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1、PCL-839+ 3-Axis Stepping Motor Control Card User Manual PCL-839+ User Manualii Copyright The documentation and the software included with this product are copy- righted 2004 by Advantech Co., Ltd. All rights are reserved. Advantech Co., Ltd. reserves the right to make improvements in the products de

2、scribed in this manual at any time without notice. No part of this man- ual may be reproduced, copied, translated or transmitted in any form or by any means without the prior written permission of Advantech Co., Ltd. Information provided in this manual is intended to be accurate and reli- able. Howe

3、ver, Advantech Co., Ltd. assumes no responsibility for its use, nor for any infringements of the rights of third parties, which may result from its use. Acknowledgements PC-LabCard is a trademark of Advantech Co., Ltd. IBM and PC are trademarks of International Business Machines Corpora- tion. MS-DO

4、S, Microsoft C and Quick Basic are trademarks of Microsoft Cor- poration. BASIC is a trademark of Dartmouth College. Intel is a trademark of Intel Corporation. Turbo C is a trademark of Borland International. All other product names or trademarks are properties of their respective owners. Part No. 2

5、0030839022nd Edition Printed in TaiwanMay 2005 iii Product Warranty (2 years) Advantech warrants to you, the original purchaser, that each of its prod- ucts will be free from defects in materials and workmanship for two years from the date of purchase. This warranty does not apply to any products wh

6、ich have been repaired or altered by persons other than repair personnel authorized by Advantech, or which have been subject to misuse, abuse, accident or improper instal- lation. Advantech assumes no liability under the terms of this warranty as a consequence of such events. Because of Advantechs h

7、igh quality-control standards and rigorous test- ing, most of our customers never need to use our repair service. If an Advantech product is defective, it will be repaired or replaced at no charge during the warranty period. For out-of-warranty repairs, you will be billed according to the cost of re

8、placement materials, service time and freight. Please consult your dealer for more details. If you think you have a defective product, follow these steps: 1.Collect all the information about the problem encountered. (For example, CPU speed, Advantech products used, other hardware and software used,

9、etc.) Note anything abnormal and list any onscreen messages you get when the problem occurs. 2.Call your dealer and describe the problem. Please have your man- ual, product, and any helpful information readily available. 3.If your product is diagnosed as defective, obtain an RMA (return merchandize

10、authorization) number from your dealer. This allows us to process your return more quickly. 4.Carefully pack the defective product, a fully-completed Repair and Replacement Order Card and a photocopy proof of purchase date (such as your sales receipt) in a shippable container. A product returned wit

11、hout proof of the purchase date is not eligible for war- ranty service. 5.Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer. PCL-839+ User Manualiv CE This product has passed the CE test for environmental specifications when shielded cables are used for ex

12、ternal wiring. We recommend the use of shielded cables. This kind of cable is available from Advantech. Please contact your local supplier for ordering information. Technical Support and Assistance Step 1. Visit the Advantech web site at where you can find the latest information about the product. S

13、tep 2. Contact your distributor, sales representative, or Advantechs cus- tomer service center for technical support if you need additional assistance. Please have the following information ready before you call: - Product name and serial number - Description of your peripheral attachments - Descrip

14、tion of your software (operating system, version, appli- cation software, etc.) - A complete description of the problem - The exact wording of any error messages Packing List Before setting up the system, check that the items listed below are included and in good condition. If any item does not acco

15、rd with the table, please contact your dealer immediately. The IPPC-9170 Series industrial panel PCs include the following models: 1.PCL-839+ card 2.Companion CD-ROM (DOS and DLL driver included) 3.User Manual v Contents Chapter1General Information. 2 1.1Introduction . 2 1.2Features . 3 1.3Applicati

16、ons. 3 1.4Specifications . 4 1.4.1Digital Input / Output .4 1.4.2General .4 1.5Block Diagram. 5 Figure 1.1:PCL-839+ 3-Axis Stepping Motor Control Card .5 Chapter2Installation. 8 2.1Switch and Jumper Settings. 8 2.1.1Setting the PCL-839 Base I/O address (S1) .8 Table 2.1:Card I/O addresses (S1) .8 Fi

17、gure 2.1:S1 - Base Address Setting .9 2.2Limit Switch Configuration (JP1, JP2, JP3). 9 2.2.1EL+/ EL- .9 2.2.2SD+/SD- .9 2.2.3ORG .9 2.3Limit Switch Polarity Setting. 10 2.3.1JP1, JP2 and JPJ Selection .10 Figure 2.2:Using Limit Switches (1) .10 Figure 2.3:Normally-Open Wiring .11 Figure 2.4:Normally

18、-Closed Wiring .11 2.3.2Interrupt Level Selection (JP4) .12 Figure 2.5:Setting the Interrupt Level .12 2.4Hardware Installation . 12 2.4.1Installing the Card in Your Computer: .13 2.5PCL-839+ Pin Connections. 13 2.5.1The 37-pin Female Connector (CN3) .14 2.5.2Example Input / Output Circuit Connectio

19、ns .15 Figure 2.6:Isolated Output Connection .15 Figure 2.7:Non-Isolated 12 V Bias Connection .16 Figure 2.8:TTL Compatible Output Connection .16 Figure 2.9:Current Driver Output Connection .17 2.5.3Digital Input and Output Connectors (CN1, CN2) .17 Figure 2.10:CN1 (Digital Output) .18 Figure 2.11:C

20、N2 (Digital Input) .18 Chapter3PCL-839+ Software Library . 20 3.1Introduction . 20 3.2The PCL839P.H Header File. 20 3.3The PCL839Px.LIB Library file. 22 PCL-839+ User Manualvi 3.4Function Call Descriptions. 23 3.4.1Function 1: set base .23 3.4.2Function 2: set mode .24 3.4.3Function 3: set_speed .25

21、 3.4.4Function 4: status .26 3.4.5Function 5: stop .27 3.4.6Function 6: slowdown .28 3.4.7Function 7: sldn_stop .29 3.4.8Function 8: waitrdy .30 3.4.9Function 9: out_port .31 3.4.10Function 10: in_port .32 3.4.11Function 11: org .33 3.4.12Function 12: cmove .34 3.4.13Function 13: pmove .35 3.4.14Fun

22、ction 14: line .36 3.4.15Function 15: arc .37 Chapter4Register Programming. 40 4.1PCL-839+ Registers . 40 4.1.1R0 : Down-Counter (24 bits) .40 4.1.2R1: FL Register (13 bits) .41 4.1.3R2: FH Register (13 bits) .41 4.1.4R3: Acc. / Dec. Rate Register (10 bits) .42 4.1.5R4: Multiplier Register (10 bits)

23、 .43 4.1.6R5 :Ramping-down Point Register (16 bits) .44 Figure 4.1:Relation Between R5 and Ramping Down Ve- locity .45 4.1.7R6: Idling pulse register (3-bit) .46 4.1.8R7: Output type register (1-bit) .47 4.2Programming the PCL-839+ . 47 4.3I/O Register Control Format. 47 Table 4.1:Register I/O Addre

24、ss Map .47 4.4Command Buffers: WRO, WR4 and WR8. . 49 4.4.1Register Format .49 Table 4.2:Register Format .49 4.4.2Selection Modes .49 Table 4.3:Selection Modes .49 4.5Commands. 50 4.5.1Start-Stop Command .50 4.5.2Operation Mode Select Command .52 4.5.3Register Select Command .53 4.5.4Output Mode Sel

25、ect Command .55 Figure 4.2:Output Mode Select Command .55 4.6Read Status. 56 4.6.1Channel Status Buffers (RD0, RD4 and RD8) .57 Figure 4.3:Status 0-bit Configuration .57 4.6.2Data Buffers: WR1, WR5 and WR9 .57 vii 4.6.3Data Buffers: WR2, WR6 and WR10 .57 4.6.4Data Buffers: WR3, WR4 and WR11 .58 Figu

26、re 4.4:Status 1 Bit Configuration .58 Figure 4.5:Status 2 Bit Configuration .59 4.6.5Digital Outputs: WR12 and WR13 .60 4.6.6Digital Inputs: RD12 and RD13 .60 4.6.7Interrupt Control: WR14 .61 Figure 4.6:Interrupt Path of the PCL-839+ .61 4.6.8Interrupt Status Register: RD14 .61 4.6.9Example of readi

27、ng Status Register .62 4.7Typical Operational Procedures . 63 4.7.1Initialization .63 4.7.2Setting Speed Data .64 4.7.3Constant Speed Preset Model .65 4.7.4High Speed Preset Model .66 4.7.5Constant Speed Continuous Mode .67 4.7.6High Speed Continuous Mode .68 4.7.7Constant Speed Origin Return Model

28、.69 4.7.8High Speed Origin Return Model .70 Appendix BSimple St. Motor Driver. 72 Figure B.1:Simple Stepping Motor Drv Block Diag. .72 Figure B.2:Pattern Encoder Connection .72 Figure B.3:JP1 at Full Step Control .73 Figure B.4:JP1 at Half Step Control .74 Figure B.5:4-Phase Stepping Motor Power Con

29、trol Cir- cuit .75 Appendix ADiagrams. 78 A.1Jumper and Switch Layout. 78 A.2PCL-839+ Block Diagram. 79 A.3Output Circuit Diagram. 80 PCL-839+ User Manualviii 2 CHAPTER 1 General Information If you have just purchased the PCL- 839+, or just need to brush up on its features or specifications, you wou

30、ld want to read this chapter. Sections include: Introduction Features Applications Specifications Block Diagram PCL-839+ User Manual2 Chapter 1 General Information 1.1 Introduction The PCL-839+ is a high-speed three-axis stepping motor control card that simplifies stepping motor control, giving you

31、added performance from your stepping motors. Three-Axis Control The PCL-839+ has one single-chip pulse generator on-board, which enables the simultaneous and independent control of three axes. The PCL-839+ provides digital pulse and directional control (+ and -) for each stepping motor axis. User-Fr

32、iendly Interface The PCL-839+ has been designed to act as a user-friendly solution for your stepping motor control applications. Programming the PCL-839+ is very easy. C Libraries are provided and they contain all the command functions needed for total control of your stepping motors. Stand-Alone In

33、terpreter A stand-alone, non-resident command interpreter, PROGg39.EXE, can also be used to control your stepping motors without any programming. Digital I/O The PCL-839+ features 16 digital inputs and 16 digital outputs for gen- eral I/O use (on/off control etc.). Isolation Protection The PCL-839+s

34、 PULSE and DIRECTION outputs and five limits input switches are isolated from the PC side. 3Chapter 1 1.2 Features One on-board pulse generator that enables simultaneous independent control of three stepping motors Two operating modes - two-pulse (+ and - direction pulse) or one-pulse (pulse-directi

35、on) mode Programmable step rate from 1 to 16382 pps (pulses per second). Programmable initial speed, final speed and time duration. Automatic trapezoidal acceleration/deceleration tamping is performed 16 I/O TTL Compatible Channels All inputs/outputs are optically isolated, providing 5000Vrms isolat

36、ion protection C libraries containing device drivers provided Command Interpreter provided that eases learning the PCL-839+ com- mand set 1.3 Applications Precise X-Y-Z position control Precise rotation control Robotics and assembly equipment Other stepping-motor applications PCL-839+ User Manual4 1

37、.4 Specifications Number of axes: Three independent axes (individually programmable) Operating modes: Two-pulse mode (+ or direction) or one-pulse (pulse-direction) mode Steps per command: 16777215 steps Step Rate: 1-200K Acceleration/deceleration ramping: User programmable start, run and ramping ra

38、tes. Output polarity: Positive/negative going pulse (programmable) Pull-up voltage: external +5 V +12 V Output protection: Opto-coupled with 1 k pull-up resistor Output driving capacity: 20mA 0.4VDC Limit switch inputs: 2 “Emergency stop” inputs, 2 “Slow down/Accel- erate” inputs and 1 “ORG” input.

39、All limits switches are isolated from the PC. Limit switch input voltage: external +5V to +12V Interrupt channels: IRQ 2, 4, 5, 7, 10, 11, 12 or 15 (jumper selectable) Limit switch types: Normal open (NO) or normal-closed (NC) jumper selectable 1.4.1 Digital Input / Output Input channels: sixteen (+

40、5V TTL compatible) Output channels: sixteen (+5V TTL compatible) I/O address range: sixteen consecutive I/O address 1.4.2 General Power Consumption: Typical 330mA, +5VDC Connector: 37-pin D-type connector Board Dimensions: 183.5 x 99.06 mm Operating Temperature: 0 70 C 5Chapter 1 1.5 Block Diagram F

41、igure 1.1: PCL-839+ 3-Axis Stepping Motor Control Card P C B U S Address Address Decoder Buffer IRQ Selecteor DATA BUS PCD-4541 2 Phase Stepping Motor Controller System DIO BLOCK OUTPUT ISOLATOR DIR /* base address , default = 0 x300 */ int run_mode3 ; int run_comd3 ; int pulse_dir3 ; int P0 = 0 ; /

42、* DIO port #0 (8-bit) */ int P1 = 1 ; /* DIO port #1 (8-bit) */ int P01 = 2 ; /* DIO port #0 /* Channel #1 */ int CH2 = 2 ; /* Channel #2 */ int CH3 = 3 ; /* Channel #3 */ int CH12 = 4 ; /* Channel #1 /* Channel #1 /* Channel #2 /* Channel #1,#2 and #3 */ int P_DIR = 0 ; /* Positive (+) dirction */ int N_DIR = 1 ; /* Negative (-) direction */ int FL = 0 ; /* FL speed */ int FH = 1 ; /* FH speed */ int DIR = 0 ; /* Direction mode */ int PUS = 1 ; /* Pulse mode */ int out_por