Document Outline

• Revision History
• Table of Contents
• List of Figures
• Preface
• 1 Introduction
  • 1.1 Features
  • 1.2 Specifications
  • 1.3 Supported Software
    • Programming Library
    • MotionCreatorPro
  • 1.4 Available Terminal Board
• 2 Installation
  • 2.1 Package Contents
  • 2.2 PCI-8102 Outline Drawing
  • 2.3 PCI-8102 Hardware Installation
    • 2.3.1 Hardware Configuration
    • 2.3.2 PCI Slot Selection
    • 2.3.3 Installation Procedures
    • 2.3.4 Troubleshooting
  • 2.4 Software Driver Installation
  • 2.5 P1 Pin Assignments: Main connector
  • 2.6 P2 Pin Assignment: Digital Inputs / Outputs
  • 2.7 K1/K2 Pin Assignments: Simultaneous Start/ Stop
  • 2.8 Jumper Settings for Pulse Output
  • 2.9 CMP & EMG Interface Settings
  • 2.10 Switch Setting for card index
• 3 Signal Connections
  • 3.1 Pulse Output Signals OUT and DIR
  • 3.2 Encoder Feedback Signals EA, EB and EZ
  • 3.3 EMG Emergency Stop
  • 3.4 Origin Signal ORG
  • 3.5 End-Limit Signals PEL and MEL
  • 3.6 In-Position Signal INP
  • 3.7 Alarm Signal ALM
  • 3.8 Deviation Counter Clear Signal ERC
  • 3.9 General-Purpose Signal SVON
  • 3.10 General-Purpose Signal RDY
  • 3.11 Position Compare Output pin: CMP
  • 3.12 Multi-Functional Input Pin: LTC/SD/PCS/CLR
  • 3.13 Simultaneously Start/Stop Signals STA and STP
  • 3.14 General Purpose Digital Input/Output
    • 3.14.1 Extended DSUB 37-pin Connector
• 4 Operations
  • 4.1 Classifications of Motion Controller
    • 4.1.1 Voltage Type Motion Control Interface
    • 4.1.2 Pulse Type Motion Control Interface
    • 4.1.3 Network Type Motion Control Interface
    • 4.1.4 Software Real-time Motion Control Kernel
    • 4.1.5 DSP Based Motion Control Kernel
    • 4.1.6 ASIC Based Motion Control Kernel
    • 4.1.7 Compare Table of All Motion Control Types
    • 4.1.8 PCI-8102’s Motion Controller Type
  • 4.2 Motion Control Modes
    • 4.2.1 Coordinate System
    • 4.2.2 Absolute and Relative Position Move
    • 4.2.3 Trapezoidal Speed Profile
    • 4.2.4 S-Curve and Bell-Curve Speed Profile
    • 4.2.5 Velocity Mode
    • 4.2.6 One Axis Position Mode
    • 4.2.7 Two Axes Linear Interpolation Position Mode
    • 4.2.8 Two Axes Circular Interpolation Mode
    • 4.2.9 Continuous Motion
    • 4.2.10 Home Return Mode
    • 4.2.11 Home Search Function
    • 4.2.12 Manual Pulser Function
    • 4.2.13 Simultaneous Start Function
    • 4.2.14 Speed Override Function
    • 4.2.15 Position Override Function
  • 4.3 Motor Driver Interface
    • 4.3.1 Pulse Command Output Interface
    • 4.3.2 Pulse Feedback Input Interface
    • 4.3.3 In Position Signal
    • 4.3.4 Servo Alarm Signal
    • 4.3.5 Error Clear Signal
    • 4.3.6 Servo ON/OFF Switch
    • 4.3.7 Servo Ready Signal
    • 4.3.8 Servo Alarm Reset Switch
  • 4.4 Mechanical Switch Interface
    • 4.4.1 Original or Home Signal
    • 4.4.2 End-Limit Switch Signal
    • 4.4.3 Slow Down Switch
    • 4.4.4 Positioning Start switch
    • 4.4.5 Counter Clear switch
    • 4.4.6 Counter Latch Switch
    • 4.4.7 Emergency Stop Input
  • 4.5 Counters
    • 4.5.1 Command Position Counter
    • 4.5.2 Feedback Position Counter
    • 4.5.3 Command and Feedback Error Counter
    • 4.5.4 General Purpose Counter
    • 4.5.5 Target Position Recorder
  • 4.6 Comparators
    • 4.6.1 Soft End-Limit Comparators
    • 4.6.2 Command and Feedback Error Counter Comparators
    • 4.6.3 General Comparator
    • 4.6.4 Trigger Comparator
  • 4.7 Other Motion Functions
    • 4.7.1 Backlash Compensation and Slip Corrections
    • 4.7.2 Vibration Restriction Function
    • 4.7.3 Speed Profile Calculation Function
  • 4.8 Interrupt Control
  • 4.9 Multiple Card Operation
• 5 MotionCreatorPro
  • 5.1 Execute MotionCreatorPro
  • 5.2 About MotionCreatorPro
  • 5.3 MotionCreatorPro Form Introduction
    • 5.3.1 Main Menu
    • 5.3.2 Select Menu
    • 5.3.3 Card Information Menu
    • 5.3.4 Configuration Menu
    • 5.3.5 Single Axis Operation Menu
    • 5.3.6 Two-Axis Operation Menu
    • 5.3.7 2D_Motion Menu
    • 5.3.8 Help Menu
• 6 Function Library
  • 6.1 List of Functions
  • 6.2 C/C++ Programming Library
  • 6.3 Initialization
  • 6.4 Pulse Input/Output Configuration
  • 6.5 Velocity mode motion
  • 6.6 Single Axis Position Mode
  • 6.7 Linear Interpolated Motion
  • 6.8 Circular Interpolation Motion
  • 6.9 Home Return Mode
  • 6.10 Manual Pulser Motion
  • 6.11 Motion Status
  • 6.12 Motion Interface I/O
  • 6.13 Interrupt Control
  • 6.14 Position Control and Counters
  • 6.15 Position Compare and Latch
  • 6.16 Continuous Motion
  • 6.17 Multiple Axes Simultaneous Operation
  • 6.18 General-Purposed DIO
  • 6.19 Soft Limit
  • 6.20 Backlash Compensation / Vibration Suppression
  • 6.21 Speed Profile Calculation
  • 6.22 Return Code
• 7 Connection Example
  • 7.1 General Description of Wiring
  • 7.2 Wiring with DIN-68M-J3A
    • 7.2.1 Pin Assignments:
    • 7.2.2 Signal Connections of Interface Circuit
    • 7.2.3 Mechanical Dimensions:
• Appendix
  • 8.1 Color code of Mitsubishi servo J3A cable
• Important Safety Instructions
• Getting Service