TIP102-TM-xx - systerra computer GmbH

The Embedded I/O Company
TIP102
Motion Controller with
Incremental Encoder Interface
Version 1.1
User Manual
Issue 1.8
February 2007
D75102800
TEWS TECHNOLOGIES GmbH
Am Bahnhof 7
Phone: +49-(0)4101-4058-0
25469 Halstenbek, Germany
Fax: +49-(0)4101-4058-19
www.tews.com
e-mail: info@tews.com
TEWS TECHNOLOGIES LLC
9190 Double Diamond Parkway,
Suite 127, Reno, NV 89521, USA
www.tews.com
Phone: +1 (775) 850 5830
Fax: +1 (775) 201 0347
e-mail: usasales@tews.com
TIP102-1x
One axis motion controller incremental encoder
interface
TIP102-2x
Two axes motion controller incremental encoder
interface
TIP102-TM-10
Transition Module for TIP102-1x
Isolated 24V digital I/O
TIP102-TM-11
Transition Module for TIP102-1x
Isolated 24V digital I/O, encoder
This document contains information, which is
proprietary to TEWS TECHNOLOGIES GmbH. Any
reproduction without written permission is forbidden.
TEWS TECHNOLOGIES GmbH has made any
effort to ensure that this manual is accurate and
complete. However TEWS TECHNOLOGIES GmbH
reserves the right to change the product described
in this document at any time without notice.
TEWS TECHNOLOGIES GmbH is not liable for any
damage arising out of the application or use of the
device described herein.
Style Conventions
Hexadecimal characters are specified with prefix 0x,
i.e. 0x029E (that means hexadecimal value 029E).
TIP102-TM-12
Transition Module for TIP102-1x
Isolated 24V digital I/O, encoder, analog out
For signals on hardware products, an ‚Active Low’ is
represented by the signal name with # following, i.e.
IP_RESET#.
TIP102-TM-13
Transition Module for TIP102-1x
Isolated 24V digital I/O, encoder, analog in & out
Access terms are described as:
W
Write Only
TIP102-TM-20
R
Read Only
R/W
Read/Write
Transition Module for TIP102-2x
Isolated 24V digital I/O
TIP102-TM-21
R/C
Read/Clear
R/S
Read/Set
Transition Module for TIP102-2x
Isolated 24V digital I/O, encoder
1994-2007 by TEWS TECHNOLOGIES GmbH
TIP102-TM-22
All trademarks mentioned are property of their respective owners.
Transition Module for TIP102-2x
Isolated 24V digital I/O, encoder, analog out
TIP102-TM-23
Transition Module for TIP102-2x
Isolated 24V digital I/O, encoder, analog in & out
TIP102 User Manual Issue 1.8
Page 2 of 31
Issue
Description
Date
1.0
First Issue
April 1994
1.1
Extended
December 1994
1.2
Technical Specification
April 1996
1.3
General Revision
October 2003
1.4
Add ID PROM contents for version 1.1
September 2004
1.5
Additional note for ADC conversion
October 2004
1.6
More detailed description of the various I/O signals
October 2005
1.7
New address TEWS LLC
September 2006
1.8
Signal Polarity Clarification in Pin Assignment Tables
February 2007
TIP102 User Manual Issue 1.8
Page 3 of 31
Table of Contents
1
2
PRODUCT DESCRIPTION........................................................................................... 6
TECHNICAL SPECIFICATION .................................................................................... 7
2.1
2.2
3
4
TIP102-xx .........................................................................................................................................7
Transition Module TIP102-TM-xx...................................................................................................8
ID PROM CONTENTS.................................................................................................. 9
IP ADDRESSING ....................................................................................................... 10
4.1
4.2
4.3
4.4
I/O Addressing...............................................................................................................................10
Input and Status Register (INPSR) ..............................................................................................11
Output Control Register (OUTCR)...............................................................................................13
Counter Data Register (CNTDA) ..................................................................................................13
4.4.1 Reading Counter Data........................................................................................................13
4.4.2 Writing Counter Data ..........................................................................................................13
4.5 Counter Control and Status Register (CNTCS)..........................................................................14
4.5.1 Master Control Register (MCR) ..........................................................................................14
4.5.2 Input Control Register (ICR) ...............................................................................................15
4.5.3 Output Control Register (OCCR)........................................................................................16
4.5.4 Quadrature Register (QR) ..................................................................................................16
4.5.5 Output Status Register (OSR) ............................................................................................17
4.6 DAC Data Register (DACDA)........................................................................................................17
4.7 ADC Control and Status Register (ADCCS) ...............................................................................18
4.8 ADC Data Register (ADCDA)........................................................................................................18
4.9 Configuration Control Register (CONCR)...................................................................................19
4.10 Interrupt Vector Register (INTVEC) .............................................................................................20
5
FUNCTIONAL DESCRIPTION ................................................................................... 21
5.1
5.2
6
PROGRAMMING HINTS ............................................................................................ 23
6.1
7
LS7166 Counter Chip....................................................................................................................23
6.1.1 Initialization .........................................................................................................................23
6.1.2 Reading actual counter data value .....................................................................................23
JUMPER CONFIGURATIONS ................................................................................... 25
7.1
7.2
8
Reference Logic ............................................................................................................................21
5.1.1 Reference Mode - without reference switch .......................................................................21
5.1.2 Reference Mode - with reference switch ............................................................................22
External Trigger Input...................................................................................................................22
TIP102-xx IP ...................................................................................................................................25
TIP102-TM-xx Transition Module.................................................................................................25
7.2.1 Trigger I/O Jumper Configuration .......................................................................................25
7.2.2 Encoder Input Jumper Configuration..................................................................................25
7.2.3 TIP102-TM-xx Jumper Layout ............................................................................................26
PIN ASSIGNMENT – I/O CONNECTOR .................................................................... 27
8.1
8.2
I/O Connection of TIP102-xx ........................................................................................................27
8.1.1 50 pin IP I/O Connector ......................................................................................................27
Transition Module I/O Connectors (TIP102-TM-xx) ...................................................................28
8.2.1 X101/X201 - DB9 female - Servo Amplifier Signals ...........................................................28
8.2.2 X102/X202 - DB15 male - Power and I/O Signals..............................................................29
8.2.3 X103/X203 - DB15 female - Encoder Signals ....................................................................31
TIP102 User Manual Issue 1.8
Page 4 of 31
Table of Figures
FIGURE 1-1 : BLOCK DIAGRAM......................................................................................................................6
FIGURE 2-1 : TECHNICAL SPECIFICATION TIP102-XX................................................................................7
FIGURE 2-2 : TECHNICAL SPECIFICATION TIP102-TM-XX .........................................................................8
FIGURE 3-1 : TIP102 V1.0 - ID PROM CONTENTS ........................................................................................9
FIGURE 3-2 : TIP102 V1.1 - ID PROM CONTENTS ........................................................................................9
FIGURE 4-1 : REGISTER SET TIP102-1X .....................................................................................................10
FIGURE 4-2 : REGISTER SET TIP102-2X .....................................................................................................10
FIGURE 4-3 : INPUT AND STATUS REGISTER (INPSR) .............................................................................12
FIGURE 4-4 : OUTPUT CONTROL REGISTER (OUTCR) ............................................................................13
FIGURE 4-5 : COUNTER MASTER CONTROL REGISTER (MCR) ..............................................................14
FIGURE 4-6 : COUNTER INPUT CONTROL REGISTER (ICR) ....................................................................15
FIGURE 4-7 : COUNTER OUTPUT CONTROL REGISTER (OCCR)............................................................16
FIGURE 4-8 : QUADRATURE REGISTER (QR) ............................................................................................16
FIGURE 4-9 : OUTPUT STATUS REGISTER (OSR).....................................................................................17
FIGURE 4-10: DAC DATA REGISTER (DACDA) ...........................................................................................17
FIGURE 4-11: ADC CONTROL AND STATUS REGISTER (ADCCS) ...........................................................18
FIGURE 4-12: ADC DATA REGISTER (ADCDA) ...........................................................................................18
FIGURE 4-13: CONFIGURATION CONTROL REGISTER (CONCR)............................................................19
FIGURE 4-14: INTERRUPT VECTOR REGISTER (INTVEC)........................................................................20
FIGURE 5-1 : STATE DIAGRAM – REFERENCE WITH REFERENCE SWITCH .........................................22
FIGURE 7-1 : JUMPER J1 (J200) CONFIGURATION FOR TRIGGER INPUT AND OUTPUT .....................25
FIGURE 7-2 : JUMPER J1 (J200) CONFIGURATION FOR TRIGGER OUTPUT .........................................26
FIGURE 8-1 : 50 PIN IP I/O CONNECTOR TIP102-XX .................................................................................27
FIGURE 8-2 : X101/X201 - DB9 FEMALE - SERVO AMPLIFIER SIGNALS .................................................28
FIGURE 8-3 : X102/X202 - DB15 MALE - POWER AND I/O SIGNALS.........................................................30
FIGURE 8-4 : X103/X203 - DB15 FEMALE - ENCODER SIGNALS ..............................................................31
TIP102 User Manual Issue 1.8
Page 5 of 31
1 Product Description
The TIP102 family are IndustryPack® compatible modules with complete one or two axes high
precision motion control interfaces, using incremental encoder with RS422 or TTL signal level for
position feedback. The transition module TIP102-TM-xx is required for the signal conditioning and
optional galvanically isolation of the various input and output signals.
The position feedback is provided by an incremental encoder interface and a 24 bit up/down counter.
The level of the encoder signals can be TTL or RS422. Optionally the encoder signals can be isolated
on the transition module by high speed optocoupler. The encoder signals pass a digital filter for noise
suppression before they are fed into the counter and the reference logic. The counter is programmable
for single, double and quadruple analysis of the encoder two phase signals.
Calibration of the position feedback to an absolute reference point is done by programmable reference
logic. Several modes of operation and hardware configurations for the reference switch and the
encoder zero pulse are selectable. During normal operation the automatic recalibration of the
measurement system is practicable with the “auto reference” mode, whenever the system passes the
reference location.
Two isolated 24V DC digital inputs have limit switch functionality. Each of these inputs drives a floating
optocoupler output as hardware feedback. These outputs can be used to disable the power on the
motor power amplifier, dependent on the actual direction. One additional isolated 24V digital input is
for free use by the software, for example as emergency stop input. A floating optical output can be
controlled by software, for example as enable signal for the motor power amplifier.
A 16 bit digital to analog converter (DAC) produces a +/-10V controller output signal which can be
used as speed or torque source for the power amplifier of the motor drive system. A galvanically
isolation of this signal with the help of an isolation amplifier will be supplied as a transition module
option.
A 12 bit analog to digital converter (ADC) with a configurable input voltage range is also available.
Figure 1-1 : Block Diagram
TIP102 User Manual Issue 1.8
Page 6 of 31
2 Technical Specification
2.1 TIP102-xx
Interface
Single Size IndustryPack Logic Interface compliant to
ANSI/VITA 4-1995
ID ROM Data
Format I
I/O Space
Used without wait states
Memory Space
Not used
Interrupts
Interrupt 1 (IP signal INTREQ0#) for axis 1
Interrupt 2 (IP signal INTREQ1#) for axis 2
DMA
Not supported
Clock Rate
8 MHz
Module Type
Type I
Number of Axes
TIP102-1x: 1 axis
TIP102-2x: 2 axes
Encoder Interface
Incremental encoder interface with 24 bit up/down counter
Input Count Frequency
Up to 1.2 MHz
Analog Input
1 ADC per axis, 12 bit, 10µs, input voltage +/-10V
Analog Input Overvoltage
Protection up to 25Vpp
Analog Output
1 DAC per axis, 16 bit, output voltage +/-10V
Analog Output Current
+/-5mA
Digital Inputs
5 inputs per axis TTL level
Digital Outputs
2 outputs per axis TTL level
External Trigger
TTL input and TTL output
Interface Connector
50-conductor flat cable
Power Requirements
50mA typical @ +5V DC
Temperature Range
Operating
Storage
MTBF
TIP102-1x : 698000 h
TIP102-2x : 561000 h
Humidity
5 – 95 % non-condensing
Weight
30 g
Transition Module
TIP102-TM-xx is required, provides signal conditioning and
optional isolation of digital and analog I/O signals
0° C to +70 °C
-45°C to +125°C
Figure 2-1 : Technical Specification TIP102-xx
TIP102 User Manual Issue 1.8
Page 7 of 31
2.2 Transition Module TIP102-TM-xx
Board Data
Size
1 VME slot (6U)
Number of Axes
1 axis for TIP102-1x
2 axes for TIP102-2x
Encoder Interface
Signal level TTL or RS422 optional galvanically isolated
Analog Input
1 input per axis, input voltage +/-10V optional isolated (ADC
on TIP102)
Analog Input Overvoltage
Overvoltage protection
up to 100Vpp with galvanic isolation
up to 12Vpp without galvanic isolation
Analog Output
1 output per axis, overvoltage +/-10V optional isolated
(DAC device is located on TIP102)
Analog Output Current
+/-20mA with galvanically isolation
+/-50mA without galvanically isolation
Digital Inputs per Axis
(isolated)
General purpose input 24V DC
Reference switch input 24V DC
Limit switch 1 control input 24V DC
Limit switch 2 control input 24V DC
Encoder error input TTL (low active)
Digital Outputs per Axis
(isolated)
Enable output 24V DC
(+ “in position” LED indication)
Digital Outputs directly
driven from Inputs per Axis
(isolated)
Limit_Switch_1 Output 24V DC
Limit_Switch_2 Output 24V DC
External Trigger
1 isolated TTL I/O per axis (jumper selectable input or output)
24V Output Load
Max. 1000 ohm
Physical data
Power Requirements
TIP102-TM-1x : 100mA typical @ +5V DC (without load),
<60mA typical @ ±12V DC (without load)
TIP102-TM-2x : 180mA typical @ +5V DC (without load),
<90mA typical @ ±12V DC (without load)
Temperature Range
Operating
Storage
MTBF
TIP102-TM-10: 1271000 h, TIP102-TM-11: 759000 h
TIP102-TM-12: 1091000 h, TIP102-TM-13: 644000 h
TIP102-TM-20: 867000 h, TIP102-TM-21: 488000 h
TIP102-TM-22: 785000 h, TIP102-TM-23: 436000 h
Humidity
5 – 95 % non-condensing
Weight
TIP102-TM-1x : min. 150g
TIP102-TM-2x : max. 250g
0° C to +70 °C
-45°C to +125°C
Figure 2-2 : Technical Specification TIP102-TM-xx
TIP102 User Manual Issue 1.8
Page 8 of 31
3 ID PROM Contents
Address
Function
Contents
0x01
ASCII ‘I’
0x49
0x03
ASCII ‘P’
0x50
0x05
ASCII ‘A’
0x41
0x07
ASCII ‘C’
0x43
0x09
Manufacturer ID
0xB3
0x0B
Model Number
0x0D
Revision
0x10
0x0F
Reserved
0x00
0x11
Driver-ID Low - Byte
0x00
0x13
Driver-ID High - Byte
0x00
0x15
Number of bytes used
0x0C
0x17
CRC
TIP102-1x: 0x0A
TIP102-2x: 0x0B
TIP102-1x: 0x3E
TIP102-2x: 0x5F
Figure 3-1 : TIP102 V1.0 - ID PROM Contents
Address
Function
Contents
0x01
ASCII ‘I’
0x49
0x03
ASCII ‘P’
0x50
0x05
ASCII ‘A’
0x41
0x07
ASCII ‘C’
0x43
0x09
Manufacturer ID
0xB3
0x0B
Model Number
0x0D
Revision
0x11
0x0F
Reserved
0x00
0x11
Driver-ID Low - Byte
0x00
0x13
Driver-ID High - Byte
0x00
0x15
Number of bytes used
0x0C
0x17
CRC
TIP102-1x: 0x0A
TIP102-2x: 0x0B
TIP102-1x: 0x9E
TIP102-2x: 0xFF
Figure 3-2 : TIP102 V1.1 - ID PROM Contents
TIP102 V1.1 uses an FPGA instead of a PLD. TIP102 V1.1 is 100% pin and function compatible
with V1.0.
TIP102 User Manual Issue 1.8
Page 9 of 31
4 IP Addressing
4.1 I/O Addressing
The complete register set of the TIP102 is accessible in the I/O space of the IP.
Address
Symbol
Description
Size (Bit)
Access
0x01
INPSR1
Input / Status Register
8
R/C
0x03
OUTCR1
Output Control Register
8
R/W
0x05
CNTDA1
Counter Data Register
8
R/W
0x07
CNTCS1
Counter Control / Status Register
8
R/W
0x08
DACDA1
DAC Data Register
16
W
0x0B
ADCCS1
ADC Control / Status Register
8
R/W
0x0C
ADCDA1
ADC Data Register
16
R
0x0F
CONCR1
Configuration Control Register
8
W
0x3F
INTVEC
Interrupt Vector Register
8
R/W
Figure 4-1 : Register Set TIP102-1x
On the TIP102-2x two axes motion controller the second axis can be accessed through a second set
of Control and Status Registers. Only the INTVEC Interrupt Vector Register is shared between both
axes.
Address
Symbol
Description
Size (Bit)
Access
0x21
INPSR2
Input / Status Register
8
R/C
0x23
OUTCR2
Output Control Register
8
R/W
0x25
CNTDA2
Counter Data Register
8
R/W
0x27
CNTCS2
Counter Control / Status Register
8
R/W
0x28
DACDA2
DAC Data Register
16
W
0x2B
ADCCS2
ADC Control / Status Register
8
R/W
0x2C
ADCDA2
ADC Data Register
16
R
0x2F
CONCR2
Configuration Control Register
8
W
Figure 4-2 : Register Set TIP102-2x
TIP102 User Manual Issue 1.8
Page 10 of 31
4.2 Input and Status Register (INPSR)
The Input and Status Register INPSR1 (INPSR2) holds the actual status of all digital input lines and
the status of the internal control logic.
Access
Reset
Value
Interrupt Status
1 = corresponding axis has generated an interrupt request. It
must be reset under software control by writing ‘1’ to this
bit.
Bit is automatically cleared with the IP_RESET signal.
R/C
0
Refer.
Done
Status of Reference Logic, used to calibrate the counter to a
reference position
1 = reference function, which was started with a
corresponding command in the Configuration Control
Register (CONCR1/CONCR2), has completed
successfully or the external trigger event has occurred
(see also chapter of “Configuration Control Register”).
Flag must be cleared with corresponding writing to the
CONCR1/CONCR2. This bit is automatically cleared with the
IP_RESET signal.
R/C
0
5
Encoder
Error
Latched Encoder Error Status
1= error in the timing of the encoder phase signals has
occurred or the encoder itself has reported an error. The
source of this flag is the error detection logic within the
digital filter for the encoder phase signals or the input of
the encoder signal ENC_ERROR. It must be reset under
software control by writing ‘1’ to this bit.
Bit is automatically cleared with the IP_RESET signal.
R/C
0
4
General
Input
General Purpose Input
1 = input is active
0 = input is not active
This status bit corresponds to the General_Purpose input (Pin
5) on the X102/202 connector of the TIP102-TM transition
module.
R
3
Trigger
Input
External Trigger Input
1 = trigger input is active
0 = trigger input is not active
This bit reflects the state of the external Trigger output switch
(Pins 6 & 14) on the X102/202 connector of the TIP102-TM
transition module.
The bidirectional Trigger I/O signal must be configured as
input when this bit is going to be used.
The transition module TIP102-TM-xx has one set of isolated
trigger I/O signals, which are jumper configurable as trigger
input or trigger output (see chapter “Trigger I/O Jumper
Configuration”).
R
2
Ref
Switch
Reference Input (could also be used as another general
purpose input)
R
Bit
Symbol
Description
7
Interrupt
Status
6
TIP102 User Manual Issue 1.8
Page 11 of 31
Bit
Symbol
Description
Access
Reset
Value
1 = input is active
0 = input is not active
This status bit corresponds to the Reference input (Pin 12) on
the X102/202 connector of the TIP102-TM transition module.
1
High
Limit
High Limit Switch Control Input
1 = switch is activated
0 = switch is not activated
This status bit corresponds to the Limit_Switch_2_Control
input (Pin 4) on the X102/202 connector of the TIP102-TM
transition module.
R
0
Low
Limit
Low Limit Switch Control Input
1 = switch is activated
0 = switch is not activated
This status bit corresponds to the Limit_Switch_1_Control
input (Pin 11) on the X102/202 connector of the TIP102-TM
transition module.
R
Figure 4-3 : Input and Status Register (INPSR)
TIP102 User Manual Issue 1.8
Page 12 of 31
4.3 Output Control Register (OUTCR)
The Output Control Register OUTCR1 (OUTCR2) controls the status of some output signals.
Bit
Symbol
Description
Access
7:2
Not used
1
Status LED
Bit controls the status of a LED located on the transition
module. It can be read and written by software.
This bit is automatically cleared with the IP_RESET signal.
R/W
0
Servo Amplifier Enable
Bit controls the status of a floating optocoupler output which is
normally connected to the enable input of the servo amplifier
of the motor drive system. It can be read and written by
software.
This bit is automatically cleared with the IP_RESET signal.
R/W
Figure 4-4 : Output Control Register (OUTCR)
4.4 Counter Data Register (CNTDA)
The Counter Data Register CNTDA1 (CNTDA2) is the data I/O port to the LS7166 counter chip. It is
used to the read counter position or to write a preset value. Because the LS7166 is a 24 bit counter,
and the Data Register is only 8 bit wide, each data transfer needs three read or write cycles in
sequence.
4.4.1 Reading Counter Data
The 24 bit data value of the counter can only be accessed through a 24 bit Output Latch (OL) internal
the LS7166. The data is latched into the OL under software control by setting bit 1 in the counter MCR
register to ’1’ (see chapter “Master Control Register”) or by an external hardware signal (see chapter
“External Trigger Input”). After that the data can be read through the CNTDA1 (CNTDA2) in three
cycles in sequence. The transfer is least significant byte first, most significant byte last.
The access to the three data bytes within the Output Latch (OL) is controlled by an internal
address pointer, which is automatically incremented with each read cycle. This pointer should
be reset directly prior the three read cycles by setting bit 0 in the counter MCR register (see
chapter “Master Control Register”).
4.4.2 Writing Counter Data
The 24 bit counter can be loaded from a 24 bit Preset Register (PR) internal the LS7166. The preset
data has to be written to the PR through the CNTDA1 (CNTDA2) in three cycles in sequence. The
transfer is least significant byte first, most significant byte last. The data is then transferred to the
counter under software control by setting bit 3 in the counter MCR register to ’1’ (see chapter “Master
Control Register”), by the reference logic (see chapter “Reference Logic”) or by an external hardware
signal (see chapter “External Trigger Input”).
TIP102 User Manual Issue 1.8
Page 13 of 31
The access to the three data byte within the Output Latch (OL) is controlled by an internal
address pointer, which is automatically incremented with each read cycle. This pointer should
be reset directly prior the three read cycles by setting bit 0 in the counter MCR register (see
chapter “Master Control Register”).
4.5 Counter Control and Status Register (CNTCS)
4.5.1 Master Control Register (MCR)
A write to the Counter Control and Status Register CNTCS1 (CNTCS2) with bit 6 = ‘0’ and bit 7 = ‘0’
will be a write to the Master Control Register of the LS7166 counter chip.
Bit
Symbol
Description
Access
7
Write ‘0’
W
6
Write ‘0’
W
5
Master Reset
1 = perform a master reset on the LS7166 counter chip and
put it into initial state
W
4
Reset COMPT
1 = clear the compare toggle flag COMPT
W
3
Transfer PR to CNTR
1 = transfer the previously loaded 24 bit data value into the
counter (CNTR)
W
2
Reset of CNTR, BWT, CYT, Set Sign Register
1 = set the counter (CNTR) data value to zero, clear the
borrow and carry toggle flag and set the sign bit.
W
1
Transfer CNTR to OL
1 = latch the current 24 bit value of the counter (CNTR) into
the OL register of the LS7166 counter chip for subsequent
read-out. This bit can be combined with bit 0 to reset the
OL address pointer at the same time.
W
0
Reset PR/OL address pointer
1 = reset the internal PR/OL address pointer of the LS7166
counter chip, which is used during reads and writes to the
CNTDA1/CNTDA2 register to access the three bytes
forming the 24 bit data word.
W
Figure 4-5 : Counter Master Control Register (MCR)
TIP102 User Manual Issue 1.8
Page 14 of 31
4.5.2 Input Control Register (ICR)
A write to the Counter Control and Status Register CNTCS1 (CNTCS2) with bit 6 = ‘1’ and bit 7 = ‘0’
will be a write to the Input Control Register of the LS7166 counter chip.
Bit
Symbol
Description
Access
7
Write ‘0’
W
6
Write ‘1’
W
5
Configuration LCTR/LLTC pin of the LS7166
1 = event will latch the actual counter data value into the OL
register.
0 = event (reference or external trigger) will load the counter
with the contents of the PR register.
On the TIP102 this pin is controlled by the reference and
external trigger logic (see chapter “Functional Description”).
W
4
Configuration ABGT/RCTR
Bit must always be set to ‘0’ for the operation of the TIP102-xx
W
3
A/B Input Enable
1 = enable A and B counter inputs
0 = disable all counting functions
For standard motion controller application of the TIP102
the counter should be always enabled.
W
2
Decrement Counter
1 = decrement the counter data value by one
W
1
Increment Counter
1 = increment the counter data value by one
W
0
A/B Input Mode
1 = define A as count input and B as count direction input with
B=’0’ for up and B=’1’ for down
0 = define A as up count input and B as down count input
In a standard motion controller application the TIP102 will
operate with an incremental encoder and the counter chip
LS7166 programmed to quadrature mode by configuring
the QR register (see chapter “Quadrature Register”). In
this case the A/B input mode bit has no function.
W
Figure 4-6 : Counter Input Control Register (ICR)
TIP102 User Manual Issue 1.8
Page 15 of 31
4.5.3 Output Control Register (OCCR)
A write to the Counter Control and Status Register CNTCS1 (CNTCS2) with bit 6 = ‘0’ and bit 7 = ‘1’
will be a write to the Output Control Register of the LS7166 counter chip.
For the standard motion controller application of the TIP102 the bits 1 to 3 of this register must
be always programmed as ‘0’.
Bit
Symbol
Description
Access
7
Write ‘1’
W
6
Write ‘0’
W
5:4
Input Trigger mode
On TIP102 the output pin 16 of the LS7166 counter chip can
be used for interrupt or output trigger impulse generation.
00 = CY# signal (carry)
01 = CYT signal (carry toggle flip flop)
10 = CY signal (carry)
11 = COMP# signal (compare)
W
3:1
Normal count mode
W
0
Binary / BCD mode
1 = BCD mode
0 = binary mode, should be the normal case
W
Figure 4-7 : Counter Output Control Register (OCCR)
4.5.4 Quadrature Register (QR)
A write to the Counter Control and Status Register CNTCS1 (CNTCS2) with bit 6 = ‘1’ and bit 7 = ‘1’
will be a write to the Quadrature Register of the LS7166 counter chip.
Because the TIP102 was designed to decode quadrature signals of encoders, one of the modes
X1, X2 or X4 must be selected for standard operation of the module. Bit 2 to 5 are don’t cares.
Bit
Symbol
Description
Access
7
Write ‘1’
W
6
Write ‘1’
W
5:2
Don’t care bits
1:0
Quadrature mode, will put the LS7166 counter chip in
quadrature counting mode
Depending on the mode X1, X2 or X4 the counter data values
have 1, 2 or 4 times the resolution of the encoder.
W
Figure 4-8 : Quadrature Register (QR)
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4.5.5 Output Status Register (OSR)
A read of the Counter Control and Status Register CNTCS1 (CNTCS2) will be a read of the Output
Status Register of the LS7166 counter chip.
Bit
Symbol
Description
Access
7:5
Not used
-
4
UP / DOWN - Count direction indicator in quadrature mode.
0 = when counting down
1 = when counting up
R
3
Sign Bit
0 = when CNTR underflow
1 = when CNTR overflow
R
2
Compare Toggle Flip-Flop, toggles every time CNTR equals
PR.
R
1
Carry Toggle Flip-Flop, toggles every time CNTR overflows
generating a carry.
R
0
Borrow Toggle Flip-Flop, toggles every time CNTR underflows
generating a borrow.
R
Figure 4-9 : Output Status Register (OSR)
4.6 DAC Data Register (DACDA)
The DAC Data Register DACDA1 (DACDA2) is the write only data register for the ±10V controller
output signal of the TIP102. The 2’s complement value written into this register is converted to the
corresponding output voltage with a range of ±10V.
Bit
Symbol
Description
15
S
16 bit DAC data in 2’s complement
Only 16 bit access is supported for this register. A read to this
register will return random data.
14:0
Access
W
Figure 4-10: DAC Data Register (DACDA)
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4.7 ADC Control and Status Register (ADCCS)
The ADC Control and Status Register ADCCS1 (ADCCS2) controls the function of the 12 bit ADC. A
data conversion is started by a write cycle to the ADCCS1 (ADCCS2). However the data value of this
write is a don’t care.
As long as the ADC is busy converting the bit 0 of the ADCCS1 (ADCCS2) will read as ’1’.
Bit
Symbol
Access
These unused bits may be in a random state when reading
this register.
7:1
0
Description
ADC
Busy
ADC Busy
1 = ADC is busy
R/W
Figure 4-11: ADC Control and Status Register (ADCCS)
The unused bits 1 to 7 may be in a random state ’0’ or ’1’ when reading the ADC Control and
Status Register ADCCS1 (ADCCS2).
After power up the ADC is in a random state and requires two dummy conversions before
operating correctly. This is based on the chip design of the ADC. All drivers from TEWS
TECHNOLOGIES already include these two dummy conversions.
4.8 ADC Data Register (ADCDA)
The ADC Data Register ADCDA1 (ADCDA2) holds the conversion result of the 12 bit ADC. It is left
shifted by the hardware, that the software reads a 16 bit 2’s complement value.
Bit
Symbol
Description
15
Sign
12 bit ADC Data in 2’s complement, shifted to register bits
15:4. Bits 3:0 are always read as 0.
Only 16 bit access is supported for this register.
14:4
3:0
Access
R
Figure 4-12: ADC Data Register (ADCDA)
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4.9 Configuration Control Register (CONCR)
The Configuration Control Register CONCR1 (CONCR2) controls the operation mode of the reference
logic, the encoder configuration and interrupt generation.
Writing to this register will clear the reference done flag (bit 6) in the Input and Status Register
INPSR1 (INPSR2). The unused bits 5 to 7 may be in a random state ’0’ or ’1’ when reading the
Configuration Control Register CONCR1 (CONCR2).
Bit
Symbol
Description
Access
7:5
Not used
4
Interrupt Enable
1 = a transition on the CY output of the LS7166 counter chip
will generate an interrupt. For more details see LS7166 data
sheet, which is part of the TIP102-ED Engineering
Documentation.
W
3
Encoder Difference Signal
1 = enables the analysis of the differential phase signal of a
RS422 encoder in the digital filter. In this mode broken
encoder wire will be detected and the Encoder Error Status
will be set in the Input and Status Register if such an error
occurs.
This function requires a transition module with the
isolated encoder input option.
This bit is automatically cleared with the IP_RESET signal.
W
2
Auto Reference Enable
1 = enable
This will automatically repeat the selected function of the
reference logic and external trigger (bit 0 and bit 1). More
information see chapter “Functional Description”.
This bit is automatically cleared with the IP_RESET signal.
W
1:0
Reference Mode
00 = None - reference logic is disabled
01 = Without reference switch - zero signal of the encoder will
trigger the load counter input of the LS7166 counter chip.
10 = With reference switch - zero signal of the encoder is
combined with the reference switch input to produce the
load counter signal for the LS7166 counter chip.
11 = External trigger - external input signal will generate the
load counter pulse to the LS7166 counter chip.
More information see chapter “Reference Logic”.
These bits will be cleared automatically, when the reference
condition or external trigger occurs and bit 2 is not set. These
bits are also automatically cleared with the IP_RESET signal.
W
Figure 4-13: Configuration Control Register (CONCR)
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4.10 Interrupt Vector Register (INTVEC)
The Interrupt Vector Register INTVEC is a byte wide read/write register. It is shared between both
axes, but both axes will create an individual interrupt.
For an interrupt from axis # 1 bit 0 of the interrupt vector will read as ’0’, for an interrupt from axis #2 it
will read as ’1’. If the Interrupt Vector Register is for example loaded with ’0x60’, axis # 1 will create an
interrupt at vector ’0x60’ and axis # 2 will create an interrupt at vector ’0x61’.
Bit
Symbol
Description
Access
7:1
Interrupt Vector loaded by software
R/W
0
Interrupt from Axes 1 or 2
1 = interrupt from axis 2
0 = interrupt from axis 1
Example: If this register loaded with 0x60, axis 1 will create an
interrupt at vector 0x60 and axis 2 will create an interrupt at
vector 0x61.
Axis 1 is using the INTREQ0# and axis 2 is using INTREQ1#
interrupt request line of the IP bus.
R/W
Figure 4-14: Interrupt Vector Register (INTVEC)
Axis #1 is using the INTREQ0 and axis #2 is using the INTREQ1 interrupt request line of the IP
bus.
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5 Functional Description
5.1 Reference Logic
Due to the nature of measurement systems with incremental encoders the absolute position of the
axes are not known when the system is powered up. The system has to run through a reference
procedure to calibrate the measurement system, in that case the counter, with the absolute positions.
The TIP102 IP has a reference logic, which allows several modes of operation for the reference
procedure. The reference logic is generating a pulse to the load counter input of the LS7166 chip,
when the reference condition occurs. This signal will either preset the counter with a value which was
previously loaded into the Preset Register of the counter chip, or load the actual value of the counter
to the Output Latch of the counter chip, depending on the configuration of the LCTR/LLTC bit of the
Input Control Register (ICR).
The desired operation mode of the reference logic is selected by programming the corresponding bits
in the Configuration Control Register (CONCR).
5.1.1 Reference Mode - without reference switch
In this mode the next occurrence of the zero (index) signal of the encoder is used as the source for the
reference condition and therefore for the load counter signal. Because the incremental encoder will
normally create a zero (index) pulse at each turn, this mode is only useful, if the absolute position of
the next zero (index) pulse is known, or if there is only one such pulse in the operating range of the
axis.
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5.1.2 Reference Mode - with reference switch
This mode also uses the zero (index) signal of the encoder to generate the reference condition. But it
takes an additional Reference Switch (which is an input to the TIP102) to select a single zero (index)
signal.
The reference condition in this mode is defined as the first zero (index) pulse of the encoder after a ’0’
to ’1’ transition of the reference switch, with the reference switch still in the ’1’ state.
Figure 5-1 : State diagram – Reference with reference switch
5.2 External Trigger Input
The TIP102 IP has a trigger input signal TRIGGER INPUT which can be used to latch the actual value
of the counter or preload the counter at an external event. The Trigger Input is generating a pulse to
the load counter input of the LS7166 chip, when the external trigger condition occurs. This signal will
either preset the counter with a value which was previously loaded into the Preset Register of the
counter chip, or load the actual value of the counter to the Output Latch of the counter chip, depending
on the configuration of the LCTR/LLTC bit of the Input Control Register (ICR).
The external trigger logic is activated by programming the corresponding bits in the Configuration
Control Register (CONCR); see also description in chapter “Reference Mode”.
The external trigger and the reference logic can not be used at the same time.
The transition module TIP102-TM-xx has only one set of isolated TRIGGER I/O signals, which is
jumper configurable as Trigger Input or Trigger Output (see also chapter “Trigger I/O Jumper
Configuration”).
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6 Programming Hints
6.1 LS7166 Counter Chip
6.1.1 Initialization
The LS7166 counter chip of the TIP102 requires some basic initialization, before it is able to decode
the quadrature counting pulses of the incremental encoder. To do this the following data sequence
has to be loaded into the CNTCS1 (CNTCS2) Counter Control and Status Register:
• write 0x20 to CNTCS1 (CNTCS2)
select the counter MCR register, perform a master reset on the LS7166 counter chip
• write 0x68 to CNTCS1 (CNTCS2)
select the counter ICR register, enable data inputs A/B, configure pin 3 as counter load input
(required for the reference logic)
• write 0xB0 to CNTCS1 (CNTCS2)
select the counter OCCR register, configure pin 16 as compare result output (required for
generation of interrupts at defined counter data values)
• write 0xC1, 0xC2 or 0xc3 to CNTCS1 (CNTCS2)
select the counter QR register, enable quadrature decoding mode X1, X2 or X4
After this initialization the counter will begin decoding the encoder quadrature signals.
6.1.2 Reading actual counter data value
The LS7166 has a 24 bit up/down counter. However the data path to the LS7166 is only 8 bit wide. To
read the 24 bit counter data value (8 bit at a time), following sequence must be programmed:
• write 0x03 to CNTCS1 (CNTCS2)
select the counter MCR register, latch the actual counter data value into the Output Latch (OL),
reset the OL address pointer
• read CNTDA1 (CNTDA2)
read data byte 0 (LSB), increment OL address pointer
• read CNTDA1 (CNTDA2)
read data byte 1, increment OL address pointer
• read CNTDA1 (CNTDA2)
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If the data bytes 0 to 2 are assembled into a 32 bit word the sign bit of the counter has to be
extended for further processing, which means bit 7 of data byte 2 into the upper 8 bits of the 32
bit word.
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7 Jumper Configurations
7.1 TIP102-xx IP
There are no jumpers to configure on the TIP102-xx IP. Do never place any jumper on the 10
pin connector block of the TIP102-xx IP. This block is used only for manufacturing and testing
purpose.
7.2 TIP102-TM-xx Transition Module
7.2.1 Trigger I/O Jumper Configuration
The Trigger I/O signals at connector X102 (X202) of the transition module must be configured to input
or output by the jumper J1 (J200) at the transition module.
Figure 7-1 : Jumper J1 (J200) configuration for trigger input and output
7.2.2 Encoder Input Jumper Configuration
The TIP102-TM-10 and TIP102-TM-20 transition modules have jumpers to enable or disable the
PHASE_A, PHASE_B and INDEX encoder inputs.
If the encoder provides the PHASE_A, PHASE_B and INDEX signals the jumper J2, J3 and J4 (J201,
J202 and J203) must be jumpered between pin 1 and 2.
If the encoder does not provide the PHASE_A, PHASE_B and INDEX signals the jumper J2, J3 and
J4 (J201, J202 and J203) must be jumpered between pin 2 and 3.
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7.2.3 TIP102-TM-xx Jumper Layout
Figure 7-2 : Jumper J1 (J200) configuration for trigger output
The jumpers J2, J3 and J4 (J201, J202 and J203) are only present at the TIP102-TM-10 (TIP102TM-20) transition module.
TIP102 User Manual Issue 1.8
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8 Pin Assignment – I/O Connector
8.1 I/O Connection of TIP102-xx
8.1.1 50 pin IP I/O Connector
Pin
Function
Pin
Function
1
+5V VCC
26
ENC_PHASE_B_AXIS_1+ (TTL Input)
2
+5V VCC
27
ENC_PHASE_A_AXIS_1- (TTL Input)
3
GND
28
ENC_PHASE_A_AXIS_1+ (TTL Input)
4
GND
29
Status_LED_Axis_2 (TTL output)
5
+12V
30
Servo_Amp_Enable_Axis_2 (TTL output)
6
-12V
31
GND
7
Status_LED_Axis_1 (TTL output)
32
DAC_Output_Axis_2 (+/-10V)
8
Servo_Amp_Enable_Axis_1 (TTL output)
33
DAC_GND_Axis_2
9
GND
34
ADC_Input_Axis_2 (+/-10V)
10
DAC_Output_Axis_1 (+/-10V)
35
ADC_GND
11
DAC_GND_Axis_1
36
GND
12
ADC_Input_Axis_1 (+/-10V)
37
Trigger_Input_Axis_2# (TTL input)
13
ADC_GND
38
Trigger_Output_Axis_2# (TTL output)
14
GND
39
General_Input_Axis_2# (TTL input)
15
Trigger_Input_Axis_1# (TTL input)
40
Reference_Switch_Axis_2# (TTL input)
16
Trigger_Output_Axis_1# (TTL output)
41
High_Limit_Switch_Axis_2# (TTL input)
17
General_Input_Axis_1# (TTL input)
42
Low_Limit_Switch_Axis_2# (TTL input)
18
Reference_Switch_Axis_1# (TTL input)
43
Encoder_Error_Axis_2# (TTL input)
19
High_Limit_Switch_Axis_1# (TTL input)
44
NC
20
Low_Limit_Switch_Axis_1# (TTL input)
45
ENC_INDEX_AXIS_2- (TTL Input)
21
Encoder_Error_Axis_1# (TTL input)
46
ENC_INDEX_AXIS_2+ (TTL Input)
22
NC
47
ENC_PHASE_B_AXIS_2- (TTL Input)
23
ENC_INDEX_AXIS_1- (TTL Input)
48
ENC_PHASE_B_AXIS_2+ (TTL Input)
24
ENC_INDEX_AXIS_1+ (TTL Input)
49
ENC_PHASE_A_AXIS_2- (TTL Input)
25
ENC_PHASE_B_AXIS_1- (TTL Input)
50
ENC_PHASE_A_AXIS_2+ (TTL Input)
Figure 8-1 : 50 pin IP I/O Connector TIP102-xx
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8.2 Transition Module I/O Connectors (TIP102-TM-xx)
8.2.1 X101/X201 - DB9 female - Servo Amplifier Signals
Signal
Level
Pin
Function
1
Current_Limit_Switch_1+
Current Limit Switch 1 (floating optocoupler output
transistor collector pin)
See also pin 6.
The switch state is controlled by the matching control
input on X102/202 (Pin 11).
2
Current_Limit_Switch_2+
Current Limit Switch 2 (floating optocoupler output
transistor collector pin)
See also pin 7
The switch state is controlled by the matching control
input on X102/202 (Pin 4).
3
Enable_Switch+
Enable Switch (floating optocoupler output transistor
collector pin)
See also pin 8.
The switch state is controlled by OUTCR register bit 0.
4
Shield
5
DAC_GND
Analog output ground reference
See also pin 9.
6
Current_Limit_Switch _1-
Current Limit Switch 1 (floating optocoupler output
transistor emitter pin)
See also pin 1.
The switch state is controlled by the matching control
input on X102/202 (Pin 11).
7
Current_Limit_Switch _2-
Current Limit Switch 1 (floating optocoupler output
transistor emitter pin)
See also pin 2.
The switch state is controlled by the matching control
input on X102/202 (Pin 4).
8
Enable_Switch-
Enable Switch (floating optocoupler output transistor
emitter pin)
See also pin 3.
The switch state is controlled by OUTCR register bit 0.
9
DAC_Output
+/-10V
Comment
Analog output
See also pin 5.
Figure 8-2 : X101/X201 - DB9 female - Servo Amplifier Signals
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8.2.2 X102/X202 - DB15 male - Power and I/O Signals
Pin
Signal
1
ENC_VCC
Encoder power supply (source)
Direct on-board connection to X103/203
pins 1 & 9
Connect to power supply.
2
ENC_VCC_SENSE
Encoder power supply sense (source)
Direct on-board connection to X103/203 pin
3
Connect to power supply sense input (if
applicable).
3
Shield
4
Limit_Switch_2_Control
Input
24V
24V control input to activate the
Current_Limit_Switch_2 on X101/201
State readable in INPSR register bit 1
5
General_Purpose
Input
24V
General purpose 24V input
State readable in INPSR register bit 4
6
Trigger_I/O+
Input
Configuration: TTL
Bidirectional Trigger I/O signal, direction is
configured by jumper
See also pin 14.
TTL Input configuration :
Anode of photodiode
When configured as input, the status of this
input is reflected by INSPR register bit 3.
Output switch configuration :
Floating optocoupler output transistor
collector pin
7
Shield
8
ADC_GND
Analog input ground reference
See also pin 15.
9
ENC_GND
Encoder power supply ground (source)
Direct on-board connection to X103/203
pins 2 & 10
Connect to power supply ground.
10
ENC_GND_SENSE
Encoder power supply sense ground
(source)
Direct on-board connection to X103/203
pin 11
Connect to power supply sense ground
input (if applicable).
11
Limit_Switch_1_Control
Input
24V
24V control input to activate the
Current_Limit_Switch_1 on X101/201
State readable in INPSR register bit 0
12
Reference Input
24V
Reference 24V Input
State readable in INPSR register bit 2
TIP102 User Manual Issue 1.8
Level
Comment
Page 29 of 31
Pin
Signal
Level
Comment
13
Common Return of Input
Signals
24V Common
Return
Common Return Signal of the following 24V
Inputs :
General Purpose Input 1 (Pin 12)
General Purpose Input 2 (Pin 5)
Limit_Switch_1_Control_Input (Pin 11)
Limit_Switch_2_Control_Input (Pin 4)
14
Trigger_I/O-
Input
Configuration: TTL
Bidirectional Trigger I/O signal
Direction is configured by jumper.
See also pin 6.
TTL Input configuration:
Anode of photodiode
When configured as input, the status of this
input is reflected by INSPR register bit 3.
Output switch configuration :
Floating optocoupler output transistor
collector pin
15
ADC Input
+/-10V
Analog Input
See also Pin 8.
Figure 8-3 : X102/X202 - DB15 male - Power and I/O Signals
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8.2.3 X103/X203 - DB15 female - Encoder Signals
Pin
Signal
1
ENC_VCC
Level
Encoder Power Supply
Connect to Encoder
Comment
2
ENC_GND
Encoder Power Supply Ground
Connect to Encoder
3
ENC_VCC_SENSE
Encoder Power Supply Sense
Connect to Encoder (if applicable)
4
NC
5
INDEX-
TTL or RS422 -
Encoder Index Line
Connect to Encoder
6
PHASE_B-
TTL or RS422 -
Encoder Phase B Line
Connect to Encoder
7
PHASE_A-
TTL or RS422 -
Encoder Phase A Line
Connect to Encoder
8
Shield
9
ENC_VCC
Encoder Power Supply.
Connect to Encoder
10
ENC_GND
Encoder Power Supply Ground
Connect to Encoder
11
ENC_GND_SENSE
Encoder Power Supply Sense Ground
Connect to Encoder (if applicable)
12
ENC_ERROR#
TTL
Encoder Error Input
Connect to Encoder (if applicable)
State readable in INPSR register bit 5
13
INDEX+
TTL or RS422+
Encoder Index Line
Connect to Encoder
14
PHASE_B+
TTL or RS422+
Encoder Phase B Line
Connect to Encoder
15
PHASE_A+
TTL or RS422 +
Encoder Phase A Line
Connect to Encoder
Figure 8-4 : X103/X203 - DB15 female - Encoder Signals
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