ADLINK PCI-8132 Two Axis Servo/Stepper Motion Control Card

Chapter 1 Product Overview (Hardware Core Specifications and Functions)

1. Core hardware performance parameters

Bus and pulse

32-bit PCI2.2 33MHz, PnP dip free address/IRQ;

Pulse output up to 2.4Mpps, two output modes: OUT/DIR (pulse+direction), CW/CCW (positive and negative dual pulse);

Encoder feedback: EA/EB/EZ differential signal, supports 1/2/4 harmonics, up to 2.4MHz input, 28 bit bidirectional counting (range -134217728~+134217727).

Motion curve

Support trapezoidal acceleration and deceleration, smooth S-shaped acceleration and deceleration; Support two axis linear interpolation, continuous constant speed motion, and dynamic speed regulation during motion.

Isolation IO system (all 2500Vrms optoelectronic isolation)

Each axis dedicated motion IO: positive and negative limit PEL/MEL, deceleration limit PSD/MSD, origin ORG, encoder Z-phase EZ; servo dedicated INP in place, ALM alarm, ERC deviation reset, SVON servo enable, RD driver ready;

Universal IO: 16 isolated digital outputs, 16 isolated digital inputs;

Extended signal: Handwheel PA/PB differential input, hardware position triggered CMP1/CMP2, multi card synchronous STA/STP start stop.

Hardware features and functions

FPGA hardware location comparison: supports single/multi-point touch table (up to 1024 points), outputs 100us trigger pulse, suitable for visual photography and flying cutting;

Multi card cascade synchronization: CN3 interface cascades multiple cards to achieve synchronous start/stop of all axes;

3 types of return to zero modes, handwheel following operation, multi class interrupt triggering, and complete matching interface for servo drive.

Electrical and Environmental

Onboard power supply: PCI+5V; External independent 24V power supply for isolated IO, onboard DC-DC generates external 5V;

Working temperature: 0-50 ℃; Half length PCB size;

The whole machine can work in parallel with up to 12 cards without address conflicts.

2. Supporting software system

Motion Creator: a Windows visual debugging tool (only available on Win95/98/NT) that allows for debugging of axis parameters, motion curves, and IO status without the need for programming;

Bottom level function libraries: DOS Borland C, Windows C/C++, VB DLL, hundreds of motion/IO/interrupt APIs, supporting real-time industrial control systems.

Chapter 2 Hardware Installation, Jumper and Interface Definition

1. Packing list

PCI-8132 motherboard, 100 core SCSI cable, 24V power supply terminal wire, user manual, driver CD.

2. Hardware installation specifications

Anti static operation, only insert into the 32-bit white PCI slot, not into the ISA slot;

PCI is plug and play, and BIOS automatically assigns base addresses and IRQs without the need for dialing;

Troubleshooting: Black screen/device conflict during startup, enter BIOS to adjust PCI interrupt allocation.

3. Three major connector functions

CN1: External 24V power terminal

Connect external DC24V to the isolated IO circuit, and the onboard DC-DC output 5V external power supply must be connected to 24V, otherwise the IO cannot work.

CN2: 100 core SCSI main interface (all motion, encoder, universal IO)

Divided into two sets of axis signals (axis 0/axis 1), 16DI, 16DO, handwheel PA/PB, CMP trigger, external 5V/24V power output, the manual provides a complete pin definition table.

CN3: Synchronous start stop terminal

STA synchronization starts, ST synchronization stops, and multi card CN3 is cascaded with each other to achieve global synchronous motion; Comes with PCI 5V pull-up.

4. Onboard dialing code S1

Bit1/2: Limit switch normally open/normally closed selection (default normally open A contact);

Bit3/4: CMP1/CMP2 triggers polarity (default low valid, matched with 100us high pulse output).

Chapter 3: Instructions for All Signal Wiring

Explain the electrical characteristics and differential/collector wiring schemes of each signal category by category, including circuit diagrams:

Pulse output OUT/DIR

Differential drive output (default), compatible with collector mode; Maximum current of 20mA; switch between two pulse logic software.

Encoder EA/EB/EZ

Differential input, compatible with external collector encoders (requires series current limiting resistors: 5V without resistance, 12V series 1.8k, 24V series 4.3k); Supports 4x counting.

Limit/Origin (PEL/MEL/PSD/MSD/ORG)

24V input, built-in filtering and stabilization; The SD deceleration signal triggers automatic deceleration to the starting speed, and the EL hard limit immediately stops pulse output.

Servo specific signal

INP: Servo in place signal, can be software enabled to wait for in place before determining the completion of the motion;

ALM: Driver alarm triggers immediate deceleration/emergency stop, resulting in interruption;

ERC: Deviation reset, automatically output 100ms pulse when returning to zero/limit/alarm/emergency stop, clear servo deviation counter;

SVON: Servo enabled open collector electrode output; RDY driver ready input.

Universal DI/DO

DI supports 5~24V input; DO is TD62083 Darlington output, with a withstand voltage of 50V and a maximum single channel of 500mA; all optical isolation is 2500V.

Handwheel PA/PB, CMP trigger, multi card synchronous STA/STP

CMP point matching output standard 100us pulse, suitable for camera triggering; Multi card cascade wiring diagram provided.

Chapter 4 Working Principle of Motion Control (Core Motion Algorithm)

1. Seven major sports operation modes

Constant speed motion

Trapezoidal and S-type acceleration. During operation, call _8132_v_change to modify the maximum speed in real time, and support dynamic speed regulation.

Point motion (trapezoidal curve)

Absolute coordinate a_move, relative coordinate r_move; Support symmetric/asymmetric acceleration and deceleration; When the travel is insufficient, it automatically switches to a triangular curve without shaking.

S-curve point motion

Segmented S acceleration and deceleration (S acceleration section+linear acceleration section), reducing mechanical impact and extending equipment life; The parameter includes the duration of S acceleration/deceleration.

Two axis linear interpolation

X/Y synchronous start stop, allocate speed of each axis according to distance, support composite vector speed, used for planar straight line machining.

Zero Return to Origin (3 Modes)

Mode 0: Stop at ORG origin only;

Mode 1: Trigger ORG and quickly search for EZ index before stopping;

Mode 2: ORG triggers deceleration, searching for EZ index at low speed (high-precision zeroing);

Can latch ORG signal to prevent short pulse loss.

Hand wheel manual mode

PA/PB reading handwheel pulse, 1/2/4 harmonics optional, limiting maximum following speed; Support single wheel control for dual axis.

Multi card synchronous motion

CN3 cascade+_8132umove_all function, all axes start and arrive simultaneously.

2. Servo IO, limit, encoder logic

INP/ALM logic programmable, capable of setting alarms for immediate shutdown or deceleration shutdown;

SD deceleration signal, EL hard limit software enable/disable, customizable high and low level effectiveness;

Encoder counting source switching: internal instruction pulse/external grating feedback, used for fully closed-loop platforms.

3. Hardware location comparison (visual/flying cut core)

Support custom comparison criteria (greater than/equal to/less than the count value);

Support 1024 point array tables and linear interval point generation functions;

Output hardware pulses and optional interrupts during matching, without the need for real-time polling by the upper computer.

4. Interrupt system

13 types of configurable interrupt sources: limit trigger, zero return completion, point in place, encoder error, CMP matching, abnormal handwheel, etc; DOS provides interrupt service programs, while Windows handles interrupts through thread events.

Chapter 5: Motion Creator Visual Debugging Software

Only supports Windows 95/98/NT, resolution ≥ 800 × 600, divided into three major operating interfaces:

Main interface: Identify all PCI-8132 cards, display card numbers IRQ、 Base address, quickly select axis;

Axis configuration window: one-stop configuration of pulse mode, encoder multiplier, limit polarity, zero return mode, interrupt source, servo IO logic, configuration can save 8132.cfg file for program loading;

Axis operation interface

Real time display of instruction position, actual encoder position, and position error;

Visualize the selection of trapezoidal/S-curve, absolute/relative/continuous/handwheel/zero return modes;

Real time monitoring of all DI/DO, limit, servo IO red and green status indicator lights;

Can set repetitive reciprocating motion, one key start stop, emergency stop;

The software can directly verify wiring, motion curves, and triggering functions for pre project debugging.

Chapter 6: Bottom level Function Library (Development Core)

Complete C/C++and VB function prototypes, divided into 19 major categories of APIs, with accompanying syntax, parameters, return values, and example code:

Initialization class: board scanning, opening/releasing, loading configuration files;

Pulse/Encoder Configuration: Pulse Mode, Encoder Doubling, Counting Source Switching;

Constant speed, trapezoidal, and S-shaped motion functions;

Two axis interpolation and multi card synchronous motion;

Return to zero, manual control of handwheel;

Movement status reading (whether in place, limit triggering, alarm);

Servo IO and limit logic configuration;

Universal DI/DO read and write;

Position comparison table, trigger output;

Interrupt configuration and event handling.

All function threads are thread safe, providing two complete sets of example code for DOS interrupt ISR and Windows event threads.