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

_8132.Set_CmpData (axis, value): Set a single comparison point.

_813_2Build_Cmp_Table (axis, table, size): Create a comparison table of up to 1024 points.

_8132.Set_Cmp_Table (axis, enable): Enable the comparison table. During motion, whenever the actual position matches a point in the table, the CMP pin outputs a 100 μ s pulse and can trigger an interrupt.

Used for aerial photography (visual triggering) or aerial cutting (synchronous cutting).

Interruption and multi card synchronization

1. Interrupt source setting

_The bit definitions of 8132uset_int_factor (axis, int_factor) include: limit (bit0), deceleration (bit1), alarm (bit2), stop signal (bit3), zero return completion (bit5), preset motion completion (bit6), interpolation completion (bit7), variable speed stop (bit13), encoder error (bit14), start signal (bit15), acceleration completion (bit16), deceleration start (bit17), RDY valid (bit23), etc.

Under Windows, by creating an event handle and using _8132.INT-Enable (cardNo,&hEvent) and WaitForSingleObject to respond to interrupts in a separate thread. In DOS, it is necessary to write ISR (fixed function names such as _8132uisr0) and pay attention to interrupt sharing.

2. Multi card synchronization

Multiple cards are cascaded with STA/STP through CN3, and the software call _8132ustart_mave_all (len, axes, pos, str-vel, max-vel, Tacc) can make all axes start in the same control cycle. Cooperate with _8132uwait_for'all (len, axes) to wait for all completion.

Debugging tool Motion Creator

Running Motion Creator on Windows can automatically recognize installed PCI-8132 cards, display base address and IRQ. Users can configure pulse mode, encoder source, limit logic, zero return mode, interrupt factor, etc. in the "Axis Configuration" window and save them as an "8132.cfg" file. Then, in the "Axis Operation" window, real-time monitoring of position (command/actual/error), I/O status (green/red/black), and manual execution of continuous motion, point motion, zeroing, and handwheel testing greatly facilitate on-site debugging and parameter tuning.

Typical wiring with servo drives (using Panasonic as an example)

Pulse output: OUT1+/OUT1- connected to driver PULS+/PULS -, DIR1+/DIR1- connected to SIGN+/SIGN -, default differential mode.

Encoder feedback: The driver encoder divides the output frequency (such as A+/A -, etc.) and connects it to EA+/EA -, etc. It is necessary to confirm that the voltage meets the requirements.

Control signal:

SVON is connected to the driver to enable input (such as/S-ON).

ERC (Open Set) requires a bias counter connected to the driver through a transistor conversion circuit to clear the input (CL+/CL -), as the driver side may be a line driven input.

ALM and INP are respectively connected to the driver alarm output and the in place output (pay attention to polarity).

Limit/origin switch: Use 24V normally open contacts to connect PEL/MEL/ORG, and connect the common terminal to EXGND.

Universal I/O can be used to control peripheral relays or read button status.

After the wiring is completed, first test the single axis forward and reverse, limit stop, and zero return in Motion Creator, confirm that there are no errors, and then write the application program.

Common troubleshooting

Possible causes and countermeasures of the phenomenon

The system cannot recognize the card. Check if the PCI slot is in good contact; Slot replacement test; Confirm that PCI resources are not disabled in BIOS

The motor does not rotate, but the software does not report an error. Check if the pulse output mode (OUT/DIR vs CW/CCW) matches the driver; Check differential/open circuit jumpers; Measure for voltage changes between OUT ±

Encoder feedback reading error check whether the EA/EB wiring is reversed; Confirm that set_cnt_strc is set to external; Confirm that pls_iptmode is consistent with the actual encoder type (AB phase 1 ×/2 ×/4 ×)

After triggering the limit switch, if it cannot move in reverse, check if the limit switch type (normally open/normally closed) is consistent with the S1 setting; Check if the limit signal is locked, software clearing or reverse movement is required

Check the polarity of ORG and EZ logic for inconsistent return to zero position; If using home_made=1 or 2, ensure that the ORG signal remains valid until EZ arrives (latch=1 can be set)

The interpolation motion is not coordinated, and it has been confirmed that map_oxes has been called, and the synthesis speed/acceleration settings are reasonable; Check the two axis motion ratio and resolution ratio set_cove_ratio

Check the PA/PB wiring and type (AB phase or CW/CCW) for ineffective handwheel control; Confirm that manu_mave has been called and v_stop has not been called to exit; Check the maximum speed limit

Interrupt unresponsive. Check event handle and thread under Windows; Confirm the correct installation of interrupt vectors under DOS; Check if the interrupt factor setting and IRQ are occupied by other devices