Motion Borads


CPD series : Motion control boards (Motor control boards)

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CPD series : Specifications

Axis
12-Axis Board
8-Axis Board.
4-Axis Board
2-Axis Board
8-Axis Board
Bus PCI PCI ,cPCI ,ISA PCI ,cPCI ,ISA
,PC104 ,USB
PCI ,PC104 PCI
Products HPCI-CPD5212M HPCI-CPD578
HPC-CPD278
HCPCI-CPD738
HPCI-CPD534
HPC-CPD234
HCPCI-CPD734
HP104D-CPD364
HUSB-CPD434
HPCI-CPD532
HPC104I-CPD132
HPCI-CPD508
Axis control system (1)Positioning
1 to 12 axes
1 to 8 axes
1 to 4 axes
1 to 2 axes
1 to 8 axes
(2)Linear
interpolation
12 axes: 2 to 4 axes simultaneously & 2 to 4 axes simultaneously
& 2 to 4 axes simultaneously
8 axes: 2 to 4 axes simultaneously & 2 to 4 axes simultaneously
4 axes: 2 axes simultaneously
2 axes: 2 axes simultaneously
(3)Circularr
interpolation
12 axes: 2 axes simultaneously & 2 axes simultaneously 2 axes simultaneously
8 axes: 2 axes simultaneously & 2 axes simultaneously
4 axes: 2 axes simultaneously
2 axes: 2 axes simultaneously
(4)Plulse feed
1 to 12 axes
1 to 8 axes
1 to 4 axes
1 to 2 axes
-
Position
system
Command pulses Positioning pulse-train output by differential driver
Position
command range
-134,217,728 to +134,217,727 pulse
Command coordinate Relative coordinate command
Reference range atcontinuous feed Unlimited (linear movement counter overflows if movement goes beyond the end, and rotation counter resets to zero at every 360 degrees of rotaion)
Position override Possible only in positioning control
Speed
control
Speed range 0.1pps to 6.5Mpps (x0.1 to x100) (Encoder counting frequency limited to 4MHz max, in x4 mode.)
Constant control oflinear speed 2-axes circular, linear interpolation of : 2 control
3-axes linear interpolation of : 3 control
4-axes linear interpolation of : 3 control
Speed override (1)Available in any constant-speed oparation
(2)Availablel only with positioning, linear interpolation, and continuous feeds when acceleration and/or deceleration involved.
Acceleration
/deceleration control
Automatic acceleration/ deceleration system (1) Positioning and linear interpolation: Linear acceleration/deceleration, S-curve acceleration/deceleration,
and partial s-curve acceleration/deceleration
Automatic damping function available in case of abrupt acceleration reversalTriangular drive peak prevention function available
Asymmetrically sloped acceleration / deceleration possible
(2) For circular interpolation: Automatic acceleration / deceleration possible
(constant-speed control not possible)
Aacceleration and deceleration blocks to be used for circular interpolation at constant movement.
 
Origin-
returning
control
Origin-
returning
method
As many 13 ways of to origin (such as sensor' s origin, Z-phase origin, ELS shared origin) available.
Each returning is done in a single process..
Origin search Available
Getting out
of origin area
Available
UP/DOWN Counters Command position counter
(Command pulse count: Length 228)
4 counters per axis
Machine position counter
(Encoder pulse count: Length 228)
General-purpose counter
(Pulse count: Length 228)
Error counter for runaway detection (Difference between the values of the encoder and the command: Length 216)
Comparators Comparators 1 and 2:Soft-limit use comparating positive and negative limits 5 comparators per axis
Comparators 3, 4,and 5: General-purpose (used for changig speed or starting another axis on comparison of the cordinate)
Inputs for encoder or pulsa Each axis has a common input terminal for the encoder and pulsar input signal
Not available
Backlash compensation Compensated for at every turn of the direction of movement by correction pulse.
Slip compensation Compensated immediately before moving regardless of the direction (good for positioning system only)
Positioning-control-start (PCS) signal Starts positioning by PCS signal during continuous
feed ( positioning system only)
Altemationgly shared with OLS of B axis.
Idling pulse function Function of improving stepping motor acceleration characteristics
Vibration suppression
at a stop
Function of suppress vibration when the stepping motor stops
Machine interface ELS, OSL, DLS, and encoder A, B, and Z-phases per axis
(All insulated with optical isphotocoupleolator)
Equipped only with Z-phase input on the encoder I/F
Servo interface Command-pulse output (differential )
Input: Servo alarm and in-position signals on each axis
(all insulated with opical isolator )
2 inputs on the entire board
Output: Servo reset, servo ON, and clear-servo-error-counter signals on each axis (all insulated with opical isolator ) 8 general-purpose outputs on the entire board