PCI-8132
2 Axes Servo/ Stepper Pulse type Motion Control Card
곽노훈
Field Application Engineer
Department of Technical Support
[email protected]
PC-Based Measurement & Automation
DAS System
PC-Based Measurement & Automation
Agenda
•
Introduction
•
PCI-8132의 Hardware 구성 및 특징
•
PCI-8132 Hardware 설치 및 기본 설정
•
PS2 All-in-one CD의 소개 및 드라이버 설치
•
Coffee Break
•
Motion Creator 실습
•
Function Library 소개 (C/C++)
•
Coffee Break
•
Programming and Demonstration
•
Q&A
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Introduction
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PCI-8132의 소개
1. PCI Interface
▷ Plug and Play
▷ Use up to 12 PCI-8132 cards in one system
▷ Controlling 24 motors
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PCI-8132의 소개
2. Motion Control Principle
▷ Frequency of the pulse train controls the motor speed
▷ Differential Input/Output signal to reduce the noise interference
▷ support to OUT/DIR, CW/CCW command mode
OUT
Negative Command
DIR
Positive Command
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PCI-8132의 소개
3. Velocity Profile
▷ Motion control ASIC(PCL5023, Nuppon Pulse Japan) executes
a various of trajectory ability.
▷ User defined accelation/ decelation time
▷ S-curve or T-curve velocity profile
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PCI-8132의 소개
4. Various Operation modes
▷ Continuous Motion (연속 모션)
▷ Relative Motion (상대 모션)
▷ Absolute Motion (절대 모션)
▷ Simultaneous Motion (동시 모션)
▷ Change speed on the fly (동작 상태에서의 속도 변경)
▷ Linear Interpolation Motion (선형 보간 모션)
▷ Home return (귀환 모션)
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PCI-8132의 Hardware 구성 및 특징
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PCI-8132의 외형
CN1 +24V Ext. PWR source
CN3 Simultaneous STA/STP
S1 Switch Setting
PCL5023
Motion
controller
CN2 Main Connector
JP1, 2, 3, 4 Jumper for pulse output signal type
PLX PCI9052 PCI controller
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PCI-8132 Block Diagram
PCI bus
PCI controller
(PLX9052)
CN3 for
Simultaneously Motion
FPGA for position
comparison
PCL5023 for 2 axes
CN1 for
DC/DC
Isolation
Pulse I/O
OUT/DIR
EA,EB,EZ
Mechanical
Interface
± EL
± SD
ORG
Servo Driver
Interface
INP
ALM
ERC
General
Purpose I/O
SVON
RDY
DI/DO
Pulser
PA/PB
Comparison
Output
CMP1
CMP2
CN2
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Ext +24V input
Ext +5V out
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PCI-8132 Software Architecture
Software Layer
User Application, Motion Creator
Easy-to-use Motion related
API function
DLL Motion Library
Register-Level Function
Driver
Hardware Layer
PCI bus
ASIC
PLD
FIFO/ Comparator
I/O Interface
MOTOR
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Pulse-type Motion Card
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PCI-8132 주요 특징
▷ 32 bits PCI bus, P&P
▷ Pulse-train Output about 2 axes
▷ Output frequency up to 2.4Mpps(pulse per second)
▷ Linear Interpolation Motion
▷ 28 bits up/down counter for incremental encoder feedback
▷ 위치 비교 신호 및 트리거 신호 출력 핀 제공
▷ Multi-axes 모션에 대한 동시 시작/정지 기능 제공
▷ 한 시스템 내에서 최대 24축에 대한 모션 제어 가능
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PCI-8132 상세 요약(1)
호환 가능한 Motor
▷ Stepping Motor
▷ Pulse 출력에 의해 구동되는 AC 또는 DC Servo Motor
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PCI-8132 상세 요약(2)
Performance
▷ 제어 가능한 축 수: 2 축
▷ 최대 펄스 출력 주파수: 2.44Mpps
▷ 내부 클럭: 9.8304MHz
▷ 위치 펄스 설정 범위: 0 to 268,435,455 pulses (28 bits)
Up/Down Counter 범위: 0 to 268,435,455 (28 bits)
또는 -134,217,728 to 134,217,727
▷ 펄스 비율 설정: 0 to 2.44Mpps
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PCI-8132 상세 요약(3)
입/출력 신호
▷ 모든 입/출력에 대하여 2500Vrms 절연 처리
▷ 지령 펄스 출력: ±OUT, ±DIR
▷ Incremental Encoder Signal: EA, EB
▷ Encoder Index Signal: EZ
▷ Physical Limit/Switch Signal: ±EL, ±SD, ORG
▷ Servo Motor Input/output Interface: INP, ALM, ERC
▷ Trigger Output Signal: CMP1, CMP2
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Software support
Windows Platform
Driver supports for Windows 98/NT/2K/XP
VB, VC++, BCB, Delphi programming tool recommended
LabVIEW
The Motion of PCI-8132 for LabVIEW is available
MotionCreator™
Assists the motion system developer to debug any cabling problem
Redhat Linux
PCI-8132 supports Redhat Linux, kernel 2.4.x
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General Properties
▷ Connector: 100 pin SCSI type connector
▷ Operating Temperature: 0 to 50°
▷ Power Consumption
- Slot Power Supply(입력): +5V DC, 900mA
- External Power Supply(출력): +5V DC, 500mA
Up/Down Counter 범위: 0 to 268,435,455 (28 bits)
또는 -134,217,728 to 134,217,727
▷ Dimension: 164mm(L) * 98.4mm(H)
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PCI-8132 Hardware 설치 및 기본 설정
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PCI-8132를 이용한 모션 시스템 구성
DIN-812M
Man Machine Interface
Servo Motor & Driver
PCI-8132
Ext. +24V
Using SMPS
DIN-100S
Stepping Motor & Driver
Termination Board
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PCI-8132 Pin Assignment & Basic setting
Pin No.
Name
Function (Axis)
1
GND
Bus Ground
2
STP
Simultaneous stop signal input/output
3
STA
Simultaneous start signal input/output
4
STP
Simultaneous stop signal input/output
5
STA
Simultaneous start signal input/output
6
+5V
Bus Power
CN3
S1
Bit 1, 2:
setting End Limit type
Bit 3, 4:
setting CMP logic
CN2
J1~J4
Open collector
Line Driver
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DIN-812M을 이용한 결선 구성-1
DIN-812M의 구조
Digital Output
Digital Input
GND
+24V DC
Mechanical I/O Interfaces
LED Indicator
To PCI-8132
SCSI-II 100 pin Connector
2nd Axis to Mitsubishi J2S Servo Amp
20 pin One-to-one Connector
For wiring connector
1st Axis to Mitsubishi J2S Servo Amp
20 pin One-to-one Connector
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DIN-812M을 이용한 결선 구성-2
DIN-812M의 결선
Pin
Name
Function
1
+5V
Voltage Output
2
+5V
3
Pin
Name
Function
Voltage Output
1
+5V
Voltage Output
EA+
Encoder A-phase(+)
2
PA+
Manual Pulse Input
4
EA-
Encoder A-phase(-)
3
PA-
Manual Pulse Input
5
EB+
Encoder B-phase(+)
4
PB+
Manual Pulse Input
6
EB-
Encoder B-phase(-)
5
PB-
Manual Pulse Input
6
COMP1
Position compare trigger
IOIF7
SJ3 and SJ4
7
EZ+
Encoder Z-phase(+)
8
EZ-
Encoder Z-phase(-)
7
COMP2
Position compare trigger
9
IGND
Isolated Ground
8
IGND
Isolated Ground
10
IGND
Isolated Ground
9
IGND
Isolated Ground
Pin
Name
Function
Pin
Name
Function
1
+24V
Voltage Output
1
OUT+
Pulse signal(+)
2
EX_EMG
External EMG signal
2
OUT-
Pulse signal(-)
3
PEL
Positive End Limit
3
DIR+
Direction signal(+)
4
MEL
Negative End Limit
4
DIR-
Direction signal(-)
5
PSD
Positive Slow Switch
5
EZ+
Index signal
6
MSD
Negative Slow Switch
6
ALM
Servo Alarm
7
ORG
ORG signal
7
+5V
Voltage Output
8
IGND
Isolated Ground
8
SVON
Servo ON
9
IGND
Isolated Ground
9
+5V
Voltage Output
10
IGND
Isolated Ground
SJ1 and SJ2
IOIF1 and IOIF2
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DIN-100S을 이용한 결선 구성
DIN-100S의 결선
100 Pin Assignment
To PCI-8132
SCSI-II 100 pin Connector
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PS2 All-In-One CD의 소개 및 드라이버 설치
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ADLink All-in-one CD
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Driver Installation
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Driver Installation
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Driver Installation
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Driver Installation
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Confirmation
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Coffee Break
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If you need…
Data Acquisition…
Image Processing…
Motion Controlling…
Industrial PC…
All In One System…
Advanced Technology; Automate the World
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MotionCreator 실습
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MotionCreator의 실행
실행 파일 위치
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초기 메뉴 화면
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MotionCreator의 구성
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Motion 상태 표시
축 상태 표시
입/출력 상태 표시
위치 설정 제어
동작 모드 제어
Motion Parameter 제어
Play key 제어
속도 Profile 선택
반복 모드
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MotionCreator의 구성
단일 펄스 출력 모드 (OUT/DIR mode)
OUT
DIR
Positive Command
Negative Command
이중 펄스 출력 모드 (CW/CCW mode)
OUT
DIR
Positive Command
OUT
DIR
Negative Command
Encoder 체배 설정
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MotionCreator의 구성
단일 펄스 출력 모드 (OUT/DIR mode)
OUT
DIR
Positive Command
Negative Command
이중 펄스 출력 모드 (CW/CCW mode)
OUT
DIR
Positive Command
OUT
DIR
Negative Command
Encoder 체배 설정
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Function Library
(C/C++)
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Data type definition
Function prototype과 몇몇의 Common data를 ‘Pci_8132.H’ 헤더 파일에 정의.
Directory: C:\Program Files\ADLINK\PCI-8132\Library
Type Name | Description
| Range
U8
| 8-bit ASCII character
| 0 to 255
I16
| 16-bit signed integer
| -32,768 to 32,767
| 16-bit unsigned integer
| 0 to 65,535
| 32-bit signed long integer
| -2,147,483,648 to 2,147,483,647
U32
| 32-bit unsigned long integer
| 0 to 4,294,967,295
F32
| 32-bit single-precision floating-point
| -3.402823*e38 to 3.402823*e38
F64
| 64-bit double-precision floating-point
| -1.797683134862315*e308 to 1.797683134862315*e308
| Boolean logic value
| True or False
U16
I32
Boolean
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Function List
01 Initialization
02 펄스 입/출력 구성
03 연속 모션 모드
04 Trapezoidal 모션 모드
05 S-curve 모션 모드
06 다축 위치 제어 모션
07 선형 보간(Linear Interpolation) 모션
08 보간 파라미터 구성
09 귀환 모드 (Home Return Mode)
10 Manual Pulser 발생 모션 모드
11 모션 상태
12 서보 드라이브 인터페이스
13 입/출력 제어 및 모니터링
14 위치 제어
15 인터럽트 제어
16 디지털 입/출력 제어
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Initialization
Instruction Functions
_8132_Initial(card_no);
선택한 카드 초기화 함수
_8132_Close(card_no);
선택한 카드 기능 종료
_8132_Set_Config(void);
MotionCreator에서 구성된 파라미터 설정
제어 하고자 하는 카드의 설정 및 해제
• card_no: 실행할 카드 선택
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펄스 입/출력 구성-1
Instruction Functions
_8132_set_pls_outmode(axis, pls_outmode);
펄스 출력 명령 모드 설정
_8132_set_pls_iptmode(axis, pls_iptmode);
인코더 입력 모드 설정
_8132_set_cnt_src(axis, cnt_src);
카운터 입력 소스 설정
펄스 형태의 입/출력 모드를 선택하기 위한 함수
• axis: 실행할 축 선택
• pls_outmode: Out/Dir 핀에 대한 출력 모드 명령
0 – OUT/DIR mode
1 – CW/CCW mode
• pls_iptmode: EA, EB 핀에 대한 인코더 입력 모드 선택
0 – 1X AB phase pulse input
1 – 2X AB phase pulse input
2 – 4X AB phase pulse input
3 – CW/CCW pulse input
• cnt_src: counter source
0 – 명령 펄스로부터 count
1 – EA, EA 외부 입력으로부터 count
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펄스 입/출력 구성-2
OUT/DIR mode
단일 펄스 출력 모드
OUT
DIR
CW/CCW mode
이중 펄스 출력 모드
Negative Command
Positive Command
OUT
Positive Command
DIR
OUT
Negative Command
DIR
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연속 모션 모드-1
Instruction Functions
_8132_v_move(axis, svel, mvel, Tacc);
_8132_sv_move(axis, svel, mvel, Tlacc, Tsacc);
_8132_v_change(axis, mvel, Tacc);
Trapezoidal profile에서 기본 모션
S-curve profile에서 기본 모션
동작 상태에서의 속도 변경
_8132_v_stop(axis, Tdec);
감속 후 정지
기본적인 단일 축 모션 함수
• svel: start velocity
• mvel: max velocity
• Tlacc: acceleration time for Trapezoidal profile
• Tsacc: acceleration time for S-curve profile
• Tdec: deceleration time
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연속 모션 모드-2
Instruction Functions
Trapezoidal Profile
Velocity
mvel
deceleration time
acceleration time
svel
Time
S-curve Profile
Velocity
mvel
acceleration time
deceleration time
Basic Velocity Profile type
Trapezoidal
S-curve
Symmetry
대칭적
T-curve 모션
대칭적
S-curve 모션
Non-symmetry
비대칭적
T-curve 모션
비대칭적
S-curve 모션
svel
Time
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Trapezoidal 모션 모드
Instruction Functions
_8132_start_a_move(axis, pos, svel, mvel, Tacc);
_8132_start_r_move(axis, dist, svel, mvel, Tacc);
_8132_start_t_move(aixs, dist, svel, mvel, Tacc, Tdec);
_8132_start_ta_move(axis, pos, svel, mvel, Tacc, Tdec);
_8132_wait_for_done(axis);
절대 대칭적 Trapezoidal profile 이동을 실행
상대 대칭적 Trapezoidal profile 이동을 실행
상대 비대칭적 Trapezoidal profile 이동을 실행
절대 비대칭적 Trapezoidal profile 이동을 실행
해당 축이 종료할 때까지 대기
• pos: position
• dist: distance
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S-curve 모션 모드
Instruction Functions
_8132_start_s_move(axis, pos, svel, mvel, Tlacc, Tsacc);
_8132_start_rs_move(axis, dist, svel, mvel, Tlacc, Tsacc);
절대 대칭적 S-curve profile 이동을 실행
상대 대칭적 S-curve profile 이동을 실행
_8132_start_tas_move(axis, pos, svel, mvel, Tlacc, Tsacc, Tldec, Tsdec);
절대 비대칭적 S-curve profile 이동을 실행
• Tldec: deceleration for Trapezoidal profile
• Tsdec: deceleration for S-curve profile
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다축 위치간 모션 모드
Instruction Functions
_8132_start_move_all(n_axes, *axes, *pos, *svel, *mvel, *Tacc);
_8132_wait_for_all(n_axes, *axes);
다축에 대한 상대 대칭적 Trapezoidal profile 이동을 실행
모든 축이 종료될 때까지 대기
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선형 보간 모션 모드
Instruction Functions
_8132_start_move_xy(CardNo, x, y);
다축에 대한 상대 대칭적 Trapezoidal profile 이동을 실행
_8132_recover_xy(axisno);
단일 축 모드로 전환
두 축이 동시에 모션을 시작하고 같은 시간에 정의된 위치에 도달하는 모션
X축과 Y축의 이동 속도는 각각 ΔX/Δt, ΔY/Δt
Y-axis
P1
ΔY
P0
ΔX
X-axis
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보간 파라미터 구성
Instruction Functions
_8132_map_axes(n_axes, *map_array);
_8132_set_move_speed(svel, mvel)
x, y 축을 함께 연동하여 모션을 구동하도록 설정
벡터 속도를 설정
_8132_set_move_accel(Tacc);
벡터 가속 시간을 설정
_8132_set_move_accel(Tlacc, Tsacc);
_8132_set_move_ratio(axis, ratio);
S-curve 벡터 가속 시간을 설정
축 해상도 비율을 설정
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귀환 모드(Home Return Mode)-1
Instruction Functions
_8132_set_home_config(axis, mode, org_logic, org_latch, index_logic);
home/index 논리 구성을 설정
_8132_home_move(axis, svel, mvel, accel);
귀환 동작을 실행
• mode: 귀환 모션을 위한 정지 모드
0 – ORG active only
1 - ORG active and then EZ active to stop, high speed all the way
2 – ORG active and then EZ active to stop, high speed till ORG active
then low speed till EZ active
• org_logic: ORG 신호의 활성화 설정
0 – active low
1 – active high
• org_latch: ORG 신호의 래치 상태 제어
0 – enable latch
1 – disable latch
• EZ_logic; EZ 신호의 활성화 설정
0 – active low
1 – active high
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
귀환 모드(Home Return Mode)-2
mode0
velocity
mode0
ORG active only
mode1
ORG active and then EZ active to stop, high speed all the way
mode2
ORG active and then EZ active to stop, high speed till ORG active
then low speed till EZ active
max velocity
start velocity
acceleration
time
ORG
mode1
mode2
velocity
velocity
max velocity
max velocity
start velocity
start velocity
acceleration
time
acceleration
ORG
ORG
EZ
EZ
DAS System, Department of Technical Support, Field Application Engineer
time
DAS System
PC-Based Measurement & Automation
Manual Pulser 발생기 모션
Instruction Functions
_8132_set_manu_iptmode(axis, ipt_mode, op_mode);
펄스 발생기 입력 모드와 동작 모드를 설정
_8132_manu_move(axis, mvel);
_8132_set_manu_axis(cardno, manu_axis);
manual pulser 입력에 의한 모션 실행
manual pulser 축 선택
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DAS System
PC-Based Measurement & Automation
모션 상태
Instruction Functions
_8132_Motion_done(axis);
모션 동작이 완료되면 논리 ‘참’ 값을 return
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DAS System
PC-Based Measurement & Automation
서보 드라이브 인터페이스
Instruction Functions
_8132_set_alm_logic(axis, alm_logic, alm_mode);
_8132_set_inp_logic(axis, inp_logic, inp_enable);
_8132_set_sd_logic(axis, sd_logic, sd_latch, sd_enable);
_8132_set_erc_enable(axis, erc_enable);
Alarm logic 및 alarm 모드 설정
In-Position logic 및 enable/disable 설정
Slow down logic 및 enable/disable 설정
감속 후 정지
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DAS System
PC-Based Measurement & Automation
입/출력 제어 및 모니터링
Instruction Functions
_8132_set_SVON(axis, on_off);
범용 출력 비트 설정
_8132_get_io_status(axis, *io_status);
PCI-8132의 모든 입/출력 상태를 읽어옴
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
위치 제어
Instruction Functions
_8132_set/get_position(axis, pos);
현재 실제 위치를 설정하거나 읽어옴
_8132_set/get_command(axis, pos);
현재 명령 위치를 설정하거나 읽어옴
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
인터럽트 제어
Instruction Functions
_8132_Set_INT_ENABLE(axis, intFlag)
_8132_set_int_factor(axis, int_factor);
인터럽트 enable 설정
인터럽트 발생 성분을 설정
_8132_get_int_axis(*int_axis);
인터럽트가 발생한 축 정보를 읽어옴(DOS)
_8132_get_int_status(axis, *int_status);
해당 축의 인터럽트 상태를 읽어옴
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
디지털 입/출력 제어
Instruction Functions
_8132_DO(axis, DoData);
디지털 출력 채널
_8132_ DI(axis, DiData);
디지털 입력 채널
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Coffee Break
DAS System for PC-Based Measurement & Automation
If you need…
Data Acquisition…
Image Processing…
Motion Controlling…
Industrial PC…
All In One System…
Advanced Technology; Automate the World
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Programming
and
Demonstration
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
How to build an application
Start
1. Hardware Installation
2. Jumper Setting
3. Wiring
Run MotionCreator
to Configure the system
Verify an wanted operation
from MotionCreator
Use Function Library
to develop Application
NO
Application is OK
YES
END
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Program Flow
- Initial motion card
- Load setting file (I/O configuration)
Start
Pulse Input/Output
Configuration
General I/O Configuration
Motion Move
- Set Pulse output mode
- Set Encoder input mode
- Count source
- Input and Output configuration
- Set Motion move mode
•••
- Close motion card
- Release resource
Leave Program
Close Motion Card
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Example Program
Execution the Example Program
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Programming Exercise-1
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Programming Exercise-2
C:\Program Files\ADLINK\PCI-8132\Library에 있는 8132.lib, Pci_8132.h, type_def.h 파일을
어플리케이션 폴더에 Copy.
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Programming Exercise-3
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Programming Exercise-4
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Programming Exercise-5
DAS System, Department of Technical Support, Field Application Engineer
DAS System
PC-Based Measurement & Automation
Programming Exercise-6
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DAS System
PC-Based Measurement & Automation
Q&A, Demo
DAS System, Department of Technical Support, Field Application Engineer