4ch H-Motion Gen3

4ch H-Motion Gen3 user manual

WPC Systems Ltd.

Justin Wu

2016-09-07

(C)2016 WPC Systems Ltd. All rights reserved.

Table of content

1. Specification & features

2. System diagram

3. Product appearance

4. Pin assignment

5. Connect to motor drives

6. Connect to limit switches


What’s Hard-motion?


FPGA

sbRIO Soft-motion module

RT

FPGA

sbRIO Hard-motion module

RT HW

Motion IP

NI soft-motion

H-motion IP


FPGA

Advantages

• 不占用 FPGA 空間，可編譯 16 軸。

• 免複雜開發環境安裝、設定。

• 簡單易學、快速上手。

• 滿足基本運動控制需求。

• 穩定不需重複驗證功能。

(C)2016 WPC Systems Ltd. All rights

reserved.

Specification

• Number of axes: 4

• Interface: step & direction (only)

• Output signal type:

– 5V differential output for STEP/DIR

– 24V sinking/sourcing for SRV-ON

• Input signal:

– 24V sinking/sourcing for HOME/FWD/REV limits

• Built-in trajectory generator 1MHz (max)


reserved.

Functionality

• Open loop control (only)

• Built-in trajectory generator 1MHz (max)

• Home/forward/reverse limit switches

• S-curve, soft stop

• Velocity/acceleration resolution: +/-2047 (12-bit)

• Position resolution: 24-bit

• Low cost


reserved.

NEW

24-DO 24-DI 12-12-DIO 4-Motion

GECO controller

4. Product Appearance


+ -

1 2

3 4

Servo on Sinking/sourcing selection

24VDC Power input

Connect to GECO slot C1 ~ C4


1

2

3

4

5. Pin assignment

AXIS-1 AXIS-2 AXIS-3 AXIS-4

1 STEP+ 10 STEP+ 19 STEP+ 28 STEP+

2 STEP- 11 STEP- 20 STEP- 29 STEP-

3 DIR+ 12 DIR+ 21 DIR+ 30 DIR+

4 DIR- 13 DIR- 22 DIR- 31 DIR-

5 HOME 14 HOME 23 HOME 32 HOME

6 FWD 15 FWD 24 FWD 33 FWD

7 REV 16 REV 25 REV 34 REV

8 DI_COM 17 DI_COM 26 DI_COM 35 DI_COM

9 SRV_ON 18 SRV_ON 27 SRV_ON 36 SRV_ON


1

2

3

4

6. Connect to motor drives











Hint: All control signals are refer to 24VDC input PWR include SRV_ON and STEP/DIR .


1

2

3

4












Hint: 1. Connect 24VDC to VI_COM for Sourcing input. 2. Connect GND to VI_COM for sinking input. 3. All digital input node consist of built-in 3.3k resistor in series.



VI_COM must connect to 24V. VI_COM must connect to GND.

Appendix A

Quick look-up table

RMC Pinouts

Dimensional drawing

Other GEOC modules


A1. Quick look-up table


Module Slot Num

4_H_MOTION C4 C3 C2 C1

CLK DIO 80 DIO 20 DIO 24 DIO 28

SDI DIO 48 DIO 35 DIO 39 DIO 43

SDO DIO 16 DIO 3 DIO 7 DIO 11

CS_1 DIO 81 DIO 85 DIO 89 DIO 93




SEVRO_ON_1 DIO 82 DIO 86 DIO 90 DIO 94




A2. RMC pinouts


C1 C2 C3 C4

C1 C2 C3 C4


˙Breakout board 不論在外觀尺寸或者螺絲孔位上面都與 sbRIO-9606/5 相同。 ˙其他裝載在 breakout board 上的 I/O模組板，則是統一設計成 120 x 140 mm的尺寸，螺絲孔大小（3mm）、位置也都一致，方便使用者堆疊I/O模組板。

A3. Dimensional drawing

A4. Other GECO modules


4ch H-Motion Gen3

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