Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment • FAST SHIPPING AND DELIVERY • TENS OF THOUSANDS OF IN-STOCK ITEMS • EQUIPMENT DEMOS • HUNDREDS OF MANUFACTURERS SUPPORTED • LEASING/MONTHLY RENTALS • ITAR CERTIFIED SECURE ASSET SOLUTIONS SERVICE CENTER REPAIRS Experienced engineers and technicians on staff at our full-service, in-house repair center WE BUY USED EQUIPMENT Sell your excess, underutilized, and idle used equipment We also offer credit for buy-backs and trade-ins www.artisantg.com/WeBuyEquipment InstraView REMOTE INSPECTION LOOKING FOR MORE INFORMATION? Visit us on the web at www.artisantg.com for more information on price quotations, drivers, technical specifications, manuals, and documentation SM Remotely inspect equipment before purchasing with our interactive website at www.instraview.com Contact us: (888) 88-SOURCE | [email protected] | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 iii Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. 2-1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 2-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. 3-2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. 3-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. 3-4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. 4-2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 4-4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 4-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 4-6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 4-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 4-9 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com Analog Input Wiring Bi-Directional User I/O CONNECT STCS TO DISCRETE I/O 5-14 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com Step 3: Exercise the Motor Open-Loop Stepper Systems TEST SYSTEM 6-8 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com Closed-Loop Step Motors Wiring Step Motors MORE ABOUT WIRING A-6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 B-4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com See pages B-3,4,5 B-6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 B-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 B-8 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 B-9 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com B-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com MOTION CONSOLE REFERENCE B-12 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-2 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-9 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. C-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. C-12 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. C-14 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-16 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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. C-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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) C-18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 C-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com Graphic Analysis Motion Menu SETUP.EXE C-20 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com Step 3: Set the Integral Gain (Ki) Tuning Closed-Loop Steppers TUNING D-20 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com Connect an OptoCon Output to a Relay Circuit Examples OPTOCON REFERENCE F-14 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com INDEX V Index-6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment • FAST SHIPPING AND DELIVERY • TENS OF THOUSANDS OF IN-STOCK ITEMS • EQUIPMENT DEMOS • HUNDREDS OF MANUFACTURERS SUPPORTED • LEASING/MONTHLY RENTALS • ITAR CERTIFIED SECURE ASSET SOLUTIONS SERVICE CENTER REPAIRS Experienced engineers and technicians on staff at our full-service, in-house repair center WE BUY USED EQUIPMENT Sell your excess, underutilized, and idle used equipment We also offer credit for buy-backs and trade-ins www.artisantg.com/WeBuyEquipment InstraView REMOTE INSPECTION LOOKING FOR MORE INFORMATION? Visit us on the web at www.artisantg.com for more information on price quotations, drivers, technical specifications, manuals, and documentation SM Remotely inspect equipment before purchasing with our interactive website at www.instraview.com Contact us: (888) 88-SOURCE | [email protected] | www.artisantg.com
* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project
advertisement
© 2021