Kollmorgen / Motion Engineering DSP Series Manual

Kollmorgen / Motion Engineering DSP Series Manual
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33 South La Patera Lane
Santa Barbara, CA 93117
ph (805) 681-3300
fax (805) 681-3311
[email protected]
Version 1.5 - 1997
For the following MEI motion controllers:
CPCI Bus
ISA Bus
PC-104 Bus
STD Bus
CPCI/DSP
PCX/DSP
104/DSP
SERCOS/STD
PCI Bus
LC/DSP
104X/DSP
STD/DSP
PCI/DSP
SERCOS/DSP
SERCOS/104
VME Bus
V6U/DSP
DSP Series
Motion Controller
Installation Guide
Mar 2002
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
DSP Series Motion Controller
Installation Guide
Mar 2002
Part # M001-0001 rev. B
Copyright 2002, Motion Engineering, Inc.
Motion Engineering, Inc.
33 South La Patera Lane
Santa Barbara, CA 93117-3214
ph 805-681-3300
fax 805-681-3311
e-mail: [email protected]
website: http://www.motioneng.com
ftp site: ftp.motioneng.com
This document contains proprietary and confidential
information of Motion Engineering, Inc. and is protected by Federal copyright law. The contents of the document may not be disclosed to third parties, translated,
copied, or duplicated in any form, in whole or in part,
without the express written permission of Motion Engineering, Inc.
The information contained in this document is subject
to change without notice. No part of this document
may be reproduced or transmitted in any form or by
any means, electronic or mechanical, for any purpose,
without the express written permission of Motion Engineering, Inc.
All product names shown are trademarks or registered
trademarks of their respective owners.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
CONTENTS
1
QUICK START
For Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Developer’s Support Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Contact Us . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VERSION.EXE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1-2
1-3
1-4
1-4
1-5
1-5
CONFIGURE &
INSTALL BOARD
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
STCs and Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For the PCX, CPCI, STD, 104X & V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For the 104 & LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For the PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I/O Port Address Space for PC-based Architectures . . . . . . . . . . . . . . . . . . . . . . .
Base I/O Address Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PCX
........................................................
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CPCI
........................................................
No Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing the CPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PCI
2-1
2-2
2-2
2-2
2-3
2-3
2-4
2-4
2-6
2-6
2-6
2-6
2-7
2-8
2-8
2-8
2-8
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
No Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing the PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/ InsertBoard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
STD
.......................................................
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERCOS/STD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
V6U
.......................................................
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
.......................................................
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-10
2-10
2-10
2-11
2-11
2-11
2-11
2-12
2-13
2-13
2-13
2-13
2-14
2-15
2-15
2-15
2-17
2-18
2-19
2-19
i
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CONTENTS
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104X
.......................................................
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERCOS/104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LC
.......................................................
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SERCOS/DSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
2-19
2-19
2-20
2-21
2-21
2-21
2-21
2-22
2-23
2-23
2-23
2-23
2-24
2-25
2-25
2-25
2-25
2-26
2-27
2-27
2-27
2-27
2-28
TEST CONTROLLER’S
I/O ADDRESS
Using Motion Console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using SETUP.EXE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using CONFIG.EXE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Other CONFIG Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
3-2
3-3
3-4
3-4
3-4
CONNECT STCS TO
AMPS/MOTOR/ENCODER
PCX, STD, 104X, CPCI & V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections to Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brush Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . .
Connections to Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Closed-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections for Dual-Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
V6U
4-2
4-2
4-2
4-3
4-3
4-4
4-4
4-4
4-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Encoder Integrity Checking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Broken Wire & Illegal State Detection . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
LC, 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Connections to Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
ii
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CONTENTS
Brush Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . .
Connections to Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Closed-loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections for Dual-Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PCI
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Connections to Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brush Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . .
Connections to Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Closed-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections for Dual-Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections for Encoder Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
4-11
4-12
4-12
4-13
4-13
4-14
4-15
4-16
4-16
4-17
4-17
4-18
4-18
4-19
4-20
4-21
CONNECT STCS TO
DISCRETE I/O
Dedicated and User I/O Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Opto-Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
(PCX, V6U, 104X, CPCI, STD only) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
(PCX, CPCI, STD, V6U Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Low Pass Filters on Analog Inputs (V6U only) . . . . . . . . . . . . . . . . . . . .
8254 Counter Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
(PCX, CPCI, STD, V6U Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Home and Limit Switch Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2
5-2
5-2
5-2
5-3
5-3
5-4
5-4
5-4
5-5
5-5
PCI/DSP Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Opto-Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Opto-Circuit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Dedicated I/O - PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Amplifier Enable Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
In_Position Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Amplifier Fault Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Home and Limit Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Bi-Directional User I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Analog Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
6
TEST SYSTEM
Closed-Loop Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 1: Connect Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 2: Test Encoder Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 3: Connect the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1
6-2
6-2
6-2
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CONTENTS
Step 4: Manually Turn the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 5: Verify Motor/Encoder Phasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 6: Exercise the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 7: Tune the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open-Loop Stepper Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 1: Connect Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 2: Manually Turn the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step 3: Exercise the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A
6-2
6-3
6-3
6-5
6-6
6-6
6-6
6-7
MORE ABOUT WIRING
Wiring Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Velocity/Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Brush/Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Wiring Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Direction Pulse Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
Closed-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
B
MOTION CONSOLE REFERENCE
Controller List Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Open Axis Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
C
SETUP.EXE
Intro
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-2
For DOS, Win 3.x & Win 95/98 Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
To Load the SETUP Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Saving Default Parameters to the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
Functional Grouping by Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
SETUP Menus & Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5
File Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Load Defaults from File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Save Defaults to File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
DOS Shell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
About . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7
Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7
Configure Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8
I/O Base Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8
Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-9
Axis Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-11
Limit Switch Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13
Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14
Reset (F9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14
Status Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-15
Position Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-15
Axis Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-15
Dedicated I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-16
iv
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CONTENTS
Motion Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-17
Point-to-Point Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-17
Graphic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-18
D
TUNING
Intro
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2
The Digital Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-3
Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-5
Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-6
Derivative Gain (Kd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-9
Integral Gain (Ki) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-12
Velocity Feed-Forward (Kv) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-13
Acceleration Feed-Forward (Ka ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-14
Offset (Ko) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-14
Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-14
Friction Feed-Forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-15
Integration Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-15
Tuning Closed-Loop Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-16
Step 1: Set Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-16
Step 2: Set the Derivative Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-16
Step 3: Iterate Steps 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-16
Step 4: Set Integral Gain (Ki ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-16
Step 5: Set Velocity and Acceleration Feed-Forward . . . . . . . . . . . . . . . . . . D-17
Tuning Closed-Loop Steppers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-18
Step 1: Set Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-18
Step 2: Set Velocity & Acceleration Feed-Forward Gains (Kv, Ka) . . . . . . . D-18
Step 3: Set the Integral Gain (Ki) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-19
E
CONNECTIONS &
SPECIFICATIONS
Motor Signal Header Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
PCX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
CPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
STD, 104X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-4
LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-4
Dedicated & User I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-5
PCX, CPCI, STD & V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-5
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
104, LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-8
Pinouts
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
PCX, CPCI, STD, 104X, V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
CPCI/DSP Rear I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-11
Notes for CPCI Rear I/O Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-14
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-14
104, LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-16
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-18
Power Consumption Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-18
v
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CONTENTS
PCX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-19
CPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-20
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-21
STD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-22
SERCOS/STD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-23
V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-24
104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-25
104X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-26
SERCOS/104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-27
LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-28
SERCOS/DSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-29
LED Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
F
OPTOCON REFERENCE
Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
Switch S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
Switches S2, S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
Screw Terminal Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For Axes 0, 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For Axes 2, 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F-5
F-5
F-6
F-7
F-8
Circuit Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-9
Connect an OptoCon Input to a Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-9
Connect an OptoCon Input to an Open Collector Driver . . . . . . . . . . . . . . . F-10
Connect an OptoCon Output to an Amplifier Enable Input . . . . . . . . . . . . . F-11
Using an Internal Pull-Up Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-11
Using an Internal Pull-Down Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . F-12
Connect an OptoCon Output to a Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-13
INDEX
vi
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CHAPTER 1
QUICK START
For Servo Motors
For Step Motors
1-2
Motion Developer’s Support Program
How to Contact Us
1-4
VERSION.EXE
1-5
1-5
Firmware Versions
1-3
1-4
If you are familiar with motion controller connections, Quick Start offers a fast and easy installation procedure. If you are less familiar with motion controller connections, follow the procedures in Chapters, 2 - 6, which contain wiring diagrams and more detailed installation
procedures.
If you have Windows NT, 95/98 or 3.11, then Motion Console is available for set-up procedures
(the Microsoft Win32S extensions are available at no charge from Microsoft). Motion Console
provides a powerful means to set-up, configure, test and debug motion control systems that use
MEI controllers.
If you use only DOS, then see Appendix C, SETUP.EXE for set-up procedures.
1-1
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QUICK START
For Servo Motors
For Servo Motors
1.
Set the controller I/O address (0x300 is the default) using the on-board dip switches.
CPCI & PCI
Users:
Because the CPCI and PCI controllers comply with the PCI Plug and Play
specification, they do not have any on-board DIP switches. Instead, a software utility (included in your distribution) checks the address that the system assigns to the CPCI and PCI controllers. Refer to Section, PCI on
page 2-10, for more information.
2.
Install the controller in the computer.
3.
Make sure the amplifier is turned off. Connect the encoders to the controller.
4.
Install the MEI software as described in the release note included with the distribution.
Run Motion Console (located in the Motion Engineering program group under Start).
5.
In the Hardware Summary window, Click Add Controller (go to PCI tab if using PCI/
DSP or CPCI controller).
In the dialog box, enter a name for the controller.
If a controller’s address is different from the default, enter an address.
6.
In the Axis List, double-click on an axis to open the Axis Operation window for that
axis. Verify encoder operation by manually turning the motor shaft for the axis. As
you turn the shaft, the Actual field in the Position Status display should change.
7.
In the Axis Operation window, set the PID to zero by entering “0” in Kp, Ki, and Kd
fields of the Tuning Parameters controls.
8.
In the Axis Operation window, click the Clear Position and Clear Fault buttons.
9.
Verify all motor and amplifier wiring, turn on and enable the amplifier. If the controller’s amp enable output is connected to the amplifier, you must configure the amp enable logic (in the Dedicated I/O window). Next, to activate the amplifier, in the Axis
Operation window click Enable in the Amplifier group.
If the amplifier is in torque mode, you should be able to turn the motor shaft by hand.
If the amplifier is in velocity mode, the motor shaft should be stiff. For more information, consult the amplifier manufacturer’s documentation.
10. Verify the encoder phasing by entering positive and negative values in the Offset field
of the Tuning Parameters display. Start at 10 and increase the offset until the motor is
turning slowly. The Actual field in the Position Status section should display increasing values. If you enter a negative value in Offset, Actual should display decreasing
values.
If positive offset does not result in increasing encoder counts, then the encoder phasing
is incorrect.
Set the Offset to 0, turn off the amplifier and host computer, and exchange the A and
B encoder leads. Repeat this procedure starting again with a 10 value in the Offset field
to verify proper phasing.
11. Continue to exercise and tune the system as described in Appendix D, Tuning ClosedLoop Systems.
1-2
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QUICK START
For Step Motors
Set the controller I/O address (0x300 is the default) using dip switches.
CPCI & PCI
Users:
Because the CPCI and PCI controllers comply with the PCI Plug and Play
specification, they do not have any on-board DIP switches. Instead, a software utility (included with your distribution) checks the address that the
system assigns to the CPCI and PCI controllers. Refer to Section, PCI on
page 2-10, for more information.
2.
Install the controller in the computer and connect the step drive.
3.
Make sure the step drive is turned off.
4.
Install the MEI software as described in the release note included with the distribution.
Start Motion Console (located in the Motion Engineering program group under Start).
5.
Click Add Controller in the Hardware Summary window (go to PCI tab if using PCI/
DSP or CPCI/DSP controller). Enter the name of the controller in the dialog box. Motion Console uses the default address 0x300 for the controller.
6.
Choose the axis in the Axis List and click the Configure Axis button. On the Axis Configuration property page, configure the axis as Stepper, Open Loop, Unipolar. Click
Close. If using an encoder, choose Close Loop and follow the instructions for phasing
encoders in “For Servo Motors” (begin with step 7).
Note!
The Step output rate defaults to Slow (0-20 kHz). For greater step output, choose Medium (0-80 kHz), Fast (0-325 kHz) or Superfast (0-550 kHz) in the Axis Configuration
property page.
7.
In the Axis Operation window, click the Clear Position and Clear Fault buttons.
8.
Turn on the step drive. Verify all motor and drive wiring , turn on the drive, and enable
the drive. If the controller’s amp enable output is connected to the drive, you must
configure the amp enable logic in the Dedicated I/O window. Then click Enable in the
Amplifier group in the Axis Operation window to activate the amplifier.
For Step Motors
1.
If the drive is in torque mode, you should be able to turn the motor shaft by hand. If
the drive is in velocity mode, the motor shaft should be stiff. For more information,
consult the amplifier manufacturer’s documentation.
9.
Command a trapezoidal motion by entering position, velocity, and acceleration values
in the Axis Operation window.
10. Verify that the motor turns one rotation when the appropriate number of steps are commanded.
1-3
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QUICK START
Motion Developer’s Support Program
Motion Developer’s Support Program
Motion Engineering takes technical support seriously. We want your system to work! To continue to provide the best possible applications support, we have created the Motion Developer’s
Support Program. Participation in the Motion Developer’s Support Program is required in order to receive applications support. Contact MEI for additional information.
MEI’s Motion Developer’s Support Program ensures that your critical project will receive the
utmost applications support for timely problem resolution and faster development.
The Motion Developer’s Support Program includes:
One year of 24 hour/day, 7-day/week application technical support by telephone, e-mail,
and/or fax (weekends and holidays included)
Priority access to application engineers with reponse in the same business day
Updated Motion Developer’s Kit - provided on CD-ROM. This includes MEI’s DSP Series development tools, libraries, and sample code for Windows NT, Windows 95/98, and
Windows 3.x with the current MEI features, functions, and bug fixes
One year of software maintenance and updates for MDK software, tools, libraries, and
sample applications code.
How to Contact Us
How to Contact Us
Support is available through our corporate office:
24-hour support
Fax
e-mail
(805) 681-3300
(805) 681-3311
[email protected]
Software Updates
MEI periodically releases new software/firmware versions. New features are implemented,
performance enhanced and new applications developed. The latest firmware/software releases
are available on our FTP site at ftp://ftp.motioneng.com. These files are password protected,
please contact MEI for information.
The DSP controller has non-volatile memory space to store the firmware and configuration parameters. All of the DSP Series controllers are compatible with the latest firmware and software versions. Firmware can be easily downloaded to the controller with CONFIG.EXE.
Future Controller Purchases
Motion Engineering ships the DSP Series controllers with the latest software, firmware, and
on-board programmable logic. When building multiple machines we recommend that you save
a configured version of your firmware to a diskette. The next time that you build a machine,
load the firmware (from diskette) to the DSP Series controller (use the CONFIG program).
This method is easiest.
We are constantly adding new features and improving the capability of our controllers. The
hardware and on-board programmable logic are revised to meet the increasing demands. All
future hardware/programmable logic revisions are backwards compatible with older software/
firmware revisions, and future new features can be enabled with the latest versions of software/
firmware.
1-4
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QUICK START
VERSION.EXE
Firmware Versions
MEI always ships the DSP Series controllers with the latest software and firmware. The firmware, software, and Motion Console all have a version check built into the code. If the library
version is incompatible with the firmware version, controller status will be listed as “bad” in
Motion Console’s Controller List and the controller will be inaccessible.
If you wish to use an earlier version of the firmware on a newly purchased controller, or if you
have an older controller and want to use a new firmware version, run the CONFIG program as
described in the section in CONFIG.EXE Board Configuration Program, or use the Motion
Console application.
Note that current firmware versions are available 24 hours a day on Motion Engineering’s FTP
site (ftp.motioneng.com). Files for downloading are located in the /pub directory. These files
are password protected, please contact MEI for information.
Motion Developer’s Support Program
The VERSION program reads the current firmware version number and hardware identity
from the DSP Series controller and displays them on the screen. The firmware version and option numbers can be read directly from your application code with the functions
dsp_version(...) and dsp_option(...).
VERSION.EXE
1-5
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CHAPTER 2
CONFIGURE &
INSTALL BOARD
Product
PCX
CPCI
PCI
STD
SERCOS/STD
V6U
104
104X
SERCOS/104
LC
SERCOS/DSP
2-6
2-8
2-10
2-11
2-13
2-15
2-19
2-21
2-23
2-25
2-27
Overview
Warning!
MEI motion controller boards are sensitive electronic devices and require handling
with proper ESD protection. Please do not touch the controller’s bus interface.
Basically, there are 4 steps to installing DSP Series controllers:
1.
Set an I/O address for the controller that does not conflict with any peripheral devices.
CPCI & PCI
Users:
Because CPCI & PCI controllers comply with the PCI Plug and Play specification, they do not have any on-board DIP switches. The system assigns the
address and IRQ resources to each device at bootup. The software utility
Motion Console, supplied with the distribution CD-ROM, returns the
resources assigned to the controller.
2.
Set the Interrupt Request Level (IRQ) for the controller (optional).
3.
Install the controller in computer.
4.
Verify communication using Motion Console. (SERCOS controllers must be initialized before verifying communications. See DSP Series C Programming Reference for
more information).
Detailed instructions for each of these steps are organized by individual controllers.
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CONFIGURE & INSTALL BOARD
STCs and Cables
STCs and Cables
We recommend using STC modules to provide quick and easy screw terminal connections to
the controller’s signals. Basically, you connect the controller to the STC modules using ribbon
cables, and then you connect the rest of the system to the STC modules (using discrete wires).
STC's mount on standard DIN rail.
For the PCI, connect the controller to the STC modules using high-density shielded, twisted
pair cables, and then you connect the rest of the system to the STC modules (using discrete
wires). STC’s mount on standard DIN rail.
Using STCs with ribbon cables provides your system with a clean and reliable interface. All
ribbon cables are tested at the factory.
For the PCX, CPCI, STD, 104X & V6U
STC-20 - Connection module for analog inputs, 1 required per controller.
STC MODULES
FOR PCX, CPCI,
STD, 104X, V6U
STC-26 - Connection module for motor axes, 1 required for 2 motor axes.
For the PCX, CPCI, STD, 104X & V6U
STC-50 - Connection module for I/O lines, 1 required for each I/O header.
CABLES
FOR PCX, CPCI,
STD,104X, V6U
CBL-20 - Analog input ribbon cable, 1 required per controller.
CBL-26 - Motor axes ribbon cable, 1 required for every 2 axes.
CBL-50 - I/O ribbon cable, 1 required for every I/O header.
For the 104 & LC
STC MODULE
FOR 104, LC
STC-50 - Connection module for I/O lines, motor and encoder feedback.
One required for every 2 axes.
OPTOCON
FOR 104, LC
OptoCon - Optically isolated Screw Terminal Connection module. Provides optical isolation for dedicated and user I/O. The OptoCon is a pin
compatible replacement for the STC-50. One required for every 2 axes.
CABLES
FOR 104, LC
CBL-50 - Ribbon cable.
CBL-100 - 100 pin high density male connector (Hirose) that mates to a
100 pin high density female (Hirose, #HIF6100-1.27R) connector and
breaks out into 2 standard 50-pin ribbon cables required for 104 and LC.
2-2
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CONFIGURE & INSTALL BOARD
For the PCI
STC MODULES
FOR PCI
STC-136 - Connection to four axes of I/O, 1 required for per controller.
STCs and Cables
STC-D50 - Connection module for User I/O, 1 required per controller.
CBL-68 - Shielded cable for I/O connections, 2 required per controller.
CABLES
FOR PCI
CBL-50V - Shielded cable for User I/O connections, 1 required per
controller
Cable Connectors
When installing MEI ribbon cables (ribbon cables are not used with the PCI controller), notice
that the connectors (one at each end) are different. The non-strain relieved connectors fit into
the headers on the controller. The strain relieved connectors fit into the STC modules.
Non-Strain Relieved Connector
(Connects to controller)
DSP
Strain-Relieved Connector
(Connects to STC module)
For the PCI
Ribbon
Cable
STC-xx
CABLE CONNECTORS
2-3
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Base I/O Address Usage
I/O Port Address Space for PC-based Architectures
CONFIGURE & INSTALL BOARD
I/O Port Address Space for PC-based Architectures
The DSP is mapped into the I/O space of the host CPU. The base I/O address is the first address
of a 16 byte contiguous block of addresses. Starting with the base I/O address, the controller
uses 16 address locations in the host computer's I/O space. All data transfers between the host
computer and controller are done through this memory window.
Warning!
The controller must not share this I/O space (the 16 address locations) with any
other devices.
The next table shows a typical mapping of I/O Port address space for PC-based architectures.
(This does not include CompactPCI. See section CPCI on page 2-8).
Table 2-1
Typical Mapping of I/O Port Address Space
Hex Address
200 - 20F
210 - 237
238 - 23F
240 - 277
278 - 27F
280 - 2AF
2B0 - 2DF
2E0 - 2E7
2E8 - 2EF
2F0 - 2F7
2F8 - 2FF
Typical Uses
Hex Address
Game Control Adapter
Not Used
Bus Mouse
Not Used
Second Printer Port
Not Used
EGA
GPIB
Extra Serial Port
Not Used
Serial Port 2
300 - 31F
320 - 32F
330 - 377
378 - 37F
380 - 3AF
3B0 - 3BF
3C0 - 3CF
3D0 - 3DF
3E0 - 3E7
3E8 -3EF
3F0 - 3F7
3F8 - 3FF
Typical Uses
Prototype Card
XT Hard Disk
Not Used
Printer Port
SDLC
Mono & Printer
EGA
CGA
Not Used
Extra Serial Port
Disk Drive Controller
Serial Port 1
Base I/O Address Usage
Communication between the host CPU and the DSP Series controller occurs through a memory
window. The start of this memory window is set by the address switch SW1 (for all DSP controllers except V6U). The DSP Series controllers use 6 addresses on the ISA/104/STD bus (see
next table).
Table 2-2
Address
0x300
0x301
0x302
0x303
0x304
0x305
6 Addresses on the ISA/104/STD bus
Description
Read/Write Size
Address Low
Address High
Data Low
Data High
Set/Reset Flip-Flop
(Clear Reset) Flip-Flop
8-bit Write Only
8-bit Write Only
8-bit Read/Write
8-bit Read/Write
8-bit Write Only
8-bit Write Only
2-4
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CONFIGURE & INSTALL BOARD
Figure 2-1
Host/DSP Communications over ISA/104/STD Bus
DSP SERIES CONTROLLER
ISA/104/STD
BUS
A block of 1/0 addresses
Memory Window For DSP
DSP Address Low Byte
DSP Address High Byte
DSP Data Low Byte
DSP Data Low Byte
Set/Reset DSP Flip-Flop
Clear Reset DSP Flip-Flop
RAM
0x300
0x301
0x302
0x303
0x304
0x305
1
Address
2
Data
0x309
0x30F
0x310
1
Host writes address to DSP
2
Host reads or writes data to DSP
Host/DSP
Communications
Communication occurs in 2 steps.
First the address is set by writing to 0x300 and 0x301 with two 8-bit writes. This “connects” the ISA bus data lines to the specified location in the controller’s internal memory
map.
2.
Next, the data is read/write on addresses 0x302 and 0x303 with two 8-bit read/writes.
Base I/O Address Usage
1.
I/O Port Address Space for PC-based Architectures
HOST I/O SPACE
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CONFIGURE & INSTALL BOARD
PCX
PCX
Locate Switches
Figure 2-2
PCX Address and IRQ Switch Locations
Interrupts IRQ Select
PCX
Base I/O Address
SW 2 ON
ON
SW 1
PCX SWITCHES
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Table 2-3
Base Address Switch SW1
Locate Switches
Address
240
250
260
270
300
310
320
330
340
350
360
370
8
7
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
6
5
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
4
3
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
2
1
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Default
Set the Interrupts
The DSP Series controllers can generate interrupts to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines.
To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the
interrupt, (IRQ2, IRQ3, ...) that you want the PCX to use.
2-6
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CONFIGURE & INSTALL BOARD
IRQ Switch SW2
IRQ
8
7
6
5
4
3
2
1
None
IRQ2
IRQ3
IRQ4
IRQ5
IRQ10
IRQ11
IRQ12
IRQ13
off
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
PCX
Table 2-4
Default
Connect Cables/Insert Board
CBL-20
STC-20
PCX
CBL-26
4 STCs
4 Cables
STC-26
3 STCs
3 Cables
STC-50
Connect PCX to STCs
To install the controller:
1.
Turn off the power to your computer and remove the cover.
2.
Select any unused full-length expansion slot (16 or 32-bit) and remove its blank metal
bracket from the computer.
3.
Orient the controller inside the computer so that it lines up with the card-edge connector.
4.
Press down on the metal bracket tab and the top of the board until the controller is
firmly seated.
5.
Feed cables through the back of the PC and connect the non-strained relieved connectors to the PCX.
6.
Secure the bracket in place with the screw.
7.
Proceed to Chapter 3 to test your I/O Address.
Connect Cables/Insert Board
CBL-50
2-7
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CONFIGURE & INSTALL BOARD
CPCI
CPCI
No Switches
There are no switches on the CPCI. Because the CPCI complies with the PCI Plug-and-Play
specification, the BIOS automatically sets the I/O addresses and IRQ of all peripherals in the
system.
Accessing the CPCI
In order to properly access the controller using any MEI-supplied utility ( Motion Console) or
your own application program, you must obtain the address the BIOS gave to the CPCI-bus
computer (at start-up). This can be determined by an MEI supplied function, find_pci_dsp(...),
or via Motion Console.
Motion Console will automatically find all PCI controllers on the bus. Simply select Add Controller and click on the PCI Controller tab. The address and IRQ of all PCI bus controllers will
be listed.
Usage of the MEI function find_pci_dsp(...) is further described in the C Programming Reference Manual. Please refer to that document for a detailed description on using this function.
If you are still having problems communicating with the controller after you’ve found its address, you may have to reserve the resources in use by the controller using the System applet in
the control panel.
No Switches
Connect Cables/Insert Board
CBL-20
STC-20
CBL-26
4 STCs
4 Cables
STC-26
CBL-50
CPCI
3 STCs
3 Cables
STC-50
Connect CPCI to STCs
To install the controller:
1.
Turn off the power to your computer.
2-8
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CONFIGURE & INSTALL BOARD
Select an unused 6U expansion slot and remove its blank metal bracket from the computer.
3.
Orient the controller so that it lines up with the card guides and insert the controller
partially into the chasis.
4.
Feed cables through the front panel and connect the non-strain relieved connectors to
the CPCI.
5.
Insert the controller fully into the slot until the injectors engage the chassis. Use the
injectors to firmly seat the controller in the chassis.
6.
Proceed to Chapter 3 to test your I/O Address.
CPCI
2.
Connect Cables/Insert Board
2-9
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CONFIGURE & INSTALL BOARD
PCI
PCI
No Switches
There are no switches on the PCI. The PCI controller supports PCI’s Plug-and-Play addressing
scheme, which means the BIOS automatically sets the addresses of all peripherals in the system.
Accessing the PCI
In order to properly access the controller using any MEI-supplied utility (Motion Console) or
your own application program, you must obtain the address the BIOS gave to the PCI-bus controller (at start-up). This can be determined by an MEI supplied function, find_pci_dsp(...), or
via Motion Console.
Motion Console will automatically find all PCI controllers on the bus. Simply select Add Controller and click on the PCI Controller tab. The address and IRQ of all PCI bus controllers will
be listed.
Usage of the MEI function find_pci_dsp(...) is further described in the C Programming Reference Manual. Please refer to that document for a detailed description on using this function.
If you are still having problems communicating with the controller after you’ve found its address, you may have to reserve the resources in use by the controller using the System applet in
the control panel.
No Switches
Connect Cables/ InsertBoard
Axis 0, 1
Axis 2, 3
STC-136
CBL-68 (2 axes)
SL/PCI
CBL-68 (2 axes)
STC-D50
CBL-50V (User I/O)
Connect PCI to STCs
To install the controller
1.
Turn off the power to your computer.
2.
Select an unused expansion slot and remove its blank metal bracket from the computer.
3.
Orient the controller so that it lines up with the card-edge connector.
4.
Press down on the metal bracket tab and the top of the board until the connector is fully
seated.
5.
Secure the bracket in place with the screw.
Proceed to Chapter 3 to test your I/O Address
2-10
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CONFIGURE & INSTALL BOARD
STD
STD
Locate Switches
Figure 2-3
STD Address and IRQ Switch Locations
Base Address
O
N
IRQ Select
SW 2
O
N
SW 1
STD
STD Switches
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Table 2-5
Base Address Switch SW1
Address 8
on
on
on
on
on
on
on
on
on
on
on
on
6
5
4
3
2
1
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Default
Locate Switches
240
250
260
270
300
310
320
330
340
350
360
370
7
Set the Interrupts
Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the
controller’s interrupt circuitry to one of the host CPU’s IRQ lines.
To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the
interrupt (IRQ2, IRQ3, ...) that you want the STD to use.
2-11
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CONFIGURE & INSTALL BOARD
STD
Table 2-6
IRQ Switch SW2
IRQ
4
3
2
1
None
IRQX*
INTRQ3*
INTRQ
INTRQ1
off
off
off
ON
off
off
off
off
off
ON
off
off
ON
off
off
off
ON
off
off
off
Default
*only supported by the STD-32 bus.
Connect Cables/Insert Board
CBL-20
STC-20
CBL-26
STD
4 STCs
4 Cables
STC-26
Connect Cables/Insert Board
CBL-50
3 STCs
3 Cables
STC-50
Connect STD to STCs
To install the controller:
1.
Turn off the power to the STD card cage.
2.
Select an unused slot (STD/32 or STD/80).
3.
Install all required ribbon cables.
4.
Insert the controller and press firmly until the board is seated in the card-edge connector.
5.
Proceed to Chapter 3 to test your I/O Address.
2-12
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CONFIGURE & INSTALL BOARD
SERCOS/STD
SERCOS/STD
Locate Switches
Figure 2-4
SERCOS/STD Address and IRQ Switch Locations
SERCOS/STD
SW1
O
N
Base
Address
SW2
O
N
IRQ Select
SERCOS/STD Switches
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Table 2-7
Base Address Switch SW1
240
250
260
270
300
310
320
330
340
350
360
370
on
on
on
on
on
on
on
on
on
on
on
on
7
6
5
4
3
2
1
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Default
Locate Switches
Address 8
Set the Interrupts
Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the
controller’s interrupt circuitry to one of the host CPU’s IRQ lines.
To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the
interrupt (IRQ2, IRQ3, ...) that you want the SERCOS/STD to use.
2-13
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SERCOS/STD
CONFIGURE & INSTALL BOARD
Table 2-8
IRQ Switch SW2
IRQ
4
3
2
1
None
IRQX*
INTRQ3*
INTRQ
INTRQ1
off
off
off
ON
off
off
off
off
off
ON
off
off
ON
off
off
off
ON
off
off
off
Default
*only supported by the STD-32 bus
Connect Cables/Insert Board
Connect Cables/Insert Board
To install the controller:
1.
Turn off the power to the STD card cage and remove the card clamp.
2.
Select an unused slot (STD/32 or STD/80).
3.
Insert the controller and press firmly until the board is seated in the card-edge connector.
4.
Proceed to Chapter 3 to test your I/O Address, then return to Step 4.
5.
Connect the fiber optic cables in a ring between the SERCOS/STD and the drives. The
dark gray connectors are receivers (“Rx”) and the light gray connectors are transmitters (“Tx”). Connect the controller’s light gray connector to the first drive’s dark gray
(Rx) connector, the connect the first drive’s light gray (Tx) connector to the second
drive’s dark gray (Rx) connector, etc.
The light-emitting module on the controller can be turned on and off for testing with
the functions turn_on_sercos_led(…) and turn_off_sercos_led(…). (See the DSP Series
C Programming Reference for more information.)
6.
When all drives are connected, turn on the power to the drives. Each drive begins an
initialization sequence. Most drives have an LCD or LED display to indicate when the
initialization is complete. Consult the specific drive documentation and chapter 6 of
DSP Series C Programming Reference for more information about SERCOS initialization procedures.
Once the SERCOS/STD has been initialized, you can exercise and tune the system using Motion Console.
2-14
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CONFIGURE & INSTALL BOARD
V6U
V6U
Locate Switches
The base I/O address switch is located in the upper center of the V6U controller and is labeled
SW1. SW2 is not currently used and should remain at its default setting (all ON). The IRQ Select and Level switches (SW3 and SW4) are located in the right mid-section of the controller.
Figure 2-5
V6U Address and IRQ Switch Locations
O
N
O
N
Base Address
IRQ Select
SW 1
SW 3
V6U
Base Address
O
N
O
N
SW 2
IRQ Level
SW 4
V6U Switches
Set Base I/O Address
After choosing a Base I/O Address, look at the next 2 tables to find the switch settings that will
implement your desired Base I/O Address.
Table 2-9
Bus
Switch
A15
A14
A13
A12
A11
A10
A9
A8
A7
A6
A5
SW2-3
SW2-2
SW2-1
SW1-8
SW1-7
SW1-6
SW1-5
SW1-4
SW1-3
SW1-2
SW1-1
Locate Switches
Use the SW1 and SW2 dipswitches on each controller to set the base I/O address. There are 10
possible choices for the Base I/O Address: 0xFFF0220, 0xFFF0240, 0xFFFF0260,
0xFFFF0280, 0xFFFF02A0, 0xFFFF0300, 0xFFFF0320, 0xFFFF0340, 0xFFFF0360, or
0xFFFF0380.
Base Address Switch (0xFFFF0220 - 0xFFFF02A0)
0xFFFF0220
on
on
on
on
on
on
OFF
on
on
on
OFF
0xFFFF0240
on
on
on
on
on
on
OFF
on
on
OFF
on
0xFFFF0260
on
on
on
on
on
on
OFF
on
on
OFF
OFF
0xFFFF280
on
on
on
on
on
on
OFF
on
OFF
on
on
0xFFFF02A0
on
on
on
on
on
on
OFF
on
OFF
on
OFF
2-15
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V6U
CONFIGURE & INSTALL BOARD
Table 2-10
Base Address Switch (0xFFFF0300 - 0xFFFF0380)
Bus
Switch
0xFFFF0300
0xFFFF0320
0xFFFF0340
0xFFFF0360
A15
A14
A13
A12
A11
A10
A9
A8
A7
A6
A5
SW2-3
SW2-2
SW2-1
SW1-8
SW1-7
SW1-6
SW1-5
SW1-4
SW1-3
SW1-2
SW1-1
on
on
on
on
on
on
OFF
OFF
on
on
on
Default
on
on
on
on
on
on
OFF
OFF
on
on
OFF
on
on
on
on
on
on
OFF
OFF
on
OFF
on
on
on
on
on
on
on
OFF
OFF
on
OFF
OFF
0xFFFF0380
on
on
on
on
on
on
OFF
OFF
on
on
on
The logic for the address switches are ON = low and OFF = high.
Communication between the host CPU and the DSP Series controller occurs through a memory
window. The start of this memory window is set by the address switches SW1 and SW2. The
DSP Series controllers use 6 addresses on the VME bus (see next table).
Set Base I/O Address
Table 2-11
Addresses on the VME bus
Address
Description
Read/Write Size
0xFFFF0300
0xFFFF0301
0xFFFF0302
0xFFFF0303
0xFFFF0304
0xFFFF0305
Address Low
Address High
Data Low
Data High
Set/Reset Flip-Flop
(Clear Reset) Flip-Flop
8 or 16-bit Write Only
8-bit Write Only
8 or 16-bit Read/write
8-bit Read/Write
8 or 16-bit Write Only
8-bit Write Only
Communication occurs in two steps.
1.
First, set the address by writing to 0xFFFF0300 and 0xFFFF0301 with either two 8bit writes, or a 16-bit write. This “connects” the VME bus data lines to the specified
location in the controller’s internal memory map.
2.
Next, the data is read/write on addresses 0xFFFF0302 and 0xFFFF0303 with either
two 8-bit read/writes or a 16-bit read/write.
2-16
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CONFIGURE & INSTALL BOARD
Set the Interrupts
V6U
The IRQ Select switch connects the V6U’s interrupt circuitry to a particular IRQ line on the
VME bus. To select a VME-bus IRQ line, turn ON the corresponding switch while leaving the
other switches off.
For example, if IRQ3 is connected, SW3-3 must be ON while SW3-1, SW3-2, SW3-4, SW35, SW3-6, SW3-7, and SW3-8 must be OFF.
Table 2-12
IRQ Select Switch SW3
IRQ
8
7
6
5
4
3
2
1
None
IRQ1
IRQ2
IRQ3
IRQ4
IRQ5
IRQ6
IRQ7
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
ON
off
off
off
off
off
off
ON
off
off
off
off
off
off
ON
off
off
off
off
off
off
ON
off
off
off
off
off
off
ON
off
off
off
off
off
off
ON
off
off
off
off
off
off
Default
The IRQ Level switch configures the V6U’s on-board logic to decode an interrupt acknowledgment from the host processor. The switch settings correspond to a binary representation of
the particular IRQ line connected by the IRQ Select switch.
For example, if IRQ3 is selected, then SW4 should represent the decimal value 3. So, SW4-1
and SW4-2 must be ON. SW4-3 and SW4-4 must be OFF.
IRQ Level Switch SW4
IRQ Level
4
3
2
1
LEVEL 0
LEVEL 1
LEVEL 2
LEVEL 3
LEVEL 4
LEVEL 5
LEVEL 6
LEVEL 7
off
off
off
off
off
off
off
off
off
off
off
off
ON
ON
ON
ON
off
off
ON
ON
off
off
ON
ON
off
ON
off
ON
off
ON
off
ON
Default
Set the Interrupts
Table 2-13
2-17
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CONFIGURE & INSTALL BOARD
V6U
Connect Cables/Insert Board
V6U
CBL-20
STC-20
CBL-26
4 STCs
4 Cables
STC-26
CBL-50
3 STCs
3 Cables
STC-50
Connect V6U to STCs
Connect Cables/Insert Board
To install the controller:
1.
Turn off the power to the VME chassis.
2.
Select an unused slot.
3.
Install all required ribbon cables.
4.
Insert the controller and press firmly until the board is seated in the backplane connector.
5.
Fasten the mounting screws (for models that have mounting screws).
6.
Proceed to Chapter 3 to test your I/O Address.
2-18
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CONFIGURE & INSTALL BOARD
104
104
Locate Switches
Figure 2-6
104 Address and IRQ Switch Locations
104
Base Address
IRQ Select
SW 1 ON
ON
SW 2
104 Switches
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Table 2-14
Address 8
on
on
on
on
on
on
on
on
on
on
on
on
7
6
5
4
3
2
1
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Default
Locate Switches
240
250
260
270
300
310
320
330
340
350
360
370
Base Address Switch SW1
Set the Interrupts
Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the
controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines,
you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that
you want the 104 to use.
2-19
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CONFIGURE & INSTALL BOARD
104
Table 2-15
IRQ Switch SW2
IRQ
8
7
6
5
4
3
2
1
None
IRQ2
IRQ3
IRQ4
IRQ5
IRQ10
IRQ11
IRQ12
IRQ15
off
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
Default
Connect Cables/Insert Board
Lower Cable
STC-50
Motor and Encoder
Signals (Axes 2-3)
104
Dedicated I/O (Axes 2-3)
Connect Cables/Insert Board
User I/O Bits 8-13, 20-23
Upper Cable
Motor and Encoder
Signals (Axes 0-1)
CBL-100
Dedicated I/O (Axes 0-1)
User I/O Bits 0-5, 16-19
STC-50
Connect 104 to STCs
To install the controller:
1.
Turn off the power to your computer.
2.
Insert the controller and press firmly until the board is seated.
3.
Secure the standoffs in place.
4.
Connect the CBL-100. The 100-pin high density connector fits into the 104 controller
locking header. The two 50-pin connectors fit into the locking headers on the STC50s. (STC-50 shown above, see Appendix F, OptoCon Reference if using the OptoCon).
For 104 Users
5.
For an easy way to separate 104 cards, get the PC/104 Removal Tool,
available from:
Enclosure Technologies
256 Airport Industrial Blvd.
Ypsilanti, MI 48198
phone: 313-481-2200
Proceed to Chapter 3 to test your I/O Address.
2-20
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CONFIGURE & INSTALL BOARD
104X
104X
Locate Switches
Figure 2-7
IRQ
Select
104X Address and IRQ Switch Locations
SW2
O
N
SW1
O
N Base
Address
104X
104X Switches
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Table 2-16
240
250
260
270
300
310
320
330
340
350
360
370
on
on
on
on
on
on
on
on
on
on
on
on
7
6
5
4
3
2
1
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Default
Locate Switches
Address 8
Base Address Switch SW1
Set the Interrupts
Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the
controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines,
you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that
you want the 104X to use.
2-21
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CONFIGURE & INSTALL BOARD
104X
Table 2-17
IRQ Switch SW2
IRQ
8
7
6
5
4
3
2
1
None
IRQ2
IRQ3
IRQ4
IRQ5
IRQ10
IRQ11
IRQ12
IRQ15
off
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
Default
Connect Cables/Insert Board
CBL-20
STC-20
Connect Cables/Insert Board
CBL-26
104X
4 STCs
4 Cables
STC-26
CBL-50
3 STCs
3 Cables
STC-50
Connect 104X to STCs
To install the controller:
1.
Turn off the power to your computer.
2.
Insert the controller (8 or 16-bit) and press firmly until the board is seated.
3.
Secure the standoffs in place.
4.
Install all ribbon cables.
5.
Proceed to Chapter 3 to test your I/O Address.
2-22
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CONFIGURE & INSTALL BOARD
SERCOS/104
SERCOS/104
Locate Switches
Figure 2-8
SERCOS/104 Address and IRQ switch locations
SW1
Base
Address
O
N
SERCOS/104
SW2
IRQ Select O
N
SERCOS/104 Switches
Set the Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Address 8
240
250
260
270
300
310
320
330
340
350
360
370
on
on
on
on
on
on
on
on
on
on
on
on
Base Address Switch SW1
7
6
5
4
3
2
1
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Locate Switches
Table 2-18
Default
Set the Interrupts
Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the
controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines,
you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that
you want the SERCOS/104 to use.
2-23
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SERCOS/104
CONFIGURE & INSTALL BOARD
Table 2-19
IRQ Switch SW2
IRQ
8
7
6
5
4
3
2
1
None
IRQ2
IRQ3
IRQ4
IRQ5
IRQ10
IRQ11
IRQ12
IRQ15
off
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
Default
Connect Cables/Insert Board
Connect Cables/Insert Board
To install the controller:
1.
Turn off the power to the computer.
2.
Select an unused slot (8 or 16-bit).
3.
Insert the controller and press firmly until the board is seated in the card-edge connector.
4.
Connect the fiber optic cables in a ring between the SERCOS/104 and the drives. The
dark gray connectors are receivers (“Rx”) and the light gray connectors are transmitters (“Tx”). Connect the controller’s light gray connector to the first drive’s dark gray
(Rx) connector, the connect the first drive’s light gray (Tx) connector to the second
drive’s dark gray (Rx) connector, etc.
The light-emitting module on the controller can be turned on and off for testing with
the functions turn_on_sercos_led(…) and turn_off_sercos_led(…). (See the DSP Series
C Programming Reference for more information.)
Once the SERCOS/104 has been initialized, you can exercise and tune the system using Motion
Console.
2-24
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CONFIGURE & INSTALL BOARD
LC
LC
Locate Switches
Figure 2-9
LC Address and IRQ Switch Locations
LC
Base Address
ON
IRQ Select
ON
SW 1
SW 2
LC Switches
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Table 2-20
Address 8
on
on
on
on
on
on
on
on
on
on
on
on
7
6
5
4
3
2
1
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Default
Locate Switches
240
250
260
270
300
310
320
330
340
350
360
370
Base Address Switch SW1
Set the Interrupts
Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the
controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines,
you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that
you want the LC to use.
2-25
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CONFIGURE & INSTALL BOARD
LC
Table 2-21
IRQ Switch SW2
IRQ
8
7
6
5
4
3
2
1
None
IRQ2
IRQ3
IRQ4
IRQ5
IRQ10
IRQ11
IRQ12
IRQ13
off
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
Default
Connect Cables/Insert Board
Lower Cable
STC-50
Motor and Encoder
Signals (Axes 2-3)
LC
Dedicated I/O (Axes 2-3)
Connect Cables/Insert Board
User I/O Bits 8-13, 20-23
Upper Cable
Motor and Encoder
Signals (Axes 0-1)
CBL-100
Dedicated I/O (Axes 0-1)
User I/O Bits 0-5, 16-19
STC-50
Connect LC to STCs
To install the controller:
1.
Turn off the power to the computer and remove the cover.
2.
Select an unused expansion slot (16-bit) and remove its blank metal bracket from the
computer.
3.
Orient the controller inside the computer so that it lines up with the card-edge connector.
4.
Press down on the metal bracket tab and the top of the board until the board is firmly
seated.
5.
Secure the bracket in place with the screw.
6.
Connect the CBL-100. The 100-pin high density connector fits into the LC controller
locking header. The two 50-pin connectors fit into the locking headers on the STC50s. (STC-50 shown above, see Appendix F, OptoCon Reference if using the OptoCon).
7.
Proceed to Chapter 3 to test the I/O Address.
2-26
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CONFIGURE & INSTALL BOARD
SERCOS/DSP
SERCOS/DSP
Locate Switches
Figure 2-10
SERCOS/DSP Address and IRQ Switch Locations
SERCOS/DSP
Base Address
SW 1 ON
SW 2 IRQ Select
ON
SERCOS/DSP Switches
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Table 2-22
Address 8
on
on
on
on
on
on
on
on
on
on
on
on
7
6
5
4
3
2
1
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
on
on
on
on
on
on
on
on
on
on
on
on
OFF
OFF
OFF
OFF
on
on
on
on
OFF
OFF
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
on
OFF
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on
OFF
on = low
OFF = high
Default
Locate Switches
240
250
260
270
300
310
320
330
340
350
360
370
Base Address Switch SW1
Set the Interrupts
Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the
controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines,
you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that
you want the SERCOS/DSP to use.
2-27
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SERCOS/DSP
CONFIGURE & INSTALL BOARD
Table 2-23
IRQ Switch SW2
IRQ
8
7
6
5
4
3
2
1
None
IRQ2
IRQ3
IRQ4
IRQ5
IRQ10
IRQ11
IRQ12
IRQ15
off
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
ON
off
off
off
off
off
off
off
Default
Connect Cables/Insert Board
Connect Cables/Insert Board
To install the controller:
1.
Turn off the power to the computer and remove the cover.
2.
Select an unused expansion slot (16-bit) and remove its blank metal bracket from the
computer.
3.
Orient the controller inside the computer so that it lines up with the card-edge connector.
4.
Press down on the metal bracket tab and the top of the controller until the board is
firmly seated.
5.
Secure the bracket in place with the screw.
6.
Connect the fiber optic cables in a ring between the SERCOS/DSP and the drives. The
dark gray connectors are receivers (“Rx”) and the light gray connectors are transmitters (“Tx”). Connect the controller’s light gray connector to the first drive’s dark gray
(Rx) connector, the connect the first drive’s light gray (Tx) connector to the second
drive’s dark gray (Rx) connector, etc.
The light emitting module on the controller can be turned on and off for testing with
the functions turn_on_sercos_led(…) and turn_off_sercos_led(…). (See the DSP Series
C Programming Manual for more information).
7.
When all drives are connected, turn on the power to the drives. Each drive begins an
initialization sequence. Most drives have an LCD or LED display to indicate when the
initialization is complete. Consult the specific drive documentation and DSP Series C
Programming Refernce for more information about SERCOS initialization procedures.
Once the SERCOS/DSP has been initialized, you can exercise and tune the system using
Motion Console.
2-28
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CHAPTER 3
TEST CONTROLLER’S
I/O ADDRESS
Now before wiring the STCs to the amplifiers, encoders or motors, test the I/O address of the
DSP Series controller.
If your Operating System is
Then use this application
to test the I/O location
Windows 95/98
Windows NT
Windows (with 32S extensions)
Motion Console
3-2
DOS
Windows 3.11
SETUP
or CONFIG
3-3
3-4
If your systems is running Windows 95/98, Windows NT, and Windows (with 32S extensions),
you can use Motion Console to test the I/O location.
If your systems is running DOS or Windows 3.11, you must use the SETUP program (or the CONFIG program) to test the I/O location.
After testing your controller’s I/O address, proceed to Chapter 4, to connect the STCs to
the amplifiers, motors and encoders.
Warning!
Only use Motion Console version 2.00.0006 or later with the PCI/DSP (some
required features are not included in prior versions).
3-1
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TEST CONTROLLER’S I/O ADDRESS
Using Motion Console
Using Motion Console
1.
To install MEI’s Motion Console application, follow the instructions in the Release
Note included with your software distribution.
2.
Locate the Motion Console application, which should be located in the Motion Engineering program group (\MEI). Start Motion Console by clicking on its icon.
3.
In Motion Console’s main menu, select Summary. You should now see the Hardware
Summary window.
4.
Click Add Controller in the Hardware Summary window.
Controller’s status
To change the controller’s I/O address
5.
In the Add Controller dialog box, enter the controller’s name and desired address (for
PCI/DSP click on the PCI Controllers tab and select controller). Next click OK.
6.
The new controller should now appear in the Hardware Summary/Controller List with
a status of “OK.” If Motion Console cannot find the controller at the specified address,
Motion Console will list the controller’s status as “Bad.”
Controller should
appear here
If the controller’s name and address appear as desired, proceed to Chapter 4 and continue with your installation, by connecting the STCs to amplifiers, encoders and motors.
If the controller’s name and address appear as desired or if Motion Console lists the controller’s status as “Bad” in the Controller List, make sure that the DIP switches on the
controller are correctly set for the same address.
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TEST CONTROLLER’S I/O ADDRESS
Using SETUP.EXE
1.
On your hard drive (C: or whatever), create the directory C:\MEI\SETUP and copy the
files from the “Setup” CD-ROM to that directory.
2.
Next run the SETUP program by typing SETUP at the DOS prompt. You should next see
the About SETUP window, which shows the date and version of the SETUP program.
Note that when SETUP initializes the controller, SETUP does not change any of the current configurations or conditions on the DSP Series controller.
3.
Select the Configure menu, using either the mouse or by pressing the ALT and C keys
simultaneously. On the Configure menu, select I/O Base Address.
4.
In the I/O Base Address window, enter the desired base address for the controller, then
select OK. Reopen the I/O Base Address window, and verify that the Current I/O Address is now the address that you just entered.
Using SETUP.EXE
The “Setup” CD-ROM contains the SETUP program, the firmware (.ABS files) and the CONFIG
program.
If the address is correctly set, then proceed to Chapter 4 and continue with your installation, by connecting the STCs to amplifiers, encoders and motors.
Configure/Set I/O Base Address Window
Tip!
DSP Not Found
If SETUP displays a message that the DSP controller cannot be found at the specified address, be sure that the DIP switches on the controller are set for the same
address entered on the CONFIGURE/SET I/O BASE window.
If SETUP still displays a message that the DSP is Not Found, press the F9 key to
re-execute the SETUP program. If the SETUP program still cannot find the DSP,
run the CONFIG program.
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TEST CONTROLLER’S I/O ADDRESS
Using CONFIG.EXE
Using CONFIG.EXE
The CONFIG program downloads firmware to the controller, configures the DAC offsets, and
performs some basic tests of the axes. Normally the CONFIG program is not needed, since the
controller is configured at the factory.
Before running CONFIG, disconnect all of the cables from the DSP Series controller
and turn off the power to any external devices (amplifiers, etc.).
WARNING!
1.
To run CONFIG, switch to the directory where all the .ABS files and CONFIG.EXE are
stored (generally C:\MEI\SETUP\). Then execute config.
CONFIG will download 8AXIS.ABS or 8AXISSER.ABS (for SERCOS controllers).
2.
Now execute config -b base_address
where base_address is the desired I/O address for the DSP controller.
3.
If CONFIG doesn’t display any error messages, then the I/O address was successfully
set.
Now proceed to Chapter 4 and continue with your installation, by connecting the STCs
to amplifiers, encoders and motors.
Other CONFIG Functions
Other CONFIG Functions
The following CONFIG tests can verify proper communication between the controller and the
host CPU, verify on-board memory, configure the DAC offsets, and determine the number of
hardware axes. Note that configured DAC offsets are saved to the controller’s firmware, and
are not saved to the firmware files on diskette. If there are any problems, the CONFIG program
will display error messages.
Table 3-1
CONFIG’s Command Line Switches
Configure controller with a particular firmware file
Download firmware file only
Upload firmware file only
Set base address
Configure ‘n’ number of axes
Verbose, all messages displayed
No warning message
-f
-d
-u
-b
-a
-v
-w
[filename]
[filename]
[filename]
[base]
[axes]
Examples
To configure a controller located at an address other than the default (300 Hex),
use the -b command line switch. For example, to configure a controller located at address
0x280, execute CONFIG -B 0x280.
To download a particular firmware file (.ABS),
execute CONFIG -F MYFIRM.ABS.
The CONFIG program will download MYFIRM.ABS and configure the DAC offsets appropriately. This method is useful for configuring multiple controller cards.
To download firmware without configuring the DAC offsets,
execute CONFIG -D MYFIRM.ABS.
To upload firmware to a diskette file,
execute CONFIG -U MYFIRM.ABS.
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CONNECT STCS TO AMPS/MOTOR/ENCODER
CHAPTER 4
CONNECT STCS TO
AMPS/MOTOR/ENCODER
PCX, STD, 104X, CPCI, V6U
Connections to Servo Motors
Brush Servo Motors
Brushless Servo Motors
Step-and-Direction Servo Motors
Connections to Step Motors
Open-Loop Step Motors
Closed-Loop Motors
Connections for Dual-Loop Control
Encoder Interface
Encoder Integrity Checking
4-2
4-2
4-3
4-3
4-4
4-4
4-4
4-6
4-7
4-10
LC, 104
Connections to Servo Motors
Brush Servo Motors
Brushless Servo Motors
Step-and-Direction Servo Motors
Connections to Step Motors
Open-Loop Step Motors
Closed-Loop Motors
Connections for Dual-Loop Control
4-11
4-11
4-12
4-12
4-13
4-13
4-14
4-15
PCI
Connections to Servo Motors
Brush Servo Motors
Brushless Servo Motors
Step-and-Direction Servo Motors
Connections to Step Motors
Open-Loop Step Motors
Closed-Loop Motors
Connections for Dual-Loop Control
Connections for Encoder Signals
4-16
4-16
4-17
4-17
4-18
4-18
4-19
4-20
4-21
V6U only
For more information about motor connectors, pinouts on the DSP controllers and signal specifications, please refer to Appendix E, Connectors & Specifications.
4-1
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CONNECT STCS TO AMPS/MOTOR/ENCODER
PCX, STD, 104X, CPCI & V6U
PCX, STD, 104X, CPCI & V6U
Connections to Servo Motors
DSP Series controllers can control brush servo motors, brushless servo motors, or linear brush/
brushless motors. Basic connections require an analog output signal (from the controller to the
amplifier) and an encoder input (from the motor to the controller).
Most amplifiers support either Velocity mode (voltage control) Torque mode (current control)
or both. The DSP controller can be used with either servo motor/amplifier package.
DSP Series controllers accept TTL-level (0V to +5V, 40mA max) encoder input from either
differential or single-ended encoders. Differential encoders are preferred due to their excellent
noise immunity. The connections for a single-ended encoder are identical to a differential encoder except that no connections should be made to channel A- and channel B-. (The A- and
B- lines are pulled up internally to +2.5V). Single-ended encoder connections are different
for the V6U, see page 7 in this chapter for V6U connections.
The controller reads the index pulse (either single-ended or differential ended). Typically, there
is one index pulse per revolution of the encoder (rotary type), which can be used for homing.
Encoder signals are read in quadrature. Every line on the encoder will produce a rising edge
and a falling edge on channels A+ and B+ which is interpreted by the DSP controller as 4 encoder counts.
Brush Servo Motors
Connections to Servo Motors
The minimum required connections to brush-type servo are: Analog signal (+/- 10V), +5V,
Signal Ground, Encoder Channel A+, Encoder Channel B+. Typical connections for a brush
servo motor with a differential encoder are:
Figure 4-1
Typical Brush Servo Motor Connections
STC-26
From
PCX
CPCI
STD
V6U
104X
1 GND
9 Servo
1
2
3
4
5
6
7
8
+
Servo
Amp
Motor
Encoder
GND
+5 volts
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
TO BRUSH SERVO MOTOR
For more information about amp enable and amp fault connections, see the Dedicated & User
I/O section in Chapter 5.
Note
Any unused lines should be left unconnected.
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Brushless Servo Motors
Figure 4-2
Typical Brushless Servo Motor Connections
STC-26
1
9
From
PCX
CPCI
STD
V6U
104X
GND
Servo
+
Brushless
Amp
Motor
3 Encoder A+
4 Encoder A5 Encoder B+
6 Encoder B7 Encoder Index+
8 Encoder Index-
TO BRUSHLESS SERVO MOTOR
PCX, STD, 104X, CPCI & V6U
Typical connections for a brushless servo motor with a differential encoder are:
For more information about amp enable and amp fault connections, see the Dedicated & User
I/O section in Chapter 5.
Note
Any unused lines should be left unconnected.
Step-and-Direction Controlled Servo Motors
To avoid possible instability caused by conflict between the drive PID loop and the controller
board PID loop, operate step-and-direction servos as open-loop step motors. The controller
will send step pulses and a direction pulse to the drive, which will handle the PID internally.
Warning!
If the controller is configured for open loop step control, make sure that the tuning
parameters conform to those listed in Open-Loop Stepper Systems (Chapter 6).
Connections to Servo Motors
Some brushless servos are controlled by step-and-direction pulses. With this scheme, the position information is communicated by step pulses, and the PID loop is handled internally by the
drive itself.
4-3
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CONNECT STCS TO AMPS/MOTOR/ENCODER
PCX, STD, 104X, CPCI & V6U
Connections to Step Motors
Open-Loop Step Motors
The DSP controllers can control step motors in both open-loop (no encoder) and closed-loop
configurations. In the open-loop configuration the step pulse output (connected to the drive) is
fed back into the line receivers and used to keep track of the “actual position.” With open-loop
step configuration selected, the DSP closes the loop internally on a pair of axes. DSP controllers are compatible with full, half and micro stepping drives.
Figure 4-3
Typical Open-Loop Step Motor Connections (PCX/CPCI/STD/V6U/104X)
This connection is for step drives that trigger on
the falling edge.
From
PCX
CPCI
STD
V6U
104X
STEP DRIVE
STC-26 1 GND
Step 11
12 Direction
MOTOR
GND
STEP
DIR
Connections to Step Motors
This connection is for step drives that trigger on
the rising edge.
From
PCX
CPCI
STD
V6U
104X
STEP DRIVE
STC-26 1 GND
Step +
10
Direction
12
GND
STEP
DIR
MOTOR
TO OPEN-LOOP STEP MOTORS
Closed-Loop Step Motors
DSP Series controllers can control step motors with encoder feedback. Closed-loop steps are
controlled by a PID algorithm running on the DSP in real time. The controllers accept TTLlevel (0V to 5V, 40mA max) encoder input from either differential or single-ended encoders.
Differential encoders are preferred due to their excellent noise immunity. The connections for
a single-ended encoder is identical to a differential encoder except that there are no connections
made to channel A- and channel B-. (The A- and B- lines are pulled up internally to 2.5V).
Encoder signals are read in quadrature. Every line on the encoder will produce a rising edge
and a falling edge on channels A+ and B+ which is interpreted by the DSP controller as 4 encoder counts.
Connecting closed-loop step motors to the controller is similar to servo motors, except that the
step and direction lines are connected instead of the analog signal. The minimum connections
are:
Step+ (or Step-)
Direction+ (or Direction-)
Signal Ground
Encoder A+ and B+ lines
+5V
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CONNECT STCS TO AMPS/MOTOR/ENCODER
In general, use Step+ for drives with active high logic, and use Step- for drives with active low
logic. Both Step+ and Step- lines can be connected to drives with differential inputs. If in
doubt, fax the drive pinouts to Motion Engineering along with any questions.
Warning!
For the best performance, ensure that the ratio is between the encoder resolution
(counts per revolution) and the step resolution (steps per microsteps per revolution)
is 1:4.
Lower ratios (1:1, 1:2) will be difficult to tune and will have poor static stability.
Higher ratios (1:6, 1:8) will have poor constant velocity stability.
Typical connections for a step motor with a differential encoder are:
Figure 4-4
Typical Closed-loop Step Motor Connections
STC-26
From
PCX
CPCI
STD
V6U
104X
GND
Step +
Direction +
1
2
3
4
5
6
7
8
GND
+5 volts
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
Step
Drive
Motor
Encoder
TO CLOSED-LOOP STEP DRIVE/MOTOR
Note!
For drives that trigger on the rising edge of the pulse input, use Step+.
For drives that trigger on the falling edge of the pulse input, use Step-.
Connections to Step Motors
1
10
12
PCX, STD, 104X, CPCI & V6U
Note that when only Step+ or Step- is used, it may be necessary to jumper unused terminals on
the step drive. Before connecting Step+ or Step-, consult your step drive’s manual
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Connections for Dual-Loop Control
PCX, STD, 104X, CPCI & V6U
Connections for Dual-Loop Control
DSP Series controllers can be configured for dual-loop control. In dual-loop control, the velocity information for the PID derivative term (Kd) is derived from a rotary encoder on the motor
shaft, and the position information for the PID proportional and integral terms is derived from
an encoder on the load itself.
The axis that will be used for the rotary encoder is configurable through software and can be
any axis that is not controlling a motor. For example, if axis 0 is configured for velocity feedback and axis 1 is configured for positional feedback, your system would be connected as
shown in the next figure.
Figure 4-5
Typical Dual-loop Encoder Connections with Differential Encoders
STC-26
Axis 1
From
PCX
CPCI
STD
V6U
104X
14
15
16
17
18
19
20
21
GND
+ 5 volts
Encoder A+
Encoder AEncoder B+
Position
Encoder
Encoder BEncoder Index+
Encoder Index-
Velocity
Axis 1
14
22
Axis 0
3
4
5
6
7
8
GND
-
Servo
+
Brushless
Amp
Motor
Encoder
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
DUAL-LOOP ENCODER CONNECTIONS
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CONNECT STCS TO AMPS/MOTOR/ENCODER
V6U
Warning!
V6U
Encoder Interface
The encoder interface circuits have changed from Revision 2 to
Revision 4!
If you use a Rev 4 V6U controller in a “Rev 2” system containing singleended encoders, the motors may run away and cause harm or injury to equipment and people.
If you are using single-ended encoders with the V6U, you must change
the circuitry to work safely with Revision 4 V6U controllers.
When we added the Encoder Integrity Checking feature, we removed the R1/R2 bias circuits
and added 100 ohm resistors across the 422 receiver inputs.
If you are using single-ended encoders, you now must add your own bias circuits to your
system. The bias circuits are no longer provided on the V6U controller. Differential encoders
are connected in the same manner as in previous revisions of the V6U. Connection diagrams
for Rev 4 are included here to highlight the wiring changes.
Note that twisted-pair shielded cabling provides the best immunity in electrically noisy environments. For more about Encoder Integrity Checking, please consult the DSP Series C Programming Reference.
Encoder Interface
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Example of Single-Ended Encoder Connection to V6U Rev 4
V6U
Figure 4-6
Note that each signal requires an independent bias network in this configuration.
Put these bias circuits as close to the encoder as possible.
New!
V6U
5V_OUT
Enc0_A+
100
Ohms
R1
Enc0_A-
R2
Gnd
You must
provide
these bias
circuits.
Twisted pair
in cables*
EIA 422
Line Receivers
Single-Ended
Encoder
A
Enc0_B+
100
Ohms
Enc0_B-
5V_OUT
R1
B
R2
I
Gnd
+5V
Encoder Interface
Enc0_I+
100
Ohms
GND
Enc0_I-
5V_OUT
R1
R2
Encoder Power
Gnd
5V_OUT
Vcc
Encoder
Output Type
CMOS (0 to +5V)
TTL (0 to +3V)
R1
820
620
R2
820
330
Signal Gnd
*Note: Do not connect signal
ground to shield ground.
Single-Ended Encoder
to V6U/DSP Rev 4
4-8
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Figure 4-7
Example of Differential Encoder Connection to V6U Rev 4
V6U
New!
V6U
Differential encoders are preferred
over single-ended encoders, because
of their superior immunity to noise.
Enc0_A+
100
Ohms
Differential
Encoder
Enc0_ATwisted pair
in cables*
EIA 422
Line Receivers
A+
A-
Enc0_B+
100
Ohms
B+
B-
Enc0_B-
I+
I+5V
Enc0_I+
100
Ohms
GND
Enc0_I-
5V_OUT
Vcc
Gnd
There is one +5 volt supply and
return shared by each pair of
encoders, which is available at
2 sets of power pins (5V_OUT,
GND) on each connector.
Encoder Interface
Encoder Power
*Note: Do not connect signal
ground to shield ground.
Differential Encoder
to V6U/DSP Rev 4
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CONNECT STCS TO AMPS/MOTOR/ENCODER
V6U
Encoder Integrity Checking
V6U Revision 4 now includes broken wire detection and illegal state detection (using digital
filtering on encoder input lines). Linear Tech LTC1519 EIA-422 line receivers (with open and
short circuit guaranteed states) are used in a flip-flop structure to provide information to existing Encoder Integrity Checking (EIC) logic on the V6U.
Broken Wire & Illegal State Detection
The encoder inputs (channel A+, A-, B+, B-) are monitored by the FPGA (an on-board logic
component). The encoder inputs are sampled at 10mHz. A digital filter has been added to each
of the encoder inputs to the position counters in the FPGA. This digital filter requires that an
encoder input (channel A+, A-, B+, B-) be stable for 4 clock cycles (400 nanoseconds) before
a transition is recognized, i.e., encoder input states lasting less than 4 clock cycles are considered illegal and filtered out.
A broken wire condition occurs when either (A+ and A- channels) or (B+ or B- channels) are
in the same logic state for 3 consecutive sample periods (300 nsec). When a broken encoder
wire is detected, the appropriate bit (one per axis) in the broken wire status register is latched.
Use the routine set_feedback_check(int16 axis, int16 *state) to configure broken wire and illegal state detection. To enable feedback checking, set state = TRUE; to disable feedback
checking, set state = FALSE. After feedback checking is enabled, use the routine
get_feedback_check(int16 axis, int16 *state) to read the current feedback checking configuration for an axis. When feedback checking is enabled, the V6U will examine the broken wire
and illegal state registers at every DSP sample. If the DSP detects an encoder failure, an Abort
Event will be generated on the appropriate axis.
Encoder Integrity Checking
Use axis_source(...) to determine the cause of the Exception Event.
To clear a broken encoder wire or illegal state condition, call controller_run(...). This function
will clear the broken wire, illegal state registers, and the Abort Event.
4-10
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CONNECT STCS TO AMPS/MOTOR/ENCODER
LC, 104
DSP Series controllers can control brush servo motors, brushless servo motors, or linear brushless motors. Basic connections require an analog output signal (from the controller to the amplifier) and an encoder input (from the motor to the controller).
LC, 104
Connections to Servo Motors
Most amplifiers support either Velocity mode (voltage control), Torque mode (current control)
or both. The DSP controller can be used with either Velocity or Torque controlled servo motor/
amplifier packages.
DSP Series controllers accept TTL-level (0V to +5V, 40mA max) encoder input from either
differential or single-ended encoders. Differential encoders are preferred due to their excellent
noise immunity. When used with differential encoders, the differential line receiver on the controller reads the difference between A+ and A- and between B+ and B-. By reading the difference between the square wave inputs any significant noise is canceled out. The connections for
a single-ended encoder are identical to a differential encoder except that no connections should
be made to channel A- and channel B-. (The A- and B- lines are pulled up internally to 2.5V).
The controller reads the index pulse (either single-ended or differential ended). Typically, there
is one index pulse per revolution of the encoder (rotary type), which can be used for homing.
Encoder signals are read in quadrature. Every line on the encoder will produce a rising edge
and a falling edge on channels A+ and B+ which is interpreted by the DSP controller as 4 encoder counts.
Brush Servo Motors
Figure 4-8
STC-50
Typical Brush Servo Motor Connections
17
15
From
104
LC
17
1
3
5
7
9
11
13
GND
-
Servo
+
Servo
Amp
Motor
Encoder
GND
+5 volts
Encoder A+
Connections to Servo Motors
The minimum required connections to a brush-type servo are: Analog signal (+/- 10V), +5V,
Signal Ground, Encoder Channel A +, Encoder Channel B +. Typical connections for a brush
servo motor with a differential encoder are:
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
TO BRUSH SERVO MOTOR
For more information about amp enable and amp fault connections, see the Dedicated & User
I/O section in Chapter 5.
Note
Any unused lines should be left unconnected.
4-11
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Brushless Servo Motors
LC, 104
Typical connections for a brushless servo motor with a differential encoder are:
Figure 4-9
Typical Brushless Servo Connections
STC-50
17
From
104
LC
15
3
5
7
9
11
13
GND
-
Servo
+
Brushless
Amp
Motor
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
TO BRUSHLESS SERVO MOTOR
For more information about amp enable and amp fault connections, see the Dedicated & User
I/O section in Chapter 5.
Note
Any unused lines should be left unconnected.
Connections to Servo Motors
Step-and-Direction Controlled Servo Motors
Some brushless servos are controlled by step-and-direction pulses. With this scheme, the position information is communicated by step pulses, and the PID loop is handled internally by the
drive itself.
Step-and-direction servo systems can be operated in open-loop or closed-loop controller configurations. When configured for open-loop steppers, the controller sends step and direction
position information to the drive. The drive closes the torque, velocity, and position loops internally. When configured for closed-loop steppers, the controller sends step and direction position information to the drive and receives action position information from the encoder. The
drive closes the torque and velocity loops; the controller closes the position loop.
Generally, the best performance occurs when the controller is configured for open-loop steppers.
Note
If the controller is configured for open loop step control, make sure that the tuning
parameters conform to the parameters listed in Open-Loop Stepper Systems (on page
6-7 in Chapter 6).
4-12
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Connections to Step Motors
The controllers can control step motors in both open-loop (no encoder) and closed-loop configurations. In the open-loop configuration, the step pulse output (connected to the drive) is fed
back into the line receivers and used to keep track of the “actual position.” With open-loop
step configuration selected the DSP closes the loop internally on a pair of axes. DSP controllers
are compatible with full/half and micro stepping drives.
LC, 104
Open-Loop Step Motors
Most step drives require 3 wires for operation: step, direction and ground (or + 5V). The controller provides a TTL-level step pulse(+) output and direction(+) output for each axis. In addition, the complements of the step and direction are also provided (Step-, Dir-).
Some drives allow differential inputs in which both Step+ and Step- lines are connected for
higher noise immunity. If in doubt, fax the driver data sheets or driver pinouts to Motion Engineering along with any questions.
Note that when only Step+ or Step- is used, it may be necessary to jumper unused terminals on
the step drive. Before connecting Step+ or Step-, consult your step drive’s manual.
Note
Figure 4-10
If the controller is configured for open loop step control, make sure that the tuning
parameters conform to the parameters listed in Open-Loop Stepper Systems (on page
6-7 in Chapter 6).
Typical Open-Loop Step Motor Connections
This connection is for step drives that trigger on
the falling edge.
From
104
LC
STC-50 17
21
23
Step -
MOTOR
GND
STEP
DIR
This connection is for step drives that trigger on
the rising edge.
STEP DRIVE
From
104
LC
STC-50 17
19
23
Step +
Connections to Step Motors
STEP DRIVE
MOTOR
GND
STEP
DIR
TO
OPEN-LOOP STEP MOTORS
4-13
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Closed-loop Step Motors
LC, 104
DSP Series controllers can control step motors with encoder feedback. Closed-loop steps are
controlled by a PID algorithm running on the DSP in real time. The controllers accept TTLlevel (0V to +5V, 40mA max) encoder input from either differential or single-ended encoders.
Differential encoders are preferred due to their excellent noise immunity. The connections for
a single-ended encoder are identical to a differential encoder except, nothing should be connected to channel A- and channel B-. (The A- and B- lines are pulled up internally to 2.5V).
Encoder signals are read in quadrature. Every line on the encoder will produce a rising edge
and a falling edge on channels A+ and B+, which is interpreted by the DSP controller as 4 encoder counts.
Connecting closed-loop step motors to the controller is similar to servo motors, except that the
step and direction lines are connected instead of the analog signal. The minimum connections
are:
Step+ (or Step-)
Direction+ (or Direction-)
Signal Ground
Encoder A+ and B+ lines
+ 5V
Note that when only Step+ or Step- is used, it may be necessary to jumper unused terminals on
the step drive. Before connecting Step+ or Step-, consult your step drive’s manual
In general, use Step+ for drives with active high logic, and use Step- for drives with active low
logic. Both Step+ and Step- lines can be connected to drives with differential inputs. If in
doubt, fax the drive pinouts to Motion Engineering along with any questions.
Connections to Step Motors
Warning!
For the best performance, ensure that the ratio is between the encoder resolution
(counts per revolution) and the step resolution (steps per microsteps per revolution)
is 1:4.
Lower ratios (1:1, 1:2) will be difficult to tune and will have poor static stability.
Higher ratios (1:6, 1:8) will have poor constant velocity stability.
Figure 4-11
STC-50
Typical Connections for Closed-Loop Step Motor
17
19
From
104
LC
23
18
1
2
4
6
8
10
12
14
GND
Step +
Direction +
Step
Drive
Motor
Encoder
GND
+5 volts
-5 volts
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
TO CLOSED-LOOP STEP MOTOR
Note
For drives that trigger on the rising edge of the pulse input, use Step+.
For drives that trigger on the falling edge of the pulse input, use Step-.
4-14
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Connections for Dual-Loop Control
LC, 104
DSP Series controllers can be configured for dual-loop control. In dual-loop control, the velocity information for the PID derivative term (Kd) is derived from a rotary encoder on the motor
shaft, and the position information for the PID proportional and integral terms are derived from
an encoder on the load itself.
The axis that will be used for the rotary encoder is configurable through software and can be
any axis that is not controlling a motor. For example, if axis 0 is configured for velocity feedback and axis 1 is configured for positional feedback, your system would be connected as
shown in the next figure.
Figure 4-12
Typical Dual-loop Encoder Wiring with Differential Encoders
STC-50
4
Axis 1
From
104
LC
6
8
10
12
14
Encoder A+
Encoder AEncoder B+
Encoder B-
Position
Encoder
Encoder Index+
Encoder Index-
Velocity
Axis 1
18
16
3
7
9
11
13
-
Servo
+
Brushless
Amp
Motor
Encoder
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
FOR DUAL-LOOP CONTROL
Connections for Dual-Loop Control
5
Axis 0
GND
4-15
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CONNECT STCS TO AMPS/MOTOR/ENCODER
PCI
PCI
Connections to Servo Motors
PCI/DSP controllers can control brush servo motors, brushless servo motors, or linear brushless motors. Basic connections require an analog output signal (from the controller to the amplifier) and an encoder input (from the motor to the controller).
Most amplifiers support either Velocity mode (voltage control), Torque mode (current control)
or both. The PCI controller can be used with either servo motor/amplifier package.
PCI controllers accept TTL-level (0V to +5V, 40mA max) encoder input from either differential or single-ended controllers. Differential encoders are preferred due to their excellent noise
immunity. See Figure 4-19, Typical Single-Ended Encoder Connections, for instructions.
Brush Servo Motors
The minimum required connections to a brush-type servo are: Analog signal (+/- 10V), +5V,
Signal Ground, Encoder Channel A+, Encoder Channel B+. Typical connections for a brush
servo motor with differential encoder are:
Figure 4-13
Typical Brush Servo Motor Connections
STC-136
Connections to Servo Motors
Encoder
Motor
Servo
Amp
Command_0+ 10
Command_0- 44
GND
+5 volts
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder IndexAny unused lines should be
left unconnected.
42
41
4
38
5
39
6
40
PCI
Axis 0
TO BRUSH SERVO MOTOR
4-16
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Brushless Servo Motors
Figure 4-14
PCI
Typical connections for a brushless servo motor with a differential encoder are:
Typical Brushless Servo Motor Connections
STC-136
Motor
Brushless
Amp
Command_0+ 10
Command_0- 44
PCI
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
Any unused lines should be
left unconnected.
4
38
5 Axis 0
39
6
40
TO BRUSHLESS SERVO MOTOR
Step-and-Direction Controlled Servo Motors
To avoid possible instability caused by conflict between the drive PID loop and the controller
PID loop, operate step-and-direction servos as open-loop step motors. The controller will
send step pulses and a direction pulse to the drive, which will handle the PID position control
loop internally.
Warning!
If the controller is configured for open loop step control, make sure that the tuning
parameters conform to those listed in Open-Loop Stepper Systems (Chapter 6).
Connections to Servo Motors
Some brushless servos are controlled by step-and-direction pulses. With this scheme, the position information is communicated by step pulses, and the PID loop is handled internally by
the drive itself.
4-17
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CONNECT STCS TO AMPS/MOTOR/ENCODER
PCI
Connections to Step Motors
Open-Loop Step Motors
The PCI controllers can control step motors in both open-loop (no encoder) and closed-loop
configurations. In the open-loop configuration, the step pulse output (connected to the drive)
is fed back internally and used to keep track of the “actual position.” With open-loop step configuration selected, the DSP closed the loop internally on a pair of axes. PCI controllers are
compatible with full/half and micro stepping drives.
Figure 4-15
Typical Open-Loop Step Motor Connections (PCI)
This connection is for step drives that trigger
on the falling edge.
Step Drive
Motor
GND
STEP
DIR
Step Drive
Connections to Step Motors
Motor
GND
STEP
DIR
STC-136
GND
3
Step 49
Direction + 16 Axis 0
PCI
This connection is for step drives that trigger on
the rising edge.
GND
3 STC-136
Step +
15
Direction + 16 Axis 0
PCI
TO
OPEN-LOOP STEP MOTORS
4-18
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Closed-Loop Step Motors
PCI
PCI controllers can control step motors with encoder feedback. Closed-loop steps are controlled by a PID algorithm running on the DSP in real time. The controller’s accept TTL-level
(0V to 5V, 40mA max) encoder input from either differential or single-ended encoders. Differential encoders are preferred due to their excellent noise immunity.
Encoder signals are read in quadrature. Every line on the encoder produce a rising edge and a
falling edge on channels A+ and B+ which is interpreted by the PCI controller as 4 encoder
counts.
Connecting closed-loop step motors to the controller is similar to servo motors, except that the
step and direction lines are connected instead of the analog signal. The minimum connections
are Step+ (or Step-), Direction+ (or Direction-), Signal Ground, Encoder A+ and B+ lines, and
+5V.
Note that when only Step+ or Step- is used, it may be necessary to jumper unused terminals on
the step drive. Before connecting Step+ or Step-, consult your step drive’s manual.
In general, use Step+ for drives with active high logic, and use Step- for drives with active low
logic. Both Step+ and Step- lines can be connected to drives with differential inputs. If in
doubt, fax the drive’s pinouts to Motion Engineering along with any questions.
Warning!
For the best performance, ensure that the ratio between the encoder resolution (counts
per revolution) and the step resolution (steps per microsteps per revolution) is 1:4.
Lower ratios (1:1, 1:2) will be difficult to tune and will have poor static stability.
Higher ratios (1:6, 1:8) will have poor constant velocity stability.
Figure 4-16
Step
Drive
Motor
3
GND
15
Step +
Direction + 16
GND
+5 volts
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
3
41
4
38
5
39
6
40
STC-136
Axis 0
PCI
Axis 0
Connections to Step Motors
Encoder
Typical Closed-Loop Step Motor Connections (PCI)
TO CLOSED-LOOP STEP MOTOR
Note!
For drives that trigger on the rising edge of the pulse input, use Step+.
For drives that trigger on the falling edge of the pulse input, use Step-.
4-19
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CONNECT STCS TO AMPS/MOTOR/ENCODER
PCI
Connections for Dual-Loop Control
PCI controllers can be configured for dual-loop control. In dual-loop control, the velocity information for the PID derivative term (Kd) is typically derived from a rotary encoder on the
motor shaft, and the position information for the PID proportional and integral terms is derived
from an encoder on the load itself.
After the axes are configured for dual-loop control, all commanded motion & PID filter settings should be performed on the position encoder axis.
The axis that will be used for the velocity encoder is configurable through software and can be
any axis that is not controlling a motor. For example, if axis 0 is configured for velocity feedback and axis 1 is configured for position feedback, your system would be connected as shown
in the next figure:
Figure 4-17
Position Feedback
Encoder
Typical Dual-Loop Encoder Connections (PCI)
GND
+ 5 volts
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder Index-
28
55
18
52
19
53
20
54
STC-136
Axis 1
Velocity Feedback
Connections for Dual-Loop Control
Encoder
Motor
PCI
Command_1+ 24
Brushless
Command_1- 58
Amp
+5V
Encoder A+
Encoder AEncoder B+
Encoder BEncoder Index+
Encoder IndexGND
41
4
38
5
39
6
40
3
Axis 1
Axis 0
FOR DUAL-LOOP CONTROL
4-20
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CONNECT STCS TO AMPS/MOTOR/ENCODER
Connections for Encoder Signals
Figure 4-18
PCI
Differential encoders are preferred over single-ended encoders, because of their superior immunity to noise. There is one +5 volt supply and return shared by each pair of encoders, which
is available at 2 sets of power pins (5V_OUT, GND) on each connector.
Typical Differntial Encoder Connections (PCI)
*Note: Do not connect signal ground to shield ground.
PCI
Enc0_A+
100
Ohms
Enc0_A-
A+
A-
EIA 422
Line Receivers
Enc0_B+
100
Ohms
Enc0_BTwisted pair
in cables*
Enc0_I+
100
Ohms
Differential
Encoder
B+
BI+
I+5V
GND
Enc0_I-
Vcc
5V_OUT_0
Gnd
Differential Encoder to PCI
Connections for Encoder Signals
Encoder Power
4-21
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CONNECT STCS TO AMPS/MOTOR/ENCODER
PCI
Figure 4-19
Typical Single-Ended Encoder Connections (PCI)
The bias circuits shown will generate +/- .5V Vdiff at the
receivers. Also note that each signal requires an independent bias network in this configuration.
*Note: Do not connect signal
ground to shield ground.
Put these bias circuits as close to the encoder as possible.
PCI
5V_OUT_0
Enc0_A+
100
Ohm
R1
Enc0_A-
R2
Gnd
Twisted pair
in cables*
EIA 422
Line Receivers
Single-Ended
Encoder
A
Enc0_B+
100
Ohm
5V_OUT_0
Enc0_B-
R1
B
R2
I
Gnd
+5V
Enc0_I+
100
Enc0_I-
GND
5V_OUT_0
R1
R2
Connections for Encoder Signals
Encoder Power
Vcc
Gnd
5V_OUT_0
Gnd
R1
820
620
R2
820
330
Output Type
CMOS (0 - +5V)
TTL (0 - +3V)
Single-Ended Encoder to PCI
4-22
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CHAPTER 5
CONNECT STCS TO
DISCRETE I/O
Dedicated and User I/O Notes
Opto-Isolation
Output Wiring
Analog Input Wiring
8245 Counter/Timer Wiring
5-2
5-2
5-2
5-3
5-4
Wiring Examples
5-5
5-5
Home & Limit Switch Wiring
PCI/DSP Connections
Opto-Isolation
Output Wiring
Input Wiring
Bi-Directional User I/O
Analog Input Wiring
5-7
5-7
5-8
5-10
5-12
5-13
Now make connections for the desired Dedicated and User I/O signals to the STC modules.
After making those connections to the STC modules, proceed to Chapter 6, to test your system. For pinout information, refer to Appendix E, Connections & Specifications.
5-1
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CONNECT STCS TO DISCRETE I/O
Dedicated and User I/O Notes
Dedicated and User I/O Notes
Opto-Isolation
(PCX, V6U, 104X, CPCI, STD only)
Dedicated and User I/O headers (connectors) conform to Opto-22/Grayhill/Gordos standard
pin arrangement, and may be connected directly. Some Opto-22 racks do not use the +5V logic
power on pin 49 of the I/O connector, and in those cases, +5V must be provided from an external source). Grayhill racks can be configured to take the +5V logic power from pin 49, so
that no external source is necessary.
When the DSP Series controllers are powered up, the User I/O signals and Dedicated outputs
come up Low. Most opto-isolation modules invert the I/O signals, which means that I/O signals
may come up High. The active level of the Dedicated I/O signals can be configured in Motion
Console; the boot configurations of the User I/O signals can be set using the function libraries.
Refer to the DSP Series C Programming Reference.
Output Wiring
User I/O outputs are driven by an Intel 82C55 Programmable Peripheral Interface Controller.
When power is supplied to the 82C55, these outputs have 3 possible output states:
• High Impedance (High Z) (1 micro amp leakage current)
• High ( >3.0V at 2.5 milliamp source current)
• Low ( < 0.4V at 2.5 milliamperes sink current)
Opto-Isolation
If there is no power to the 82C55, the output state is held low by input protection diodes.
The next figure shows the power-on and power-off timing of the controller output states. Approximately 0.3 to 0.5 seconds after power is supplied to the computer, the User outputs will
go to the Power-On state. The Power-On state can be any one of the 3 output states of the
82C55 (High Z, High or Low).
The Power-On state is configured at the factory to be the Low state.
Figure 5-1
Power On/Off Timing
High Z
User-Defined
High Z
Low
Low
.3-.5 sec
<.1 sec
Power-On
Power-Off
Power On/Off Timing
5-2
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CONNECT STCS TO DISCRETE I/O
Figure 5-2
Amplifier Enable Wiring Using Pull-Down Resistors
PCX
AMPLIFIER
Enable
Amp Enable
High Enable Input
1 Kohm
External 5 V
Supply
PCX
AMPLIFIER
Amp Enable
Enable
Dedicated and User I/O Notes
For critical control signals that must always be in a defined state (such as amplifier enable/disable), your design should ensure that the default state of the 82C55 output is Low. You should
use a pull-down resistor to insure that the output does not float high when the output is in the
High Z impedance state. The next figure shows the correct wiring for amplifiers with Low Enable and High Enable inputs.
Low Enable Input
1 Kohm
Amplifier Enable Wiring
Analog Input Wiring
Analog inputs are connected to the 20-pin connector P8. Pins 2 and 20 (Analog GND) are connected to the logic ground of the A/D chip and to a separate ground plane beneath the A/D
chip. The logic ground of the A/D chip is also connected to the bus ground (with all of the other
GND signals). When connecting analog inputs, use the separated analog grounds to improve
noise immunity.
There are 8 channels, each with a 12-bit resolution. Each channel can be configured as either
Unipolar (0 to +5V) or Bipolar (-2.5V to +2.5V). Because there is no buffer between the P8
connector and the actual A/D integrated circuit, the input voltages must not exceed +5V or
fall below -2.5V.
Analog Input Wiring
(PCX, CPCI, STD, V6U Only)
5-3
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CONNECT STCS TO DISCRETE I/O
Dedicated and User I/O Notes
Low Pass Filters on Analog Inputs (V6U only)
For Revision 4, we added low pass filters to each of the analog inputs, to prevent any unwanted
noise from external sources.
Figure 5-3
A 34 kHz, single pole, low pass
filter has been added to each of
the analog inputs. The low pass
filter anticipates source impedance of 50 ohms or less.
V6U Analog Input Filters
470 ohms
Post Filter
Analog Input
Analog Input
.01 uF
These filters are on the
V6U board.
V6U Analog Input Filters
8254 Counter Wiring
(PCX, CPCI, STD, V6U Only)
8254 Counter Wiring
There are 3 16-bit counters available for user functions. Counter 0 can accept an external clock
input (pin 3 on P8) and Counters 1 and 2 have fixed frequency inputs of 1.25 and 10 MHz respectively. The gate signal for Counter 0 (used in some modes) is on pin 11 of P8. All counter
outputs are available on P8.
Figure 5-4
Counter/Timer Wiring Diagram
+5 V
Gate 0
P8-11
Gate
Clock 0
Out 0
P8-3
P8-13
10.0 MHz
+5 V
Out 2
P8-17
Channel 0
Channel 2
Gate
1.25 MHz
Out 1
P8-15
Channel 1
Counter Timer Wiring
5-4
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CONNECT STCS TO DISCRETE I/O
Home and Limit Switch Wiring
Wiring Examples
Figure 5-5
Example Wiring Diagram for Axis 0 Limit Switches - Non-Opto-Isolated
STC-50
45
NEG Limit
NEG
*Note: Limit Switches
Normally Closed
220 Ohm
46
47
From
PCX
STD
V6U
GND
POS Limit
POS
Home and Limit Switch Wiring
For small and electrically quiet machines, the home and limit switches can be wired directly to
the dedicated inputs. For larger and more electrically noisier machines, we recommend using
optical isolation. The following diagrams show the wiring for both types of machines.
220 Ohm
48
43
GND
HOME
Home
220 Ohm
44
E-Stop
+5 V
Non-Opto-Isolated
Figure 5-6
Example Wiring Diagram for Axis 0 Limit Switches - Opto-Isolated
+V
GND
+24 V
Opto Input
Opto GND
Home
HOME
Opto GND
NEG Limit
E-Stop
NEG
Opto GND
POS
POS Limit
*Note: Limit Switches
are Normally Closed
Logic +
Logic 6
5
OPTO 22
G4PB24*
Wiring Examples
49
GND
Logic Inputs can be
connected to the
STC-26 (motor axes)
*not a MEI
product
4
3
2
1
From
PCX, STD, V6U
Opto-Isolated
5-5
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CONNECT STCS TO DISCRETE I/O
Home and Limit Switch Wiring
Figure 5-7
Example Wiring Diagram for 104 & LC Limit Switches - Non Opto-Isolated
STC-50
27
*Note: Limit Switches
are Normally Closed
220 Ohm
49
29
From
104
LC
POS Limit
POS
GND
NEG Limit
NEG
220 Ohm
49
31
GND
HOME
Home
220 Ohm
49
1
GND
+5 V
E-Stop
104 & LC Limit Switch - Non Opto-Isolated
Fail-safe limit operation is provided for both the optically isolated and non-isolated limit circuits. If a wire breaks in the limit circuit, the associated limit is activated and the motion is
stopped until the problem is corrected. Since the controller can be configured for either active
high or low inputs, other limit and home sensor circuits can be used.
Wiring Examples
For opto-isolation with the LC or 104, refer to Appendix F, OptoCon Reference.
5-6
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CONNECT STCS TO DISCRETE I/O
PCI/DSP Connections
The PCI controller contains Opto-Isolation for all the Discrete I/O except the In_Position bit.
There are four Opto-inputs and one Opto-output per axis. There is an additional 24 lines of
optically isolated, bi-directional User I/O. All I/O operates from 5-24 volts.
Warning! Dedicated Outputs and User I/O require current limiting resistors
Opto-Circuit Specifications
Operating Temperature Range
User Voltage Range
0 - 60° C
24 VDC
PCI/DSP Connections
Opto-Isolation
For Opto-inputs (Homen_IN, Pos_Limn_IN, Neg_Limn_IN, Amp_Fltn_IN)
Active Inputs Guaranteed
Inactive Input Guaranteed
Peak Operational Voltage
±3.5V max
±1.0V max
Vin = 45V max
For Opto-outputs (Amp_Enn_C, Amp_Enn_E)
Iout = 10mA min
Vout = .3V max
Iout = .01mA max
Iout = 50mA max
Vout = 40V max
Ireverse = 100mA max (Protection Diode)
For Opto-inputs (UserIO_n, where n is A, B, or C)
Active Input Guaranteed
Max Input Voltage @ 2mA
Inactive Input Guaranteed
Absolute Maximums
(may damage parts if these are
exceeded)
1.7V
Opto-Isolation
Active Output Guaranteed
Inactive Output Guaranteed
Absolute Maximums
(may damage parts if these are
exceeded)
Iin = .1mA max
Iin = 50mA
Vreverse = 40V
(see page 5-12, Bi-Directional User I/O)
For Opto-outputs (UserIO_n, where n is A, B, or C)
Active Output Guaranteed
Inactive Input Guaranteed
Absolute Maximums
(may damage parts if these are
exceeded)
Iout = 10mA min
Vout = .3V max @ 10mA
Iout = .01mA max
Iout = 50mA
Vout = 40V
Ireverse = 50mA
5-7
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CONNECT STCS TO DISCRETE I/O
Dedicated I/O - PCI
Dedicated I/O - PCI
Output Wiring
Amplifier Enable Wiring
Figure 5-8
Example of Active Low Enable at Amp
+5V/24V
PCI
Opto-Isolator
Internal
Logic
C
Amp_En0_C
E
Amp_En0_E
R
Amplifier
Amp Enable Input
(Active LOW)
GND
Note: Verify that VCE of the output is less
than VIL for the amplifier’s enable input.
+5V:
+24V:
R= 1K
R= 4.7K
Active Low Enable at Amp
Figure 5-9
Example of Active High Enable at Amp
+5V/24V
Output Wiring
PCI
Amplifier
Opto-Isolator
Internal
Logic
C
Amp_En0_C
E
Amp_En0_E
Amp Enable Input
(Active High)
GND
R
+5V: R= 1K
+24V: R= 4.7K
Active High Enable at Amp
5-8
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CONNECT STCS TO DISCRETE I/O
In_Position Output Wiring
Figure 5-10
Example In_Position Output Wiring
*Note: No opto-isolation.
PCI
E1A 422
In_PosN+
External Logic
Twisted pair
in cables*
26LS32
+
R1
In_PosNGnd
*Note: Do not connect signal
ground to shield ground.
Dedicated I/O - PCI
In_Position signals are differential EIA 422 outputs from the PCI. External logic that uses
In_Pos/V signals should use a differential receiver such as the 26LS32.
Gnd
1Optional 100 ohms termination
In_Position Outputs
Output Wiring
5-9
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CONNECT STCS TO DISCRETE I/O
Dedicated I/O - PCI
Input Wiring
Amplifier Fault Input Wiring
Figure 5-11
Example of Pull-Up Logic
Amp Fault
+5V/24V
PCI
*
Amp_Flt0_IN
Normally
closed
Axis 0
Amp_Flt0_Rtn
*Constant Current Diode
Figure 5-12
Pull-Up Logic
Example of Pull-Down Logic
Amp Fault
Input Wiring
PCI
*
Amp_Flt0_IN
Normally
closed
Axis 0
+5V/24V
Amp_Flt0_Rtn
*Constant Current Diode
Pull-Down Logic
5-10
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CONNECT STCS TO DISCRETE I/O
Home and Limit Signals
Dedicated I/O - PCI
Figure 5-13
Example of Common Gnd Logic
Limit Sensors
+5V/24V
PCI
*
Home0_IN
Normally
closed
+5V/24V
Axis 0
*
Pos_Lim0_I
+5V/24V
*
Neg_Lim0_I
Mech0_Rtn
*Constant Current Diode
Input Wiring
Figure 5-14
Common Gnd Logic
Example of Common Vcc Logic
Limit Sensors
PCI
*
Home0_IN
Normally
closed
Axis 0
*
Pos_Lim0_IN
*
Neg_Lim0_IN
+5V/24V
Mech0_Rtn
*Constant Current Diode
Common Vcc Logic
5-11
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CONNECT STCS TO DISCRETE I/O
Bi-Directional User I/O
Bi-Directional User I/O
Note:
To maintain electrical isolation between the PCI and external I/O, the power and ground
connections should be from an external power source, and should not be tied to the PCI’s
power or ground connections.
Figure 5-15
Example of User I/O as Input
Pull-Up
Input
PCI
1
Pull-Down
Input
UserIO_A0
Or
R
+5V to +24V
+5V to +24V
C
R
26 UserIO_A0_Rtn
E
Normally
closed
Note: An external series resistor must be used.
For +5V circuits, use R= 820 ohms
For +24V circuits, use R= 6.8K
Input Wiring
User I/O As Input
Figure 5-16
Example of User I/O as Output
PCI
+5V to +24V
+5V to +24V
1
R
UserIO_A0
Pull-Up
Output
Or
Pull-Down
Output
C
26 UserIO_A0_Rtn
E
R
For +5V circuits, use R= 820 ohms
For +24V circuits, use R= 6.8K
User I/O As Output
5-12
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CONNECT STCS TO DISCRETE I/O
Analog Input Wiring
There are 8 channels, each with a 12-bit resolution. Each channel can be configured as either
Unipolar (0 to +5V) or Bipolar (-2.5V to +2.5V). Because there is no buffer between the connector and the actual A/D integrated circuit, the input voltages must not exceed +5V or fall
below -2.5V.
Use this configuration for an isolated analog source, such as a thermocouple:
Figure 5-17
Example of Analog input for an isolated analog source
PCI
Twisted pair in
cables*
Bi-Directional User I/O
Pins 35, 36 and 67, 68 (Analog Gnd) are connected to the logic ground of the A/D chip and to
a separate ground plane beneath the A/D chip. The logic ground of the A/D chip is also connected to the bus ground (with all of the other GND signals). When connecting analog inputs,
use the separated analog grounds to improve noise immunity.
Analog Device
Analog_1+
Analog Out
AGnd
Isolated Gnd
Cable Shield
*Note: Do not connect signal ground to shield ground.
Analog Input
Analog Input Wiring
5-13
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Analog Input Wiring
Bi-Directional User I/O
CONNECT STCS TO DISCRETE I/O
5-14
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CHAPTER 6
TEST SYSTEM
Closed-Loop Systems Step 1: Connect Encoder
Step 2: Test Encoder Connections
Step 3: Connect the Motor
Step 4: Manually Turn the Motor
Step 5: Verify Motor/Encoder Phasing
Step 6: Exercise the System
Step 7: Tune the System
6-2
Open-Loop Systems
6-6
Step 1: Connect Wires
Step 2: Manually Turn the Motor
Step 3: Exercise the Motor
6-2
6-2
6-2
6-3
6-3
6-5
6-6
6-7
Closed-Loop Systems
To test servo motors and closed-loop step motors:
1.
Connect the encoder.
2.
Test the encoder connections: watch the Actual field in the Axis Operation window
change while turning the motor shaft by hand.
3.
Connect the motor. Choose the axis and click the Abort button in the Axis Operation
window to disable PID control.
4.
Manually turn the motor using the Offset field in the Axis Operation window.
5.
Verify the motor/encoder phasing using the Actual field in the Axis Operation window.
6.
Exercise and tune the PID control loop.
We recommend testing the wiring of closed-loop systems at each step. This method should
make the process easier and save time.
This procedure assumes that you have successfully installed the controller, and that the Motion
Console program can execute properly. Also, before testing your system, you must configure
the Axis Configuration property page for closed-loop operation and select the appropriate motor
type.
6-1
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TEST SYSTEM
Closed-Loop Systems
Step 1: Connect Encoder
Turn off the computer. Attach all encoder leads according to the manufacturer’s wiring diagram and the instructions provided in this manual.
Do not attach the motor signal wires yet!
WARNING!
Turn on the computer. Note that the controller provides the +5V power (which comes directly from the host computer’s power supply) to the encoder for most brush servo and step motor
systems.
If the servo motor uses the encoder for commutation and the servo amplifier provides the encoder power, the servo amp must be turned on to test the encoders.
Step 2: Test Encoder Connections
Start the Motion Console program. Choose an axis in the Hardware Summary window and
click the Configure Axis button. In the Axis Configuration property page verify that the axis’
configuration is accurate for your system. Close the property page and open the Axis Operation
window which will display the actual encoder position.
Step 1: Connect Encoder
Turn the motor shaft/encoder by hand. The counts in the Actual field should increase and decrease normally. Check to see that 1 revolution of the encoder provides the correct number of
encoder counts (number of encoder lines x 4).
Tip!
Encoder Counts
Bounce
If the encoder counts “bounce” by one count when the motor shaft is turned
(i.e. change up and down one count when the encoder is tuned), the likely
problem is that the one side of the encoder (A or B) is not connected.
Check the connections carefully.
Step 3: Connect the Motor
Turn off the power to the computer.
Be sure the power to the servo amp/step drive is off!
WARNING!
Connect the analog motor command or step/direction lines. Turn the computer power on.
Step 4: Manually Turn the Motor
Click the Abort button in the Axis Operation window to disable PID control. Turn on power
for the servo amp/step drive. The shaft of the servo motor should now turn freely (for torque
mode amplifiers).
Enter a value (10) in the Offset field of the Tuning Parameters display (still in the Axis Operation window) to start turning the motor. Increase the Offset value past 10 until the motor begins to turn slowly.
If the motor does not turn with approximately 1000 counts of offset, check the output of the
controller with a voltmeter. Note that the Offset field range is +/-32,767 counts, corresponding
to +/-10V or +/- full scale step output.
6-2
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TEST SYSTEM
Motor Doesn’t Turn
If the motor will not turn when an offset is applied, check the motor and
amplifier connections, and also check that the State field reads Abort
Event, to make sure the PID control is disabled.
Next, disconnect the amplifier connections to the controller and use a voltmeter to verify that
the controller is outputting a motor signal. Remember that the voltmeter will at best pick up an
average value for the step output.
Note that +/-32,767 counts, corresponds to +/-10V and +/- full scale step output. If no voltage
is present, contact Motion Engineering for assistance.
Closed-Loop Systems
Tip!
Step 5: Verify Motor/Encoder Phasing
With the motor turning slowly under a manually applied offset, check the Actual position field
in the Axis Operation window to see if the encoder counts are increasing or decreasing.
Table 6-1
Correct Motor/Encoder Phasing
Offset
Encoder Counts
Positive (+ Value)
Positive (+ Value)
Negative (- Value)
Negative (- Value)
Increasing
Decreasing
Decreasing
Increasing
Phasing
Correct
Wrong
Correct
Wrong
Step 6: Exercise the System
Setting the tuning parameters is part science and part art. Closed loop performance depends on
the tuning parameters, servo amp/step drive, and the mechanical system. Finding optimum tuning parameters requires experimentation, theoretical understanding of PID control loops, and
practical experience.
Tip!
Tune It TWICE
We highly recommend tuning the system twice.
First tune the system with the motor disconnected from the mechanical
system, to gain familiarity with the procedure.
Step 5: Verify Motor/Encoder Phasing
If the phasing is incorrect, set the offset to zero, turn off the servo amplifier/step drive and the
host computer, and swap the A and B leads (A+ for B+ and A- for B-) to the encoder. Then
repeat Steps 4-5 to verify proper motor/encoder phasing.
Second, connect the motor to the mechanical system and re-tune.
Before tuning, verify the settings for the axis in the Axis Configuration property page. Doubleclick on the axis to open the Axis Operation window and refer to the Tuning Parameters display. Start with the parameters in the next table.
6-3
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Closed-Loop Systems
TEST SYSTEM
Table 6-2
Tuning Parameters
Parameter
Servos
Closed-Loop Steppers
Proportional (Kp)
Integral (Ki)
Derivative (Kd)
Accel FF
Vel FF
Integ. Max
Offset
Limit
Scale
Friction FF
100
2
400
0
0
32767
0
3500
-5
0
20 (Depends on step/encoder pulse ratio)
0
0
0
1000 (Depends on step/encoder pulse ratio)
100
0
3500
-1 (slow), -3 (med), -5 (fast), -6 (superfast)
0
Note the setting for output limit. A value of 3500 will limit the voltage output to approximately
1V or 10% of full-scale step speed. In case a runaway occurs, the low setting will limit the power of a servo motor and the speed of a step.
Click the Clear Positions button in the Position Status display. Click the Clear Fault button in
the Axis Status display. The servo motor’s shaft should offer resistance when turned by hand.
Step 6: Exercise the System
Tip!
Motor Runs Away
If the motor begins to “run away” without stopping when the shaft is
turned by hand, it is likely that the encoder and motor are both out of
phase.
Turn off the power and swap the encoder A and B leads (both + and - on a
differential encoder) and repeat the test.
Enter values in the Position 1, Velocity, and Acceleration fields to command motion. If the motor turns, proceed to tuning the system. If the motor does not turn, re-check each step.
Tip!
Motor Doesn’t Turn
If the motor fails to turn during exercising, check the State field for the
software limits, E-stops, or other error conditions.
Also, click the Clear Position button in the Position Status display to
clear position.
Note that the default “in-position” window is 100 encoder counts. If, while in repeat mode, a
move fails to reach the final position within that range, a second motion will not be initiated.
6-4
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TEST SYSTEM
Step 7: Tune the System
Once the point-to-point motion can be commanded, the system can be tuned. See Appendix D,
Tuning Closed-Loop Systems, for tuning concepts and a step-by step procedure for tuning
closed-loop systems.
The primary tools used in tuning closed-loop systems are fields in the Movement, Motion Parameters, and Position Status sections and also the Motion Graph window (these are all described in Appendix B, Motion Console).
Use the fields in the Movement and Motion Parameters controls to initiate point-to-point motion in trapezoidal profile mode. Suggested settings for initial exercising are:
Table 6-3
Closed-Loop Systems
Use the arrow buttons (← for Position 1 and → for Position 2) in the Movement controls to
start motion. If the motor begins to move back-and-forth, proceed to tuning. If the motor fails
to turn, recheck each step.
Tuning Parameters for Closed-Loop Systems
Parameter
Value
Delay
Position 1
Position 2
Velocity
Acceleration
1
0
4000*
500
500
Tip!
If the motor fails to turn during exercising, check the State field window
for software limits, E-stops, or other error conditions.
Also, click the Clear Position button in the Position Status display to
clear position.
Note that the default “in-position” window is 100 encoder counts. If, while in repeat mode, a
move fails to reach the final position within that range, a second motion will not be initiated.
The fields in the Position Status display show the command and actual position, velocity, acceleration and position error of the axis in real time.
To view a plot of the motion, enter motion values in the Movement and Motion Parameters
fields, click Repeat Mode on and start the motion with the arrow key. Click the Motion Graph
button. In the Motion Graph window, select Continuous or Sampled and choose the parameter
you want to graph (position, voltage, velocity, or error).
Step 7: Tune the System
Motor Doesn’t Turn
*or the number of encoder counts corresponding to one motor revolution
6-5
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TEST SYSTEM
Open-Loop Stepper Systems
Open-Loop Stepper Systems
To test an open-loop stepper system:
Step 1: Connect the step drive.
Step 2: Manually turn the motor using the Offset field in the Axis Operation window.
Step 3: Exercise the motor.
Always disconnect the motor shaft from the machine when testing
connections or software.
WARNING!
This procedure assumes that you have successfully installed the controller, and that Motion
Console program can execute properly.
Before testing your open-loop stepper system, you must configure the Axis Configuration
property page for open-loop operation and a step motor type, and also select an appropriate
speed range.
Step 1: Connect Wires
Step 1: Connect Wires
Turn off the computer. Connect the wires to the step drive as shown in this manual, or as
shown in the step drive manual.
Step 2: Manually Turn the Motor
Choose the axis and open the Axis Operation window. Click the Abort button to disable PID
control. Click Enable in the Amplifier group. Enter a value (10) in the Offset field of the Tuning
Parameters controls. Increase the Offset until the motor begins to turn slowly.
If the motor does not turn with approximately 1000 counts of offset, check the output of the
controller with a voltmeter. Note that the Offset range is +/-32,767 counts, corresponding to +/
-10V or +/- full scale step output.
Tip!
Motor Doesn’t Turn
If the motor will not turn when an offset is applied, check the motor and
amplifier connections, and also check that the State field reads Abort
Event, to make sure that the motor is idle.
Next, disconnect the amplifier connections to the controller and use a voltmeter to verify that
the controller is outputting a motor signal. Remember that the voltmeter will at best pick up a
average value for the step output.
Note that +/-32,767 counts corresponds to +/-10V and +/- full scale step output. If no voltage
is present, contact Motion Engineering for assistance.
6-6
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TEST SYSTEM
Step 3: Exercise the Motor
Table 6-4
Tuning Parameters for Open-Loop Steppers
Parameter
Value
Proportional (Kp)
Integral (Ki)
Derivative (Kd)
Accel FF
Vel FF
Integ Max
Offset
Limit
Scale
320
32
0
32
3750
32767
0
32767
-1 (slow), -3 (med), -5 (fast), -6 (superfast)
Open-Loop Stepper Systems
For each axis configured for open-loop step motors, use the values listed in the next table for
the Tuning Parameters controls. The Scale parameter changes accordingly to the speed range
selected in the Axis Configuration property page.
Use the fields in the Movement and Motion Parameters controls to command point-to-point
motion.
Step 3: Exercise the Motor
6-7
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Step 3: Exercise the Motor
Open-Loop Stepper Systems
TEST SYSTEM
6-8
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APPENDIX A
MORE ABOUT WIRING
Wiring Servo Motors
Wiring Step Motors
Velocity/Torque Mode
Encoder Input
Brush/Brushless Servo Motors
Step-and-Direction Controlled Servo Motors
A-1
Open-Loop Step Motors
Direction Pulse Synchronization
Closed-Loop Step Motors
A-3
A-1
A-2
A-2
A-4
A-4
Wiring Servo Motors
DSP Series controllers can control brush servo motors, brushless servo motors, or linear brush/
brushless motors. Basic connections require an analog output signal (from the controller to the
amplifier) and an encoder input (from the motor to the controller).
Velocity/Torque Mode
Most amplifiers support either Velocity mode (voltage control), Torque mode (current control)
or both. The DSP controller can be used with either servo motor/amplifier package. Generally,
velocity mode is more stable than torque mode.
When the amplifier is in Velocity mode, the velocity of the motor is proportional to the analog
input voltage (-10V to +10V). When the amplifier is in Torque mode the current applied to the
motor is proportional to the analog input voltage (-10V to +10V).
Mode
Velocity
Torque
velocity of motor
is proportional to
current applied to motor
analog input voltage
(-10V to +10V)
Encoder Input
DSP Series controllers accept TTL-level (0V to +5V, 40mA max) encoder input from either differential or single-ended encoders. Differential encoders are preferred due to their excellent
noise immunity. When used with differential encoders, the differential line receiver on the con-
A-1
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Wiring Servo Motors
MORE ABOUT WIRING
troller reads the difference between A+ and A- and between B+ and B-. By reading the difference between the square wave inputs any significant noise is canceled out.
The connections for a single-ended encoder are identical to a differential encoder except that
no connections are made to channel A- and channel B-. (The A- and B- lines are pulled up
internally to 2.5V).
The controller reads the index pulse (either single-ended or differential ended). Typically,
there is one index pulse per revolution of the encoder (rotary type), which can be used for
homing.
Encoder signals are read in quadrature. Every line on the encoder will produce a rising edge
and a falling edge on channels A+ and B+, which are interpreted by the DSP controller as 4
encoder counts.
Brush/Brushless Servo Motors
The minimum required connections to brush type servo are:
Analog signal (+/- 10V)
Signal Ground
Encoder Channel A+
Encoder Channel B+
+5V
Any unused lines should be left unconnected.
Step-and-Direction Controlled Servo Motors
Brush/Brushless Servo Motors
Some brushless servos are controlled by step-and-direction pulses. With this scheme, the position information is communicated by step pulses, and the PID loop is handled internally by
the drive itself.
Step-and-Direction servo systems can be operated in open-loop or closed-loop controller
configurations. To avoid possible instability caused by conflict between the drive PID loop
and the controller’s PID loop, you should operate step-and-direction servos as open-loop
step motors. (The controller will send step pulses and a direction pulse to the drive, which
will handle the PID internally.) Generally, the best performance occurs when the controller
is configured for open-loop steppers.
Warning!
If the controller is configured for open loop step control, make sure that the tuning
parameters conform to those listed in Test System: Open-Loop Stepper Systems
(page 6-7, Chapter 6).
When configured for open-loop steppers, the controller sends step and direction position
information to the drive. The drive closes the torque, velocity, and position loops internally.
When configured for closed-loop steppers, the controller sends step and direction position
information to the drive and receives action position information from the encoder. The drive
closes the torque and velocity loops and the controller closes the position loop.
A-2
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MORE ABOUT WIRING
Wiring Step Motors
The DSP controllers can control step motors in both open-loop (no encoder) and closed-loop
configurations. In the open-loop configuration the step pulse output (connected to the driver)
is fed back into the line receivers and used to keep track of the “actual position.” With openloop step configuration selected, the DSP closes the loop internally on a pair of axes. Full/half
and micro stepping drives are compatible with the boards.
Figure A-1
Internal Architecture to Control Step Motors
PID
Filter
D/A
Wiring Step Motors
Open-Loop Step Motors
Analog Output
Active if Stepper Axis
Voltage
to
Frequency
Converter
Active if Open-Loop Axis
Active if Closed-Loop Axis
Step
Output
Encoder
Inputs
INTERNAL ARCHITECTURE
Note that when only Step+ or Step- is used, it may be necessary to jumper unused terminals on
the step drive. Before connecting the step inputs, consult your step drive’s manual.
Important!
Open-Loop Step Motors
Most step drives require 3 wires for operation: step, direction and ground (or + 5V). The controller provides a TTL-level step pulse(+) output and direction(+) output for each axis. In addition, the complements of the step and direction are also provided (Step- and Dir-). Some
drives allow differential inputs in which both Step+ and Step- lines are connected for higher
noise immunity. If in doubt, fax the driver data sheets or driver pinouts to Motion Engineering
along with any questions.
For a listing of the tuning parameters required for motion with open-loop steps, refer
to Test System: Open-Loop Stepper Systems (page 6-7, Chapter 6)
A-3
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MORE ABOUT WIRING
Wiring Step Motors
Direction Pulse Synchronization
The DSP Series controllers synchronize the direction pulse with the falling edge of the positive step pulse output. When connected to the step drive properly, it ensures that a step pulse
and direction change will never occur at the same time.
Figure A-2
Direction Pulse Synchronization
Step+
direction change
commanded
Dir+
Step-
DIRECTION PULSE SYNCHRONIZATION
Most step drives count pulses on either the rising edge or falling edge of the step pulse input.
Direction Pulse Synchronization
If the Driver triggers on the Then
falling edge
connect the controller’s Step- to the pulse input on the drive
rising edge
connect the controller’s Step+ to the pulse input on the drive
The Direction(+) should be connected to the direction input of the drive. This guarantees
that the drive will never receive a direction change during a step pulse.
Closed-Loop Step Motors
DSP Series controllers can control step motors with encoder feedback. Closed-loop steps are
controlled by a PID algorithm running on the DSP in real time. The controllers accept TTLlevel (0V to +5V, 40mA max) encoder input from either differential or single-ended encoders. Differential encoders are preferred due to their excellent noise immunity.
The connections for a single-ended encoder are identical to a differential encoder except that
no connections are made to channel A- and channel B-. The A- and B- lines are pulled up
internally to 2.5V.
Encoder signals are read in quadrature. Every line on the encoder will produce a rising edge
and a falling edge on channels A+ and B+, which is interpreted by the DSP controller as 4
encoder counts.
A-4
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MORE ABOUT WIRING
Step+ (or Step-)
Direction+ (or Direction-)
Signal Ground
Encoder A+ and B+ lines
+ 5V
Note that when only Step+ or Step- is used, it is often necessary to jumper unused terminals
on the step drive. Before connecting the step inputs, consult your step drive’s manual.
In general, use Step+ for drives with active high logic, and use Step- for drives with active low
logic. Both Step+ and Step- lines can be connected to drives with differential inputs. If in
doubt, fax the drive’s pin-outs to Motion Engineering, along with any questions.
Wiring Step Motors
Connecting closed-loop step motors to the controller is similar to servo motors, except that the
step and direction lines are connected instead of the analog signal. The minimum connections
are:
Closed-Loop Step Motors
A-5
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Closed-Loop Step Motors
Wiring Step Motors
MORE ABOUT WIRING
A-6
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MOTION CONSOLE REFERENCE
APPENDIX B
MOTION CONSOLE
REFERENCE
Motion Console Window
B-2
Hardware Summary Window
Controller List Group
Add Controller
User I/O
Configure Controller
B-3
B-3
B-4
B-5
B-5
Axis Status/Control Panel
B-6
B-7
Motion Configuration Tab
Axis Configuration Tab
Graph Tab
B-8
B-8,9
B-10
B-11
Axis Window
Axis (Operation) Window
Motion Console Supports all MEI DSP Series and SERCOS controllers and enables you to:
• Access and configure multiple controllers and their axes
• Configure Dedicated and User I/O lines
• Read axis status
• Upload/download firmware
• Tune your system using motion and tuning parameters
• Experiment with both absolute and relative motion, with repeat option
• Graph position, velocity, position error, and voltage for tuning, system diagnostics and
analysis
To run Motion Console you need one of these operating systems:
• Windows NT or Windows 95/98
• Windows 3.x with Win32S extensions (Motion Console will only run under 32-bit
Window operating systems. Windows 3.11can be upgraded to Windows 32S in order
to run Motion Console. The Windows 32S upgrade is available from Microsoft at no
charge).
Motion Console is not designed to run under DOS. DOS users should use the DOS utilities
provided by MEI (SETUP.EXE, CONFIG.EXE, VERSION.EXE).
B-1
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Sync Axes Toolbar
Simply select an axis or
axes, and then click in
the desired box.
The Synchronized Axes
Configuration window
enables you to quickly
configure axes for synchronous control and/or
synchronous graphing.
Displays error conditions returned
from library function calls.
Library Errors
The Hardware Summary window
is the first window you should access when setting up a new MEI
controller. All controllers and
their axes can be configured and
the status viewed from the Hardware Summary window.
Hardware Summary
Motion Console Windows
MOTION CONSOLE REFERENCE
B-2
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Display the following information for all controllers in list:
- controller name prededed by an icon indicating controller status
- controller status: “OK” if addressable, or “Bad” if otherwise
- controller type (e.g., LC, PCX, V6U, etc.)
- controller address
- number of axes of controller
Click on Add Controller to register a new controller with the system,
including the controller Name and Address.
Remove the selected controller(s) from the Controller List.
Update the Configuration and Axis lists to reflect any status changes
(i.e., axis disabled) that occured while Motion Console was running.
Click on About Controller to display the controller type, firmware revision, and FPGA PROM version information that was obtained from the
controller.
Controller List
Add Controller
Remove Controller
Refresh Controller
List
About Controller
Save to Boot
Memory
Close All
Windows
User I/O
Reset Controller
Configure
Controller
Save firmware & configuration parameters to boot memory.
MEI controllers include both volatile data memory and non-volatile boot
memory, both of which you can access via Motion Console. Upon initialization, firmware and configuration parameters are loaded from boot
memory to data memory, and then read by Motion Console.
For example, when entering new tuning parameter values or configuration settings, Motion Console automatically stores these parameters in
data memory. If the controller is powered off or reset, these data memory
changes will be lost. Click the Save to Boot Memory button to save any
changes to boot memory.
Closes all windows associated with the selected controller(s).
Open the User I/O window for the selected controller(s).
Reset controller(s) using the configuration and parameter settings stored
in Boot Memory. (This is equivalent to a dsp_reset(...) function.)
Open the Configure Controller and select an axis (or axes) to enable/disable axes, set the controller’s I/O address, or calibrate the DAC offsets.
B-3
All of the following buttons in the Controller List group operate on multiple controller selections with the exception of the buttons which open dialog boxes (Add Controller, Configure Controller, Upload/
Download Firmware). Buttons which are not applicable to the current selection will be disabled.
Displays all currently installed and configured controllers in the system.
Use these functions to add, remove, and reset controllers, set and verify controller configurations, upload and download firmware, and configure User I/O.
Controller List Group
Hardware Summary
MOTION CONSOLE REFERENCE
B-3
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Copy controller’s firmware to a file
Add Controller
Download from File Download a “firmware”
file to controller
Upload to File
Firmware
ISA Bus
Hardware Summary
PCI Bus
All PCI controllers will be listed here. Select the controller
you want. If no controllers are found on the PCI Bus, no
controllers will appear in this field.
B-4
Warning! Only use Motion Console version 2.00.0006 or later with the PCI/DSP.
MOTION CONSOLE REFERENCE
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The Configure Controller window enables you to enable/disable axes, set the controller’s I/O address, or calibrate the internal DAC offsets. Simply select an axis or
axes, and then configure as desired.
Configure Controller
Hardware Summary
Use in conjunction with Output mode. When selected, the bits on an output port
will have their state toggled once per second.
For input groups, State indicates whether line is High or Low.
For output groups, use Set Level buttons to configure individual lines as High or
Low.
State
Set Toggle
Sets the group as Input or Output.
Input groups can monitor for state changes on each I/O line indicated by State
radio buttons. State radio buttons cannot be changed for input groups.
Output groups can be set to a particular I/O state (using the State radio buttons) to
test wiring and functionality. For Output groups, the Toggle box can also be
checked to toggle output bit states.
Configure
(Input or
Output)
For each port group, the User I/O window provides the following sections and controls:
B-5
Motion Console creates a Port Group box for each I/O port on the selected controller. MEI
motion controllers can have from 3 to 6 port groups, each containing 6-8 lines (bits) depending on controller model. The User I/O window automatically displays the correct number and
type of ports for the selected controller. Note that SERCOS controllers have no user I/O ports.
Use this window to configure the motion controller’s programmable User I/O lines.
User I/O
MOTION CONSOLE REFERENCE
B-5
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See pages
B-3,4,5
B-6
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B-7
See page
Axis Status/
Control Panel
Before opening this window, select a controller from the Controller
List and select an axis from the Axis List, then click Open Axis Window.
Use the Open Axis Window (also called the Axis Operation Window) to
command motion, monitor status, and tune motors for the selected axis.
Open Axis Window
Hardware Summary Window
Axis Window
See pages
Graph Tab
B-11
See page
B-6
Axis
Configuration Tab
B-10
See page
Motion
Configuration Tab
B- 8, 9
MOTION CONSOLE REFERENCE
Click the Clear Position button
to reset the position fields to
zero (for SERCOS controllers
in position mode, this button is
disabled).
- Position
Generates a stop event: immediately forces the axis to begin decelerating at the Stop Deceleration value (which is set on the Axis Configuration window).
Generates an emergency stop event: immediately forces the axis to begin decelerating at the EStop Deceleration value (which is set on the Axis Configuration window).
Immediately disables the Amplifier Enable and controller servo loop. (When the Axis Window
is open, hitting your keyboard’s <SPACE BAR> also generates an abort.)
Stop
E-Stop
Abort (Space)
Clicking on the ← → button moves the axis to either + position or - position , whichever is farther from the current position.
In Relative Mode:
the ← button commands the motor to move to the current position minus the Increment value,
the → button commands the motor to move to the current position plus the Increment value.
Clicking either button with Repeat Mode ON (in Motion Profile) starts repetitive motion, in
which the motor is continuously commanded to increment its position in the same direction.
In Absolute Mode:
the ← button commands the motor to move to - Position, the → button commands the motor to
move to + Position. Clicking either button with Repeat Mode ON (in Motion Profile) starts a
repetitve motion between - Position and + Position.
Movement Controls
+ Position
A real-time display of axis parameters.
Axis Status/Control Panel
Indicates source of any current axis
faults
Is the axis currently executing a
motion sequence?
Is the axis currently in motion?
Is the axis’ Actual Position within the
In Position window?
Are there are any motion frames for
the axis waiting to execute?
Source
Sequencing?
In Motion?
In Position?
Frames Left?
Motion Done? Has all motion for the axis finished?
Displays axis’ current state (Running,
No Event, Abort, Stop, E-Stop).
State
Yes (for logical True) or No (logical False)
Clear Fault
Reset any current faults on this Axis
Axis Status (Real-time display)
B-7
Enable/disable the axis’
amp enable output.
Copy Axis parameters Save Axis parameters Close Window
to another Axis.
to Boot Memory.
Status of Dedicated I/O bits
MOTION CONSOLE REFERENCE
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Enables absolute motion as specified by
values entered in - Position and + Position
fields. When Absolute Mode is selected,
Increment is disabled.
Parabolic Specifies a Parabolic motion profile for current motion
Increment When Relative Mode is selected, Increment specifies the number of encoder
counts to reposition the motor when either
the ← or the → buttons are clicked.
Trapezoidal Specifies a trapezoidal motion profile for
current position
S-Curve Specifies S-curve motion profile for current
motion
Work with Absolute and
Relative Modes
Sync. Motion Use when you want to synchronize the
motion of 2 or more axes
Repeat Specifies repetitive motion in both Absolute
and Relative Modes. If On, axis starts repetitive motion that continues until Repeat Off or
Stop, E-Stop, or Abort are clicked (or Repeat
Mode is turned off).
Enables relative motion as specified by the
value entered in the Increment field. When
selected, - Position and + Position are disabled.
Relative Mode
+ Position With Absolute Mode selected, + Position
specifies the position (in encoder counts)
that the motor is commanded to move
when the → button is clicked.
- Postion When Absolute Mode is selected, - Position specifies the position (in encoder
counts) that the motor is commanded to
move when the ← button is clicked.
Absolute
Mode
Motion Profile
Motion Configuration
B-8
MOTION CONSOLE REFERENCE
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Acceleration Feed Forward causes the controller to increase the output current during periods of acceleration and deceleration. Systems with high inertial loads need more motor current to accelerate or decelerate than systems with light loads
need. Acceleration Feed Forward is used with torque-controlled servos (current).
Velocity Feed Forward is useful in velocity-controlled servos or closed-loop stepper systems.
As a speed of a system increases, the position error generally increases linearly and therefore a higher output voltage or
pulse rate is required. The Velocity Feed Forward term reduces the following error by increasing the controller output
voltage as a function of command velocity. If the Velocity Feed Forward is too large, the motor will try to travel ahead of
the command position.
The integration of position errors is limited to a fixed DAC output value, the Integration Maximum. This prevents the integrator from “wind-up” in systems with high static friction. Set the Integration Mode (Active When Standing, or Active
Always) in the Axis Configuration window.
The Offset term compensates for small variations in controller DAC outputs and amplifier offsets.
Limit prevents the 16-bit DAC output from exceeding a specified value. Typically, this value is reduced during initial tuning and set to full scale (32767), ±10V during normal operation, although some motor systems are designed to run at less
than full scale values. For example, a 5V drive system would have a Limit of 16384 to prevent the output from exceeding
5V.
The Scale term enables the PID, Vff, and Aff terms to be scaled by the power of 2. Scale is limited to the range of -15 to 15.
For example, a Scale value of 2 increases the filter terms by a factor of 4.
A Scale value of -3 divides the the filter terms by a factor of 8.
The Friction Feed Forward term adds a constant value to the DAC output when the commanded velocity is non-zero. The
sign of the value applied to the DAC is equal to the sign of the command velocity multiplied by the Friction Feed Forward
term. The Friction Feed Forward term is 16-bits, and can range from -32767 to 32767. Torque-controlled motion systems
with constant friction will benefit most from Friction Feed Forward.
Velocity Feed
Forward
Integration
Maximum
Offset
Limit
Scale
Friction Feed
Forward
For velocity-controlled servos (voltage), typical values for Derivative Gain are roughly 2 times the Proportional Gain
(200-1000).
For torque-controlled servos (current), typical values are approximately 4 times the Proportional Gain (or 1000 - 8000).
Derivative Gain provides damping by adjusting the output value as a function of the rate of change of error.
A low value provides very little damping, which may cause overshoot after a step change in position. Large values have
slower step response but may allow higher Proportional Gain to be used without oscillation.
If the Integral Gain is too large, the systems may “hunt” (oscillate at low frequency) about the desired position. Typical
values are approximately 1/100th of the Proportional Gain.
Integral Gain helps the control system overcome static position errors caused by friction or loading.
The integrator increases the output value as a function of the position error summation over time. A low or zero value for
the Integral Gain may have position errors at rest (that depend on the static or frictional loads and the Proportional Gain).
Increasing the Integral Gain can reduce these errors.
For velocity-controlled servos (voltage) and closed loop step systems, typical values are 100 - 500.
For torque-controlled servos (current), typical values are 500 - 2000.
Proportional Gain determines the response of the system to position errors.
Low Proportional Gain provides a stable system (doesn’t oscillate), has low stiffness, and large position errors under load.
Too large Proportional Gain values will cause oscillations and unstable systems.
Acceleration
Feed
Forward
Kd
Derivative
Gain
Ki
Integral Gain
Kp
Proportional
Gain
Use the Tuning Parameters controls to set an axis’ control loop tuning parameters. The DSP-Series controllers use a second order PID algorithm
with velocity and acceleration feed forward. Default parameters are shown in the figure.
Tuning Parameters Controls
Motion Configuration Tab, cont.
B-9
MOTION CONSOLE REFERENCE
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Home Active High AND High Index
Index only (active high or active low)
Home Active Low AND High Index
Home only (active high or active low)
High-Active
Positive Limit
Supports a 0 to 5V analog signal converted to a 12-bit digital position
Supports 32 discrete digital inputs converted to a 32-bit absolute position
Position Tolerance
E-Stop Decel Rate
Stop Decel Rate
General Parameters
B-10
For each parameter,
specify counts/
(sec*sec) or leave as
default value.
Abort
E-Stop
Stop
None
Action
For each limit,
set Max Error and
specify the Action.
Positive Limit
Negative Limit
Error Limit
Software Limit
Configuration
For each parameter,
configure active
state and specify
the Action.
Supports single-ended and differential-ended incremental encoders
Specifies the axis’ actual position feedback source for PID algorithm.
Analog
Parallel
Encoder
Feedback
Enables the Integral Gain parameter for all
modes of operation
Always
Sets the PID integration mode for the axis.
Disables Integral Gain parameter when the command velocity is non-zero
Standing Only
High-Active
Integration Mode
Low-Active
Amp Fault
Home
Low-Active
Negative Limit
Hardware Limit
Configuration
Amp Enable Polarity
For servo motors, this parameter is
Disabled step pulse output.
Superfast (0 to 550 kHz)
Fast (0 to 325 kHz)
Configures how the index pulse and/or the
home input is used for homing
Home/Index
Step/Dir
CW/CCW
Stepper Mode
Open Loop
Closed Loop
Loop Mode
Unipolar (0 to +10V)
Slow (0 to 20 kHz)
Stepper
For step motors, the output
control voltage should be set
to Unipolar.
Bipolar (-10V to +10V)
Disable step pulse output
Medium (0 to 80 kHz)
Output Control Voltage
Stepper Configuration
Servo
Modifications made to any of the controls in the Axis Configurtation Window are immediately sent to the controller.
Use to configure motor, feedback, home/index, and other parameters.
Motor Type
Axis Configuration Tab
MOTION CONSOLE REFERENCE
Starts graphing at the start of the next move after the Refresh button is
clicked.
Starts graphing when the Command button is clicked.
On Move
On Command
Changes horizontal scale to parameter
selected in 2 boxes below it
Sample Numbers
Position 1
Position 2
Increment
Kp
Sample Size Cont.
Delay
Velocity
Acceleration
R.I. Max
Velocity FF
Accel. FF
Kd
Offset
Friction FF
Scale
Limit
Use these 2 boxes to dynamically change these parameters during continuous graphing. In the first box (upper), you select the parameter to be
changed, while in the lower text box, you enter the desired value.
Sample Size
Jerk
Ki
Offset
To graph more than 2 or more axes at a
time
Sync. Graphing
Actual voltage of the axis’ servo output
Displays a continuous, real-time graph of the commanded motion.
New data is shown to the left of the moving cursor line; old data is
shown to the right of the cursor line. Entering a new sample size while
graphing discards the current data. It is possible to zoom in on graphs
generated in Continuous mode.
Continuous
Actual and Command Velocity
Error
Voltage
Position Error (in counts)
Position
Disables updates to graphing display. Typically used to examine sampled data while continuing to perform moves.
(Disabled)
Velocity
Actual and Command Position
Graph What
The Graph Window can generate a detailed graph of several motion control parameters, in real-time or can display
sampled data from a previous move.
Graph When
Graph Tab
B-11
MOTION CONSOLE REFERENCE
B-11
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MOTION CONSOLE REFERENCE
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APPENDIX C
Intro
File Menu
Configure Menu
Status Menu
Motion Menu
SETUP.EXE
For DOS, Win 3.x & Win 95/98 Only
To Load the SETUP Program
Saving Default Parameters to the Controller
Functional Grouping by Axis
SETUP Menus & Screens
C-2
Load Defaults from File
Save Defaults to File
DOS Shell
About
Exit
C-6
I/O Base Address
Tuning Parameters
Axis Configuration
Limit Switch Configuration
Software Limits
Reset (F9)
C-8
Position Status
Axis Status
Dedicated I/O
C-15
Point-to-Point Motion
Graphic Analysis
C-17
C-2
C-3
C-4
C-5
C-6
C-6
C-7
C-7
C-9
C-11
C-13
C-14
C-14
C-15
C-16
C-18
C-1
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SETUP.EXE
Intro
Intro
For DOS, Win 3.x & Win 95/98 Only
The SETUP program is a powerful tool for installation, configuration, tuning and debugging for
PC-based architectures running DOS, Windows 3.x, and Windows 95/98. We recommend that
you use Motion Console for Windows, Windows 95/98, and Windows NT systems.
Note that SETUP.EXE will not work as a “DOS” window under Windows NT.
SETUP‘s main screen has pull-down menus that are used to access different windows. Many
windows can be accessed and arranged on the screen at one time. Each window will enable you
to see and manipulate the command position, actual position, dedicated I/O, software limits,
axis status, axis state, source of an event, etc. for each axis.
Important! Before you write any code, we recommend that you
1. Use the SETUP program to thoroughly test the hardware
2.
Make sure that you can perform two-point motion (using repeat)
with all of your motors
If you do not have motors connected to the controller, you can simulate the
motors by configuring the axes as open-loop steps (unipolar).
For DOS, Win 3.x & Win 95/98 Only
To Load the SETUP Program
The “Setup” CD-ROM contains the SETUP program, the firmware (.ABS files) and the CONFIG program.
1. On your hard drive (C: or whatever), create the directory C:\MEI\SETUP and copy the
files from the “Setup” CD to that directory.
2.
Next run the SETUP program by typing SETUP at the DOS prompt. You should next
see the About SETUP window, which shows the date and version of the SETUP program.
Note that when SETUP initializes the controller, SETUP does not change any of the
current configurations or conditions on the DSP Series controller.
Mouse/Trackball
A mouse or trackball makes the SETUP program much easier to use.
Hot Keys
If you do not have a mouse or trackball, you can use the keyboard to perform the same tasks.
Table E-1
Hot Keys
Hot Key
Space Bar
or <ENTER>
F2
F3
F4
F5
F6
F7
F8
Select the highlighted button
Open a Position Status window
Open an Axis Status window
Display Motion Graphics
Move the current window (with the cursor keys)
Jump to the next open window
Open Tuning Parameters window
Open Axis Configuration window
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SETUP.EXE
Table E-1
Hot Keys
F9
<ESC>
Alt/F
Alt/C
Alt/S
Alt/M
Alt/X
Cursor Keys
Buttons
DSP hardware reset
Close the current window
Select the File menu
Select the Configure menu
Select the Status menu
Select the Motion menu
Exit the SETUP program
Move between fields and buttons
Intro
Hot Key
In each window, there are buttons provided to send, read and save information stored in the
controller's data memory (volatile) and boot memory (non-volatile).
Table C-2
Buttons
Button
Send
Set Axis
Save
Read
Copy All
Saving Default Parameters to the Controller
Many of the configuration windows have Read and Save buttons. The Read button loads the
default configuration parameters (power-up or reset) from boot memory to data memory. The
Save button stores the current parameters to boot memory.
The SETUP program can access the data memory (volatile) and boot memory (non-volatile).
When a value is entered in any window, the value is automatically stored in the controller’s
data memory. The values stored in data memory are lost when the controller is reset (F9 key)
or when the power is turned off.
The reset function (F9) loads the firmware and configuration parameters from boot memory to
data memory. During initialization, the SETUP program reads the values stored in boot memory.
Save Defaults to File saves the current boot memory configuration to a diskette file with the
extension .ABS. Load Defaults From Disk loads the boot memory configuration from a diskette
file into boot memory.
Saving Default Parameters to the Controller
Save All
Write the values in the window to data memory.
(Same as the <ENTER> key).
Set the axis to display the current values in data memory.
(Same as the <ENTER> key).
Store the window values to boot memory.
Copy values from boot memory to data memory.
Copy the values in the window to data memory for all axes.
Values displayed in other windows are not affected.
Store the values in the window to boot memory for all axes.
Values displayed in other windows are not affected.
C-3
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SETUP.EXE
Intro
Figure C-1
SETUP’s Default Parameters Storage
DSP Controller
Screen Values are Read from
Data Memory
Screen Values
Boot Memory to Data Memory
Read Defaults
Data Memory to Boot Memory
Save Defaults
Boot Memory to File
Save Defaults
to File
File to Boot Memory
Load Defaults
from File
Data Memory
Volatile
Functional Grouping by Axis
Boot Memory
Non-Volatile
Non-Volatile
File (diskette)
SETUP/DSP Parameter Storage
Functional Grouping by Axis
Some of the functions and parameters of the controller must be the same across groups of axes:
Table C-3
Functional Grouping by Axis
Function
Step or
Servo Motor
Number
of Axes
2
Open-loop or
Closed-loop
2
Home &
Index
Functions
4
Window Selections
If a 3-axis controller is to be used for 2 stepmotors and 1 servo motor,
then the servo motor must be axis 2 and the step motors axes 0 and 1.
When a pair of axes (2 and 3 in this case, even though axis 3 is not
present) are configured as a servo axes, the step pulse output is turned
off for both axes 2 and 3.
If a 3-axis controller is to be used for 2 closed-loop step motors and 1
open-loop step motor, then the open-loop step motor must be axis 2 and
the closed-loop motors must be axes 0 and 1.
On a 4-axis controller, all axes will be configured to use the Home and
Index in the same fashion.
On a 7-axis controller, axes 0-3 will have a configuration that is independant of the configuration for axes 4-6.
C-4
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SETUP.EXE
SETUP Menus & Screens
Intro
The SETUP menus and screens are organized under 4 main categories:
Table C-4
Menu
Windows
Load default parameters from a diskette to file
Store default parameters to a diskette file
Shell out to DOS
Display version number
Move location of selected window
Exit program
Configure Set I/O address
Set PID tuning parameters
Set auxiliary tuning parameters
Parameters in that window
File
Status
Monitor dedicated I/O status
Two-point motion
page C-6
page C-8
Servo or step
Open/closed-loop
Stepping speed
Home sensor configuration
Voltage output
Feedback device type
Integration active mode
Position, Velocity, Acceleration and Error page C-15
Idle/Run Mode, In Motion, In-Position,
Source and State
Enable/Disable Amplifier
Endpoints, Delay, Velocity, Acceleration page C-17
and Jerk
Motion Profile: Trapezoidal, Parabolic, or
S-Curve
Graphic motion analysis
SETUP Menus & Screens
Motion
Set axis configuration
Set limit switch configuration
Set software limits
Reset controller with boot memory
Monitor position status
Monitor axis status
Page
C-5
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SETUP.EXE
File Menu
File Menu
The File menu contains these options:
Option
Load Defaults from File Loads the values from CD into DSP boot memory
(requests filename)
Save Defaults to File
Saves values in DSP boot memory to diskette (prompts for filename)
DOS Shell
Shells to DOS
About
Displays the program version number
Exit
Terminates the program
Load Defaults from File
Selecting Load Defaults from File will read a CD file containing the firmware, which includes
the parameters for the PID filter, limit switch configurations, software limit configurations, etc.
After the prompt appears, you can select the desired filename.
Tip!
If SETUP displays a message stating that the version of SETUP is incompatible
with the firmware currently installed on the controller, then:
Load Defaults from File
Incompatible 1. Exit SETUP (Alt + X)
Firmware
2. Turn off the amplifiers and/or drivers
Version
3. Run the CONFIG.EXE program (found on the SETUP disk)
4. Run the SETUP program
The CONFIG program will download new firmware to the static RAM on the controller, and set the internal offsets to zero the output. Note that previously stored
tuning parameters, etc., will be erased.
Figure C-2
Incompatible Firmware Version Error Message
Save Defaults to File
Selecting Save Defaults to File will write the firmware, PID parameters, limit switch configurations, software limit configurations, etc., to a diskette file. After the prompt appears, you can
select the desired filename. We recommend that after configuring the controller, you store your
configuration into a file on a diskette. Once stored on diskette, the parameters can be easily
downloaded to the board in the future if necessary.
DOS Shell
Selecting DOS Shell allows you to access the DOS command line without exiting the SETUP
program. Type EXIT at the DOS prompt to return to the SETUP program.
C-6
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SETUP.EXE
About
Exit
Exits the SETUP program. After exiting, motion will stop, but all configuration parameters
will remain active.
File Menu
Selecting About displays the SETUP version number and date.
About
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SETUP.EXE
Configure Menu
Configure Menu
The Configure menu contains the options
Option/Window
I/O Base Address
Sets the I/O address where SETUP comminicates with the controller
Tuning Parameters
Sets tuning parameters, DC offset and voltage/pulse rate limit
Aux. Tuning Parameters
Sets auxilliary tuning parameters: derivative sample rate, etc.
Axis Configuration
Allows axes to be configured as step/servo, etc.
Limit Switch Configuration Sets the active level of limit switches and associated action
Software Limits
Sets the software limits and associated actions
Reset
Resets the DSP with parameters stored in battery backed RAM
I/O Base Address
Use the I/O Base Address window to set the base address for the controller. If SW1 is set for
an address other than 300 hex, you must use the I/O Base Address window to tell the SETUP
program the location of the controller, or use the DSP environment variable (in DOS) to set the
address of the controller.
Configure/Set I/O Base Address Window
I/O Base Address
Figure C-3
Using the DSP “Base” variable to set the controller’s address
The SETUP program also has the ability to read an environment variable called 'DSP' and automatically set the base address. Currently, SETUP only understoods the “BASE” parameter
of the DSP variable, which you can use to specify the base I/O address of the controller. If you
specify the BASE parameter, then the SETUP program will initialize the controller using the
'BASE' address. For example, if 'set DSP=base: 0x280' is executed at the DOS prompt,
then the SETUP program will use address 280 hex. (The CONFIG program will also use this
address).
Tip!
DSP Not Found
If SETUP displays a message that the DSP controller cannot be found at the specified address, be sure that the DIP switches on the controller are set for the same
address entered on the CONFIGURE/SET I/O BASE window.
If SETUP still displays a message that the DSP is Not Found, press the F9 key to
re-execute the SETUP program. If the SETUP program still cannot find the DSP,
run the CONFIG program.
C-8
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SETUP.EXE
Tuning Parameters
Note that multiple types of windows can be open simultaneously. For example, windows can
be open for Tuning Parameters and Motion Status for one axis, or windows can be open for
Tuning Parameters and Motion Status for both Axes 1 and 4. This makes it possible to change
tuning parameters on-the-fly and to observe the effect in real time.
Figure C-4
Configure/Tuning Parameter Windows for Axes 0 and 1
Configure Menu
Use the Tuning Parameters window to set the control loop tuning parameters for each axis. The
DSP uses a second order PID algorithm with velocity and acceleration feed-forward.
Axis 0
Axis 2
The PID algorithm is based on the following formula:
The lower case n represents the sample period. The terms are defined as follows:
if -Smax < Sn < Smax
if Sn > Smax
if Sn < -Smax
then Sn = Sn-1 + Ei
then Sn = Smax
then Sn = Smax
On = DAC output
Kp = proportional gain
Ki = integral gain
Ka = acceleration feed-forward
Kf = friction feed-forward
Mn = 0 or 1 based on the command velocity
An = command acceleration * 2-6
Smax = maximum integrated error
Proportional Gain
Zshift = overall scale factor
Kd = derivative gain
Kv = velocity feed-forward
Ko = static DAC offset
En = position error
Vn = command velocity
Sn = integrated error
Tuning Parameters
On = Zshift ( Kp*En + Kd*(En - En-1) + Ki * Sn + Kv*Vn + 64*Ka*An) + Kf * Mn + Ko
The proportional gain affects the analog command voltage or pulse rate based on the amount
of position error. The higher the proportional gain, the “stiffer” the response.
If the proportional gain is set too low, the response will be “mushy” - the motor will have trouble following the commanded trajectory.
If the proportional gain is set too high, the motor may oscillate or “buzz” at rest or during motion. The range of values for proportional gain is 0 to 32,767.
Integral Gain
Use the integral gain parameter to integrate static errors and “fine tune” the position at rest. The
motor command (analog voltage or pulse rate) will increase with increasing error and time. The
maximum amount of gain due to integration is limited to prevent “windup.”
With proper tuning, motor sizing and a low-friction mechanical system, 0-1 encoder count
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SETUP.EXE
Configure Menu
(step) error is possible. The range of values for integral gain is 0 to 32,767.
Derivative Gain
Use the derivative gain term like a damping factor. The derivative gain affects the analog command voltage or pulse rate based on the amount of position error change occurring in the last
two samples. The range of values for the derivative gain is 0 to 32,767.
Acceleration Feed-Forward
Use the acceleration feed-forward term to add extra output during acceleration to reduce following error. The range of values for the acceleration feed-forward is 0 to 32,767.
Velocity Feed-Forward
Use the velocity feed-forward term to add extra output during constant velocity to reduce following error. The range of values for the velocity feed-forward is 0 to 32,767.
I Maximum
Use the I Maximum limit to prevent “windup.” Generally, “windup” occurs in systems where
(very) high friction cannot be overcome without entering an oscillation mode. The I Maximum
parameter sets the maximum voltage output by the integration term of the PID algorithm. The
range of values for the integration limit is 0 to 32,767.
Offset
Use the Offset parameter to compensate for other system offsets. The Offset parameter sets the
DAC output level. However, in most cases, the offset parameter should be set at 0.
Note that each axis also has an internal offset, which is in series with the digital filter offset
(Offset parameter, which is visible on the SETUP program tuning screen). You use the Offset
parameter to zero the DAC and Voltage-to-Frequency converter outputs, to prevent motion
when the axis is placed in idle mode.
Tuning Parameters
The internal offset is set by the CONFIG.EXE program. After the CONFIG program has run,
the normal DAC offset should be under 3 millivolts (which will not produce step pulses). Temperature drift is approximately 1 millivolt per degree C.
Only positive values of Offset will output steps, since the Voltage-to-Frequency converter can
only react to positive voltages. The range of values for the Offset is +/- 32,767.
Output Limit
Use the Output Limit parameter to limit the controller output (analog voltage or pulse rate) during system tuning. For servo motors, this term limits the analog output voltage. For step motors, this term limits the step pulse output rate. The range for the output limit is 0 to 32,767.
This range corresponds to -10V to +10V for servos (i.e. 0.000305 volts/unit) or 0 to full scale
pulse rate for steps.
Shift Range
Use the Shift Range parameter to shift the range of the tuning parameters. The shift factor multiplies or divides all the filter parameters by a user specified power of two. For example, if the
shift factor = -3, then all the filter parameters will be divided by 8 (2-3 = 1/8). If the shift factor
= 2, then all the parameters will be multiplied by 4. This is useful for unusual motors such as
air-bearing motors, voice-coil actuators and hydraulics or other actuators. The default parameter is -5, i.e. a multiplier of 2 -5 or 1/32.
Friction Feed-Forward
Use the friction feed-forward term to add extra output during any commanded velocity, to reduce following error caused by friction. The range of values for the friction feed-forward are
0 to 32,767.
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SETUP.EXE
Axis Configuration
Configure Menu
Figure C-5
The Configure/Axis Configuration Window
Motor
Servo or Stepper
This selection is used to enable/disable the step pulse output for a given pair of axes. Selecting
“step” will enable the step output for the pair of axes (0 and 1, 2 and 3, etc.). The analog output
is available regardless of the selection. When the motor type is changed, a set of default tuning
parameters will be loaded into SETUP for that axis.
Encoder
Open-loop or Closed-loop
This selection enables you to indicate if a pair of axes is to be open-loop or closed-loop.
If open-loop are selected (and Step was selected on Motor line), the board will direct the step
output back into the encoder input for the axis, in effect digitally closing the loop on the controller
Figure C-6
PID
Filter
Internal Architecture to Control Step Motors
Axis Configuration
If closed-loop is selected, the controller will use feedback from an external device to close the
loop.
Analog Output
D/A
Active if Stepper Axis
Voltage
to
Frequency
Converter
Active if Open-Loop Axis
Active if Closed-Loop Axis
Step
Output
Encoder
Inputs
Internal Architecture
Speed
Disable Output or Fast or Medium or Slow
This selection sets the maximum pulse rate for the step output in either open-loop or closedloop mode. Whenever Step is selected (on Motor line), the step speed range must be set. The
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SETUP.EXE
Configure Menu
ranges are:
Slow
Medium
Fast
0 to 23 kHz
0 to 94 kHz
0 to 375 kHz
You must set the tuning parameters as follows for each axis configured for open-loop steps:
Table C-5
Tuning Parameters for Open-loop steps
Parameter
Setting
Proportional (Kp)
320
Integral (Ki)
32
Derivative (Kd)
0
Accel FF (Ka)
32
Vel FF (Kv)
3750
I Maximum
Offset
Output Limit
Shift-
32767
0
32767
-1 (Slow), -3 (Medium), -5 (Fast)
We recommend choosing the slowest possible speed range that is adequate for your system. If
an axis is configured for servo, the speed selection should be: Disable Output.
Axis Configuration
Home/Index
Home Only or Low Home or Index Only or High Home
This selection configures whether the index pulse is required for the home input to be active.
Typically a rotary encoder has a single index pulse (per revolution). The index pulse can be
used with the home signal input to produce accurate homing to within one encoder count. Standard boards have four possible types of homing.
Type
Description
Home Only
Low Home and Index
Index Only
High Home and Index
Home input only (active high or active low)
Home input ANDed with index (active low home and active high index)
Index only (active high or active low)
Home input ANDed with index (active high home and active high index)
Note that the home/index setting affects the axes in groups of 4. For example, on a 4-axis controller, all the axes must be configured the same with respect to home/index. For more information, see the section on home switch wiring.
Voltage
Bipolar or Unipolar
This selection configures whether the analog output is unipolar (0 to +10V) or bipolar (-10V
to +10V).
If you are using analog servo motors, configure the output for bipolar operation.
If you are using stepper motors, configure the output for unipolar operation.
Tip!
Stepper motors: If a step motor turns in only one direction, check the Configuration/Axis Configuration window to be sure the axis is set for UNIPOLAR.
If the Motor Turns The voltage-to-frequency-convertor only responds to positive voltages (unipoOnly in 1 Direc- lar) and will not output steps if the voltage is negative (bipolar).
tion
Servo motors: If a servo motor turns only in one direction, check the Configuration/Axis Configuration window to be sure the axis is set for BIPOLAR.
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SETUP.EXE
Feedback
Selection
Device Type
Pin Location
Encoder
Analog
Parallel
Incremental Encoder
Unipolar LVDT
Laser Interferometer
Motor Signal Header
Analog Input Header
User I/O Headers
Note that each axis can be individually configured with any feedback device, but if any axis
uses analog inputs, the remaining analog inputs cannot be used for any purpose other than analog feedback. For example, the analog inputs on the same controller cannot be used for both
a joystick and analog feedback.
I Mode
Configure Menu
Encoder or Analog or Parallel
This selection allows each axis to be configured for the type of feedback device used. The
choices are:
Only Standing or Always
The I Mode (integration mode) selection allows the PID integration term for each axis to be
configured as:
Only Standing
Always
Only when the command velocity is zero
During motion and when standing
Limit Switch Configuration
Figure C-7
Configure/Limit Switch Configuration Window
Limit Switch Configuration
Positive Limit
Negative Limit
Home
Device Fault
Amp Enable
The Configure/Limit Switch Configuration window defines the active state of the positive/negative limit switches, home switch, device fault and the amp enable output. It also specifies
which event is triggered when each sensor becomes active. The events are:
Event
No_Action
Ignore a condition
Stop
Decelerate to a stop (at specified stop rate)
E-Stop
Decelerate to a stop (at specified E-stop rate)
Abort
Disable PID control and the amplifier for this axis
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SETUP.EXE
Configure Menu
Software Limits
Figure C-8
Configure/Software Limit Configuration Window
Lowest Pos.
Highest Pos.
Error Limit
In Position
This window is used to set the software limits (lowest position, highest position and error limit)
for each axis. The values for each of these limits, and the event to be performed when the limit
is exceeded, can be specified.
Software Limits
Event
No Action
Ignore a condition
Stop
Decelerate to a stop (at a specified stop rate)
E-Stop
Decelerate to a stop (at a specified E-stop rate)
Abort
Disable PID control and the amplifier for this axis
Reset (F9)
This selection will perform a power-up reset of the DSP controller. The software and hardware
configurations are re-read from boot memory, the command and actual positions are reset, the
amp enable output is disabled, User I/O is reconfigured, etc. A hardware reset causes the DSP
to release control of the axes and I/O for a few milliseconds which may cause motors to jump.
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SETUP.EXE
Status Menu
Option/Window
Position Status
Displays the position, velocity and acceleration of each axis
Axis Status
Displays the status of each axis: Motion, E-stop, Run/Idle, etc.
Dedicated I/O
Display the status of dedicated I/O lines
Status Menu
The Status menu contains the options:
Position Status
The Position Status window is a read-only window which provides an easy way to monitor the
status of each axis. The Clear button will immediately zero actual and command positions.
Figure C-9
Status/Position Status Window
Button
Position Status
Axis Status
Figure C-10 Status/Axis Status Window
This window displays the real-time status of the flags for the axis displayed. In the following
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SETUP.EXE
Status Menu
description the term “Event” means Stop, E-Stop, or Abort. The status items reported are:
Item
Status
Displays the current condition of an axis in hex.
In Sequence?
Displays “Yes” if a set of frames describing a move is executing.
In Motion?
Displays “Yes” if command velocity is non-zero.
In Position?
Displays “Yes” if the position is within the in-position window.
Negative Direction?
Displays “Yes” if the command velocity is negative.
Frames Left?
Displays “Yes” if additional, unexecuted frames are still in buffer.
Axis Done?
Displays “Yes” if In Motion? is “No” and In Position? is “Yes.”
Source
Displays the source (host CPU, position limit, etc.) of a current event.
State
Displays current event on an axis.
The buttons on the right of the window perform the following functions:
Dedicated I/O
Button
Clear
Reset all flags, clear stops and E-stops.
Idle
Set analog and step/direction outputs to zero, disables amp enable output and disables PID filter.
Run
Closes the loop, enables PID filter. Note that loop is closed internally (on-board)
for open-loop steps when Run mode is selected. Amp enable must be manually
enabled.
Stop
Decelerate at Stop rate.
E-stop
Decelerate at E-Stop rate.
Dedicated I/O
The Dedicated I/O window displays the status of the dedicated inputs for limits, home, device
fault and in-position. The window also contains buttons to set the amp enable output to a high
or low state.
Figure C-11 The Configure/Axis Dedicated I/O Window
Status
Set Amp Enable
output
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SETUP.EXE
Motion Menu
Option/Window
Point-to-Point Motion
Commands an axis to move between two points
Graphics Analysis
Displays the command vs. actual and analog outputs for a move
Motion Menu
The Motion menu contains the options:
Point-to-Point Motion
Use the Point-to-Point Motion window to command motion between two points. Point 1 and
Point 2 specify the endpoints of the motion, Velocity specifies the maximum slew speed and
Acceleration the acceleration rate. The Jerk field is only used when performing non-constant
acceleration profiles (S-curve and parabolic). Units are encoder counts (steps), counts (steps)
per second, counts (steps) per second2 and counts (steps) per second3.
Use the GO button to start the motion. Use the Repeat and End Repeat fields to start or stop
repetitive motion. Use the E-STOP field to trigger an E-Stop event. Use the cursor to move between fields and buttons, and the space bar or <ENTER> to “push” a button.
Three motion profiles are available: trapezoidal, parabolic and S-curve. Generally, choose an
acceleration that is 10 times the velocity and a jerk that is 100 times the acceleration.
Recall that the velocity is the rate of change of the position, acceleration is the rate of change
of the velocity, and jerk is the rate of change of the acceleration. Also note that increasing the
velocity and acceleration of parabolic and S-curve moves can actually increase the time to position.
Use the cursor to move between fields
and buttons, and the Space Bar or
<ENTER> to “push” a button.
Enter values
Start motion
Start repetitive motion
Stop repetitive motion
Trigger E-Stop event
Point-to-Point Motion
Figure C-12 The Motion/Two-Point Motion Window
Motion profiles
The Delay field allows motion to be paused at the endpoints. Units of delay are relative time
and depend on the computer’s CPU speed.
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SETUP.EXE
Motion Menu
Graphic Analysis
The Graphics Analysis window provides a visual guide to tuning closed-loop systems. Motion
is controlled by the parameters set on the Motion/Two-Point window. Trapezoidal, parabolic
or S-curve motion may be commanded. Endpoint positions, velocity, acceleration and jerk may
also be selected.
Command and actual position are overplotted on the graphic screen. A second plot shows the
analog voltage output on the same time scale.
Figure C-13 Sample Graphic Analysis Screen
Command &
Actual Positions
Graphic Analysis
Command
Voltage output
You can access the graphics screen directly from any window by pressing the F4 key. To display continuous motion, use the “Repeat” button in the Motion/Two-Point Motion window. To
command single-step motion, press the space bar. The hot keys that control data acquisition
and display are:
Table C-6
Hot Keys
Key
<Space Bar> Command a single move - acquire data in either direction
T
Change the trigger mode for REPEAT motion
+
Trigger data acquisition on increasing position
-
Trigger data acquisition on decreasing position
D
Set Display mode
C
Continuous sample and display
S
Collect data then display
PGUP
Change to next higher axis number
PGDN
Change to next lower axis number
Arrow Keys
Change the time scale during motion (left and right keys)
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SETUP.EXE
Trigger Mode
Figure C-14 Trigger Modes
POSITION
- Trigger
Motion Menu
When the graphic screen is displayed, press the “T” key to display the motion in one direction
only, triggering on rising or falling position counts (steps). Note that when a rising or falling
trigger mode is used, motion in one direction only (every other move) will be displayed.
+ Trigger
TIME
Trigger Modes
Display Mode
Press the letter
to select
Display mode
C
Continuous mode, which instructs the host CPU to collect and display
the data simultaneously
S
Sample-then-display mode, which instructs the host CPU to collect all
the data, and then display it on the screen.
The sample-then-display mode has a higher sampling rate (since the
host is not printing data) and will provide more accurate data for very
fast moves.
Note that the screen includes a percentage value representing the number of data points displayed divided by the total number of DSP calculation cycles during the move.
Graphic Analysis
D
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Graphic Analysis
Motion Menu
SETUP.EXE
C-20
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APPENDIX D
TUNING
D-2
Intro
The Digital Filter
Tuning Parameters
Proportional Gain (Kp)
Derivative Gain (Kd)
Integral Gain (Ki)
Velocity Feed-Forward (Kv)
Acceleration Feed-Forward (Ka )
Offset (Ko)
Scale
Friction Feed-Forward
Integration Limit
D-3
D-5
D-6
D-9
D-12
D-13
D-14
D-14
D-14
D-15
D-15
D-16
Tuning
Closed-Loop Servos
Step 1: Set Proportional Gain (Kp)
Step 2: Set the Derivative Gain
Step 3: Iterate Steps 1 and 2
Step 4: Set Integral Gain (Ki )
Step 5: Set Velocity and Acceleration Feed-Forward
D-16
D-16
D-16
D-16
D-17
D-18
Tuning
Closed-Loop Steppers
Step 1: Set Proportional Gain (Kp)
Step 2: Set Velocity & Acceleration Feed-Forward
Gains (Kv, Ka)
Step 3: Set the Integral Gain (Ki)
D-18
D-18
D-19
D-1
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TUNING
Intro
Intro
In closed-loop positioning systems, the motion controller compares the command position
(trajectory) to the actual position feedback and calculates a motor control signal. The position error is defined as the difference between the command and actual positions. As the position error increases, the motor control signal (analog output or step pulse rate) is increased
to counteract the error. The digital filter coefficients (PID, Proportional Integral Derivative)
determine the computation of the value of the motor control signal based on the position error.
Tuning is the process of adjusting these digital coefficients to provide the best control
for a particular system of motors and loads.
There are 2 methods generally used for tuning closed-loop digital control systems: calculation or trial-and-error. Calculation involves rather complex mathematics and precise knowledge of all of the system parameters such as motor and amplifier response, load inertia and
friction. Control systems textbooks provide methods for calculation of the tuning parameters
for a large variety of applications.
Trial-and-error has the advantage in that no knowledge of the control system’s possesive parameters is necessary and no calculations are needed. However, you may need to try a large
number of trial parameters to tune a system and some combinations of parameters may produce an unstable or runaway system. An organized approach to searching for the best combination of tuning parameters helps shorten the tuning time while avoiding an unstable
combination which may damage the system.
Figure D-1 Simple Closed-Loop System
Actual Position
Motor
Position
Command
Controller
Motor Control Signal
Encoder
Actual Position
Command
Position
+
_
PID
Compensator
Motor Control Output
Difference (Error)
SIMPLE CLOSED LOOP SYSTEM
D-2
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TUNING
The Digital Filter
Intro
The DSP calculates an axis’ output (analog voltage or pulse rate) based on a PID servo control
algorithm. The current position error is the input to the PID algorithm. The current position error is the difference between the command position and the actual position. The actual position
is controlled by the feedback device, and the command position is determined by the trajectory
calculator. The trajectory is based on the commanded motion profiles from software. The PID
algorithm is based on the following formula:
On = 2shift ( Kp*En + Kd*(En - En-1) + Ki*Sn + Kv*Vn + 64*Ka*An) + Kf * Mn + Ko
The lower case “n” represents the sample period. The terms are defined:
if -Smax < Sn < Smax
if Sn > Smax
if Sn < -Smax
Sn = Sn-1 + En
Smax
-Smax
On = DAC output
Kp = proportional gain
Ki = integral gain
Ka = acceleration feed-forward
Kf = friction feed-forward
Mn = 0 or 1, based on the command velocity
An = command acceleration
Smax = maximum integrated error
shift
= overall scale factor
Kd = derivative gain
Kv = velocity feed-forward
Ko = static DAC offset
En = position error
Vn = command velocity
Sn = integrated error
The Digital Filter
D-3
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TUNING
Intro
Figure D-2 PID Algorithm
PID ALGORITHM
Control
Velocity
Velocity
Feedforward
Control
Acceleration
Acceleration
Feedforward
(Multiplier)
+
64
2shift
Control
Position
Error
PID
Filter
2shift
+
Output
Limit
Actual
Position
Offset
+
Internal
Offset
+
16-bit resolution
across +/- 10volts
DAC
Volts
D/A
Converter
Servo
Output
Friction
Feedforward
KI * z
z-1
Error
*
Integration
Limit
+
Kp
KD * (z - 1)
z
Output
*
The Digital Filter
* z - Transfer of the Integrator and Differentiator
D-4
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TUNING
Tuning Parameters
Intro
Table D-1
What do Gains Do?
Parameter
Kp
Proportional Gain increases/decreases the motor control output
based on the position error of the current sample
Kd
Derivative Gain
increases/decreases the motor control output
based on the rate of change of the position error
Ki
Integral Gain
increases/decreases the motor control output
based on the summation of position error over time
Kv
Velocity
Feed-Forward
increases/decreases the motor control output
based on the command velocity
Ka
Acceleration
Feed-Forward
increases/decreases the motor control output
based on the command acceleration rate
Kf
Friction
Feed-Forward
Adds a constant value to the motor control output when the command
velocity is non-zero.
Ko
Offset (static)
Adds a constant value to the motor control output
2shift
Scale
Scale factor for the other tuning parameters (Kp, Kd, Ki, Kv, Ka, Ko)
Integration Limit
Limits the summation of position error over time.
Table D-2
What Problems Do Gains Solve?
Parameter
Proportional Gain Determines the systems’ overall response to position error
Derivative Gain
Provides damping and stability for the system by preventing overshoot
Ki
Integral Gain
Helps the system overcome static position errors (caused by friction
or loading)
Kv
Velocity
Feed-Forward
Increases the system’s motor control signal based on the command velocity (useful for amplifiers in velocity mode).
Ka
Acceleration
Feed-Forward
Increases the system’s motor control signal (current) during acceleration and deceleration (useful for amplifiers in torque mode)
Kf
Friction
Feed-Forward
Increases the system’s motor control signal (current) during acceleration and deceleration to overcome static friction (useful for systems
with large dynamic friction loads)
Ko
Offset (static)
Compensates for small variations in motor control signal due to DAC
and amplifier offsets (also used to compensate for a fixed force, like
gravity
2shift Scale
Integration Limit
Tuning Parameters
Kp
Kd
Adjusts the resolution of the gains and feed-forward terms
(via a scale factor)
Prevents the integrator from building up a large integration error
(and consequently saturating the motor control signal)
D-5
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TUNING
Intro
Proportional Gain (Kp)
The Proportional Gain determines the overall response of a system to position errors. The
Proportional Gain increases/decreases the motor control output signal based on the position
error.
Table D-3
Effects of Proportional Gain
with
Stiffness
and incurs under Load
very stable
and to not oscillate
low
large position errors
less stable
and oscillate
high
small position errors
If Proportional Gain is
System tends to be
Low
High
Table D-4
Typical Proportional Gain Values
For
Typical Proportional Gain Values are
Velocity-controlled servos (voltage) 100-500
or closed-loop step systems
500-2000
Tuning Parameters
Torque-controlled servos (current)
D-6
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TUNING
When Proportional Gain is Too Low
Intro
The motor (Actual Position) is unable to keep up with the command position if the Kp term is
too small. At the beginning of the move, the motor falls behind and the voltage output is slow
to respond. Eventually, the voltage will reach a level that can compensate for the error. Then,
as the position error decreases, the voltage will also begin to decrease. This decrease in voltage
will again cause the motor to fall behind. The end result is that the output voltage and position
error will oscillate, as demonstrated in the graphs below.
Also, low Kp values will often result in static errors at the end of moves.
Figure D-3 Insufficient Proportional Gain
LOW
PROPORTIONAL GAIN
Doesn’t follow the command position well
The motor (actual position) is not keeping up
with the command position, yet the output voltage is not saturated.
Note the static error at
the end of the move.
More gain is needed.
Command Position
Actual Position
Doesn’t oscillate so much
Tuning Parameters
Output is not saturated
D-7
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TUNING
Intro
When Proportional Gain is Too High
The motor (Actual Position) is able to keep up with the Command Position, but the motor
oscillates and the voltage saturates. Due to the high gain, the output responds very strongly
to any position error. As a result, the output signal saturates.
Figure D-4 Excessive Proportional Gain
HIGH
PROPORTIONAL GAIN
Follows the command position well
The motor (actual position) is keeping up with
the command position,
but the output voltage is
saturated and oscillates.
Less gain is needed.
Command Position
Actual Position
Tuning Parameters
But output saturates & oscillates
Note:
Excessive proportional gain is characterized by oscillation. In some situations, damping (derivative gain) can be increased to help compensate.
D-8
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TUNING
Derivative Gain (Kd)
Table D-5
Intro
The Derivative Gain increases/decreases the motor control output signal, based on the rate of
change of the position error. The Derivative Gain provides damping and stability to the system,
by preventing overshoot.
Effects of Derivative Gain
If Derivative Gain is
System Response
Low
very fast,
but has overshoot (ringing)
High
not as fast
but may allow higher Proportional Gains to be used
(without oscillation)
A low value for the Derivative Gain causes the system to have a very fast response to changes
in position error, but also to have a possible overshoot or “ringing” after a step change in position. Large values of Derivative gain have a slower step response, but also may allow higher
Proportional Gain to be used without oscillation.
Table D-6
Typical Derivative Gain Values
For
Typical Derivative Gain Values are
Velocity-controlled servos (voltage) 200-1000, roughly 2 times the Proportional Gain
Torque-controlled servos (current)
1000-8000, roughly 4 times the Proportional Gain
Tuning Parameters
D-9
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TUNING
Intro
Figure D-5 Insufficient Derivative Gain
LOW DERIVATIVE GAIN
Follows the command position
quickly and well
Command Position
Actual Position
Tuning Parameters
But output oscillates
D-10
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TUNING
Figure D-6 Excessive Derivative Gain
Intro
HIGH DERIVATIVE GAIN
Slower response to position error
Command Position
Actual Position
High Proportional Gain (with no ringing)
Tuning Parameters
D-11
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TUNING
Intro
Integral Gain (Ki)
The Integral Gain increases/decreases the motor control output signal, based on the summation of position error as a function of time. Integral Gain helps the control system overcome
static position errors caused by friction or loading.
Table D-7
Effects of Integral Gain
If Integral Gain is
System Response
Low or zero
has position errors at rest
Higher
has smaller position errors at rest
but may “hunt” for the desired position
A low or zero value for Integral Gain may have position errors at rest, which depend on the
static or frictional loads and the Proportional Gain. Increasing the Integral Gain can reduce
these errors. If the Integral Gain is too large, the system may “hunt” (oscillate at low frequency) about the desired position.
Table D-8
Typical Integral Gain Values
Typical Integral Gain Values are
0-32, depending on the Integration Limit
Table D-9
Integral Mode Configurations
If Integral Mode is
Configured for
The Integration term is
Only Standing
only applied when the command velocity is zero
(recommended)
Always
always applied.
(The summation of position error can be limited with
the Integration Limit.)
Figure D-7 Insufficient Integral Gain (only when standing)
Tuning Parameters
LOW INTEGRAL GAIN
Command Position
Actual Position
D-12
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TUNING
Figure D-8 High Integral Gain (only when standing)
Intro
HIGH INTEGRAL GAIN
Oscillation after
Command Position
Actual Position
Velocity Feed-Forward (Kv)
As the command velocity increases, the position error increases and a higher output voltage or
pulse rate is needed to reduce the following-position error. The Velocity Feed-Forward term
reduces the following position error by increasing the controller output voltage proportionally
to the command velocity.
Table D-10
Effects of Velocity Feed-Forward
If Velocity Feed-Forward is
Tuning Parameters
The Velocity Feed-Forward increases/decreases the motor control output signal, based on the
command velocity. The Velocity Feed-Forward term is very important when used with velocity-controlled servos or closed-loop step motors.
Then
too large
the motor will try to travel ahead of the command position
too small
the system will incur a position-following error
D-13
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TUNING
Intro
Figure D-9 Insufficient Velocity Feed-Forward
LOW VELOCITY
FEED-FORWARD
Position-Following Error
Command Position
Actual Position
Acceleration Feed-Forward (Ka )
The Acceleration Feed-Forward Gain (Ka) increases/decreases the motor control output signal, based on the acceleration rate. Acceleration Feed-Forward is used with torque-controlled servos (current). Systems with large inertial loads need more motor current to
accelerate or decelerate than systems with light loads do. The Acceleration Feed-Forward
Gain causes the controller to increase the motor control signals during periods of acceleration and deceleration.
Offset (Ko)
Tuning Parameters
The Offset Gain term adds/subtracts a fixed value to or from the motor control output signal.
You typically use the Offset Gain to compensate for small variations in controller DAC outputs and amplifier offsets, or to compensate for a fixed force (such as gravity) that is applied
externally to a control system. Note that the internal offset in a DSP controller is calibrated
at the factory, so that when the offset is zero, the analog or pulse output is also zero.
If necessary, use the CONFIG program to re-calibrate the analog and step pulse output.
Scale
You use the Scale parameter to adjust the resolution of the PID and feed-forward terms. The
Scale parameter is used to calculate the overall scale factor KR (KR = 2scale). The overall
scale factor scales the other tuning parameters.
Decreasing the Scale by 1 will divide the equation for On by a factor of 2. In order to get the
same voltage output from the PID, the gains and feed-forward terms must be doubled, i.e., a
gain of 10 must be changed to a gain of 20. This means that a gain of 9.5 (that before could
not have been entered) can now be entered as 19.
D-14
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TUNING
Friction Feed-Forward
Intro
The Friction Feed-Forward parameter adds a constant value to the DAC output when the command velocity is non-zero. The sign of the value applied to the DAC is equal to the sign of the
command velocity multiplied by the friction feed-forward term. The Friction Feed-Forward
term is 16-bits and has a range from -32,768 to 32,767. Generally, torque-controlled motion
systems with constant friction benefit most from using a friction feed-forward term.
Integration Limit
The integrator sums the position error as a function of time. The integrator summation is limited using the Integration Limit. This prevents the integrator from building up a large position
error summation and saturating the motor control output signal.
Use the Integration Limit with systems that have very high static friction.
Tuning Parameters
D-15
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TUNING
Tuning Closed-Loop Servos
Tuning Closed-Loop Servos
To quickly tune a stable system with minimal position errors:
Step 1:
Step 2:
Step 3:
Step 4:
Step 5:
Set Proportional Gain
Set Derivative Gain
Iterate steps 1 and 2
Set Integral Gain
Set Velocity and Acceleration Feed-Forward
For new systems. perform this sequence of steps twice:
first with no motor load to provide a stable set of starting terms;
second with the motor loaded to fine-tune the initial parameters.
Step 1: Set Proportional Gain (Kp)
Start with all of the gains (except the offset Ko) set to 0 (Kp, Kd, Ki, Kv, and Ka). The motor
should not turn and the shaft should be free (for torque mode servo drives). If the shaft turns,
adjust the amplifier offset to reduce the motor speed to zero.
Set the Proportional Gain (Kp) to 1. Watch the position error on the Motion Graph window
as the gain is changed. The position error should decrease as the Proportional Gain is increased.
If the motor runs away or the shaft still turns freely, verify the wiring.
Increase the gain by factors of two until the system begins to hum or oscillate. Reduce the
Proportional Gain to half the value that first produces oscillation. The stability can be tested
by physically “bumping” the motor shaft or mechanical system. An external impulse should
not cause the motor to oscillate if the Proportional Gain (Kp) is set properly.
Step 1: Set Proportional Gain (Kp)
Step 2: Set the Derivative Gain
Start with a Derivative Gain (Kd) equal to the Proportional Gain (Kp). Increase the value of
Kd by factors of two. Set the Derivative Gain (Kd) value to the smallest value which produces no overshoot during a two-point motion.
Step 3: Iterate Steps 1 and 2
With a Derivative Gain high enough to eliminate overshoot, increase the Proportional Gain
until the system becomes unstable.
Now increase the Derivative Gain again and try to reduce overshoot and ringing. Eventually
it will be impossible to eliminate the overshoot by raising Derivative Gain. At this point, the
Proportional Gain should be reduced to provide the desired motion response. Remember that
some overshoot is acceptable in systems which are being tuned for maximum speed.
Step 4: Set Integral Gain (Ki )
Observing the static error at the end of a move as the Ki term is increased is the best way to
tune the Integral Gain. Using the two-point motion window, set the following motion parameters:
D-16
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TUNING
Table D-11
Integral Gain (Ki) Values for Tuning Closed-Loop Servos
Value
Delay
Position 1
Position 2
Velocity
Acceleration
2
0
20000
10000
10000
Start the motion and observe the position error between moves. Gradually increase the Integral
Gain (Ki) until the final position error is minimized. As you increase the Integral Gain above
this level, watch for oscillation at the beginning or end of the motion. If oscillation at the beginning or end of the motion occurs, reduce the value of the Integral Gain.
Step 5: Set Velocity and Acceleration Feed-Forward
Tuning Closed-Loop Servos
Parameter
Using the fields in the Movement and Motion Parameters controls, specify a move that takes 5
to 10 seconds using the highest desired speed and acceleration.
Notice the position error during the constant speed portion of the motion. Increase the Velocity
Feed-Forward (Kv) until the constant velocity error is minimized.
Use the same process to adjust the Acceleration Feed-Forward (Ka), watching the acceleration
error during the acceleration and deceleration portions of the motion (look quickly if the acceleration time is short). Increase the Acceleration Feed-Forward until the constant acceleration
error is minimized.
Step 5: Set Velocity and Acceleration Feed-Forward
D-17
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TUNING
Tuning Closed-Loop Steppers
Tuning Closed-Loop Steppers
Warning!
For best performance, be sure the ratio between the encoder resolution (counts per
rev) and the step resolution (steps or microsteps per rev) is 1:4.
Lower ratios (1:1, 1:2) will be difficult to tune and will have poor static stability.
Higher ratios (1:6, 1:8, etc.) will have poor constant velocity stability.
To tune a stable system with minimal position errors:
Step 1: Set Proportional Gain
Step 2: Set Velocity Feed-Forward & Acceleration Feed-Forward Gains
Step 3: Set Integral Gain
For new systems. perform this sequence of steps twice:
first with no motor load to provide a stable set of starting terms;
second with the motor loaded to fine-tune the initial parameters.
Step 1: Set Proportional Gain (Kp)
The Proportional Gain is dependent upon the ratio between the number of encoder counts
and the number of steps (or microsteps) per revolution of the motor. The greater the number
of steps per encoder count, the larger the Proportional Gain. Typically, the Proportional Gain
will be between 20 and 400.
Start with the Proportional Gain at 20 and all other gains at 0 (Kd, Ki, Kv, and Ka).
Try some two-point motions and increase the Proportional Gain until the motor stalls. Then
reduce the Proportional Gain to half the value (of Kp) that caused the motor to stall.
Be sure to write down this Kp value.
Step 1: Set Proportional Gain (Kp)
Now reduce the Proportional Gain to a very small value (about 1/10 of the current value).
Step 2: Set Velocity & Acceleration Feed-Forward Gains (Kv, Ka)
Using the fields in the Movement and Motion Parameters controls, specify a move with a
typically desired speed and acceleration, and that also takes 5 to 10 seconds to complete.
Notice the position error during the constant speed portion of the motion. Increase the Velocity Feed-Forward Gain (Kv) until the constant velocity error is minimized. An optimum
Kv gain is very important for closed-loop stepper systems.
Use the same method to adjust the Acceleration Feed-Forward Gain (Ka), watching the acceleration error during the acceleration and deceleration portions of the motion. Note that
the Acceleration Feed-Forward won't be needed for most systems (but tune it anyway).
After the Velocity and Acceleration Feed-Forward Gains are set, increase the Proportional
Gain back to the value you recorded during Step 1.
D-18
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TUNING
Step 3: Set the Integral Gain (Ki)
Table D-12
Integral Gain (Ki) Values for Tuning Closed-Loop Steppers
Parameter
Value
Delay
Position 1
Position 2
Velocity
Acceleration
2
0
20000
10000
10000
Start the motion and observe the position error between moves. Gradually increase the Integral
Gain (Ki) until the final position error is minimized.
Tuning Closed-Loop Steppers
Observing the static error at the end of a move as the Integral Gain (Ki) term is increased is
the best way to tune the Integral Gain. Using the two-point motion window, set the following
motion parameters:
As you increase the Integral Gain (Ki) above this level, watch for oscillation at the beginning
or end of the motion. If oscillation occurs at the beginning or end of the motion, reduce the value of the Integral Gain (Ki).
Step 3: Set the Integral Gain (Ki)
D-19
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Step 3: Set the Integral Gain (Ki)
Tuning Closed-Loop Steppers
TUNING
D-20
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APPENDIX E
CONNECTIONS &
SPECIFICATIONS
Motor Signal Header Locations
PCX
CPCI
STD, 104X
V6U
104
LC
E-2
E-2
E-3
E-3
E-4
E-4
Dedicated & User I/O
PCX, CPCI, STD & V6U
PCI
104, LC
E-5
E-7
E-8
Pinouts
PCX, CPCI, STD, 104X, V6U
CPCI/DSP Rear I/O
Notes for CPCI Rear I/O
PCI
104, LC
E-9
E-11
E-14
E-14
E-16
Specifications
Power Consumption Notes
PCX
CPCI
PCI
STD
SERCOS/STD
V6U
104
104X
SERCOS/104
LC
SERCOS/DSP
LED support
E-18
E-19
E-20
E-21
E-22
E-23
E-24
E-25
E-26
E-27
E-28
E-29
E-30
E-1
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Motor Signal Header Locations
Motor Signal Header Locations
PCX
Figure E-1
Motor Signal Header Locations - PCX
User I/O
Dedicated I/O Axes 0-3
Motor Axes 4, 5
Motor Axes 0, 1
Dedicated I/O Axes 4-7
or User I/O (1-4 axis controllers)
Analog Inputs (8)
P8
26 pins
PCX
P1 P2 P3
P4
P6
P5
P7
Motor Axes 2, 3
Motor Axes 6, 7
PCX
PCX - Motor Signal Headers
CPCI
Figure E-2
Motor Signal Header Locations - CPCI
Motor Axes 4, 5
Motor Axes 0, 1
User I/O
Analog Inputs (8)
P8 P1
P2 P3 P4 P6
J5
J4
P5 P7
Dedicated I/O Axes 0-3
Dedicated I/O Axes 4-7
or User I/O (1-4 axis controllers)
Motor Axes 2, 3
Motor Axes 6, 7
CPCI
CPCI - Motor Signal Headers
E-2
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STD, 104X
Motor Signal Header Locations - STD or 104X
Analog Inputs (8)
Motor Axes 4, 5
Motor Axes 0, 1
P4 P6
P8
STD
or
104X
26 pins
P1
P2 P3
P5 P7
User I/O
Dedicated I/O Axes 0-3
Dedicated I/O Axes 4-7
or User I/O (1-4 axis controllers)
Motor Axes 2, 3
Motor Axes 6, 7
STD or 104X - Motor Signal Headers
Motor Signal Header Locations
Figure E-3
V6U
Figure E-4
Motor Signal Header Locations - V6U
Motor Axes 4-5
Motor Axes 0, 1
P8 P1
P2 P3
P4 P6
V6U
26 pins
STD, 104X
Analog Inputs (8)
P5 P7
User I/O
Dedicated I/O Axes 0-3
Dedicated I/O Axes 4-7
or User I/O (1-4 axis controllers)
Motor Axes 2, 3
Motor Axes 6, 7
V6U - Motor Signal Headers
E-3
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Motor Signal Header Locations
104
Figure E-5
Motor Signal Header Locations - 104
104
50 pins
Motor Axes 0-3
Dedicated and User I/O
104 - Motor Signal Headers
LC
Figure E-6
Motor Signal Header Locations - LC
LC
104
50 pins
Motor Axes 0-3
Dedicated and User I/O
LC - Motor Signal Headers
E-4
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Dedicated & User I/O
Dedicated I/O
User I/O
There are 6 Dedicated I/O signals for each axis of the controller, 4 inputs and 2 outputs:
Inputs:
Positive Limit
Negative Limit
Home
Amplifier Fault
Outputs:
In Position
Amplifier Enable
The PCX, CPCI, STD, and V6U support 24 or 44-bits of general purpose user I/O. The 104 and
LC support 20-bits of general purpose user I/O. The PCI supports 24-bits of of general purpose
User I/O. These signals can be configured as inputs or outputs in groups of 8.
Dedicated & User I/O
The DSP Series products have discrete digital I/O lines divided into 2 groups: Dedicated I/O
and User I/O.
Some restrictions apply. Dedicated I/O for axes 4-7 is available for User I/O on PCX, CPCI,
STD, and V6U controllers with 4 or less axes. If an 8-bit port with Home sensor signals is configured as an output port, only 6 of the 8 signals can be used.
For the PCX, CPCI, STD, and V6U the Home Sensor inputs are not available for User I/O. The
following diagram shows the configuration of the 72 I/O lines for the PCX, CPCI, STD, and
V6U.
PCX, CPCI, STD & V6U
Figure E-7
C
C
C
B
B
B
A
A
A
P1
P2
P3
PCX, CPCI, STD & V6U
Table E-1
User & Dedicated I/O Headers - PCX, CPCI, STD, and V6U
I/O Headers
User I/O Headers
I/O
Description
P1A
P1B
P1C
P2A
P2B
P2C
P3A
P3B
P3C
User Port 0 (8-bits input or output)
User Port 1 (8-bits input or output)
User Port 2 (8-bits input or output)
Dedicated Inputs for Axes 0 and 1
Dedicated Inputs for Axes 2 and 3
Dedicated Outputs for Axes 0-3
Dedicated Inputs for Axes 4 and 5 or User Port 3 (6-bits in or 6-bits out)*
Dedicated Inputs for Axes 6 and 7 or User Port 4 (6-bits in or 6-bits out)*
Dedicated Outputs for Axes 4-7 or User Port 5 (8-bits in or 6-bits out)*
E-5
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Dedicated & User I/O
PCX, CPCI, STD & V6U
Table
Notes
*The function of the signals on P3 depends on the number of axes:
• Controllers with 5 or more axes use P3 for Dedicated I/O.
• On controllers with 4 axes or less, P3 is available for User I/O.
If P3 is used for User I/O and is a controller with 4 or less axes, then User
Ports 3 and 4 can be configured for 6 inputs or 6 outputs.
For PCX, STD,V6U, 104X, and CPCI DSP Series controllers: User I/O connections, 50 pin
headers, Opto-22, Grayhill/Gordos-compatible, even-numbered pins are grounds and pin 49 is
+5V.
Table E-2
User I/O Available on PCX/STD/V6U/104X/CPCI Controllers
Bit
Port
Header Pin
Bit
Port
Header Pin
Bit
Port
Header Pin
0
1
2
3
4
5
6
7
0
0
0
0
0
0
0
0
P1
P1
P1
P1
P1
P1
P1
P1
8
9
10
11
12
13
14
15
1
1
1
1
1
1
1
1
P1
P1
P1
P1
P1
P1
P1
P1
16
17
18
19
20
21
22
23
2
2
2
2
2
2
2
2
P1
P1
P1
P1
P1
P1
P1
P1
Table E-3
47
45
43
41
39
37
35
33
31
29
27
25
23
21
19
17
15
13
11
9
7
5
3**
1***
User I/O Available on Controllers with 4 or Less Axes
Bit
Port
Header Pin
Bit
Port
Header Pin
Bit
Port
Header Pin
24
25
26
27
28
29
30
31
3
3
3
3
3
3
3
3
P3
P3
P3
P3
P3
P3
P3
P3
32
33
34
35
36
37
38
39
4
4
4
4
4
4
4
4
P3
P3
P3
P3
P3
P3
P3
P3
40
41
42
43
44
45
46
47
5
5
5
5
5
5
5
5
P3
P3
P3
P3
P3
P3
P3
P3
Table
Notes
47
45
43
41
39
37
35
33
31
29
27
25
23
21
19
17
15
13
11
9
7
5
3
1
* bits 26, 30, 34, and 38 can be configured as inputs on the PC/DSP, and are not
available on the PCX, STD, V6U, 104X and CPCI cards with less than 5 axes.
**bit 22 can also be used as “DSP Interrupt”
***bit 23 can also be used as “PC Interrupt”
E-6
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PCI
Figure E-8
User I/O Availabel on the PCI
Bit Description Pin
0
1
1
2
2
3
User Port A
3
4
(8-bits input
4
or output) 5
5
6
6
7
7
8
Bit Description Pin
8
9
9
10
10
11
User Port B
11
12
(8-bits input
12 or output) 13
13
14
14
15
15
16
Bit Description
16
17
18
User Port C
19
(8-bits input
20 or output)
21
22
23
Pin
17
18
19
20
21
22
23
24
Dedicated & User I/O
The following table shows the configuration of the 24 User I/O lines for the PCI.
Both Dedicated and User I/O signals originate from 82C55 programmable I/O controllers.
These signals can be programmed in groups of 8 as inputs or outputs.
PCI
E-7
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Dedicated & User I/O
104, LC
Figure E-9
User and Dedicated I/O Headers -104 & LC
Axes 2-3
Axes 0-1
Motor Signals
Motor Signals
Dedicated I/O
Dedicated I/O
User I/O
Port B
Upper half of Port C
User I/O
Port A
Lower half of Port C
104 & LC - I/O Headers
The following table shows the configuration of the 20 User I/O lines for the LC and 104, as
seen from the CBL-100 50-pin breakout cables:
104, LC
Table E-4
104, LC - User I/O Connections, 100 pin connector
Bit
Port
Module Pin
Bit
Port
Module Pin
Bit
Port
Module Pin
0
1
2
3
4
5
6*
7*
0
0
0
0
0
0
0
0
1
1
1
1
1
1
-
8
9
10
11
12
13
14*
15*
1
1
1
1
1
1
-
2
2
2
2
2
2
-
16
17
18
19
20
21
22
23
2
2
2
2
2
2
2
2
1
1
1
1
2
2
2
2
Table
Notes
39
41
43
40
42
44
-
89
91
93
90
92
94
-
45
47
46
48
95
97
96**
98***
* bits 6, 7, 14 and 15 are not available on the 104 or LC.
** bit 22 can also be used as “DSP Interrupt”
***bit 23 can also be used as “PC Interrupt”
Both Dedicated and User I/O signals come directly from 82C55 programmable I/O controllers.
These signals can be programmed in groups of 8 as inputs or outputs. The input state is a high
impedance TTL-level input. The output state has TTL-logic levels with +/-2.5 mA drive current (4.0 mA max). The power-up state of all User I/O is high impedance (input state).
E-8
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Pinouts
Pinouts
PCX, CPCI, STD, 104X, V6U
Table E-5
Pinouts
Motor Axes Connections
26-pin box header
Analog Input
Connections
20-pin box header
(P8)
Signal
Axis
Pin
Signal
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
GND
5V
Encoder A +
Encoder A Encoder B +
Encoder B Encoder Index +
Encoder Index +/- 10V Analog Out
Step Pulse + *
Step Pulse - *
Step Direction + *
Step Direction - *
GND
5V
Encoder A +
Encoder A Encoder B +
Encoder B Encoder Index +
Encoder Index +/- 10V Analog Out
Step Pulse + *
Step Pulse - *
Step Direction + *
Step Direction - *
1st
1st
1st
1st
1st
1st
1st
1st
1st
1st
1st
1st
1st
2nd
2nd
2nd
2nd
2nd
2nd
2nd
2nd
2nd
2nd
2nd
2nd
2nd
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
GND
Analog GND
Clock 0
Analog in 0
-12V
Analog in 1
+12V
Analog in 2
+5V
Analog in 3
Gate 0
Analog in 4
Out 0
Analog in 5
Out 1
Analog in 6
Out 2
Analog in 7
GND
Analog GND
PCX, CPCI, STD, 104X, V6U
Pin
Note: Two motors of the same type can be connected to each motor header.
E-9
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Pinouts
Table E-6
Dedicated and User I/O Connections
Dedicated I/O Connections
50-pin box headers
PCX, CPCI, STD, 104X, V6U
Pin Signal
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
In-Position Out
Amp Enable Out
In-Position Out
Amp Enable Out
In-Position Out
Amp Enable Out
In-Position Out
Amp Enable Out
Amp Fault Input
Home Input
NEG Limit Input
POS Limit Input
Amp Fault Input
Home Input
NEG Limit Input
POS Limit Input
Amp Fault Input
Home Input
NEG Limit Input
POS Limit Input
Amp Fault Input
Home Input
NEG Limit Input
POS Limit Input
5V
User I/O Connections
50-pin Opto-22 compatible header (P1)
P2 Axis P3 Axis
3
3
2
2
1
1
0
0
3
3
3
3
2
2
2
2
1
1
1
1
0
0
0
0
7
7
6
6
5
5
4
4
7
7
7
7
6
6
6
6
5
5
5
5
4
4
4
4
Note: Even numbered pins are grounds
and pin 49 is 5V
Pin Signal
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
I/O Line C-7 or PC Interrupt
I/O Line C-6 or DSP Interrupt
I/O Line C-5
I/O Line C-4
I/O Line C-3
I/O Line C-2
I/O Line C-1
I/O Line C-0
I/O Line B-7
I/O Line B-6
I/O Line B-5
I/O Line B-4
I/O Line B-3
I/O Line B-2
I/O Line B-1
I/O Line B-0
I/O Line A-7
I/O Line A-6
I/O Line A-5
I/O Line A-4
I/O Line A-3
I/O Line A-2
I/O Line A-1
I/O Line A-0
5V
Note: Each I/O Port (A,B,C) can be
defined as inputs or outputs
E-10
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CPCI/DSP Rear I/O
Pin
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12 to A14
A15
A16
A17
A18
A19
A20
A21
A22
A23
A24
A25
Pin
C1
C2
C3
C4
C5
C6
C7
C8
C9
C10
C11
C12 to C14
C15
C16
C17
C18
C19
C20
C21
C22
C23
C24
C25
Signal
User I/O PB4
User I/O PB0
User I/O PA4
User I/O PA0
Amp Enable(7)
In Position(6)
Amp Enable(6)
Amp Enable(5)
In Position(4)
Amp Enable(4)
Amp Enable(3)
Key location, no pins
In Position(2)
Amp Enable(2)
Amp Enable(1)
In Position(0)
Amp Enable(0)
Encoder Index(6) +
Encoder A(7) +
Encoder A(6) +
Encoder A(5) +
Encoder A(4) +
Encoder Index(3) +
Pin
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12 to B14
B15
B16
B17
B18
B19
B20
B21
B22
B23
B24
B25
Signal
User I/O PB5
User I/O PB1
User I/O PA5
User I/O PA1
Amp Fault(7)
Reserved
Amp Fault(6)
Amp Fault(5)
Reserved
Amp Fault(4)
Amp Fault(3)
Key location, no pins
Reserved
Amp Fault(2)
Amp Fault(1)
Reserved
Amp Fault(0)
Encoder Index(6) Encoder A(7) Encoder A(6) Encoder A(5) Encoder A(4) Encoder Index(3) -
J4 Rear I/O Connections (Continued)
Signal
User I/O PB6
User I/O PB2
User I/O PA6
User I/O PA2
Home Input(7)
User I/O PC3
Home Input(6)
Home Input(5)
User I/O PC2
Home Input(5)
Home Input(3)
Key location, no pins
User I/O PC1
Home Input(2)
Home Input(1)
User I/O PC0
Home Input(0)
Encoder Index(7) +
Encoder B(7) +
Encoder B(6) +
Encoder B(5) +
Encoder B(4) +
Encoder Index(4) +
Pin
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D11
D12 to D14
D15
D16
D17
D18
D19
D20
D21
D22
D23
D24
D25
Signal
User I/O PB7
User I/O PB3
User I/O PA7
User I/O PA3
Positive Limit(7)
In Position(7)
Positive Limit(6)
Positive Limit(5)
In Position(5)
Positive Limit(4)
Positive Limit(3)
Key location, no pins
In Position(3)
Positive Limit(2)
Positive Limit(1)
In Position(1)
Positive Limit(0)
Encoder Index(7) Encoder B(7) Encoder B(6) Encoder B(5) Encoder B(4) Encoder Index(4) -
CPCI/DSP Rear I/O
Table E-8
J4 Rear I/O Connections
Pinouts
Table E-7
E-11
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Pinouts
CPCI/DSP Rear I/O
Table E-9
Pin
E1
E2
E3
E4
E5
E6
E7
E8
E9
E10
E11
E12
to E14
E15
E16
E17
E18
E19
E20
E21
E22
E23
E24
E25
J4 Rear I/O Connections (Continued)
Signal
Pin
Signal
User I/O PC7 or PC Interrupt
User I/O PC6 or DSP Interrupt
User I/O PC5
User I/O PC4
Negative Limit(7)
Reserved
Negative Limit(6)
Negative Limit(5)
Reserved
Negative Limit(4)
Negative Limit(3)
Key location, no pins
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11
F12
F13
F14
F15
F16
F17
F18
F19
F20
F21
F22
F23
F24
F25
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
Reserved
Negative Limit(2)
Negative Limit(1)
Reserved
Negative Limit(0)
Reserved
Reserved
Encoder Index(5) Encoder Index(5) +
GND
+5V
Table E-10
J5 Rear I/O Connections
Pin
Signal
Pin
Signal
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
A15
A16
A17
A18
A19
A20
A21
A22
Encoder A(3) +
Encoder A(2) +
Encoder A(1) +
Encoder A(0) +
Direction(6) +
Direction(5) +
Direction(4) +
Direction(3) +
Direction(2) +
Direction(1) +
Direction(0) +
Clock 0
+/- 10V Analog Out(7)
+/- 10V Analog Out(6)
+/- 10V Analog Out(5)
+/- 10V Analog Out(4)
+/- 10V Analog Out(3)
+/- 10V Analog Out(2)
+/- 10V Analog Out(1)
+/- 10V Analog Out(0)
Analog in 4
Analog in 0
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
B16
B17
B18
B19
B20
B21
B22
Encoder A(3) Encoder A(2) Encoder A(1) Encoder A(0) Direction(6) Direction(5) Direction(4) Direction(3) Direction(2) Direction(1) Direction(0) Gate 0
Analog Out Ref(7)
Analog Out Ref(6)
Analog Out Ref(5)
Analog Out Ref(4)
Analog Out Ref(3)
Analog Out Ref(2)
Analog Out Ref(1)
Analog Out Ref(0)
Analog in 5
Analog in 1
E-12
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J5 Rear I/O Connections (Continued)
Pin
Signal
Pin
Signal
C1
C2
C3
C4
C5
C6
C7
C8
C9
C10
C11
C12
C13
C14
C15
C16
C17
C18
C19
C20
C21
C22
Encoder B(3) +
Encoder B(2) +
Encoder B(1) +
Encoder B(0) +
Step Pulse(6) +
Step Pulse(5) +
Step Pulse(4) +
Step Pulse(3) +
Step Pulse(2) +
Step Pulse(1) +
Step Pulse(0) +
Out 0
GND
+5V
Reserved
Reserved
Analog GND
+12V
Analog GND
-12V
Analog GND
Analog GND
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D11
D12
D13
D14
D15
D16
D17
D18
D19
D20
D21
D22
Encoder B(3) Encoder B(2) Encoder B(1) Encoder B(0) Step Pulse(6) Step Pulse(5) Step Pulse(4) Step Pulse(3) Step Pulse(2) Step Pulse(1) Step Pulse(0) Out 1
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Analog in 6
Analog in 2
J5 Rear I/O Connections (Continued)
Pin
Signal
Pin
Signal
E1
E2
E3
E4
E5
E6
E7
E8
E9
E10
E11
E12
E13
E14
E15
E16
E17
E18
E19
E20
E21
E22
Encoder Index(2) Encoder Index(2) +
Encoder Index(1) Encoder Index(1) +
Encoder Index(0) Encoder Index(0) +
Reserved
Step Pulse(7) Step Pulse(7) +
Direction(7) Direction(7) +
Out 2
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Analog in 7
Analog in 3
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11
F12
F13
F14
F15
F16
F17
F18
F19
F20
F21
F22
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
CPCI/DSP Rear I/O
Table E-12
Pinouts
Table E-11
E-13
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Notes for CPCI Rear I/O Pinouts
Pinouts
Warning! The CPCI/DSP pin nomenclature follows the Compact PCI specification. Your connector manufacturer's documentation may use different nomenclature (typically rows 1-25 are
reversed to be 25-1).
Analog Out Ref (0:7) are recommended as the reference signals for +/-10V Analog Out (0:7).
You may instead reference GND, as for previous MEI products.
Analog GND is recommended as the signal ground for Analog In 7:0.
Pins marked “Reserved” above should not be used, because these pins are reserved for future
MEI functions.
Note that connector column Z is not shown (it does not connect to the CPCI, which does not
have a bottom shield). Your backplane may or may not connect these to digital GND. It may
be best to avoid connections to these pins.
PCI
Table E-13
STC-136 Connection Module
PCI
Axes (0,1)
Axes (2,3)
Pin
Signal
Pin
Signal
Pin
Signal
Pin
Signal
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
Analog_0+
Analog_1+
Gnd
Enc0_A+
Enc0_B+
Enc0_I+
Home0_IN
Pos_Lim0_IN
Neg_Lim0_IN
Command_0+
Reserved
Amp_Flt0_IN
Amp_En0_C
Reserved
Step0+
Dir0+
In_Pos0+
Enc1_A+
Enc1_B+
Enc1_I+
Home1_IN
Pos_Lim1_IN
Neg_Lim1_IN
Command_1+
Reserved
Amp_Flt1_IN
Amp_En1_C
Gnd
Step1+
Dir1+
In_Pos1+
Gnd
Analog_4+
Analog_5+
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
AGnd
AGnd
Gnd
Enc0_AEnc0_BEnc0_I5V_OUT
Gnd_OUT
Mech0_Rtn
Command_0Reserved
Amp_Flt0_Rtn
Amp_En0_E
Reserved
Step0Dir0In_Pos0Enc1_AEnc1_BEnc1_I5V_OUT
Gnd_OUT
Mech1_Rtn
Command_1Reserved
Amp_Flt1_Rtn
Amp_En1_E
Gnd
Step1Dir1In_Pos1Gnd
AGnd
AGnd
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
Analog_6+
Analog_7+
Gnd
Enc2_A+
Enc2_B+
Enc2_I+
Home2_IN
Pos_Lim2_IN
Neg_Lim2_IN
Command_2+
Reserved
Amp_Flt2_IN
Amp_En2_C
Reserved
Step2+
Dir2+
In_Pos2+
Enc3_A+
Enc3_B+
Enc3_I+
Home3_IN
Pos_Lim3_IN
Neg_Lim3_IN
Command_3+
Reserved
Amp_Flt3_IN
Amp_En3_C
Gnd
Step3+
Dir3+
In_Pos3+
Gnd
Analog_2+
Analog_3+
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
AGnd
AGnd
Gnd
Enc2_AEnc2_BEnc2_I5V_OUT
Gnd_OUT
Mech2_Rtn
Command_2Reserved
Amp_Flt2_Rtn
Amp_En2_E
Reserved
Step2Dir2In_Pos2Enc3_AEnc3_BEnc3_I5V_OUT
Gnd_OUT
Mech3_Rtn
Command_3Reserved
Amp_Flt3_Rtn
Amp_En3_E
Gnd
Step3Dir3In_Pos3Gnd
AGnd
AGnd
E-14
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Pin
STC-D50 (User I/O Connector)
Pin
Signal
UserIO_A0
26
UserIO_A0_Rtn
2
UserIO_A1
27
UserIO_A1_Rtn
3
UserIO_A2
28
UserIO_A2_Rtn
4
UserIO_A3
29
UserIO_A3_Rtn
5
UserIO_A4
30
UserIO_A4_Rtn
6
UserIO_A5
31
UserIO_A5_Rtn
7
UserIO_A6
32
UserIO_A6_Rtn
8
UserIO_A7
33
UserIO_A7_Rtn
9
UserIO_B0
34
UserIO_B0_Rtn
10
UserIO_B1
35
UserIO_B1_Rtn
11
UserIO_B2
36
UserIO_B2_Rtn
12
UserIO_B3
37
UserIO_B3_Rtn
13
UserIO_B4
38
UserIO_B4_Rtn
14
UserIO_B5
39
UserIO_B5_Rtn
15
UserIO_B6
40
UserIO_B6_Rtn
16
UserIO_B7
41
UserIO_B7_Rtn
17
UserIO_C0
42
UserIO_C0_Rtn
18
UserIO_C1
43
UserIO_C1_Rtn
19
UserIO_C2
44
UserIO_C2_Rtn
20
UserIO_C3
45
UserIO_C3_Rtn
21
UserIO_C4
46
UserIO_C4_Rtn
22
UserIO_C5
47
UserIO_C5_Rtn
23
UserIO_C6
48
UserIO_C6_Rtn
24
UserIO_C7
49
UserIO_C7_Rtn
25
5V
50
Gnd
PCI
Signal
1
Pinouts
Table E-14
E-15
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104, LC
Pinouts
104, LC
Table E-15
Connector Module 1 (Axes 0, 1) (Upper Cable)
Pin
Signal
Pin
Signal
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
+5V
Encoder A(0) +
Encoder A(0) Encoder B(0) +
Encoder B(0) Encoder Index(0) +
Encoder Index(0) +/- 10V Analog Out(0)
GND
Step Pulse(0) +
Step Pulse(0) Direction(0) +
Direction(0) Positive Limit(0)
Negative Limit(0)
Home Input(0)
Amp Fault(0)
Amp Enable(0)
In Position(0)
User I/O PA0
User I/O PA1
User I/O PA2
User I/O PC0
User I/O PC1
GND
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
+5V
Encoder A(1) +
Encoder A(1) Encoder B(1) +
Encoder B(1) Encoder Index(1) +
Encoder Index(1) +/- 10V Analog Out(1)
GND
Step Pulse(1) +
Step Pulse(1) Direction(1) +
Direction(1) Positive Limit(1)
Negative Limit(1)
Home Input(1)
Amp Fault(1)
Amp Enable(1)
In Position(1)
User I/O PA3
User I/O PA4
User I/O PA5
User I/O PC2
User I/O PC3
GND
E-16
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Connector Module 2 (Axes 2, 3) (Lower Cable)
Pin
Signal
Pin
Signal
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
+5V
Encoder A(2) +
Encoder A(2) Encoder B(2) +
Encoder B(2) Encoder Index(2) +
Encoder Index(2) +/- 10V Analog Out(2)
GND
Step Pulse(2) +
Step Pulse(2) Direction(2) +
Direction(2) Positive Limit(2)
Negative Limit(2)
Home Input(2)
Amp Fault(2)
Amp Enable(2)
In Position(2)
User I/O PB0
User I/O PB1
User I/O PB2
User I/O PC4
User I/O PC5
GND
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
+5V
Encoder A(3) +
Encoder A(3) Encoder B(3) +
Encoder B(3) Encoder Index(3) +
Encoder Index(3) +/- 10V Analog Out(3)
GND
Step Pulse(3) +
Step Pulse(3) Direction(3) +
DIrection(3) Positive Limit(3)
Negative Limit
Home Input(3)
Amp Fault(3)
Amp Enable(3)
In Position(3)
User I/O PB3
User I/O PB4
User I/O PB5
User I/O PC6 or DSP Interrupt
User I/O PC7 or PC Interrupt
GND
Pinouts
Table E-16
104, LC
E-17
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Specifications
Specifications
Power Consumption Notes
For power consumption specifications of a specific DSP Series model, refer to the tables on
subsequent pages.
Maximum current requirements (IEEE P996 spec.) for 8-bit PC add-on cards are:
+5V..........3.0 amp
+12V........1.5 amp
-12V..........0.3 amp
The current dissipation for all DSP Series controllers follow:
Table E-17
4-axis board
8-axis board
Current dissipation for all DSP Series boards
+5V (typical)
+5V (max)
+12V (max)
-12V (max)
0.513 amp
0.609 amp
0.539 amp
0.659 amp
0.004 amp
0.008 amp
0.014 amp
0.018 amp
The +5V, +12V, and -12V supply pins are brought out directly from the bus, which is connected to the backplane power supply. On each board, copper planes are used for 5V and GND.
12V power is through 25mil traces of 1oz. copper. (Allows 1 amp to flow with 10 degrees C
temp rise.)
Power Consumption Notes
A conservative estimate of current that can be drawn off the supply pins of the on-board headers:
+5V
+12V
-12V
4-axis controller
8-axis controller
600mA
500mA
200mA
200mA
500mA
150mA
A typical estimate of current that can be drawn off the supply pins of the on-board headers:
+5V
+12V
-12V
4-axis controller
8-axis controller
1.3 amp
500mA
200mA
1.1 amp
500mA
150mA
E-18
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PCX
Servo Loop
Update Rate
10.0 kHz (1 axis)
3.0 kHz (4-axes simultaneously, maximum)
1.6 kHz (8-axes simultaneously, maximum)
1.25 kHz (default)
User-programmable
Servo Output
± 10V DC @ 16-bit resolution (from 18-bit conversion)
± 18 mA current
100 ppm long-term velocity accuracy
Step Output
Maximum Step Frequency: 325 kHz
RS-422 line driver outputs, ± 20 mA current
50% Duty Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5 MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 Line receiver inuts
4.0 mA max current output
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
TTL-compatible, 4.0 mA drive on outputs
No pull-up resistors are included
Dedicated Inputs
(per axis)
Forward Limit (POS), Reverse Limit (NEG), Home, Amp-Fault
Dedicated Outputs
(per axis)
In-Position
Amp-Enable
User I/O
2/4 axis models = 44 lines, 6/8 axis models = 24 lines
TTL compatible, 4.0 mA drive on outputs
Direct access from Host PC
Analog Inputs
8 Channels @ 12-bit resolution
Configurable for 4-channel differential mode
75 kHz sampling rate
5V Unipolar input, ±2.5V Bipolar input
Direct access from Host processor
Power
Requirements
8 axis
4 axis
+5V Icc = .7 A max .6A max
+12V Icc = 8mA max 4mA max
-12V Icc = 18mA max 14mA max
Environmental
Conditions
0 - 60 degrees C 32 - 140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
PCX
PC/XT/AT-compatible
Switch-selectable base address, I/O mapped
Switch-selectable interrupts
Specifications
Interface
E-19
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CPCI
Specifications
CPCI
Interface
CompactPCI 1.0-compatible
Single 6U CompactPCI slot
Servo Loop
Update Rate
10.0 kHz (1 axis)
3.0 kHz (4-axes simultaneously, maximum)
1.6 kHz (8-axees simultaneously, maximum)
1.25 kHz (default)
User-programmable
Servo Output
± 10V DC @ 16-bit resolution (from 18-bit conversion)
± 18 mA current
100 ppm long-term velocity accuracy
Step Output
Maximum Step Frequency: 325 kHz
RS-422 line driver outputs, ± 20 mA current
50% Duty Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 Line receiver inputs
4.0 mA max current input
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
TTL-compatible, 4.0 mA drive on outputs
No pull-up resistors are included
Dedicated Inputs
(per axis)
Forward Limit (POS), Reverse Limit (NEG), Home, Amp-Fault
Dedicated Outputs
(per axis)
In-Position
Amp-Enable
User I/O
2/4 axis models = 44 lines, 6/8 axis models = 24 lines
TTL compatible, 4.0 mA drive on outputs
Direct access from Host PC
Analog Inputs
8 Channels @ 12-bit resolution
Configurable for 4-channel differential mode
75 kHz sampling rate
5V Uipolar input, ±2.5 Bipolar input
Direct access from Host processor
Power
Requirements
8 axis
4 axis
+5V Icc = .7 A max .6A max
+12V Icc = 8mA max 4mA max
-12V Icc = 18mA max 14mA max
Environmental
Conditions
0 - 60 degrees C
32 - 140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
E-20
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PCI
Servo Loop
Update Rate
1.25 kHz (default)
2.7 kHz (4-axes simultaneously, maximum)
7.1 kHz (1 axis)
User-programmable
Servo Output
±10V DC @ 16-bit resolution (from 18-bit conversion)
±18 mA current
100 ppm long-term velocity accuracy
Step Output
Maximum Step Frequency: 550 kHz
RS-422 line driver outputs, ±20 mA current
50% Data Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5 MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 line receiver inputs
4.0 mA max current input
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
Optically-isolated
5 - 24V with termination resistors
Dedicated Inputs
(per axis)
Forward Limit (POS), Reverse Limit (NEG), Home, Amp-Fault
Dedicated Outputs
(per axis)
Amp-Enable
In-Position (not optically-isolated)
User I/O
24-lines of Bi-Directional User I/O
Opto-isolated
5 - 24V
10 mA source or sink
Analog Inputs
8 Channels @ 12-bit resolution
Configurable for 4-channel differential mode
75 kHz sampling rate
5V Unipolar input, ±2.5V Bipolar input
Direct access from Host Processor
Power
Requirements
+5V
+12V
-12V
PCI
PCI-compatible
Plug and Play addressing and IRQ selection
Specifications
Interface
4 axis
Icc = .6A max
Icc = 4mA max
Icc = 14mA max
Enviromental
Conditions
0 - 60 degrees C 32 - 140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
E-21
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STD
Specifications
STD
Interface
(STD-32/STD-80)-compatible
Switch-selectable base address, I/O mapped
Switch-selectable interrupts
Servo Loop
Update Rate
10.0 kHz (1 axis)
3.0 kHz (4-axes simultaneously, maximum)
1.6 kHz (8-axes simultaneously, maximum)
1.25 kHz (default)
User-programmable
Servo Output
±10V DC @ 16-bit resolution (from 18-bit conversion)
±18 mA current
100 ppm long-term velocity accuracy
Step Output
Maximum Step Frequency: 325 khz
RS-422 line driver outputs, ±20 mA current
50% Duty Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5 MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 line receiver inputs
4.0 mA max current input
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
TTL-compatible, 4.0 mA drive on outputs
No pull-up resistors are included
Dedicated Inputs
(per axis)
Forward Limit (POS), Reverse Limit (NEG), Home, Amp-Fault
Dedicated Outputs
(per axis)
In-Position
Amp-Enable
User I/O
2/4 axis models = 44 lines , 6/8 axis models = 24 lines
TTL compatible, 4.0 mA drive on inputs
Direct access from Host PC
Analog Inputs
8 Channels @ 12-bit resolution
Configurable for 4-channel differential mode
75 kHz sampling rate
5V Unipolar input, ±2.5V Bipolar input
Direct access from Host processor
Power
Requirements
8 axis
4 axis
+5V Icc = .7 A max .6A max
+12V Icc = 8mA max 4mA max
-12V Icc = 18mA max 14Amax
Environmental
Conditions
0 - 60 degrees C 32 -140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
E-22
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SERCOS/STD
(STD-32/STD-80)-compatible
Swtich-selectable base address I/O mapped
Fiber-Optic
Connections
SMA-type Connector
1 mm plastic optical fiber
Maximum length; 20 meters
Drive and I/O
Interface
SERCOS (IEC 1491) compliant
1 to 8 axes
Synchronous network
Ring topology
SERCOS loop operation: master only
Transmission Rate
2 or 4 Mbits/sec
Software configurable
Specifications
Interface
Block Transfer Rate Typical: 500 Hz
Maximum: 16 kHz
4x SERCOS update rate
Typical: 2 kHz
Trajectory
Calculation Rate
Course interpolation: 2 msec (500 Hz)
Update Rates
Position loop update rate (in drive): typical 4 kHz
Velocity loop update rate (in drive): typical 5 kHz
Current loop update rate (in drive): up to 20 kHz
Interoperability
Indramat, Pacific Scientific, Kollmorgen, Sanyo Denki, Modicon,
and Lutze
LEDs
Axis Status/Fault
Loop Closed
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Power
Requirements
8 axis
4 axis
+5V Icc = .9 A max
.6A max
+12V Icc = 10 mA max 4mA max
-12V Icc = 20mA max 14mA max
Environmental
Conditions
0 - 50 degrees C
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
SERCOS/STD
Drive Interpolation
Rate
E-23
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V6U
Specifications
V6U
Interface
VME compatible
Switch-selectable base address, I/O mapped
Switch-selectable interrupts and levels
Servo Loop
Update Rate
10.0 kHz (1 axis)
3.0 kHz (4-axes simultaneously, maximum)
1.6 kHz (8-axes simultaneously, maximum)
1.25 kHz (default)
User-programmable
Servo Output
±10V DC @ 16-bit resolution (from 18-bit conversion)
±18 mA current
100 ppm long-term velocity accuracy
Step Output
Maximum Step Frequency: 325 kHz
RS-422 line driver outputs, ± 20 mA current
50% Duty Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5 MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 line receiver inputs
4.0 mA max current input
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
TTL-compatible, 4.0 mA drive on outputs
No pull-up resistors are included
Dedicated Inputs
(per axis)
Forward Limit (POS), Reverse Limit (NEG), Home, Amp-Fault
Dedicated Outputs
(per axis)
In-Position
Amp-Enable
User I/O
2/4 axis models = 44 lines, 6/8 axis models = 24 lines
TTL-compatible, 4.0 mA drive on outputs
Direct access from Host PC
Analog Inputs
8 Channels @ 12-bit resolution
Configurable for 4-channel differential mode
75 kHz sampling rate
5V Unipolar input, ±2.5V Bipolar input
Power
Requirements
8 axis
4 axis
+5V Icc = .7 A max
.6A max
+12V Icc = 8 mA max 4mA max
-12V Icc = 18mA max 14mA max
Enviromental
Conditions
0 - 60 degrees C 32 - 140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
E-24
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104
Servo Loop
Update Rate
10.0 kHz (1 axis)
3.0 kHz (4-axes simultaneously, maximum)
1.25 kHz (default)
User-programmable
Servo Output
±10V DC @ 16-bit resolution (from 18-bit conversion)
±18 mA current
100 ppm long-term velocity accuracy
Step Output
Maximum Step Frequency: 325 kHz
RS-422 line driver outputs, ±20 mA current
50% Duty Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5 MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 line receiver inputs
4.0 mA max current input
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
TTL-compatible, 4.0 mA drive on outputs
No pull-up resistors are included.
Dedicated Inputs
(per axis)
Forward Limit (POS), Reverse Limit (NEG), Home, Amp-Fault
Dedicated Outputs
(per axis)
In-Position
Amp-Enable
User I/O
2/4 axis models = 20 lines
TTL-compatible, 4.0 mA drive on outputs
Direct access from Host PC
Power
Requirements
+5V Icc = .6A max
+12V Icc = 4mA max
-12V Icc = 14mA max
Environmental
Conditions
0 - 60 degrees C 32 - 140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
104
PC-104-compatible
Switch-selectable base address, I/O mapped
Switch-selectable interrupts
Specifications
Interface
E-25
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104X
Specifications
104X
Interface
PC-104-compatible
Switch-selectable base address, I/O mapped
Switch-selectable interrupts
Servo Loop
Update Rate
10.0 kHz (1 axis)
3.0 kHz (4-axes simultaneously, maximum)
1.6 kHz (8-axes simultaneously, maximum)
1.25 kHz (default)
User-programmable
Servo Output
±10V DC @ 16-bit resolution (from 18-bit conversion)
±18 mA current
100 ppm long-term velocity accuracy
Step Output
Maximum Step Frequency: 325 kHz
RS-422 line driver outputs, ±20 mA current
50% Data Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5 MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 line receiver inputs
4.0 mA max current input
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
TTL-compatible, 4.0 mA drive on outputs
No pull-up resistors are included
Dedicated Inputs
(per axis)
Forward Limit (POS), Reverse Limit (NEG), Home, Amp-Fault
Dedicated Outputs
(per axis)
In-Position
Amp-Enable
User I/O
2/4 axis models = 44 lines, 6/8 axis models = 24 lines
TTL-compatible, 4.0 mA drive on outputs
Direct access from Host PC
Analog Inputs
8 Channels @ 12-bit resolution
Configurable for 4-channel differential mode
75 kHz sampling rate
5V Unipolar input, ±2.5V Bipolar input
Direct access from Host Processor
Power
Requirements
8 axis
4 axis
+5V Icc = .7 A max .6A max
+12V Icc = 8mA max 4mA max
-12V Icc = 18mA max 14mA max
Enviromental
Conditions
0 - 60 degrees C 32 - 140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
E-26
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SERCOS/104
PC-104-compatible
Switch-selectable base address, I/O mapped
Fiber-Optic
Connections
SMA type connector
1 mm plastic optical fiber
Maximum length: 20 meters
Drive and I/O
Interface
SERCOS (IEC 1491) compliant
1 to 8 axes
Synchronous network
Ring topology
SERCOS loop operation; master only
Transmission Rate
2 or 4 Mbits/sec
Software configurable
Specifications
Interface
Block Transfer Rate Typical: 500 Hz
Maximum: 16 kHz
4x SERCOS update rate
Typical: 2 kHz
Trajectory
Calculation Rate
Course interpolation: 2 msec (500 Hz)
Update Rates
Position loop update rate (in drive): typical 4 kHz
Velocity loop update rate (in drive): typical 5 kHz
Current loop update rate (in drive): up to 20 kHz
LEDs
Axis Status/Fault
Loop closed
Interoperability
Indramat, Pacific Scientic, Kollmorgen, Sanyo Denki, Modicon,
and Lutze
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Power
Requirements
8 axis
4 axis
+5V Icc = .9 A max
.6A max
+12V Icc = 10 mA max 4mA max
-12V Icc = 20 mA max 14mA max
Environmental
Conditions
0 - 50 degrees C
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
SERCOS/104
Drive Interpolation
Rate
E-27
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LC
Specifications
LC
Interface
PC/XT/AT-compatible (16-bit slot)
Switch-selectable base address, I/O mapped
Switch-selectable interrupts
Digital Sampling
Rate
10.0 kHz (1 axis)
3.0 kHz (4-axes simultaneously, maximum)
1.25 kHz (default)
User programmable
Servo Output
±10V DC @ 16-bit resolution (from 18-bit conversion)
Step Outpur
Maximum Step Frequency: 325 kHz
50% Duty Cycle
Non-linearity < 1% at Full Scale
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit(±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Position Feedback
Input Frequency: 5 MHz (max) including Quadrature
Quadrature, single-ended or differential (A,B,I)
Digital Noise Filtering
RS-422 line receiver inputs
4.0 mA max current input
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Dedicated I/O
TTL-compatible, 4.0 mA drive on outputs
No pull-up resistors are included
Dedicated Inputs
(per axis)
Forward Limit (POS)
Reverse Limit (NEG)
Home
Amp-Fault
Dedicated Outputs
(per axis)
In-Position
Amp-Enable
User I/O
2/4 axis models = 20 lines
TTL-compatible, 4.0 mA drive on outputs
Direct access from Host PC
Power
Requirements
+5V Icc = .6A max
+12V Icc = 4mA max
-12V Icc = 14mA max
Environmental
Conditions
0 - 60 degrees C 32 - 140 degrees F
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
E-28
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SERCOS/DSP
Fiber Optic
Connections
SMA type connector
1 mm plastic optical fiber
Maximum length: 20 meters
Drive and I/O
Interface
SERCOS (IEC 1491) compliant
1 to 8 axes
Synchronous network
Ring topology
SERCOS loop operation: master only
Transmission Rate
2 or 4 Mbits/sec
Software configurble
Block Transfer
Rate
Typical: 500 Hz
Maximum: 16 kHz
Drive Interpolation
Rate
4x SERCOS update rate
Typical: 2 kHz
Trajectory
Calculation Rate
Course interpolation: 2 msec (500 Hz)
Update Rates
Position loop update rate (in drive): typical 4 kHz
Velocity loop update rate (in drive): typical 5 kHz
Current loop update rate (in drive): up to 20 kHz
LEDs
Axis Status/Fault
Loop closed
Interoperability
Indramat, Pacific Scientific, Kollmorgen, Sanyo Denki, Modicon,
and Lutze
Motion Profiles
Trapezoidal, Parabolic, S-Curve acceleration & deceleration
Ranges
Position: 32-bit, ±2.15 billion counts (steps)
Velocity: 48-bit (±65 million counts/sec and 2 kHz sampling)
Acceleration: 48-bit (±131 billion counts/sec2 at 2 kHz sampling)
Jerk: 48-bit (262 trillion counts/sec3 at 2 kHz sampling)
Power
Requirements
8 axis
4 axis
+5V Icc = .9 A max
.6A max
+12V Icc = 10 mA max 4mA max
-12V Icc = 20mA max 14mA max
Environmental
Conditions
0 - 50 degrees C
20 - 95% RH, non-condensing
Construction
Full SMT; 4-layer PCB
100% bed of nails and fully functionally tested with 24-hour burn-in
SERCOS/DSP
ISA-compatible
Switch-selectable base address, I/O mapped
Specifications
Interface
E-29
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Specifications
LED Support
The controller’s have LEDs to indicate the status of the controller and the axes. There is one
LED for each FPGA (one per four axes) and is labled ‘OK’. The FPGA is a programmable
component that handles the on-board logic for encoders, step and direction outputs, etc. All
versions of the EPROMs and firmware support the FPGA LED:
FPGA LED
Status
Red
No LED
Green
FPGA did not boot properly
DSP did not boot properly
FPGA and DSP are OK
There is one LED for each axis and is labled 0, 1, 2, 3, 4, 5, 6, or 7. EPROM versions 1.24,
2.24 and higher and firmware versions 2.1C and higher support the LEDs. Older firmware
(version 2.1C) does not support the axis LEDs. When using 2.1C firmware the axis LEDs may
remain Orange or may not be lit:
Status
No LED/Off
Orange
Red
Green
Flashing Green
Axis not enabled
Reset in Progress
Idle Mode (generated by an ABORT_EVENT)
Run Mode
Command Velocity is Non-Zero
LED Support
Axis LED
E-30
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OPTOCON REFERENCE
APPENDIX F
Switch Settings
OPTOCON REFERENCE
Switch S1
Switches S2, S3
F-2
F-3
Screw Terminal Connectors
Specifications
Schematics
F-4
F-5,F-6
F-7
F-8
Connect an OptoCon Input to a Switch
Connect an OptoCon Input to an Open Collector Driver
Connect an OptoCon Output to an Amplifier Enable Input
Using an Internal Pull-Up Resistor
Using an Internal Pull- Down Resistor
Connect an OptoCon Output to a Relay
F-9
F-10
F-11
F-11
F-12
F-13
Installation Steps
Circuit Examples
The Optical Isolation Connection Module (OptoCon) is a connection accessory for Motion Engineering’s LC/DSP and 104/DSP motion controllers. The OptoCon converts a 50-pin ribbon
cable (from the motion controller) to screw terminal connections. The OptoCon replaces the
standard passive Phoenix Contact terminal block (STC-50) with an active terminal block that
provides optical isolation and fused overvoltage protection for dedicated and user I/O.
The OptoCon and STC-50 have the same physical dimensions. The pinouts are identical except
that a ground and +5 volt connection on the screw terminal block have been replaced with an
opto-ground and an opto-Vcc (5-24 volts). You use 2 microswitches configure the direction of
3 user I/O ports.
Each OptoCon supports 2 motion control axes, dedicated I/O (2 axes) and 10 lines of user I/O.
Connector P1 is a 50-pin IDC connector, and is compatible with the LC/DSP and 104/DSP controllers. Four-axis applications require using 2 OptoCon modules. The OptoCon requires that
you use the CBL-100 cable, with each CBL-100 cable supporting up to 4 axes of control.
F-1
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OPTOCON REFERENCE
Switch Settings
Switch Settings
Switch S1
The dedicated output circuits (Amp Enable & In Position) of the OptoCon have pull-down
resistors on their inputs that prevent unwanted output transitions during a motion controller
reset or power-up sequence. Refer to the Output Circuit figure on page F-8. To disable the
pull-down resistors, use switch S1.
Note
The Amp Enable pull-down resistors should only be enabled when the Amp Enables are configured as Active High on the motion controller.
If either of the Amp Enable outputs are configured as Active Low, the appropriate pull-down
resistor should be disabled (as indicated in the next table). To configure the Amp Enables for
Active High or Active Low operation, use the MEI library function
set_boot_amp_enable_level(...).
Note
The pull-down resistors for the In Position outputs should always be enabled,
because the the In Position outputs are always Active High.
Table F-1
Switch S1 Settings (To enable/disable pull-down resistors)
Position
Signal
Pull-Down Resistor is
1
On
Amp Enable(0/2)
Enabled
1
Off
Amp Enable(0/2)
Disabled
2
On
In Position(0/2)
Enabled
2
Off
In Position(0/2)
Disabled
3
On
Amp Enable(1/3)
Enabled
3
Off
Amp Enable(1/3)
Disabled
4
On
In Position(1/3)
Enabled
4
Off
In Position(1/3)
Disabled
Switch S1
Switch S1
Setting
F-2
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OPTOCON REFERENCE
Switches S2, S3
The directions set with the switches should match those set on the controller using the MEI library function init_boot_io(...), so that the OptoCon and the DSP controller are configured identically at power-up. After using init_boot_io(...) to configure a port’s direction, do not use
init_io(...) to reconfigure the port’s direction.
Warning!
You can only use the switch settings shown in the table.
Other switch settings may damage the OptoCon circuits.
Switch Settings
To configure the User I/O opto-isolation circuitry as inputs or outputs, use switches S2 and S3.
To set the input and output directions, use the settings in the next table.
Table F-2 Switch S2/S3 Settings (To configure User I/O as inputs or outputs)
Switch S2
Switch S3
Position
Port A/B Input
Port C Input
Port A/B Input
Port C Output
Port A/B Output
Port C Input
Port A/B Output
Port C Output
1
Off
2
Off
Off
On
On
On
Off
3
On
Off
Off
On
On
Off
Off
On
On
Off
Off
On
On
2
Off
Off
On
On
3
Off
Off
On
On
4
Off
Off
On
On
5
Off
On
Off
On
6
Off
On
Off
On
7
Off
On
Off
On
8
Off
On
Off
On
Switches S2, S3
4
1
F-3
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OPTOCON REFERENCE
Installation
Installation
Before connecting any cables or wires to the OptoCon, you must correctly set the switches
as described in the preceding section. Only the switch settings shown in the table are allowed! Other switch settings may cause damage to the OptoCon module and the DSP controller.
Connect the 100-pin connector on MEI accessory cable CBL-100 to the 100-pin header on
the LC/DSP or 104/DSP. Connect either of the two 50-pin connectors on the CBL-100 to the
50-pin header on the OptoCon.
OPTOCON
50 pin
Motor, Encoder & Dedicated
I/O for Axes (2, 3)
100 pin
header
104/DSP
User I/O PB0-PB5,
PC4-PC7
100 pin
connector
OR
OPTOCON
Motor, Encoder & Dedicated
I/O for Axes (0, 1)
LC/DSP
CBL-100
100 pin
header
User I/O PA0-PA5,
PC0-PC3
50 pin
OptoCon Cabling
Switches S2, S3
Screw Terminal
Connections
F-4
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OPTOCON REFERENCE
Screw Terminal Connectors
Table F-3 Screw Terminal Connector (Axes 0, 1)
Pin
Signal
Pin
Signal
1
+5V
2
V_USER
3
Encoder A(0) +
4
Encoder A(1) +
5
Encoder A(0) -
6
Encoder A(1) -
7
Encoder B(0) +
8
Encoder B(1) +
9
10
Encoder B(1) -
Encoder Index(0) +
12
Encoder Index(1) +
13
Encoder Index(0) -
14
Encoder Index(1) -
15
+/- 10V Analog Out(0)
16
+/- 10V Analog Out(1)
17
GND
18
USER_GND
19
Step Pulse(0) +
20
Step Pulse(1) +
21
Step Pulse(0) -
22
Step Pulse(1) -
23
Direction(0) +
24
Direction(1) +
25
Direction(0) -
26
Direction(1) -
27
Positive Limit(0)
28
Positive Limit(1)
29
Negative Limit(0)
30
Negative Limit(1)
31
Home Input(0)
32
Home Input(1)
33
Amp Fault(0)
34
Amp Fault(1)
35
Amp Enable(0)
36
Amp Enable(1)
37
In Position(0)
38
In Position(1)
39
User I/O PA0
40
User I/O PA3
41
User I/O PA1
42
User I/O PA4
43
User I/O PA2
44
User I/O PA5
45
User I/O PC0
46
User I/O PC2
47
User I/O PC1
48
User I/O PC3
49
GND
50
USER_GND
Screw Terminal Connectors
Encoder B(0) -
11
Installation
For Axes 0, 1
Shaded signals are optically isolated.
F-5
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OPTOCON REFERENCE
Screw Terminal Connectors
Installation
For Axes 2, 3
Table F-4 Screw Terminal Connector (Axes 2, 3)
Pin
Signal
Pin
Signal
1
+5V
2
V_USER
3
Encoder A(2) +
4
Encoder A(3) +
5
Encoder A(2) -
6
Encoder A(3) -
7
Encoder B(2) +
8
Encoder B(3) +
9
Encoder B(2) -
10
Encoder B(3) -
11
Encoder Index(2) +
12
Encoder Index(3) +
13
Encoder Index(2) -
14
Encoder Index(3) -
15
+/- 10V Analog Out(2)
16
+/- 10V Analog Out(3)
17
GND
18
USER_GND
19
Step Pulse(2) +
20
Step Pulse(3) +
21
Step Pulse(2) -
22
Step Pulse(3) -
23
Direction(2) +
24
Direction(3) +
25
Direction(2) -
26
Direction(3) -
27
Positive Limit(2)
28
Positive Limit(3)
29
Negative Limit(2)
30
Negative Limit(3)
31
Home Input(2)
32
Home Input(3)
33
Amp Fault(2)
34
Amp Fault(3)
35
Amp Enable(2)
36
Amp Enable(3)
37
In Position(2)
38
In Position(3)
39
User I/O PB0
40
User I/O PB3
41
User I/O PB1
42
User I/O PB4
43
User I/O PB2
44
User I/O PB5
45
User I/O PC4
46
User I/O PC6 (or DSP Interrupt)
47
User I/O PC5
48
User I/O PC7 (or PC Interrupt)
49
GND
50
USER_GND
Shaded signals are optically isolated.
F-6
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OPTOCON REFERENCE
Specifications
Operating temperature range
0 – 50° C
Isolation voltage
2500 VRMS
V_USER voltage range
5 – 24 VDC
V_USER voltage fuse trip current
1A
Table F-5
Inputs
V_USER = 5 VDC
V_USER = 24 VDC
“On” threshold voltage
0.6 V max
19 V max
Propagation delay High-Low, tPDHL
50 µsec max
20 µsec max
Propagation delay Low-High, tPDLH
300 µsec max
400 µsec max
V_USER = 5 VDC
V_USER = 24 VDC
“On” state output voltage
0.25 V @ 250mA
0.25 V @ 250mA
“On” state output current
250 mA max
250 mA max
“Off” state output leakage current
25 µA max
25 µA max
Propagation delay Low-High, tPDLH
10 µsec max
20 µsec max
Propagation delay High-Low, tPDHL
300 µsec max
100 µsec max
Output rise time, tR
5 µsec max
5 µsec max
Output fall time, tF
75 µsec max
25 µsec max
Table F-6
Installation
All optically isolated outputs (Amp Enables, In Position bits, User I/O) and the V_USER input
are protected by automatic fuses. When tripped, these fuses automatically reset themselves
within a few seconds.
Outputs
Specifications
F-7
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OPTOCON REFERENCE
Installation
Schematics
All OptoCon input and output circuits are electrically identical. To program the User I/O signals (OptoCon 1: PA0-5, PC0-3; OptoCon 2: PB0-5, PC4-7) as inputs or outputs, use the
switches S2 and S3 on the OptoCon and in conjunction with the MEI library function
init_boot_io(...) on the motion controller. After using init_boot_io(...) to configure a port’s direction, do not use init_io(...) to reconfigure the port’s direction.
The Dedicated I/O signals (Amp Enable, In Position, Positive Limit, Negative Limit, Home
and Fault) cannot be reconfigured. All of the I/O signals share a common supply, (V_USER/
USER_GND), which is fused at 1 amp. Additionally, each individual output is fused at 1 amp.
TYPICAL INPUT CIRCUIT
V_Opto
V_USER
Vcc
2.7K
P2-2
Fuse
1A, 60V
To
Controller
Input
P2-27 - P2-34,
P2-39 - P2-48
Note: V_OPTO is shared by all input
and output circuits in the OptoCon.
Input Circuit
TYPICAL OUTPUT CIRCUIT
V_Opt
V_USER
Vcc
10K
Output
P2-2
P2-35 - P2-48
Schematics
Fuses
1A, 60V
From
Controller
On Amp Enable
& In_Position
signals only
USER_GN
P2-18, P2-50
1.5K
S1
Note: V_OPTO is shared by all input
and output circuits in the OptoCon.
Output Circuit
F-8
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OPTOCON REFERENCE
Circuit Examples
The next figure shows how to connect an OptoCon input to detect the state of a Home switch.
This circuit will also work for any of the OptoCon inputs.
Use the MEI library functions set_home_level(...) or set_boot_home_level(...) to configure the
Home(0) input on the MEI motion controller for either Active High or Active Low event generation logic.
The truth table shows the values that the motion controller will read, depending upon the state
of the switch and the configuration of the Home event logic. For example, if the switch is open,
the Home input will be high (1), and if the Home event logic is configured for Active High, the
controller will generate an event.
OptoCon
For input circuitry,
see schematics on
page F-8.
LC/DSP
104/DSP
switch
2
1
Switch State
Open
Closed
Common
P2-31
P1
Power
Supply
5 - 24V
1
2
Home Input
(State)
1
0
Use home_switch(...)
to read the Home input state.
3
Active High
(Event?)
Yes
No
Active Low
(Event?)
No
Yes
Use axis_state(...) to read
the event generation.
OptoCon Input
to Switch
Connect an OptoCon Input to a Switch
3
+V
2.7
Home(0
CBL-100
P2-2
Circuit Examples
Connect an OptoCon Input to a Switch
F-9
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OPTOCON REFERENCE
Circuit Examples
Connect an OptoCon Input to an Open Collector Driver
The next figure shows how to connect an OptoCon input to detect the state of an open collector driver. This circuit will also work for any of the OptoCon inputs.
Use the MEI library functions set_home_level(...) or set_boot_home_level(...) to configure the
Home(0) input on the MEI motion controller for either Active High or Active Low event generation logic.
The truth table shows the values that the motion controller will read, depending upon the
state of the driver transistor and the configuration of the Home event logic. For example, if
the In = 1 (turning the transistor On), the Home input will be low (0), and if the Home event
logic is configured for Active High, the controller will not generate an event.
When In is high, the driver transistor is required to sink the current flowing through the optoisolator diode. The driver transistor must be capable of sinking this current. To calculate IC:
ISink ≅ (V – VD – VCE) / 2700
V
= Your system’s power supply voltage
VD = Voltage across diode, VD ≅ 1V
VCE = Collector-emitter “On” voltage for Q
Connect an OptoCon Input to an Open Collector Driver
For V = 24V,
For V = 5V,
VCE = 0.2V and IC ≅ 8.4 mA.
VCE = 0.2V and IC ≅ 1.4 mA.
OptoCon
LC/DSP
104/DSP
For input circuitry,
see schematics on
page F-8.
VD
Common
P2-31
Power
Supply
5 - 24V
P1
ISink
3
+V
2.7
Home(0
CBL-100
P2-2
2
Q
In
1
1
In Transistor “Q”
1
On
0
Off
2
Home Input
(State)
0
1
Use home_switch(...)
to read the Home input state.
3
Active High
(Event?)
No
Yes
Active Low
(Event?)
Yes
No
Use axis_state(...) to read
the event generation.
Open Collector Driver to
OptoCon Input
F-10
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OPTOCON REFERENCE
Connect an OptoCon Output to an Amplifier Enable Input
In the next figure, the Enable input on the amplifier has an internal pull-up resistor (Rin). You
can use this configuration for either Active High or Active Low Amp Enable inputs.
OptoCon
LC/DSP
104/DSP
+V
10K
Amp Enable(0)
CBL-100
P2-2
ISink
P2-35
Amplifier
Circuit Examples
Using an Internal Pull-Up Resistor
Rin
Enable
P1
VDS
P2-18,50
Common
+5V < +V < +24V
For output circuitry, see
schematics on page F-8.
OptoCon Output to
Amp Enable
(Pull-Up Resistor)
Note
The Amp Enable output’s polarity must match the polarity of the amplifier’s
Enable input.
The Amp Enable output and the amplifier’s Enable input must be either both
Active High or both Active Low.
In order for the OptoCon to work correctly in this configuration, Isink must be less than the
maximum “On” state output current for the OptoCon (250 mA), otherwise the OptoCon may
not be able to disable the amplifier by pulling the Enable input low. To calculate Isink:
Isink ≅ (V – VDS) / RP
RP
= Equivalent parallel resistance of Rin & 10K, RP = Rin * 10K / (Rin + 10K)
V
= Amplifier logic power supply voltage
VDS = OptoCon “On” state output voltage, VDS < 0.25V
Rin = Amplifier Enable internal pull-up resistance
Warning!
You must set S1 correctly for “Active High” or “Active Low” Amp
Enable Operation. (see Switch Settings on page F-2)
Connect an OptoCon Output to an Amplifier Enable Input
Use Motion Console’s Axis Configuration under the Axis Operation window to configure the
Amp Enable output on the MEI motion controller for either Active High or Active Low detection.
F-11
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OPTOCON REFERENCE
Circuit Examples
Using an Internal Pull-Down Resistor
The next figure shows how to connect the OptoCon to an amplifier’s Enable input that has a
pull-down resistor (that is inside the amplifier). This configuration can be used for either Active High or Active Low amplifier Enable inputs.
OptoCon
LC/DSP
104/DSP
Rext
10K
Amp Enable(0)
P2-35
CBL-100
Amplifier
+V
P2-2
Vin
Enable
P1
Rin
P2-18,50
Common
+5V < +V < +24V
Connect an OptoCon Output to an Amplifier Enable Input
For output circuitry, see
schematics on page F-8.
OptoCon Output to
Amp Enable
(Pull-Down Resistor)
Use the MEI library function set_amp_enable_level(...) or set_boot_amp_enable_level(...) to
configure the Amp Enable output on the MEI motion controller for either Active High or Active Low detection.
Note:
The Amp Enable output’s polarity must match the polarity of the amplifier’s Enable input.
The Amp Enable output and the amplifier’s Enable input must be either both Active
High or both Active Low.
In order for the OptoCon to work correctly in this configuration, Vin must exceed the amplifier manufacturer’s minimum “high” input threshold voltage. The “high” level at Vin is determined by the voltage divider between the OptoCon pull-up resistor (10K) and Rin. To
calculate Vin:
Vin ≅ V * ( Rin / ( Rin + 10K))
V
= Amplifier logic power supply voltage
Rin = Amplifier Enable internal pull-up resistance
If the value for Vin is lower than the amplifier manufacturer’s minimum “high” input threshold voltage, you must add the resistor Rext (see the next figure). To calculate the required
value of Rext, first calculate the parallel resistance (RP) required to achieve the desired Vin
‘high’ level.
RP = Rin * ( -1 + V/ Vin )
V
= Amplifier’s logic power supply voltage
Vin = Required amplifier Enable “high” input voltage
Rin = Amplifier Enable internal pull-up resistance
Next calculate Rext, so that Rext in parallel with 10K is equal to RP.
Rext = RP / ( 1 - RP /10K)
F-12
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OPTOCON REFERENCE
You must set S1 correctly for “Active High” or “Active Low” Amp
Enable Operation. (see Switch Settings on F-2)
Connect an OptoCon Output to a Relay
The next figure shows how to drive a relay using one of the User I/O (PA0) signals from the
motion controller via the OptoCon. This circuit can be used with any of the OptoCon outputs.
OptoCon
LC/DSP
104/DSP
+V
P2-2
Power Supply
(+5V to +24V)
10K
PA0
Circuit Examples
Warning!
Relay
P2-35
CBL-100
P1
ISink
P2-18,50
Common
For output circuitry, see
schematics on page F-8.
When PA0 is set ‘low’, the relay is energized. For the OptoCon to work correctly in this configuration, Isink must be smaller than the maximum “On” state output current for the OptoCon
(250 mA). If this condition is not met, the relay may not switch. To calculate Isink:
Isink ≅ (V – VDS) / RC
V
= Amplifier logic power supply voltage
VDS = OptoCon “On” state output voltage, VDS < 0.25V
RC
= Relay coil resistance
Connect an OptoCon Output to a Relay
OptoCon Output to
A Relay
F-13
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Connect an OptoCon Output to a Relay
Circuit Examples
OPTOCON REFERENCE
F-14
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INDEX
Numerics
INDEX
to brushless servo motors . . . . . . . . . . . . . .4-3
to step motors
closed-loop . . . . . . . . . . . . . . . . . . . . . 4-4
open-loop . . . . . . . . . . . . . . . . . . . . . . . 4-4
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
8254 counter for user functions . . . . . . . . . . . . . . . . .5-4
82C55, Intel Programmable Peripheral Interface Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
A
Numerics
104
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
I/O addresses for . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
limit switches, non-opto-isolated . . . . . . . . . . . 5-6
motor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
pinouts, lower cable . . . . . . . . . . . . . . . . .E-17
pinouts, upper cable . . . . . . . . . . . . . . . . .E-16
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
switch locations . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
User & Dedicated I/O headers . . . . . . . . . . . . .E-8
using the PC/104 removal tool . . . . . . . . . . . . 2-20
wiring
for dual-loop control . . . . . . . . . . . . . . . . . 4-15
to brush servo motors . . . . . . . . . . . . . . . . 4-11
to brushless servo motors . . . . . . . . . . . . . 4-12
to step motors
closed-loop . . . . . . . . . . . . . . . . . . . . 4-14
open-loop . . . . . . . . . . . . . . . . . . . . . 4-13
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
104X
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
motor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .E-9
opto-isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
switch locations . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
wiring
for dual-loop control . . . . . . . . . . . . . . . . . . 4-6
to brush servo motors . . . . . . . . . . . . . . . . . 4-2
Acceleration Feed-Forward (Ka ) . . . . . . . . . . . . . D-14
Axis Configuration property page . . . . . . . . . . . . . . .6-1
Axis Configuration Tab, Motion Console . . . . . . B-10
Axis Status/Control Panel, Motion Console . . . . . B-7
Axis Window, Motion Console
Axis Configuration Tab . . . . . . . . . . . . . . . . . B-10
Axis Status/Control Panel . . . . . . . . . . . . . . . . . B-7
Graph Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-11
Motion Configuration Tab . . . . . . . . . . . . .B-8,B-9
B
brush servo motors
Also See servo motors
with 104/LC . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
with PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-16
with PCX/CPCI/STD/V6U/104X . . . . . . . . . . .4-2
brushless servo motors
Also See servo motors
with 104/LC . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
with PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
with PCX/CPCI/STD/V6U/104X . . . . . . . . . . .4-3
C
cables
CBL-100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
CBL-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
CBL-26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
CBL-50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
CBL-50V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
CBL-68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
circuit examples,OptoCon . . . . . . . . . . . . . . . . . . . . F-9
closed-loop systems testing
overview of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
Step 1 connect encoder . . . . . . . . . . . . . . . . . . . .6-2
Step 2 test encoder connections . . . . . . . . . . . . .6-2
Step 3 connect the motor . . . . . . . . . . . . . . . . . .6-2
Step 4 manually turn the motor . . . . . . . . . . . . .6-2
Index-1
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INDEX
D
Step 5 verify motor/encoder phasing . . . . . . . 6-3
Step 6 exercise the system . . . . . . . . . . . . . . . . 6-3
Step 7 tune the system . . . . . . . . . . . . . . . . . . . . 6-5
tuning parameters, suggested . . . . . . . . . . . . . . 6-4
CONFIG.EXE utility . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
command line switches . . . . . . . . . . . . . . . . . . . 3-4
configure controller, Motion Console . . . . . . . . . . . B-5
Connections & Specifications
dedicated and user I/O . . . . . . . . . . . . . . . . . . . . E-5
LED support . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
Motor Signal Header Locations . . . . . . . . . . . . E-2
power consumption notes . . . . . . . . . . . . . . . . E-18
CPCI
8254 counter wiring . . . . . . . . . . . . . . . . . . . . . . 5-4
accessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
analog input wiring . . . . . . . . . . . . . . . . . . . . . . 5-3
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
motor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
no switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
opto-isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
User & Dedicated I/O headers . . . . . . . . . . . . . E-5
wiring
for dual-loop control . . . . . . . . . . . . . . . . . 4-6
to brush servo motors . . . . . . . . . . . . . . . . 4-2
to brushless servo motors . . . . . . . . . . . . . 4-3
to step motors
closed-loop . . . . . . . . . . . . . . . . . . . . . 4-4
open-loop . . . . . . . . . . . . . . . . . . . . . . . 4-4
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
D
Dedicated and User Output Wiring . . . . . . . . . . . . . 5-2
8254 counter wiring . . . . . . . . . . . . . . . . . . . . . . 5-4
amplifier enable wiring, using pull-down resistors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
analog input wiring . . . . . . . . . . . . . . . . . . . . . . 5-3
opto-isolation discussion . . . . . . . . . . . . . . . . . . 5-2
power on/off timing . . . . . . . . . . . . . . . . . . . . . . 5-2
dedicated I/O, PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
input wiring . . . . . . . . . . . . . . . . . . . . . . . . . 5-8,5-10
output wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Derivative Gain (Kd) . . . . . . . . . . . . . . . . . . . . . . . . . D-9
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-9
typical values of . . . . . . . . . . . . . . . . . . . . . . . . . D-9
direction pulse synchronization in step drives . . . A-4
dual-loop control
104/LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
PCX/CPCI/STD/V6U/104X . . . . . . . . . . . . . . . 4-6
E
encoders, to verify correct phasing with motor . . . .6-3
F
firmware versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
Friction Feed-Forward parameter . . . . . . . . . . . . . D-15
G
Graph Tab, Motion Console . . . . . . . . . . . . . . . . . . B-11
Grayhill/Gordos, Opto-22 pin arrangements . . . . . .5-2
H
Hardware Summary Window, Motion Console . . B-3
Configure Controller . . . . . . . . . . . . . . . . . . . . . B-5
controller list group . . . . . . . . . . . . . . . . . . . . . . B-3
User I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5
home & limit switch wiring
non-opto-isolated . . . . . . . . . . . . . . . . . . . . . . . . .5-5
opto-isolated . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-5
host/DSP communications . . . . . . . . . . . . . . . . . . . . .2-5
I
I/O address usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
I/O port address space . . . . . . . . . . . . . . . . . . . . . . . . .2-4
installation
OptoCon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
overview of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
quick, for servo motors . . . . . . . . . . . . . . . . . . . .1-2
quick, for step motors . . . . . . . . . . . . . . . . . . . . .1-3
Integral Gain (Ki) . . . . . . . . . . . . . . . . . . . . . . . . . . . D-12
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-12
Integral Mode configurations . . . . . . . . . . . . . D-12
typical values of . . . . . . . . . . . . . . . . . . . . . . . . D-12
Integration Limit parameter . . . . . . . . . . . . . . . . . . D-15
ISA bus, I/O addresses for . . . . . . . . . . . . . . . . . . . . .2-4
K
Ka, acceleration feed-forward . . . . . . . . . . . . . . . . D-14
Kd, derivative gain . . . . . . . . . . . . . . . . . . . . . . . . . . . D-9
Ki, integral gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-12
Ko, offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-14
Kp, proportional gain . . . . . . . . . . . . . . . . . . . . . . . . . D-6
Kv, velocity feed-forward . . . . . . . . . . . . . . . . . . . . D-13
L
LC
Index-2
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INDEX
M
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
limit switches, non-opto-isolated . . . . . . . . . . . 5-6
motor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
pinouts, lower cable . . . . . . . . . . . . . . . . .E-17
pinouts, upper cable . . . . . . . . . . . . . . . . .E-16
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
switch locations . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
User & Dedicated I/O headers . . . . . . . . . . . . .E-8
wiring
for dual-loop control . . . . . . . . . . . . . . . . . 4-15
to brush servo motors . . . . . . . . . . . . . . . . 4-11
to brushless servo motors . . . . . . . . . . . . . 4-12
to step motors
closed-loop . . . . . . . . . . . . . . . . . . . . 4-14
open-loop . . . . . . . . . . . . . . . . . . . . . 4-13
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
limit switch wiring
non-opto-isolated . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
opto-isolated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
M
Motion Configuration Tab, Motion Console . B-8,B-9
Motion Console
Hardware Summary Window . . . . . . . . . . . . . B-3
intro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Motion Console Windows . . . . . . . . . . . . . . . . B-2
Motion Console Windows . . . . . . . . . . . . . . . . . . . . B-2
Motion Developer’s Support Program . . . . . . . . . . . 1-4
Motion Engineering
how to contact us . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
connect an output to an amp enable input
(pull-down resistor) . . . . . . . . . F-12
connect an output to an amp enable input
(pull-up resistor) . . . . . . . . . . . . F-11
connect input to a switch . . . . . . . . . . . . . F-9
connect input to open collector driver . F-10
screw terminal connectors . . . . . . . . . . . . . . . . F-5
specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . F-7
switch settings . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
opto-isolation, PCI
opto-circuit specifications . . . . . . . . . . . . . . . . . .5-7
P
PCI
accessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
analog input wiring . . . . . . . . . . . . . . . . . . . . . .5-13
bi-directional user I/O . . . . . . . . . . . . . . . . . . . .5-12
dedicated I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
no switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
opto-circuit specifications . . . . . . . . . . . . . . . . . .5-7
opto-isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-7
pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-14
specifications . . . . . . . . . . . . . . . . . . . . . . . . . . E-21
user I/O lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
wiring
encoder signals . . . . . . . . . . . . . . . . . . . . . .4-21
for dual-loop control . . . . . . . . . . . . . . . . .4-20
to brush servo motors . . . . . . . . . . . . . . . .4-16
to brushless servo motors . . . . . . . . . . . . .4-17
to step motors
closed-loop . . . . . . . . . . . . . . . . . . . . 4-19
open-loop . . . . . . . . . . . . . . . . . . . . . . 4-18
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
O
Offset (Ko) parameter . . . . . . . . . . . . . . . . . . . . . . . D-14
open-loop stepper systems testing
overview of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Step 1 connect wires . . . . . . . . . . . . . . . . . . . . . . 6-6
Step 2 manually turn the motor . . . . . . . . . . . . . 6-6
Step 3 exercise the motor . . . . . . . . . . . . . . . . . . 6-7
tuning parameters, suggested . . . . . . . . . . . . . . . 6-7
Opto-22 pin arrangements . . . . . . . . . . . . . . . . . . . . . 5-2
OptoCon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
circuit examples . . . . . . . . . . . . . . . . . . . . . . . . . . F-9
input & output circuits, typical . . . . . . . . . . . . .F-8
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .F-4
connect an output to a relay . . . . . . . . . . . F-13
PCX
8254 counter wiring . . . . . . . . . . . . . . . . . . . . . . .5-4
analog input wiring . . . . . . . . . . . . . . . . . . . . . . .5-3
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
home & limit switch wiring
non-opto-isolated . . . . . . . . . . . . . . . . . . . . .5-5
opto-isolated . . . . . . . . . . . . . . . . . . . . . . . . .5-5
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
motor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
opto-isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
switch locations . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
User & Dedicated I/O headers . . . . . . . . . . . . . E-5
Index-3
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
INDEX
Q
wiring
for dual-loop control . . . . . . . . . . . . . . . . . 4-6
to brush servo motors . . . . . . . . . . . . . . . . 4-2
to brushless servo motors . . . . . . . . . . . . . 4-3
to step motors
closed-loop . . . . . . . . . . . . . . . . . . . . . 4-4
open-loop . . . . . . . . . . . . . . . . . . . . . . . 4-4
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
power consumption of DSP Series . . . . . . . . . . . . E-18
Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . . . . . D-6
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-6
typical values of . . . . . . . . . . . . . . . . . . . . . . . . . D-6
Q
quick start
for servo motors . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
for step motors . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
S
Scale parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-14
screw terminal connectors, OptoCon . . . . . . . . . . . F-5
SERCOS/104
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . 2-23
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
switch locations . . . . . . . . . . . . . . . . . . . . . . . . 2-23
SERCOS/DSP
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . 2-27
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
switch locations . . . . . . . . . . . . . . . . . . . . . . . . 2-27
SERCOS/STD
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . 2-13
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
switch locations . . . . . . . . . . . . . . . . . . . . . . . . 2-13
servo motors
Also See brush/brushless servo motors
brush/brushless connections . . . . . . . . . . . . . . . A-2
encoder inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
quick start (installation) . . . . . . . . . . . . . . . . . . . 1-2
step-and-direction controlled . . . . . . . . . . . . . . A-2
velocity/torque mode . . . . . . . . . . . . . . . . . . . . . A-1
wiring discussion . . . . . . . . . . . . . . . . . . . . . . . . A-1
software updates
how to get . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
specifications, OptoCon . . . . . . . . . . . . . . . . . . . . . . F-7
STC Modules
STC-D50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
STC modules
OptoCon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
STC-136 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
STC-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
STC-26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
STC-50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
STC-D50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
STD
8254 counter wiring . . . . . . . . . . . . . . . . . . . . . . .5-4
analog input wiring . . . . . . . . . . . . . . . . . . . . . . .5-3
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . .2-11
home & limit switch wiring
non-opto-isolated . . . . . . . . . . . . . . . . . . . . .5-5
opto-isolated . . . . . . . . . . . . . . . . . . . . . . . . .5-5
I/O addresses for . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11
motor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
opto-isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
SW1 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11
SW2 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12
switch locations . . . . . . . . . . . . . . . . . . . . . . . . .2-11
User & Dedicated I/O headers . . . . . . . . . . . . . E-5
wiring
for dual-loop control . . . . . . . . . . . . . . . . . .4-6
to brush servo motors . . . . . . . . . . . . . . . . .4-2
to brushless servo motors . . . . . . . . . . . . . .4-3
to step motors
closed-loop . . . . . . . . . . . . . . . . . . 4-4,4-5
open-loop . . . . . . . . . . . . . . . . . . . . . . . 4-4
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
step motors
closed-loop discussion . . . . . . . . . . . . . . . . . . . . A-4
direction pulse synchronization . . . . . . . . . . . . A-4
open-loop discussion . . . . . . . . . . . . . . . . . . . . . A-3
quick start (installation) . . . . . . . . . . . . . . . . . . .1-3
wiring 104/LC
for closed-loop . . . . . . . . . . . . . . . . . . . . . .4-14
for open-loop . . . . . . . . . . . . . . . . . . . . . . . .4-13
wiring PCX/CPCI/STD/V6U/104X
for closed-loop . . . . . . . . . . . . . . . . . . . . . . .4-5
for open-loop . . . . . . . . . . . . . . . . . . . . . . . . .4-4
step-and-direction controlled servo motors
with 104/LC . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
Index-4
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
INDEX
T
with PCX/CPCI/STD/V6U/104X . . . . . . . . . . . 4-3
switch settings
OptoCon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .F-2
T
tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1
2 methods used to tune closed-loop systems D-2
Acceleration Feed-Forward (Ka ) . . . . . . . . . D-14
Derivative Gain (Kd) . . . . . . . . . . . . . . . . . . . . D-9
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . . D-9
typical values of . . . . . . . . . . . . . . . . . . . . . D-9
digital filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-3
Friction Feed-Forward parameter . . . . . . . . . D-15
Integral Gain (Ki) . . . . . . . . . . . . . . . . . . . . . . D-12
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . D-12
Integral Mode configurations . . . . . . . . D-12
typical values of . . . . . . . . . . . . . . . . . . . . D-12
values for tuning closed-loop servos . . D-17
values for tuning closed-loop steppers . D-19
Integration Limit parameter . . . . . . . . . . . . . . D-15
Offset (Ko) parameter . . . . . . . . . . . . . . . . . . . D-14
PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2
procedure for closed-loop servos . . . . . . . . . D-16
procedure for closed-loop steppers . . . . . . . . D-18
Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . D-6
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . . D-6
typical values of . . . . . . . . . . . . . . . . . . . . . D-6
Scale parameter . . . . . . . . . . . . . . . . . . . . . . . . D-14
tuning parameters . . . . . . . . . . . . . . . . . . . . . . . D-5
for open-loop steppers . . . . . . . . . . . . . . . . 6-7
Velocity Feed-Forward (Kv) . . . . . . . . . . . . . D-13
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . D-13
what do gains do? . . . . . . . . . . . . . . . . . . . . . . . D-5
what problems do gains solve? . . . . . . . . . . . . D-5
Tuning parameters window . . . . . . . . . . . . . . . . . . . . 6-3
encoder integrity checking . . . . . . . . . . . . . . . .4-10
encoder interface . . . . . . . . . . . . . . . . . . . . . . . . .4-7
home & limit switch wiring
non-opto-isolated . . . . . . . . . . . . . . . . . . . . .5-5
opto-isolated . . . . . . . . . . . . . . . . . . . . . . . . .5-5
installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-15
interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-17
motor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
opto-isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
SW3 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-17
SW4 switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-17
switch locations . . . . . . . . . . . . . . . . . . . . . . . . .2-15
User & Dedicated I/O headers . . . . . . . . . . . . . E-5
wiring
for dual-loop control . . . . . . . . . . . . . . . . . .4-6
to brush servo motors . . . . . . . . . . . . . . . . .4-2
to brushless servo motors . . . . . . . . . . . . . .4-3
to step motors
closed-loop . . . . . . . . . . . . . . . . . . 4-4,4-5
open-loop . . . . . . . . . . . . . . . . . . . . . . . 4-4
to step-and-direction controlled servo motors
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
Velocity Feed-Forward (Kv) . . . . . . . . . . . . . . . . . D-13
effects of . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-13
VERSION.EXE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5
U
User & Dedicated I/O
User I/O, controllers with 4 or less axes . . . . .E-6
User I/O, on any controller . . . . . . . . . . . . . . . .E-6
User I/O, Motion Console . . . . . . . . . . . . . . . . . . . . B-5
V
V6U
8254 counter wiring . . . . . . . . . . . . . . . . . . . . . . 5-4
addresses, VME . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
analog input wiring . . . . . . . . . . . . . . . . . . . . . . . 5-3
base address switch . . . . . . . . . . . . . . . . . 2-15,2-16
base I/O address . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Index-5
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INDEX
V
Index-6
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