PC-HELPER High-Speed Motion Control Board for PCI (4 axes) SMC-4DF-PCI (8 axes) SMC-8DF-PCI User’s Guide CONTEC CO.,LTD.
Check Your Package Thank you for purchasing the CONTEC product. The product consists of the items listed below. Check, with the following list, that your package is complete. If you discover damaged or missing items, contact your retailer.
Copyright Copyright 2013 CONTEC CO., LTD. ALL RIGHTS RESERVED. No part of this document may be copied or reproduced in any form by any means without prior written consent of CONTEC CO., LTD. CONTEC CO., LTD. makes no commitment to update or keep current the information contained in this document. The information in this document is subject to change without notice. All relevant issues have been considered in the preparation of this document.
Table of Contents Check Your Package............................................................................................................................ i Copyright ............................................................................................................................................ ii Trademarks ......................................................................................................................................... ii Table of Contents .........................
Step 3 Installing the Hardware ......................................................................................................... 17 Turning on the PC...................................................................................................................... 17 When Using API-SMC(WDM)................................................................................................... 17 Step 4 Initializing the Software ..........................................................................
GND (Ground)........................................................................................................................... 52 Connecting the synchronization control connectors ................................................................. 53 Motion control system...................................................................................................................... 55 System configuration...........................................................................................
vi SMC-4DF-PCI, SMC-8DF-PCI
1. Before Using the Product 1. Before Using the Product This chapter provides information you should know before using the product. About the Board This product is a PCI board that supports stepping motors and (“pulse string input” types of) servomotors. SMC-4DF-PCI can perform motor control for up to 4 axes. SMC-8DF-PCI can perform motor control for up to 8 axes. Multi-axis independent control and linear/circular interpolation control are performed via a motor driver unit.
1. Before Using the Product - With the multi-boards and axis synchronization control function, capable of aligning the timing for operation start and end Synchronization control of multi-axis simultaneous start/stop control, linear interpolation operation is available. Synchronization control of up to 16 boards (128 axes) is possible, when dedicated synchronization control cables are connected. - Windows compatible driver libraries is attached.
1. Before Using the Product Support Software You should use CONTEC support software according to your purpose and development environment. Windows version of motion control driver API-SMC(WDM) [Stored on the bundled CD-ROM driver library API-PAC(W32)] The API-SMC(WDM) is the Windows version driver library software that provides products in the form of Win32 API functions (DLL). Various sample programs such as Visual Basic and Visual C++, etc and diagnostic program useful for checking operation is provided.
1. Before Using the Product Customer Support CONTEC provides the following support services for you to use CONTEC products more efficiently and comfortably. Web Site Japanese English Chinese http://www.contec.co.jp/ http://www.contec.com/ http://www.contec.com.cn/ Latest product information CONTEC provides up-to-date information on products. CONTEC also provides product manuals and various technical documents in the PDF.
1. Before Using the Product Safety Precautions Understand the following definitions and precautions to use the product safely. Safety Information This document provides safety information using the following symbols to prevent accidents resulting in injury or death and the destruction of equipment and resources. Understand the meanings of these labels to operate the equipment safely. DANGER DANGER indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.
1. Before Using the Product - Make sure that your PC or expansion unit can supply ample power to all the products installed. Insufficiently energized products could malfunction, overheat, or cause a failure. - The specifications of this product are subject to change without notice for enhancement and quality improvement. Even when using this product continuously, be sure to read the manual and understand the contents. - Do not modify this product.
1. Before Using the Product Environment Use this product in the following environment. If used in an unauthorized environment, the board may overheat, malfunction, or cause a failure. Operating temperature 0 - 50ºC Humidity 10 - 90%RH (No condensation) Corrosive gases None Floating dust particles Not to be excessive Inspection Inspect the product periodically as follows to use it safely. - Check that the bus connector of the board and its cable have been plugged correctly.
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2. Setup 2. Setup This chapter explains how to set up this product. What is Setup? Setup means a series of steps to take before the product can be used. Different steps are required for software and hardware. The setup procedure varies with the OS and applications used.
2. Setup Using the Board under an OS Other than Windows For using the board under an OS other than Windows, see the following parts of this manual.
2. Setup Step 1 Installing the Software This section describes how to install the API function libraries. Before installing the hardware on your PC, install the API driver libraries from the bundled API-PAC(W32) CD-ROM. The following description assumes the operating system as Windows XP. Although some user interfaces are different depending on the OS used, the basic procedure is the same. Which Driver to Use This product supports the advanced motion control driver API-SMC(WDM) only.
2. Setup Selecting API-SMC(WDM) (1) The following dialog box appears to select “Driver to install” and “Install option”, “Usage of driver library”. (2) Select the "Advanced Motion control driver". (3) Click on the [Install] button. * Clicking the [API-SMC] button displays detailed information about API-SMC(WDM) and API-SMC(98/PC). Executing the Installation (1) Follow the on-screen instructions to proceed to install. (2) After finishing installing, Readme file is displayed.
2. Setup Step 2 Setting the Hardware This section describes how to set this product and plug it on your PC. This product has some switches and jumper to be preset. Check the on-product switches and jumpers before plugging this product into an expansion slot. This product can be set up even with the factory defaults untouched. You can change this product settings later. Parts of this product and Factory Defaults Figure 2.1. - 2.2. shows the names of major parts on this product.
2. Setup - Synchronization signal connector (CN2, CN3) 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 ON SW3 ON SW2 - Terminator setting SW (SW2 - SW3) CN2 CN2 CN1 CN3 CN3 SW1 BOARD ID SW2 SW3 - Interface connector - Board ID setting switch 23 789 CD AB E 456 SW1 BOARD ID F0 1 Figure 2.2.
2. Setup Setting the Board ID If you install two or more boards on one personal computer, assign a different ID value to each of the boards to distinguish them. The board IDs can be set from 0 - Fh to identify up to sixteen boards. If only one board is used, the original factory setting (Board ID = 0) should be used. Setting Procedure To set the board ID, use the rotary switch on the board. Turn the SW1 knob to set the board ID as shown below.
2. Setup Plugging the Board (1) Before plugging the board, shut down the system, unplug the power code of your PC. (2) Remove the cover from the PC so that the board can be mounted. (3) Plug the board into an expansion slot. (4) Put the cover back into place. Applicable PCI bus slots PCI bus slots used in PCs have keys to prevent 5V and 3.3V PCI bus boards from being accidentally plugged into wrong bus slots. This board can be plugged into both of the 5V and 3.3V PCI bus slots.
2. Setup Step 3 Installing the Hardware For using an expansion board under Windows, you have to let the OS detect the I/O addresses and IRQ to be used by the board. The process is referred to as installing the hardware. In the case of using two or more boards, make sure you install one by one with the Found New Hardware Wizard. Turning on the PC Turn on the power to your PC.
2. Setup (2) When “Multimedia Controller” is displayed, select “Install from a list or specific location[Advanced]” and then specify that folder on the CD-ROM which contains the setup information (INF) file to register the board. When the model name of hardware is displayed, select “Install the software automatically [Recommended]” and then click on the “Next” button. Source folder The setup information (INF) file is contained in the following folder on the bundled CD-ROM.
2. Setup * The name of the board you have just added is displayed. - SMC-4DF-PCI - SMC-8DF-PCI You have now finished installing the hardware.
2. Setup Step 4 Initializing the Software The API function library requires the initial setting to recognize the execution environment. It is called the initialization of the API function library. Setting the device name (1) Run Device Manager. From [My Computer] - [Control Panel], select [System] and then select the [Device Manager] tab. (You can also open Device Manager by right clicking on My Computer and selecting Properties.) * The name of the board you have just added is displayed.
2. Setup (3) The property page for the device opens. Enter the device name in the common settings tab page and then click [OK]. The device name you set here is used later when programming. * The name of the board you have just added is displayed. - SMC-4DF-PCI - SMC-8DF-PCI * The initial device name that appears is a default value. You can use this default name if you wish. * Make sure that you do not use the same name for more than one device.
2. Setup Step 5 Checking Operations with the Diagnosis Program Use the diagnosis program to check that the board and driver software work normally, thereby you can confirm that they have been set up correctly. What is the Diagnosis Program? The diagnosis program diagnoses the states of the board and driver software. For Quick Check, the program checks the board resources for validity. The resources include the I/O addresses, interrupt level (IRQ), board ID, and sync signal.
2. Setup CCB-SMC2 ORG ORG ORG GND +LIM +LIM +LIM GND -LIM -LIM -LIM GND +12V - +24VDC + - + - Figure 2.5.
2. Setup Using the Diagnosis Program Starting the Diagnosis Program Click the [Diagnosis] button on the device property page to start the diagnosis program. * The name of the board you have just added is displayed. - SMC-4DF-PCI - SMC-8DF-PCI Checking for motor control (1) Select the name of the axis you want to diagnose, then click on the [Execute Initial Setup Utility] button to execute Quick Check.
2. Setup To execute Detail Check, click on the [Next] button. Otherwise, click on the [Back] or [Cancel] button. (2) Check/mask each signal. When the alarm (ALM) is ON or each limit (+LIM, -LIM) is ON, the motor does not operate in that direction. In this case, check the connection of the signal or mask it.
2. Setup (3) Simple operation is performed.
2. Setup Setup Troubleshooting Symptoms and Actions Data input or output does not operate correctly - Run the diagnosis program to check that the device is registered and whether any initialization errors have occurred. - Is there a problem with the device settings, wiring, or similar? Check the I/O setting of motor driver unit and limit sensor for validity. The diagnostic program works correctly but the application program does not. The diagnostic program uses the API-TOOL functions.
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3. External Connection 3. External Connection This chapter describes the interface connectors on the board and the external I/O circuits. Check the information available here when connecting an external device. How to connect the connectors Connector shape < SMC-8DF-PCI > The on-board interface connector (CNA, CNB) is used when connecting this product and the external devices. Interface connector CNB CNA - Connector used HDRA-E100W1LFDT1EC-SL+ [mfd.by HONDA TSUSHIN KOGYO CO.
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3. External Connection Connecting Output Signals Pulse output circuit (CW, CCW) The pulse output circuit on this product, which is in the form of a differential line driver (AM26LS31 equivalent) as shown in the following figure, can be connected with differential input, opto-coupler, and TTL level input. Connection with the differential input Figure 3.6.
3. External Connection Connection with the opto-coupler input Driver Unit Board AM26LS31 or equivalence to it CW+ CW CW CWCCW+ CCW CCW CCWGND Figure 3.8. Pulse output circuit (connection with the opto-coupler input) Connection with TTL level input Driver Unit Board AM26LS31 or equivalence to it Vcc Vcc CW+ CW CW CWVcc CCW+ CCW Vcc CCW CCWGND Figure 3.9. Pulse output circuit (connection with the TTL level input) CAUTION - The pulse output part of this product outputs the voltage by 2.
3. External Connection Control signal/general-purpose signal output circuit(OUT1 OUT3, ERC, CP1, CP2) Output circuit of each output signal on this product is illustrated below. The signal output is an open-collector output. A ground wire must therefore be connected for driving. Board Driver Unit OUT1 - OUT3 GND + +12 - +24VDC Figure 3.10.
3. External Connection Connecting Input Signals Encoder input circuit Encoder input circuit on this product is illustrated below. The signal input is a differential input capable of connecting a line driver output, TTL level output and open-collector output.
3. External Connection Connection with the TTL level output Board Vcc Driver Unit Vcc Vcc AM26LS32A or equivalence to it A+ TTL level output Phase A+ A- Vcc Vcc Vcc AM26LS32A or equivalence to it B+ TTL level output Phase B+ B- Vcc Vcc Vcc AM26LS32A or equivalence to it Z+ ZGND Phase Z+ TTL level output GND Figure 3.12.
3. External Connection Connection with the open-collector output Figure 3.13. Encoder input circuit CAUTION - When connecting open-collector output signals, please do not insert a terminating resistor with reference to "Setting the Terminating Resistor in chapter 2". When inserted with a terminating resistor (factory setting), this product may malfunction, overheat, or causes a failure. - Restrict the use of cables to 3m for the open-collector output.
3. External Connection Limit input/general-purpose input/control input circuit(IN1 - IN7, +LIM, -LIM, ORG) The limit input/general-purpose input/control input circuit on this board is illustrated below. The signal input is an current drive input by opto-coupler (Corresponding to the current sink output). To drive the limit input/ general-purpose input/control input block, therefore, an external power supply is required at +12 - +24 V.
3. External Connection Connection Examples Given below are practical examples of connection of this product that outputs pulses by the independent pulsing method to motor drivers. These examples show the connections through axis0 (Axis No.1 in API-SMC(WDM)). Example of Connection to driver unit (Σ II Series) for Servo motor *Please connect the Shield Line of cable with the Connector Shell. Figure 3.15.
3. External Connection Surge Voltage Countermeasures When connecting a load that generates surge voltages and inrush currents, such as an induction load (relay coil) or an incandescent light bulb, to the digital output, appropriate protection must be provided in order to prevent damage to the output stage or a malfunction due to noise. The rapid shutoff of a coil, such as a relay, generates a sudden high-voltage pulse.
4. Functions 4. Functions This chapter describes the functions of this product. You can easily set up and execute each of the functions using the bundled driver library. For more information on this product, please refer to the “API-SMC HELP” after installing. About each motor control operation PTP operation function This function moves the motor from one point to another (Point To Point motion). Use the function for simple position control.
4. Functions Frame (bank) sequence operation function This product handles the set of parameters which are necessary for motor operations such as travel distance, travel speed, acceleration/deceleration rate, and so on as 1 frame, and can store up to 1024 frames for each axis. It is possible to repeatedly execute the frame after executing a frame once (loop operation). By storing and executing continuous multiple frames in the memory of the board, the following benefits can be got.
4. Functions Synchronous control function Synchronization is the function that makes the motors start operation at the identical timing or, if any of the motors is stopped with an alarm (abnormal stop), stops all the relevant axes at once. The following types of synchronous control are available.
4. Functions Meanings of signals Limit input signals Limits switches are used to detect the position of the carrier in a positioning system using a stepping motor to stop the motor when the carrier has reached the target position (final destination). This product is also provided with the slow-down stop input to slow down the high-speed rotation at acceleration or deceleration. The mounting position of each limit switch is shown below.
4. Functions Encoder input signal Phases A, B and Z are available to this product for encoder input. The signals that can be connected are those in the following output forms: the line driver output form, the TTL level output form, and the open-collector output form.
4. Functions Pulse output signal Apart from the independent pulse (CW, CCW), this product can also generate the following pulses : common pulse (pulse output, direction output), 90°C phase-different pulse (leading pulse output, trailing pulse output). This allows you to use (or select) the most suitable one in accordance with the pulse motor drive unit to be used (or connected).
4. Functions OUT (leading pulse output) and DIR (trailing pulse output) The OUT (leading pulse output) signal and the DIR (trailing pulse output) signal are generated. The motor is operated (rotated) in the positive direction (clockwise), when there is a phase difference of +90° between DIR (trailing pulse output) and OUT (leading pulse output).
4. Functions LTC (counter latch input) Signal to latch with the counter value, allowing the counter value to be cleared immediately after latching or an interrupt request to be generated upon latching. The input logic can be changed by software. PCS (positioning control start input) Signal for overriding (replacing) the target position, allowing positioning to be performed by the set amount of shifting from the input-ON timing. The input logic can be changed by software.
4. Functions Connecting the synchronization control connectors There are synchronization signal control connectors (CN2, CN3) which enable synchronization operations of multiple pieces of this product. These connectors are used for connecting synchronization signal cables. Connection method For synchronous operations of two or more boards, connect them with synchronization signal cables.
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4. Functions Motion control system System configuration Stepping motor Servo motor Limit sensor Driver unit Conversion cable CCB-SMC2 PCB-100PS SMC-4DF-PCI SMC-8DF-PCI +12V +24VDC DC Power Supply Figure 4.8. System configuration Table 4.3. Component features Item Description SMC-4DF-PCI SMC-8DF-PCI (Main board) PCB-100PS (Option) When installed on the PC, this board generates pulses required for position control. This cable connects the board to the CCB-SMC2.
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5. About Software 5. About Software CD-ROM Directory Structure \ |– Autorun.exe | Readmej.html | Readmeu.html . . |–––APIPAC | |––AIO | | |––DISK1 | | |––DISK2 | | |––…… | | |––DISKN | |––AioWdm | |––CNT | |––DIO | |––…… . . | ––HELP | |––Aio | |––Cnt | |––…… . . | ––INF | |––WDM | |––Win2000 | |––Win95 . . |––linux | |––cnt | |––dio | |––…… . . | ––Readme . . | ––Release | |––API_NT | |––API_W95 . .
5. About Software About Software for Windows The bundled CD-ROM “API Function Library Package API-PAC(W32)” contains the functions that provide the following features: - Function to easily set and control the position of the stepping motor or servomotor - Function to set and execute basic motor operations such as PTP and JOG operations - Capable of digital input/output of specified axes For details, refer to the help file.
5. About Software Uninstalling the Driver Libraries The method used to uninstall API-PAC(W32) differs depending on which OS you are using. Follow the procedure given below. Uninstall procedure for Windows 7, Vista and Windows Server 2008 < Uninstalling the device driver > 1. Run Device Manager. From [My Computer] - [Control Panel], select [System] and then select the [Device Manager] tab. (You can also open Device Manager by right clicking on My Computer and selecting Properties.) 2.
5. About Software < Uninstall the development environment > Use [My Computer] - [Control Panel] - [Programs and Features] to uninstall the development environment. In case of API-***(WDM), select [CONTEC API-***(WDM) VerX.XX (development environment)] and then click [Uninstall]. In case of API-*** (98/PC), select [CONTEC API-*** (98/PC)xx VerX.XX] and then click [Uninstall]. * "***" contains the driver category name (AIO, CNT, DIO, SMC, etc.).
5. About Software < Uninstall the development environment > Use [My Computer] - [Control Panel] - [Add and Remove Programs] to uninstall the development environment. In case of API-***(WDM), select [CONTEC API-***(WDM) VerX.XX (development environment)] and then click [Change/Remove]. In case of API-*** (98/PC), select [CONTEC API-*** (98/PC)xx VerX.XX (development environment)] and then click [Change/Remove]. * "***" contains the driver category name (AIO, CNT, DIO, SMC, etc.).
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6. About Hardware 6. About Hardware This chapter provides hardware specifications and hardware-related supplementary information. For detailed technical information For further detailed technical information (“Technical Reference” including the information such as an I/O map, configuration register, etc.), visit the CONTEC's web site (http://www.contec.com/support/) to call for it. Hardware specification Tables 6.1 - 6.6 list the hardware specifications of the board. Table 6.1.
6. About Hardware Board dimensions 106.68(H) 176.41(L) The standard outside dimension (L) is the distance from the end of the board to the outer surface of the slot cover. [mm] Table 6.2.
6. About Hardware Table 6.4.
6. About Hardware Table 6.6. General-purpose Output Section Item Specification Number of signal channel 3channels/axis Output signal name OUT1 : general-purpose output OUT2 : general-purpose output OUT3 : general-purpose output (Each output pin can be switched with the following functions) ALMCLR : alarm clear output ERC : driver differential clear output CP1 : comparator1 output CP2 : comparator2 output Signal specification Un-isolated open collector output (current sink type) Response time (Max.
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SMC-4DF-PCI SMC-8DF-PCI User’s Guide CONTEC CO.,LTD. May 2013 Edition 3-9-31, Himesato, Nishiyodogawa-ku, Osaka 555-0025, Japan Japanese http://www.contec.co.jp/ English http://www.contec.com/ Chinese http://www.contec.com.cn/ No part of this document may be copied or reproduced in any form by any means without prior written consent of CONTEC CO., LTD. [05222013] [03092007] [05222013_rev5] Management No. A-51-318 Parts No.
