Motion Creator Pro 2

User’s Manual

Manual Rev.: 0.1

Revision Date: Dec. 30, 2022
Part No.: 50M-00100-1000
 Motion Creator Pro 2

Preface
Copyright © 2022 ADLINK Technology, Inc.
This document contains proprietary information protected by copyright. All rights are
reserved. No part of this manual may be reproduced by any mechanical, electronic, or other
means in any form without prior written permission of the manufacturer.
Disclaimer
The information in this document is subject to change without prior notice in order to improve
reliability, design, and function and does not represent a commitment on the part of the
manufacturer.
In no event will the manufacturer be liable for direct, indirect, special, incidental, or
consequential damages arising out of the use or inability to use the product or
documentation, even if advised of the possibility of such damages.
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ADLINK is committed to fulfill its social responsibility to global
environmental preservation through compliance with the European
Union's Restriction of Hazardous Substances (RoHS) directive and
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Environmental protection is a top priority for ADLINK. We have enforced
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Trademarks
Product names mentioned herein are used for identification purposes only and may be
trademarks and/or registered trademarks of their respective companies.

Revision History
Revision Release Date Description of Change(s)
0.1 2022-12-30 Preliminary release

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Table of Contents
Preface .................................................................................................................................. 2
1 Overview .......................................................................................................................... 5
1.1 User Interface ......................................................................................................................... 6
1.2 Menus .................................................................................................................................... 7
1.2.1 File->Exit ............................................................................................................................................7
1.2.2 View->Project Tree ............................................................................................................................8
1.2.3 Initial Options->xxx Mode ..................................................................................................................9
1.2.4 Initial Options->Appearance ........................................................................................................... 10
1.2.5 Initial Options->ProFiNetSpeed up Start .......................................................................................... 11
1.2.6 About->Motion Creator Pro 2.......................................................................................................... 12
1.2.7 About->Error Code Data Query ...................................................................................................... 13
1.3 Function ............................................................................................................................... 14
1.4 Icon Bar ................................................................................................................................ 17
2 Installation...................................................................................................................... 18
3 MCP2 Function list ........................................................................................................ 19
3.1 Parameter Manager.............................................................................................................. 19
3.1.1 Parameter Configuration ................................................................................................................ 20
3.1.2 Save Axis Parameter ...................................................................................................................... 22
3.1.3 Apply All .......................................................................................................................................... 23
3.2 Homing ................................................................................................................................. 24
3.3 Single Move.......................................................................................................................... 28
3.3.1 Position/Command Status .............................................................................................................. 29
3.3.2 Move Operation .............................................................................................................................. 30
3.3.3 Status View ..................................................................................................................................... 31
3.4 Interpolation.......................................................................................................................... 35
3.5 Sampling .............................................................................................................................. 40
3.5.1 Drawing Area .................................................................................................................................. 41
3.5.2 Sampling Settings ........................................................................................................................... 42
3.5.3 16CH Sampling............................................................................................................................... 43
3.6 Setup Wizard ........................................................................................................................ 45
3.6.1 Control Mode .................................................................................................................................. 45
3.6.2 Safety Protection ............................................................................................................................ 47
3.6.3 Motion IO Check ............................................................................................................................. 48
3.6.4 Encoder Check ............................................................................................................................... 50
3.6.5 Output Test ..................................................................................................................................... 51
3.6.6 Auto Tuning ..................................................................................................................................... 53
3.7 E-GEAR ............................................................................................................................... 54
3.8 DIO ....................................................................................................................................... 57
3.9 AIO ....................................................................................................................................... 58
3.10 PDO ................................................................................................................................... 59
3.11 SDO.................................................................................................................................... 61
3.12 Field module ....................................................................................................................... 66
3.12.1 ADLINK Slave Axis ......................................................................................................................... 66
3.12.2 ADLINK Slave IO ............................................................................................................................ 68
3.13 Axis Info ............................................................................................................................. 69

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3.14 Advanced Point Table ......................................................................................................... 71

3.14.1 Drawing Area .................................................................................................................................. 72
3.14.2 Configuration Area .......................................................................................................................... 73
3.14.3 Operation Area ................................................................................................................................ 74
3.15 Manual Settings Slave ID (Manual ID) ................................................................................ 75
3.16 DSP/Kernel Performance ................................................................................................... 77
3.16.1 DSP Performance ........................................................................................................................... 78
3.16.2 Kernel Performance ........................................................................................................................ 78
3.16.3 How to set EtherCAT Cycle time .................................................................................................... 79
3.17 Compare Trigger................................................................................................................. 81
3.18 Latch .................................................................................................................................. 87
3.19 OPT Device OD .................................................................................................................. 90
3.20 IO Mapping ......................................................................................................................... 93
3.20.1 Ether CAT ....................................................................................................................................... 93
3.20.2 ProFiNet ........................................................................................................................................ 100
3.21 CST Mode ........................................................................................................................ 103
3.22 Compensation .................................................................................................................. 106
1D Compensation ..................................................................................................................................... 107
2D Compensation ..................................................................................................................................... 108
3.23 Connect Quality ................................................................................................................ 109
3.22.1 Connection Quality ........................................................................................................................ 110
3.22.2 State Control .................................................................................................................................. 111

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1 Overview
Motion Creator Pro 2 (MCP2) software is a user interface specifically developed for ADLINK
motion control products. In a standard Windows environment, MCP2 provides simple
configuration, testing, and verification functions without end users' writing code, reducing
testing time and accelerating device development.

MCP2 software supports all ADLINK motion control products, including pulse control cards
and EtherCAT control card, and provides basic motion control functions such as single-axis
motion, tween motion, and homing. Functions such as axis status and IO status on the user
interface can also be monitored in real time.

Notes:
 The MCP2 software execution path is: Start>Assembly>ADLINK>PCIe-
8338>Motion Creator Pro 2.
 MCP2 software is best viewed with a minimum screen resolution of 1920X1080.

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1.1 User Interface

This section describes the elements of the MCP2 user interface. There are four main
elements to the MCP2 user interface.

 A: Menus
 B: icon bar
 C: Device tree
 D: Function pages

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1.2 Menus
This area includes the following menus: File, View, Initial Options, Function, and About.

Note: The Function menu can is displayed only after clicking a Card No. on the device
tree view.

1.2.1 File->Exit
Click to exit MCP2.

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1.2.2 View->Project Tree

Used to open/close the device tree panel.

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1.2.3 Initial Options->xxx Mode

This menu lists the control card initialization options. Once the settings in this menu are
changed, restart MCP2 to complete the changes.

Some parameters correspond to APS_initial(I32 *BoardID_InBits, I32 Mode). For details, see
the APS function library.

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1.2.4 Initial Options->Appearance

Use these options to change the appearance of MCP2. Once the settings in this menu are
changed, restart MCP2 to complete the changes.

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1.2.5 Initial Options->ProFiNetSpeed up Start

Slave connection for fast startup of card after initial connection.

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1.2.6 About->Motion Creator Pro 2

This menu item lists the MCP2 version information and supported hardware.

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1.2.7 About->Error Code Data Query

Enter an error code to show its definition and description.

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1.3 Function
This menu corresponds to the feature category selected in the device tree view. The relevant
features are listed below. The following figures illustrate the respective available options in
the Function menu when Card_No, Slave, and Axis are selected in the device tree.

1. Click Card No->Function

2. The following figure shows the various hardware or system related functions.

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1. Click Motion\EtherCAT\ProfiNet\HSL\MNET->Function
2. The menu displays as shown below, including functions such as multi-axis motion control,
sampling and parameter setting.

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1. Click Slave No. ->Function

2. The menu displays as shown below, including functions for single-axis motion control,
point-to-point movement and return to origin.

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1.4 Icon Bar

The icon bar is where frequently used functions can be put for quick selection. For example,
the Function Menu will display different function icons according to whether the user selects
Card No, Motion, Axis and Slave in the device tree view.

The following three diagrams illustrate the diagrams that appear when different items are
clicked. Click Card No 0 in the following device tree view to display DIO, DSP Performance
and other icons.

STEIN - ADD MISSING PICTURES

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2 Installation
STEIN - ADD MISSING INFORMATION

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3 MCP2 Function list

3.1 Parameter Manager
The control card axis parameters and system parameters can be unified by the parameter
management, including operation mode, acceleration rate, deceleration rate, acceleration,
motion I/O logic, etc. See the APS Function Library parameter table for definitions and
detailed descriptions.

To open the parameter manager page, follow these steps:

Step 1. Click “Card” or “Slave” or “Axis” in the device tree.
Step 2. Click Axis/Board Para on the icon bar.

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3.1.1 Parameter Configuration

For board configuration, refer to the APS Function Library manual Table definition-> Board
Parameter table. The following example shows a PCI-8338 board.

The board configuration page is available under Table definition->A. Board Parameter
table->PCIe-833x board parameter table as shown below.

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Axis Configuration is described in the APS Function Library manual under Table definition->
Axis Parameter table. The following figure shows the PCI-8338 board information.

Axis configuration is available under Table definition->A. Board Parameter table->PCIe-

833x Axis parameter table, as shown below.

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3.1.2 Save Axis Parameter

There are several buttons for parameter operations at the bottom of the page. After setting
parameters according to system settings, you can select the following storage/loading
methods:

 Set To Card: The parameter set value is directly written to the control card for use.
 Load From Card: Read parameters from the control card to the page display.
 Save To Flash: Writes parameters to non-volatile memory in the control card.
 Load From Flash: Read parameters from non-volatile memory of control card to
page display.
 Save To File: Writes the parameter to the specified file (xml).
 Load From File: Read parameters from the specified file to the page display (xml).
 Load Default: Load the factory default value to the page display.

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3.1.3 Apply All

In a motion control system, there may be multiple axis parameters that are similar or exactly
the same. MCP2 provides a copy of the parameter set value to the multi-axis function,
saving the need to enter each axis parameter setting each time.

Click the right mouse button on the setting axis parameter setting page to select one of the
following options:

 Apply all (Single Parameter): Copy only the set values of this column to other axes.
 Apply all (All Parameter): Copies all parameter values for this axis to other axes.

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3.2 Homing
The Homing page is used for the origin of the startup axis (ORG or DOG, etc.) position.
Through the axis parameter settings, you can select n modes, and real-time monitoring of
command, displacement, and various motion status information.
The steps to open the return to origin page are shown below. First, click Axis0 in the device
tree, then click the Home Move icon.

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The return to origin page has four areas:

(1) Various return to origin parameter settings
(2) Start/stop button and set/load parameters
(3) Status display area
(4) Display of the current way back to the origin

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For motion status, refer to Table definition-> Motion status definition tables in the APS
Function Library. For example, the following figure shows PCI-8338 Motion Status 38. Table
definition-> F. Motion status definition table -> PCIe-833x Motion status definition table, as
shown below.

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For Motion IO Status definitions, see Table definition->Motion IO status and motion
status definitions in the APS Function Library. For the example above, the PCIe - 8338
Motion path for IO Status reference content is shown as 38. Table definition-> E. Motion IO
status and motion status definitions -> PCIe-833x motion IO status table, as below.

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3.3 Single Move

The single-axis operation function can control a single axis to do absolute motion, relative
motion, speed motion and inch motion and other functions, and can monitor the command,
displacement, speed and various motion state information in real time.
The steps of opening the single-axis operation page are as shown below. First, click Axis x
on the device tree, and then click the Single Move icon.

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3.3.1 Position/Command Status

This area displays the following information:

 Command: Current command location

 Position: Current feedback location
 Cmd Vel: Current command speed
 FBK Vel: Current feedback speed
 Err Pos: Displacement error value
 TargetPos: Target position
 Set Pos: Set the command position and the feedback position at the same time
 MaxVel: Set point to point maximum velocity

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3.3.2 Move Operation

Motion operation can be divided into four operation modes, the input displacement is in
Pulse units.

(1) ABS MOVE: Absolute position movement, you can enter the absolute position
(2) REL MOVE: Relative position movement, you can enter the relative position
(3) VEL MOVE: Speed movement, speed can be entered
(4) JOG MOVE: Move in inches, click Free or Step mode. (Step mode must set
displacement)

Note: The increase or decrease rate can be set in 3.1 Parameter Management.

If it is necessary to perform reciprocating movement between two displacements, check

Repeat Move and set the Delay Time interval before the movement operation is performed.

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3.3.3 Status View

The Status display area provides real-time feedback to the controller, including Motion Status,
Motion IO, Interrupt, and Interrupt Error blocks.

 Motion Status

Refer to the APS Function Library manual Table definition-> Motion status definition
tables. For PCIe-8338 Motion Status, refer to 38. Table definition-> F. Motion status definition
table -> PCIe-833x Motion status definition table, as shown below.

如有伺服異常停止的情況，Soft motion 系列軸卡可點選”ASTP”查得停止的原因。

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 Motion IO Status

Refer to APS Function Library manual Table definition->Motion IO status and motion
status definitions. For PCIe-8338 Motion path IO Status, refer to 38. Table definition-> E.
Motion IO status and motion status definitions -> PCIe-833x motion IO status table, as
shown below.

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 Interrupt

Refer to the APS Function Library manual Table definition-> Interrupt factor table. For the
Interrupt reference content path for the PCIe-8338, refer to 38. Table definition-> G. Interrupt
factor table -> PCIe-833x Interrupt Item Definition Table, as shown below.

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 Interrupt Error (Pulse type Axis card only)

Refer to the APS Function Library manual Table definition-> Interrupt factor table->
Interrupt Item Definition Table-> Axes error for the corresponding interrupt definitions. For
the PCIe-8158 error interrupt reference path, refer to 38. Table definition-> G. Interrupt factor
table -> PCI(e)-8154/8158, PCI-8102 Axes error interrupt definition of Items, as shown below.

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3.4 Interpolation
Interpolation is suitable for use in motion control systems where there is an interaction
between the displacement of more than one axis, for example, 2 axis, 2 axis arc, 3 axis, etc.
The tween function is divided into two settings for pulse type axis cards and soft motion axis
cards, and their corresponding setting parameters are also slightly different.
Click Slave or Motion in the device tree according to the card type, and then click the
Interpolation icon, as shown below.

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 Pulse type Axis card page

The setting functions are divided into two pages.

Linear page

(1) Select the axis number and displacement quantity to perform the tween
movement.
(2) Abs Mode/Rel Mode: Set absolute or relative motion and the amount of
displacement.
Start/Stop: Start command and stop command
(3) Monitor the command and reply of each axis.

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2D Arc page

(1) Select the axis number, rotation amount, center point, speed and steering for 2D
Arc movement.
(2) Abs /Rel: Set absolute or relative motion.
Start/Stop: Start command and stop command.
(3) Monitor the commands and feedback of each axis.

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 Soft motion axis card page

The tween function of a soft motion axis card can be roughly divided into eight areas.

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(1) Interpolation Type: The API for selecting the exercise type among the eleven
tween types is as follows.

Interpolation Type
2DLinear APS_line_all
3DLinear APS_line_all
4DLinear APS_line_all
5DLinear APS_line_all
6DLinear APS_line_all
2DARC_A APS_arc2_ca_all
2DARC_E APS_arc2_ce_all
3DARC_A APS_arc3_ca_all
3DARC_E APS_arc3_ce_all
3DSPH_A APS_spiral_ca_all
3DSPH_E APS_spiral_ce_all

(2) Choose Axis: Select the axis number for the tween motion.
(3) Absolute/Relative: Set absolute or relative motion and the amount of
displacement.
(4) Parameter Source: Select the source of the speed parameter.

Parameter Source Description

User input Use the velocity parameter in block (6)
Axis parameter Use current axis parameter Settings (for axis parameter
pages, please refer to 3.1 and APS manual Settings)
Only Vmax Use the speed parameters in Block (6), but the
maximum speed should be set according to 3.1 and
APS manual

(5) If it is necessary to perform reciprocating and back movement between two

displacements, you can select Repeat Move and set the Delay Time before
performing the movement operation.
(6) Speed Parameter: Enter each speed set. If the parameter selected in block (4) is
from user input, the operation in block (7) will use the setting here.
(7) Start and stop movement operation control.
(8) Schematic diagram of the selected mode.

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3.5 Sampling
The sampling page function can collect command, position, speed and other data and
display them on the motion control process chart, help with machine adjustment or analysis.
Follow the steps in the image below. Click Slave or Motion in the device tree, and then click
the Sampling icon.

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3.5.1 Drawing Area

The sampling function collects multiple varying data points. For example, the channel values
in the left part of the drawing area (1) are scaled independently while the time in the graph
section displays as milliseconds.

Items highlighted in (2) control the data display mode settings as follows.
 Show or Hide: Select whether to display the channel
 Auto Fit: Automatically adjust the data to fill the drawing area
 Align: Align the Y-coordinate axis of the data of each channel to a specified channel for
display.

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3.5.2 Sampling Settings

Sampling settings can be organized into three sections:

(1) Decide which axis of motion to sample and the type of data to sample, such as position
and velocity, etc.
(2) Set the sampling speed, points and options to trigger the sampling channel.
(3) Single or Repeat trigger modes can be displayed after setting.
Start Sampling: Start taking samples
Stop Sampling: Click to stop sampling
Sampling Clear: Clear drawing area data
Data Export: Output sampling data to file (*.csv format)
Data Import: Input sample data file (*.csv format)

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3.5.3 16CH Sampling

The 16CH sampling function can simultaneously collect 4, 8, or 16 different kinds of data as
shown in the figure below. The unit and numerical scale may be different for different data
types. Currently, only the Ether Cat series is supported.

In the following figure, the Y-axis in the left part of the drawing areas are scaled
independently, while the transverse X-axis is fixed as the time axis, with a minimum unit of
millisecond.

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Sampling setting can be divided into three steps:

(1) Decide which axis of motion to sample and the type of data to sample, such as position
and velocity, etc.
(2) Set the sampling speed, points and options to trigger the sampling channel.
(3) Single or Repeat trigger mode can be displayed after setting.
Start Sampling: Start taking samples
Stop Sampling: Click to stop sampling
Sampling Clear: Clear drawing area data
Data Export: Output sampling data to file (*.csv format)
Data Import: Input the sample data file (*.csv format)
Image Export: Capture images

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3.6 Setup Wizard

Setup Wizard is a tool that lets you quickly set parameters for an axis, helping you to easily
and efficiently complete system setup by walking through the page step by step. We
recommend that you perform this function as a first step before performing any motion
control operations (at the beginning of using this control card). Setup Wizard can achieve the
following:
 Control card basic parameter setting including control mode, servo cycle, safety
setting, etc.
 Wiring check for I/O, Encoder, etc.
 Servo tuning machine (analogical, closed-loop control mode) provides Auto tuning
function to help users find out a set of stable servo parameters with certain
performance.
To open the Setup Wizard page, click Axis x in the setup tree, and then click the Setup
Wizard icon.
3.6.1 Control Mode
Set the control mode of each axis to Analog Type or Pulse Type, and then click Change. A
new page will appear for you to set the output signal type of each axis. After changing the
settings, click Save/Reboot. It might take some time to save and reset the control card.
When the action is complete, click Exit.

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Open the Servo settings window to control the update rate speed as shown in the figure
below. Fill in the appropriate Servo Loop Update Rate setting, click Save/Reboot, and then
wait for the control card to reset.

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3.6.2 Safety Protection

Safety Protection includes protection settings for Error-Check-Level and soft-limits. Set
whether to enable the function and parameters. The Set button is marked with an asterisk (*)
to remind you that you need to click it in order to write the set parameters to the hardware.

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3.6.3 Motion IO Check

These settings configure the Motion IO forward and reverse signals. The real-time status of
each IO is shown by the LED light and the logic is set by the corresponding fields.

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Set the relevant logic signals until all IO LED lights turn off, as shown below.

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3.6.4 Encoder Check

After setting Encoder Mode and Encoder Direction, click Set to write the set values to the
hardware.

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3.6.5 Output Test

When switching to the output test page, you will be automatically asked whether to clear
parameters such as PID and Filter. Click Yes to clear all the settings. The PID parameter of
the axis is set to 0 (Disable), and the filter parameter is set to no function (bypass). If you
select "No", no configuration is performed.

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After Servo On is selected, the part selected by the dashed red box [please add red box] in
the following figure is used to set the V-Offset value. First, select the scale size of a single
shift from scale as 1V, 0.1V or 0.003V, and then use the mouse wheel or the left and right
keyboard keys to adjust the V-Offset to an appropriate value.

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3.6.6 Auto Tuning

After the settings in sections 2.1 to 2.5 [put in correct section numbers] are complete, you
will enter the auto-tuning function, which will automatically calculate a set of appropriate PID
values according to your motion control system.

(1) Confirm whether the shaft number is correct.

(2) Select the Start Tuning button to start the tuning action (it might take some time).
(3) Adjust the vibration of the axis (Amplitude of vibration). If the vibration amplitude is too
small, the Auto-tuning program cannot calculate the PID value.
(4) Repeat steps 2 and 3 to find a set of PID values. Results are displayed in the Result
fields. Fluctuation indicates the calculation convergence (smaller is better).
(5) When the program is complete, you must click Set Final to write the PID value into the
control card and complete auto-tuning.

After completing the Setup Wizard, you can carry out a single-axis movement operation or
positioning movement operation (homing). You can also go to 3.1.1 Parameter Configuration
to view the axis parameter settings or save the parameters.

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3.7 E-GEAR
Electronic gear functions are divided into two modes: Standard and Gantry. In Standard
mode, gear ratios can be set in the master/driven shaft. The controller will output different
displacements in the master/driven shaft according to the gear ratio set. The gear ratio of the
master/driven shaft in Gantry mode is fixed at 1:1, which is suitable for situations where the
master/driven shaft needs to move at the same time and the displacement is the same, like a
gantry control system.
Click Slave or Motion in the device tree according to the coaxial card used, and then click
the Egear icon. A warning message will pop up to remind you of the things you should pay
attention to before using the electronic gear.

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Set the electronic gear.

(1) Set the axis to Standard or Gantry mode

(2) Select the spindle number and signal source
(3) Set gear ratio parameters:
In Standard mode, set Ratio and Engage Rate

Set the protection amount of Deviation in Gantry mode

Level1: Stop Move
Level2: Servo Off

(4) Write parameter values into the controller and set whether to start

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(5) Set the maximum speed and position of the spindle

(6) If it is necessary to perform reciprocating movement between two displacements, you can
select Repeat Move and set the interval Delay Time before performing the movement
operation
(7) ABS MOVE: Enter absolute position movement values
REL MOVE: Enter relative position movement values

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3.8 DIO
The number of DIO groups supported varies depending on the axis card used. Click Card
No x in the device tree, and then click the DIO Control icon to view DIO information.

To set the digital output value, click the corresponding switch.

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3.9 AIO
Different cards support different numbers of AIO groups. The analog output can be set using
reel pull or direct input voltage value.
Click Card No x in the device tree, and then click the AIO Control icon to view AIO
information.

Setting analog output values by scrolling in the field with a mouse, or by direct entering a
value, and then clicking Set.

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3.10 PDO
The Process Data (PDO) page can display the read and write exchange of a process data
object (PDO).
Click Ether Cat Axis or Ether Cat Axis IO in the device tree, and then click the PDO icon to
view process data information.

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Users can enter requirements for what the PDO needs.

 TxPDO: Salve A program data object (PDO) sent from the station. The user can fill
the offset, Value (Size is the size of the byte of Value, which will be automatically
entered into the system after filling in the offset) into the edit field and press the Write
button to write. You can also enter the offset Value for the desired value and press the
Read button to read it.
 RxPDO: Slave A program data object (PDO) received from the slave. Press the Read
button to read the offset Value of the input value to obtain the value and the
corresponding Size.

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3.11 SDO
The SDO (Process Data) page can read and write OD (Object Dictionary) data through SDO
communication to obtain the slave-specific data. SDO additionally supports parameter
configuration and status monitoring.
Click (Slave x) xxxxx xxxx in the device tree and then click the SO icon.

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The SDO Mapping Editor page has four sub-pages.

General

(1) Slave State Control: Set EtherCAT slave state.

(2) Remote Update: Update file over EtherCAT. (Contact ADLINK for details.)

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Slave PDO
Slave PDO lists the object dictionaries that the slave can operate through the PDO, using the
Read and Write buttons.

(1) Write: Input the SubModule and Index of the operation Name OD in TxPDO table,
and enter the corresponding Value by referring to Data Type Name and Bit Length,
and then click Write.
(2) Read: Input the SubModule of the operation name OD in the RxPDO table, Index
and then click Read to get its value.

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ESC Register Operation

Read and write information pages for EtherCAT Slave Controller.

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SDO Dictionary
The SDO Dictionary page lists all the service data objects the user can manipulate.

(1) Read: Enter Index and SubIndex, and click Read to display the desired Value
in the value field.
(2) Write: Enter Index, SubIndex,Value and click Write to set the desired values.

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3.12 Field module

ADLINK Slave-specific pages, depending on Slave Axis or Slave IO, have different rendering
functions.

3.12.1 ADLINK Slave Axis

To open the Field module page, click Slave x on the device tree, and then click the Field
module icon.

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Using an ECAT-4XMO, for example, the information is divided into two areas.

(1) Displays the status of each axis.

(2) Common SDO configuration support settings for an ADLINK slave.

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3.12.2 ADLINK Slave IO

Click DIO or AIO in the device tree, and then click the Field Module icon.

Using an EU-6000, for example, the information is divided into four different DIO and AIO
settings.

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3.13 Axis Info

The Axis info page monitors new or removed custom multi-axis motion states, commands,
feedback, speed, acceleration, etc. for data monitoring.
To open the multi-axis information page, click Slave x or Motion on the device tree, and then
click the Axes Info icon.

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The multi-axis information page content is as follows.

 Add Row: Add columns from multiple monitoring sources, such as Cmd_Pos,
Cmd_Vel, Fbk_Pos, Fbk_Vel and other monitoring sources.
 Del Row: Deletes the selected monitoring source column.
 Clear All: Deletes all monitoring source columns.
 Add Column: Adds a row with multiple monitoring axes. You can select the axis
number to be monitored from the drop-down list.
 Del Column: Deletes the selected monitoring axis.
 Clear All: Deletes all monitoring axes.

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3.14 Advanced Point Table

The advanced point table provides the function of two-dimensional multi-point continuous
motion planned by the user and displays the motion trajectory on the chart. The motion
content includes absolute linear motion, circular motion or relative linear motion, and circular
motion. Users can set the basic parameters of each point motion and save the file for later
use.
To open APT page, click Slave x on the device tree, and then click the APT icon.

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3.14.1 Drawing Area

The two-dimensional point movement track set by the user can be displayed in area (1). The
green line (Path Planning) is the trajectory of the control command, and the pink line (Tracer
Path) is the trajectory of the actual movement.

The drawing function (2) is set as follows:

 Path Source: Actual motion position or command position
 Axis X,Y: Selects the axis ID of the 2D motion
 Tracer Path Clear: Clears the actual path from the drawing area
 Path Redraw: Redraws the control command trajectory

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3.14.2 Configuration Area

Right-click on the Point Table List to add or delete point movements.

Click in the grid to edit the information of the motion command. For example, the position of
Point 0, Axis X, is 100000.

Right-click in an Option cell to access advanced configuration options, such as Abs (absolute
motion), Rel (relative motion), Linear (linear), Arc (Arc), etc.

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3.14.3 Operation Area

Click the Operation tab to see the following options.
(1) Use these values to monitor the command and feedback position of the two axes.
(2) Use these values to monitor the current point to which the command has been executed,
the buffer status of the point table, and which point table to select.
(3) Use these values to monitor the execution time, feeder status and buffer status of the dot
filler. Additional functions include:
 Start: Start point table motion.
 Stop: Stop point table motion.
 Pause: Pause point table motion.
 Rollback: In Pause state, use the speed set by VRback to return to the previous
motion position.
 Resume: Resume from pause.

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3.15 Manual Settings Slave ID (Manual ID)

Manual ID allows the user to set the ID of each Slave.
To open the Manual ID page, click Slave x in the device tree, and then click the Manual ID
icon.

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Information about the Manual ID includes:

 Auto Slave ID: Slave IDs that are automatically sorted from 0 to 63335 are listed in
this table.
 Manual Slave ID Source: Currently, PCI-833X is configured to read from the ESC
Configured Station Alias Register and is defined as SII. The other mode gets the
information for the ID-Selector by reading the AL Status Code defined as AL Control.
This information needs to be combined with board parameter to select different
reading modes to read ID information. For these settings, refer to the APS Function
Library manual.

 Manual Slave ID: Editable Slave ID.

 Save to Slave: Writes the configured Slave ID to the EEPROM of the Slave.
 Save to File: Saves configuration as an xml file.
 Load From File: Loads an xml file and displays it in the table.

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3.16 DSP/Kernel Performance

DSP/Kernel Performance provides the user's current EtherCAT cycle time and motion cycle
time, consumption time, and load, as well as the user's settings for changing the current
cycle time.
To open the DSP/Kernel Performance, click Card No x on the device tree, and then click the
DSP Performance or Kernel Performance icon as necessary.

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3.16.1 DSP Performance

 Spend Time: Time consumed per cycle of the current operation in nanoseconds
 Max Spend Time: Maximum time taken so far in nanoseconds
 Loading: Proportion in current cycle (work proportion) (100%)
 Max Loading: Recorded maximum DSP workload (100%)
 Overload Cnt: Cumulative number of overloading

3.16.2 Kernel Performance

 Spend Time: Actual system consume time in microseconds

 Cycle Time: Actual system cycle time in microseconds
 Max Spend Time: MCP2 estimates the system’s biggest consumption time in
microseconds
 Loading: MCP2 estimates the percentage of the system’s current computational load (%).
 Max Loading: MCP2 estimated system current maximum load percentage (%)
 Overload Cnt: Cumulative number of overloading

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3.16.3 How to set EtherCAT Cycle time

1. Select cycle time from the drop-down list.

2. Click Save To Flash.

3. Click Reboot. A pop-up window will appear.
Note: Ensure that Field Bus is disconnected before performing this operation.

4. While waiting, the function button will turn white until the system is reset.

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5. Click Card No x, and then click Axis/Board Para fast to open the page. Click Save to
Flash.

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3.17 Compare Trigger

The comparison trigger functions are divided into Linear Compare and Table Compare,
which take corresponding actions when the conditions set by the user are compared.
To open the compare trigger function page, click Slave x or Motion on different axis cards in
the device tree, and then click the CmpTrg icon.

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The comparison trigger functions are described below.

(1) Select trigger source: Selects the trigger source signal of each channel
(2) Trigger Count: Displays the number of triggered channels
(3) Reset: Clears the trigger count
Manual: Triggers the signal manually

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(4) Trigger Parameter: Compares the trigger setting parameters. Different axis cards have
different settings. Refer to the APS Function Library manual Table definition-> Trigger
parameter table for more information. This example is for ADLINK's AMP-304C, so the
corresponding manual content is shown below.

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(5) Linear Comparator Setting: [ADD CONTENT]

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(6) Table Comparator Setting: Sets the table comparator values.

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(7) Timer Setting: 計時器設定

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3.18 Latch
The position latch function allows the user to latch an instant position and then make a
corresponding signal output or motion response to the position.

To open the Latch page, click Axis x on the device tree column, then click the Latch icon.

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Latch configuration options are shown below.

(1) Latch FIFO status: Regularly updates the FIFO status of channels selected by users,
and resets and usage the status.
(2) Latch Get Point Array: Obtains the FIFO point information of the channel selected by
the user, including the location and source of the latch. When not in use, right-click to
select a single point or delete all the information.

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(3) Latch FIFO Configuration: Sets parameters related to Latch, such as latch channel
number, source, latch encoder number and latch logical conditions, etc., and can be
enabled after configuration is complete. For setting parameters, refer to the APS
Function Library manual Table definition-> Latch parameter table. This example is for
ADLINK's 4XMO, so the corresponding manual content is shown below.

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3.19 OPT Device OD

The OPT Device OD page is an extension of the SDO page. Users can choose to read and
write the Object Dictionary (OD) data of the SDO to obtain the specific data of the Slave and
monitor it.

To open the OPT Device OD, click Slave x in the device tree column, and then click the OPT
Device OD icon.

OPT Device OD function settings are shown below.

(1) +/ -OD is the SLAVE SDO that generates the selection.

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(2) The generated OD Data will be displayed under Available. Double-click a project or use
the right arrow button in the middle of the window to select the desired OD Data.

(3) The selection results display in the User Defined OD tab.

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(4) The page displays the OD information. If there is no information in the right panel, click
Write to write the OD Data.

(5) Additional functions include:

 WriteALL: Writes all OD Data at once
 Save To File: Saves user defined OD Data (*.csv format)
 Load From File: Imports custom OD Data (*.csv format)

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3.20 IO Mapping
3.20.1 Ether CAT
Use the MCP2 IO-mapping form to perform mapping and checking operations. The
maximum number of software port in slave is 32 for each IO type.

Notes:
1. Manually changing the contents of the IO mapping configuration file is not
recommended.
2. The IO mapping GUI is only available via MCP2. Users should download the
configuration file API from ADLINK. [PROVIDE DOWNLOAD LINK]
3. Configuration file can be save to "CSV" file by MCP2 IO-mapping form.
4. No need to map module that ADLINK had integrated.
Step-by-step instructions to set up IO mapping using MCP2.

Step 1: Update kernel version in C: \Program Files (x86)\ADLINK\PCIe-833x\Kernel Update.

The kernel version must be 2022050503_833x_kernel or later.

Step 2: After connecting the field bus and selecting EtherCAT IO in the tree view (1), click
the IO Mapping icon (2) to start setting up IO mapping.

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Step 2-1 (Select DIO mapping): Select the slave IO for mapping. Refer to Configurable
PDO view and input the corresponding parameters.

○
1 Select the slave IO for mapping and refer Configurable PDO view.

○
2 Select the IO type that needs to be set.

○
3 Enter SlaveID data for mapping slave IO. Fill in the corresponding SubMod No.
Refer to SubMod No. in Configurable PDO View. Fill in the starting index. Refer to
Index in Configurable PDO View.
○
4 Fill in the Access Length to define the IO-bit required by the port.
DIO mapping parameters:
- SlaveID: Mapping of slave IO.
- SubMod No.: Configurable PDO view
- Index: Access start index according to index in Configurable PDO view.
- Access Length: Access port length according to Bit Length in configurable
PDO view content.
- Maximum: 32 bits
- Minimum: 1 bit
- Port_No: Automatically generated.

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Step 2-2 (Select AIO mapping ): Select the slave IO for mapping. Refer to Configurable
PDO view and input corresponding parameters.

○
1 Select slave IO for mapping. Refer to Configurable PDO view.

○
2 Select the IO type that needs to be set.

○
3 Fill in SlaveID fill for mapping slave IO. Fill in the corresponding SubMod No. Refer
to SubMod No in Configurable PDO View. Index fills in the starting index. Refer to
Index in Configurable PDO View.
○
4 Fill in Access Length to define the IO-bit required by the port.

○
5 Fill in LowerBound physical lower limit. Fill in UpperBound physical upper limit. Fill in
Data type Representation type:
0: Unsigned integer
1: Signed integer
2: Absolute value with MSB as sign
3: Raw data)

AIO mapping parameters:

- SlaveID: Mapping of slave IO.
- SubMod No.: Configurable PDO view
- Index: Access start index according to index in configurable PDO view content.
- Access Length: Access channel length according to Bit Length in configurable
PDO view. Note: need correct length.
- LowerBound: Physical lower limit.
- UpperBound: Physical upper limit.

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- Data type: Representation type

- Type 0 (Unsigned integer)
- E.g., for 16 bits = 0 to +65535
- Type 1 (Signed integer)
- E.g., for 16 bits = -32768 to +32767
- Type 2 (Absolute value with MSB as sign)
- E.g., for 16 bits = -32767 to +32767
- Type 3 (Raw data)
- Ch_No: Automatically generated.

Step 2-3 (User Defined PDO Mapping): Adding and deleting rows can be done with two
methods:
1. Right-click on the table.

2. Use the keyboard to Add (Ctrl+Enter), or Delete (Ctrl+Delete).

Hint: Move the mouse over the table and a hint will appear.

User Defiend DIO mapping hint

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User Defiend AIO mapping hint

Step 3: Click Apply Mapping. The Configurable PDO view will show the mapping results.
The tree view will show the software defined Port No. or Channel No.

DIO mapping showing software defined Port No.

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AIO mapping showing software defined Channel No.

Step 4: Selecting a software defined Port No. in tree view will enable the Field Module icon.
Click Field Module to start DO/DI port control (default 32 DO/DI view). DO/DI control bits
follow the user-defined length. An error code is returned if the DIO bits controlled by the user
settings are exceeded.

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Selecting a software defined Channel No. in tree view will enable the Field Module icon.
Click Field Module to start AO/AI channel control (default 1 channel).

Save/Load file and apply mapping instructions

Step 1: Click Save to File to export the IO map data to a file.

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Step 2: Click Load from file to import and check the file contents.

3.20.2 ProFiNet
The Motion IO of the ProFiNet Slave Device uses the Slave IO as the Mapping. Therefore,
I/O mapping is required for its corresponding Motion IO.

To open the IO Mapping page, click "Card No x" in the device tree column, and then click
the IO Mapping icon.

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ProFiNet IO Mapping is divided into two tabs.

 Device IOMapping: maps the desired Axis Motion IO to the Device DI and sets it to
the ProFiNet card.

(1) Set the Device DI mapping to Axis Motion IO table.

(2) Set to Card: Set values to the ProFiNet card.
Save To File: Writes parameters to a specified file (*csv).
Load From File: Reads parameters from the specified file to the page display (*csv).

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 Trigger Mapping: maps the required Trigger Output to the Device DO and sets it to the
ProFiNet card.

(1) Set the Device DO mapping to the Trigger Output table.

(2) Set to Card: Sets values to the ProFiNet card.
Save To File: Writes parameters to a specified file (*csv).
Load From File: Reads parameters from the specified file to the page display (*csv).

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3.21 CST Mode

In Cyclic Synchronous Torque (CST) mode, the trace generator is located in the control unit
instead of the servo drive. It provides the target torque to the drive device in a cyclic and
synchronous manner, and the drive device performs torque control.
To open the CST Mode page, click Axis x on the device tree column, and then click the CST
Mode icon.

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CST Mode options are shown below.

(1) CST Mode parameter setting and selection.

1. Option Initial Torque Pattern: Select (user \ actual Torque) to set the initial
torque value when switching to CST mode.
2. Option Target Torque Time Pattern: Select Slope\reach time mode and
parameters to achieve the target torque.
3. Set Torque Parameter: Torque Stop time value in milliseconds.

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(2) Motion control

1. Torque Move: Torque command parameter setting.

2. Stop Button: STOP decreases the torque to 0 according to the set value of
torque Stop time. The relevant settings are located in the axis parameters.
EMG STOP indicates the immediate stop mode.

(3) Status display area: Displays target torque value, actual torque value and feedback
position.

(4) CSP/CST Mode selection and setting: Switches mode setting.

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3.22 Compensation
Compensation provides 1D and 2D motion compensation table settings and can export files.
To open the Compensation page, click Slave x on the device tree column, and then click the
Compensation icon.

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1D Compensation

(1) Setting parameters

 Compensation Axis: The axis that sets compensation
 Compensation Type: Linear or Constant
 Total Points: How many points are compensated
 Start Position: Compensation starting point
 Interval: Compensation for point spacing
(2) Input compensation amount
(3) Other functions
 Set Table: Sets table after compensation parameters are configured
 Disable/Enable: Enables compensation
 Data Export: Stores compensated data (*csv)
 Data Import: Compensation data import (*csv)

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2D Compensation

(1) Setting parameters

 Compensation Axis: An axis that sets 2D compensation
 Total Points: How many points are compensated in 2D
 Start Position: 2D compensation starting point
 Interval: Compensating for point spacing
(2) Input 2D compensation
(3) Other functions
 Set Table: Sets table after compensation parameters are configured
 Disable/Enable: Enables compensation
 Data Export: Stores 2D compensation data (*csv)
 Data Import: 2D compensation data import (*csv)
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3.23 Connect Quality

The Connect Quality page is used to monitor the connection quality and confirm the Slave
connection quality.
To open the Connect Quality page, click EtherCAT Axis or EtherCAT IO on the device tree,
then click the Connect Quality icon.

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3.22.1 Connection Quality

(1) Monitor Condition Configuration: Checks the quality monitoring parameters and
update rate.
(2) Quality Definition: Connection quality level classification.
(3) Quality status monitoring.

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3.22.2 State Control

(1) EtherCAT Master current status.

(2) Slave State Control: EtherCAT Slave current status and switching setting options.

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