ADLINK PCI-8154 Motion Control Card Deployment Guide

3.1 Speed Curve

T-Curve: 1st order linear acceleration and deceleration, suitable for conventional positioning.

S-curve: 2nd order curve acceleration and deceleration to reduce mechanical impact.

Bell Curve: Inserting linear segments into an S-curve, balancing smoothness and fast response.

3.2 Single axis positioning

Relative/Absolute: _8154_Sart_tr_move() (relative trapezoid), _8154_Sart_ta_move() (absolute trapezoid), _8154_Srt_str_move() (relative S-curve), _8154_Srt_sta_move() (absolute S-curve).

Speed mode: _8154_tv-mov() continues to output until _8154_std_stop().

Online speed/position change: _8154_Speed_override() can adjust the speed percentage in real time; _8154_position override () can dynamically change the target position (note that the relative pulse number of the new target is not less than the required pulse for deceleration).

3.3 Multi axis interpolation

2-4 axis linear interpolation: functions such as _8154_strt_tr_line2/3/4(), specifying axis and position arrays, with vector velocity defined by StrVel/MaxVel.

2-axis arc interpolation: _8154_strt_tr_arc_xy() (XY axis relative arc), etc., requires specifying the center offset, endpoint offset, and direction (CW/CCW).

Spiral interpolation: _8154_dart_tr_helice() adds Z-axis linear motion on the basis of XY arc, suitable for thread machining, etc.

3.4 Return to Origin (13 Modes)

Configure the mode (0~12) through _8154_det_home_comfig(), including:

Only ORG triggers stop (mode 0)

After triggering ORG, wait for EZ signal to stop (modes 1/2/3)

Reverse search after reaching the limit (mode 6/7/8)

Equipped with automatic search function (_8154_ home_dearch())

_8154_ home_mave() returns to zero, ez_comunt can specify the number of Z-phase counts.

3.5 Handwheel and Continuous Motion

Handwheel mode: _8154_pulser-vmove() (speed following) or _8154_pulser_pmove() (fixed length following), with adjustable magnification/division.

Continuous motion: enabled through _8154_continuus_move (1), utilizing a three-level command cache to achieve a seamless trajectory.

3.6 Comparison and Trigger

Position Comparison Output (CMP): _8154_det_trigger_comperator() Set the comparison source (command/feedback/error/universal counter) and comparison value. After triggering, the CMP pin outputs a pulse, which can be used for triggering high-speed cameras.

Position Latch (LTC): _8154_ set_ latch source () Select the latch trigger source (LTC pin ORG、 Universal comparator or trigger comparator), _8154_get_1atch_data() reads the latch value.

MotionCreatorPro Debugging Tool

MotionCreatorPro is a graphical configuration and debugging software based on Windows (with a resolution of ≥ 1024 × 768), which greatly simplifies system verification.

4.1 Main menu and card information

Display all installed PCI-8154 cards and their card IDs, base addresses IRQ。

Support saving configuration to 8154.ini and 8154MC.ini, which can be loaded in the user program through _8154_comfig_from_2().

4.2 Configuration Menu

IO_Cnfig.1: Configure ALM logic/response mode, INP enable/logic, ERC logic/pulse width, EL response mode, ORG/EZ logic.

IO_Cnfig.2: Configure LTC logic and latch source, SD logic/latch/mode, PCS logic, GPIO input function and logic.

Pulse&INT_Config: Configure pulse output/input mode, shift ratio, interrupt factor.

4.3 Single axis operation menu

Real time display of command position, feedback position, position error, target position, and current speed.

Supports absolute/relative positioning, speed mode, handwheel mode, and zero return mode.

Support trapezoidal/S-shaped curve selection, repetitive motion, and real-time display of speed curves.

SVON and GPIO outputs can be set to monitor all I/O status (indicated by LED).

4.4 2D Sports Menu

Linear interpolation: Specify the target position and click to run.

Arc interpolation: Specify the center, endpoint, and direction, and click to run.

Continuous/incremental jog: used for manual verification.

Configuration saving technique: After clicking "Save Config" in the configuration menu, the configuration file is saved in the Windows system directory. The user program can call _8154_comfig-from_2() to automatically complete all I/O logic settings, greatly simplifying the initialization code.

Wiring examples and debugging points

The manual provides dedicated terminal boards (DIN-814P-A4, DIN-814M, DIN-814M-J3A, DIN-814Y) for servo drives such as Panasonic MINAS A4, Mitsubishi J2/J3A, and Yaskawa Sigma II, which can be directly plugged in.

Universal wiring:

OUT+→PULS+，OUT-→PULS-； DIR+→ SIGN+, DIR - → SIGN -.

EA+/EA - → OA+/OA -, EB+/EB - → OB+/OB -.

ALM, INP, RDY, SVON are connected according to servo pin definitions.

External+24V connection to CN3's E24V and EXGND.

Debugging suggestions:

Use MotionCreatorPro to test single axis motion and observe if the command/feedback positions are consistent.

Check the conversion of speed units: for example, if the encoder has 2000 lines per revolution and 8000 pulses per revolution after 4 times the frequency, if the maximum speed is 3000 rpm, then the maximum frequency=3000/60 × 8000=400000 pps.

If the direction of returning to the origin is incorrect, adjust the MaxVel sign.