ADLINK PCI-8164 Advanced Motion Control Card Deployment Guide

PXI-8164 Handwheel: J4 provides differential handwheel input.

Synchronous start stop: CN4 (PCI) or K1/K2 are used for multi card synchronization, and the K2 of the previous card needs to be connected to the K1 of the next card.

PXI trigger bus: PXI-8164 supports mapping STA/STP/CEMG to PXI-TRG [5-7] to achieve chassis level synchronization.

Motion control mode and operating principle

PCI-8164 adopts PCL6045 ASIC, and all motion calculations are completed by hardware without occupying CPU resources.

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, VSacc/VSdec parameters define the S-curve interval (0 represents pure S-curve).

3.2 Single axis positioning

Relative/Absolute: _8164_strt_tr_move() (relative trapezoid), _8164_strt_ta_move() (absolute trapezoid), _8164_strt_str_move() (relative S-curve), _8164_strt_sta_move() (absolute S-curve).

Speed mode: _8164_tv-mov() continues to output until _8164_std_stop() or _8164-emg_stop().

Acceleration time optimization: _8164_cerify_stpeed() calculates the minimum/maximum acceleration time at a given speed, and _8164_fix_stpeed_range() sets the overspeed value to achieve extremely short acceleration time (such as 1ms).

3.3 Multi axis interpolation

2-4 axis linear interpolation: Functions such as _8164_strt_tr_line2/3/4() specify axis and position arrays, and vector velocity is defined by StrVel/MaxVel. Supports trapezoids and S-curves.

2-axis arc interpolation:

Basic version: _8164_dart_r_ arc_ xy (relative), _8164_dart_ arc_ xy (absolute), only specifies speed and direction (CW/CCW), no acceleration or deceleration.

Version with acceleration and deceleration: _8164_dart_tr_arc_xy (relative trapezoid), etc., requires hardware version bit12=1 support, using axis 3 as the auxiliary axis.

Speed mode selection: _8164_det_axis_option() can switch to the "composite speed constant" mode to optimize the smoothness of the interpolation trajectory.

3.4 Continuous Motion (FIFO Architecture)

Implement seamless trajectory through three-level command caching (Pre-Register2 → Pre-Register1 → Register):

_Enable continuous mode for 8164_continuus_move (1).

Call the first three motion functions (auto fill cache).

Check the cache status by interrupting (bit2: Pre-Register2 empty) or polling _8164_check_comtinuous_fuffer().

Write the next command when the cache is empty, achieving infinite continuous trajectory.

_8164_continuus_move (0) ends the continuous mode.

3.5 Return to Origin (13 Modes)

Configure modes (0~12) through _8164_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 (_8164_ home_dearch())

Ez_comunt can specify the number of EZ signal counts (0~15). _Set 8164_det_fa_stpeed() to zero low speed.

3.6 Online speed/location changes

Speed change: _8164-v_change() To change the maximum speed during motion, it is necessary to first call _8164_fix_stpeed_range() to set the speed upper limit. Suitable for trapezoids and S-curves.

Position change: _8164_p_change() is only applicable to absolute positioning mode and can change the target position in real time (new targets must be outside the current deceleration distance).

3.7 Position Comparison and Trigger (4K FIFO)

The position comparison function of PCI-8164 is one of its core advantages, supporting continuous high-speed triggering:

Single point comparison: Set the comparison source (command/feedback counter), comparison method, and value for _8164_strigger_comperator(), and trigger the CMP output pulse.

FIFO continuous comparison (automatic loading):

_8164_fuild_compare_function() generates a comparison point list at equal intervals (Start → End, Interval)

Or _8164-build_compare_table() custom comparison point array

_8164_det_auto_compole (1) Enable FIFO mode

During the movement, CMP pulses are automatically output at each comparison point and the next point is loaded from the FIFO

Application scenario: Line scan camera triggered (34000 points/stroke, 6000 points/second)

Trigger type: Hardware version A2 supports single/continuous level output; A3 supports normal high/normal low.

3.8 Position Lock

_Set the LTC effective level to 8164_det_ltc_logic(), and read the latch value to capture command/feedback/error/general counter.

Motion Creator Debugging Tool

Motion Creator is a graphical configuration and debugging software based on Windows (with a resolution of ≥ 800 × 600), which greatly simplifies system verification.

4.1 Main menu and card information

Display all installed 8164 cards along with their card numbers and base addresses IRQ。

Support saving configuration to 8164.ini and 8164MC.ini, and load it in the user program through _8164_comfig-from_2().

4.2 Configuration Menu

Interface I/O: Configure the logic and response modes of ALM/INP/ERC/EL/ORG/EZ/SD/LTC.

Pulse&INT: Configure pulse output/input mode, shift ratio, and interrupt factor (Event/Error).

4.3 Operation menu

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