Adlink PCI-8164 Manual de usuario Pagina 130
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118 Operation Theory
The following diagram illustrates the waveform.
The index input (EZ) signals of the encoders are used as the
ZERO reference. This signal is common on most rotational
motors. EZ can be used to define the absolute position of the
mechanism. The input logic polarity of the EZ signals is program-
mable using software function _8164_set_home_config().
The EZ signals status of the four axes can be monitored by
get_io_status().
The feedback position counter is automatically cleared to 0 after a
home move is complete. Besides setting a position with the func-
tion call, _8164_set_position(), it can also be executed at
any time to set a new position value. To read the current command
position use _8164_get_position().
Related functions:
X _8164_set_pls_iptmode(), _8164_set_feedback_src():
Refer to section 6.4
X _8164_set_position(), _8164_get_position():
Refer to section 6.15
X _8164_set_home_config(): Refer to section 6.9
- User’s Manual 1
- Getting service from ADLINK 3
- Table of Contents 5
- Table of Contents iii 7
- Table of Contents v 9
- List of Tables 10
- List of Figures 11
- 1 Introduction 13
- 2Introduction 14
- Introduction 3 15
- 4Introduction 16
- Introduction 5 17
- 1.1 Features 18
- 9X/NT/2000/ 19
- XP, and Linux 19
- 1.1.2 MPC-8164 20
- 1.1.3 PXI-8164 21
- 9x/NT/2000/XP, and 22
- 1.2 Specifications 23
- I/O signals 24
- General-purpose output 24
- General specifications 24
- Power consumption 24
- Dimensions 25
- 1.3 Software support 26
- 2 Installation 27
- 2.1 Package contents 28
- 2.2 PCI-8164 layout 29
- 2.3 MPC-8164 layout 30
- 2.4 PXI-8164 layout 31
- 2.5.1 Hardware configuration 32
- 2.5.2 PCI slot selection 32
- Installation 21 33
- 2.6.1 Hardware configuration 34
- Installation 23 35
- 2.7 Driver installation 36
- 8164 only) 37
- (PCI-8164 only) 38
- (PXI-8164 only) 39
- (MPC-8164 only) 40
- 30 Installation 42
- Installation 31 43
- 34 Installation 46
- Installation 35 47
- 38 Installation 50
- 3 Signal Connections 51
- 42 Signal Connections 54
- Signal Connections 45 57
- 3.3 Origin Signal ORG 58
- 3.5 Ramping-down and PCS 60
- 3.6 In-position Signal INP 61
- 3.7 Alarm Signal ALM 62
- 54 Signal Connections 66
- CN2 Pin No Signal Name Axis # 66
- 39 CMP1 1 66
- 45 CMP2 2 66
- Signal Connections 55 67
- 89 LTC3 3 67
- 95 LTC4 4 67
- 58 Signal Connections 70
- 3.16 Termination board 72
- 62 Signal Connections 74
- Signal Connections 63 75
- 64 Signal Connections 76
- 4 Operation Theory 77
- 4.1 Motion Control Modes 78
- 4.1.1 Pulse Command Output 79
- 68 Operation Theory 80
- Operation Theory 69 81
- 4.1.2 Velocity mode motion 83
- 4.1.3 Trapezoidal motion 84
- Operation Theory 73 85
- 74 Operation Theory 86
- 4.1.4 S-curve profile motion 87
- 76 Operation Theory 88
- Operation Theory 77 89
- ∆X: ∆Y), respec 90
- Operation Theory 79 91
- ∆X: ∆Y: 92
- Operation Theory 81 93
- 82 Operation Theory 94
- Operation Theory 83 95
- 84 Operation Theory 96
- Operation Theory 85 97
- 86 Operation Theory 98
- Operation Theory 87 99
- 4.1.9 Continuous motion 100
- Operation Theory 89 101
- 90 Operation Theory 102
- Operation Theory 91 103
- 92 Operation Theory 104
- Operation Theory 93 105
- 94 Operation Theory 106
- 4.1.10 Home Return Mode 107
- 96 Operation Theory 108
- Operation Theory 97 109
- 98 Operation Theory 110
- Operation Theory 99 111
- 100 Operation Theory 112
- Operation Theory 101 113
- Relative Functions: 114
- 4.1.11 Home Search Mode 115
- 104 Operation Theory 116
- 4.2.1 INP 119
- 108 Operation Theory 120
- 4.2.2 ALM 121
- 4.2.3 ERC 122
- ±EL and ALM signal are 122
- 4.2.4 SVON and RDY 123
- ±EL: End-limit sensor 124
- 4.3.1 SD/PCS 124
- Operation Theory 113 125
- 4.3.2 EL 126
- 4.3.3 ORG 127
- 4.4 Counters 128
- Operation Theory 117 129
- 118 Operation Theory 130
- 4.4.3 Position error counter 131
- 4.4.4 General purpose counter 132
- 122 Operation Theory 134
- 4.6.1 Change speed on the fly 136
- Operation Theory 125 137
- X _8164_get_currebt_speed() 140
- Operation Theory 129 141
- 130 Operation Theory 142
- Related function: 143
- 4.7.1 Comparators of the 8164 144
- Operation Theory 133 145
- 134 Operation Theory 146
- Method, Data) 146
- X Moving Speed is 6000 pps 147
- X Compare condition is “=“ 147
- Results: 148
- Operation Theory 137 149
- 4.7.3 Position Latch 150
- Operation Theory 139 151
- 4.9 Software Limit Function 152
- 4.10 Interrupt Control 153
- Operation Theory 147 159
- 148 Operation Theory 160
- 5 Motion Creator 161
- 5.1 Execute Motion Creator 162
- 5.2 Notes on Motion Creator 163
- 5.3 Using Motion Creator 164
- Motion Creator 153 165
- 154 Motion Creator 166
- Motion Creator 155 167
- 5.3.4 Operation menu: 168
- Motion Creator 157 169
- 158 Motion Creator 170
- Motion Creator 159 171
- 160 Motion Creator 172
- Motion Creator 161 173
- 162 Motion Creator 174
- 6 Function Library 175
- Home Return Mode Section 6.9 180
- Motion StatusSection 6.11 180
- 6.2 C/C++ Programming Library 186
- 6.3 Initialization 187
- @ Syntax 188
- @ Argument 189
- @ Return Code 190
- @ Description 191
- 6.5 Velocity mode motion 194
- 6.6 Single Axis Position Mode 198
- 188 Function Library 200
- Function Library 193 205
- Function Library 201 213
- 202 Function Library 214
- : X-axis offset to end of arc 222
- : Y-axis offset to end of arc 222
- : X-axis offset to center 222
- : Y-axis offset to center 222
- 6.9 Home Return Mode 223
- 6.10 Manual Pulser Motion 226
- : X-axis offset from center 229
- : Y-axis offset from center 229
- 6.11 Motion Status 230
- @ Return Value 231
- 6.12 Motion Interface I/O 232
- 222 Function Library 234
- Function Library 223 235
- ERR_NoError 235
- 6.13 Motion I/O Monitoring 236
- 6.14 Interrupt Control 238
- 230 Function Library 242
- C/C++ (Windows 95/98/NT) 244
- 234 Function Library 246
- 6.15.1 @ Return Code 250
- Function Library 239 251
- Function Library 241 253
- C/C++ (Dos) 255
- 246 Function Library 258
- 6.17 Continuous motion 261
- Function Library 251 263
- 6.21 Card ID (PXI-8164 Only) 273
- 7 Connection Example 277
- 266 Connection Example 278
- Connection Example 267 279
- 268 Connection Example 280
- PCI_8164 Axis 1 Servo Driver 281
- 7.3 Wiring with DIN-814M 282
- 7.3.1 PIN Assignments: 283
- 272 Connection Example 284
- 7.3.2 Signal Connections 286
- 7.3.3 Mechanical Dimensions: 287
- 7.4 Wiring with DIN-814P 288
- 7.4.1 Mechanical Dimensions: 289
- 7.4.2 PIN Assignment: 290
- Connection Example 279 291
- 7.4.3 How to wire 292
- 7.5 Wiring with DIN-814PA 293
- 282 Connection Example 294
- 7.5.1 Wiring Example: 295
- CNIF# and CN2 296
- CN1: 24V power supply input 296
- 7.5.2 Mechanical Dimensions: 297
- 7.5.3 PIN Assignment: 298
- Connection Example 287 299
- 7.6 Wiring with DIN-814M-J3A 300
- 7.6.1 PIN Assignment: 301
- IOIF1-IOIF4 302
- Connection Example 291 303
- 7.7 Wiring with DIN-814Y 304
- 7.7.1 PIN Assignment: 305
- 8 Appendix 307
- Warranty Policy 309
- 298 Warranty Policy 310
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