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PCL-832 Datasheet Preview

PCL-832 Datasheet

3-Axis Servo Motor Control Card

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PCL-832
3-axis Servo Motor Control Card
Features
• Independent 3-axis servo control
• 3-axis linear interpolation
• 2-axis circular interpolation
• 1 msec. servo update time
• Easy programming from C and other high-level languages
• Six axes maximum in one PC system
• Half-size AT (ISA bus) add-on card
• 12-bit analog output with ±10 V range
• Built-in F/V converter
Introduction
The PCL-832 3-axis Servo Motor Control Card turns your IBM PC or
compatible computer into a sophisticated position controller. The
card's custom ASIC implementation provides high performance at an
affordable price.
The PCL-832 uses digital differential analysis techniques to
implement position control. Each axis has its own position control
chip, allowing complete independent control of up to three servo
motors.
A special synchronization circuit synchronizes all three axes
simultaneously. The card can supply a simulated tachometer output
to the servo motor driver. This signal makes a tachometer
unnecessary in some applications, reducing overall system costs.
The PCL-832's programming library (accessible from C) supports
high-level commands and functions, making control easy. The
library includes commands to set the DDA cycle time and
acceleration/deceleration curve as well as functions for linear
interpolation, circular interpolation, return home
and jog.
Application
• Precise position control
• Robotics control
• Machine control with up to three axes
• PC-based NC controller
Specifications
• No. of axes: 3 independent axes
• Control algorithm: Proportional control
• Positional accuracy: ±1 quadrature count
• Effective travel length: No limit
• Output type: 12-bit D/A, ±10 V full scale
• Servo update time: 1 msec. to 2 sec. (programmable)
• Error counter: ±12 bit
• Tachometer simulation output (F/V converter): ±10 V at 250 kHz
(default), VR adjustable
• Home sensor input: 1 channel per axis
• Encoder input: Single-ended or differential
• Counts per encoder cycle: x1, x2, x4 (jumper selectable)
• Max. quadrature input freq.: 250 kHz
General
• Bus: 16-bit AT (ISA bus)
• IRQ: 2, 3, 5, 7, 10, 11, 12 or 15
• I/O addresses: 32
• Power consumption: 5 V @ 500 mA max.
12 V @ 200 mA max.
• Operating temperature: 0 ~ +60° C (32 ~ 140° F)
• Storage temperature: -20 ~ +70° C (-4 ~ 158° F)
• Operating humidity: 5 ~ 95% RH non-condensing (refer to IEC
68-2-3)
• Connector: DB-9 connector for servo control
DB-25 connector for encoder and home signals
• Dimensions: 185 mm (L) x 100 mm (H) (7.3" x 3.9")
7-50
DA&C Series




ETC

PCL-832 Datasheet Preview

PCL-832 Datasheet

3-Axis Servo Motor Control Card

No Preview Available !

www.DataSheet4U.com
PCL-832 Programming
Programming the PCL-832
The PCL-832 comes with a command and control library that you
link into your C/C++ program. You can use high-level commands
instead of assembly language. The library supports the following
functions:
• System functions: Initialize and shut down the PCL-832
• Operating functions: Set card parameter (e.g., DDA cycle time),
read error counter, set acceleration/deceleration step, set feed
rate, set absolute/relative coordinates, etc.
• Movement functions: Go to home position, linear/circular
interpolation, jog, etc.
• Miscellaneous functions: Hold, abort, continue, read position,
etc.
Block Diagram
Servo
motor
Encoder feedback
TG meter
Servo driver
12-bit DAC
F/V converter
Motion
control
chip
Offset
adjustment
(error
counter)
Velocity
Kp feedback
interface
DDA pulse +
generator
-
Ke
X1 X2 X4
Error counter
overflow
interrupt
DDA
Interrupt
Interrupt level
selector
Control logic
Pin Assignments
Servo Control
VCMD (CH1)
1
6 F/V (CH1)
AGND
2
7 VCMD (CH2)
F/V (CH2)
3
8 AGND
VCMD (CH3)
4
AGND 5 9 F/V (CH3)
VCMD: Voltage command output
F/V: Frequency/voltage converter output
AGND: Analog ground
Encoder and Home Sensors
DGND
A- (CH1)
B- (CH1)
INDEX- (CH1)
DGND
A- (CH2)
B- (CH2)
INDEX- (CH2)
DGND
A- (CH3)
B- (CH3)
INDEX- (CH3)
DGND
1
14
2
15
3
16
4
17
5
18
6
19
7
20
8
21
9
22
10
23
11
24
12
25
13
A+ (CH1)
B+ (CH1)
INDEX+ (CH1)
HOME (CH2)
A+ (CH2)
B+ (CH2)
INDEX+ (CH2)
HOME (CH2)
A+ (CH3)
B+ (CH3)
INDEX+ (CH3)
HOME (CH3)
A+: Encoder input (differential +)
A-: Encoder input (differential -)
B+: Encoder input (differential +)
B-: Encoder input (differential -)
INDEX+: Index input (differential +)
INDEX-: Index input (differential -)
HOME: Home sensor input (single ended)
7
Ordering Information
PCL-832: 3-axis servo motor control card, command library and
user's manual
ADAM-3925: DB-25 wiring terminal for DIN-rail mounting
PC 16-bit ISA BUS
DA&C Series
www.advantech.com 7- 5 1


Part Number PCL-832
Description 3-Axis Servo Motor Control Card
Maker ETC
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