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1、PCI1010运动控制卡硬件使用说明书阿尔泰科技发展有限公司PCI1010运动控制卡使用说明书目录一．特点·······················································································2二．规格·····························································································2三．概述···························
2、··································································4四．布局图··························································································5五．使用说明.·······················································································55.1安装·······
3、·····························································································55.2通用输入口接线方式···············································································55.3驱动程序的安装··········································································
4、···········61PCI1010运动控制卡使用说明书一．特点µ32位PCI总线接口，即插即用µ2轴伺服/步进电机控制，每轴可独立控制，互不影响µ脉冲输出的频率误差小于0.1%µ脉冲输出速度最高可达到4MHzµ可选择脉冲输出模式：CP/DIR,CW/CCWµ非对称直线加/减速驱动µ梯形与S曲线速度轮廓µ2轴直线插补、圆弧插补、模式插补、连续插补µ固定线速度控制µ多轴同步启动/停止µ可编程控制加速与减速时间µ在运动中改变输出脉冲数或驱动速度µ运动中可以实时读出逻辑位置、实际位置、驱动速度、加速度、加/减速状态（加速中、定速中、减速
5、中）µ每轴都有2个32位比较寄存器用于逻辑位置计数器或者实际位置计数器的位置大小比较，可用于软件限位。µ可接收伺服马达驱动器的各种信号，如硬件限位信号、到位信号、报警信号等µ32位递增/递减计数器用于附加编码器µ可方便地与任意步进电机、AC或DC伺服电机相连接µ所有数字量输入/输出信号均有2500Vrms隔离二、规格µ控制轴2轴µCPU数据总线长度16位插补功能µ2轴直线插补●插补范围各个轴-8,388,607~+8,388,607●插补速度1~4MPPS●插补位置精度±0.5LSB以下（在全插补范围内）µ圆弧插补●插补范围各个轴-8
6、,388,607~+8,388,607●插补速度1~4MPPS●插补位置精度±1LSB以下（在全插补范围内）µ2轴位模式插补●插补速度1~4MPPS（但依靠CPU数据设定时间）µ其他插补功能●线速常数●连续插补●步进插补各轴通用规格µ驱动输出脉冲（CLK=16MHz时）●输出脉冲范围1~4MPPS●输出速度精密度±0.1％以下（对设定数值）●速度倍率1~50062●S曲线加速度变化率954~625×10PPS/SEC6●加/减速度125~1×10PPS/SEC2PCI1010运动控制卡使用说明书●初始速度1~8000PPS（倍率=1的
7、时候）6500~4×10PPS（倍率=500的时候）●驱动速度1~8000PPS（倍率=1的时候）6500~4×10PPS（倍率=500的时候）●输出脉冲数0~268,435,455（定量驱动）●速度曲线定速/直线加减速/抛物线S曲线加减速驱动●定量驱动的减速模式自动减速（非对称台行驱动时，也可以）/手动减速●可以在驱动中改变输出脉冲数、驱动速度●可以选择独立2脉冲/1脉冲●方向方式µ编码器输入脉冲●可以选择2相脉冲/上下脉冲输入µ位置计数器●逻辑位置计数器（输出脉冲用）计数范围-2,147,438,648~+2,147,483,64
8、7●实位计数器（输入脉冲用）计数范围-2,147,438,648~+2,147,483,647可以一直写入读出µ比较寄存器●COMP+寄存器位置比较范围-2,147,438,648~+2,147,483,647●COMP
