Module điều khiển chuyển động (Motion Control) 6 trục ICP DAS I-9196F CR

Chia sẻ:
Mã sản phẩm: I-9196F
Thương hiệu: ICP DAS
Tình trạng:
High-speed, DSP-based, 6-axis Motion Control Module with FRnet Master
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Mô tả

Module điều khiển chuyển động (Motion Control) 6 trục ICP DAS I-9196F CR

Feature

  • 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 specifically designed for easy and cost effective 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.

Software

Features of Motion Function

Application

Specifications

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
No. of Axes 6
Speed Profile T/S-curve
Servo Update Rate 2 KHz
Position Control Mode Relative and absolute position
Command Type Pulse command
Auto-Home Search Yes
Input Signal Filter 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
Mode A/B Phase, Up/Down
Ring Counter Mode 32-bit
Counting Rate 12 MHz (Max.)
Counter Width 32-bit
Pulse Output
Mode CW/CCW, PULSE/DIR, A/B Phase
Rate 4 MHz (Max.)
Interpolation
Circular 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
Environment
Operating Temperature 0 ~ +60 °C
Storage Temperature -20 ~ +80 °C
Humidity 5 ~ 90 % RH, non-condensing

Download

Datasheet

Documents

Ordering Information

I-9196F     CR  High-Speed 6-axis Motion Control Module with FRnet Master (For XP-9000/WP-9000 PAC)
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