ADLINK PCI-8154 - Manual (Page 6)

ii Table of Contents
3.9 General-purpose Signal RDY ............................................ 32
3.10 Multi-Functional output pin: DO/CMP ................................ 33
3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG...... 34
3.12 Pulser Input Signals PA and PB (PCI-8154)...................... 35
3.13 Simultaneously Start/Stop Signals STA and STP.............. 36
4 Operation Theory .............................................................. 39
4.1 Classifications of Motion Controller.................................... 39
Voltage motion control interface ................................... 39
Pulse motion control interface ...................................... 40
Network motion control interface .................................. 40
Software real-time motion control kernel ...................... 41
DSP motion control kernel ............................................ 41
ASIC motion control kernel ........................................... 41
Compare Table of all motion control types ................... 42
PCI-8154 motion controller type ................................... 42
4.2 Motion Control Modes........................................................ 43
Coordinate system ........................................................ 43
Absolute and relative position move ............................. 44
Trapezoidal speed profile ............................................. 45
S-curve and Bell-curve speed profile ............................ 46
Velocity mode ............................................................... 48
One axis position mode ................................................ 49
Two axes linear interpolation position mode ................. 50
Two axes circular interpolation mode ........................... 51
Continuous motion ........................................................ 52
Home Return Mode ...................................................... 55
Home Search Function ................................................. 62
Manual Pulser Function ................................................ 63
Simultaneous Start Function ......................................... 63
Speed Override Function .............................................. 64
Position Override Function ........................................... 65
4.3 The motor driver interface.................................................. 66
Pulse Command Output Interface ................................ 66
Pulse feedback input interface ...................................... 69
In position signal ........................................................... 71
Servo alarm signal ........................................................ 71
Error clear signal ........................................................... 72
Servo ON/OFF switch ................................................... 72
Servo Ready Signal ...................................................... 73