# Motion Creator Pro 2 Application Manual Manual Rev.: 0.1 Revision Date: Dec. 30, 2022 Part No.: 50M-00099-1000 # Preface # Copyright © 2022 ADLINK Technology, Inc. This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer. # Disclaimer The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer. In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages. # Environmental Responsibility ADLINK is committed to fulfill its social responsibility to global environmental preservation through compliance with the European Union's Restriction of Hazardous Substances (RoHS) directive and Waste Electrical and Electronic Equipment (WEEE) directive. Environmental protection is a top priority for ADLINK. We have enforced measures to ensure that our products, manufacturing processes, components, and raw materials have as little impact on the environment as possible. When products are at their end of life, our customers are encouraged to dispose of them in accordance with the product disposal and/or recovery programs prescribed by their nation or company. ![Symbol of a trash bin crossed out by two diagonal lines (no text or numbers present)](.motion-creator-pro-2-application-user-manual-english-v0-1/33de941e751ce23ec58080ce6ae47f142407c4085bf110e1b119bb20e785b509.jpg) ![The image displays a solid black horizontal rectangle centered on a white background. Thin white horizontal lines run parallel above and below the black rectangle, creating a visual effect similar to a redacted line of text.](.motion-creator-pro-2-application-user-manual-english-v0-1/6776404b2949e533e9373849281cf053165223007174a7d4ca669a15a83a836b.jpg) # Trademarks Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies. Revision History
RevisionRelease DateDescription of Change(s)
0.12022-12-30Preliminary release
# Table of Contents # Preface ........................ # 1 Introduction ... 1.1 Functional Description.. 4 # 2 Software Introduction .... 2.1 Interface .. .. 5 2.2 Installation .. ... 6 2.3 Troubleshooting . .. 6 # 3 Usage Scenarios .... 3.1 Latch Triggering . 3.2 Advanced Point Table.. . 11 3.3 Compare Trigger .. .16 3.4 Gantry Mode . .20 3.5 Sampling... .24 # 1 Introduction Motion Creator Pro 2 (MCP2) software is a user interface specifically developed for ADLINK motion control products. In a standard Windows environment, MCP2 provides simple configuration, testing, and verification functions without end users' writing code, reducing testing time and accelerating device development. MCP2 software supports all ADLINK motion control products, including pulse control cards and EtherCAT control card, and provides basic motion control functions such as single-axis motion, tween motion, and homing. Functions such as axis status and IO status on the user interface can also be monitored in real time. # 1.1 Functional Description The Automation Product Software (APS) library provides users a uniform interface to access all ADLINK products that support it and covers many automation fields including machine automation. The APS library supports motion control with components. The following functions are provided by the software. (Refer to the actual motion control card being used for supported functions. Functions vary according to card type.) Parameter Setting: Parameters can be loaded and saved as files. Single Move: Operation buttons and setting for 3 modes—Absolute, Relative and Velocity (with partial support for JOG). Multi-Axes Interpolation: Supports multi-axes Linear, Circular and Spiral interpolation. Homing Move: This function is used to define the HOME position of the axis. Interrupt: This function is used to enable/disable interrupts of one board to host computer. Gantry Function: This is a structure used to straddle an object or workspace. Egear Function: Electronic gear. Advanced Point Table: This function is used to create a set of point table parameters to specified axes.  Compare Trigger: Sends an output signal when triggered. Latch: Remembers the current location when receiving an input signal. Axis Data Sampling: This function is used to set sampling parameters such as sampling rate and sampling channel source. # 2 Software Introduction # 2.1 Interface MCP2 supports ADLINK motion control and distributed I/O series products, providing a unified interface for users to configure parameters and perform motion control with simultaneous monitoring and management. The following figure shows the software interface, which is divided into three main parts: Tool function icons, Tree view list and Operation Area. ![Motion Creator Pro 2\nFile View Initial Options Function About\nTool function Icon\nAxis/Board Para Interpolation OPT Device OD Sampling Compensation Egear\nADLINK\nPCIe-8338\nCard No 0\nEtherCAT Axis\n(Slave 0 ) Yaskawa Slave\nAxis 0 ServoOff\n(Slave 1 ) ADLINK Slave\nAxis 1 ServoOff\nAxis 2 ServoOff\nAxis 3 ServoOff\nAxis 4 ServoOff\nEtherCAT IO\n(Slave 2 ) ADLINK Slave\nEU-1108-DI\nEU-1108-DI\nEU-2008-DO\nEU-2008-DO\nTree view list\nOperation Area](.motion-creator-pro-2-application-user-manual-english-v0-1/80bed7e4c7899fd28e9232e14e92d37e04b004025c32994c393a33ac1673e894.jpg) When MCP2 is started, all cards on the system will be displayed in the Tree view list. Tool function icons will vary according to card type. All control item interfaces will be uniformly displayed in the Operation Area. # 2.2 Installation This section describes the installation and use of ADLINK's APS SDK for motion control, which contains all motion control card driver installation files. # NOTES:  The APS SDK is supported by Microsoft Windows only.  Be sure to use proper ESD (Electrostatic discharge) protection when working with any electronic equipment. 1. Download and install the latest version of the APS SDK from ADLINK's official website. 2. Read the related manuals carefully to properly set up signal I/O. 3. Turn off power to your computer and all relevant terminal boards before inserting a device card into a PCI/PCIe slot in your computer. 4. Turn on the motion control limit switches and set up servo signals and general-purpose digital signal wiring. 5. Set up servo or stepper drive connections. 6. Turn on power to your computer and connected terminal boards. 7. Verify all I/O signals and servo operations are correct with Motion Creator Pro 2. # 2.3 Troubleshooting If the computer fails to power up normally, or the motion control system operates abnormally after installation, check the following troubleshooting scenarios for corrective action. The card does not show up in Device Manager after its driver has been installed. Turn off the computer and ensure that the card is properly seated in the PCI or PCIe slot. Ensure that the driver is properly installed by checking for it in Control Panel>Add remove programs. Motion Creator Pro 2 cannot run after installing the driver. Ensure that the latest version of APS SDK has been installed on the system. The “without signal” indicator on Motion Creator Pro 2 lights up after the motor is connected and the motor does not work. Ensure that 24V DC power is connected to the terminal board. When using Motion Creator Pro 2 all the control indicators of the drive light correctly but the drive has a warning. Ensure that axis parameter, alarm logic (ALM) and the EMG loop configuration have been set up correctly. Value of output command differs from the feedback value. From the encoder, ensure feedback signal settings (CW/CCW, 1xAB, 2xAB, 4xAB) align with those of the drive. For motion control, the motor moves only in one direction rather than back and forth. Ensure the signal pattern settings (CW/CCW, OUT/DIR) align with those of the motor drive. If the problem persists, contact your dealer for technical service. # 3 Usage Scenarios # 3.1 Latch Triggering A conveyor belt is equipped with a range detector for fixed-point scanning. When a product enters the detection area, the range detector signal triggers the latch function, recording the location in a Latch Get Point Array each time a product passes through the area. Similar usage scenarios include scanning labels to record the location of the product, product temperature scanning for inspection and screening, and grasping or pushing a product through distance detection. ![Conveying Direction\nRange Sensor\nProduct](.motion-creator-pro-2-application-user-manual-english-v0-1/de8fdb04f50aa2d80c74a4893d4c506f4684adf644c6fcbcfe6576242456a748.jpg) In this scenario, MCP2 is used to trigger the latch function of an AMP-104C. An AMP-104C provides four isolated digital inputs and four transistor–transistor logic (TTL) digital inputs as sources for latch signals. After the detection device is triggered, the latch function records the location indicated by the encoder. ![This block diagram illustrates a data flow involving four labeled components:\n\n**Labeled Blocks:**\n* **Isolated Digital Input** (Top Left)\n* **Non-Isolated TTL DI** (Bottom Left)\n* **FPGA** (Center, outer box containing a smaller inner box labeled **Latch**)\n* **Encoder** (Right)\n\n**Connections:**\n* Lines from both the 'Isolated Digital Input' and 'Non-Isolated TTL DI' blocks merge into a single arrow pointing to the right, entering the **FPGA** block.\n* A single arrow points to the left from the **Encoder** block, connecting into the **Latch** block inside the FPGA.](.motion-creator-pro-2-application-user-manual-english-v0-1/73b113a95543a606ef9cacc2f0cda3d631f8f6277d83aa69fdd0f53c0492b74c.jpg) # Hardware Wiring This scenario requires the following hardware wiring, as shown in the diagram below. ![This block diagram illustrates the connections between three components:\n\n* **Button**: A cylindrical block at the top.\n* **AMP-104C**: A square block on the left.\n* **Device**: A large square block on the right containing an inner block labeled **MR-J3-10A**.\n\nThe connections are as follows:\n* An arrow labeled **SCSI DI** points from the **Button** down to the **AMP-104C** block.\n* An arrow labeled **OUT/DIR** points from the **AMP-104C** block to the **Device** block.\n* An arrow labeled **Encoder** connects the bottom of the **MR-J3-10A** block back up to the **AMP-104C** block.](.motion-creator-pro-2-application-user-manual-english-v0-1/e87662c98456bae9e1b69e1c289b785734daf910f3b91a0365a879c3cda78829.jpg)  The AMP-104C sends an output pulse signal to the MR-J3-10A driver.  The AMP-104C receives an encoded signal from the MR-J3-10A driver.  A button uses the SCSI DI to simulate latch signal triggering. The following table describes the hardware components used in this scenario.
NameHardware ComponentNameFunctionConnector
Terminal BoardDIN-68S-01OUT0+Pulse Signal +CN2
OUT0-Pulse Signal -
DIR0+Direction Signal +
DIR0-Direction Signal -
Terminal BoardDIN-37D-01EA0+Encoder A-phase+CN4
EA0-Encoder A-phase-
EB0+Encoder B-phase+
EB0-Encoder B-phase-
SensorButtonDI0Digital InputCN2
DeviceMR-J3-10ALAEncoder A-phase pulseCN1
LARdifferential line driver
LBEncoder B-phase pulse
LBRdifferential line driver
PPPulse F +
PGPulse F -
NPPulse R +
NGPulse R -
# Configuration These steps describe the Latch Triggering usage scenario configuration. 1. Set the Pulse output mode and Pulse input mode of the AMP-104C to match the driver. 2. Select the latch icon in MCP2 and set the Latch FIFO Channel 0 Encoder as Encoder 0. When a Latch event occurs, Latch FIFO Channel 0 records the current position of Encoder 0. 3. Set the Latch FIFO Channel 0 signal source as SCSI DI0. When DI0 receives an input signal, Latch FIFO Channel 0 records the current position of Encoder 0. ![Latch\nLatch AMP-104C CardNo 0\nLatch FIFO Status\nChannel 0\nReset FIFO\nFree Space\n255\nUsage\n0\nStatus\nEmpty\nFull\nOverflow\nLatch Get Point Array\nChannel Array Size Position Source\nChannel 0\nGet\nLatch FIFO Configuration\nEncoder\nEncoder 0\nEncoder 0\nEncoder 0\nEncoder 0\nLogic Rising edge Step 3 Rising edge Rising edge\nSource SCSI DI0\nSCSI DI0\nSCSI DI1\nSCSI DI2\nSCSI DI3\nTTL DI0\nTTL DI1\nTTL DI2\nTTL DI3\nDevice Load From Device](.motion-creator-pro-2-application-user-manual-english-v0-1/dcd125a3280f6ada7e90803f6442ebe5eee67d22cdc64a0c3381a170826c20db.jpg) # Results The following results can be observed in MCP2 based on the Latch Triggering configuration settings. 4. When the latch signal has input and starts to record the location of the encoder, the Free Space, Usage and Status elements will show the current Latch FIFO status. 5. Select a channel to display and click Get to obtain the recorded position. 6. The recorded encoder positions are displayed in the Position column of the Latch Get Point Array. ![Latch AMP-104C CardNo 0\nLatch FIFO Status\nStep 4\nChannel 0\nReset FIFO\nFree Space\n226\nUsage\n29\nStatus\nEmpty\nFull\nOverflow\nStep 6\nLatch Get Point Array\nChannel Array Size Position Source\nPoint 1 0 6 11510 SCSI\nPoint 2 0 6 11932 SCSI\nPoint 3 0 6 12342 SCSI\nPoint 4 0 6 12542 SCSI\nPoint 5 0 6 12761 SCSI\nStep 5\nChannel 0 Get\nLatch FIFO Configuration\nChannel 0 Channel 1 Channel 2 Channel 3\nEncoder Encoder 0 Encoder 1 Encoder 0 Encoder 0\nLogic Rising edge Rising edge Rising edge\nSource SCSI DIO SCSI DIO SCSI DIO SCSI DIO\nSet To Device Load From Device](.motion-creator-pro-2-application-user-manual-english-v0-1/a2102d893b7a1c0198cd5dbb3235f25d7a154136545e1df1c044f303beed4a80.jpg) # 3.2 Advanced Point Table A machine has two gantries to move a laser engraver. The Y-axis gantry moves back and forth across the drawing area, while the X-axis gantry is equipped with a laser and moves left and right across the drawing area. A product is placed in the drawing area where the laser is used to engrave a logo on it using an advanced point table to plan a continuous path for the laser to transit. This application similarly applies to steel plate cutting, or 2D painting, for example. The following example demonstrates how MCP2 can be used to manipulate the AMP-208C's Advanced Point Table function. ![X\nLaser Device\nDrawing Area\nY\nX\nY](.motion-creator-pro-2-application-user-manual-english-v0-1/1391aefb9aacc5a64014421edc2bb1a1f18f4eb429832e01a9634227990d6762.jpg) After the path is read by the ADCNC Library, path optimization and speed planning, or only speed planning, are performed and the APS Library is combined with the motion control card to control the equipment. ![This flowchart illustrates a processing sequence contained partly within a group labeled **ADCNC Library** (indicated by a red dashed box).\n\n**Labeled Blocks:**\n* **Read File**\n* **Velocity Planning**\n* **Path Optimize**\n* **APS Library**\n* **Device**\n\n**Connections:**\n* An arrow connects **Read File** to **Velocity Planning**.\n* An arrow connects **Velocity Planning** down to **Path Optimize**.\n* An arrow connects **Path Optimize** to **APS Library**.\n* An arrow connects **APS Library** to **Device**.](.motion-creator-pro-2-application-user-manual-english-v0-1/741d78057f3c5de3003c5061e376f2fc696d97741cc929a4e609717827af70b5.jpg) # Hardware Wiring This scenario requires the following hardware wiring, as shown in the diagram below. ![This diagram illustrates a control system with two main blocks and feedback:\n\n**Labeled Blocks:**\n* **AMP-208C:** A square block on the left.\n* **Device:** A larger rectangular block on the right containing two images of motors.\n\n**Connections:**\n* **Motion control signals:** An arrow points from the **AMP-208C** block to the **Device** block.\n* **Encoder:** An arrow points from the bottom of the **Device** block back to the bottom of the **AMP-208C** block, indicating a feedback loop.](.motion-creator-pro-2-application-user-manual-english-v0-1/cbbcd16350d4f9118c9b9bf62006f14e61e5b661396e5db25da56307c28fec05.jpg)  The AMP-208C sends an output pulse signal to the driver.  The AMP-208C receives the Encoder from the driver.  The CMP connector on the terminal board is connected to the device for driving the laser. When P1-A is connected, the CMP connector is at control axis 0 to 3. When P1- B is connected, the CMP connector is at control axis 4 to 7. The following table describes the hardware components used in this scenario.
NameHardware ComponentAxisFunctionConnector
Terminal BoardDIN-825-4P0-Motion control signalsP1
Axis0Connecting to servo driveCMP1
Axis1CMP2
Device*1MR-J3-10AAxis0Control Motion signalsCN1
Device*2MR-J3-10AAxis1CN1
# Configuration These steps describe the Advanced Point Table usage scenario configuration. 1. Match the Pulse I/O mode of the AMP-208C to the driver. 2. Click CNC Mode to call the related interface. ![| Point | S-factor | Acc |\n|-------|----------|-------|\n| Point 4 | 5000 | 0.5 |\n| Point 5 | 5000 | 0.5 |\n| Point 6 | 2500 | 0.5 |](.motion-creator-pro-2-application-user-manual-english-v0-1/c14974e2d24d17140b184f193b22234ffaac7196befcc210e7077680068e4671.jpg) 3. For Path Source, select Position to refer to the actual moving position and set Axis X as AxisNo 0 and Axis Y as AxisNo 1. 4. Enter the path (see diagram above) in the Point Table List. You can preview the control command trajectory by clicking Path Redraw on the green line in the drawing area (Path Planning). Note: Point 6 sets the arc mode, and Angle is set to 180 degrees to draw the semicircle. (Angle is calculated as 0.000001 degree.) ![| Point | S-factor | Acc | Dec |\n|-------|----------|-------|-------|\n| Point 4 | 5000 | 5000 | 0.5 |\n| Point 5 | 5000 | 0 | 0.5 |\n| Point 6 | 5000 | 2500 | 0.5 |](.motion-creator-pro-2-application-user-manual-english-v0-1/4d475581d49ca7e5831e6fdf43b0e1c16423def4dbb4ac52d05692f9ef00c57e.jpg) # Results The following results can be observed in MCP2 based on the Advanced Point Table configuration settings. 5. Click Tracer Enable. The drawing area displays a pink Tracer Path during execution. 6. The operation field can synchronously display the pulse signal sent by the motion control card, as well as the driver feedback position signal. ![ADCNC AMP-208C CardNo 0\nPath Source\nPosition\nAxis X AxisNo 0\nAxis Y AxisN\nStep 5\nTracer Disable\nDraw Original Pattern\nPath Planning\nTracer Path\nStep : 100\nTracer Path Clear\nPath Redraw\nPoint Table List Smooth Setting Velocity Planning Operation\nCommand Pos Feedback Pos\nAxis X : 5000 5000\nAxis Y : 5000 5000\nSet Pos 0 0\nStart Point : 0\nEnd Point : 6\nRunning Point : 0\nRunning Index : 6\nFeeder Index : 7\nEnd Point : 6\nStart Stop Pause\nExecution Time(s) VRback\n9.8\nFeeder Error Resume\nStopped 0](.motion-creator-pro-2-application-user-manual-english-v0-1/3ff5f204fa9a83a51b7a606cccb2f8f319788d17bb4734786522bd3d079ad674.jpg) # 3.3 Compare Trigger A range sensor obtains the location parameters of products on the conveyor, including the distances between the products, and stores the information in a table so that a robot arm at the end of the conveyor can use the information to obtain the correct grasping position for each product as it travels on the conveyor. When the Compare function compares the location of the conveyor belt with the parameters in the table, it sends a Trigger signal to make the robot arm grasp the corresponding product in the correct position. Related applications include, factory logistics transport packaging, for example. The following example demonstrates how to use MCP2 to manipulate the AMP-208C's Compare Trigger function. ![Based on the provided image, here is the description of the flowchart/block diagram:\n\n**Labeled Blocks:**\n* **Mechanical Arm**\n* **Product**\n* **Range Sensor**\n* **Conveying Direction**\n\n**Connections and Layout:**\n* **Mechanical Arm:** An arrow points left from this text to a robotic arm positioned on the far left side of the diagram.\n* **Product:** Vertical lines connect this text to four cylindrical objects arranged in a row on a conveyor belt.\n* **Range Sensor:** A vertical line connects this text to a wireless signal icon positioned above the rightmost cylinder.\n* **Conveying Direction:** Located at the bottom right, an arrow points to the left, indicating the movement of the long, oval-shaped conveyor belt running beneath the products.](.motion-creator-pro-2-application-user-manual-english-v0-1/13c60f1a1f6f6fece51e089a66da8c96fb3afc94ce80d28aa8e046692e26c5a2.jpg) The AMP-208C signal counter sources include Encoder and Timer, while there are three comparator types: Manual (Manual), table (TCMP) and linear (LCMP). When the counter signal and comparator match, a trigger signal is sent. ![The image displays a block diagram enclosed within a large rectangle labeled **FPGA**. Inside this main container, three sub-blocks are arranged horizontally from left to right:\n\n1. **Counter**: A box labeled **Counter** containing two stacked internal blocks labeled **Encoder** and **Timer**.\n2. **Comparator**: A box labeled **Comparator** containing three stacked internal blocks labeled **Manual**, **TCMP**, and **LCMP**.\n3. **TRG**: A box labeled **TRG** containing four stacked internal blocks labeled **TRG0**, **TRG1**, **TRG2**, and **TRG3**.\n\nThe connections between these blocks are represented by arrows indicating data flow:\n* An arrow points from the **Counter** block to the **Comparator** block.\n* An arrow points from the **Comparator** block to the **TRG** block.\n* An arrow points from the right side of the FPGA (aligned with the TRG section) to an external box labeled **Trigger Output**.](.motion-creator-pro-2-application-user-manual-english-v0-1/288f2cae00d28c76a458f38d8e74f9a1575e33aca4f13645a70043e64222e3ba.jpg) # Hardware Wiring This scenario requires the following hardware wiring, as shown in the diagram below. ![The diagram consists of two main rectangular blocks. On the left is a block labeled **AMP-208C**. On the right is a block labeled **Device**, which contains a smaller inner block labeled **MR-J3-10A**.\n\nThe connections between components are:\n* A line labeled **TRG** points from the top of the **AMP-208C** block to an LED icon.\n* A line labeled **OUT/DIR** points from the right side of the **AMP-208C** block to the left side of the **Device** block.\n* A line labeled **Encoder** points from the bottom of the **Device** block back to the bottom of the **AMP-208C** block.](.motion-creator-pro-2-application-user-manual-english-v0-1/29bb27fe1e1921c644aaa952c5cdfdb092950a575d5aac0cb446bfc9c008354b.jpg)  The AMP-208C sends an output pulse signal to the driver.  The AMP-208C receives the Encoder from the driver.  The AMP-208C sends a TRG signal to an LED through the junction board to simulate the Compare Trigger function.
NameHardware ComponentFunctionConnector
Terminal BoardDIN-825-4P0Motion control signalsP1
Connecting to servo driveCMP1
DeviceMR-J3-10AControl Motion signalsCN1
DeviceLEDTrigger outputTRG0+
# Configuration These steps describe the Compare Trigger usage scenario configuration. 1. Select TCMP0 as the channel trigger signal source. 2. The output of the comparator output mode switches to the actual device. ![Compare Trigger AMP-208C CardNo 0\nStep 1 Select trigger source\nTRG CH0 T0\nTRG CH1 Manual Trigger(M\nTRG CH2 TCMP0 (T0)\nTRG CH3 TCMP1 (T1)\nTCMP0 (L0)\nTrigger Count Reset Manual\n10\n0\n0\n0\nTrigger Parameter Linear Comparator Setting Table Comparator Setting TimerSe )\nEnable/Disable Enable Disable Disable Disable\nPulse Width 11 11 11 11\nLogic Not inverse Not inverse Not inverse Not inverse\nOutput Mode Pulse Out Pulse Out Pulse Out Pulse Out\nStep 2 Pulse Out\nToggle Out\nSet To Card Load From Card](.motion-creator-pro-2-application-user-manual-english-v0-1/4db7fbd050ad0ef9f69efe340de9c9c33d27782f6e7a43e20d3609048213ed66.jpg) 3. Set the direction of the comparator. 4. Select Encoder0 as the location comparison source. ![Compare Trigger AMP-208C CardNo 0\nSelect trigger source\nTrigger Count\n10\nReset\nManual\nTRG CH0 T0\nTRG CH1 No Select\nTRG CH2 No Select\nTRG CH3 No Select\nLinear Comparator Setting Table Comparator Setting TimerSetting\nTCMP0 Input Table Points\n1000 1500 2000 2500 3000\n3500 4000 4500 5000 5500\nStep 3\nCmpValue : -29069 Pos Select Source Encoder0\nNeg\nPos\nBi-dir\n1000 2000 4000\n6000 7000 8000 9000\n*SET\nTCMP1 Input Table Point\nCmpValue : 10069 Bi-dir Select Source Encoder1\nEncoder2\nEncoder3\nEncoder4\nEncoder5\nEncoder6\nEncoder7](.motion-creator-pro-2-application-user-manual-english-v0-1/75a60e1a7a9db3b9515c676f6bd6b2e36c19962d8a9894079ba82b7ee247ce2b.jpg) # Results The following results can be observed in MCP2 based on the Compare Trigger configuration settings. 5. Fill the parameters to be compared into TCMP0 Input Table Points. 6. When Compare Trigger is enabled and triggered, Trigger Count will record the trigger times. ![Compare Trigger AMP-208C CardNo 0\nStep 6\nSelect trigger source\nTrigger Count\n10\nReset Manual\nTRG CH0 T0\nTRG CH1 No Select\nTRG CH2 No Select\nTRG CH3 No Select\nLinear Comparator Setting Table Comparator Setting TimerSetting\nTCMP0 Input Table Points\nStep 5\n1000 1500 2000 2500 3000\n3500 4000 4500 5000 5500\nCMPValue : -29069 Pos Select Source Encoder0\nTCMP1 Input Table Points\n1000 2000 3000 4000 5000\n6000 7000 8000 9000 10000\nCMPValue : 10069 Bi-dir Select Source Disable\n*SET](.motion-creator-pro-2-application-user-manual-english-v0-1/9d4c647eb0229634432ee94129f49ed215616f9a8a3da1c3bd81fd98620cac61.jpg) # 3.4 Gantry Mode A large 3D printer uses fused deposition technology. The material must be placed in the heating area during production, and then extracted and stacked by the nozzle to be cooled and formed. With the Gantry function, the dual Y-axis drive is used to stabilize the machine, and the heating mechanism moves the nozzle to print at the same time. Related applications include, electronic material AOI and PCB automatic stamping, for example. The following example demonstrates how to use MCP2 to operate the Gantry function with a PCI-8338 PCIe EtherCAT master motion controller. ![Nozzle\nY1\nY2](.motion-creator-pro-2-application-user-manual-english-v0-1/e1078e3add9167d00bbe4b4e812c0c46dfadd054ec6397762eaf6600b40f0840.jpg) # Hardware Wiring This scenario requires the following hardware wiring, as shown in the diagram below. ![Based on the provided image, here is the description of the flowchart:\n\n**Labeled Blocks:**\n* **PCIe-8338** (Leftmost block)\n* **Driver 1** (Middle block)\n* **Driver 2** (Rightmost block)\n\n**Connections:**\n* An arrow originates from the right side of the **PCIe-8338** block and points to the left side of the **Driver 1** block. This connection is labeled **Command**.\n* An ellipsis (**...**) appears to the right of the **Driver 2** block, indicating a continuation of similar blocks.\n* A horizontal line connects the bottom edges of the **Driver 1** and **Driver 2** blocks.](.motion-creator-pro-2-application-user-manual-english-v0-1/4106976342a50a4769e8e3e907771dea73ee43a8e1fec4140a7c28560f77d8c7.jpg) Note: The PCI-8338 belongs to the EtherCAT series and is connected to the driver through a network.
NameHardware ComponentFunctionConnector
CardPCIe-8338Basic EtherCAT CommunicationECAT0
Device*1SDP-010E2CControl Motion signalsCN3
Device*2SDP-010E2CCN3
# Configuration These steps describe the Gantry Mode usage scenario configuration. 1. Select the Egear call interface and the select Gantry mode. 2. Set Axis 0 to Axis 1 Command Position as the main control axis and set the Level1 Gear Parameter to 2500 and Level2 to 6000. 3. Set Master Axis as Axis 1. 4. The control modes are absolute mode (ABS Move) and relative mode (REL Move), as shown. ![This image features a cluster of four stylized gears arranged against a white background. A large cyan gear is positioned in the upper right quadrant. Below it and slightly to the right is a smaller pink gear. To the left of the pink gear is a medium-sized green gear, and further to the left is a smaller, light green gear. The gears are depicted with a flat, icon-like design and subtle drop shadows, giving them a slight three-dimensional appearance without being mechanically interlocked.](.motion-creator-pro-2-application-user-manual-english-v0-1/14228ad5bbffb798cad43f7defc4b6e279ecfecac689e1db33e63f4542a858cb.jpg) Egear ![EGEAR PCIe-8338 EtherCAT CardNo 0\nStep 1\nEgear Sketch\nMode\nGantry\nStandard\nGantry\nSlave(S)\nMaster(M)\nGear ratio\n1:1 (Fixed)\nGantry Mode\nDescription\nElectronic Gearing\nGantry Deviation Sketch\nDeviation Prote\nLevel1:Stop Move\nLevel2:Servo Off\nStep 2\nSlave Axis Mode\nStandard Gantry\nMaster List Gear Parameter Reset Config Enable\nAxis 0 Axis 1 Command Position 2500 Level1 6000 Level2 Set\nAxis 1 Axis 0 Command Position 1.0 Ratio 1.0 EngageRate *Set\nAxis 2 Axis 0 Command Position 1.0 Ratio 1.0 EngageRate *Set\nStep 3\nEgear FunctionTest\nMaster Axis Axis 1\nMax Speed Axis 0\nSet Pos Axis 1\nAxis 2\nEMG STOP STOP\nRepeat Mode\nDelayTime: 1000\nABS Move REL Move\nPosition1 Position2 Forward Backward\n1000.0 0.0 1000.0 5000](.motion-creator-pro-2-application-user-manual-english-v0-1/f4020704d6eeee6d675d8bbf60100402863dc9103799ecac0b6a5bfdfd06a678.jpg) # Results The following results can be observed in MCP2 based on the Gantry Mode configuration settings. 5. Use MCP2 to select Axes Info to observe data in movement. Use Add Row to add extra information. The number of axes to be observed can be selected from Add Column. 6. The operation results are shown in the display area. ![Axes Info\nMulti-Axes Information PCIe-8338 EtherCAT CardNo 0\nADLINK\n: Leading EDGE COMPUTING\nCmd_Pos\nFbk_Pos\nCmd_Pos\nCmd_Vel\nFbk_Pos\nFbk_Vel\nTarget_Pos\nError_Pos\nMotion Sts\nIO Sts\nAdd Row\nDel Row\nClear All\nReset Com Counter\nStep 5\nAdd Column\nDel Column\nClear All\nStep 6](.motion-creator-pro-2-application-user-manual-english-v0-1/c892fe9d381d4b5cab06197b439822d86bd6fbf62928298485b9e72a4a444f2e.jpg) # 3.5 Sampling This use case focuses on a high efficiency chip sorting machine with a mechanical arm with a suction nozzle that moves back and forth between a wafer and a tray. With Sampling, the relationship between the position and speed of the arm and the suction nozzle can be observed so the mechanical arm picks and places the wafer at the correct time and position to ensure that the machine maximizes chip sorting efficiency. Related applications include electronic material inspection or packaging and factory logistics transportation, for example. The following example demonstrates how to use MCP2 to manipulate the Sampling function of an AMP-208C advanced pulse-train motion controller. ![Suction Nozzle\nWafer\nTray\nStage\nX\nY](.motion-creator-pro-2-application-user-manual-english-v0-1/74e0c69632a892db886507302273389c4b7ee9e29c289946acbaa0c300f35f71.jpg) When implementing Sampling, the minimum sampling rate is 1ms. After DSP processing, data will be transmitted and displayed in Motion Creator Pro 2, or other application, by the APS Library. ![Based on the provided image, here is the description of the flowchart:\n\n**Labeled Blocks:**\n* MotionCreatorPro2\n* APS Library\n* DSP\n* Sampling Process\n* Motion Kernel\n* Controller\n\n**Connections:**\n* An arrow points from **Motion Kernel** to **Sampling Process**.\n* An arrow points from **Controller** to **Sampling Process**.\n* An arrow points from **DSP** to **APS Library**.\n* An arrow points from **APS Library** to **MotionCreatorPro2**.](.motion-creator-pro-2-application-user-manual-english-v0-1/37cb2c7f0361e3560f7fd8b59b7f62432096d45f07ce65c2b62ce5aecc5fd0e8.jpg) # Hardware Wiring This scenario requires the following hardware wiring, as shown in the diagram below.  The AMP-208C sends an output pulse signal to the driver.  The AMP-208C receives an Encoder from the driver. ![**Blocks:**\n* **AMP-208C**\n* **Device*1**\n* **Device*2**\n\n**Connections:**\n* An arrow labeled **'Motion control signals'** points from the **AMP-208C** block to the block containing **Device*1** and **Device*2**.\n* An arrow labeled **'Encoder'** points from the bottom of the **Device*1/Device*2** block back to the bottom of the **AMP-208C** block.](.motion-creator-pro-2-application-user-manual-english-v0-1/261a9e7d2ef2eb56ab212baa6905281d74f6c853e1b74e377f57a08f89babd65.jpg)
NameHardware ComponentFunctionConnector
Terminal BoardDIN-825-4P0Motion control signalsP1
Connecting to servo driveCMP1
Connecting to servo driveCMP2
Device*1MR-J3-10AControl Motion signalsCN1
Device*2MR-J3-10AControl Motion signalsCN1
# Configuration These steps describe the Gantry Mode usage scenario configuration. 1. Set Switch Card Type to Pulse or Step and click Save/Reboot to save. Click Sampling to call the relevant interface. ![Motion Creator Pro 2\nFile View Initial Options Function About\nSetting\nMulti Axes Function\nSampling\nPWM\nMulti Axes Info\nSwitch Card Type\nDSP Performance\n✓ Boot From Flash\nBoot From Default\nAxis0\nAxis1\nAxis2\nAxis3\nAxis4\nAxis5\nAxis6\nAxis7\nStep 1\nSave/Reboot\nExit\nSave To File Load From File\nSampling\nSW Output Mode AMP-208C CardN...](.motion-creator-pro-2-application-user-manual-english-v0-1/21a0c7cb1a040dbbd83b37f3c27b5997ef35b1acdde3e45412e779a4d1862e9c.jpg) # Results The following results can be observed in MCP2 based on the Gantry Mode configuration settings. 2. Set channels 1-4 Command and Feedback Positions to either Axis 0 or Axis 1 as shown in the diagram below. 3. The display shows the pulse wave over time. 4. Click 2D Plot to draw the plane movement path. ![| Time (ms) | Channel 1 | Channel 2 | Channel 3 | Channel 4 |\n|-----------|-----------|-----------|-----------|-----------|\n| 0 | 0.00 | 0.00 | 0.00 | 0.00 |\n| 5000 | 0.00 | -10000.00 | -30000.00 | -40000.00 |\n| 10000 | 0.00 | -10000.00 | -30000.00 | -40000.00 |\n| 15000 | 45000.00 | -10000.00 | -30000.00 | -40000.00 |\n| 20000 | 45000.00 | -10000.00 | -30000.00 | -40000.00 |\n| 25000 | 45000.00 | -10000.00 | -30000.00 | -40000.00 |](.motion-creator-pro-2-application-user-manual-english-v0-1/f8c1dcef9b89bacd639acd82a9bbefb6eef49d3dc8267f21885b8b04255d8ae7.jpg) ![Sampling Setting Filter PID Step 2\nChannel1 SAMP_COM_POS ✓ Axis 0 ✓ Sampling Rate 1 (ms) ✓ Pre-Trigger Points 10 (%) ✓\nChannel2 SAMP_COM_POS ✓ Axis 1 ✓ Total Points 100000 ✓ Trigger Level 100\nChannel3 SAMP_FBK_POS ✓ Axis 0 ✓ Trigger Channel CH 1 ✓\nChannel4 SAMP_FBK_POS ✓ Axis 1 ✓ Trigger Edge Rising ✓\nSelect Sampling Mode : Step 4\nSINGLE ✓ Start Sampling Stop Sampling Sampling Clear Data Export Data Import 2D Plot](.motion-creator-pro-2-application-user-manual-english-v0-1/29fc220942c8907b5e8f9cf291a0f32c7a943596a7845ee447cc1982127a0da5.jpg) 5. CH1 and CH2 are the Command Position of axis 0 and 1, and CH3 and CH4 are the Feedback Position of axis 0 and 1. Pulse waves sent at the same time are consistent with the actual movement trajectory, and 2D Plot will show any overlaps. ![| Component | Value |\n| --------------- | ----- |\n| CH1 CH2 SYN | 5000 |\n| CH3 CH4 SYN | 5000 |\n| LOAD PROFILE | 5000 |](.motion-creator-pro-2-application-user-manual-english-v0-1/cae1696195b9e6213895ea0cb44de6324c99f6ab83aa3ea0514a81c8d8b07af4.jpg) 6. Assuming that the sent pulse wave is not synchronized with the actual movement trajectory, 2D Plot will show non-overlapping trajectories of CH1 and CH2, CH3 and CH4, as shown in the figure below. ![| Series | Value |\n| ------------ | ----- |\n| CH1 CH2 SYN | 5000 |\n| CH3 CH4 SYN | 3000 |\n| LOAD PROFILE | 0 |](.motion-creator-pro-2-application-user-manual-english-v0-1/2034e5d5cd2c79c52dbccbbebc4eb0acb2c9979b0925538f9ed21e0b87ff2853.jpg) [🔗 Link to the original document](.motion-creator-pro-2-application-user-manual-english-v0-1/motion-creator-pro-2-application-user-manual-english-v0-1.pdf)