ADLINK PCI-8132 Motion Control Card Installation, Programming, and Debugging Guide

3. Limit/deceleration/origin signals (PEL/MEL, PSD/MSD, ORG)

These inputs are all optically isolated and require an external 24V switch (normally open or normally closed, set through S1 and software logic). There is an internal filtering circuit to prevent high-frequency interference. Attention: The deceleration point (SD) decelerates in advance during high-speed motion to prevent collision with the limit. The function can be enabled/disabled through software.

4. Servo interfaces (INP, ALM, ERC, SVON, RDY)

INP: Driver in place signal, can be set to wait for this signal before determining motion completion.

ALM: Alarm signal, can be set to immediately stop or decelerate to stop, and trigger an interrupt.

ERC: The deviation counter is reset to zero and automatically outputs a 10ms pulse (software disabled) when the limit is triggered, zeroing is completed, an alarm is triggered, or an emergency stop occurs.

SVON: Universal output, typically used to enable drivers.

RDY: Universal input, capable of detecting drive readiness status.

The above signals are all optocoupler isolated, please pay attention to polarity when connecting (detailed circuit diagram provided in the manual).

5. Universal digital I/O (DO0~DO15, DI0~DI15)

DO is open collector output (TD62083), with a maximum current of 500mA per channel (123mA at 50% duty cycle), requiring external load and pull-up power supply (up to 50V).

DI is an optocoupler input with a built-in 4.7k Ω resistor, suitable for 5-24V DC, with a maximum input current of ± 50mA.

6. Handwheel pulse input (PA ±, PB ±)

Supports AB phase (1 ×/2 ×/4 ×) or CW/CCW mode, which can be configured through software for manual follow-up control. If the output of the handwheel is not 5V or the distance is far, it is recommended to add isolation or differential drive.

7. Synchronous start/stop (CN3)

CN3 is a 6-pin pin set, which includes STA (start) and STP (stop) signals. It is a bidirectional leakage signal and can be cascaded with multiple cards. The software can achieve simultaneous start stop of multiple axes by calling functions such as _8132ustart_mave_all(), or it can be driven by external switches. When wiring, please note that the+5V and GND of CN3 come from the PCI bus.

Sports mode and core function

The motion control of PCI-8132 is completed by ASIC PCL5023, and the PC only needs to issue instructions. The following are common patterns and corresponding functions (C language, Windows DLL）。

1. Initialization and Configuration

_813_2Initial() or _813_2InitialA(): Scan all PCI-8132 cards and return the number of cards and IRQ/base address.

_8132uset_pls_outmode (axis, mode): Set the pulse output mode, 0=OUT/DIR, 1=CW/CCW.

_8132uset_pls_iptmode (axis, mode): Set the encoder input mode, where 0-2 is 1 ×/2 ×/4 × AB phase, and 3=CW/CCW.

_8132uset_cnt_strc (axis, src): Counter source, 0=command pulse, 1=external encoder.

2. Continuous speed motion

_8132uv_mave (axis, stru-vel, max-vel, Tacc): Trapezoidal acceleration to constant speed.

_8132usv-move (...): S curve acceleration.

_8132uv_change (axis, max-vel, Tacc): Variable speed during operation (only applicable to continuous mode).

_8132uv_stop (axis, Tdec): Decelerate and stop.

3. Point motion (trapezoidal/S-shaped curve)

Trapezoidal absolute/relative: _8132ua_mave/_8132ur_mave (waiting for completion), _8132ustart_2 move/_8132ustart_r_move (returning immediately).

Asymmetric trapezoid: _8132uta_move/_8132ut_move (acceleration and deceleration times can be set separately).

S-curve: _8132us_mave/_8132urs_mave/_8132utas_move (including linear acceleration segment and S-segment time).

_8132umotion-done (axis): Query the motion status (return 0=in motion, 1=completed, 2-5=stopped at limit/origin/alarm, etc.).

4. Two axis interpolation

First, map the two axes using _8132umap_axes (2, axes_array), and then set the composite velocity and acceleration using _8132uset_move_cpeed (str, max) and _8132uset_move_caccel (Tacc).

_8132umove_xy (cardNo, x, y) performs absolute line interpolation (waiting for completion), and 8132ustart_mave_xy is non blocking.

After interpolation is completed, call _8132urecover_xy (cardNo) to restore the single axis mode, otherwise the subsequent single axis motion will be abnormal.

5. Zero Return Mode

_8132uset_home_comfig (axis, home_made, org-logic, org_1atch, ez-logic) configuration:

Home_rode=0: Only ORG stops (high-speed)

Home_rode=1: Wait for EZ (index) to stop (high-speed) after ORG is triggered

Home_rode=2: After triggering ORG, slow down to the starting speed and wait for EZ to stop

_8132uhome_mave (axis, svel, mvel, accel) returns to zero, with the direction determined by the velocity sign.

6. Handwheel Follow

_8132_set_manu_iptmode(axis, ipt_mode, op_mode)： Set up handwheel input mode and independent/shared mode (one handwheel controls two axes simultaneously).

_8132uset_manu_oxis (cardNo, manu_oxis): Select which axis is controlled by the handwheel.

_813_2umans_move (axis, max-vel): Enable handwheel mode to limit maximum speed.

You must call _8132uv_stop (axis, Tdec) to exit this mode.

7. Hardware location comparison

_8132.Set_CmpMode (axis, mode): Comparison condition (0=increment greater than, 1=equal to, 2=decrement less than).