Module điều khiển chuyển động (Motion Control) 6 trục ICP DAS I-9196F CR
Features
• Expansion card for ICP DAS programmable automation controller (PAC)
• DSP-based motion control module
• Pulse Output Rate: 4 MHz (Max.)
• Maximum Encoder input frequency: 12 MHz
• Independent 6-axis motion control
• 2- to 6-axis linear/ 2- to 3-axis circular/ helical interpolation function
• Continuous interpolation
• 4-step home mode with auto-searching
• Synchronized start motion
• Programmable T/S-curve acceleration and deceleration
• Software limit protection
• Software FIFO for arbitrary curve motion
• High-speed position latch
• High-speed compare trigger and auto-increment compare mode
• Expandable remote I/O: 128 DI and 128 DO via a two-wire FRnet interface.
Introduction
The I-8196F and I-9196F are 6-axis stepping/pulse-type servo motor control modules. Both modules are expansion units for the programmable automation controller (PAC) series provided by ICP DAS. The I-8196F module is an expansion card for the XP-8000 and WP-8000 series. The I-9196F module is a plug-in card for the XP-9000 and WP-9000 series. A digital signal processor (DSP) calculates the commanded move trajectory and manages supervisory control by monitoring the limits and emergency stops to ensure safe operation. I/O control output (e.g. latch, compare, encoder counter etc.) is realized in a Field Programmable Gate Array (FPGA). The motion controller is suitable for general-purpose motion control applications. In additions to its wide speed range, this intelligent motion controller also has a variety of built-in motion control functions, such as 2- to 6-axis linear interpolation, 2- and 3-axis circular interpolation, helical interpolation, T/S-curve acceleration/ deceleration, and automatic home search, etc. The motion controller uses FRnet as a communication protocol to control distributed remote I/O modules. In an FRnet network the motion controller acts as a master and can control up to 128 digital outputs and 128 digital inputs. The FRnet scan interval is 0.72 ms. FRnet is a two-wire serial bus and is specifi cally designed for easy and cost eff ective wiring. ICP DAS provides a large range of FRnet I/O terminal boards and modules. Libraries and DLL are provided for the following operation systems: Windows embedded, WinCE 5.0 and 6.0. A software utility enables the user to initialize the motion controller and execute motion commands.
Specification
| Software |
| Development |
Visual C++ lib/DLL
C#, VB.Net DLL
Visual Basic 6.0 |
| Utility |
EzGo Utility |
| Hardware |
| Connector |
68-pin VHDCI connector and 20-pin
SCSI-II |
| General |
| Speed Profile |
T/S-curve |
| Servo Update Rate |
2 KHz |
| Position Control Mode |
Relative and absolute position |
| No. of Axes |
6 |
| Input Signal Filter |
Yes |
| Command Type |
Pulse command |
| Auto-Home Search |
Yes |
| Axis I/O |
| Servo Interface Output |
SVON, ALM_RST, ERC |
| Latch Input |
High-Speed 5 V or 24 V NPN |
| Mechanical Switch Input |
Home, LMT+/-, NHOME, EMG |
| Position Compare Output |
High-Speed 5 V TTL
or 24 V open collector |
| Servo Interface Input |
INP, ALM, RDY |
| Encoder Input |
| Ring Counter Mode |
32-bit |
| Mode |
A/B pulse, Up/Down |
| Counting Rate |
12 MHz (Max.) |
| Counter Width |
32-bit |
| Pulse Output |
| Mode |
CW/CCW, PULSE/DIR, A/B pulse |
| Rate |
4 MHz (Max.) |
| Interpolation |
| Cicular |
Any 2 axes |
| Continuous |
Yes |
| Helical |
Any 3-axis |
| Linear |
Any 2- to 6-axis |
| Digital Input |
| Channels |
Local: 12 DI
Expandable: 128 DI |
| Isolation |
2500 Vrms optical isolation |
| Digital Output |
| Channels |
Local: 3 DO
Expandable: 128 DO |
| Isolation |
2500 Vrms optical isolation |
| Power |
| Consumption |
+5 V @ 500 mA |
| Environmental |
| Operating Temperature |
0 ~ +60 °C |
| Storage Temperature |
-20 ~ +80 °C |
| Humidity |
5 ~ 90 % RH, non-condensing |
Download
Data sheet
Documents
Odering information
| I-9196F |
High-Speed 6-axis Motion Control Module with FRnet Master (For XP-9000/WP-9000 PAC) |
