User`s manual

40 • Extension Modules
IRQ on PCI board Assigned by PCI controller
IRQ on MPC board Assigned by Software Utility
Operating temperature
0°C ~ 60°C
Storage temperature
-20°C ~ 80°C
Humidity 5 ~ 95%, non-condensing
General
Specifications
Power Consumption
PCI (MPC)-8372/8366: +5V @ 1 A
typical
Type TI TMS320C6711
Clock 100MHz
DSP
DSP performance 600 MFLOPS
I/O Connector 68-pin VHDIC
Board
Interface
SSCNet Connector 3M 10220-52A2JL
Protocol SSCNET II
Bit Rate 5.625Mhz
Physical layer RS-485
Maximum working length 30m for each 6 axes
Driver
Communicati
on
Error detection CRC
Max. No of controllable axes 8372 :12 ; 8366 : 6
Servo update rate 0.888ms
Servo Data Monitors
Current position
Droop (deviation)
Velocity Command
Velocity feedback
Torque command
Servo alarm number …etc
Servo Loop
Servo parameter tuning Parameter read/write
Motion Velocity Profile Trapezoidal & S-Curve
Jog move
Single axis P to P motion
Change P/V on the fly
Linear interpolation: up to 4 axes
Single motion
2-axis Circular interpolation
Home move 2 home mode
Start / End motion list
Add linear trajectory
Add arc trajectory: 2 axes
Add Dwell
Smooth Trajectory
Start/Sop command
Load Trajectory from file
Motion I/O status read/configure
Motion
Function
Continuous motion
Motion status
Move Ratio In unit of Pulse per mm
Software Limit Each axis has 2 soft limits
Position Compare Each axis has 2 comparators
Interlock 2 axes interlock system
Application
Functions
System error check Watchdog timer
Interrupt
During operation stop
Possible to select conditions where
interrupt occurs