I-8196F

High-speed, DSP-based, 6-axis Motion Control Module with FRnet Master

Features

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

Applications

Ordering Information

PRODUCT SERIES	DESCRIPTION	QNT.	INQUIRY
PRODUCT SERIES I-8196F	DESCRIPTIONHigh-Speed 6-axis Motion Control Module with FRnet Master (For XP-8000/WP-8000 PAC)

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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