Advantech ADAM-5240 Manuale utente

ADAM-5240

4-axis Stepping/Pulse-type

Servo Motor Control Module

User Manual

ADAM-5240 User Manual ii

This documentation and the software included with this product are

copyrighted 2007 by Advantech Co., Ltd. All rights are reserved.

Advantech Co., Ltd. reserves the right to make improvements in the

products described in this manual at any time without notice.

No part of this manual may be reproduced, copied, translated or

transmitted in any form or by any means without the prior written

permission of Advantech Co., Ltd. Information provided in this manual is

intended to be accurate and reliable. However, Advantech Co., Ltd.

assumes no responsibility for its use, nor for any infringements of the

rights of third parties which may result from its use.

CE notification

The ADAM-5240, developed by ADVANTECH CO., LTD., has passed

the CE test for environmental specifications when shielded cables are

used for external wiring. We recommend the use of shielded cables. This

kind of cable is available from Advantech. Please contact your local sup-

plier for ordering information.

Printed in Taiwan September 2008

iii

Product Warranty (2 years)

Advantech warrants to you, the original purchaser, that each of its prod-

ucts will be free from defects in materials and workmanship for two years

from the date of purchase.

This warranty does not apply to any products which have been repaired or

altered by persons other than repair personnel authorized by Advantech,

or which have been subject to misuse, abuse, accident or improper instal-

lation. Advantech assumes no liability under the terms of this warranty as

a consequence of such events.

Because of Advantech’s high quality-control standards and rigorous test-

ing, most of our customers never need to use our repair service. If an

Advantech product is defective, it will be repaired or replaced at no

charge during the warranty period. For out-of-warranty repairs, you will

be billed according to the cost of replacement materials, service time and

freight. Please consult your dealer for more details.

If you think you have a defective product, follow these steps:

1. Collect all the information about the problem encountered. (For

example, CPU speed, Advantech products used, other hardware

and software used, etc.) Note anything abnormal and list any

onscreen messages you get when the problem occurs.

2. Call your dealer and describe the problem. Please have your man-

ual, product, and any helpful information readily available.

3. If your product is diagnosed as defective, obtain an RMA (return

merchandize authorization) number from your dealer. This allows

us to process your return more quickly.

4. Carefully pack the defective product, a fully-completed Repair and

Replacement Order Card and a photocopy proof of purchase date

(such as your sales receipt) in a shippable container. A product

returned without proof of the purchase date is not eligible for war-

ranty service.

5. Write the RMA number visibly on the outside of the package and

ship it prepaid to your dealer.

ADAM-5240 User Manual iv

Technical Support and Assistance

Step 1. Visit the Advantech web site at www.advantech.com/support

where you can find the latest information about the product.

Step 2. Contact your distributor, sales representative, or Advantech's cus-

tomer service center for technical support if you need additional

assistance. Please have the following information ready before

you call:

- Product name and serial number

- Description of your peripheral attachments

- Description of your software (operating system, version, appli-

cation software, etc.)

- A complete description of the problem

- The exact wording of any error messages

Packing List

Before setting up the system, check that the items listed below are

included and in good condition. If any item does not accord with the

table, please contact your dealer immediately.

• ADAM-5240

Safety Precaution - Static Electricity

Follow these simple precautions to protect yourself from harm and the

products from damage.

1. To avoid electrical shock, always disconnect the power from your

PC chassis before you work on it. Don't touch any components on

the CPU card or other cards while the PC is on.

2. Disconnect power before making any configuration changes. The

sudden rush of power as you connect a jumper or install a card may

damage sensitive electronic components.

v Table of Contents

Contents

Chapter 1 Introduction ..................................................... 2

1.1 Features ............................................................................. 2

1.2 Applications ...................................................................... 5

1.3 Accessories........................................................................ 5

Chapter 2 Signal Connections .......................................... 8

2.1 I/O Connector Pin Assignments........................................ 8

2.2 Pin Assignments................................................................ 9

Figure 2.1:I/O Connector Pin Assignments ................... 9

Table 2.1:I/O Connector Signal Description ............... 10

Table 2.1:I/O Connector Signal Description ............... 11

Table 2.1:I/O Connector Signal Description ............... 12

2.3 Output Pulse Definition................................................... 13

Figure 2.2:Output Signal Loop for Drive Pulses ......... 13

Table 2.2:JP1~8 Jumpers ............................................. 13

Figure 2.3:Photo Coupler Input Interface .................... 14

Figure 2.4:Line Driver Input Interface ........................ 14

2.4 General Purposed Output ................................................ 15

Figure 2.5:General Purpose Output ............................. 15

2.5 Over Traveling Limit Switch Input................................. 15

Figure 2.6:Movement Limit Input Signals .................. 16

Figure 2.7:Photo Sensor in the Limit Input Signal ...... 16

2.6 Deceleration/Instantaneous Stop Switch Input ............... 17

Figure 2.8:Deceleration/Instantaneous Stop Input ....... 17

2.7 General Purposed Input for Servo Drives ....................... 18

Figure 2.9:Input Signal for Servo Motor ..................... 18

2.8 Encoder Input .................................................................. 19

Figure 2.10:Circuit Diagram of Encoder Feedback ..... 19

Figure 2.11:Differential-output Line Driver ................ 20

Figure 2.12:Open Collector Output Encoder ............... 20

2.9 External Pulse Control Input........................................... 21

Figure 2.13:External Drive Operation Signals ............ 21

Figure 2.14:Example of Connecting to Jog ................. 21

2.10 Emergency Stop Input (EMG) ........................................ 22

Figure 2.15:Emergency Stop Input Signal ................... 22

Table 2.3:Jumper Settings of JP9 ................................ 22

2.11 External Power Input (VEX)........................................... 22

2.12 Interrupt Setting............................................................... 23

Figure 2.16:Circuit Diagram of Interrupt Setting ........ 23

2.13 Connection Examples for Motor Drivers ........................ 24

2.13.1 Connection to Step Motor Drivers ............................... 24

Figure 2.17:Connecting to KR515M Drive ................. 24

Figure 2.18:Connecting to UPK Step Drive ................ 25

2.13.2 Connection to Servo Motor Drivers ............................. 26

Figure 2.19:MINAS X Series AC Servo Motor Drive 26

ADAM-5240 User Manual vi

2.14 Field Wiring Considerations ........................................... 27

2.15 I/O Signal Timing............................................................ 28

2.15.1 Power On RESET ........................................................ 28

Figure 2.20:Timing Diagram of Power On Reset ........ 28

2.15.2 Individual Axis Driving ............................................... 28

Figure 2.21:Individual Axis Driving ........................... 28

2.15.3 Interpolation Driving ................................................... 29

Figure 2.22:Timing Diagram of Interpolation Driving 29

2.15.4 Input Pulse Timing ....................................................... 29

Figure 2.23:Quadrature Pulse of Encoder Input .......... 29

Figure 2.24:Timing Diagram of Up/Down Pulse Input 29

2.15.5 Instantaneous Stop Timing .......................................... 30

Figure 2.25:External Instantaneous Stop Signal .......... 30

Figure 2.26:Instantaneous Stop Instruction ................. 30

2.15.6 Deceleration Stop Timing ............................................ 30

Figure 2.27:External Deceleration/Stop Signal ........... 30

Figure 2.28:Deceleration/Stop Instruction ................... 30

2.16 TTL Level Position Compare Output.............................. 31

Table 2.4:Jumper Settings of JP10 .............................. 31

Appendix A Specifications ................................................. 34

A.1 Axes................................................................................. 34

A.2 Digital Input/Output ........................................................ 35

A.3 Input Pulse for Encoder Interface.................................... 36

A.4 External Signals Driving ................................................. 36

A.5 Other Functions ............................................................... 37

A.6 General ............................................................................ 37

Appendix B Block Diagram ............................................... 40

Appendix C Cable Pin Assignments ................................. 42

Appendix D Wiring with Third-Party Motor Drivers .... 44

Figure D.1:Mitsubishi MR-J2S Series Motor Driver .. 44

Figure D.2:Oriental LIMO EZMC Motor Driver ........ 45

Figure D.3:Panasonic MINAS-A Series Motor Driver 46

Figure D.4:Yaskawa SGDM Series Motor Driver ....... 47

CHAPTER

Introduction

This chapter introduces ADAM-5240

and lists features and specifications.

ADAM-5240 User Manual 2

Chapter 1 Introduction

ADAM-5240 4-Axis Stepping/Pulse-type Servo Motor Control Card is

designed for general-purpose motion applications. The card simplifies

stepping and pulse-type servo motor control.

The cards’ intelligent NOVA MCX314AS motion ASIC builds in a vari-

ety of motion control functions, such as 2/3-axis linear interpolation, 2-

axis circular interpolation, T/S-curve acceleration/deceleration rate and

more. In addition, the next generation chip, MCX314AS is lead-free and

not only increases the 2/3-axis linear interpolation range and the number

of output pulses, but also provides the “Go Home” function.

1.1 Features

ADAM-5240 provides users with the most requested motor control func-

tions as seen below:

• Independent 4-axis motion control

• Support hand wheel and jog function

• 2/3-axis linear interpolation function

• 2-axis circular interpolation function

• Continuous interpolation function

• Programmable T/S-curve acceleration and deceleration

• Up to 4MPPS pulse output for each axis

• Two pulse output types: Up/Down or Pulse/Direction

• Up to 1 MHz encoder input for each axis

• Two encoder pulse input types: A/B phase or Up/Down

• Position management and software limit switch function

• Free Motion Utility bundled for configuration and diagnosis

• "Go home” functions

The Advantech ADAM-5240 offers the following main features:

Individual Control for 4 Axes

Each of the axes has identical capabilities, and is controlled by the same

method of operation with constant speed, trapezoidal or S-curve driving.

3 Chapter1

Programmable T/S-curve Acceleration and Deceleration

Each of four axes can be preset individually with S-curve or trapezoidal

acceleration/deceleration rates. When using S-curve acceleration to con-

trol driving speed, output pulse is generated in parabolic-shaped accelera-

tion or deceleration curves, and the triangular curve phenomenon will not

occur through the NOVA MCX314AS-motion ASIC design concept.

Linear and Circular Interpolation

Any two or three axes can be selected to execute linear interpolation driv-

ing and any two axes can be selected to execute circular arc interpolation

control. The interpolation speed range is from 1 PPS to 4 MPPS.

Powerful Position Management Function

Each axis is equipped with a 32-bit logical position counter and a 32-bit

real position counter. The logical position counter counts the axis’ pulse

output number and the real position counter is recorded with the feedback

pulse from the outside encoder or linear scale.

Speed Control

The speed range of the pulse output is from 1PPS to 4MPPS for constant

speed, trapezoidal or S-curve acceleration/deceleration driving. The

accuracy of the frequency of the pulse output is less than +/- 0.1% (at

CLK=16 MHz). The speed of driving pulse output can be freely changed

during the driving.

Bit Pattern Interpolation

Any 2 or 3 axes can be selected to perform the bit pattern interpolation,

and the interpolation data is calculated by CPU; CPU writes the bit data

into MCX314AS. Then, MCX314AS outputs pulses continuously at the

preset driving speed. So, the user can process any interpolation curve by

this mode.

Continuous Interpolation

Different interpolation methods can be used continuously, for example:

Linear interpolationÆCircular interpolationÆLinear interpolation.

The maximum driving speed of performing continuous interpolation is 2

MPPS.

ADAM-5240 User Manual 4

Constant Vector Speed Control

This function performs a constant vector speed. During the interpolation

driving, MCX314AS can set a 1.414 times pulse cycle for 2-axis simulta-

neous pulse output, and a 1.732-time pulse cycle for 3-axis simultaneous

pulse output that keep the constant speed during driving.

Position Control

Each axis has a 32-bit logic position counter and a 32-bits real position

counter. The logic position counter counts the output pulse numbers, and

the real position counter counts the feedback pulse numbers from the

external encoder or linear scale.

Compare Register and Software Limit

Each axis has two 32-bit compare registers for logical position counter

and real position counter. The comparison result can be read from the sta-

tus registers. The comparison result can be notified by an interrupt signal.

These registers can be also functioned as software limits.

Driving by External Signal

It is possible to control each axis by external signals. The +/- direction

fixed pulse driving and continuous driving can be also performed through

the external signals. This function is used for JOG or teaching modes, and

will share the CPU load.

Input/ Output Signal

Each axis has 4 points of input signals to perform deceleration and stop in

driving. These input signals are for high-speed near-by home search,

home search and z-phase search during the home returning. Each axis is

with 8 output points for general output.

Servo Motor Feedback Signals

Each axis includes input pins for servo feedback signals such as in-posi-

tioning, close loop positioning control and servo alarm.

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