 Compare Trigger

180

Motion Control Theory 167

181

168 Motion Control Theory

182

Motion Control Theory 169

183

4.10.3.1 Structure Overview

184

4.10.3.2 Control Modes

185

4.10.3.3 VAO Table

187

4.10.3.4 Output Settings

188

4.10.3.5 VAO Parameter Table

189

176 Motion Control Theory

190

Motion Control Theory 177

191

4.10.4.1 Sampling Source

192

Signal name Range

193

Descriptions

193

180 Motion Control Theory

194

Motion Control Theory 181

195

182 Motion Control Theory

196

Motion Control Theory 183

197

4.10.5 Simultaneous Move

198

4.10.5.1 Simultaneous Start

198

Motion Control Theory 185

199

186 Motion Control Theory

200

Motion Control Theory 187

201

188 Motion Control Theory

202

Motion Control Theory 189

203

190 Motion Control Theory

204

• Example:

205

4.11 Safety Protection

206

4.11.1.2 Servo Alarm (ALM)

207

194 Motion Control Theory

208

4.11.2 Software Protection

209

4.11.2.1 Soft-limit Signal

209

196 Motion Control Theory

210

4.11.2.3 Watch Dog

211

198 Motion Control Theory

212

4.12 Host Interrupt

213

200 Motion Control Theory

214

Motion Control Theory 201

215

202 Motion Control Theory

216

Motion Control Theory 203

217

204 Motion Control Theory

218

Motion Control Theory 205

219

Motion Control Theory 207

221

208 Motion Control Theory

222

Important Safety Instructions

223

Getting Service

225

212 Getting Service

226

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