ADLINK PCI-8134 Four Axis Servo/Stepper Motion Control Card

ADLINK PCI-8134 Four Axis Servo/Stepper Motion Control Card

Product Overview

1. Core positioning

Half length PCI specification 4-axis motion control card, driven by pulse+direction/CW/CCW differential pulse output to drive stepper/pulse type servo driver; Built in 28 bit encoder feedback counter, supporting limit, origin, servo alarm, handwheel pulse input, with a maximum of 4 axes per unit. The system can simultaneously install up to 12 cards (a total of 48 axes), suitable for machine tools, automation platforms, dispensing, and cutting equipment.

2. Core hardware features

1. Bus: 32-bit plug and play PCI, no need to manually configure IO/IRQ, BIOS automatically allocates resources;

2. Channel: Independent 4-axis (X/Y/Z/U, divided into X-Y and Z-U dual axis interpolation units);

3. Pulse performance: Maximum output frequency of 2.4Mpps, supporting trapezoidal and S-shaped acceleration and deceleration;

4. Encoder: Each axis has independent 28 bit bidirectional counting, supporting 1/2/4 times AB orthogonal decoding and CW/CCW pulse input;

5. Isolation design: All external I/O 2500V optoelectronic isolation, resistant to industrial interference;

6. Synchronization function: CN4 synchronous start stop terminal, multi card daisy chain cascading to achieve global synchronous motion;

7. Handwheel interface: CN3 external handheld pulse generator (MPG handwheel), supporting manual jog control;

8. Hardware jumper: J1~J8 are configured with pulse output differential/open set mode, and S1 is dialed to switch the limit switch between normally open/normally closed.

3. Key electrical specifications

-Pulse output: Differential line drive (default)/Open collector output optional, with a maximum open collector current of 20mA;

-External power supply: CN1 is connected to 24VDC, and the onboard DC-DC isolation generates 5V for external sensors;

-Size: 164mm (L) × 98.4mm (H), half length PCI board;

-Environment: Working at 0-50 ℃, storage at -20~80 ℃, humidity at 5~85%, no condensation;

-Power consumption: PCI slot+5V maximum 900mA, external 24V input maximum 500mA.

4. Supporting software system

1. Motion Creator (Windows debugging tool): Visual configuration, single/two axis interpolation testing, IO status monitoring, no programming debugging required;

2. Develop function libraries: DOS Borland C, Windows 95/NT C/C++/VB DLL;

3. Supporting examples: 12 sets of VB projects, 2 sets of interrupt C routines, covering single axis, interpolation, zeroing, handwheel, and interrupt scenarios.

Hardware Installation and Definition of Connectors and Jumpers

1. Standard packaging

PCI-8134 card, 24V power cord, driver CD, programming floppy disk, paper manual, cable accessories.

2. Function of 4 sets of connectors on the board

1. CN1 (24V power terminal): External 24V isolated power input, providing power for isolated IO circuits and cannot be omitted;

2. CN2 (100 pin SCSI main signal port): 4-axis pulse output, encoder feedback, limit, origin, servo IO (INP/ALM/ERC/SVON/RDY);

3. CN3 (Handwheel MPG): 4-channel Handwheel AB pulse input, without photoelectric isolation;

4. CN4 (synchronous start stop): STA start, ST stop signal, multi card cascade synchronization.

3. Jumper and DIP configuration

-J1~J8: Switching between OUT/DIR pulse output modes for each axis (1-2 short=differential; 2-3 short=open set);

-S1 DIP dip: Global limit PEL/MEL switch logic, OFF=normally open A contact, ON=normally closed B contact.

4. Hardware installation steps

1. Power off and discharge to prevent static electricity, open the industrial control chassis;

2. Insert the vacant 32-bit PCI slot and secure it with screws;

3 Wiring: First connect the CN1 24V power supply, then connect the CN2 servo cable, CN3 handwheel, and CN4 synchronous cascade;

3. When powered on, the BIOS automatically assigns base addresses and interrupts without any conflicts.

5. Software installation process

1. Install the underlying PCI driver on the accompanying CD for the Windows system;

2. Insert the programming floppy disk and run A: SETUP to install the library and Motion Creator;

3. Default installation path D: Program Files ADLINK PCI8134, generating configuration file 8134cfg.

Definition of All I/O Signal Wiring

1. Pulse output OUT+/DIR+/OUT -/DIR-

Two output logics can be switched software:

1. OUT/DIR single pulse mode: OUT sends pulses, DIR controls forward and reverse directions (compatible with mainstream servo drive);

2. CW/CCW dual pulse mode: Two pulses control positive and negative motion respectively;

Hardware differential output is resistant to long line interference, and open set mode is suitable for short distance low-voltage driving.

2. Encoder feedback EA/EB/EZ (A/B/Z phase)

-EA/EB orthogonal phase: 1/2/4 harmonic counting, used for closed-loop position reading;

-EZ index zero position signal: origin calibration, absolute positioning;

-Compatible with differential encoders and open set encoders (with external current limiting resistors).

3. Mechanical limit and deceleration signals

-PEL (positive hard limit), MEL (negative hard limit): Trigger to immediately stop pulse output, only allowing reverse motion;

-PSD positive deceleration, MS negative deceleration: automatic deceleration near the origin/limit position;

-OR origin switch: trigger signal for returning to zero motion reference.

4. Servo specific IO (independent for each axis)

1. SVON: Universal digital output, servo enable switch;

2. RDY: Digital input, driver ready feedback;

3. ALM: Servo fault alarm input, triggering immediate shutdown and generating interruption;

4. INP in place signal: feedback after servo error is reset, and motion completion judgment is made;

5. ERC bias reset output: automatically outputs a 10ms pulse when returning to zero/limit/alarm/emergency stop, clearing the driver position deviation counter.

5. Handwheel PA/PB, synchronous STA/STP

-CN3 PA/PB receives AB pulses from handheld units, and the software sets the magnification;

-CN4 STA/STP multi card parallel connection, all axes start/stop simultaneously, achieving multi card synchronous processing.

Core Working Principle of Motion Control

1. Seven major motion control modes

1. Constant speed motion v/move/sv/move: The trapezoidal/S-shaped curve maintains a constant speed and supports dynamic speed changes during operation;

2. Uniaxial point position motion (trapezoidal): absolute a-move, relative r-move, supporting symmetrical/asymmetrical acceleration and deceleration;

3. Single axis S-curve point positions: ymove/rs ymove, segmented S-acceleration and deceleration to reduce mechanical impact and extend equipment life;

4. Two axis interpolation (straight line/arc): X-Y and Z-U independent interpolation units, supporting straight line cutting and arc cutting, automatically synchronizing the two axes to reach the endpoint;

5. Three modes of Home Move: ORG stop only, wait for Z phase after ORG, and wait for Z phase after ORG deceleration;

6. Hand wheel manual mode: external hand wheel pulse real-time tracking output;

7. Multi axis synchronous motion: Multi card CN4 cascade, call move_ all to synchronize multi axis startup.

2. Key functional mechanisms

1. Change on the Fly: Real time modification of maximum speed during constant speed motion operation, suitable for segmented variable speed machining;

2. Interrupt system: supports more than 20 types of interrupt sources such as limit, alarm, zeroing completion, interpolation end, encoder exception, etc. DOS uses ISR interrupt service, and Windows uses thread event processing;

3. Encoder error detection: EA/EB simultaneous jump determines encoder disconnection, triggering interrupt alarm;

4. Motion status reading: Real time reading of instruction position, actual encoder position, position deviation, and motion completion flag.

Debugging Software for Motion Creator

Windows specific visual debugging tool, no need to write code, used for hardware verification, parameter configuration, and motion simulation:

1. Main interface: Identify all PCI-8134 cards, display PCI base address IRQ， Select card number/axle number;

2. Axis configuration window: Set pulse mode, encoder multiplier, limit logic, return to zero mode, interrupt switch, configuration can save 8134cfg for program loading;

3. Single axis operation panel:

-Real time monitoring: instruction position, actual position, deviation, limit/servo IO red and green status lights;

-Motion control: absolute/relative point position, continuous uniform speed, zero return, handwheel mode;

-Parameter settings: starting speed, maximum speed, acceleration and deceleration time, S-curve segmentation duration;

4.2D Interpolation Interface: Linear and Circular Interpolation Testing, Continuous/Incremental Jogging, Real time Drawing of Motion Trajectory in Graphics, Supporting Scaling and Coordinate Offset;

5. Functional value: Installation verification, fault diagnosis, pre adjustment of motion parameters, quick verification of hardware wiring without short circuits and normal limit signals.

C/C++Development Function Library (Core Programming Interface)

The manual fully categorizes all APIs and supports both DOS and Windows interfaces (Windows function prefix W _). The main categories are:

1. Initialization/Release: _8134_initial, _8134_Close, load configuration file;

2. Pulse/encoder configuration: pulse output mode, AB multiplier, counter source;

3. Constant speed motion: v-move, sv-move, dynamic variable speed v-change, stop v-stop;

4. Trapezoidal point position: a ymove/r ymove/ta ymove (synchronous/asynchronous execution);

5. S-curve point position: ymove/tas ymove;

6. Two axis interpolation: move _xy line, arc _xy arc;

7. Return to zero motion: set _ home _ config configuration, home _ move execution;

8. Handwheel control: set _manu _iptmode, manu _move;

9. IO and servo control: SVON output, read all IO statuses, ALM/INP logic configuration;

10. Position reading and writing: set _position, get _position;

11. Interrupt configuration: Set the interrupt trigger source, read the interrupt axis, and interrupt type;

Supporting data type definitions (U8/I16/I32/F32), complete error codes, DOS interrupt ISR examples, and Windows multi-threaded interrupt example code.

Hardware Wiring Cases

1. Overall system topology: PCI industrial computer → PCI-8134 → servo drive → motor, external limit/origin switch, encoder, handwheel;

2. Panasonic servo drive standard wiring: The manual provides a complete CN2 pin to Panasonic servo one-to-one correspondence table, including all circuits of pulse, encoder, ALM/INP/ERC/SVON;

3. ERC bias reset interface circuit: describes the voltage matching circuit between the open set output and the differential servo CL input;

4. Wiring specifications: The 24V external power supply must be independent, the encoder differential cable must be shielded and grounded, and the limit switch should be selected with a suitable voltage resistant model.