I-8196F

The I-8196F and I-9196F are 6-axis stepping/pulse-type servo motor control modules. Both modules are expansion units for the programmable automation controller (PAC) series provided by ICP DAS. The I-8196F module is an expansion card for the XP-8000 and WP-8000 series. The I-9196F module is a plug-in card for the XP-9000 and WP-9000 series. A digital signal processor (DSP) calculates the commanded move trajectory and manages supervisory control by monitoring the limits and emergency stops to ensure safe operation. I/O control output (e.g. latch, compare, encoder counter etc.) is realized in a Field Programmable Gate Array (FPGA). The motion controller is suitable for general-purpose motion control applications. In additions to its wide speed range, this intelligent motion controller also has a variety of built-in motion control functions, such as 2- to 6-axis linear interpolation, 2- and 3-axis circular interpolation, helical interpolation, T/S-curve acceleration/ deceleration, and automatic home search, etc. The motion controller uses FRnet as a communication protocol to control distributed remote I/O modules. In an FRnet network the motion controller acts as a master and can control up to 128 digital outputs and 128 digital inputs. The FRnet scan interval is 0.72 ms. FRnet is a two-wire serial bus and is specifically designed for easy and cost effective wiring. ICP DAS provides a large range of FRnet I/O terminal boards and modules. Libraries and DLL are provided for the following operation systems: Windows embedded, WinCE 5.0 and 6.0. A software utility enables the user to initialize the motion controller and execute motion commands. Software   Features of Motion Function

Features

• Expansion card for ICP DAS programmable automation controller (PAC)
• DSP-based motion control module
• Pulse Output Rate: 4 MHz (Max.)
• Maximum Encoder input frequency: 12 MHz
• Independent 6-axis motion control
• 2- to 6-axis linear/ 2- to 3-axis circular/ helical interpolation function
• Continuous interpolation
• 4-step home mode with auto-searching
• Synchronized start motion
• Programmable T/S-curve acceleration and deceleration
• Software limit protection
• Software FIFO for arbitrary curve motion
• High-speed position latch
• High-speed compare trigger and auto-increment compare mode
• Expandable remote I/O: 128 DI and 128 DO via a two-wire FRnet interface

Applications