Advantech PCI-1241 User Manual

[Page 1] Advantech PCI-1241

PCI-1241 4-Axis Voltage-type Servo Motor Control Card PCI-1242 4-Axis Pulse-type Servo motor Control Card User Manual ...

[Page 2] Advantech PCI-1241

PCI-1241/1242 User Manual ii Copyright This documentation and the software included with this product are copy- righted 2007 by Advantech Co., Ltd. All rights are reserved. Advantech Co., Ltd. reserves the right to make improvements in the products ...

[Page 3] Advantech PCI-1241

iii 2 Year Product Warranty Advantech warrants to you, the original purchaser, that each of its prod- ucts will be free from defects in materials and workmanship for two years from the date of purchase. This warranty does not apply to any products ...

[Page 4] Advantech PCI-1241

PCI-1241/1242 User Manual iv CE Notification The PCI-1241/42, developed by ADVANTECH CO., LTD., has passed the CE test for environmental specifications when shielded cables are used for external wiring. We recommend the use of shielded cables. This...

[Page 5] Advantech PCI-1241

v Packing List Before setting up the system, check that the items listed below are included and in good condition. If any item does not accord with the table, please contact your dealer immediately. The package should contain the following items: �...

[Page 6] Advantech PCI-1241

PCI-1241/1242 User Manual vi ...

[Page 7] Advantech PCI-1241

vii Table of Contents Contents Chapter 1 Introduction ..................................................... 2 1.1 Introduction ...................................................................... 2 1.2 Features .......................................

[Page 8] Advantech PCI-1241

PCI-1241/1242 User Manual viii Motor Driver 24 3.3 Pulse Output Connection................................................ 25 Figure 3.6:Differential Signal Transmission Method .. 25 Figure 3.7:Pulse Output Format ......................................

[Page 9] Advantech PCI-1241

ix Table of Contents 4.6.1 Motion Command ........................................................ 51 Figure 4.11:Point-to-Point Motion Configuration Win- dow 51 Figure 4.12:Line Command Configuration Window ... 51 Figure 4.13:2D Circle Motion Confi...

[Page 10] Advantech PCI-1241

PCI-1241/1242 User Manual x C.2 Home Mode0 ......... 79 Figure C.1:Velocity Profile of Home Mode0 .............. 79 C.3 Home Mode1.................................................................

[Page 11] Advantech PCI-1241

2 CHAPTER 1 General Information This chapter provides general informa- tion on the PCI-1241/42. Sections include: • Introduction • Features • Applications • How to get Started • Software Programming Choices • Accessories ...

[Page 12] Advantech PCI-1241

PCI-1241/1242 User Manual 2 Chapter 1 Introduction 1.1 Introduction PCI-1242 is a 4-Axis Pulse-type Motion Control Card and PCI-1241 is a 4-axis Pulse/Voltage-command Motion Control Card. In pulse output control, these motion control cards use a ...

[Page 13] Advantech PCI-1241

3 Chapter 1 1.2 Features PCI-1241/1242 provides the motor control functions as seen below: • Independent 4-axis motion control • Each axis of PCI-1241 can be configured independently as closed loop control (voltage command) or open loop con...

[Page 14] Advantech PCI-1241

PCI-1241/1242 User Manual 4 1.3 Applications • Precise X-Y-Z position control • Precise rotation control • Packaging and assembly equipment • Machine control with up to 4 axes • Semiconductor pick and place and testing equipment • ...

[Page 15] Advantech PCI-1241

5 Chapter 1 Figure 1.1: Installation Flow Chart Install Driver from CD-ROM, then power off PC Install Hardware and power on PC Use PCI-1241_42_61 Utility to configure hardware Use PCI-1241_42_61 Utility to test hardware Read Examples & Hardware...

[Page 16] Advantech PCI-1241

PCI-1241/1242 User Manual 6 1.5 Software Programming Choices Advantech offers complete DLL drivers and utility support to help fully exploit the functions of your PCI-1241/1242. • Driver Software: Advantech PCI-1241/1242 DLL drivers (Included in...

[Page 17] Advantech PCI-1241

2 CHAPTER 2 Installation This chapter provides information on the installation of PCI-1241/42. Sections include: • Software Installation • Hardware Installation ...

[Page 18] Advantech PCI-1241

PCI-1241/1242 User Manual 8 Chapter 2 Installation 2.1 Software Installation We recommend you to install the driver before you install the PCI-1241/ 42 card into your system, since this will guarantee a smooth installation process. The 32-bit DLL ...

[Page 19] Advantech PCI-1241

9 Chapter 2 Step 3: After the installation completed, you will find PCI-1241/1242/ 1261 Card Index Manager, User Manual and Utility under the following default path: Start\Programs\Advantech Automation\Motion\PCI- 1241_42_61 The example source cod...

[Page 20] Advantech PCI-1241

PCI-1241/1242 User Manual 10 2.2.1 Board Layout and Jumper/Switch Settings Figure 2.2 shows the names and locations of jumpers and VRs on the PCI-1241/1242. There are 5 jumpers and 4 VRs on PCI-1241/1242. Table 2-1 shows jumpers and VRs functionali...

[Page 21] Advantech PCI-1241

11 Chapter 2 Table 2.1: Summary of Jumper and Connector Settings Jumpers No. Function Description J1 Remote I/O channel 1 for PCLD-8241, 10-pin simple horn female connector type J2 (PCI-1241 only) Remote I/O channel 2 for PCLD-8241, 10-pin simple...

[Page 22] Advantech PCI-1241

PCI-1241/1242 User Manual 12 JP6 Set Local Input channels as source type. On- board Common Input of Local Input Channel connects to VEX pin. (Default) Setting) Set Local Input channels as sink type. On- board Common Input of Local Input Channel con...

[Page 23] Advantech PCI-1241

2 CHAPTER 3 Signal Connections This chapter provides useful informa- tion about how to connect input and output signals to the PCI-1241/1242 via the I/O connector. Sections include: • I/O Connector Pin Assignments • Voltage Output Connection...

[Page 24] Advantech PCI-1241

PCI-1241/1242 User Manual 14 Chapter 3 Signal Connections Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data cor- rectly. A good signal connection can avoid unn...

[Page 25] Advantech PCI-1241

15 Chapter 3 Figure 3.2: J2 Remote I/O Connector Pin Assignments Table 3.1: PCI-1241/1242 I/O J1 Conn. Signal Description – Remote I/O Pin No. Signal Name Reference Direction Description 6 RIO1_CLKP - Output RI/O Ch. 1 Clock Output + 1 RIO1_CLK...

[Page 26] Advantech PCI-1241

PCI-1241/1242 User Manual 16 Figure 3.3: J3 MPG connector pin assignments Table 3.2: PCI-1241/1242 I/O J2 Conn. Signal Description – Remote I/O Pin No Signal Name Reference Direction Description 6 RIO2_CLKP - Output RI/O Channel 2 Clock Output + ...

[Page 27] Advantech PCI-1241

17 Chapter 3 Table 3.3: PCI-1241/1242 I/O J3 Conn. Signal Description – MPG Input Pin No. Signal Name Reference Direction Description 1 MPG_ECAP - Input MPG Encoder Input Phase A 6 MPG_ECAN - Input MPEG Encoder Input Phase A/ 2 MPG_ECBP - Inpu...

[Page 28] Advantech PCI-1241

PCI-1241/1242 User Manual 18 Figure 3.4: SCSI-II 68-pin Connector Pin Assignments A3_PBN 68 34 A2_PBN A3_PBP 67 33 A2_PBP A3_PAN 66 32 A2_PAN A3_PAP 65 31 A2_PAP A1_PBN 64 30 A0_PBN A1_PBP 63 29 A0_PBP A1_PAN 62 28 A0_PAN A1_PAP 61 27 A0_PAP A3_ECZN ...

[Page 29] Advantech PCI-1241

19 Chapter 3 Table 3.4: PCI-1241/1242 I/O Conn. Signal Desc. – DDA Pulse Output Pin No. Signal Name Reference Direction Description 27 A0_PAP - Output Axis 0 Pulse Output Phase A 28 A0_PAN - Output Axis 0 Pulse Output Phase A/ 29 A0_PBP - Outpu...

[Page 30] Advantech PCI-1241

PCI-1241/1242 User Manual 20 Table 3.5: PCI-1241/1242 I/O Conn. Signal Desc. – Encoder Input Pin No. Signal Name Reference Direction Description 15 A0_ECAP - Input Axis 0 Encoder Input Phase A 16 A0_ECAN - Input Axis 0 Encoder Input Phase A/ 17 A...

[Page 31] Advantech PCI-1241

21 Chapter 3 Table 3.6: PCI-1241/1242 I/O Connector Signal Description – Local I/O Pin No. Signal Name Reference Direction Description 7 A0_HOME VEX_GND Input Axis 0 Home Sensor Input 8 A0_LMT+ VEX_GND Input Axis 0 + Direction Limit Input 9 A0_L...

[Page 32] Advantech PCI-1241

PCI-1241/1242 User Manual 22 Note: Pin 36, 3, 37, 4 are provided by PCI-1241 only Table 3.7: PCI-1241 I/O Conn. Signal Desc. – Voltage Output & Others Pin No. Signal Name Reference Direction Description 36 A0_VO GND Output Axis 0 Voltage Outpu...

[Page 33] Advantech PCI-1241

23 Chapter 3 3.2 Voltage Output Connection (PCI-1241 only) PCI-1241 supports 4-axis voltage output channels for servo driver con- trol. PCI-1241 provides proportional-type close loop control mode, and each axis can be configured as close loop c...

[Page 34] Advantech PCI-1241

PCI-1241/1242 User Manual 24 Figure 3.5: Wiring Diagram between PCI-1241 and Servo Motor Driver ...

[Page 35] Advantech PCI-1241

25 Chapter 3 3.3 Pulse Output Connection PCI-1241/1242 supports 4-axis pulse output channels for pulse-type servo motor driver and stepping motor driver control. Pulse Output Specifications • Differential signal transmission method. Refer to F...

[Page 36] Advantech PCI-1241

PCI-1241/1242 User Manual 26 Figure 3.7: Pulse Output Format Wiring Considerations The following is the wiring considerations, and Figure 3-8 shows the wir- ing diagram between PCI-1241/42 and the pulse-type servo motor driver and stepping motor dri...

[Page 37] Advantech PCI-1241

27 Chapter 3 Figure 3.8: Wiring Diagram Between PCI-1241/42 and Pulse-Type Driver 3.4 Local Input Connection PCI-1241/42 provides 13 dedicated input channels. There are four types of local input channels: • 4-channel Positive-direction Limit S...

[Page 38] Advantech PCI-1241

PCI-1241/1242 User Manual 28 Local Input Specifications • Active (Logic 0 in real hardware signal) when input voltage is between 18 V and 30 V • Inactive (Logic 1 in real hardware signal) when input voltage is between 0 V and 1 V • 2500 VD...

[Page 39] Advantech PCI-1241

29 Chapter 3 . Figure 3.9: Local Input Wiring Diagram 3.5 Local Output Connection PCI-1241/42 provides 5 dedicated output channels, and Figure 3-10 shows wiring diagram of local output channels. There are two types of local output channels: • ...

[Page 40] Advantech PCI-1241

PCI-1241/1242 User Manual 30 Driving Capability Maximum driving capability of each output load of each channel is 100 mA and overall maximum driving capability is 500 mA. Connecting RELAY When the load is a RELAY, it’s not necessary for you to con...

[Page 41] Advantech PCI-1241

31 Chapter 3 3.6 Local I/O Wiring Example In this section, it shows a local I/O wiring example of PCI-1241/42 that helps you to setup a system quickly. Figure 3-8 and Figure 3-9 show examples of PCI-1241/42 local I/O wiring diagram of axis one. ...

[Page 42] Advantech PCI-1241

PCI-1241/1242 User Manual 32 • G and H zones: When the servo-ON signal of the first axis (A1_SERVON) is changed from 1 to 0, the open collector output stage is conductive, allowing current to flow through it and enable driver to servo-on. (For ...

[Page 43] Advantech PCI-1241

33 Chapter 3 • Zone J: Under normal conditions the emergency stop switch is CLOSED. Therefore, a current loop forms in the E_STOP circuit. At this time, the reading of E_STOP is 0 and the RELAY(R_E_STOP) is activated. When the E_STOP switch ...

[Page 44] Advantech PCI-1241

PCI-1241/1242 User Manual 34 . Figure 3.12: Local I/O Wiring Example of Axis One (II) 3.6.1 MPG Encoder Input Connection In PCI-1241/1242, we provide 5 encoder input channels. Four encoder inpu...

[Page 45] Advantech PCI-1241

35 Chapter 3 Figure 3.13: MPG Encoder Input DB-9 Connector Pin Assignment Figure 3.14: MPG Encoder Input Wiring Diagram 9 6 5 1 MPG_GND MPG_GND MPG_ECZP MPG_ECBP MPG_ECAP MPG_ECAN MPG_ECBN MPG_ECZN MPG_VCC ...

[Page 46] Advantech PCI-1241

PCI-1241/1242 User Manual 36 3.6.2 Remote I/O Connection In PCI-1241/42, we provide capability to connect to the PCLD-8241 remote I/O module. The remote I/O module PCLD-8241 is designed to save wiring. The wiring cable between PCI-1241/42 and PCLD-...

[Page 47] Advantech PCI-1241

37 Chapter 3 Figure 3.17: Remote I/O Wiring Diagram in PCI-1242 ...

[Page 48] Advantech PCI-1241

PCI-1241/1242 User Manual 38 3.6.3 Field Wiring Considerations When you use the PCI-1241/42 motor control card to connect with motor drivers, noises in the environment might significantly affect the accuracy of your control if due cautions are not ...

[Page 49] Advantech PCI-1241

2 CHAPTER 4 Configuration Utility This chapter provides information on the configuration utility for PCI-1241 and PCI-1242. Sections include: • Utility Main Page • Select Device • Set Parameters • Initializing the Card • Servo On �...

[Page 50] Advantech PCI-1241

PCI-1241/1242 User Manual 40 Chapter 4 Configuration Utility The Configuration Utility is designed for easy installation, configuration, and diagnosis of PCI-1261, PCI-1242, and PCI-1241. With the configura- tion utility you can set mechanical para...

[Page 51] Advantech PCI-1241

41 Chapter 4 You can start with the operation buttons in the lower-right corner. The operation flow chart is as follows: Figure 4.2: Utility Operation Flow Chart 4.2 Select Device When users press the “Select Device” button, a new dialog box ...

[Page 52] Advantech PCI-1241

PCI-1241/1242 User Manual 42 4.3 Set Parameters There are a total of four pages in the parameter-setting window. They are categorized as “Mechanism”, “General/PtP Motion”, “System”, and “Home”. 4.3.1 Mechanism Configuration Advante...

[Page 53] Advantech PCI-1241

43 Chapter 4 Figure 4.5: Mechanical Parameter Definition Following are introductions of each parameter: Axis: Defines which axis the parameters will affect. Max. Speed: The maximum moving speed of the object driven by the motor. For example, if th...

[Page 54] Advantech PCI-1241

PCI-1241/1242 User Manual 44 Software Limit: Besides the hardware limitation switch, PCI-1241/42 also provides a software limit as the secondary safety factor. If the soft- ware limit was reached the motion card will stop outputting commands. Encode...

[Page 55] Advantech PCI-1241

45 Chapter 4 4.3.2 General/PtP Motion Configuration In this page, you can define the motion characteristics for point-to-point movement. Unit: The applied length unit. It can be in millimeters (mm) or inches. Coordination Mode: The type of coordin...

[Page 56] Advantech PCI-1241

PCI-1241/1242 User Manual 46 Figure 4.6: General/PtP Configuration Page 4.3.3 System Configuration Some important system parameters are defined in this page. Interpolation Time: Since a software driver calculates the interpolation of PCI-1241/42, th...

[Page 57] Advantech PCI-1241

47 Chapter 4 Figure 4.7: System Configuration Page 4.3.4 Home Configuration In this page, you can set every detailed parameter related to the home function. With well-defined parameters, moving objects can reach their home precisely when requeste...

[Page 58] Advantech PCI-1241

PCI-1241/1242 User Manual 48 Home Mode Diagram: This diagram clearly shows the velocity profile, the return, slow down, and stop point in each mode. Let’s take Home mode0 as an example. In Home mode0, the motor will start at low speed FL, acceler...

[Page 59] Advantech PCI-1241

49 Chapter 4 4.4 Initializing the Card When the ‘Initialize’ button is pressed, the utility will process the initial- ization commands to the PCI-1241/42. If the card is correctly plugged, the message “Card is active” will show on the top...

[Page 60] Advantech PCI-1241

PCI-1241/1242 User Manual 50 4.6 Operate Motor The configuration utility provides some basic operations in the main page. You can perform “Motion Command”, “Jog”, and “Home” here. In the mean time, the digital input signals are also di...

[Page 61] Advantech PCI-1241

51 Chapter 4 4.6.1 Motion Command There are four types of commands that can be operated here, PtP, Line, Circle, and Arc. PtP: Point to Point, all axes can be operated together. The moving dis- tance of each axis need to be defined, and all axes ...

[Page 62] Advantech PCI-1241

PCI-1241/1242 User Manual 52 CircleXY, CircleYZ, and CircleZX: Performs two-dimensional circles. You need to define the center point and rotation direction, CW and CCW. The motor will start from its current point and the diameter will be calcu- lat...

[Page 63] Advantech PCI-1241

53 Chapter 4 ArcXY, ArcYZ, ArcZX: Similar to ArcXYZ, but only a 2D arc is per- formed in this command. Figure 4.16: 2D Arc Motion Configuration Window ArcXY_UVW: Performs a 2D arc where the UVW axes will perform a line movement at the same time. ...

[Page 64] Advantech PCI-1241

PCI-1241/1242 User Manual 54 4.6.3 Home In the home mode, the checked axes can perform the home function according to the home mode setting in the parameter page. If you want each axis to go home in sequence, you can put 0~5 in the “Order” col-...

[Page 65] Advantech PCI-1241

55 Chapter 4 4.8 Motion Profile This is a user aid tool, in this page, users can check the position profile and velocity profile of each axis. Then they can easily clarify if the parameters were set correctly. Figure 4.21: Motion Profile Display...

[Page 66] Advantech PCI-1241

PCI-1241/1242 User Manual 56 ...

[Page 67] Advantech PCI-1241

2 CHAPTER 5 Software Startup Guide In this chapter you can get detailed information about card index configu- rations, and some samples of program usage. Sections include: • Card Index Manager • Sample Program Usage ...

[Page 68] Advantech PCI-1241

PCI-1241/1242 User Manual 58 Chapter 5 Software Startup Guide 5.1 Card Index Manager The card index manager is designed for applications that use more than one motion card in the system. Since the PCI cards support the plug & play function, t...

[Page 69] Advantech PCI-1241

59 Chapter 5 In the ‘Installed Device’ area, all installed cards will be listed. The card’s name, base address, and card index is also displayed. You can modify the card index by selecting the card, keying in the new index number in the low...

[Page 70] Advantech PCI-1241

PCI-1241/1242 User Manual 60 CheckHWStock Yes Yes Yes Yes For stable control perfor- mance, the amount of hard- ware pulse stocks must exceed 60 in motion period. This example demonstrates how to get the HW stock information with library. CheckOT...

[Page 71] Advantech PCI-1241

61 Chapter 5 GetENCLatch Yes Yes Yes Yes Demonstrates how to latch a encoder value in defined con- ditions. GetStatus Yes Yes Yes Yes Displays current position, speed, and information of an executing motion command. GoHome Yes Yes Yes Yes Demon...

[Page 72] Advantech PCI-1241

PCI-1241/1242 User Manual 62 RIOCtrl Yes Yes Yes Yes Demonstrates how to enable remote I/O functions and read/write remote I/O signals RIOError Yes Yes Yes Yes Demonstrates how to design a remote I/O ISR and enable a transmission error to trigger...

[Page 73] Advantech PCI-1241

2 APPENDIX A Specifications This chapter provides information on the specifications of PCI-1241/42. Sections include: • Axes • Pulse Output • Input Pulse for Encoder Interface • Local Input/Output • Other Motion Functions • ...

[Page 74] Advantech PCI-1241

PCI-1241/1242 User Manual 64 Appendix A Specifications A.1 Axis: Number of Axis 4 Axes 2/3-Axis Linear Interpolation Range -8,388,608 ~ +8,388,607 for each axis Speed 1 PPS ~ 4M PPS Precision ± 0.5 LSB 2-Axis Circular Interpolation Range -8,388,...

[Page 75] Advantech PCI-1241

65 Appendix A A.2 Voltage Output: (PCI-1241 only) Voltage Output Resolution 16 bits Output Range -10V ~ +10V Max. Update Rate 625 KHz Relative Accuracy 1 LSB Differential Non- linearity +- 0.001% FSR Offset < 1 LSB Slew Rate 10 V / us Driving C...

[Page 76] Advantech PCI-1241

PCI-1241/1242 User Manual 66 A.3 Pulse Output: Pulse Output Range 1 PPS ~ 4M PPS Precision +- 0.1% Change of Acceleration for S Curve 954 ~ 31.25 x 109 PPS/sec2 Acceleration / Deceleration 125 ~ 500 x 106 PPS/sec Initial Velocity 1 PPS ~ 4M PPS D...

[Page 77] Advantech PCI-1241

67 Appendix A A.4 Encoder Input: Input Pulse for Encoder Interface Input 5 channels Encoder Pulse Input Type Quadrature (A/B phase) or Up/Down Counts per Encoder Cycle X0, x1, x2, x4 (A/B phase only) Interface Differential with Photo Coupler ...

[Page 78] Advantech PCI-1241

PCI-1241/1242 User Manual 68 A.5 Local Input/Output Input Signal Positive-direction Limit Switch 4 channels Negative-direction Limit Switch Signal 4 channels Home Sensor 4 channels Emergency Stop 1 channel Max. Input Frequency 20KHz Input Voltage...

[Page 79] Advantech PCI-1241

69 Appendix A A.6 Other Motion Functions: A.7 General: Position Counter Range of Command Position Counter (for output pulse) -2,147,483,648 ~ +2,147,483,647 for each axis Range of Actual Posi- tion Counter (for input pulse) -2,147,483,648 ~ ...

[Page 80] Advantech PCI-1241

PCI-1241/1242 User Manual 70 ...

[Page 81] Advantech PCI-1241

2 APPENDIX B Block Diagram This chapter provides information on the block diagram for PCI-1241/1242. ...

[Page 82] Advantech PCI-1241

PCI-1241/1242 User Manual 72 Appendix B Block Diagram B.1 Appendix B. Block Diagram Figure B-1 shows PCI-1241/1242 system block diagram. Circuits of block (13), (14), (16), (17) and (18) are hardware close loop control func- tion provided by PCI...

[Page 83] Advantech PCI-1241

73 Appendix B B.2 Open Loop Motion Control (Pulse Command) PC Controller sends commands to the PCI BUS interface circuit (4) on PCI-1241/1242 card through PCI BUS (1). At this time, the command and state register (5) with system control circuit ...

[Page 84] Advantech PCI-1241

PCI-1241/1242 User Manual 74 B.3 Close Loop Motion Control (Velocity Command) The PC Controller sends commands to the PCI BUS interface circuit (4) on the PCI-1241/1242 card through PCI BUS (1). At this time, the com- mand and state register (5) w...

[Page 85] Advantech PCI-1241

75 Appendix B Figure B.3: P-type Control Method in Close Loop Control B.4 Local Input / Output The PC Controller sends commands to the ASIC on PCI-1241/1242 through the PCI BUS. This ASIC will read or write information to local I/ O (21) based on...

[Page 86] Advantech PCI-1241

PCI-1241/1242 User Manual 76 ...

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2 APPENDIX C Home Function An accurate home position is funda- mental for every precision machine. In order to manage the various require- ments for the home position, PCI-1241 and PCI-1242 each provide a total of 14 home modes. This chapt...

[Page 88] Advantech PCI-1241

PCI-1241/1242 User Manual 78 Appendix C Home Function C.1 How to Read the Home Velocity Profile Since the homing process is quite complex, PCI-1241/1242/1261 pro- vides a ‘Home Pattern Graph’ for each mode to give users a clear concept about h...

[Page 89] Advantech PCI-1241

79 Appendix C C.2 Home Mode0 In Home mode0, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor wil...

[Page 90] Advantech PCI-1241

PCI-1241/1242 User Manual 80 C.3 Home Mode1 In Home Mode1, the motor will start up at speed FL, and accelerate to speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate. The main difference with mode0 is that ...

[Page 91] Advantech PCI-1241

81 Appendix C C.4 Home Mode2 In Home mode2, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate, and search for an encoder index signal wit...

[Page 92] Advantech PCI-1241

PCI-1241/1242 User Manual 82 C.5 Home Mode3 In Home mode3, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor starts to search for an encoder index signal wi...

[Page 93] Advantech PCI-1241

83 Appendix C C.6 Home Mode4 In Home mode4, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate, and go backward while the velocity reaches...

[Page 94] Advantech PCI-1241

PCI-1241/1242 User Manual 84 C.7 Home Mode5 In Home mode5, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate, and go backwards while the vel...

[Page 95] Advantech PCI-1241

85 Appendix C C.8 Home Mode6 In Home mode6, the motor will start up at low speed FL, and accelerate to high speed FH towards the limit switch. Once the limit switch is reached, the motor will stop immediately. Figure C.7: Velocity Profile of Hom...

[Page 96] Advantech PCI-1241

PCI-1241/1242 User Manual 86 C.10 Home Mode8 In Home mode8, the motor will start up at low speed FL, and accelerate to high speed FH towards the limit switch. Once the limit switch is reached, the motor will stop, and go backwards at speed FH. Aft...

[Page 97] Advantech PCI-1241

87 Appendix C C.11 Home Mode9 In Home mode9, the motor will start up at speed FL, and accelerate to speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate and go backward at speed FL. Once the motor leave t...

[Page 98] Advantech PCI-1241

PCI-1241/1242 User Manual 88 C.12 Home Mode10 In Home mode10, the motor will start up at low speed FL, and accelerate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will start to search the encoder index signa...

[Page 99] Advantech PCI-1241

89 Appendix C C.13 Home Mode11 In Home mode11, the motor will start up at low speed FL, and then accel- erate to high speed FH towards the home sensor. Once the home sensor is reached, the motor will decelerate, and go backward while the velocity...

[Page 100] Advantech PCI-1241

PCI-1241/1242 User Manual 90 C.14 Home Mode12 In Home mode12, the motor will start up at low speed FL, and then accel- erate to high speed FH towards the limit switch. Once the limit switch is reached, the motor will go backwards. After changing di...