ADLINK PCI-8134 Motion Control Card Deployment Guide

RDY (Universal Input): Read the servo ready status.

2.5 Handwheels (PA, PB) and synchronous start stop (STA, STP)

CN3 provides handwheel input for each axis (PA/PB), supports AB phase or CW/CCW, and can be independent or shared (such as X/Y sharing one handwheel). The STA and STP signals of CN4 are used for simultaneous start/stop of multiple axes or cards, and the corresponding pins of each card's CN4 need to be connected in parallel (as shown in Figure 3.12).

Motion control mode and operating principle

PCI-8134 supports multiple motion modes, which can be achieved by calling function libraries or Motion Creator.

3.1 Pulse output mode

Select OUT/DIR or CW/CCW through set_pls_outmode(); Set_pls_iptmode() and set_cnt_strc() configure the encoder input mode and counting source (command pulse or external feedback).

3.2 Constant speed motion

Vwmov() accelerates the shaft in a trapezoidal shape to a constant speed and continues to run until vv_stop() or vvchange() changes speed. Sv_mave() uses S-curve acceleration.

3.3 Trapezoidal velocity positioning

Perform symmetrical acceleration/deceleration trapezoidal motion using either a_move() (absolute) or r_move() (relative). If asymmetric acceleration and deceleration are required, use ta_move() or t_move() (specify Tacc and Tdec). The completion of the motion can be queried or interrupted with motion_deone() notification.

3.4 S-curve positioning

The s_move() (absolute) and rs_move() (relative) provide smooth S-curve acceleration and deceleration, reducing mechanical impact. Linear acceleration time and S-curve acceleration time (Tlac, Tsacc) can be specified, and the asymmetric version tas_mave().

3.5 Linear/Arc Interpolation

Move-xy()/move-zu(): Two axis linear interpolation requires first mapping the axis pairs using map_oxes(), and then setting the vector velocity (set_cove_steed) and acceleration (set_cove_cecel).

Arc_xy()/arc_zu(): Arc interpolation, specifying the center coordinates and angle (positive values are clockwise, negative values are counterclockwise). Set the interpolation accuracy (angle step size) to 5 ° by set_arc-division (). Arc_optimize() can enable automatic acceleration optimization to ensure smooth arcs.

3.6 Return to Origin

Set the origin logic (effective level, whether ORG state is latched) and return to zero mode:

Mode 0: Only ORG signal stops.

Mode 1: Wait for EZ signal to stop (high speed) after ORG is triggered.

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

Then call home_move() and specify the speed parameter. The direction is determined by the speed symbol.

3.7 Handwheel Control

Set_manu_iptmode() selects the handwheel input mode and independent/shared mode, manu_mave() starts following, maximum speed is limited by parameters, and x_stop() exits.

3.8 Multi axis synchronization and online speed change

Start_mave.all()/move-all() can simultaneously start multiple axes (connected to the CN4 synchronization line) to ensure that they start moving at the same time.

V_change() can change the maximum speed during motion (only in constant speed mode or before reaching the deceleration point), and is suitable for dynamic speed regulation based on external sensors.

Software tools and function libraries

Comes with Borland C/C++library for DOS and DLL for Windows 95/98/NT, as well as VB based sample programs and programming guides. Recommend using Motion Creator (Windows graphical interface) for configuration and debugging.

4.1 Use of Motion Creator

Main menu: Display installed PCI-8134 cards and their axle numbers, base addresses IRQ。

Axis configuration window: Set pulse I/O mode, mechanical signal (origin/index/deceleration), servo signal (ALM/INP), handwheel mode, interrupt factor, zero return mode, etc. Click "Save Configurations" to generate 8134.cfg, and you can call _8134_Set_Config() in the user program to quickly load the configuration.

Axis operation window: Real time display of command position, actual position, error, I/O status (LED indication), can perform constant speed, absolute/relative positioning, zeroing, handwheel testing, and select trapezoidal or S-curve speed curves, supports repetitive motion.

2D motion window: Test line/arc interpolation, continuous/incremental point motion, and display motion trajectory (scalable translation).

4.2 Key API Functions (C/C++)

Initialization: _8134_initial() retrieves the number of cards and information; _8134_Close() releases resources.

Pulse configuration: set_pls_outmode(), set_pls_iptmode(), set_cnt_strc().

Motion functions: v-move, a_move, r_move, s_move, move-xy, arc_xy, home_mave, manu_mave.

Status query: motion_rone(), get_io-status(), get_position (), get_command().

Interrupt control: set_int_factor() sets the interrupt source (such as limit, in place, alarm, zero return completion, etc.), get_int_datus() reads the interrupt type. Under Windows, it is necessary to create a thread waiting event (see section 4.7 of the manual for an example).

Programming Example (Simplified):

c#include "pci_8134.h"int main() {U16 cards;  PCI_INFO info;_8134_Initial(&cards, &info);