mpc2810 hardware manual 20100730 cje-andy .doc

MPC2810

Hardware Manual

Rev. 1.0

December, 2008

MPC2810 Motion Controller Hardware Manual

II

The content of this manual has been carefully prepared and is believed

to be accurate. However, no responsibility is assumed for

misunderstanding and inaccuracies.

Leetro Automation Co., Ltd. reserves the right to make changes

without further notice to any products herein to improve reliability,

function or design. Leetro Automation Co., Ltd. does not assume any

liability arising out of the application or use of any products or

circuitry described herein; neither does it convey any license under its

patent rights of others. Both Step-Servo™ and Leetro™ are trademark

of Leetro Automation Co., Ltd.

Leetro’s general policy does not recommend the use of its products in

life support or aircraft applications wherein a failure or malfunction of

the product may directly threaten life or injury. Per Leetro’s terms and

conditions of sales, the user of Leetro Automation Co., Ltd. products

in life support or aircraft applications assumes all risks of such use and

indemnifies Leetro Automation Co., Ltd. against all damages.

Contact

Leetro Automation Co., Ltd.

Building 8-B

Dayi Zone of Incubating Hi-tech

No.1 South 2nd Keyuan Road

Chengdu 610041

CHINA

Internet: http://www.leetro.com

Email: [email protected]

Tel: +86 28 85142599

FAX: +86 28 85187774

©2010 by Leetro Automation Co., Ltd. All Rights Reserved


III

PrefaceThank you for buying and using Leetro Automation’s Leetro™ motion

controllers.

MPC2810 is a high-performance universal motion controller developed by

Leetro Automation Co., Ltd. Please read through this manual for

specifications and proper use, especially the “Safety Precautions”section.

Your motion controller has been designed to work with both servo and

stepper motors. Installation and system setup will vary depending on whether

the controller will be used with stepper motors or servo motors.


IV

Safety Warnings

Please pay attention to following warnings to avoid any injury or machine

damage.

In this document, the following symbols are used to indicate the

level of damages. Ignoring the warnings might cause injuries.

The following symbols represent "MUST NOT" or "MUST"

operations which you have to observe.

Routine Safety Precautions

Please read through the routine safety precautions to avoid any injury or

property damage.

Use only quality power cables.

Make a connection or disconnection correctly and securely. The power

shouldn’t be turned on till the wire connection completes. The control

Indicates a potentially hazardous situation, if not

avoided, will result in death or serious injury.Danger

Indicates a potentially hazardous situation, if not

avoided, will result in minor injury or property damage.

Represents "MUST NOT" operation, which is

inhibited.

Represents "MUST" operation, which has to be

executed.

Caution


V

card should be connected to the Breakout board first, then the motors and

drives to the Breakout board. To disconnect the system correctly and

securely, make sure to turn off the external power supply first.

Disconnect the motors and motor drives from the Breakout board, and

then disconnect the control cards from the Breakout board.

Do not operate if there are suspicions of potential errors. If you suspect

any parts of the Product are damaged, please have them inspected by

qualified technicians.

Do not subject the Product to water, corrosive or flammable gases, and

combustibles.

Keep the Product from dust and humidity.

Prevent the Product from ESD damage. Do not touch the electronic

components on the control cards. Do not place the control cards on

surfaces possible to have ESD impacts on the Product. Place the control

cards in ESD-proof bags or packages.


VI

Warranty Information

This is to certify that MPC2810 controllers are guaranteed by Leetro

Automation Co., Ltd. to be free of all defects in material and workmanship

for a period of 12 months from the date of delivery. The warranty does not

apply to any defect caused by negligence, misuse (including environmental

factors), accident, alteration, or improper maintenance.

If, within one year from the date of delivery, any part of the Product should

fail to operate, contact the company Customer Service department in the

region and report the problem. When calling for support, please be prepare to

provide the dates of purchase and delivery, model number and serial number

of the unit, and a brief description of the problem.

Leetro Automation Co. Ltd neither assumes nor authorized any

representative or other person to assume for us any other warranties in

connection with the sale, service, or shipment of our products. Leetro

Automation Co. Ltd. reserve the right to make changes and improvements in

the design of our products at any time without incurring any obligation to

make equivalent changes in products previously manufactured or shipped.

Warranty Period

Leetro Automation Co., Ltd. warrants its motion control cards against defects

in materials and workmanship for a period of 12 months from the date of

delivery. During the warranty period, Leetro Automation will either, at its

option, repair or replace products which prove to be defective.


VII

Warranty Range

If the Product failed or has been damaged due to company’s

manufacturing and is within the warranty period, we will repair or replace it.

Following cases are exclusive from the warranty:

Failure and damage caused by improper operation or improper

operating environment.

Failure and damage caused by the devices or the control software

produced by other than our company.

Repair and modification by other than our company.

Failure and damage caused by natural disasters.

Customers are responsible for the shipping costs.

Product Application Precaution

The Product is designed for general industrial applications. Leetro does not

recommend the use of its products in life support or aircraft applications

wherein a failure or malfunction of the product may directly threaten life or

injury.

Maintenance

Routine maintenance and inspection of the motion controller are essential for

the proper and safe operation.


VIII

TABLE OF CONTENTS

1 OVERVIEW....................................................................... 11.1 INTRODUCTION ............................................................................................11.2 THE MANUAL IS FOR ....................................................................................21.3 FEATURES ....................................................................................................21.4 SPECIFICATIONS ...........................................................................................41.5 TYPICAL CONTROL SYSTEM.........................................................................5

2 Quick Installation............................................................... 62.1 CHECK YOUR PACKAGE...............................................................................62.2 MPC2810/P62-01/P37-05/P62-02 LAYOUT ................................................62.3 HARDWARE INSTALLATION ........................................................................102.4 SOFTWARE INSTALLATION .........................................................................102.5 UNINSTALL SOFTWARE...............................................................................202.6 SOFTWARE UPDATE....................................................................................20

3 How to Use ...................................................................... 213.1 PARAMETER SETUP ....................................................................................213.2 SIGNAL INTERFACE ....................................................................................22

3.2.1 Breakout board-P62-01 ......................................................................223.2.2 Universal I/O Extension Cable-C4037...............................................243.2.3 Breakout board-P62-02 ......................................................................26

3.3 CONNECTION .............................................................................................293.3.1 Connect MPC2810 to P62-01 ............................................................293.3.2 Connect P2810 to Power Supply........................................................303.3.3 Connect P62-01 to Motor Drive.........................................................30

3.3.3.1 OUTPUTS...................................................................................303.3.3.2 CONNECT ENCODER INPUTS ...............................................323.3.3.3 CONNECT DEDICATED INPUTS............................................333.3.3.4 CONNECTING UNIVERSAL I/O .............................................33

4 System Debugging........................................................... 364.1 DESTINATION PATH ....................................................................................364.2 HOW TO USE THE DEBUGGING PROGRAM ...................................................37

5 Typical Connection .......................................................... 425.1 CONNECT MPC2810 TO DMD808 STEPPER MOTOR DRIVE ......................425.2 CONNECT MPC2810 TO PANASONIC MINAS A SERIES SERVO MOTOR

DRIVE ..............................................................................................................43


1

1 OVERVIEW

1.1 Introduction

Leetro™ MPC2810 is a high-performance 1 to 4-axis PCI-BUS card for stepper

motors and digital servo motors. Multiple MPC2810 control cards can be put in a

PC to control up to 16 axes.

MPC2810 motion control card adopts IBM-PC and its compatible PC as the host

computer. It is a PC-based control unit for stepper motor and digital servo motor.

With the advanced Field Programmable Gate Array (FPGA), MPC2810 provides

dedicated motion control features such as pulse/direction or CW/CCW signal

output, forward/reverse limit and origin input for each axis,

acceleration-deceleration control, linear and circle interpolations, and much more.

For step motors/servo motors, pulse output rate up to 2.0 MHz provides fast and

smooth motion for full step or micro-stepping drivers.

Based on MPC2810’s powerful functions and Windows DLL, the user can

develop various motion control system easily. Library, header files and module

declare files are applicable for current popular programming development tools

such as Visual Basic6.0 and Visual C++6.0. MPC2810’s functions are also

conveniently applicable for other 32-bit Windows development tools such as

Delphi, C++ Builder, and etc. Moreover, the configuration software that supports

Windows DLL can also use MPC2810 motion controller.


2

MPC2810 motion controller is widely used in the following areas: the laser

processing machines, the CNC machines, the machining center, the robots, the

X-Y-Z control set, the painting instruments, the engraving machines, the printing

machines, the feeding machines, the marking machines, the coiling machines,

the medical machines, the packing machines, the textile machines, the

woodworking machines and the assemble line.

1.2 The manual is for

MPC2810

1.3 Features

Motion modes

Two modes are available: batch processing and immediate processing.

Interpolation of continuous micro-line segments trajectories

Look-ahead capability to achieve high-speed and smooth interpolation

of continuous micro-line segments trajectories

High-speed

Pulse output to 2Mpps

Max working steps

32-bit (2147483647) pulse counter

Encoder

2-CH 3-phase (A/B/Z phase) encoder inputs

Noise Cancellation

Opt-isolated digital I/Os ensuring the noise cancellation ability of

MPC2810

Universal outputs and inputs

Besides the special I/Os for each axis, the card has 24 universal

outputs (200mA driving capability for each CH), and 18 universal

inputs. With origin, limit, deceleration and alarm inputs which can be


3

set as universal inputs inclusive, there can be up to 35-CH universal

inputs.

Interpolations

2 to 4-axes linear interpolation and 2-axes circular interpolation

Event processing

Internal events can be triggered automatically once the motion control

card receives signals such as forward limit, reverse limit, origin, Z

pulse, stop, alarm, etc. User can easily write event processing program.

Comparative position control output

Interface commands are used for setting the universal outputs 1-4 as

comparative position control outputs.

Encoder latch

MPC2810 motion controller can latch encoder feedback signals of

1-Ch and 2-Ch.

Destination Position Verify

Automatic destination error compensation

Set acceleration-deceleration

User can easily set acceleration-deceleration process if the default

T/S-curve modes can not satisfy user’s requirements.

Input interface for manual pulse generator

Electronic gearing

Watchdog timer

Software limits

Tracking error limit

When axis1 or axis2 following error overruns the set maximum limit,

MPC2810 automatically stops corresponding axis’s motion when user

enable the function.


4

1.4 Specifications

Form 1-1 MPC2810 Motion Control Card Specs

Item MPC2810

Main interface PCI (3.3 or 5V）

Axes 1 to 4

Encoder inputs (CH) 2-CH

Encoder counter2-CH, 32bit, 2147483647, A/B/Z phase (2Mpps), differential

interface

Universal inputs DC24V 18 opto-isolated inputs

Universal outputs 24 outputs, 200mA max open collector

Specialized inputs4 inputs each axis (forward limit, reverse limit, origin,

ramp-down), Alarm (Common)

Max. pulse output

frequency

2MHz

Min.pulse output

frequency

0.2Hz

Variable speed mode Trapezoidal, S-curve or user-defined profile control

Pulse output mode Pul/Dir output (Pulse/Direction), or CW/CCW

Output pulse counter 32bit, 2147483647 each axis

Min. effective pulse

width of Z pulse

0.5μs

Multiple cards applicable 4 cards

Watchdog timer Timer range: 1～60000 ms

Following-error-overrun It can be set for axis-1 and axis-2

(Allowable error: 16777216)

Operation System WINDOWS 2000, WINDOWS XP


5

1.5 Typical Control System

A typical motion control system that uses MPC2810 as motion control card is

comprised of:

1) MPC2810 motion control card and breakout board;

2) PC or industrial control computer with PCI slot, Windows2000/XP

operation system;

3) Stepper motor or digital servo motor;

4) Motor drives;

5) Power supplies for motor drives;

6) DC switch power supply, providing +24V power to the breakout

board.

Fig.1-1 Control System using MPC2810

Worktable

Motion Control Card

Breakout Board

Motor Drive

Motor

PC


6

2 Quick Installation

2.1 Check Your Package

Standard package list:

1* MPC2810 motion control card;

1* P62-01 breakout board or 1* P62-02 breakout board;

1* 62-pin shielded cable, 2m;

1* Software toolkit.

Following optional accessories are used for providing more universal I/O

ports if required:

1* C4037 universal I/O extension cable;

1*P37-05 breakout board (matching P62-01 breakout board);

1*37-pin shielded cable, 2m.

2.2 MPC2810/P62-01/P37-05/P62-02 Layout

There are two types of breakout board: P62-01 and P62-02. Only special

input/output signals, such pulse, direction, limits, origin, ramp-down etc., and a

few universal I/O connectors are on the P62-01 board. All motion control card

signals connectors are on the P62-02.

(1) MPC2810 motion control card

4 indicator lights on the back of the board

J1: connect interface for 62-pin shielded cable

J2: connect interface for 40-pin flat cable of universal IO extension cable

Switch: used for setting the local ID of cards if multiple cards are applied.


7

170

120

Fig. 2-2 MPC2810 Dimensions (mm)

Power converter

module 24V-5V

8-CH universal

output circuitPul/dir

output

2 axes encoder

input circuit

20-CH dedicated

Input circuit

16-CH universal

input circuit

16-CH universal

inputs circuit

FPGA

J1 J2

Indicator lights

Dialer

Fig. 2-1 MPC2810 Layout Diagram


8

（2）Breakout board-P62-01 for MPC2810

P62-01 Dimensions: (mm)

Mounting Hole Dimensions: 3mm.

Fig. 2-3 P62-01 Breakout Board

D61

D59

D57

D55

D53

D51

D49

D47

D45

D43

D62

D60

D58

D56

D54

D52

D50

D48

D46

D44

D1

D2

D3

D4

D5

D6

D7

D8

D9

D10

D11

D12

D13

D14

D15

D16

D17

D18

D19

D20

D41 D39 D37 D35 D33 D31 D29 D27 D25 D23 D21

D42 D40 D38 D36 D34 D32 D30 D28 D26 D24 D22

110mm

85mm

85

72

86110

Fig. 2-4 P62-01 Dimensions


9

（3）Breakout board-P37-05 for I/O extension board (mm)

Mounting Hole Dimensions: 3.5mm.

（4）Breakout board-P62-02 for MPC2810


76

91

68.581

CN2 CN1

CN3

ENC1

AXIS1

ENC2

CN5 CN4

AXIS2

AXIS3 AXIS4

135

145

120130



10

2.3 Hardware InstallationPC minimum hardware requirements:

X86 compatible PC with PCI slot

586+ CPU

256M+ Memory

Hardware Installation Steps:

1) Plug motion control card to the PCI-slot of the PC.

2) Connect the motion control card to the Breakout board

3) Connect the motor to motor drive

4) Connect motor drive to Breakout board

2.4 Software Installation

The motion control card can be operated under either Win2000 or WinXP

operating systems. Windows can automatically detect the MPC2810 when

plugged into the PC, and its Plug-and-Play capability will automatically install

the card. When you see the pop-up dialog box indicating that new device is

found, please click “cancel”and install the driver, function storehouse and demo

programs as following steps:

1) Click “Cancel” when the system indicates “Unknown PCI Device”

found.

Do not touch any controller circuits or plug-pull controller until you touch a

grounded metal object to discharge the electrostatic charge of your body.

Failure to follow this instruction could result in board damages.Caution

Execute the trial run without connecting the motor to the machine

system. Adjust the parameters of control card and motor drives, then

integrate the motor. After checking the setup operating correctly,

connect to the machine system again. Failure to follow this instruction

could result in injuries.Danger


11

2) Run setup program under root directory of installation CD. Then click

“Next”to continue the installation.

3) Select components to be installed.

Fig. 2-7 Welcome window

Fig. 2-8 Select components window


12

4) Select the destination location of installation files. Default path:

C:\Program Files\MPC2810. Click Browse to choose a preferred

path.

5) Click Next to start the installation.

Fig. 2-9 Choose destination location window


13

6) Finish the installation. Click Finish to complete the installation.

7) When the installation completed, system will indicate to restart the

Fig. 2-10 Copying files

Fig. 2-11 Installation completed


14

computer. Click OK to have the system restarted immediately. If you

want to restart the system later, click Cancel. MPC2810 can only be

used after the system restarted.

8) To check if the installation completed successfully, open the MPC2810

folder located in destination path. You can see following files.

A. Demonstration programs in “Demo”directory:

a) Sub-directory “VBDemo”: source code VB examples (“Demo1”

and “Demo2”);

Run “VBDemo1.exe”, following dialog box pops up:

Fig. 2-12 Restart indication dialog box

Fig. 2-13 MPC2810 directory structure


15

With VBDemo1 example program user can primarily test the

control system and easily learn how to develop MPC2810. Click

About to learn more about MPC2810 hardware and software

version information.

Run “VBDemo2”, the following motion control performance

window will be shown as follows:

Fig. 2-14 VBDemo1 window

Fig. 2-15 VBDemo2 window


16

Motion track and speed curve are shown in the left frame. Parameters

settings on the linear/circular interpolation, the jogging motion and the

encoder are shown in the right frame. The frame OTHERS is used for

testing universal I/Os and special inputs.

b) 7 demonstration programs in sub-directory VCDemo: (All include

source code except VCDemo3)

“VCDemo1” and “VCDemo2”. “VCDemo1” is the VC static

loading dynamic link library example; “VCDemo2” is VC

dynamic loading dynamic-link-library example. Windows of

VCDemo1 and VCDemo2 are the same as follows:

Motion track will be shown on the left-side in the window, while parameter

settings shown on the right-side in the window.

Fig. 2-16 VCDemo1/VCDemo2 window


17

“VCDemo3”provides no source code. It can read *.DXF file, test

I/O & commands. (Refer to Chapter4)

“CmdMove1” demonstrates batch processing and short line

segments tracking examples.

“HandwheelorGearHandle”demonstrates manual pulse input and

electronic gearing examples.

Fig. 2-17 CmdMove1 window


18

“InterruptHandle”demonstrates event handling example.

Fig. 2-18 HandwheelorGearHandle window

Fig. 2-19 InterruptHandle window


19

“FastMoveDemo” demonstrates how to apply T-curve, S-curve

and custom acceleration-deceleration to fast motion when

batching processing.

B. Develop directory: MPC2810 driver programs and functions

storehouse.

a) Sub-directory “Common”: MPC2810 driver program and

functions storehouse;

b) Sub-directory “VB”: Module file MPC2810.bas used for

developing VB execution program

c) Sub-directory “VC”: file used for dynamically loading dynamic

link library(“LoadMPC2810.cpp” and “LoadMPC2810.h”) and

file used for static and dynamic link library (“MPC2810.h”and

Fig. 2-20 FastMoveDemo window


20

“MPC2810.lib”).

C. Reference Doc: Hardware Manual and Software (Programming)

Manual.

2.5 Uninstall software

There are two ways to uninstall the MPC2810 program:

1) Run UNWISE.exe in the MPC2810 folder.

2) Control Panel Run “Add/Remove Programs” to uninstall the

MPC2810 program.

2.6 Software Update

Please update the driver and/or the function library through our website,

http://www.leetro.com. The later version will be compatible with former ones.

The updating procedure is:

1. Close all program

2. Uninstall the former program

3. Run the later setup program

4. If it is developed by Visual Basic6.0, please update “MPC2810.dll” and

“MPC2810.bas”in the Microsoft Visual Basic Project.

5. If it is developed by Visual C++6.0, please update “MPC2810.dll”,

“MPC2810.lib”and “MPC2810.h”in the Microsoft Visual C++ Project in

the mode of implicit invocation.

In the mode of explicit invocation, please update “MPC2810.dll”,

“MPC2810.lib”, “LoadMPC2810.h” and “LoadMPC2810.cpp” in the

Microsoft Visual C++ Project.


21

3 How to Use

3.1 Parameter Setup

The Dialer (U55) on the control card can be used for setting the local ID of each

card if multi cards are applied. The value ranges from 0x0H to 0xFH. Please

refer to the Dialer and local ID correspondence table 3-1.

Fig. 3-1 U55 Dialer

Table 3-1 Dialer and Local ID Correspondence Table

Value of Dialer Local ID No. (Card No.)

0x0H 1

0x1H 2

0x2H 3

0x3H 4

Maximum 4 cards can be used. Maximum ID number should be 0x3H.

If only one card is used, the ID should be 0x0H (default setting).

If four cards are used, 0x0H should be the ID of the first card, 0x1H to the

second card, 0x2H to the third card, and 0x3H to the fourth card.

When it is applied in multi-MPC2810, the coupling relationship between card

and axis numbers are:

Card 1: Axis 1 –4

Card 2: Axis 5 –8

Card 3: Axis 9 –12

Card 4: Axis 13 –16

The functions of batch processing and look-ahead are only valid in axis 1-4.

0

4

8

C


22

3.2 Signal Interface

3.2.1 Breakout board-P62-01

Fig. 3-2 P62-01 Breakout board Layout Diagram

Table 3-2 Breakout board Interface Description

P62-0162-pin

cableName Description

D1 42 DCV5V

+5V output(max current:500mA), common

ground with DCV24V, can be

disconnected

D2 21 DCV24V +24V, input (Compulsory)

D3 20 OGND 24V GND, input (Compulsory)

D4 62 SD1 Axis-1 Ramp-down Signal

D5 41 EL1- Axis-1 Reverse Limit Signal

D6 19 EL1+ Axis-1 Forward Limit Signal

D7 61 ORG1 Axis-1 Homing Signal



D61

D59

D57

D55

D53

D51

D49

D47

D45

D43

D62

D60

D58

D56

D54

D52

D50

D48

D46

D44

D1

D2

D3

D4

D5

D6

D7

D8

D9

D10

D11

D12

D13

D14

D15

D16

D17

D18

D19

D20

D41 D39 D37 D35 D33 D31 D29 D27 D25 D23 D21

D42 D40 D38 D36 D34 D32 D30 D28 D26 D24 D22


23











D20 36 ALM Alarm Signal

D21 14 IN17 Universal input 17

D22 56 IN18 Universal input 18

D23 35 -- Reserved

D24 13 -DIN1 Encoder A1- (up/down pulse: Pul 1-)

D25 55 +DIN1 Encoder A1+ (up/down pulse: Pul 1+)

D26 54 -DIN2 Encoder B1- (up/down pulse: Dir 1-)

D27 34 +DIN2 Encoder B1+( up/down pulse: Dir1+)

D28 33 -DIN3 Encoder Z1-

D29 12 +DIN3 Encoder Z1+

D30 11 -DIN4 Encoder A2- (up/down pulse: Pul 2-)

D31 53 +DIN4 Encoder A2+( up/down pulse: Pul 2+)

D32 52 -DIN5 Encoder B2- (up/down pulse: Dir 2-)

D33 32 +DIN5 Encoder B2+ (up/down pulse: Dir 2+)

D34 31 -DIN6 Encoder Z2-

D35 10 +DIN6 Encoder Z2+

D36 COM1_8 Protect circuit, connected to +24V

D37 30 OUT1 Universal output-1




D41 49 — — Reserved






24

D46 27 -DOUT1 Axis-1 direction-

D47 6 +DOUT1 Axis-1 direction +

D48 5 -DOUT2 Axis-1 pulse -

D49 47 +DOUT2 Axis-1 pulse +

D50 26 -DOUT3 Axis-2 direction -




D54 45 -DOUT5 Axi-3 direction -




D58 44 -DOUT7 Axis-4 direction -




D62 22 — — reserve

3.2.2 Universal I/O Extension Cable-C4037

16 universal inputs and 16 universal outputs can be extended with the installation

of C4037. Connect MPC2810 to external 37-pin cable through the C4037.

For the convenience of wiring, the I/O extension Breakout board P37-05 can be

used.

Table 3-3 P37-05 Interface Description

P37-05

Breakout

board

37-pin

CableName Description

P19 19 IN1 Universal input-1










25








P11 11 OUT9 Universal output-9








P7 7 COM9_16 Protect circuit, connected to +24V

P25 25 DCV24 Output +24V, output current to 200mA









P2 2 COM17_24 Protect circuit, connected to +24V

P20 20 DCV24 Output +24V, output current to 200mA

P1 1 OGND Output 24V GND


26

3.2.3 Breakout board-P62-02

Fig.3-3 P62-02 Breakout board Layout Diagram

Table 3-4 P62-02 Interface Description

Connectors Description

CN1 Connected to MPC2810’s DB62 interface

CN2 Connected to C4037’s DB37 interface

CN3 24-pin for universal outputs

CN4 18-pin for universal inputs and alarm input

CN5 24V power supply

ENC1 Encoder-1

ENC2 Encoder-2

AXIS1 Axis-1 Control Interface (pulse, direction, origin, limits, Ramp-down)




Table 3-5 Connector CN3 Description

Pin # Description

O24 Universal output-24

CN2 CN1

CN3

ENC1

AXIS1

ENC2

CN5 CN4

AXIS2

AXIS3 AXIS4

135

145

120130


27
























COM1-8 Protect circuit, connected to +24V


Pin # Description

I18 Universal input-18










28










ALM Alarm input


Pin # Description

GND 24V GND, input (Compulsory)

DC24V +24V, input (Compulsory)

Table 3-8 Connector ENC Description

ENC1 pin # Description ENC2 pin # Description

A1+ Encoder A1+ A2+ Encoder A2+

A1- Encoder A1- A2- Encoder A2-

B1+ Encoder B1+ B2+ Encoder B2+

B1- Encoder B1- B2- Encoder B2-

Z1+ Encoder Z1+ Z2+ Encoder Z2+

Z1- Encoder Z1- Z2- Encoder Z2-

GND 24V GND GND 24V GND

Table 3-9 Connectors AXIS1,AXIS2 Description

AXIS1 pin # Description AXIS2 pin # Description

D1+ Axis-1 direction+ D2+ Axis-2 direction+

D1- Axis-1 direction- D2- Axis-2 direction-

P1+ Axis-1 pulse+ P2+ Axis-2 pulse+

P1- Axis-1 pulse- P2- Axis-2 pulse-

DC5V +5V output (reserve) DC5V +5V output (reserve)

E1+ Axis-1 Forward Limit E2+ Axis-2 Forward Limit

E1- Axis-1 Reverse Limit E2- Axis-2 Reverse Limit

ORG1 Axis-1 Homing ORG2 Axis-2 Homing


29

SD1 Axis-1 Ramp-down SD2 Axis-2 Ramp-down

Table 3-10 Connectors AXIS3、AXIS4 Description

AXIS3 pin # Description AXIS4 pin # Description

D3+ Axis-3 direction+ D4+ Axis-4 direction+

D3- Axis-3 direction- D4- Axis-4 direction-

P3+ Axis-3 pulse+ P4+ Axis-4 pulse+

P3- Axis-3 pulse- P4- Axis-4 pulse-

DC5V +5V output (reserve) DC5V +5V output (reserve)

E3+ Axis-3 Forward Limit E4+ Axis-4 Forward Limit

E3- Axis-3 Reverse Limit E4- Axis-4 Reverse Limit

ORG3 Axis-3 Homing ORG4 Axis-4 Homing

SD3 Axis-3 Ramp-down SD4 Axis-4 Ramp-down

3.3 Connection

3.3.1 Connect MPC2810 to P62-01

Power off the PC

Plug MPC2810 into the PCI-slot of the PC

Connect JP1 interface of MPC2810 to J1 interface of P62-01 with

the 62-pin shielded cable as shown in figure 3-3:

JP1

MPC2810Shielded cable

P62-01

Fig. 3-4 Connect Motion Control Card to Breakout Board

J1


30

3.3.2 Connect P2810 to Power Supply

Connect D2 and D3 of P62-01 to a 24V switching power supply (D2 to

+24V, D3 to 24V GND).

3.3.3 Connect P62-01 to Motor Drive

3.3.3.1 Outputs

Two pulse output modes for MPC2810: Pul/Dir, and CW/CCW. Default mode is

Pul/Dir. User can change the output mode of each axis using “set_outmode”

command. (Refer to Programming Manual).

Fig. 3-5 Connect Breakout Board to Power Supply

P62-01

+

－DC24V

D2

D3

Fig. 3-6 Wiring of Controlling Signals

26LS32 or

Equivalent Circuit

MPC2810 Motor Drive

(a) Connect to Differential Signals

MPC2810 Motor Drive

(b) Connect to Single-ended Signals

+ +

- -

+5V

GND


31

1) Pul/Dir Mode

（2）CW/CCW Mode

Output Mode Pin CW CCW

Pulse

+

Direction

D46~D61

CW Pulse

+

CCW Pulse

D46~D61

(a) Differential Pul/Dir Mode

P62-01

D47

D46

Motor Drive

DIR+

DIR-

D49

D48

PULSE+

PULSE-

D47

D49

(b) Single-ended Pul/Dir Mode

P62-01 Motor Drive

DIR

PULSE

(a) Differential Pul/Dir Mode

P62-01

D47

D46

Motor Drive

DIR+

DIR-

D49

D48

PULSE+

PULSE-

(b) Single-ended CW/CCW Mode

P62-01 Motor Drive

DIR

PULSE

Fig. 3-7 Pul/Dir Output

Fig. 3-8 CW/CCW Output

Dir Signal

Pul Signal

CCW

CW

CCW

CW

D47

D49

Dir Signal

Pul Signal

Fig. 3-9 Pulse Output


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3.3.3.2 Connect Encoder Inputs

2-CH encoder interfaces receiving A-phase, B-phase and Z-phase signals areavailable. D28, D29 (axis-1) and D34, D35 (axis-2) function as the differentialports for encoder latching inputs once the encoder latching functionalityactivated. Please refer to Fig.3-10, the connection diagram. Fig. 3-11 shows theconnection example provided encoder latch signals are single-ended.

Up/down pulse mode: Connect external pulse signal to the pulse input port ofcorresponding A-phase, and the external direction signal to pulse input port ofcorresponding B-phase.

26LS31

26LS31

26LS31

MPC2810 Encoder

Fig. 3-10 Connection Diagram of Encoder Inputs (Differential)

EA+

EA-

EB+

EB-

EZ+

EZ-

D25

D24

D27

D26

D29

D28

+5VMPC2810 Encoder

Fig.3-11 Connection Diagram of Encoder Inputs(Single-ended)

EA

D25

D24

D27

D26

D29

D28

EB

EZ


33

3.3.3.3 Connect Dedicated Inputs

Dedicated switch inputs include: limit, Ramp-down, homing and external alarm

signals. The switch could be contact-switch or NPN-output sensor proximity

switch. The connection diagram is as follows.

No dedicated switch outputs for MPC2810. User can set universal output1~4 as

comparative position output ports using the command enable_io_pos

3.3.3.4 Connecting Universal I/O

1) Universal Inputs Loop

Alarm input, limit input, homing input and Ramp-down

signal are default normally-close (making a short-circuit

to 24V GND if the inputs are not in use)

+－ DC24/12

D3

D2

D5 or D6

D7

D20

NC alarm switch

NC origin switch

NC limit switch

NC deceleration switch

D4

MPC2810

Fig.3-12 Dedicated Inputs Connection


34

(2) Universal Output Loop

Open-collector output of MPC2810 can be connected to relay, and photo coupler.

The max output current is 200mA, voltage is 24V. It can be used as switch inputs

of servo system (Servo-ON, Error Counter Reset) or be used for driving

intermediate relay or photo coupler of 24DCV.

DC24/12+－

D3

D2

MPC2810

(a) Contact-Switch

Fig.3-13 GI Connection Diagram

(b) NPN Switch

Fig.3-14 Universal Input Connection

DC24/12+－

D3

D2

MPC2810

Signal Input

DC24－

+

D36

D3

Output

R

(a) Drive Photo Coupler

Fig.3-15 General Output Connection

MPC2810

ULN2803

Photo Coupler

Input

输入口


35

(b) Drive Relay

Fig. 3-16 GO Connection Diagram

R

ULN2803 DC24－

+

D36

D3

Output

RelayMPC2810


36

4 System Debugging

Debugging program can be found in the installation path. Before using the

debugging software, please make sure the system hardware is set up correctly

and connected well. Debugging software is to test if the system can work

normally, confirm if the connection is all right, and track some simple motions.

4.1 Destination path

When software installation completed, folder MPC2810 will be automatically

created (Default installation path: \ Program Files). The directory tree is as

follows:

Fig.4-1 MPC2810 Directory Tree

Find Demo3 the powerful debugging program following the path \Program


37

Files\MPC2810\Demo\VCDemo\VCDemo3. It is used for testing commands and

I/Os of MPC2810. Modules are built in VCDemo3 to process DXF file, 2D

trajectory motion can be generated with this program. Display resolution:

1024*768 (Recommend).

4.2 How to use the debugging program

After running VcDemo3.exe, five modules will present as fig. 4-2. They are

Continuous Trajectory, PTP Control, IO Test, Commands Test and Parameters

Setting

Fig. 4-2 Test Program

(1). Continuous Trajectory Module

This module is the default one after running the program. The button

could be applied to switch from other module.

Continuous

Trajectory

PTP Control IO Test Commands

Test


38

Look-ahead and Batch-processing modes are improved in the motion mode

setting. Look-ahead benefits being higher machining speed and less machining

impact. The controller will set the optimized parameters when user sets the max

acceleration, velocity and others. It makes much better performance in the

micro-segment trajectory motion. Batch-processing will be executed as set

velocity and acceleration.

There are some settings in the parameters, Start-up Velocity, Max Velocity,

Acceleration, Max Bend Acceleration and Pulse Unit.

Fig. 4-3 Continuous Trajectory Module

(2). Test PtoP Module

Click the button, to enter the PTP Control Module. After setting

the Card Number, Axis Number and Motion Parameters, to click the button,

.

Parameters

Setting

Opened DXF

File

Motion Mode

Setting

Motion

Trajectory

Motion Status


39

Fig. 4-4 Test PtoP Motion

(3). Test IO Module

Clicking the button is to enter IO Test Module.

Standard Inputs and Specific Inputs status will be shown as Fig. 4-5. Red

presents active-high. Green presents active-low. Blue presents error..

The Specific Inputs function will be enabled with the “check” symbol, which

is behind the signal shown as Fig. 4-5. Without “check” symbol, it is the

Standard Inputs.

“Negative Logic” and “Positive Logic” is for setting active-level in the

Specific Inputs.

24-channel Universal Outputs are on the bottom of window. Initially, they are

red, which means OFF. After clicking the button, the Red will be switched to the

Green. It means ON, which connects to the GND of inputted 24V.


40

Fig. 4-5 Test IO Module

(4). Test Command Module

Clicking the button is to enter the Test Command module. In this

module, users can test all functions of MPC2810.

After double-clicking the parameter column to enter the data, clicking the button

to carry out the command.

The command “get_last-err”enables finding out error reasons after matching it

in the error code list.


41

Fig. 4-6 Test Command

(5). System Setting Module

As Fig. 4-7 shown, Pulse Out Mode, Feedback and Home Mode will be set in

this window.

Fig. 4-7 System Setting


42

5 Typical Connection

5.1 Connect MPC2810 to DMD808 Stepper MotorDrive

D46

D47

D48

D49

D2

D3

Dir-

Dir+

Pul-

Pul+

Motion control cardStepper motor drive

DC24/12-

+

Axis-1 Direction+

Axis-1 Direction-

Axis-1 Pulse-

Axis-1 Pulse+

DCV24+

GND24


43

5.2 Connect MPC2810 to Panasonic MINAS ASeries Servo Motor Drive

D24 22

D25 21

D26 49

D27 48

D28 24

D29 23

D46 6

D47 5

D48 4

D49 3

D3

D2

Note: The encoder feedback pins can be disconnected.

Motion control card Servo motor driver

Encoder A1-

Encoder A1+

DC24/12

-+

Encoder B1-

Encoder B1+

Encoder Z1-

Encoder Z1+

Axis-1 Direction -

Axis-1 Direction +

Axis-1 Pulse -

Axis-1 Pulse +

GND24

DCV24+

OA-

OA+

OB-

OB+

OZ-

OZ+

SIGN2

SIGN1

PULS2

PULS1

29SRV-ON

13GND

41

7COM+

COM-

mpc2810 hardware manual 20100730 cje-andy .doc

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