Intelligent Motion Control and Machine Vision Features ƒ ƒ Pulse output is up to 5Mpps ƒ ƒ Encoder input is 10MHz for 4xAB mode, 2.5MHz for CW/CCW mode ƒ ƒ Fast processing speed provides smooth interpolation ƒ ƒ Support T & S-Curve for joint-space trajectory planning ƒ ƒ Line, Arc, Angle and PTP motion are also supported ƒ ƒ Support both Jog/MPG in Joint/World system ƒ ƒ Support RZ direct coupling structure for various applications ƒ ƒ Adding teaching points through JOG/MPG by Common Motion Utility for Path planning ƒ ƒ Easy integration for robot-vision application ƒ ƒ Position latch ƒ ƒ Position compare triggering up to 100 KHz, and memory buffer is up to 100 K points in DSP Introduction PCI-1245S is 4-axis Robot PCI bus controller board which is created as the SCARA Robot solution for factories looking for maximum value without performance trade off. PCI-interface structure is a great benefit for user to embed into various platforms for flexibility and performance requirement. In addition, ease of integration with bus-level vision solutions and robot motion control for vision guide application. All Advantech motion controllers are applied to "Common Motion API" architecture which is an unified user programming interface. This architecture can save the effort of application maintenance and upgrade. Both Joint and World coordinate system are supported. T&S-curve speed profile optimization make PCI-1245S has outstanding acceleration / deceleration characteristics. Robot path function and look ahead feature make robot trajectory can be planned in advance and move smoothly in arbitrary path. Lots of fully integrated options such as Virtual Device, .Net support, and much more enable powerful programming, reduced project-developed cycle times and very cost-saving robot solution. Specifications Pulse-Type Motion Control ƒ ƒ Motor Driver Support Pulse-type servo/stepping ƒ ƒ Number of Axes 4 ƒ ƒ Interpolation Line motion, Arc Motion ƒ ƒ Max. Output Speed 5 Mpps ƒ ƒ Step Count Range ±2, 147, 483, 646 ƒ ƒ Pulse Output Type Pulse/direction (1-pulse, 1-direction type) or CW/CCW (2-pulse type) ƒ ƒ Position Counters Range of command and actual position ƒ ƒ Velocity Profiles T-Curve, S-Curve ƒ ƒ Local I/O Machine Interfaces: LMT+, LMT-, ORG Servo Driver Interfaces: ALM, INP Position Compare I/O: CMP General Digital I/O: 16-ch DI, 16-ch DO (RDY/LTC pin can be switchable to general-purpose input and CAM-DO/ CMP/SVON/ ERC pin to general-purpose output) ABS Encoder Interface ƒ ƒ Input Type Quadrature (A/B phase) or up/down ƒ ƒ Counts per Enc. Cycle x1, x2, x4 (A/B phase only) ƒ ƒ Input Range 3~10 V ƒ ƒ Isolation Protection 2,500 VDC ƒ ƒ Max. Input Frequency 10 MHz under 4xAB mode General ƒ ƒ Bus Type Universal PCI V2.2 ƒ ƒ Connectors 1 x 100-pin SCSI female connector ƒ ƒ Dimensions (L x H) 175 x 100 mm (6.9" x 3.9") ƒ ƒ Power Consumption Typical: 5 V @ 850 mA Max.: 5 V @ 1 A ƒ ƒ Humidity 5 ~ 95% RH, non-condensing (IEC 60068-2-3) ƒ ƒ Operating Temperature 0 ~ 60°C (32 ~ 140°F) ƒ ƒ Storage Temperature -20 ~ 85°C (-4 ~ 185°F) Ordering Information ƒ ƒ PCI-1245S-AE DSP-based 4-axis SCARA Robot Motor Control Universal PCI Card Accessories ƒ ƒ ADAM-3956-AE 100-pin DIN-rail SCSI 4-axis Motion Wiring Board ƒ ƒ ADAM-3955-AE 50-pin DIN-rail SCSI 2-axis Motion Wiring Board ƒ ƒ ADAM-3952-AE 50-pin DIN-rail SCSI and Box Header Board ƒ ƒ ADAM-39100-AE 100-pin DIN-rail SCSI Wiring Board ƒ ƒ PCL-101100M-1E/2E/3E 100-pin SCSI Cable, 1m/2m/3m ƒ ƒ PCL-10251-1E/2E/3E 100-pin SCSI to Two 50-pin SCSI Cable, 1m/2m/3m ƒ ƒ PCL-10153PA5-2E 50-pin Cable to Panasonic A4/A5 Servo, 2 m ƒ ƒ PCL-10153PA5LS-2E 50-pin Cable to Panasonic MINAS A Servo, 2 m ƒ ƒ PCL-10153YS5-2E 50-pin Cable to Yaskawa Sigma V/7 Servo, 2 m ƒ ƒ PCL-10153MJ3-2E 50-pin Cable to Mitsubishi J3/J4 Servo, 2 m ƒ ƒ PCL-10153DA2-2E 50-pin Cable to Delta A2 Servo, 2 m DSP-Based 4-Axis SCARA Robot Motor Control Universal PCI Card RoHS COMPLIANT 2002/95/EC PCI-1245S Chapter 2 Table of Contents Table of Contents