ISA 3 Axes Servo Motor Control Card

SERVO-300, ISA Bus, 3-axis High Speed Servo Motor Control Card (V Command)

Artikelnummer
Servo-300
Hersteller
ICP DAS
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Introduction

The SERVO-300 is a 3-axis, command-type, Servo motor control board. The embedded CPU of SERVO-300 performs the motion command transferred from host-PC via a 2K bytes FIFO. It also sends the position and status to host-PC via another 2K bytes FIFO. This buffer provides time buffer and it is very suitable for windows operating system. This board provides DOS, windows 95 and windows NT drivers.

Hardware Features

  • 3-axis V-command Servo Motor Board
  • Command-type, Totally 42 Commands
  • Simulation/Open Loop/Close Loop Mode.
  • Embedded CPU
  • DOS, Windows 95, Windows NT Driver
  • Linear Interpolation, Circular Interpolation
  • Direction Configuration
  • 2500 Points/Axis Pitch Error Compensation
  • 8 Digital Input, 7 Digital Output
  • Two Limit Switches, One Home Switch per Axis
  • Limit Switch Auto Protection
  • Can Detect the Hardware Failure
  • Software/Hardware Emergency stop
  • 2500 Vrms Optical Couple

Software Features

  • Toolkit for DOS
  • Toolkit for Windows 95/98
  • Toolkit for Windows NT
  • Toolkit for Windows 2000/XP
  • Toolkit for LabVIEW 2000/XP
  • Toolkit for LabVIEW NT
  • Toolkit for LabVIEW 95/98
  • Driver for LINUX

Specification

Software DDA
For precise control and adjustable speed, the Software DDA will divide the command into several equal delta commands. The maximum command is 2040 pulse, so the maximum speed is : 2040 / (0.0022*DDA) * 60 / ENCODER. For example, DDA = 5, ENCODER = 4000 pulse/rev.delta, Command = 2040/5 = 255 pulse, Speed = 2040/(0.0022*5)*60/4000 = 2781 rpm. Therefore, it is very important to select a proper DDA value to your system.

  • The Operating Mode
    For easily developing your system, SERVO-300 board provides three operating mode: simulation mode / open loop mode / close loop mode. Please refer to MSERVO3_SET_CONTROL_MODE() command.

  • Simulation Mode
    In simulation mode, the SERVO-300 board will simulate the motion profile. This profile is generated by user's motion commands and send the position back to host PC. The Servo board will not output V-command to control motor. It is very cost-effective and efficient in the design phase. The simulation mode can be operated off-line. The user can debug and develop his software previously. And if you have the daughter board, you can also simulate the digital input/output like as a machine.

  • Open Loop Mode
    In open loop mode, user can directly output a constant voltage to Servo driver. The constant value can be set by MSERVO3_CALV() command. This mode can be used to tune the velocity loop gain or to drive the inverter. To tune velocity loop gain, user can set a small voltage for a short time. The position and velocity can be received from MSERVO3_GET_CARD (cardNo) command in a timer interrupt (~ 10ms).

  • Close Loop Mode
    In close loop mode, the Servo board performs the PD controller. It also executes the following function.

    1. Pitch error compensation
    2. Limit switch auto-protection
    3. Hardware failure detection

    The related information of the Servo board can be received from MSERVO3_GET_CARD (cardNo) command using timer interrupt, please refer to chapter 3 software.

    SERVO-300 is a microprocessor based and 3- axis V-command type Servo motor control board. It contains a 2 KB - FIFO to receive motion command from host PC, and it also sends the position and status to host-PC via the other 2 KB FIFO. The motion profile is generated by microprocessor. This microprocessor also handles auto-protection function. Each Digital I/O supports 2500 Vrms optical isolation.

  • The Control System
    The sampling time is 2.2 ms for 3-axis control system. The control loop includes a PD controller and a pitch error compensator. The gain parameter, Kp and Kd, of PD controller can be set from host PC. The pitch errors are recorded in a size 2500 table which can be set by user. The compensating pitch is 256 pulse, so the compensation range is 2500 * 256 = 640000 pulse. (about 800 mm, if screw pitch = 5 mm, encoder = 4000 pulse/rev.).

Ordering Information

ISA Bus, 3-axis High Speed Servo Motor Control Card (V Command)
Include :
CA-9-2502 (9-pin Male & 25-pin Female D-sub Cable 0.2 M)
CA-PC09F (9-pin Female D-sub Connector with Plastic Cover)
CA-PC09M (9-pin Male D-sub Connector with Plastic Cover)
CA-PC25M (25-pin Male D-sub Connector with Plastic Cover)

Accessories

DB-8R Relay Board for SERVO-300 and PISO-PS300(U)

DB-200 Encoder input Board for SERVO-300

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