PCE-M134-LD. PCE-M134-LD User Manual TPM. Version: V Jun01. To properly use the product, read this manual thoroughly is necessary.

Transcription

1 PCE-M4-LD Version: V.0 206Jun0 To properly use the product, read this manual thoroughly is necessary. Part No.:

2 Revision History Date Revision Description 206/06/0.0 Document creation. 2

3 Copyright 200 The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of Inc. ( ), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes. The names of products and corporations appearing in this manual may or may not be registered trademarks, and may or may not have copyrights of their respective companies. These names should be used only for identification or explanation, and to the owners benefit, should not be infringed without any intention. The product s name and version number are both printed on the product itself. Released manual visions for each product design are represented by the digit before and after the period of the manual vision number. Manual updates are represented by the third digit in the manual vision number. Trademark MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered trademarks of Microsoft. BCB (Borland C++ Builder) is registered trademark of Borland. Other product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

4 Electrical safely To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system. When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected. Disconnect all power cables from the existing system before you add a device. Before connecting or removing signal cables from motherboard, ensure that all power cables are unplugged. Seek professional assistance before using an adapter or extension card. These devices could interrupt the grounding circuit. Make sure that your power supply is set to the voltage available in your area. If the power supply is broken, contact a qualified service technician or your retailer. Operational safely Please carefully read all the manuals that came with the package, before installing the new device. Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect and damage, contact the dealer immediately. To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and circuitry. Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may become wet. If you encounter technical problems with the product, contact a qualified service technician or the dealer. 4

5 Contents CONTENTS PCE-M4-LD INTRODUCTION FEATURES SPECIFICATIONS HARDWARE LAYOUT I/O INTERFACE DESCRIPTION AXIS MOTION CONNECTOR CN CARD NUMBER SWITCH RSW JUMPER SETTING FOR COMPARE TRIGGER JP INTRODUCTION OF THE TERMINAL BOARD FOR PCE-M4-LD T62-DUMG Dimensions Axis Motion Connector CN Power input CN Single End or Differential Pulse Output Switch SW Single End Pulse Output Signals CN2, CN SIGNAL CONNECTION MACHINE I/O INTERFACE SIGNALS DRIVER I/O INTERFACE SIGNALS DRIVER PULSE I/O INTERFACE SIGNALS ISOLATED DIGITAL INPUT CHANNELS INTERFACE ISOLATED DIGITAL OUTPUT CHANNELS INTERFACE

6 . PCE-M4-LD Introduction The PCE-M4-LD is a motion controller consisting of 4-axis motion controller. It provides position compare and trigger output functions to interface with other applications, like on-the-fly image acquisition. The PCE-M4-LD provides stepping driver/motor dedicated digital I/O interfaces, for example, ALM and SVON dedicated digital I/O interfaces, for example, ORG, PEL, and EMG. These dedicated I/O signals guarantee the functionality via hardware and therefore reduces the loading of software. The PCE-M4-LD also provides 6/6-ch high-density isolated digital input/output. PCE-M4-LD 07-T62-DUMG Figure -: PCE-M4-LD and supported control devices 6

7 .. Features PCI Express x compliant Max. 2.4MHz, 4-Axis pulse output Linear interpolation Programmable acceleration and deceleration time Position compare and trigger output.2. Specifications 4-Axis Motion Control Pulse output mode: ±OUT/DIR, ±CW/CCW Pulse output rate: Max. 2.4Mpps / Min. pps Home return function Velocity profiles: T-curve, S-curve Interpolation mode: linear Position compare output: CMP x 4, with programmable pulse width Compare trigger output rate: Max. 00KHz FIFO buffer for compare trigger positions: 4 axes 024 points for each axis. Machine interface: PEL x 4, MEL x 4, ORG x 4, SLD x 4 Servo driver interface: ALM x 4, SVON x 4 Surge Protection: 0KV IO Isolation Voltage: 2.5KVrms Output Types: NPN open collector with Darlington transistors High sink current on isolated output channels (50mA max./ch) Response Time: On to Off about 50μs, Off to On about 8μs Input Current: ±0mA (Max) Input Impedance: 5.6KΩ/0.5W. Input Types: NPN Input Voltage: +8V DC ~ +0V DC I/O pin type: optically isolated with 2.5KVrms on all SCSI 00 pins General PCIe Spec.: -lane 2.5 Gb/s PCI Express Power consumption:.v at 40mA, 2V at 55mA typical Working temperature: 0 to 60 7

8 .. Hardware Layout The PCE-M4-LD PCB layout and onboard I/O interfaces are introduced as follows. PCE-M4-LD RSW JP00 CN2 Figure -2: hardware PCB layout CN2 Figure -: I/O interfaces Name CN2 RSW JP00 Description 4 Axis motion SCSI 00 pins connector. Rotary switch for card number setting. Jumper setting for Compare Trigger Table -: I/O interfaces on PCE-M4-LD 8

9 2. I/O Interface Description Axis Motion Connector CN2 Figure 2-: 00 pin connector for motion Pin Label I/O st / 2 nd / rd / 4 th Description Pin Label I/O st / 2 nd / rd / 4 th Description 24V +24V / 200mA power input 5 24V +24V / 200mA power input 2 EGND External ground 52 EGND External ground EMG I Emergency signal 5 EMG I Emergency signal 4 MEL_ I st end limit (-) 54 MEL_ I rd end limit (-) 5 PEL_ I st end limit (+) 55 PEL_ I rd end limit (+) 6 ORG_ I st home signal 56 ORG_ I rd home signal 7 SLD_ I st ramp-down signal 57 SLD_ I rd ramp-down signal 8 MEL_2 I 2 nd end limit (-) 58 MEL_4 I 4 th end limit (-) 9 PEL_2 I 2 nd end limit (+) 59 PEL_4 I 4 th end limit (+) 0 ORG_2 I 2 nd home signal 60 ORG_4 I 4 th home signal SLD_2 I 2 nd ramp-down signal 6 SLD_4 I 4 th ramp-down signal 2 ALM_ I st servo alarm 62 ALM_ I rd servo alarm ALM_2 I 2 nd servo alarm 6 ALM_4 I 4 th servo alarm 4 SVON_ O st servo on 64 SVON_ O rd servo on 5 CMP_ O st compare output 65 CMP_ O rd compare output 6 SVON_2 O 2 nd servo on 66 SVON_4 O 4 th servo on 7 CMP_2 O 2 nd compare output 67 CMP_4 O 4 th compare output 8 N.C. 68 N.C. 9 EGND External ground 69 EGND External ground 20 DI_00 I Digital Input DI_08 I Digital Input 08 2 DI_0 I Digital Input 0 7 DI_09 I Digital Input DI_02 I Digital Input DI_0 I Digital Input 0 2 DI_0 I Digital Input 0 7 DI_ I Digital Input 24 DI_04 I Digital Input DI_2 I Digital Input 2 25 DI_05 I Digital Input DI_ I Digital Input 9

10 Pin Label I/O st / 2 nd / rd / 4 th Description Pin Label I/O st / 2 nd / rd / 4 th Description 26 DI_06 I Digital Input DI_4 I Digital Input 4 27 DI_07 I Digital Input DI_5 I Digital Input 5 28 N.C. 78 N.C. 29 N.C. 79 N.C. 0 DO_00 O Digital Output DO_08 O Digital Output 08 DO_0 O Digital Output 0 8 DO_09 O Digital Output 09 2 DO_02 O Digital Output DO_0 O Digital Output 0 DO_0 O Digital Output 0 8 DO_ O Digital Output 4 DO_04 O Digital Output DO_2 O Digital Output 2 5 DO_05 O Digital Output DO_ O Digital Output 6 DO_06 O Digital Output DO_4 O Digital Output 4 7 DO_07 O Digital Output DO_5 O Digital Output V +24V / 200mA power input 88 24V +24V / 200mA power input 9 N.C. 89 N.C. 40 N.C. 90 N.C. 4 DDA 5V DDA 5V power output. DDA 5V power output. 9 DDA 5V I<00mA I<00mA 42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground 4 DIR+_ O st direction signal (+) 9 DIR+_ O rd direction signal (+) 44 DIR-_ O st direction signal (-) 94 DIR-_ O rd direction signal (-) 45 OUT+_ O st pulse signal (+) 95 OUT+_ O rd pulse signal (+) 46 OUT-_ O st pulse signal (-) 96 OUT-_ O rd pulse signal (-) 47 DIR+_2 O 2 nd direction signal (+) 97 DIR+_4 O 4 th direction signal (+) 48 DIR-_2 O 2 nd direction signal (-) 98 DIR-_4 O 4 th direction signal (-) 49 OUT+_2 O 2 nd pulse signal (+) 99 OUT+_4 O 4 th pulse signal (+) 50 OUT-_2 O 2 nd pulse signal (-) 00 OUT-_4 O 4 th pulse signal (-) Table 2-: SCSI 00-pin definition 0

11 2.2. Card Number Switch RSW Figure 2-2: card number switch 2.. Jumper setting for Compare Trigger JP00 JP00 sets the voltage and maximum frequency of trigger output signal. The output signal voltage may either be 24V or 5V. The default setting is 24V output. Default 24V 5V AXIS X Y Z U Figure 2-: Voltage setting for compare trigger

12 . Introduction of the Terminal Board for PCE-M4-LD.. 07-T62-DUMG The 07-T62-DUMG is a diversified terminal board for the either differential line driver or open collector output signal. While choosing 07-T62-DUMG, it is necessary to select the corresponding pin number in terminal boards in relation to motor drivers.... Dimensions 2mm 84mm H: 52mm Figure -: drawing of 07-T62-DUMG 2

13 Figure -2: Connectors on 07-T62-DUMG Label CN CN2 ~ CN CN2 CN2 CN22 SW Function SCSI 00 pin Connector Corresponding to SCSI 00 one by one Power Connector Single End Pulse Output Connector Single End Pulse Output Connector Single End or Differential Pulse Output Switch Table -: I/O interfaces on 07-T62-DUMG

14 Axis Motion Connector CN Figure -: 00 pin connector for motion Pin Label I/O st / 2 nd / rd / 4 th Description Pin Label I/O st / 2 nd / rd / 4 th Description 24V +24V / 200mA power input 5 24V +24V / 200mA power input 2 EGND External ground 52 EGND External ground EMG I Emergency signal 5 EMG I Emergency signal 4 MEL_ I st end limit (-) 54 MEL_ I rd end limit (-) 5 PEL_ I st end limit (+) 55 PEL_ I rd end limit (+) 6 ORG_ I st home signal 56 ORG_ I rd home signal 7 SLD_ I st ramp-down signal 57 SLD_ I rd ramp-down signal 8 MEL_2 I 2 nd end limit (-) 58 MEL_4 I 4 th end limit (-) 9 PEL_2 I 2 nd end limit (+) 59 PEL_4 I 4 th end limit (+) 0 ORG_2 I 2 nd home signal 60 ORG_4 I 4 th home signal SLD_2 I 2 nd ramp-down signal 6 SLD_4 I 4 th ramp-down signal 2 ALM_ I st servo alarm 62 ALM_ I rd servo alarm ALM_2 I 2 nd servo alarm 6 ALM_4 I 4 th servo alarm 4 SVON_ O st servo on 64 SVON_ O rd servo on 5 CMP_ O st compare output 65 CMP_ O rd compare output 6 SVON_2 O 2 nd servo on 66 SVON_4 O 4 th servo on 7 CMP_2 O 2 nd compare output 67 CMP_4 O 4 th compare output 8 N.C. 68 N.C. 9 EGND External ground 69 EGND External ground 20 DI_00 I Digital Input DI_08 I Digital Input 08 2 DI_0 I Digital Input 0 7 DI_09 I Digital Input DI_02 I Digital Input DI_0 I Digital Input 0 2 DI_0 I Digital Input 0 7 DI_ I Digital Input 24 DI_04 I Digital Input DI_2 I Digital Input 2 25 DI_05 I Digital Input DI_ I Digital Input 26 DI_06 I Digital Input DI_4 I Digital Input 4 27 DI_07 I Digital Input DI_5 I Digital Input 5 28 N.C. 78 N.C. 29 N.C. 79 N.C. 0 DO_00 O Digital Output DO_08 O Digital Output 08 4

15 Pin Label I/O st / 2 nd / rd / 4 th Description Pin Label I/O st / 2 nd / rd / 4 th Description DO_0 O Digital Output 0 8 DO_09 O Digital Output 09 2 DO_02 O Digital Output DO_0 O Digital Output 0 DO_0 O Digital Output 0 8 DO_ O Digital Output 4 DO_04 O Digital Output DO_2 O Digital Output 2 5 DO_05 O Digital Output DO_ O Digital Output 6 DO_06 O Digital Output DO_4 O Digital Output 4 7 DO_07 O Digital Output DO_5 O Digital Output V +24V / 200mA power input 88 24V +24V / 200mA power input 9 N.C. 89 N.C. 40 N.C. 90 N.C. 4 DDA 5V DDA 5V power output. DDA 5V power output. 9 DDA 5V I<00mA I<00mA 42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground 4 DIR+_ O st direction signal (+) 9 DIR+_ O rd direction signal (+) 44 DIR-_ O st direction signal (-) 94 DIR-_ O rd direction signal (-) 45 OUT+_ O st pulse signal (+) 95 OUT+_ O rd pulse signal (+) 46 OUT-_ O st pulse signal (-) 96 OUT-_ O rd pulse signal (-) 47 DIR+_2 O 2 nd direction signal (+) 97 DIR+_4 O 4 th direction signal (+) 48 DIR-_2 O 2 nd direction signal (-) 98 DIR-_4 O 4 th direction signal (-) 49 OUT+_2 O 2 nd pulse signal (+) 99 OUT+_4 O 4 th pulse signal (+) 50 OUT-_2 O 2 nd pulse signal (-) 00 OUT-_4 O 4 th pulse signal (-) Table -2: SCSI 00-pin definition... Power input CN2 Pin Label Description 24V +24V Power 2 EGND External Ground FG Frame Ground Table -: Power input pin definition 5

16 ..4. Single End or Differential Pulse Output Switch SW Label Label Description On Off 8 DX S.E./DIFF. switch for st direction signal S.E. DIFF. 7 OX S.E./DIFF. switch for st pulse signal S.E. DIFF. 6 DY S.E./DIFF. switch for 2 nd direction signal S.E. DIFF. 5 OY S.E./DIFF. switch for 2 nd pulse signal S.E. DIFF. 4 DZ S.E./DIFF. switch for rd direction signal S.E. DIFF. OZ S.E./DIFF. switch for rd pulse signal S.E. DIFF. 2 DU S.E./DIFF. switch for 4 th direction signal S.E. DIFF. OU S.E./DIFF. switch for 4 th pulse signal S.E. DIFF. *Default setting is off. Table -4: Pulse Output switch definition 6

17 ..5. Single End Pulse Output Signals CN2, CN22 Pin Label Description 5V +5V power out 2 DIRXH st direction signal with 4.7K ohm DIRX st direction signal with 220 ohm 4 OUTXH st pulse signal with 4.7K ohm 5 OUTX st pulse signal with 220 ohm 6 DIRYH 2 nd direction signal with 4.7K ohm 7 DIRY 2 nd direction signal with 220 ohm 8 OUTYH 2 nd pulse signal with 4.7K ohm 9 OUTY 2 nd pulse signal with 220 ohm 0 DGND +5V Ground Pin Label Description 5V +5V power out 2 DIRZH rd direction signal with 4.7K ohm DIRZ rd direction signal with 220 ohm 4 OUTZH rd pulse signal with 4.7K ohm 5 OUTZ rd pulse signal with 220 ohm 6 DIRUH 4th direction signal with 4.7K ohm 7 DIRU 4th direction signal with 220 ohm 8 OUTUH 4th pulse signal with 4.7K ohm 9 OUTU 4th pulse signal with 220 ohm 0 DGND +5V Ground 0 Table -5: Single End Pulse Output pin definition 7

18 4. Signal Connection There are groups of signal connection of PCE-M4-LD, Machine I/O, Pulse I/O and Servo Driver I/O interface. They are described in the following sections. 4.. Machine I/O Interface Signals PEL and MEL (End Limit / Digital Input Signal) There are two end-limit signals called PEL and MEL for each axis. Usually they are Normal-Close type signals from external sensors. PEL indicates the limit of motion in the plus direction and MEL indicates the limit of motion in the minus direction. The signals connections are shown in the following figures K 5mA NPN 2 24V COM Internal Curcuit GND Figure 4-: PEL and MEL wiring for NPN sink mode Note that the command pulse will be stopped when PEL/MEL is active. ORG (Origin / Digital Input Signal) The origin signals (ORG~ORG4) are necessary when the position feedback is incremental type or without any feedback encoders. They are used to indicate the origin of the system. The signals connections are shown in the following figures K 5mA NPN 2 24V COM Internal Curcuit GND Figure 4-2: ORG wiring for NPN sink mode 8

19 SLD (Slow Down / Input Signal) The SLD signals are used to help the axis decelerate to stop by hardware. The signals connections are shown in the following figures K 5mA NPN 2 24V COM Internal Curcuit GND Figure 4-: SLD wiring for NPN sink mode CMP (Position Compare / Output Signal) CMP signals are used to make a comparison between target value and actual value and generate a trigger signal output. The signals connections are shown in the following figures V 5mA K CMP LED K TTL 5V 4 GND GPIO Internal Curcuit CMP output signal circuit Figure 4-4: CMP output signal circuit 9

20 4.2. Driver I/O Interface Signals ALM (Servo Alarm / Digital Input Signal) ALM- input signal from ALM signal at servo driver. Servo driver will issue ALM output when it is under abnormal operation or over-loading. The signals connections are shown in the following figures. ALM, INP, RDY 4 5mA NPN 2 K 5V Internal Curcuit GND Figure 4-5: ALM wiring for NPN sink mode Note that when ALM is active and enabled, PCE-M4-LD will stop pulse output. SVON(Servo On / Digital Output Signal) SVON is an output signal from PCE-M4-LD and is used to make driver servo-on to hold the motor. The signals connections are shown in the following figures. 5mA 24V 4 4.7K GND Internal Curcuit Note that the maximum current is 20mA. Figure 4-6: SVON output wiring diagram 20

21 4.. Driver Pulse I/O Interface Signals OUT and DIR (Pulse Output Differential Control) There are 6 types of pulse output of PCE-M4-LD. User has to specify the electrical spec. as differential or open collector first. Then select DIR/OUT or CW/CCW. The signals connections are shown in the following figures. Pin Label Function Pin Label Function 4 DIR+_ st direction signal (+) 45 OUT+_ st pulse signal (+) 44 DIR-_ st direction signal (-) 46 OUT-_ st pulse signal (-) 20mA 2 OUT+ OUT- 2 AM26LS2 AM26C Internal Curcuit Differential line driver output 2 20mA OUT+ OUT AM26C 00 Internal Curcuit Optocoupler wiring 2 20mA OUT+ OUT- 200 TTL AM26C GND GND Internal Curcuit TTL Receive pattern wiring Figure 4-7: Signal circuit of DIFF. pulse out 2

22 OUT and DIR (Pulse Output Single Ended Control) CN2 and CN22 provide a single ended pulse output interface for stepping motor driver. The resistance of the output interface depends on the setting of switch SW. CN2 Label Function DIRXH st direction signal with 4.7K ohm DIRX st direction signal with 220 ohm OUTXH st pulse signal with 4.7K ohm OUTX st pulse signal with 220 ohm Figure 4-8: Signal circuit of S.E. pulse out 22

23 4.4. Isolated Digital Input Channels Interface Input signal circuit in SINK mode (NPN) is illustrated as follows Figure 4-9: Signal circuit of input NPN 4.5. Isolated Digital Output Channels Interface Output signal circuit in SINK mode (NPN) is illustrated as follows Figure 4-0: Signal circuit of Output NPN 2