da&c series 7-50 PCL-832 3-axis servo motor control card 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 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 1 0 v range ? built-in f/v converter 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, 1 0 v full scale ? servo update time : 1 msec. to 2 sec. (programmable) ? error counter : 1 2 bit ? tachometer simulation output (f/v converter) : 1 0 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")
7-51 7 www.advantech.com da&c series plug-in data acquisition and control 12-bit dac f/v converter dda pulse generator offset adjustment (error counter) kp ke velocity feedback interface + - error counter overflow interrupt dda interrupt pc 16-bit isa bus interrupt level selector control logic servo driver servo motor encoder feedback tg meter x1 x2 x4 data bus motion control chip 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 dgnd 1 a- (ch1) 2 b- (ch1) 3 index- (ch1) 4 dgnd 5 a- (ch2) 6 b- (ch2) 7 index- (ch2) 8 dgnd 9 a- (ch3) 10 b- (ch3) 11 index- (ch3) 12 dgnd 13 14 a+ (ch1) 15 b+ (ch1) 16 index+ (ch1) 17 home (ch2) 18 a+ (ch2) 19 b+ (ch2) 20 index+ (ch2) 21 home (ch2) 22 a+ (ch3) 23 b+ (ch3) 24 index+ (ch3) 25 home (ch3) 6 f/v (ch1) 7v cmd (ch2) 8 agnd 9 f/v (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) 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 encoder and home sensors pin assignments servo control v cmd (ch1) 1 agnd 2 f/v (ch2) 3 v cmd (ch3) 4 agnd 5 PCL-832 programming v cmd : voltage command output f/v : frequency/voltage converter output agnd : analog ground
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