PCIe-7856 Master-Slave Distributed Motion and I/O Master Controller User’s Manual Manual Rev.: 1.0 Revision Date: February 27, 2020 Part No: 50-15113-1000 Leading EDGE COMPUTING Leading EDGE COMPUTING Revision History Revision Release Date Description of Change(s) 1.0 2020-02-27 Initial release ii PCIe-7856 Preface Copyright © 2020 ADLINK Technology Inc. This document contains proprietary information protected by copy- right. All rights are reserved. No part of this manual may be repro- duced 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. ADLINK is committed to fulfill its social responsi- bility 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 encour- aged to dispose of them in accordance with the product disposal and/or recovery programs prescribed by their nation or company. Battery Labels (for products with battery) (cid:5636)(cid:14273)(cid:7909)(cid:12595)(cid:4423)(cid:6706) Preface iii Leading EDGE COMPUTING California Proposition 65 Warning WARNING: This product can expose you to chemicals including acrylamide, arsenic, benzene, cadmium, Tris(1,3-dichloro-2-propyl)phosphate (TDCPP), 1,4-Diox- ane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC, and vinyl materials, which are known to the State of California to cause cancer, and acrylamide, benzene, cadmium, lead, mercury, phthalates, toluene, DEHP, DIDP, DnHP, DBP, BBP, PVC, and vinyl materials, which are known to the State of California to cause birth defects or other reproductive harm. For more information go to www.P65Warnings.ca.gov. Trademarks Product names mentioned herein are used for identification pur- poses only and may be trademarks and/or registered trademarks of their respective companies. Conventions Take note of the following conventions used throughout this manual to make sure that users perform certain tasks and instructions properly. Additional information, aids, and tips that help users perform tasks. NOTE: NOTE: CAUTION: WARNING: Information to prevent minor physical injury, component dam- age, data loss, and/or program corruption when trying to com- plete a task. Information to prevent serious physical injury, component damage, data loss, and/or program corruption when trying to complete a specific task. iv Preface Table of Contents PCIe-7856 Preface .................................................................................... iii List of Figures ....................................................................... vii List of Tables.......................................................................... ix 1 Introduction ........................................................................ 1 Specifications....................................................................... 3 1.1 1.2 Supported Software ............................................................. 4 2 Installation .......................................................................... 5 Package Contents ............................................................... 5 2.1 2.2 2.3 PCIe-7856 Mechanical Drawing .......................................... 6 Driver Installation ................................................................. 7 2.3.1 Troubleshooting.......................................................... 7 2.4 Signal Connections.............................................................. 7 2.4.1 2.4.2 2.4.3 Connecting HSL/MNET Slave Modules...................... 8 RJ45 Pin Assignments ............................................... 9 HSL and Motionnet LED Indicators .......................... 10 2.5 SW1 Card ID Switch Settings ............................................ 11 3 MNET Master-Slave Motion System ............................... 13 3.1 MNET System Specifications ............................................ 14 3.1.1 3.1.2 Wiring Cables ........................................................... 15 MNET System Communication ................................ 16 3.2 MNET Motion Modules ...................................................... 18 3.2.1 Motion Module Mechanical Drawings....................... 20 4 HSL Slave Modules .......................................................... 25 HSL Slave I/O Modules ..................................................... 26 4.1 4.1.1 Discrete I/O Modules ................................................ 26 v Leading EDGE COMPUTING 4.1.2 Analog I/O Modules .................................................. 27 4.2 General Specifications ....................................................... 28 4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.2.6 4.2.7 4.2.8 4.2.9 Digital I/O Modules ................................................... 28 JD10-JD15 Input Voltage Setting ............................. 29 Analog I/O Modules .................................................. 29 HSL Module DIP Switch ........................................... 30 Daughter Board/Module Dimensions........................ 31 Wiring Diagrams ....................................................... 34 Terminal Base Motion Control Modules.................... 38 HSL-HUB/Repeaters ................................................ 45 Managing Slave Indexes in an HSL Network ........... 48 5 MotionCreatorPro 2 (MCP2) ............................................. 53 About MCP2....................................................................... 53 5.1 5.2 How to Run MCP2 ............................................................. 53 5.3 MCP2 Features.................................................................. 54 5.3.1 5.3.2 5.3.3 Main Menu ................................................................ 54 HSL Distributed I/O Manager.................................... 57 MNET Distributed Motion Manager .......................... 59 5.4 MCP2 Error Codes............................................................. 68 6 Scan Time Table................................................................ 69 Full-duplex Mode ............................................................... 69 6.1 7 HSL-HUB/Repeater Information....................................... 71 Transfer Rates ................................................................... 71 7.1 7.2 Scan Times ........................................................................ 71 Important Safety Instructions............................................... 73 Getting Service ...................................................................... 75 vi PCIe-7856 List of Figures Figure 1-1: PCIe-7856 Block Diagram ............................................... 2 Figure 2-1: PCIe-7856 Mechanical Drawing ...................................... 6 Figure 2-2: LED Indicators on the PCIe-7856 .................................. 10 Figure 3-1: MNET Distributed Motion Control System ..................... 13 Figure 3-2: MNET System Communication Sequence .................... 17 Figure 3-3: MNET-J3 with MR-J3 Servo Driver................................ 20 Figure 3-4: MNET-MIA with MINAS A4 Servo Driver....................... 21 Figure 3-5: MNET-S23 with ΣII, ΣIII, and ΣV Servo Drivers............. 22 Figure 3-6: MNET-4XMO-(C) Mechanical Diagram ......................... 23 Figure 4-1: HSL Module DIP Switch Location.................................. 30 Figure 4-2: HSL System Configuration ............................................ 45 List of Figures vii Leading EDGE COMPUTING This page intentionally left blank. viii List of Figures PCIe-7856 List of Tables Table 3-1: MNET System Specifications ........................................ 14 Table 3-2: MNET Motion Module Series......................................... 18 Table 4-1: HSL Discrete I/O Module Series.................................... 26 Table 4-2: HSL Discrete I/O Module Selection Guide..................... 27 Table 4-3: HSL Analog I/O Module Series...................................... 27 Table 4-4: HSL Analog I/O Module Selection Guide....................... 27 Table 4-5: Digital I/O Module .......................................................... 28 Table 4-6: Analog I/O Modules ....................................................... 29 List of Tables ix Leading EDGE COMPUTING This page intentionally left blank. x List of Tables PCIe-7856 1 Introduction As industrial machine automation continues to advance, designers require not only centralized control systems but also distributed solutions to develop more complex machine applications. Distrib- uted solutions provide many benefits such as lower maintenance, reduced wiring, and easy integration of vast numbers of modules. Motionnet (MNET) and High Speed Link (HSL) are innovative dis- tributed motion and I/O technologies that enable time-deterministic scanning of thousands of I/O points within milliseconds using the master-slave architecture. The MNET bus further improves distrib- uted motion control capability by providing control of up to 256 axes plus minimal command execution time for single-axis control. The PCIe-7856 is a PCI Express interface card with two ports for MNET and HSL systems for distributed motion and I/O modules for a wide variety of machine automation applications. HSL technology allows thousands of I/O points to be scanned at the millisecond level in real time by means of the master-slave architecture. Commercial Ethernet cables with RJ45 connectors are used for simplified setup of HSL slave modules as close as possible to sensor devices, resulting in dramatic wiring reduction. System integrators can greatly benefit from an HSL network because it integrates discrete I/O and analog I/O modules. This local network features rapid-response, real-time scanning. An MNET system is a distributed motion solution for machine sys- tems. MNET is an innovative distributed motion technology which provides distributed motion axis control of up to 256 axes for any servo/stepper motor controlled using mater-slave architecture. This not only facilitates general purpose 4-axis motion control, but also allows up to 64 specific single-axis motion control modules to be scanned at the millisecond level in real time. Introduction 1 Leading EDGE COMPUTING MNET and HSL features: (cid:88) Flexible, comprehensive, extendable distributed motion and I/O solution based on PC architecture or embedded platform. (cid:88) Convenient wiring for remote distributed motion and I/O modules, inc. multiple-axis motion control modules, single- axis motion control modules, discrete I/Os, and analog I/Os. (cid:88) Saves space, reduces wiring, and lowers costs due to ease of maintenance. (cid:88) Fast, time-deterministic scanning with hundreds of discrete I/O points (up to 2,016 points). (cid:88) Rapid, real-time scanning to support high-speed and high- response motion control of up to 256 axes. The PCIe-7856 block diagram is as follows. Figure 1-1: PCIe-7856 Block Diagram 2 Introduction PCIe-7856 1.1 Specifications PCIe Bus (cid:88) PCI Express, Plug and Play Master Controller (cid:88) Dedicated Motion Controller (cid:90) MNET ASIC master control (80 MHz external clock) (cid:88) Dedicated I/O Controller (cid:90) HSL ASIC master control (48 MHz external clock) Interface (cid:88) MNET (cid:90) RS-485 with transformer isolation (cid:90) Half-duplex communication (cid:90) 2.5/5/10/20 Mbps transmission rate can be set by software (20 Mbps default) (cid:88) HSL (cid:90) RS-485 with transformer isolation (cid:90) Full-duplex communication (cid:90) 3/6/12 Mbps transmission rate can be set by software (6 Mbps default) Connector (cid:88) RJ45 connector x4 (MRJ45 for MNET, HRJ45 for HSL) Interrupt (cid:88) Status read back (functions with slave) (cid:88) Timer LED Indicator (cid:88) Link status (red for MNET status, green for HSL status) Dimensions (cid:88) 119.5 mm × 100.2 mm (L × W) (4.66” × 3.9”) Introduction 3 Leading EDGE COMPUTING Operating Temperature (cid:88) 0°C to 60°C Storage Temperature (cid:88) -20°C to 80°C Power Consumption (cid:88) +3.3 V @ 1.2 A (typical) (cid:88) +5 V @ 1.5 A (typical) Certification (cid:88) FCC Part 15 B (cid:88) EN 55032 / 55035 1.2 Supported Software Program Library ADLINK provides Windows WDM drivers and DLL function librar- ies for the PCIe-7856. These function libraries are shipped with the board and they support Windows 7/8/10 (32/64-bit). 4 Introduction PCIe-7856 2 Installation This chapter describes how to install and set up the PCIe-7856. Please follow these steps: (cid:88) Check the product for any sign of defect or damage (use Figure 2-1 on page 6 as a reference). (cid:88) Install software drivers (Section 2.3, page 7). (cid:88) Understand the I/O signal connections and how to use them (Section 2.4 on page 7). 2.1 Package Contents In addition to this User’s Guide, the package also includes the fol- lowing item: (cid:88) PCIe-7856: Distributed Motion and I/O Master Board x1 If any part of the item is missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materi- als and carton to ship or store the product in the future. Signal connections of all I/O’s are described later in this chapter. Refer to the contents of this chapter before wiring any cables between the PCIe-7856 and any slave module. Installation 5 Leading EDGE COMPUTING 2.2 PCIe-7856 Mechanical Drawing Dimensions: mm 121.81 119.91 SW1 LEDGR1 MRJ45 HRJ45 5 6 . 6 0 1 6 3 . 0 0 1 1 3 . 6 2 1 Figure 2-1: PCIe-7856 Mechanical Drawing (cid:88) MRJ45: MNET connection port (cid:88) HRJ45: HSL connection port (cid:88) SW1: Card identification switch (cid:88) LEDGR1: HSL/Motionnet Scan LEDs 6 Installation PCIe-7856 2.3 Driver Installation Click “Driver” on the product web page to see available drivers: https://www.adlinktech.com/Products/Industrial_Fieldbus/ Motionnet/PCI-7856. After downloading an appropriate ZIP file, extract and double-click the enclosed executable to run the installer. Follow the installation steps and, after installation is com- plete, restart the PC. 2.3.1 Troubleshooting If the system doesn’t boot or if the PCIe board exhibits any erratic behavior, it is most likely caused by an interrupt conflict. After con- firming the issue wasn’t caused by a simple oversight, the solution can be found by consulting the BIOS documentation that comes with your system. Check the Windows control panel on the con- nected PC to see if the card is listed by the system. If not, check the PCIe settings in the BIOS or use another PCIe slot. 2.4 Signal Connections Signal connections of all I/O’s are described in the following two sub-sections. Please review this information before wiring any cables between the PCIe-7856 and slave modules. Installation 7 Leading EDGE COMPUTING 2.4.1 Connecting HSL/MNET Slave Modules Wiring for MNET Motion Slave Modules MNET Slave Modules MRJ45 Ethernet Cable Wiring for HSL I/O Slave Modules HRJ45 HRJ45 HSL Slave Modules HSL Slave Modules Ethernet Cable (CAT5e Recommended) Ethernet Cable Ethernet Cable 8 Installation PCIe-7856 2.4.2 RJ45 Pin Assignments The Motionnet (MNET) master is the key component in charge of communicating with slave motion modules. The master sends commands to slave motion controllers and obtains motion status from them. The PCIe-7856 provides two MNET master connection ports for greater wiring flexibility. The pin assignments of the MRJ45 connector on the PCIe-7856 are as listed below: Pin No. Pinout 1 2 3 4 5 6 7 8 NC NC NC Data- Data+ NC NC NC The HSL master is the key component in charge of communicat- ing with slave I/O modules. The master sends output values to, and gathers input information from, the slaves. PCIe-7856 pro- vides two ports for HSL master connections for greater wiring flex- ibility. The pin assignments of the HRJ45 connector on the PCIe- 7856 are as follows: Pin No. Pinout 1 2 3 4 5 6 7 8 NC NC RX+ TX- TX+ RX- NC NC Installation 9 Leading EDGE COMPUTING 2.4.3 HSL and Motionnet LED Indicators The two LEDs on the PCIe-7856 provide communication status information. The red LED indicates MNET status and the green LED indicates HSL status. Before initialization of the PCIe-7856, both LEDs will be off. After initialization, the LEDs will begin blink- ing at a 1 Hz frequency. When the PCIe-7856 connects to an HSL slave module, the green LED will turn on and remain constantly on during the scanning pro- cess, after which the green LED will continue blinking at 1 Hz. When the PCIe-7856 connects to an MNET slave module, the red LED will turn on and remain constantly on until the scanning pro- cess stops or a communication error occurs, after which the red LED will continue blinking at 1 Hz. HSL Scan LED Motionnet Scan LED Figure 2-2: LED Indicators on the PCIe-7856 10 Installation 2.5 SW1 Card ID Switch Settings The card ID can be set via the SW1 DIP switch as follows. PCIe-7856 ON = 1 0000 Card ID 0 0001 Card ID 1 0010 Card ID 2 … … 1110 Card ID 14 1111 Card ID 15 OFF = 0 Installation 11 Leading EDGE COMPUTING This page intentionally left blank. 12 Installation PCIe-7856 3 MNET Master-Slave Motion System Motionnet (MNET) is an ultra-high-speed serial communication system proposed by Nippon Pulse Motor (NPM). It features strong performance with a maximum transfer speed of up to 20Mbps. The PCIe-7856 is equipped with one MNET port offering control of up to 256 axes via serial connections. ADLINK MNET solutions include not only single-axis controllers suitable for multiple PTP (point-to-point) movement applications, but also 4-axis motion controllers with support for linear and circular interpolation func- tions. Individual devices can control Mitsubishi J3, Panasonic A4, and Yaskawa Sigma series servo drivers. The controller can be used for executing continuous operations at constant speeds, per- forming linear as well as S-curve acceleration and deceleration, carrying out preset positioning operations, executing zero return operations, and so forth. As for connection distance, the cable length can be extended by up to 100 meters using an ordinary CAT5e LAN cable while connecting 64 axes at 20Mbps. All func- tion library designs are compatible with ADLINK’s PCIe motion controllers and MNET bus motion controllers. PCIe-7856 Mitsubishi MR-J3 Series Panasonic A4 Series Yaskawa (cid:520)II(cid:15)(cid:3)(cid:520)III(cid:15)(cid:3)(cid:520)(cid:57) Series MNET-4XMO-(C) (4-ax(cid:76)s Motion Controller) Multi-drop Connection MNET Bus (cid:89)ia CAT5/5e Cable Figure 3-1: MNET Distributed Motion Control System MNET Master-Slave Motion System 13 Leading EDGE COMPUTING 3.1 MNET System Specifications The two major functions of a Motionnet (MNET) system are serial communication and motion control. Item Specifications Total serial communi- cation line length (using recommended cables) (cid:88) Maximum of 100m (at a data transfer speed of 20 Mbps with 32 devices connected) (cid:88) Maximum of 50m (at a data transfer speed of 20 Mbps with 64 devices connected) (cid:88) Maximum of 100m (at a data transfer speed of 10 Mbps with 64 devices connected) Serial communication interface Pulse transformer and RS-485 specification line transceiver Serial communication protocol Serial communication Serial communication method Connection method ADLINK proprietary protocol NRZ signed Half-duplex communication Multi-drop connection using a LAN cable (CAT5/ CAT5e STP/S-STP) Serial data transfer speed 20 Mbps/10 Mbps/5 Mbps/2.5 Mbps programmable speed setting Maximum number of MNET modules 64 (the total number of axes will be 64 if all single- axis modules are connected or 256 if all modules belong to MNET-4XMO) Table 3-1: MNET System Specifications 14 MNET Master-Slave Motion System PCIe-7856 3.1.1 Wiring Cables The PCIe-7856 system guarantees enhanced quality for high- speed communication and is designed to be connected with user- provided LAN cables suitable for 100BASE-T and 1000BASE-T. Because these cables have well-known specifications and are cheap and easy to obtain, we do not provide them and do not include them in our product lines. When selecting cables, make sure they meet one of the following standards. Wiring Standards (cid:88) TIA/EIA-568-B (cid:88) Category 5 (CAT5) (cid:88) Enhanced Category 5 (CAT5e) (cid:88) Category 6 (CAT6) Choose UTP (Unshielded Twisted Pair) or STP (Shielded Twisted Pair) cables that meet one of the standards above. For an environ- ment with excessive electromagnetic noise, use a shielded cable (STP). Observe the following when connecting your system. 1. Keep the total serial line length as short as possible. 2. Maximum total serial line length will vary based on the data transfer speed and the number of local boards that are connected (this system employs a multi-drop con- nection method). (cid:90) 20 Mbps with 32 modules connected: Max. 100 m (cid:90) 20 Mbps with 64 modules connected: Max. 50 m (cid:90) 10 Mbps with 64 modules connected: Max. 100 m 3. The shortest cable must be at least 60 cm long. 4. Do not mix cables of different types or models in the same serial line. 5. If using shielded cables, do not connect the shield on both ends to the FG terminals. Connecting only one end of the shield on each cable will improve noise immunity. MNET Master-Slave Motion System 15 Leading EDGE COMPUTING 3.1.2 MNET System Communication The following is a communication block diagram for a Missionnet (MNET) system. Host Motionnet Bus MNET Single modules Motion Amp. Command Launching Command Delivering Command Dispatching Command Executing Command Launching Within the MNET system, remote modules communicate with each other using MNET network packets, but users do not need to understand the contents of these packets. Several API functions are provided for controlling modules and these functions are easy to understand and use. API functions can analyze parameters from user commands and pack them as MNET network packets. The packets are then passed to remote modules. The remote modules will interpret the packets and execute the commands. Before launching a packet, all commands issued by the user are written into RAM and trans- ferred on the MNET network. RAM, therefore, is a bridge between the MNET master controller and the host PC. The RAM access time for one packet is about 600 ns and should be quite fast on the host PC. The delivery time for one command on the network will depend on the number of modules and the operating clock rate. In addition to using RAM, users can also write data into a FIFO queue in the central device and then issue a “send” command. This communication will be sent and received automatically by interrupting the cyclic commu- nication. Complete command delivery time will depend on the number of MNET packets. One packet command can be delivered in one MNET scan (cycle) time. 16 MNET Master-Slave Motion System PCIe-7856 Command Delivery For commands delivered as part of the cyclic communication pro- cess, the time allowed for communication by a single module is fixed. However, in a direct data communication the communication time will vary based on how the communication is controlled by the user’s program and the time needed to access the PCIe-7856. Cyclic communication Send Response Center Local Local Center Total of send and receive: 4 bytes 1 64(max) 2 5 3 4 Communication sequence image Interrupt Data communication (Send, Receive) Figure 3-2: MNET System Communication Sequence MNET Master-Slave Motion System 17 Leading EDGE COMPUTING 3.2 MNET Motion Modules Motionnet (MNET) motion slave modules are wire-saving solu- tions. ADLINK provides two types of general purpose 4-axis mod- ules: MNET-4XMO and MNET-4XMO-C. Both offer crucial motion functions such as point-to-point, zero-position searching, program- mable acceleration/deceleration, T/S curve speed profile, etc. In addition, the MNET-4XMO-C also supports high-speed position comparison, a trigger output function, and a point table for continu- ous contouring applications. For additional details, please refer to the MNET-4XMO Series User’s Manual available for download at: https://www.adlinktech.com/Products/Industrial_Fieldbus/ Motionnet/MNET-4XMO-(C). ADLINK has also provided three types of single-axis motion mod- ules with specific drivers for connecting to (1) Panasonic A4 ser- vos, (2) Mitsubishi J3 servos, and (3) Yaskawa ΣII, ΣIII, and ΣV servos. These single-axis modules have reached “end of life,” however, and the 4-axis modules are recommended as they can be conveniently plugged into any of those servos. Regardless of the module and servo types involved, the servos themselves can be connected serially by the recommended cable type, greatly reducing wiring requirements. Series Model Servo Driver Axes Mechanical I/O MNET Single- axis Motion Modules MNET-MIA (EOL) MNET-J3 (EOL) MNET-S23 (EOL) MNET-4XMO MNET 4-axis Motion Modules MNET-4XMO-C Panasonic A4 Mitsubishi MR-J3 Yaskawa ΣII, ΣIII, ΣV General Purpose General Purpose 1 1 1 4 4 PEL, MEL, ORG, SD, EMG PEL, MEL, ORG, SD, EMG PEL, MEL, ORG, SD, EMG PEL, MEL, ORG, SD, EMG PEL, MEL, ORG, SD, EMG, TRG Table 3-2: MNET Motion Module Series 18 MNET Master-Slave Motion System PCIe-7856 The MNET-J3 can control a servomotor when I/O signals from a Mitsubishi MR-J3 series servo driver CN1 are routed directly to this connector: CN4. The MNET-MIA can control a servomotor when I/O signals from a Panasonic (Matsushita) servo amplifier MINAS A4 series (pulse command supporting type) servo amplifier CNI/F or CNX5 are routed directly to this connector: CN4. The MNET-M341-S23 controls Yasukawa ΣII, ΣIII and ΣV series servo packs (pulse train supporting types) by docking all com- mand and feedback signals to the CN1 connector of the servo driver. These single-axis modules can control continuous operations of a servomotor with a variety of speed patterns (constant speed, lin- ear acceleration/deceleration, S-curve acceleration/deceleration, preset positioning, and zero return) using serial communications. Since these modules can connect directly to the mechanical I/O signals of a servo driver, they do not need the special servo driver cable required of conventional motion control modules, thus sav- ing time and providing the following advantages: simplified wiring, shortened wiring runs, and reduction of problems caused by faulty wiring. They also offer high noise immunity, take full advantage of high-speed signal lines to handle command pulses, and are highly compact, especially since they conserve wiring space. Again, ADLINK also offers general purpose 4-axis motion control modules which are highly recommended, especially if using ser- vos or stepper motors that are not described above or if more advanced motion functionality is required (such as linear/circular interpolation). By using specific or general purpose D-Sub cables, these 4-axis modules can directly connect to servo drivers, includ- ing Mitsubishi J2S, Panasonic MINAS A4, Yaskawa ΣII/ΣIII/ΣV, and Delta ASDA A2. MNET Master-Slave Motion System 19 Leading EDGE COMPUTING 3.2.1 Motion Module Mechanical Drawings units: mm Figure 3-3: MNET-J3 with MR-J3 Servo Driver 20 MNET Master-Slave Motion System PCIe-7856 units: mm Figure 3-4: MNET-MIA with MINAS A4 Servo Driver MNET Master-Slave Motion System 21 Leading EDGE COMPUTING units: mm Figure 3-5: MNET-S23 with ΣII, ΣIII, and ΣV Servo Drivers 22 MNET Master-Slave Motion System PCIe-7856 Figure 3-6: MNET-4XMO-(C) Mechanical Diagram units: mm MNET Master-Slave Motion System 23 Leading EDGE COMPUTING This page intentionally left blank. 24 MNET Master-Slave Motion System 4 HSL Slave Modules PCIe-7856 High Speed Link (HSL) is a master-slave network system featuring an innovative distributed architecture that modularizes communi- cation, I/O functionality, and signal termination. ADLINK provides slave I/O modules and terminal bases to meet your particular application requirements, including discrete I/O, analog I/O, and motion control. For complete details about the modules, please refer to the HSL-4XMO User’s Manual, available here: https://www.adlinktech.com/Products/Industrial_Fieldbus/ HighSpeedLink(HSL)/HSL-4XMO Slave I/O Modules: There are three groups of slave I/O modules with different dimensions. Slave I/O modules give terminal bases additional I/O capability. To identify each slave I/O module in a HSL network, a module type electronic data sheet is stored in the module itself. Slave I/O modules can also be located by address ID, set by a 6-bit DIP-switch. Depending on the I/O type, each slave I/O module may consume 1 or 2 address IDs. Since the greatest ID number in a HSL master is 63 (the highest value for a 6-bit unsigned integer), and since ‘0’ is reserved for the master, there are at most 63 slave I/O modules for each HSL master. Terminal Bases: The function of a terminal base (TB) slave mod- ule is to facilitate convenient wiring. Both power and signal wiring go from the TB into the slave I/O modules. TBs can also facilitate RJ-45 connections between masters and slave I/O modules. With the help of a TB, slave I/O modules can be hot-swapped without interfering with other modules on the same HSL network. U-series Modules: U-series slave modules provide direct I/O sig- nal wiring on top of the device. They are more compact than TBs and offer several I/O interface types to facilitate signal linking. HUB/Repeaters: HSL-HUB/Repeaters provide more sub-system flexibility and thus enable a greater variety of topologies. Wiring Cables: The communication wiring cables between an HSL master and its I/O modules are standard 100 Base/TX with RJ-45 connectors, the same as commercial Ethernet cables. HSL Slave Modules 25 Leading EDGE COMPUTING 4.1 HSL Slave I/O Modules 4.1.1 Discrete I/O Modules ADLINK provides three discrete I/O module series: DB, M, and U. (cid:88) DB: Daughter board form factor (cid:88) M: Daughter board form factor with aluminum cover (cid:88) U: Low-profile design Series Model Discrete Inputs Discrete Outputs Relay Outputs Slave Index Occupation DB HSL-DI32-DB-N; HSL-DI32-DB-P (EOL) HSL-DO32-DB-N; HSL-DO32-DB-P (EOL) HSL-DI16DO16-DB-N/ P (EOL) M HSL-DI32-M-N/P HSL-DO32-M-N/P HSL-DI16DO16-M- NN/NP/PN/PP HSL-R8DI16-M-N/P (EOL) HSL-DI16DO16-US/ UJ-NN/NP/PN/PP HSL-DI16-UL U 32 16 32 16 16 16 16 32 16 32 16 16 2 (consecutive from odd number) 2 (consecutive from odd number) 1 2 (consecutive from odd number) 2 (consecutive from odd number) 8 1 1 1 1 Table 4-1: HSL Discrete I/O Module Series 26 HSL Slave Modules The selection guide is as follows: HSL - Discrete I/O Type - Series - Signal Type PCIe-7856 (cid:88) DI16DO16: 16 discrete inputs and 16 discrete outputs (cid:88) DI32: 32 discrete inputs (cid:88) DO32: 32 discrete out- puts (cid:88) R8DI16: 8 relay outputs and 16 discrete inputs (cid:88) DB: Daughter (cid:88) X: Input Signal board form factor (cid:88) M: Daughter board with aluminum cover (cid:88) U: Low-profile design Type: NPN sinking or PNP sourcing support (cid:88) Y: Output Signal Type: NPN sinking or PNP sourcing support Table 4-2: HSL Discrete I/O Module Selection Guide 4.1.2 Analog I/O Modules ADLINK provides M and U analog I/O modules, as shown below. Series Model Analog Input Analog Output Slave Index Occupation M HSL-AI16AO2-M-VV HSL-AI16AO2-M-AV 16 16 U HSL-AO4 2 2 4 2 (leap number) 2 (leap number) 2 Table 4-3: HSL Analog I/O Module Series The selection guide is as follows. HSL - Discrete I/O Type - Series - Signal Type (cid:88) AI16AO2: 16 analog inputs and 2 analog out- puts (cid:88) M: Daughter board with aluminum cover (cid:88) X: Input signal type, V for voltage and A for current (cid:88) Y: Output signal type, V means voltage Table 4-4: HSL Analog I/O Module Selection Guide HSL Slave Modules 27 Leading EDGE COMPUTING 4.2 General Specifications 4.2.1 Digital I/O Modules Discrete Input Photo Couple Isolation 2500 VRMS Input Impedance Input Voltage Input Current Operation Voltage (@ 24 VDC Power Supply) 4.7 kΩ +24 V(6) -10 mA +10 mA For NPN(1) For PNP(2) For NPN(1) ON: 11.4 VDC (max.) OFF: 14.3 VDC (min.) ON: 12.6 VDC (min.) OFF: 9.8 VDC (max.) For PNP(2) Response Time ON: 8.8 μs (typical) OFF: 42 μs (typical) Discrete Output Switch Capacity For NPN(3) All channels: -50 mA/ ch at 24 VDC Relay Response Time For PNP(4) All channels: +50 mA/ ch at 24 VDC ON to OFF: 68 μs OFF to ON: 1.1 μs Relay Type Rating Switching Frequency SPST, normally open, non-latching 30 VDC/2 A, 250 VAC/2 A 20 times/minute at rating load Response Time ON to OFF: 3 μs (max.) OFF to ON: 6 μs (max.) Table 4-5: Digital I/O Module NOTE: NOTE: (1) NPN sinking type sensor input modules. (2) PNP sourcing type sensor input modules. (3) NPN sinking type sensor output modules. (4) PNP sourcing type sensor output modules. (5) U-series single channels: -90 mA at 24 VDC. (6) The HSL-DI16-UL supports 5 V, 12 V and 24 V, selected by jumper for each channel (see Section 4.2.2). 28 HSL Slave Modules 4.2.2 JD10-JD15 Input Voltage Setting PCIe-7856 4.2.3 Analog I/O Modules Analog Input A/D Resolution 16-bit (14-bit guaranteed) Input Range For VV type: ±10 V, ±5, ±2.5, ±1.25 V For AV type: 20 mA, 10 mA, 5 mA A/D Conversion 10 μs Signal Type 16-ch Single Ended; 8-ch Differential Analog Output D/A Resolution D/A Settling Time 16-bit 10 μs Table 4-6: Analog I/O Modules HSL Slave Modules 29 Leading EDGE COMPUTING 4.2.4 HSL Module DIP Switch Figure 4-1: HSL Module DIP Switch Location ON 1 2 3 4 5 6 ON = 1 100000 address 1 010000 address 2 … … 011111 address 62 111111 address 63 OFF = 0 1. The address (or index) ‘0’ is reserved for the master. NOTE: NOTE: 2. HSL-DI32-M, HSL-DO32-M, HSL-DI32-DB, and HSL-DO32-DB need two consecutive addresses starting from an odd number. For example, if the DIP switch is set to 3, it will occupy indexes 3 and 4. 3. HSL-AI16AO2-M-VV/AV needs two leap addresses in full- duplex mode. For example, if the DIP switch is set to 2, this module will occupy indexes 2 and 4. 30 HSL Slave Modules 4.2.5 Daughter Board/Module Dimensions DB: Daughter board form factor (100 mm × 78.2 mm) PCIe-7856 units: mm HSL Slave Modules 31 Leading EDGE COMPUTING M: Daughter board with aluminum cover (125 mm × 80 mm) units: mm 32 HSL Slave Modules U: Low-profile I/O module (71.8 mm × 138 mm) PCIe-7856 units: mm HSL Slave Modules 33 Leading EDGE COMPUTING 4.2.6 Wiring Diagrams R (Relay Output): LED Internal Circuit SSR COM.n NO.n Load Analog Input (Differential Voltage Input): Differential Signal Source <30V AGND IN(+) IN(-) ADC Analog Input (Single-Ended Voltage Input): Ground Signal Source IN(+) AGND ADC 34 HSL Slave Modules Analog Input (Current Measure): PCIe-7856 Current Source R=125 Ohm %1 accuracy R IN(+) IN(-) ADC N (NPN Sinking-type Sensor Input): Circuit v+ IN G N (Dry Contact Input): LED Internal Circuits LED Internal Circuits v+ IN G HSL Slave Modules 35 Leading EDGE COMPUTING P (PNP Sourcing-type Sensor Input): Circuit v+ IN G LED Internal Circuits P (Wet Contact Input): v+ IN G LED Internal Circuits 36 HSL Slave Modules N (NPN Sinking Output): PCIe-7856 P (PNP Sourcing Output): HSL Slave Modules 37 Leading EDGE COMPUTING 4.2.7 Terminal Base Motion Control Modules The terminal bases (TBs) include: (cid:88) HSL-TB32-U-DIN (cid:88) HSL-TB64-DIN (cid:88) HSL-TB32-M-DIN (cid:88) HSL-TB32-MD Features (cid:88) Field I/O wiring connection for HSL I/O modules (cid:88) Screw or spring terminal for easy field wiring (cid:88) Power and ground included for each signal channel (cid:88) Interlocking design for rugged installation (cid:88) Power LED indicator (cid:88) DIN rail mount (cid:88) Onboard terminator resistor General Descriptions Series Model Description Module Support DB HSL-TB32-U HSL-TB64 (1) 32-channel direct connection terminal base (2) One DB slot (1) 64-channel direct connection terminal base (2) Two DB slots All HSL DB-series modules All HSL DB-series modules M HSL-TB32-M HSL-TB32-MD 32-channel direct connection terminal base for HSL M-series modules All HSL M-series modules 38 HSL Slave Modules PCIe-7856 Jumper Settings Since HSL is a serial transmission system, a terminator should be set at the end of the cable. Each TB has a jumper-selectable ter- minator on board. Only the last module needs to have the termina- tor enabled. Not the last module (Default) 5 3 1 The last module 5 3 1 OFF ON OFF ON 6 4 2 6 4 2 HSL Slave Modules 39 Leading EDGE COMPUTING HSL-TB32-MD Jumper Settings 40 HSL Slave Modules Dimensions DB with HSL-TB32-U-DIN (126 × 120.1 × 107.3) mm PCIe-7856 units: mm HSL Slave Modules 41 Leading EDGE COMPUTING DB with HSL-TB64-DIN (168.7 × 120.1 × 107.3) mm units: mm 42 HSL Slave Modules M module with HSL-TB32-M-DIN (128.5 × 85.5 × 108) mm PCIe-7856 units: mm HSL Slave Modules 43 Leading EDGE COMPUTING HSL-TB32-MD (129 × 107) mm units: mm 44 HSL Slave Modules PCIe-7856 4.2.8 HSL-HUB/Repeaters Each HSL-HUB/Repeater consists of the following: (cid:88) HSL-HUB (cid:88) HSL-Repeater Features (cid:88) Three linking styles: Master to HUB, HUB to HUB, and HUB to Slave. (cid:88) Supports T bracing connection and star connection (subsystem concept). (cid:88) Supports max. 2.4 km by 7 HSL-HUB/Repeater modules. (cid:88) One input port with 3 output segment ports. (cid:88) Jumper-selectable transmission speeds: 3/6/12 Mbps. (cid:88) Jumper-selectable full- and half-duplex transmission modes. (cid:88) RJ45 phone jack for easy installation. (cid:88) 24 VDC input. General Configuration Master Controller B A Add One More Without HSL-HUB With HSL-HUB Master Controller Add One Mo re Figure 4-2: HSL System Configuration HSL Slave Modules 45 Leading EDGE COMPUTING Jumper Settings FD / HD setting: JP*(0-3), JFH1 Full Duplex (default) Half Duplex FA HD FD HD JP FD HD FD HD JFH1 JP JFH1 3 M / 6 M / 12 M setting JBPS1 1 – 3 & 2 – 4 12 M 1 – 3 & 4 – 6 6 M (default) 3 – 5 & 2 – 4 3 – 5 & 4 – 6 3 M EXC 6 M (default) 46 HSL Slave Modules Dimensions (mm) HSL-HUB PCIe-7856 HSL-Repeater HSL Slave Modules 47 Leading EDGE COMPUTING 4.2.9 Managing Slave Indexes in an HSL Network Before Proceeding Before powering on the slave modules, ensure the DIP switch is properly set. Refer to Section 4.2.4 on page 30 and take special note of the following: 1. One master controller can connect to a maximum of 63 slave modules. 2. The more compact the slave addresses, the more efficiently the HSL system can work. 3. Discrete I/O and relay module rules: Module HSL-DI16DO16-M- NN/NP/PN/PP HSL-DI16DO16-DB- NN/NP/PN/PP HSL-R8DI16-M-N/P HSL-DI32-M-N/P HSL-DI32-DB-N/P HSL-DO32-M-N/P HSL-DO32-DB-N/P Slave Index Occupation Transmission Mode Transmission Speed 1 (any address) Full-duplex (fixed) 6 Mbps (fixed) 2 (consecutive from odd number) 4. Analog I/O and thermocoupling module rules: Module Slave Index Occupation Transmission Mode Transmission Speed HSL-AI16AO2-M-VV 2 (leap number) Full-duplex (fixed) HSL-AI16AO2-M-AV HSL-AO4-U 3/6/12 Mbps (selectable) 5. Special rule: If installing only one HSL-AI16AO2-M-VV or HSL-AI16AO2-M-AV and the DIP switch is set to 1 (the HSL-AI16AO2-M-VV/AV only supports full-duplex mode), the occupied indexes will be 1 and 3. You must assign a value of 4 to the parameter “MOD_No” of “APS_set_field_ bus_slave_param()” to ensure correct communication. 48 HSL Slave Modules PCIe-7856 Examples The following examples are provided for user reference. All the modules involved are assumed to be in full-duplex mode. Example 1 HSL-DI16DO16-UD×2, HSL-DI32-MN×2, and HSL-AI16AO2- VV×1 are installed (with all slave modules in full-duplex mode) under two different conditions: Condition 1: HSL-AI16AO2-VV operating at 6 Mbps. ADLINK suggests the following slave index configuration: Item DIP Switch Index Occupation in HSL HSL-DI32-M-N #1 HSL-DI32-M-N #2 HSL-AI16AO2-VV HSL-DI16DO16-UD #1 HSL-DI16DO16-UD #2 1 3 5 6 8 1, 2 3, 4 5, 7 6 8 This is an example of a compact composition. The scan time will be 30.33 µs × 8 at 6 Mbps, full-duplex mode. Users can connect the modules with one master controller. Condition 2: HSL-AI16AO2-VV×1 operating at 12 Mbps. ADLINK recommends the following slave index configuration. Item DIP Switch Index Occupation in HSL HSL-DI32-M-N #1 HSL-DI32-M-N #2 HSL-DI16DO16-UD #1 HSL-DI16DO16-UD #2 1 3 5 6 1, 2 3, 4 5 6 This is another example of a compact composition. The scan time required is 30.33 µs × 6 at 6 Mbps, full-duplex mode. Users may connect these modules with one master controller. The HSL-AI16AO2-M-VV module will connect to another master controller. The DIP switch of HSL-AI6AO2-M-VV will be assigned a value of 1. HSL Slave Modules 49 Leading EDGE COMPUTING HSL-D16DO2-UL ×2, HSL-DI32-UD x 2 HSL-AI16AO2-M-VV 6 Mbps 12 Mbps Consequently, the cycle time of the first master controller is 30.33 µs × 6 and the cycle time of the second master controller is 45.5 µs at 12 Mbps, full-duplex mode. Example 2 Two HSL-DI16DO16-UJ’s, one HSLDI16DO16-M-NN, two HSL- DO32-M-N’s and one HSL-AI16AO2-VV are installed (with all slave modules in full-duplex mode) under two different conditions: Condition 1: HSL-AI16AO2-VV module operating at 6 Mbps. ADLINK recommends the following slave index configuration: Item DIP Switch Index Occupation in HSL HSL-DO32-M-N #1 HSL-DO32-M-N #2 HSL-AI16AO2M-VV HSL-DI16DO16-UJ #1 HSL-DI16DO16-UJ #2 HSL-DI16DO16-M-NN 1 3 5 7 8 9 1, 2 3, 4 5, 6 7 8 9 The scan time will be 30.33 µ ×17 at 6 Mbps, full-duplex mode. These modules can be connected with one master controller. Condition 2: HSL-AI16AO2-VV module operating at 12 Mbps. ADLINK recommends the following slave index configuration: Group 1 DIP Switch Index Occupation in HSL HSL-DO32-M-N #1 HSL-DO32-M-N #2 HSL-DI16-UJ #1 HSL-DI16-UJ #2 HSL-DI16DO16-M-NN 1 3 5 6 7 1, 2 3, 4 5 6 7 50 HSL Slave Modules PCIe-7856 The scan time required is 30.33 µs × 7. These modules may be connected with one master controller. The HSL-AI16AO2-M-VV module will connect to another master controller. The manage- ment table and illustration below are provided for reference. Group 2 DIP Switch Index Occupation in HSL HSL-AI16AO2-M-VV 1 1, 2 Group 1 Group 2 6 Mbps 12 Mbps The cycle time of the first master controller will be 30.33 µs × 7 while the cycle time of the second master controller will be 15.17 µs × 11 at 12 Mbps, full-duplex mode. HSL Slave Modules 51 Leading EDGE COMPUTING This page intentionally left blank. 52 HSL Slave Modules PCIe-7856 5 MotionCreatorPro 2 (MCP2) After installing the hardware, it is necessary to correctly configure all cards and double-check the system before running. This chap- ter provides guidelines for establishing a control system and man- ually testing the PCIe-7856 to verify correct operation. The MCP2 software provides a simple yet powerful means to set up, config- ure, test, and debug a motion control system that uses PCIe-7856. 5.1 About MCP2 Before running MCP2, please note the following. 1. MCP2 was developed using BCB 6.0 and is available only for Windows systems with a screen resolution of 1024x768 or higher. It cannot be run under DOS. 2. The following files are required by the program: (cid:90) MCP2.mdb, which stores parameters and graphics. (cid:90) MCPro2.ini, which stores initialization settings. 3. MCP2 is a highly integrated program that supports many ADLINK motion control cards. Multiple cards can be used in one system. 5.2 How to Run MCP2 After installing the software drivers for PCIe-7856, the MCP2 pro- gram will be located at “\MCP2.exe”. Double click the executable file to run the program. MotionCreatorPro 2 (MCP2) 53 Leading EDGE COMPUTING 5.3 MCP2 Features 5.3.1 Main Menu Launching MCP2.exe will present the user with the main menu. Refer to the following images and descriptions for details on all the available features. To exit the program at any time, select “Exit” from the “File” menu. A B C A. Icons for operation modes. Some will be active when a bus/motion item in the tree view is selected and some will be active when an axis item is selected. (cid:88) Function Buttons (cid:90) Configuration Button Function Description Axis/Board Configuration Set axis/board parameters. 54 MotionCreatorPro 2 (MCP2) PCIe-7856 (cid:90) Movement Button Function Description Single Movement Single-axis movement (PTP), including absolute and relative functions. Home Return Movement Home return movement. Interpolation Interpolation function. Sampling Sampling function. Select this to set the source and draw its profile. 2D Movement Execute 2D motion. (cid:90) Field Bus Button Function Description Field Bus Connect Field Bus Disconnect Connect an MNET/HSL module. Select baud rate (to the right of the button) and connect. Disconnect an MNET/HSL module. Field Bus Module Test If properly connected, a module can be selected here for a module test. MotionCreatorPro 2 (MCP2) 55 Leading EDGE COMPUTING B. All automation products found by MCP2. The tree view will display motion axes as well as field bus I/O. Function Description ICON (Yellow) Warning Alarm (Red) (Black) Normal (Servo OFF) (Green) Normal (Servo ON) Servo warning. Servo alarm. No error and servo is off. No error and servo is on. C. Board information, including software, firmware, and hardware version numbers. 56 MotionCreatorPro 2 (MCP2) PCIe-7856 5.3.2 HSL Distributed I/O Manager This page can be used to test the HSL system and slave modules. After executing the I/O management page, the main operation window shown below will appear. You can select the module for testing in the tree list of left window. The corresponding ID will also appear with each module. For example, the following figure shows the management pane for the HSL-AI16AO2-VV module. Analog input information is presented in this window and you can use the sliding bar to control the analog output. B C D A Operation Instructions A. Tree view of all HSL and MNET modules. B. Analog input presentation. C. Analog output control panel. D. Check the communication status of each module. MotionCreatorPro 2 (MCP2) 57 Leading EDGE COMPUTING A B C B C Operation Instructions A. Tree view of all HSL and MNET modules. B. Digital input representation or digital output control. C. Check the communication status of each module. 58 MotionCreatorPro 2 (MCP2) PCIe-7856 5.3.3 MNET Distributed Motion Manager The Motionnet (MNET) manager offers several motion operations, including single-axis movement, home return, axis parameter set- ting, etc. Parameter Management A B C Operation Instructions A. Tree view of all HSL and MNET modules. B. Parameter values of each axis. C. Parameter management buttons for saving/loading parameters in various ways. “Set To Card” must be clicked to activate any changes made to this table. Tip: Right-click on a parameter to apply it to all other axes. MotionCreatorPro 2 (MCP2) 59 Leading EDGE COMPUTING Single-axis Movement A B D C Operation Instructions: A. Command, feedback, error, and target position informa- tion. Command and feedback speed information. The minimum speed value may be limited by speed calcula- tion cycle time for low speed display. B. Optional operation settings and buttons. Repeat Mode can be used in both Relative and Absolute mode. The axes will move between two positions or forward/back- ward distance cyclically. You can set the delay time (in milliseconds) between each move. The minimum value is 1 ms. The stop button is for relative, absolute, and velocity modes. 60 MotionCreatorPro 2 (MCP2) PCIe-7856 C. Operation buttons and settings for 3 modes. You can switch operation between relative, absolute, and velocity modes. Before operation, mode parameters must be set, such as positions 1 and 2, forward/backward distance, and forward/backward velocity. Set “MaxVel” before exe- cuting relative or absolute mode. While using jog mode, the other three modes will be disabled. D. Motion status, I/O status, and interrupt status display area. MotionCreatorPro 2 (MCP2) 61 Leading EDGE COMPUTING Home Return E F A C B D 62 MotionCreatorPro 2 (MCP2) PCIe-7856 Operation Instructions A. Speed parameter of the homing profile. Refer to area F. B. Mode setting for the homing function, selectable via pull- down menu. C. Command and position information while homing. After homing is complete, command will reset to zero. D. Buttons for “starting” and “stopping/aborting” the homing function. E. Motion and I/O status while homing. F. Timing chart for the homing function. MotionCreatorPro 2 (MCP2) 63 Leading EDGE COMPUTING Interpolation A B C 64 MotionCreatorPro 2 (MCP2) PCIe-7856 B C A MotionCreatorPro 2 (MCP2) 65 Leading EDGE COMPUTING Operation Instructions A. Interpolation axis selection and operation parameters, including center position in Arc mode or target position in Linear mode. The arc angle can be larger than 360. B. Absolute or relative interpolation mode selection. In Arc mode, it relates to the center position. In Linear mode, it relates to the target position. C. Command and position information. In Arc mode, only two will be active. Dedicated Motion I/O status Conveniently monitor and configure motion I/O channels. 66 MotionCreatorPro 2 (MCP2) NVRAM Read/Write Window The PCIe-7856 is equipped with 32 kB of NVRAM. The read/write window provides direct access to this non-volatile memory. PCIe-7856 MotionCreatorPro 2 (MCP2) 67 Leading EDGE COMPUTING 5.4 MCP2 Error Codes The meaning of error codes that may be returned by the MCP2 program are as follows: (cid:88) (-1) Operation system type mismatch (cid:88) (-2) Open device driver failed; driver interface creation failed (cid:88) (-3) Insufficient memory (cid:88) (-4) Cards not initialized (cid:88) (-5) Cards not found (no card in your system) (cid:88) (-6) Duplicate card IDs (cid:88) (-7) Cards have been initialized, check if different software has been enabled on same hardware device (cid:88) (-8) Card interrupt events not enabled or not initialized (cid:88) (-9) Function timed out (cid:88) (-10) Invalid function input parameters (cid:88) (-11) Set data to EEPROM failed (cid:88) (-12) Get data from EEPROM failed (cid:88) (-13) Function unavailable in this step; function unsupported by device; internal process failed (cid:88) (-14) Firmware error: please reboot the system (cid:88) (-15) Previous command is in process (cid:88) (-16) Duplicate axis ID (cid:88) (-17) Slave module not found (cid:88) (-18) Number of modules insufficient (cid:88) (-51) Set data to SRAM failed (cid:88) (-52) Get data from SRAM failed (cid:88) (-1000) Invalid INT value or WIN32_API error: please contact ADLINK support staff 68 MotionCreatorPro 2 (MCP2) PCIe-7856 6 Scan Time Table 6.1 Full-duplex Mode Minimum scan times in full-duplex mode at different transmission speeds are as shown below. Slave Index Number Cycle Time at 2.5 Mbps Cycle Time at 5.0 Mbps Cycle Time at 10 Mbps Cycle Time at 20 Mbps Base Unit < 3 5 10 20 30 40 50 60 63 60.67 μs 182.00 μs 303.33 μs 606.67 μs 1.213 ms 1.820 ms 2.427 ms 3.033 ms 3.640 ms 3.822 ms 30.33 μs 91.00 μs 151.67 μs 303.33 μs 606.67 μs 910.00 μs 1.213 ms 1.516 ms 1.820 ms 1.911 ms 15.17 μs 45.50 μs 75.83 μs 151.67 μs 303.33 μs 455.00 μs 606.67 μs 758.33 μs 910.00 μs 955.50 μs 15.17 μs 45.50 μs 75.83 μs 151.67 μs 303.33 μs 455.00 μs 606.67 μs 758.33 μs 910.00 μs 955.50 μs Scan Time Table 69 Leading EDGE COMPUTING This page intentionally left blank. 70 Scan Time Table PCIe-7856 7 HSL-HUB/Repeater Information 7.1 Transfer Rates Transfer rates at recommended total extension distances accord- ing to the number of inserted hubs/repeaters are as follows. Transmission Rate Number of Inserted Hubs/Repeaters Basic Configuration (0) 1 2 3 4 5 6 7 3 Mbps 6 Mbps 12 Mbps 300 m 200 m 100 m 600 m 900 m 1.2 km 1.5 km 1.8 km 2.1 km 2.4 km 400 m 600 m 800 m 1 km 1.2 km 1.4 km 1.6 km 200 m 300 m 400 m 500 m 600 m 700 m 800 m 7.2 Scan Times Full-duplex at 12 Mbps Number of Inserted Hubs/ Repeaters Basic Configuration (0) 1 2 3 4 5 6 7 Slave Index Number 3 (Min.) 30 63 (Max.) 45.50 μs 455.00 μs 955.50 μs 82.00 μs 118.00 μs 154.00 μs 190.00 μs 226.00 μs 262.00 μs 298.00 μs 820.00 μs 1722.00 μs 1180.00 μs 2478.00 μs 1540.00 μs 3234.00 μs 1900.00 μs 3990.00 μs 2260.00 μs 4746.00 μs 2620.00 μs 5502.00 μs 2980.00 μs 6258.00 μs HSL-HUB/Repeater Information 71 Leading EDGE COMPUTING Full-duplex at 6 Mbps Number of Inserted Hubs/ Repeaters Basic Configuration (0) 1 2 3 4 5 6 7 Slave Index Number 3 (Min.) 30 63 (Max.) 91.00 μs 910.00 μs 1911.00 μs 164.00 μs 236.00 μs 308.00 μs 380.00 μs 452.00 μs 524.00 μs 596.00 μs 1640.00 μs 3444.00 μs 2360.00 μs 4956.00 μs 3080.00 μs 6468.00 μs 3800.00 μs 7980.00 μs 4520.00 μs 9492.00 μs 5240.00 μs 11004.00 μs 5960.00 μs 12516.00 μs Full-duplex at 3 Mbps Number of Inserted Hubs/ Repeaters Basic Configuration (0) 1 2 3 4 5 6 7 Slave Index Number 3 (Min.) 30 63(Max.) 182.00 μs 1820.00 μs 3822.00 μs 328.00 μs 472.00 μs 616.00 μs 760.00 μs 904.00 μs 3280.00 μs 6888.00 μs 4720.00 μs 9912.00 μs 6160.00 μs 12936.00 μs 7600.00 μs 15960.00 μs 9040.00 μs 18984.00 μs 1048.00 μs 10480.00 μs 22008.00 μs 1192.00 μs 11920.00 μs 25032.00 μs 72 HSL-HUB/Repeater Information PCIe-7856 Important Safety Instructions For user safety, please read and follow all instructions, Warnings, Cautions, and Notes marked in this manual and on the associated device before handling/operating the device, to avoid injury or damage. S'il vous plaît prêter attention stricte à tous les avertissements et mises en garde figurant sur l'appareil , pour éviter des blessures ou des dommages. (cid:88) Read these safety instructions carefully. (cid:88) Keep the User’s Manual for future reference. (cid:88) Read the Specifications section of this manual for detailed information on the recommended operating environment. (cid:88) The device can be operated at an ambient temperature of 55ºC. (cid:88) When installing/mounting or uninstalling/removing device, or when removal of a chassis cover is required for user ser- vicing: (cid:90) Turn off power and unplug any power cords/cables. (cid:90) Reinstall all chassis covers before restoring power. (cid:88) To avoid electrical shock and/or damage to device: (cid:90) Keep device away from water or liquid sources. (cid:90) Keep device away from high heat or humidity. (cid:90) Keep device properly ventilated (do not block or cover ventilation openings). (cid:90) Always use recommended voltage and power source settings. (cid:90) Always install and operate device near an easily acces- sible electrical outlet. (cid:90) Secure the power cord (do not place any object on/over the power cord). (cid:90) Only install/attach and operate device on stable surfaces and/or recommended mountings. (cid:88) If the device will not be used for long periods of time, turn off and unplug it from its power source (cid:88) Never attempt to repair the device, which should only be serviced by qualified technical personnel using suitable tools Important Safety Instructions 73 Leading EDGE COMPUTING (cid:88) A Lithium-type battery may be provided for uninterrupted backup or emergency power. CAUTION: Risk of explosion if battery is replaced with one of an incorrect type; please dispose of used batteries appropriately. Risque d’explosion si la pile est remplacée par une autre de type incorrect. Veuillez jeter les piles usagées de façon appro- priée. (cid:88) The device must be serviced by authorized technicians when: (cid:90) The power cord or plug is damaged. (cid:90) Liquid has entered the device interior. (cid:90) The device has been exposed to high humidity and/or moisture. (cid:90) The device is not functioning or does not function according to the User’s Manual. (cid:90) The device has been dropped and/or damaged and/or shows obvious signs of breakage. (cid:88) Disconnect the power supply cord before loosening the thumbscrews and always fasten the thumbscrews with a screwdriver before starting the system up. (cid:88) It is recommended that the device be installed only in a server room or computer room where access is: (cid:90) Restricted to qualified service personnel or users familiar with restrictions applied to the location, reasons therefor, and any precautions required. (cid:90) Only afforded by the use of a tool or lock and key, or other means of security, and controlled by the authority responsible for the location. BURN HAZARD Touching this surface could result in bodily injury. To reduce risk, allow the surface to cool before touching. RISQUE DE BRÛLURES Ne touchez pas cette surface, cela pourrait entraîner des blessures. Pour éviter tout danger, laissez la surface refroidir avant de la toucher. 74 Important Safety Instructions PCIe-7856 Getting Service Ask an Expert: http://askanexpert.adlinktech.com ADLINK Technology, Inc. 9F, No.166 Jian Yi Road, Zhonghe District New Taipei City 235, Taiwan +886-2-8226-5877 Tel: +886-2-8226-5717 Fax: service@adlinktech.com Email: Ampro ADLINK Technology, Inc. 5215 Hellyer Avenue, #110 San Jose, CA 95138, USA Tel: +1-408-360-0200 Toll Free: +1-800-966-5200 (USA only) +1-408-360-0222 Fax: info@adlinktech.com Email: ADLINK Technology (China) Co., Ltd. 300 Fang Chun Rd., Zhangjiang Hi-Tech Park Pudong New Area, Shanghai, 201203 China Tel: Fax: Email: market@adlinktech.com +86-21-5132-8988 +86-21-5132-3588 ADLINK Technology GmbH Hans-Thoma-Straße 11 D-68163 Mannheim, Germany Tel: Fax: Email: +49-621-43214-0 +49-621 43214-30 emea@adlinktech.com Please visit the Contact page at www.adlinktech.com for informa- tion on how to contact the ADLINK regional office nearest you: Getting Service 75 [🔗 Link to the original document](.pcie-7856-50-15113-1000-10/pcie-7856-50-15113-1000-10.pdf)