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PC104

Navigator®-PC/104 User’s Guide

PMD 

Table of Contents

1.0 Installation .......................................................................................... 7

1.1 Software ........................................................................................................................................................ 8

1.2 Accessory Products .................................................................................................................................... 9

1.3 Documentation ........................................................................................................................................... 9

1.4 Installation Sequence ................................................................................................................................. 9

1.5 Required Hardware .................................................................................................................................. 10

1.6 Preparing the Card for Installation ...................................................................................................... 11

1.7 Connection Summary for Navigator-PC/104 Cards ...................................................................... 12

1.7.1 DC Brush Motors ......................................................................................................................... 13

1.7.2 Brushless DC Motors .................................................................................................................. 13

1.7.3 Pulse & Direction Motors .......................................................................................................... 14

1.7.4 Microstepping Motors ................................................................................................................. 14

1.8 Applying Power ........................................................................................................................................ 15

1.9 Software Installation ................................................................................................................................ 15

1.10 First Time System Verification .......................................................................................................... 15

1.10.1 Step #1: Set the Motor Amplifier Type ................................................................................ 16

1.10.2 Step #2: Initialize the Commutation ..................................................................................... 17

1.10.3 Step #3: Check Commutation ................................................................................................. 18

1.10.4 Step #4: Set Filter Parameters .................................................................................................. 19

1.10.5 Step #5: Set the Motor Command .......................................................................................... 19

1.10.6 Step #6: Make a Trajectory Move ........................................................................................... 20

2.0 Operation .......................................................................................... 21

2.1 Card Function Overview ....................................................................................................................... 22

2.2 Navigator Motion Processor ................................................................................................................. 22

2.3 Card Specific Functions .......................................................................................................................... 23

2.3.1 General Purpose Digital I/O ..................................................................................................... 23

2.3.2 Amplifier Enable ........................................................................................................................... 24

2.3.3 DAC Output Enable ................................................................................................................... 26

2.3.4 Serial Transceiver .......................................................................................................................... 27

2.3.5 Watch Dog Timer ......................................................................................................................... 28

2.3.6 Under Voltage Monitor .............................................................................................................. 28

2.3.7 Reset ................................................................................................................................................. 29

2.3.8 Reset Monitor ................................................................................................................................ 30

2.3.9 Card ID ............................................................................................................................................ 31

2.4 Signal Processing and Hardware Functions ....................................................................................... 32

2.4.1 Home, AxisIn, AxisOut, Limits, Hall Sensors ..................................................................... 32

2.4.2 QuadA, QuadB, Index ................................................................................................................. 32

2.4.3 Analog Input .................................................................................................................................. 33

2.4.4 Pulse and Direction ...................................................................................................................... 34

2.4.5 PWM Out ....................................................................................................................................... 34

2.4.6 Motor Command .......................................................................................................................... 34

3.0 Using Pro-Motion ............................................................................. 35

3.1 Communication ........................................................................................................................................ 36

3.1.1 Axis Setup Wizard ........................................................................................................................ 37

3.2 Motion Configuration ............................................................................................................................. 38

3.2.1 Step #1: General Settings: Amplifier Type ............................................................................. 38

3.2.2 Step #1a: General Settings: Time Units ................................................................................... 39

3.2.3 Step #1b: General Settings: Scale Settings ............................................................................... 39

3.2.4 Step #2: Initialize Signal Sensing ............................................................................................... 40

3.2.5 Step #3: Initialize Encoders ........................................................................................................ 40

Navigator-PC/104 User’s Guide

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