Motion Controller for PCI-Bus and PC/104 Embedded Systems and Standalone Operation User's Guide and Programmer's Manual for POSYS® 8xx-B/9xx/18xx/19xx POSYS Motion Control GmbH & Co.KG Schulstr. 8 • D-92256 Hahnbach Telefon +49 9664 9546520 • Fax +49 9664 9546521 E-mail: [email protected] Url: www.halbeck.com © POSYS Motion Control GmbH & Co.KG, 2013 © POSYS Motion Control GmbH & Co.KG, 2013 Table of Contents User's Manual Imprint Disclaimer, Safety Notice, Warranty Introduction POSYS® 18xx/19xx Introduction POSYS® 7xx/8xx-B/9xx System Overview Models Changes to previous manuals Hardware Hardware & Driver Installation Hardware & Driver Installation: WinDriver Hardware & Driver Installation: Rapid Driver POSYS® Versions Specifications POSYS® 8xx-B Versions 8xx-B User settable components; POSYS® 8xx-B Serial Port Brushed Servo Mode Pinout Description Stepper Version Pinout Description Analog Input Pinout Description; POSYS® 8xx-B POSYS® 18xx Versions 18xx User settable components; POSYS® 18xx SYNC IO Serial Port CAN 2.0B Motor Mode Configuration; POSYS® 18xx Brushed Servo Mode Pinout Description Brushless Servo/Microstepping Mode Pinout Description Stepper Mode Pinout Description Analog Input Pinout Description; POSYS® 1800 Usage of the On-Board Dual Port RAM with POSYS® 1800 POSYS® 9xx Versions 9xx User settable components; POSYS® 9xx Serial Port Brushed Servo Mode Pinout Description Stepper Version Pinout Description Analog Input Pinout Description; POSYS® 900 POSYS® 19xx Versions 19xx User settable components; POSYS® 19xx SYNC IO Serial Port CAN 2.0B Motor Mode Configuration; POSYS® 19xx Brushed Servo Mode Pinout Description Brushless Servo/Microstepping Mode Version Pinout Description Stepper Mode Pinout Description Analog Input Pinout Description; POSYS® 1900 GP CON Connector GP CON Connector Interconnect Module IO700/800-1 IO700/800-2 OPTON CON Connection Overview - Amplifiers 2 10 11 12 13 14 15 16 21 25 26 27 30 32 33 33 33 36 37 38 40 41 41 41 46 46 47 47 48 50 53 55 55 60 60 60 62 63 64 66 68 68 68 70 70 71 71 72 73 76 78 79 79 80 80 83 86 89 © POSYS Motion Control GmbH & Co.KG, 2013 Overview; Connection Summary - Motor Amplifiers POSYS® 8xx-B/18xx POSYS® 9xx/19xx; Connections Summary - Motor Amplifiers Usability Control Modules for POSYS® 1800/1900 with Firmware Version >2.0 Control Flow Overview Enabling and Disabling Control Modules Disabling and Enabling the Position Loop Module Reading Position Loop Values Trajectory Generation Trajectories, Profiles and Parameters Trajectory Parameter Representation Trajectory Point-to-Point Profile Smoothing Factor S-curve Point-to-Point Profile Velocity Contouring Profile Electronic Gear Profile External Profile Mode SetStop Command Motor Mode Setting the Cycle Time Parameter Update Parameter Buffering Breakpoints Breakpoints Defining a Breakpoint; Overview Breakpoint Triggers Breakpoint Actions Breakpoint Examples The Servo Loop Overview; Servo Loop PID Loop Algorithm Dual Encoder Support BiQuad Output Filter Output Limit Motor Bias Closed Loop and Open Loop Control Modes Piezo (Ceramic) Motor Functions Status Register Overview; Status Registers Event Status Register Instruction Error Activity Status Register Signal Status Register Signal Sense Mask Monitoring Motion Performance Host Interrupts In-Motion Indicator Motion Error Motion Complete Indicator Settled Indicator Trace Capture Tracking Window SetEventAction Processing Hardware Signals Overview; Hardware Signals Travel Limit Switches AxisOut Output AxisIn Input Analog Input The SYNC IO - Multiple Controller Synchronization 3 89 89 91 94 95 96 97 98 99 100 100 100 101 103 107 109 110 111 113 114 114 116 116 118 118 118 118 119 120 122 122 122 124 125 128 129 129 131 134 134 134 135 135 136 137 138 138 139 139 140 141 142 147 148 150 150 150 151 151 152 152 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Interfacing Overview; Motor Interfacing Incremental Encoder Input Actual Position Register Digital Filtering High Speed Position Capture Parallel-word Position Input (option) Multi-Turn Systems Parallel-word Device Interfacing Parallel Device I/O Peripheral Device Read Peripheral Device Write Motor Command Output Sign/Magnitude PWM 50/50 PWM Motor Command Output 16 Bit DAC Motor Command Output Host Communication Overview; Host Communication Parallel Communication Port Serial Interface Controller Area Network CAN2.0B Configuring the CAN 2.0B Interface CAN Event Notification Electrical Diagrams for CAN Interface Using On-Board Memory Memory Configuration Memory Page Pointer On-Board Memory Signal Decoding On-Board Memory Read On-Board Memory Write On-Board Memory Buffer External Memory Commands Sinusoidal Commutation Overview; Sinusoidal Commutation Selecting Single Phase Output for the POSYS® Commutation Waveforms Commutation Parameters Index Pulse Referencing Commutation Error Detection Phase Initialization Phase Initialization Programming Adjusting the Commutation Angle Encoder Pre-Scalar Motor Output Configuration Open Loop Stepper Control Overview; Open Loop Stepper Control Trajectory Control Units Encoder Feedback Stall Detection Pulse & Direction Signal Generation Pulse Generation Control AtRest Indicator Microstep Sine/Cosine Motor Command Output DAC & PWM Motor Output (POSYS® Microstepping Mode only) Motor Output Signal Interpretation PMW Decoding Microstepping Waveform Generation Microstepping Waveforms Motor Command Control AC Induction Motor Control Command Summary 4 154 154 154 154 155 155 155 156 156 158 160 162 163 164 165 165 167 167 167 167 171 172 172 173 174 174 174 175 175 175 176 176 178 178 178 179 180 180 181 181 184 185 186 186 189 189 189 189 190 191 192 192 193 193 193 193 194 195 195 196 196 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Drive Configurations Programmer's Manual How to use this manual Commands List of available commands Card Initializing and Addressing InitializePOSYS OpenDevice/CloseDevice DetectPosysDevices RegisteredPosysDevices Breakpoints und Interrupts ClearInterrupt GetInterruptAxis Set/GetBreakpoint Set/GetBreakpointUpdateMask Set/GetBreakpointValue Set/GetInterruptMask Commutation GetPhaseCommand InitializePhase Set/GetCommutationMode Set/GetNumberPhases Set/GetPhaseAngle Set/GetPhaseCorrectionMode Set/GetPhaseCounts Set/GetPhaseInitializeMode Set/GetPhaseInitializeTime Set/GetPhaseOffset Set/GetPhasePrescale Digital Servo Filter ClearPositionError DACOutputs GetAmpEnable GetDerivative GetIntegral GetPositionError GetPositionLoopValue SetAmpDisable SetAmpEnable Set/GetAutoStopMode Set/GetAuxiliaryEncoderSource Set/GetBiQuadCoefficient Set/GetDerivativeTime Set/GetIntegrationLimit Set/GetKaff Set/GetKd Set/GetKi Set/GetKout Set/GetKp Set/GetKvff Set/GetMotorLimit Set/GetPositionErrorLimit Set/GetPositionLoop Set/GetProfileKp Special Piezo Motor Functions Set/GetpzIntLim Set/GetpzIntLimStl Set/GetpzKaff Set/GetpzKd Set/GetpzKdPeriod Set/GetpzKi 197 199 199 200 201 205 206 207 209 210 211 211 212 213 215 216 218 219 219 220 221 222 223 224 225 226 227 228 229 230 230 231 232 233 234 235 236 237 238 239 240 241 243 244 245 246 247 248 249 250 251 252 253 256 257 258 259 260 261 262 263 5 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKp Set/GetpzKvff Set/GetpzKvff2 Set/GetpzOffsetNeg Set/GetpzOffsetPos Set/GetpzWindow Set/GetpzWindow2 Encoder AdjustActualPosition GetAbsoluteSSIPosition GetActualVelocity GetCaptureValue GetSSIVersion Read/WriteSSIFrequency Read/WriteSSIRegister Read/WriteSSIResolution ResetSSI SetActualToAbsolutePosition Set/GetActualPosition Set/GetActualPositionUnits Set/GetCaptureSource Set/GetEncoderModulus Set/GetEncoderSource Set/GetEncoderToStepRatio On-Board RAM DisableDPRam EnableDPRam ReadBuffer ReadDPRamLong Set/GetBufferFunction Set/GetBufferLength Set/GetBufferReadIndex Set/GetBufferStart Set/GetBufferWriteIndex WriteBuffer WriteDPRAMLong Motor Output GetActiveMotorCommand GetCurrentMotorCommand Set/GetHoldingCurrent Set/GetMotorBias Set/GetMotorCommand Set/GetMotorMode Set/GetMotorType Set/GetOutputMode Set/GetPWMFrequency Set/GetStepRange Operating Mode, Event und Update Control GetActiveOperatingMode MultiUpdate RestoreOperatingMode Set/GetEventAction Set/GetOperatingMode Set/GetUpdateMask Update Profile Generation GetCommandedAcceleration GetCommandedPosition GetCommandedVelocity Set/GetAcceleration Set/GetDeceleration 6 264 265 266 267 267 269 270 271 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 289 291 292 293 294 295 296 297 298 299 300 300 302 303 304 305 306 307 308 309 310 311 312 313 314 315 317 318 319 319 320 321 322 323 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetGearMaster Set/GetGearRatio Set/GetJerk Set/GetPosition Set/GetProfileMode Set/GetStartVelocity Set/GetStopMode Set/GetVelocity Servo Loop Control GetTime Set/GetAxisMode Set/GetLimitSwitchMode Set/GetMotionCompleteMode Set/GetSampleTime Set/GetSettleTime Set/GetSettleWindow Set/GetTrackingWindow Status Register and AxisOut Indicator GetActivityStatus GetAxis_In_Out_Home GetDriveStatus GetEventStatus GetSignalStatus ResetEventStatus Set/GetAxisOutMask Set/GetAxisOutSource Set/GetSignalSense Traces GetTraceCount GetTraceStatus Set/GetTraceMode Set/GetTracePeriod Set/GetTraceStart Set/GetTraceStop Set/GetTraceVariable Miscellaneous GetChecksum GetHostIOError GetProcessorStatus GetVersion HardReset/MCReset NoOperation PortInOutW ReadAnalog ReadIO ReadPLD Set/GetCANMode Set/GetDiagnosticPortMode Set/GetSerialPortMode Set/GetSynchronizationMode SetWatchDog WriteIO Additional MotionScript® Functions BitReset BitSet BitTest CompareActivity CompareEvent CompareSignal Command Overview - ReadIO/WriteIO ReadIO / WriteIO 324 325 326 327 328 329 330 331 332 332 333 334 335 336 338 339 340 341 341 343 344 345 346 347 348 350 352 353 353 354 355 356 357 359 361 363 363 364 365 366 367 370 371 372 373 374 375 376 377 378 379 380 381 381 382 383 384 385 386 387 387 7 © POSYS Motion Control GmbH & Co.KG, 2013 Application Notes Extension Port Connector J6 (POSYS® 700, ISA-Bus) Stall Detection Coordinated Motion with POSYS® Contouring Library Coordinated Moves using POSYS® 900 Motion Controller Digital IO Specification POSYS® 7xx/8xx/8xx-B/9xx Digital Inputs & Outputs Breakpoints Error Code On-Board RAM Limit Switches Microstep Mode Setup Mixed Motor Mode Multiple Cards PCI ScanForPOSYS Programmer's Info Resistor Networks for TTL or Inverted Encoder Signals Serial Interface Status Read Operation Synchronization of Multple Cards (POSYS® 8xx-B/9xx w/ Sync-Feature and 18xx/19xx) Velocity, Acceleration and Jerk Calculation MotionScript® Overview; MotionScript® POSYSDriverXSetup Program Use Examples Variables Reserved Words MotionScript® Utility Functions Other MotionScript® Functions Loop Instructions Writing MotionScript® Functions POSYS® Functions and Procedures POSYS® GUI for Windows 98/ME/2000/XP Introduction The POSYS® GUI Main Window Initialization Description of further Program Functions Controller Status Box Power-On Defaults Box Motor Output Mode Box Filter Parameter Box Amplifier Enable and DACOutputs ON/OFF Output Torque Box Update Periods Box Status Activity/Event/Signal Signal Sense Enter Data Box Commanded and Actual Position Box SSI Feedback Analog Inputs Single Port RAM / Dual Port RAM Trace Mode Setup Menu for Sinusoidal Commutation and Microstepping Mode 8 389 389 390 391 395 396 397 399 403 405 408 411 413 414 416 421 430 431 433 435 437 439 439 440 442 443 445 446 447 447 449 450 451 457 457 458 459 460 460 461 461 462 463 464 464 464 465 466 467 468 469 471 471 474 © POSYS Motion Control GmbH & Co.KG, 2013 9 © POSYS Motion Control GmbH & Co.KG, 2013 User's Manual 10 © POSYS Motion Control GmbH & Co.KG, 2013 Imprint Manual for POSYS® Motion Controller Series 800-B/900/1800/1900 POSYS Motion Control GmbH & Co.KG Schulstr. 8 D-92256 Hahnbach Tel: +49 9664 9546520 Fax: +49 9664 9546521 E-mail: [email protected] Url: http://www.halbeck.com Managing Director: Thomas Halbeck HRA: 3227 Amtsgericht Amberg Revision: 7.3 Datum: 19.06.2013 -o- 11 © POSYS Motion Control GmbH & Co.KG, 2013 Disclaimer, Safety Notice, Warranty Warranty POSYS Motion Control warrants performance to its products to the specifications applicable at the time of sale in accordance with POSYS Motion Control´s standard warranty. Testing and other quality control techniques are utilized to the extent POSYS Motion Control deems necessary to support this warranty. Specific testing of all parameters of each device is not necessarily performed, except those mandated by government requirements. POSYS Motion Control reserves the right to make changes to its products or to discontinue any product or service without notice, and advises customers to obtain the latest version of relevant information to verify, before placing orders, that information being relied on is current and complete. All products sold are subject to the terms and conditions of sale supplied at the time of order acknowledgment, including those pertaining to warranty, patent infringement and limitation of liability. Safety Notice C ertain applications using semiconductor products may involve potential risks of death, personal injury or severe property or environmental damage. Products are not designed, authorized or warranted to be suitable for use in life support devices or systems or other critical applications. Inclusion of POSYS Motion Control products in such applications is understood to be fully at the customer's risk. In order to minimize risks associated with the customer's applications, adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards. Disclaimer POSYS Motion Control assumes no liability for applications assistance or customer product design. servo-Halbeck does not warrant or represent that any license, either express or implified, is granted under any patent right, copyright, mask work right or other intellectual property right of POSYS Motion Control covering or relating to any combination, machine or process in which such products or services might be or are used. POSYS Motion C ontrol's publication of information regarding any third party's products or services does not constitute POSYS Motion Control's approval, warranty or endorsement thereof. -o- 12 © POSYS Motion Control GmbH & Co.KG, 2013 Introduction POSYS® 18xx/19xx Introduction POSYS® 18xx/19xx The POSYS® 18xx/19xx series are advanced motion control systems for brushed and brushless motors, hydraulics and microstepping and stepper motors. The half-size PCI-Bus (POSYS® 19xx) card plug directly into an empty slot of an IBM-PC or compatible computer and the POSYS® 18xx are fully compliant (100%) PC/104 embedded systems modules. Each card is available in typical configurations for 1, 2, 3 or 4 axes for servo and stepper motors (mixed usage or customized configuration). The use of a DSP in conjunction with an ASIC provides excellent motion control with an unsurpassed 16-bit DAC motor command, 10-bit PWM, or pulse and direction output. There are 16 uncommitted input/outputs in addition to the dedicated inputs (± limit switches with a digital noise filter and high speed latch inputs for each axis). Programmable timers could also be used as counters. A digital PID or PI filter with KP, KL, KD, Kvff and IL and the wide 16-bits programming range are additional reasons for this controller´s superior performance. Another performance plus is the high 5 e.g. 10 MHz incremental or 160 MHz absolute encoder input frequency and the 51.2 µs to 76.8 µs sample rate per axis (depends on # of axes on card). The POSYS® series were designed for great flexibility at an affordable price in order to provide answers to complex motion problems and control peripheral equipment using the digital and analog inputs and the programmable outputs. The dedicated outputs for in-position, motion error and amplifier-enable signal to the outside world the actual status of each axis. Software compatibility is guaranteed through all versions (except where noticed). The POSYS® controller is designed for complex motion control applications involving jogging, point-to-point positioning, vector positioning, electronic gearing and multiple move sequences. S-curve profiling eliminates jerk; this is especially useful when moving heavy inertia loads. PMD's Pro-Motion software with a multitude of graphic displays on a PC and hard copy printouts of step responses make it easy for the user to determine the optimum filter parameters for almost any load and system condition. Using PMD's Pro-Motion software lets the user find the right filter by observing the servo systems response on the computer's monitor. -o- 13 © POSYS Motion Control GmbH & Co.KG, 2013 Introduction POSYS® 7xx/8xx-B/9xx Introduction The POSYS® 7xx/8xx-B/9xx series is an advanced motion control system for brush and brushless motors, hydraulics or stepper motors. The half-size ISA-Bus (POSYS® 7xx) and PC I-Bus (POSYS® 9xx) card plug directly into an empty slot of an IBM-PC or compatible computer and the POSYS® 8xx-B is a fully compliant (100%) PC/104 embedded systems module. Each card is available in typical configurations for 2 or 4 axes for servo or stepper motors. The use of a DSP in conjunction with an ASIC provides excellent motion control with an unsurpassed 16-bit DAC motor command, 10-bit PWM, or pulse and direction output. There are 16 uncommitted input/outputs in addition to the dedicated inputs (± limit switches with a digital noise filter and high speed latch inputs for each axis). Programmable timers could also be used as counters. A digital PID or PI filter with KP, KL, KD, Kvff and IL and the wide 16-bits programming range are additional reasons for this controller`s superior performance. Another performance plus is the high 5 MHz incremental or 160 MHz absolute encoder input frequency and the 100 or 150 µsec sample rate per axis. The POSYS® 7xx/8xx-B/9xx series were designed for great flexibility at an affordable price in order to provide answers to complex motion problems and control peripheral equipment using the digital and analog inputs and the programmable outputs. The dedicated outputs for in-position, motion error and amplifier-enable signal to the outside world the actual status of each axis. Software compatibility is guaranteed through all versions (except where noticed). The POSYS® controller is designed for complex motion control applications involving jogging, point-to-point positioning, vector positioning, electronic gearing and multiple move sequences. S-curve profiling eliminates jerk; this is especially useful when moving heavy inertia loads. PMD's Pro-Motion software with a multitude of graphic displays on a PC and hard copy printouts of step responses make it easy for the user to determine the optimum filter parameters for almost any load and system condition. Using PMD's Pro-Motion software lets the user find the right filter by observing the servo systems response on the computer's monitor. -o- 14 © POSYS Motion Control GmbH & Co.KG, 2013 System Overview System Overview Each axis inputs the actual location of the axis using either incremental encoder signals or a parallel-word input device such as an absolute encoder, analog to digital converter, resolver, or laser interferometer. If incremental signals are used, the incoming A and B quadrature data stream is digitally filtered, and then passed on to a high-speed up/down counter. Using the parallel-word interface, a direct binary-encoded position of up to 16 bits is read by the POSYS®. Regardless of the encoder input method, this position information is then used to maintain a 32-bit actual axis position counter. The trajectory generator calculates a new desired position at each cycle time interval, based on the profile modes, and profile parameters programmed by the host, as well as the current state of the system. The cycle time is the rate at which major system parameters are updated such as trajectory, servo compensation (if using axes of the POSYS® in servo mode), and some other functions. For the servo control the output of the trajectory generator is combined with the actual encoder position to calculate a 32-bit position error, which is passed through a PID filter. The resultant value is then output by the POSYS® to an external amplifier using either PWM or DAC signals. For the stepping motor the output of the trajectory generator is converted to pulse and direction signals and then output accordingly. C ommunication to/from the POSYS® motion controllers is accomplished using a parallel-bus microprocessor-style interface, an asynchronous serial port or a CAN 2.0B interface (only POSYS 18xx/19xx). If parallel-bus interface is used there is a further choice of 8-bit wide transfers or 16-bit wide transfers. If serial communication are used then the user selects parameters such as baud rate, number of stop/start bits, and the transfer protocol. The transfer protocol can be either point-to-point or multi-drop. For CAN communications the user selects the desired CAN data bus rate and the CAN node address. C ommunication to/from the POSYS® occurs using short commands sent or received as a sequence of bytes and words. These packets contain an instruction code word that tells the POSYS® what operation is being requested. It might also contain data sent to the motion processor, or data received from the motion processor. These commands are sent by a host microprocessor or host computer that executes a supervisor program, thereby providing overall system control. The POSYS® is designed to function as the motion engine, managing high speed dedicated motion functions such as trajectory generation, safety monitoring, etc. while the host software program provides the overall motion sequences. Other major functions of the POSYS® include: Breakpoints Breakpoints allow various signals, parameters, or conditions to be monitored and compared against a setpoint condition value. Breakpoints can be programmed to automatically adjust the POSYS® behavior when the condition is satisfied. This is useful for functions such as "change the trajectory velocity when a signal goes high". Diagnostic parameter capture Diagnostic parameter capture allows up to four POSYS® parameters to be stored automatically into an on-board RAM chip for later examination by the host. This facility makes it easy to generate very accurate graphs of servo performance, trajectory information, etc., without any real time data collection involvement by the host. Motion error, tracking window, and settle window These functions perform automatic monitoring of the position error (the difference between the desired position and the actual encoder position). They are useful for performing functions such as "stop the axis if a particular position error value is exceeded" or "define the motion as being complete when the axis is within a programmed position error for a programmed amount of time". Limit switch Allows the axis to be automatically stopped if the motion travel is beyond the legal range. Other POSYS® features include analog signal input, software invertible digital signals, and user -defined I/O decoding, to name a few. In the following sections each of these POSYS® functions will be discussed and explained. Most POSYS® functions are common across all motor types. However, some sections of this manual describe features that apply to particular motor characteristics only (servo (brushed or brushless) or stepper motors). For example, servo filtering applies to the POSYS® axes working in servo mode only. If this is the case then these sections will be clearly marked as such. -o- 15 © POSYS Motion Control GmbH & Co.KG, 2013 Models Models equipped with PMD Magellan Chip Set Bus PCI # axes/motor Multiple Motor Motion Control Card individually adjustable for servo motors (incl. internal commutation for DC-brushless), microstepping and stepper motors Multiple Motor Motion Control Card individually adjustable for servo motors (w/o internal commutation), and stepper motors OBSOLETE! Stepper Motor Card 2 1922 1902 (obsolete) 1952 4 1924 1904 (obsolete) 1954 Multiple Motor Motion Control Card individually adjustable for servo motors (incl. internal commutation for DC-brushless), microstepping and stepper motors Multiple Motor Motion Control Card individually adjustable for servo motors (w/o internal commutation), and stepper motors OBSOLETE! Stepper Motor Card 2 1822 1802 (obsolete) 1852 4 1824 1804 (obsolete) 1854 Bus PC/104 # axes/motor Models equipped with PMD Navigator Chip Set* Bus ISA PC/104 # axes/Motor Brushed Servo (only on request) Stepper (only on request) Brushed Servo Brushless Servo w/ brushless drive Stepper Combination of Brushed and Brushless Servo and microstepping w/wo SYNC IO OBSOLETE! 2 702 752 802-B 802-B 852-B 872/882 (obsolete) 4 704 754 804-B 804-B 854-B 874/884 (obsolete) Bus PCI # axes/Motor Brushed Servo Brushless Servo w/ brushless drives Stepper Combination of Brushed and Brushless Servo and microstepping w/wo SYNC IO OBSOLETE! 2 902 902 952 972/982 (obsolete) 4 904 904 954 974/984 (obsolete) *POSYS® 7xx/8xx/8xx-B/9xx/180x/185x/190x/195x -Versions for Brushed Servo can be used with brushless motors when using appropriate type of amplifiers (with Hall Sensor Inputs for commutation) -Versions for Stepper Motors can be used with microstepping drivers that take the pulse & direction signal. Multiple Motor Motion Control Cards Multiple Motor Motion Control Cards are defined to work with following motor types, individually configurable per axis: 16 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Command Signal Description DAC ±10V analog command signal for brushed and/or brushless servo motors with external commutation, or 2- and 3-phase brushless servo motors with on-board commutation PWM PWM sign/magnitude Signal for brushed and brushless servo motors with external commutation, or 2- and 3-phase brushless servo motors with on-board commutation Pulse & Direction Pulse & Direction for stepper motors (only Magellan equipped versions) Microstepping PWM or DAC command output on 2 phases for microstepping motors Each axis is individually configurable for use with one of the following motor types: Standard Servo Motor with ±10 Volt Command Signal or PWM (sign/magnitude or 50/50) The POSYS® achieve superior precision through use of a ±10-Volt, 16-bit motor command output DAC and a sophisticated, scalable PID filter that features velocity and acceleration feedforward and BIAS, also integration limit, settable derivative sampling time and output motor command limiting. This configuration is also used to drive brushless servo motors if the electrical commutation is accomplished externally (e.g. brushless amplifier). The standard configuration is for use with ±10 Volt 16-bit command output for servo motors. How to configure the various axes for use with one of the following motor types is described in the Programmer's Reference Manual. This type of controller can also be used to drive DC Brushless servo motors so far you are using amplifiers which offer the ability of internally generating the required commutation signals for the motors. This feature is available on the POSYS® 70x/80x-B/90x/182x/192x. Brushless Servo Motor with ±10 Volt Command Signal or PWM (sign/magnitude or 50/50) The difference to the standard servo motor configuration is that the user needs an amplifier that generates a sinusoidal commutation signal. The new POSYS® PCI-Bus and PC/104 controller are now available with commutation on-board as a standard feature. This feature is only available for the versions POSYS® 182x/192x. Stepper Motor with Step and Direction Signals The POSYS® can control stepper motors. In this mode, the controller provides two signals to connect to the stepper motor: Step and Direction. For stepper motor operation, the controller does not require an encoder, although the controller provides encoder feedback monitoring as a standard feature, and operates in open loop mode. The max. output frequency is 4,98 MHz. The axis of the POSYS® being run in stepper mode provide the same features as the axis of the POSYS® being run in servo mode, but without PID filter capabilities and the SYNC-function is deactivated. This feature is available for the versions POSYS® 75x/85x-B/95x/18xx/19xx. Microstepping with 90°/120° Shifted Signal Output for 2- and 3-Phase Stepping Motors The POSYS® supports 2- and 3-phase stepping motors, providing a programmable microstepping rate from 1 to 256 microsteps per full step and outputs a PWM or DAC-compatible motor command signal to directly drive the windings of a stepping motor. This feature is only available for the versions POSYS® 182x/192x. Stepper Motor Card Motor Command Signal Description Pulse & Direction Pulse & Direction signal for stepper motors The stepper motor card is a cost-reduced version of the multiple motor motion controller card and is designed for cost-sensitive applications where only stepper motors are required. The usage of microstepping drivers allows precise driving of stepper motors with this low-cost but high-end and high-functioned stepper motor controller card. This featuer is available on the following models: POSYS® 75x/85x-B/95x/18xx/19xx. Customized Cards C ustomization of the Multiple Motor Motion Controller Card is possible to accomplish customer´s needs for a high-end 17 © POSYS Motion Control GmbH & Co.KG, 2013 product, but at lower cost. If desired it is possible to customize the card to work on and fit into any system. Applications where for example 2 stepper motors and 2 brushed servo motors are needed, the multiple motor motion controller card can be pre-configured for use with only these type of motors. Not needed components on the card help reduce costs and help you save money. If you wish more information, then please contact us directly. Features The following table shows the main differences between the two versions of the Multiple Motor Motion Controller Card POSYS® 180x/190x standard motion controller, the POSYS® 182x/192x with internal commutation for DC-Brushless servo motors and direct microstepping output and the Stepper Motor Controller Card POSYS® 185x/195x: Specification POSYS® 182x/192x POSYS® 180x/190x POSYS® 185x/195x # of axes 2, 4 2, 4 2, 4 Supported motor versions Servo (incl. internal commutation for DC brushless), Microstepping, Pulse & Direction Servo (w/o internal commutation for DC brushless), Pulse & Direction Pulse & Direction Output format PWM, DAC , Pulse & Direction PWM, DAC , Pulse & Direction Pulse & Direction Parallel communication + + + Serial communication + + + C AN 2.0B communication + + + Incremental encoder input + + + Parallel word device input + + + Index & Home input + + + Position capture + + + Directional limit switches + + + PWM output + + Parallel DAC output + + Pulse & Direction output + + + Trapezoidal profiling + + + Velocity profiling + + + S-curve profiling + + + Electronic Gearing + + + On-the-Fly changes of position, acceleration, speed, PID filter parameters + + PID servo control + + Dual encoder loop + + Derivative sampling time + + Feedforward (accel. and vel.) + + Dual Bi-Quad output filter + + Data trace / Diagnostic + + + Profile-Upload + + + Motion error detection + + + (requires encoder) Axis settled indicator + + + (requires encoder) Analog input (8x) + + + Programmable bit output + + + Software-invertible signals + + + User-defined I/O + + + On-board RAM support + + + 18 © POSYS Motion Control GmbH & Co.KG, 2013 Specification POSYS® 182x/192x POSYS® 180x/190x (single port RAM = option; dual port RAM = default) (single port RAM = default; (single port RAM = dual port RAM = option) default; dual port RAM = option) POSYS® 185x/195x Multiple card synchronization support + + (except if axis is being used (except if axis is being used in stepper mode) in stepper mode) Watchdog Timer + + + Interrupt + + + POSYS 7xx/8xx-B/9xx Available configurations (ISA, PC /104, PC I; 4 Axes: Servo or Stepper) ISA: 704, 754 (on request only) PC /104: 804-B, 854-B PC I: 904, 954 2 Axes (on request only; minimum order amount required): ISA: 702, 752 PC /104: 802-B, 852-B PC I: 902, 952 Operation modes C losed loop (torque demand control; PID controlled) Open loop (user-specified, programmable register) C ommunication modes 16/16 parallel (16 bit external parallel bus with 16 bit internal command word size) Position range -2,147,483,648 to +2,147,483,647 counts Velocity range -32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample Acceleration/deceleration range (positive and -32,768 to +32,767 counts/sample² with a resolution of 1/65,536 negative) counts/sample² Jerk range 0 to ½ counts/sample³, with a resolution of 1/4,294,967,296 counts/sample³ Profile modes S-curve point-to-pointramp (velocity, acceleration/deceleration, Smoothing and position parameters); change of parameters "on-the-fly" not possible in this mode Trapezoidal point-to-point ramp (velocity, acceleration/deceleration, position and PID parameters); all parameters "on-the-fly" changeable during motion Electronic Gear(actual or commanded positioning selectable to move one or more axes with upto ±16 bit resolution. (Master and Slave Axes and Gear Ratio parameters) External Profile Mode:allows the usage of profile data previously generated by the host computer to be saved in the controller's memory. Therefore low host intervention for highly complex profile movements. This memory can be used in parallel for gathering data for diagnostic, maintenance and to optimize performance. OPTION: Trapezoidal point-to-point ramp with Smoothing Factor ("on-the-fly" changes of all parameters possible and s-curve similar profiling) Electronic Gear range -32,768 to +32,767 with a resolution of 1/65,536 (negative and positive direction) Filter modes Scalable PID (not for stepper motor versions) + Velocity feedforward + Acceleration feedforward + Bias. Integrationlimit, adjustable Derivative Sampling Time and limitated torque demand output Filter parameter resolution 16 Bit (Servo) Motion error detection Motion Error (32-Bit) can cause automatic (with abrupt stop or stop with ramp) stop or can be ignored. Tracking Window (allows setting of flags if an axis exceeds a defined programmed positioning window for a defined time after end of motion Output signals Servo: Stepper: DAC (16 Bit) ±10V output PWM (10 Bit Resolution @ 20 Khz) Pulse & Direction Max. Encoder rate Incremental (up to 4,98 Mhz.) Servo loop update rate 100 µsec nominal (exact time is 102,4 µsec) per activated Axis (Servo versions) 19 © POSYS Motion Control GmbH & Co.KG, 2013 150 µsec. nominal (exact time is 153.6 µsec.) per activated Axis (Stepper versions) Limit Switches 2 per Axis: 1 for each direction Position C apture Triggers 2 per Axis: Index and Home Other digital signals (per axis) 1 AxisIn Signal per Axis, 1 AxisOut Signal per Axis Software invertable signals Encoder A/A, Encoder B/B¯, Index I/I¯, Home, AxisIn, AxisOut, PositiveLimit, NegativeLimit (all individually programmable per Axis) Analog input 8 x 10-Bit analog inputs Trace Modes once continuously Max. # of Trace variables usable at the same 4 time Number of available Trace variables 27 Number of commands 118-168 (dependant on motor type and card version) I/Os 8 digital inputs / TTL, active low 8 digital outputs / TTL, active low 8 analog inputs special profile combinations Trapezoidal mode with Electronic Gearing S-curve mode with Electronic Gearing OPTION: Trapezoidal with Electronic Gearing and Smoothing Factor (eliminates overshooting, "on-the-fly" changes of Profile parameters) Master/Slave change Automatic Master/Slave change possible if programmed in host software Motor C heck programmable max. motion error detection with or without automatic motor shutdown „On the fly“ control of profile and filter parameters with Pre-Load and individual or simultaneous update of the axes power supply 4.80V to 5.25V; 1A -o- 20 © POSYS Motion Control GmbH & Co.KG, 2013 Changes to previous manuals Changes to previous manuals With the manual released on August 25 2004 we now start issuing all changes that affect the use of the POSYS® or software command structure. These changes can be found on this page in chronicle order of their change. 25.8.2004 C learInterrupt Argument AXIS added for use with POSYS® when used in C AN 2.0B mode. 25.8.2004 GetActualVelocity Description more clearly explained 26.8.2004 GetInterruptAxis Encoding changed 26.8.2004 GetPositionError Addition to description 26.8.2004 GetVersion Description changed 26.8.2004 ReadAnalog Description corrected 26.8.2004 Reset IMPORTANT NOTIC E: Warning Note added 26.8.2004 Set/GetC ommutationMode Instance for mode added: microstepping; Description adjusted 30.08.2004 Set/GetIntegrationLimit Returned data/Type corrected from signed 32 bits to unsigned 32 bits 30.08.2004 Set/GetSampleTime values added for POSYS® 7xx, 8xx, 8xx-B and 9xx 30.08.2004 Set/GetSerialPortMode Restrictions added for POSYS® 8xx-B and 9xx 30.08.2004 Set/GetSettleWindow Values added for POSYS® 18xx/19xx 30.08.2004 Set/GetTracePeriod values added for POSYS® 18xx/19xx 30.08.2004 Set/GetTraceStop Examples added 28.09.2004 Analog Inputs 800-B version The description showed that a second connector for analog inputs is available. This is not correct. The 800-B version has only 1 possibility for connecting analog inputs. (J1 and J7). J9 does not exist on the 800-B version card. 28.09.2004 Jumper description changed With the exception of the jumper selection for the interrupt for POSYS® 800-B no jumpers are available on the 800-B card. This was described incorrectly in the "User settable components" section of the 800-B. 08.10.2004 Jumper description changed With the exception of the jumper selection for the interrupt for POSYS® 1800 no jumpers are available on the 1800 card. This was described incorrectly in the "User settable components" section of the 1800. 08.10.2004 Description added for POSYS® 1800 In the "User settable components" section the description for " serial interface, C AN Interface, Motor Mode Jumpers and SYNC I/O were added and corrected. 29.10.2004 Description added for POSYS® 1800 In the "User settable components" section the descriptions for the connectors, card base address setting were added. The pinout for the extension connector and extended extension connector were added. The layout pictures with placement of switches, jumpers (interrupt selection) and connectors were added (front & back side). 29.10.2004 Description added for POSYS® 1900 In the "User settable components" section the pinouts for the extension connector and extended extension connector were added. 29.10.2004 Description added for POSYS® 900 In the "User settable components" section the pinout for the extension connector was added. 29.10.2004 Description added for POSYS® 800-B In the "User settable components" section the pinout for the extension connector was added. 29.10.2004 Description added for POSYS® 800 In the "User settable components" section the pinout for the extension connector was added. 29.10.2004 Description added for POSYS® 700 In the "User settable components" section the pinout for the extension connector was added. 29.10.2004 Description changed for C AN In the sections describing the usage with C AN the explanation interface (POSYS® 1800, was C ANOpen. This was wrong and has been corrected to 1900) C AN 2.0B. 21 © POSYS Motion Control GmbH & Co.KG, 2013 4.11.2004 Dimensions of POSYS® 1800 added 4.11.2004 Memory base address setting The dip switch (SW2) base address setting for the POSYS® for POSYS® 1800 when 18xx when equipped with dual port RAM was added equipped with dual port RAM 04.11.2004 Analog pinout description to be added to the POSYS® 800-B, 900, 1800, 1900 The analog input pinout description for the POSYS® 800-B, 900, 1800 and 1900 has been corrected respectively added to the manual 24.11.2004 Safety instructions to be added Safety Notice, Warranty and Disclaimer added 1.4.2005 Program description for the GUI version of the POSYS® test program for Windows added 4.11.2004 Serial and C AN 2.0B Setup and connection information added for POSYS® 8xx-B/18xx/9xx/19xx 27.1.2005 C hanged jumper description The jumper configuration was referring to the wrong for motor configuration jumpers. This was corrected. Instead of JP2 for stepper (POSYS 18xx) motor configuration it must state JP1 and instead of JP1 for servo and microstepping motors it must state JP2. 01.03.2005 Programmer's Info Update and corrections on information about addressing differences of the POSYS® 7xx/8xx and 8xx-B 1.4.2005 Technical Note: setting of resistor networks for encoders This section describes which pins are needed or not needed when using TTL incremental encoders or incremental encoders with inverted signals 15.4.2005 User settable components for Exact information of placement of jumpers for IRQ setting POSYS® 700/800/800-B/ added 1800 10.5.2005 User settable components for Descrition for usage of POSYS® 1800 with Dual Port RAM on POSYS® 1800 the ISA-Bus added. 17.6.2005 Dual Port RAM Mode activation/deactivation 17.6.2005 List of all POSYS® commandsA list of all POSYS® commands is now also available right at the beginning of the Prgrammer's manual The dual Port RAM on the POSYS® 1800 needs to be activated or can be deactivated before access can take place 5.7.2005: C hange to Version 2.0. The version 2.0 of the manual and higher reflect the POSYS® software and hardware changes in regards to the new driver (WinDriver) which is now the actual driver for Windows and Linux based operating systems. 5.7.2005 C hange of all POSYS® cards All POSYS® motion controllers now use the same driver to the same driver module designed for the bus (ISA or PC I) and operating (WinDriver) system (Windows 98/2000/XP and Linux) they are used on. 5.7.2005 C hange of card initialization 5.7.2005 C ommands added for access Following commands were added for easier access to Dual to Dual Port RAM Port RAM (enable, disable, read and write) 26.7.2005 C ommandSet/GetProfileKp added The commandSet/GetProfileKpis an optional command to smooth trapezoidal accel./decel. motion down to a s-curve similar trajectory with the possibility to change all parameters like velocity, accel./decel., position "on-the-fly" which is not possible in pure s-curve profile mode. 17.08.2005 OpenDevice/C loseDevice The english manual was not completed correctly in the version 2.1 from 27.07.2005 12.10.2005 Analog Inputs C orrections made to definition (reference voltage) and pinout positions of analog inputs. see various models for details. 28.10.2005 Sample Description of setting The sample setting of the memory address setting for the of DPRAM address for DPRAM of the POSYS® 1800 was corrected. It was showing POSYS® 1800 corrected incorrectly the opposite setting for the address D0000. This effected only the english manual. 09.11.2005 Usage of On-Board Dual Port Some information added for use of DPRAM with POSYS® RAM with POSYS® 1800 1800 PC /104 motion controllers 09.11.2005 Single Port Ram / Dual Port RAM Due to the change of the driver the card initialization procedure changes, too. This effects all ISA-Bus based cards which no longer need the command EnableIO. The command OpenDevice as previously only needed for the PC I-based cards is now also the same (except parameters) for the ISA-based cards. For details please refer to the command OpenDevice/C loseDevice POSYS® GUI program for POSYS® 1800 translation finalized 22 © POSYS Motion Control GmbH & Co.KG, 2013 07.04.2006 minor formatting adjustmentsjust some minor formatting adjustments for better printout with PDF and HTMLHELP. 11.04.2006 Linux Driver and Software Installation Description for compiling and installing the software and drivers for PC I-Bus based POSYS® and PC 104-Bus based POSYS® added 25.7.2006 HardReset/MC Reset Failure in the description which was corrected 9.10.2006 Status Read Operation Technical Note Addendum 17.01.2007 GetAxis_In_Out_Home Argument description and Instance were corrected 17.01.2007 Description of the variable "CardHandle" for use with MotionScript changed The description was corrected for usage with MotionScript® programming language 25.1.2007 Numbering of Breakpoint The numbering of the value of the used Breakpoint in the Breakpoint examples for breakpointID differed from the value described in the command section. This was corrected. 30.1.2007 Activity Status Register In the Activity Status Register the reserved Bit 6 and Axis-settled Bit 7 was not correctly defined for POSYS 700/800/800-B/900 in the User's Guide. The command description in the Programmer's manual allthough was defined correctly. 13.2.2007 Numbering of connection scheme changed for Option C ON The numbering scheme for the connections to the Option C ON for the POSYS800-B, 1800, 900 and 1900 series was changed for better regognition of correct placement. 27.4.2007 Added information to section The numbering of the pinout for the 68-position connector for OPTION C ON the POSYS 900 and 1900 series was confusing. Additional information was added to clarify the pinout description and numbering. Please read the information provided for OPTION C ON AND 900/1900 which are different, depending on if you use the IO68 from POSYS Motion C ontrol or if you build your own connector. 23.7.2007 C orrection on SampleTime forThe SampleTime for the single axis/dual chip version of the MC58120/MC55120 Magellan motion control chip was incorrect. The correct SampleTime is 102.4 µs and NOT as indicated 51.2 µs. This also affects the POSYS® 18xx/19xx when equipped with single axis/dual chip Magellan chip set OR if the POSYS® 18xx/19xx is used in such a way that the axes 2-4 have been deactivated. 24.7.2007 Set/GetBufferStart Set/GetBufferStart had an incorrect BufferStart value for the POSYS® 1800/1900 boards indicating the same value as for the POSYS® 700/800/800-B/900 boards. This has been corrected. 05.10.2007 InitializePOSYS This command is only needed together with the old Kithara-Driver which is no longer supported. The information passed on with the command are all located in the commandOpenDevice 24.1.2008 Added connector description The description for the output signals of J12 for the POSYS J12 for POSYS 1800 series 1800 series was added; depending on the type of motor and type of signal you wish to use this connector provides the possibility for connecting inverted PWM or Pulse & Direction signals. 27.2.2008 Jumper description corrected On the page of the jumper description for correct motor output mode for the POSYS 1900 series the wrong jumper positions were defined. The opposite was correct. The description is now correct. 01.09.2008 Piezo (C eramic) Motor Functions This chapter was added to describe the custom feature on how to tune Piezo Motors being controlled like servo motors. In addition on this page you will also find all commands related to this topic. 16.10.2008 Hardware & Treiber Installation: Rapid Driver New drivers for POSYS® 800-B, 1800, 900 and 1900. This chapter describes the nstallation procedure 1.11.2008 Information added for Firmware-based >2.x POSYS boards 1800/1900 The POSYS 1800/1900 series are now available with Firmware version >2.x. With this firmware additional commands have been added or existing commands were expanded with additional parameters. The commands are: GetActiveMotorCommand (new) GetActiveOperatingMode (new) GetDriveStatus (new) 23 © POSYS Motion Control GmbH & Co.KG, 2013 GetInstructionError (same as GetHostIOError, but some parameters added) GetPositionLoopValue (new) HardReset (added variables to be resetted) ResetEventStatus (variable added) RestoreOperatingMode (new) Set/GetAxisOutMask (new) Set/GetBreakpoint (added variables) Set/GetBreakpointUpdateMask (new) Set/GetBreakpointValue (add variable) Set/GetEventAction (new) Set/GetHoldingCurrent (new) Set/GetOperatingMode (new) Set/GetPositionLoop (new) Set/GetSampleTime (different values for >2.x) Set/GetUpdateMask (new) 19.11.2008 SetEventAction Description added SetEventAction was not yet added to the Usability Section of the manual. This was corrected 12.03.2009 Programmer's Info The English manual did not contain complete information. This was corrected. 21.05.2009 External Profile Mode The English section describing the usage of this mode was not translated. This is now done 08.12.2009 Set/GetEncoderSource Added additional explanation for parameter loopback which is not available on POSYS® 85x-B and 95x series 05.02.2010 IO700/800-1 Description corrected regarding the jumper position for internal and external power supply 26.07.2010 GP CON Steckverbinder C orrected the Tyco/AMP model numbers which can be used. 12.01.2012 C hanged email addresses and Revision: 7.0 company to POSYS Motion C ontrol 12.03.2012 Some corrections done regarding software packages and availability of functions Support for circular interpolation only as option and not available for all models. Tuning software available using PMD's Pro-Motion software. 01.06.2013 New Software Tool for PCI based boards Software changed from WinDriver model with Delphi to POSYS-based driver and C/C++ source; refer to integrated help file regarding usage. Supports 32 Bit and 64 Bit Windows operating systems (Windows 8 not tested) -o- 24 © POSYS Motion Control GmbH & Co.KG, 2013 Hardware 25 © POSYS Motion Control GmbH & Co.KG, 2013 Hardware & Driver Installation 26 © POSYS Motion Control GmbH & Co.KG, 2013 Hardware & Driver Installation: WinDriver Hardware and Driver Installation New Installation procedure after change to WinDriver. Please read carefully. If you require a previous driver (Kithara) then please contact servo-Halbeck GmbH & Co.KG for assistance. Turn off the computer, do not install PCI boards while the computer is turned on. The boards and computer could be damaged. The boards will definitely not be recognized by the system. PC I bus boards must be installed into a PCI slot, ISA bus boards must be installed into an ISA slot. POSYS® 800/800B/1800 (PC-104 bus) boards can be installed into an ISA slot using a PC-104 to ISA bus converter board. This is only sensible for testing in a conventional PC or IPC. PCI Bus Windows After the computer has been turned off install the POSYS® 900/1900 series board into an empty PCI slot of the computer, secure the slot bracket and turn the computer back on. Once the operating system (Windows 95/98/ME, NT/2000/XP) has initialized the new hardware will be found (plug & pay) and you will be requested for the location of the driver. Select the location of the driver and inf file. The files will be automatically installed into the proper directories depending on the installed operating system. If the installation was successful the installed drivers and boards will be available for verification by going to the system and then to device manager. The installed board and drivers are listed under Multifunction Adaptor. README.TXT POSYS900WD.INF POSYS1900WD.INF WINDRVR6.SYS WINDRVR6.INF WDREG16.EXE WDREG.EXE WDREG_GUI.EXE WINDRVR6.VXD WD_UTILS.DLL 1900_XP.BAT Important Installation Information for installing on different Windows operating systems. PLEASE READ!!! for the POSYS® 900 series for the POSYS® 1900 series Driver Inf-file for Windows 95/98/ME for Windows NT/2000/XP for Windows (all versions) for Windows 95/98/ME for Windows (all versions) for Windows (all versions) If you wish to use the sample program POSYS900V4.EXE or POSYS1900V4.EXE it will be necessary to register certain OCX files to the system. Please go to the sub-directory /OCX in the /WD Driver Setup directory and run the batch-file "registerOCX.bat". Depending on the type of Windows operating system you may be requested to confirm two pop-up windows or not. Linux For the PCI-Bus based cards 2 seperate zip-files are supplied put together to a single zip-file for download. The file "REDIST.ZIP" contains all necessary files for the driver installation. The file "DISTRIBUTE.ZIP" contains all the files, including source code, to implement in to your own application. It also contains a sample console program, which can be started immediately if the environment is the same as the one on which this version was compiled (SuSE Linux 10.0). Otherwise it needs to be re-compiled for use in the new environment. For this purpose the makefile is supplied too. It is also mandatory to have the kernel sources and the GNU C/C++ compiler installed. Driver Installation: open a terminal window and login as root or with su passwd. afterwards execute sh ./configure or just ./configure. The makefile for the compilation of the driver file is made. If everything ran well until now then the driver was successfully loaded and communication with the POSYS® can take decompress the zip-file to the/usr/local directory. A new directory will be made with name /WinDriver. C D to the directory/usr/local/WinDriver/redistand check if the filesconfigure, setup_inst_dir and wdreg are all executable. If not execute the command chmod file 755 If no errors occurred then execute make and make install to install the driver. The driver should finally be loaded which can be checked by executing lsmod. A file namedwindrvr6 should be listed within all the loaded modules 27 © POSYS Motion Control GmbH & Co.KG, 2013 place In the boot script a new entry should be made to load the driver automatically when booting the computer Software Installation: Decompress the ZIP-fileDistribute to the subdirectory /usr/local/POSYS. In the subdirectory /source all source files can be found to implement in your own application. The source for the driver can not be supplied because of limited licenceing rights. In the subdirectory /test1900 is a precompiled console program for the POSYS 1900 series. Execute make and make install to recompile a version which can run on your computer. In the subdirectory /test900 is a precompiled console program for the POSYS 900 series. Execute make and make install to recompile a version which can run on your computer. The subdirectory /include contains all include files. You will see additional subdirectories now listed as following: /source /test1900 /test900 /include /object /module The subdirectory/object contains all object files ISA/PC-104 Bus Windows Go to the directory /WD Driver Setup and run the program WDREG_GUI.EXE as required for your Windows operating system (read the README.TXT). This will install all of the required driver files and driver DLLs into the proper directories of Windows 95/98/ME or NT/2000/XP. It will probably be necessary to restart the computer after driver installation. For the ISA bus there will be no check for address conflicts. As the next step the utility POSYSDriverXSetup should be run. It will allow the entry of base addresses and interrupt numbers for up to 16 installed motion control cards. README.TXT WINDRVR6.SYS WINDRVR6.INF WDREG16.EXE WDREG.EXE WDREG_GUI.EXE WINDRVR6.VXD WD_UTILS.DLL Important Installation Information for installing on different Windows operating systems. PLEASE READ!!! Driver Inf-file for Windows 95/98/ME for Windows NT/2000/XP for Windows (all versions) for Windows 95/98/ME for Windows (all versions) If you wish to use the sample program POSYS1800V4.EXE/POSYS800BV4.EXE or POSYS700V4.EXE it will be necessary to register certain OCX files to the system. Please go to the sub-directory /OCX in the /WD Driver Setup directory and run the batch-file "registerOCX.bat". Depending on the type of Windows operating system you may be requested to confirm two pop-up windows or not. Linux The Posys1800 is a console program for Linux distributions. It cannot be guaranteed to work with all Linux operating systems available. It has been tested with Linux SuSE 10.0. The program requires a prior installation of the WinDriver windrvr6 module. This requiresroot privileges. The test program includes all source files and is well documented so that the developer can adapt it to his needs. The program supports up to 3 installed Posys PC -104 boards but could be extended for more. Please follow all steps carefully to install the program and the driver. C opy all files to the directory /usr/local. Make sure that the kernel sources and the gnu (g++) compiler are installed on the target system. C hange to the folder WinDriver/redist in the directory usr/local/. Open a terminal window and execute the command ./configure. 28 © POSYS Motion Control GmbH & Co.KG, 2013 If configure finishes without reporting an error execute the command make install. If the POSYS board has not yet been installed, make sure to turn off the computer. Check the IO address on the board and set it to your desired address. The default address set on the board is 0x300 (768 decimal). This is normally a safe address to use but make sure that it is not also used by another option board. If the computer is powered up again the windrvr6 module will need to be inserted again. Issue the command ./wdreg windrvr6 no in the folder /usr/local/WinDriver/redist. Make sure to also use the parameter no. Now switch to the folder /posys_pc104/linux/Release_Build and execute the command ./Posys1800. This will start the console program if all steps were exited without errors. The program will start up and ask for inputs by the user: a.) Enter the number of POSYS controllers installed (1 or 2) b.) Enter the base IO address of the POSYS controller as a Hex number. It must match the setting of DIP switch on the board. c.) Enter the base address of the dual port RAM (only valid for the POSYS 1800), the POSYS 800B uses single port RAM. d.) Enter the Interrupt number to be used. It must match the jumper setting on the board and must not be used by another option board. Please refer to the POSYS manual for the jumper settings. Once all of the data has been entered the driver will start and the board will be initialized and all of the POSYS functions can be exercised. If an error was detected a message will be displayed and the program will be terminated. If no error is reported the driver will be installed. A successful installation can be checked by executing the command lsmod. It will list all installed modules and should also list windrvr6. The program was originally developed using Borland ’s C ++BuilderX development system for Linux. It was compiled with the gnu compiler. A makefile is also provided in the folder /usr/local/posys_pc104 . For re-compilation the gnu compiler must be installed on the target system. DOS For DOS no driver installation is required. IO and memory can be addressed directly from C, Pascal or Basic. -o- 29 © POSYS Motion Control GmbH & Co.KG, 2013 Hardware & Driver Installation: Rapid Driver Hardware and Driver Installation New Installation procedure after change to WinDriver. Please read carefully. If you require a previous driver (Kithara, WinDriver) then please contact servo-Halbeck GmbH & Co.KG for assistance. Turn off the computer, do not install PCI boards while the computer is turned on. The boards and computer could be damaged. The boards will definitely not be recognized by the system. PC I bus boards must be installed into a PCI slot, ISA bus boards must be installed into an ISA slot. POSYS® 800B/1800 (PC-104 bus) boards can be installed into an ISA slot using a PC-104 to ISA bus converter board. This is only sensible for testing in a conventional PC or IPC. PCI Bus Windows After the computer has been turned off install the POSYS® 900/1900 series board into an empty PCI slot of the computer, secure the slot bracket and turn the computer back on. Once the operating system (Windows 98/ME, 2000/XP) has initialized the new hardware will be found (plug & pay) and you will be requested for the location of the driver. Select the location of the driver and inf file. The files will be automatically installed into the proper directories depending on the installed operating system. If the installation was successful the installed drivers and boards will be available for verification by going to the system and then to device manager. The installed board and drivers are listed under Multifunction Adaptor. POSYS900WD.INF POSYS1900WD.INF RapidIsa.SYS POSYS900.INF POSYS1900.INF RdInstall98.EXE RdInstall.EXE RdInst16.DLL RapidInstaller32.dll RapidIsa.dll ReadMe.rtf / ReadMe.txt for POSYS® 900 Series for POSYS® 1900 Series Driver Inf-file for POSYS 900 Inf-file for POSYS 1900 for Windows 95/98/ME for Windows 2000/XP library library library installation description If you wish to use the sample program POSYS900V4.EXE or POSYS1900V4.EXE it will be necessary to register certain OCX files to the system. Please go to the sub-directory /OCX in the /WD Driver Setup directory and run the batch-file "registerOCX.bat". Depending on the type of Windows operating system you may be requested to confirm two pop-up windows or not. Linux (please use WinDriver) ISA/PC-104 Bus Windows Go to the directory /WD Driver Setup and run the program WDREG_GUI.EXE as required for your Windows operating system (read the README.TXT). This will install all of the required driver files and driver DLLs into the proper directories of Windows 95/98/ME or NT/2000/XP. It will probably be necessary to restart the computer after driver installation. For the ISA bus there will be no check for address conflicts. As the next step the utility POSYSDriverXSetup should be run. It will allow the entry of base addresses and interrupt numbers for up to 16 installed motion control cards. RapidIsa.SYS POSYS800.INF POSYS1800.INF RdInstall98.EXE RdInstall.EXE RdInst16.DLL RapidInstaller32.dll RapidIsa.dll ReadMe.rtf / ReadMe.txt Driver Inf-file for POSYS 800-B Inf-file for POSYS 1800 for Windows 95/98/ME for Windows 2000/XP library library library installation description 30 © POSYS Motion Control GmbH & Co.KG, 2013 If you wish to use the sample program POSYS1800V4.EXE/POSYS800BV4.EXE or POSYS700V4.EXE it will be necessary to register certain OCX files to the system. Please go to the sub-directory /OCX in the /WD Driver Setup directory and run the batch-file "registerOCX.bat". Depending on the type of Windows operating system you may be requested to confirm two pop-up windows or not. Linux (please use WinDriver) -o- 31 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS® Versions Specifications 32 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS® 8xx-B Versions 8xx-B List of available versions POSYS® 80x-B for brushed servo motors. The POSYS® 80x-B can be used as well for brushless servo motors when the appropriate type of amplifier is used. Model # of Axes POSYS® 802-B 2 POSYS® 804-B 4 POSYS® 85x-B for stepper motors The POSYS® 85x-B can be used as well for microstepping motors when the appropriate type of driver is used. Model # of Axes POSYS® 852-B 2 POSYS® 854-B 4 All versions are also available for extended temperature range (-40° - +85°C ). Not in stock. Please add for order "I" to the model number (for example: 804-BI). -oUser settable components; POSYS® 8xx-B User settable Components; POSYS® 8xx-B The figures below show the locations of the principal components of the POSYS® 8xx-B cards. The component side of the board is shown from both sides. All component locations in this manual refer to this orientation (top or bottom). The important user-accessible components of the card are: Resistor Packs RS1, RS2, and RS3 set the Encoder termination Dip switch and jumper settings Mode jumper allows the serial communication port mode to be selected SYNC I/O for multiple card synchronization 33 © POSYS Motion Control GmbH & Co.KG, 2013 picture shows: POSYS 8xx-B Resistor Packs RS1, RS2, RS3 The following table shows the function of the RS1-RS3 resistor packs Item What to set Description Resistor packs - RS1, RS2, RS3 Installed This is the default setting of resistor packs RS1-RS3 If you are using differential connections leave these resistor packs installed. Remove if you are not using differential encoders If you are using single-ended encoder connections, remove the resistor packs. 34 © POSYS Motion Control GmbH & Co.KG, 2013 Mode Jumper JP4 The following table describes the meaning of the Mode Jumper. Actually it is not necessary anymore to change this jumper for use with either communication mode. Both methods work on either position, PC /104 (parallel) and serial. This jumper is only on the PC /104 B-series, 18xx and PC I cards. Item What to set Description Mode Jumper - JP4 1-2 This is the default setting of mode jumper Sets PC /104 bus to be main communications channel. 2-3 Serial port is primary communication channel If TTL as well as oncoders with inverted signals are going to be used then please look-up page Resistor Networks for TTL or inverted Encoder Signalsfor details on how to setup the resistor networks for mixed usage. Dip Switches and Jumper Settings The POSYS® 8xx-B have dip switches for address settings and jumpers for other certain purposes. These settings are described in the following tables: Item How to set Description SW1 S1-1 8 (hex) S1-2 10 (hex) S1-3 20 (hex) S1-4 40 (hex) S1-5 80 (hex) S1-6 100 (hex) S1-7 200 (hex) S1-8 400 (hex) 300 (hex) is the default base address Switch SW1 sets the card address on the ISA bus. The selected card address is the additive value of the switch settings indicated to the left. Moving the switch to the off position adds that value to the final base address. For example to select a base address of 340 (hex), the following switch settings would be selected: S1-1 on S1-2 on S1-3 on S1-4 off S1-5 on S1-6 off S1-7 off S1-8 on The card address selected using S1 must match the address expected by your software. In addition, this address must not be used by other cards. From the base address selected, 8 addresses are used by the ISA card. For example, if 300 (hex) is selected, then locations 300 - 307 will be used by the card, and cannot be used by other cards on the bus. Interrupt C onnect none, no connection is default "Interrupt" selects the specific IRQ signal that will be active on the ISA bus. C onnect none, or one of the 8 IRQs 0-7. Only one IRQ can be jumpered, and that IRQ must be available on your system. For example, to select IRQ3, install the jumper across position 3 on jumper 17. C heck your PC 's bus configuration to determine which IRQs are free. The IRQ, if connected, is activated by the on-board motion processor under various host-programmable conditions. J17 Designation / IRQ Selector ISA IRQ No. 0 1 2 3 4 5 6 7 3 5 7 10 11 12 14 15 Extension Connector Pin No. Description Pin No. Description 1 GND 2 A0 3 DS0 4 A1 5 DS1 6 A2 35 © POSYS Motion Control GmbH & Co.KG, 2013 Pin No. Description Pin No. Description 7 DS2 8 A3 9 DS3 10 A4 11 DS4 12 A5 13 DS5 14 A6 15 DS6 16 A7 17 DS7 18 A8 19 DS8 20 A9 21 DS9 22 A10 23 DS10 24 A11 25 DS11 26 A12 27 DS12 28 A13 29 DS13 30 A14 31 DS14 32 A15 33 DS15 34 IS- 35 DS- 36 STRB- 37 WE- 38 VC C 39 R/W 40 PS- -oSerial Port Serial Port This module and associated signals provides the capability to operate the POSYS® card using an asynchronous serial port (only PC/104 8xx-B-series, 18xx/18xx-B and PCI cards), or to allow certain monitoring operations to be performed through the serial port, even while the PCI bus is used to command motion sequences. To operate the serial port as the primary communication channel to the card please refer to chapter „Host Communication – Serial Port“. The serial cable is optional. Please contact us if you wish to connect via RS232 to the POSYS®. The following connector is used during serial communications. The Serial I/F connector is a 5-position Molex MLX Micro-4-SMD style connector (Molex part no.: 53398-0571) for the PCI cards POSYS® 9xx, 19xx and for the new PC/104 card POSYS® 18xx or 6-position connector for the PC /104 8xx-B-series. The counter connector for the cable for the PCI cards is a female connector from Molex (Molex part no.: 51021-0500). The default serial communication settings after power-on are: speed: 9600 baud/s. parity: none stop bits: 1 protocol: point-to-point If different than the standard power-on settings are desired, please contact servo-Halbeck. These values can be changed and hard-coded to accomplish customer requirements. An initial change of the settings after each power-on can be omitted. The appropriate settings take place at once. Serial I/F Connector PC/104 Card POSYS® 8xx-B series Only valid for POSYS® 8xx-B series The following connector is used during serial communications. The Serial I/F connector is a 6-position Molex MLX Micro-4-SMD style connector. Pin Connection Description 1 SrlEnable Serial Enable (only used for RS232/422) 2 SrlXmt Serial transmit output 36 © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description 3 SrlRcv Serial receive input 4 GND Ground 5 Vcc +5V 6 n.c. No connection Set/GetSerialPortMode, Serial Port Description -oBrushed Servo Mode Pinout Description Pinout description brushed servo and brushless servo w/ external commutation POSYS® 80x-B: Pin 1-50 = J7, Pin 51-100 = J1) C onnectors on the board: TSM-125-01-T-DV (Samtec) Mating with: IDSD-25-S Pin Connection Description Pin Connection 1 A1+ C hannel A+ encoder signal (X) 51 A3+ Description C hannel A+ encoder signal (Z) 2 A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND Ground 13 OUT1 User programmable output (X) 63 OUT3 User programmable output (Z) 14 BPWM1 PWM magnitude (X) 64 BPWM3 15 BPWMS1 PWM sign (X) 65 BPWMS3 16 AXIN1 User programmable input (X) 66 AXIN3 User programmable input (Z) 17 DACV1 Motor command (X), ±10V signal 67 DACV3 Motor command (Z), ±10V signal 18 AGND Ground for motor command 68 AGND Ground for motor command 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 37 PWM magnitude (Z) PWM sign (Z) © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 24 Description I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 OUT2 User programmable output (Y) 80 OUT4 User programmable output (W) 31 BPWM2 PWM magnitude (Y) 81 BPWM4 32 BPWMS2 PWM sign (Y) 82 BPWMS4 33 AXIN2 User programmable input (Y) 83 AXIN4 User programmable input (W) 34 DACV2 Motor command (Y), ±10V signal 84 DACV4 Motor command (W), ±10V signal 35 AGND Ground for motor command 85 AGND Ground for motor command 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output PWM magnitude (W) PWM sign (W) Amplifier enable (Z) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) 50 Ainput4 analog input channel (3) 100 Ainput8 analog input channel (7) -oStepper Version Pinout Description Pinout description stepper/microstepping* version POSYS® 85x-B Pin 1-50 = J7, Pin 51-100 = J1 C onnectors on the board: TSM-125-01-T-DV (Samtec) Mating with: IDSD-25-S Pin Connection Description Pin Connection 1 A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) 2 A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 38 Description © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 5 6 Description I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND Ground 13 OUT1 User programmable output (X) 63 OUT3 User programmable output (Z) 14 PULSE1 Pulse (X) 64 PULSE3 Direction (X) 65 DIR3 User programmable input (X) 66 AXIN3 Pulse (Z) 15 DIR1 16 AXIN1 Direction (Z) 17 ATREST1 At Rest (X) 67 ATREST3 18 GND Ground 68 GND Ground 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 OUT2 User programmable output (Y) 80 OUT4 User programmable output (W) 31 PULSE2 Pulse (Y) 81 PULSE4 Direction (Y) 82 DIR4 User programmable input (Y) 83 AXIN4 User programmable input (Z) At Rest (Z) Pulse (W) 32 DIR2 33 AXIN2 34 ATREST2 At Rest (Y) 84 ATREST4 35 GND Ground 85 GND Ground 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 39 Direction (W) User programmable input (W) At Rest (W) Amplifier enable (Z) or user programmable output © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) 100 Ainput8 analog input channel (7) 50 Ainput4 analog input channel (3) *Microstepping with appropriate type driver Description -oAnalog Input Pinout Description; POSYS® 8xx-B Analog Input Pinout description (only valid for POSYS® 800-B) J7 Pin-Out Description Explanation 47 Analog Input 1 Analog input for channel (0) 48 Analog Input 2 Analog input for channel (1) 49 Analog Input 3 Analog input for channel (2) 50 Analog Input 4 Analog input for channel (3) J1 Pin-Out Description Explanation 97 Analog Input 5 Analog input for channel (4) 98 Analog Input 6 Analog input for channel (5) 99 Analog Input 7 Analog input for channel (6) 100 Analog Input 8 Analog input for channel (7) The analog input voltage for the 8 channels can range from 0-2.048 VDC, the resolution is 10 bits. ReadAnalog(channel) C hannel = 0-7 for the 8 inputs. To display the returned value in volts, use the following conversion: AnalogInputVoltage = (ReadAnalog(channel) / 65536) * 4.096V This scales the returned value to the correct voltage. If other than the standard input voltage is desired then we can offer optional input voltages at following rates: 1.8V, 2.5V, 3.0V and 3.3V. -o- 40 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS® 18xx Versions 18xx List of available versions POSYS® 182x for brushed/brushless servo motors w/ internal commutation, microstepping and stepper motors The POSYS® 182x can be used for all types of motors (brushed, brushless, microstepping and stepper) Model # of Axes POSYS® 1822 2 POSYS® 1824 4 POSYS® 185x for stepper motors The POSYS® 185x can be used as well for microstepping motors when the appropriate type of driver is used. Model # of Axes POSYS® 1852 2 POSYS® 1854 4 All versions are also available for extended temperature range (-40° - +85°C ). Not in stock. Please add for order "-I" to the model number (for example: 1804-I). The models 180x and 185x are available either with Single Port RAM (512KB) or Dual Port RAM (32KB or 64KB). The versions 182x are generally equipped with 32KB Dual Port RAM. When ordering please add the type of RAM desired otherwise standard versions will be delivered. For example: POSYS® 1804 with 32KB DPRAM = 1804-32 POSYS® 1804 with 64KB DPRAM = 1804-64 POSYS® 1804 with 32KB DPRAM for extended temperature range = 1804-I32 If it is desired to use the 182x with SPRAM instead of 32KB DPRAM then please order: 182x-S If it is desired to use the 182x with 64KB DPRAM instead of 32KB DPRAM then please order: 182x-64 where x is the desired amount of axes. -oUser settable components; POSYS® 18xx User settable Components; POSYS® 18xx The figures below show the locations of the principal components of the POSYS® 18xx cards. The component side of the board is shown from both sides. All component locations in this manual refer to this orientation (top or bottom). The important user-accessible components of the card are: Resistor Packs RS1, RS2, and RS3 set the encoder termination Dip switch settings for card base address and memory base address (SW1, SW2) Jumper settings for interrupt (J17) Jumper settings for motor type per axis (JP1 and JP2, 182x, 180x, 185x) C onnectors for cables (J1/J7 (extension port), J2 (serial port), J3/J4 (SYNC I/O), J5/J6/J9 (3x 50-position main connectors), J8 (C AN 2.0B), J12 (inverted signal output for steppers) 41 © POSYS Motion Control GmbH & Co.KG, 2013 42 © POSYS Motion Control GmbH & Co.KG, 2013 picture shows: POSYS 18xx The following table shows the function of the RS1-RS3 resistor packs Item What to set Description Resistor packs - RS1, RS2, RS3 Installed This is the default setting of resistor packs RS1-RS3 If you are using differential connections leave these resistor packs installed. Remove if you are not using differential encoders If you are using single-ended encoder connections, remove the resistor packs. If TTL as well as encoders with inverted signals are going to be used then please look-up page Resistor Networks for TTL or inverted Encoder Signals for details on how to setup the resistor networks for mixed usage. Dip Switches and Jumper Settings The POSYS® 18xx have dip switches for base card and base memory address settings and jumpers for other certain purposes. These settings are described in the following tables: Item How to set Description SW1 S1-1 S1-2 S1-3 S1-4 S1-5 S1-6 S1-7 S1-8 Switch SW1 sets the card address on the ISA bus. The selected card address is the additive value of the switch settings indicated to the left. Moving the switch to the off position adds that value to the final base address. For example to select a base address of 340 (hex), the following switch settings would be selected: S1-1 on S1-2 on 8 (hex) 10 (hex) 20 (hex) 40 (hex) 80 (hex) 100 (hex) 200 (hex) 400 (hex) 43 © POSYS Motion Control GmbH & Co.KG, 2013 Item How to set Description 300 (hex) is the default base address S1-3 on S1-4 off S1-5 on S1-6 off S1-7 off S1-8 on The card address selected using S1 must match the address expected by your software. In addition, this address must not be used by other cards. From the base address selected, 8 addresses are used by the ISA card. For example, if 300 (hex) is selected, then locations 300 - 307 will be used by the card, and cannot be used by other cards on the bus. SW2 S2-1 1000 (hex) S2-2 2000 (hex) S2-3 4000 (hex) S2-4 8000 (hex) S2-5 10000 (hex) S2-6 20000 (hex) S2-7 40000 (hex) S2-8 80000 (hex) D0000 (hex) is the default memory base address setting. This applies only to POSYS® 18xx boards equipped with Dual Port RAM (32 KB or 64 KB) DPRAM base address is set using dip switch SW2. It can be set in the range of 4,096 (0x1000) to 1,044,480 (0xFF000). The default setting is 851,968 (0xD0000). The maximum addressable range is 65535 bytes or 32767 words. The default is represented by dip switch positions: S2-1 on S2-2 on S2-3 on S2-4 on S2-5 off S2-6 on S2-7 off S2-8 off The memory is mapped to the computers memory where the space needs to be reserved by setting the appropriate conditions. The memory is mapped to an area normally between 640 KB and 1 MB (upper memory area). Please refer to your computer's manual for reserving the computers upper memory (BIOS settings). Interrupt C onnect none, no connection is default "Interrupt" selects the specific IRQ signal that will be active on the ISA bus. C onnect none, or one of the 8 IRQs 0-7. Only one IRQ can be jumpered, and that IRQ must be available on your system. For example, to select IRQ3, install the jumper across position 0 on jumper 17. C heck your PC s bus configuration to determine which IRQs are free. The IRQ, if connected, is activated by the on-board motion processor under various host-programmable conditions. J17 Designation ISA IRQ No. 0 1 2 3 4 5 6 7 3 5 7 10 11 12 14 15 Motor Mode Jumpers „JP1“ and „JP2“ Depending on model there are various possibilities of setting up the POSYS® for use with either DC brushed, DC brushless (with or without on-board commutation), microstepping or stepper motors. Besides the necessity to setup the hardware for use with different motor types you will also need to do software setup. These software setup procedures are described in the programmer's reference. The default power-on mode is for any axis DC Brushed (except POSYS® 195x which is generally in stepper mode after power-on), no matter what the jumper setting is. If you wish a different default on power-on, then please tell us (for example: two axes = DC Brushless and 1 axis = stepper and 1 axis = DC brushed). These are settings that can be hard-coded on the card. The following section describes only which hardware configuration is needed for using the one or other motor type: Motor Ty pe Jumper setting DC Brushed JP1 DC Brushless JP1 Microsteppin JP1 g 44 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Ty pe Jumper setting Stepper JP2 JP1 and JP2 both consist of four jumpers. Each position can be setup for axis 1, 2, 3 or 4, depending on if you have a 1, 2, 3 or 4 axes card. Depending also on the model you may have different setup possibilities. The tables on the pages for setting up the motor configuration are described on POSYS® 180x; Motor Configuration, POSYS® 182x; Motor C onfiguration, POSYS® 185x; Motor Configuration. Inverted Signal Output for Stepper Motor Drives "J12" This connector will be available on all POSYS® 1800 versions. It provides stepping motor pulse and direction outputs using line drivers. Most modern stepping motor drivers require step and direction inputs with inverted signals. It helps in regard to higher noise immunity. This means there is less of a chance of mispositioning due to noise signals on the drive of the stepping motor. Pin Description Pin Description 1 GND 2 GND 3 W axis, Pulse + 4 W axis, Pulse - 5 X axis, Direction + 6 X axis, Direction - 7 W axis, Direction + 8 W axis, Direction - 9 Y axis, Pulse + 10 Y axis, Pulse - 11 Z axis, Direction + 12 Z axis, Direction - 13 X axis, Pulse + 14 X axis, Pulse - 15 Y axis, Direction + 16 Y axis, Direction - 17 Z axis, Pulse + 18 Z axis, Pulse - 19 GND 20 GND 20-Position Connector on the board (J12): TSM-110-01-T-DV (Samtec) Mating with: IDSD-10 Parallel Input Connector "J1" Pin No. Description Pin No. Description 1 GND 2 A0 3 DS0 4 A1 5 DS1 6 A2 7 DS2 8 A3 9 DS3 10 A4 11 DS4 12 A5 13 DS5 14 A6 15 DS6 16 A7 17 DS7 18 A8 19 DS8 20 A9 21 DS9 22 A10 23 DS10 24 A11 25 DS11 26 A12 27 DS12 28 A13 29 DS13 30 A14 31 DS14 32 A15 33 DS15 34 IS- 35 DS- 36 STRB- 37 WE- 38 VC C 39 R/W 40 PS- 45 © POSYS Motion Control GmbH & Co.KG, 2013 "J7" Connector C on J7 is an extension of the connector J1 by 6 pins Pin1 --> MC ~ReadEN Pin2 --> MC W/~R Pin3 --> MC CPReady Pin4 --> MC ClockOut Pin5 --> MC ~PerihpSel Pin6 --> ALL ~Reset -oSYNC IO SYNC I/O These two connectors allow to synchronize additional cards in one system to work within the same cycle period. If not connected additional cards would start to work after the first card was initialized. This could be up to 400 or 600 µsec after a 4 axis card, depending on model. With SYNC I/O activated all additional cards would not start to work later than 50 nsec. after the master. This allows precise synchronizing of all implemented axes. How to accomplish this is described in the section Set/GetSynchronizationMode of this manual. To connect 2 or more cards for synchronizing purpose you need the optional SYNC I/O cable (1 for each set of two boards). This cable can be connected to any of the two SYNC I/O connectors on the boards. Both connectors act either as an input or output. The SYNC I/O function is only available on selected versions for PC/104 and PCI-Bus cards. The connector on the board is a 2-position Molex male connector (Molex part no.: 53261–0271). The counter connector for the cable is a female connector from Molex (Molex part no.: Molex 51021-0200, Crimp contact: Molex 50079-8100). Set/GetSynchronizationMode, Sync IO Description -oSerial Port Serial Port This module and associated signals provides the capability to operate the POSYS® card using an asynchronous serial port (only PC/104 B-series, 18xx and PCI cards), or to allow certain monitoring operations to be performed through the serial port, even while the PCI bus is used to command motion sequences. To operate the serial port as the primary communication channel to the card please refer to chapter „Host Communication – Serial Port“. The serial cable is optional. Please contact us if you wish to connect via RS232 to the POSYS®. The following connector is used during serial communications. The Serial I/F connector is a 5-position Molex MLX Micro-4-SMD style connector (Molex part no.: 53398-0571) for the PCI cards POSYS® 9xx, 19xx and for the new PC/104 card POSYS® 18xx/18xx-B or 6-position connector for the PC /104 8xx-B-series. The counter connector for the cable for the PCI cards is a female connector from Molex (Molex part no.: 51021-0500). The default serial communication settings after power-on are: speed: 57600 baud/s. parity: none stop bits: 2 protocol: point-to-point If different than the standard power-on settings are desired, please contact servo-Halbeck. These values can be changed and hard-coded to accomplish customer requirements. An initial change of the settings after each power-on can be omitted. The appropriate settings take place at once. Serial I/F Connector PC/104 Card POSYS® 18xx series Only valid for POSYS® 18xx series The following connector is used during serial communications. The Serial I/F connector is a 5-position Molex PicoBlade (part 46 © POSYS Motion Control GmbH & Co.KG, 2013 no.: 53261-0571) SMD style connector. The counter connector's part no. is: 51021-0500 Pin Connection Description 1 SrlEnable Serial enable (only used for RS422/485) 2 SrlXmt Serial transmit output 3 SrlRcv Serial receive input 4 GND Ground 5 Vcc +5V Set/GetSerialPortMode, Serial Port Description -oCAN 2.0B CAN 2.0B The POSYS® 18xx/19xx can integrate into a C AN 2.0B network and will coexist (but not communicate) with CAN 2.0B nodes on that network. The POSYS® 18xx/19xx uses C AN to receive commands, send responses and (optionally) send asynchronous event notifications. The CAN 2.0B connector is a 2-position Molex PicoBlade (part no.: 53261-0271) SMD style connector. The counter connector's part no. is: 51021-0200 For more information please refer to the pages: CAN (C ontroller Area Network, Konfiguration der CAN2.0B Schnittstelle, C AN Ereignis Benachrichtigung and Set/GetCanMode) -oMotor Mode Configuration; POSYS® 18xx Motor Mode Jumpers „JP1“ and „JP2“ Depending on the model, there are several possibilities of setting up an axis for the one or other type of motor, for example brushed/brushless servo motors (with or without on-board commutation), microstepping or stepper mode. In a ddition to the hardware setup you also must setup your software for the one or other motor type. The software commands are described in the Programmer's manual. The default values after power-on or after a HardReset is for use with brushed servo motors (exception: POSYS® 185x which is set to stepper mode by default). If a different default is desired then please contact us for details. It is possible to setup each axis to a default which meets your requirements. These defaults can be hard-wired to the card. The following section describes only the hardware configuration for the one or other motor type. The mixed usage is possible. Please take in consideration that if the one or other motor type was chosen then the other motor type can not be used unless the hardware and software configuration is changed again. To change the configuration the jumpers JP1 and JP2 must be set accordingly: Motor ty pe Jumper setting DC Brushed JP2 DC Brushless JP2 Microstepping JP2 Stepper JP1 JP1 and JP2 exist each of 4 jumpers. Each jumper represents an axis (1, 2, 3 or 4) and is dependant if you purchased a 1, 2, 3 or 4 axes card. The following tables describe the correct jumper positioning for the correct motor output signals for the connected type of amplifier/driver. POSYS® 182x 47 © POSYS Motion Control GmbH & Co.KG, 2013 The POSYS® 182x can be setup for use with DC brushed servo motors, DC brushless with internal/external commutation, microstepping and stepper motors. The following table describes the positions of the jumpers on JP1 and JP2 for use with the one or other motor type: Achse Motor ty pe DC Brushed Serv o Motor DC Brushless Serv o Motor (w/ internal/external Commutation) or Microstepping Motor Stepper or Micostepping Motor (w/ Microstepping Driv er) 1 JP2 short (first from left); JP1 open JP1 short (first from left); JP2 open 2 JP2 short (second from left); JP1 open JP1 short (second from left); JP2 open 3 JP2 short (third from left); JP1 open JP1 short (third from left); JP2 open 4 JP2 short (fourth from left); JP1 open JP1 short (fourth from left); JP2 open POSYS® 185x The POSYS® 185x can only be setup for use with stepper motors. With the appropriate type of drive this card can be used with microstepping drives that take the pulse & direction signal and generates the desired microsteps. The following table describes the positions of the jumpers on JP1 and JP2 for use with this motor type: Achse Motor ty pe DC Brushed Serv o Motor DC Brushless Serv o Motor (w/ internal/external Commutation) or Microstepping Motor Stepper or Micostepping Motor (w/ Microstepping Driv er) 1 n/a JP1 short (first from left); JP2 open 2 n/a JP1 short (second from left); JP2 open 3 n/a JP1 short (third from left); JP2 open 4 n/a JP1 short (fourth from left); JP2 open -oBrushed Servo Mode Pinout Description Pinout description brushed servo and brushless servo version w/ external commutation POSYS® 182x: Pin 1-50 = J5, Pin 51-100 = J6) C onnectors on the board: TSM-125-01-T-DV (Samtec) Mating with: IDSD-25-S Pin Connection Description Pin Connection 1 A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) 2 A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 48 Description Limit switch positive direction (Z) © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 10 11 Description XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND Ground 13 OUT1 User programmable output (X) 63 OUT3 User programmable output (Z) PWM magnitude (X) 64 BPWM3 PWM sign (X) 65 BPWMS3 14 BPWM1 15 BPWMS1 PWM magnitude (Z) PWM sign (Z) 16 AXIN1 User programmable input (X) 66 AXIN3 User programmable input (Z) 17 DACV1 Motor command (X), ±10V signal 67 DACV3 Motor command (Z), ±10V signal 18 AGND Ground for motor command 68 AGND Ground for motor command 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 OUT2 User programmable output (Y) 80 OUT4 User programmable output (W) 31 BPWM2 PWM magnitude (Y) 81 BPWM4 32 BPWMS2 PWM sign (Y) 82 BPWMS4 33 AXIN2 User programmable input (Y) 83 AXIN4 User programmable input (W) 34 DACV2 Motor command (Y), ±10V signal 84 DACV4 Motor command (W), ±10V signal 35 AGND Ground for motor command 85 AGND Ground for motor command 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output PWM magnitude (W) PWM sign (W) Amplifier enable (Z) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) analog input channel (3) 100 Ainput8 analog input channel (7) 50 Ainput4 49 © POSYS Motion Control GmbH & Co.KG, 2013 Inverted Signal Output for Stepper Motor Drives or PWM Output for Servo Motors "J12" This connector will be available on all POSYS® 1800 versions. It provides stepping motor pulse and direction outputs or PWM sign/magnitude outputs using line drivers. Most modern stepping motor drivers require step and direction inputs with inverted signals. It helps in regard to higher noise immunity. This means there is less of a chance of mispositioning due to noise signals on the drive of the stepping motor. Depending on how the axis was configured (stepper or servo with PWM) the outputs have different meanings. Pin 1 Description GND Pin 2 W axis, Pulse + or 3 PWMMag4A+ PWMSign1+ PWMSign4+ PWMMag2A+ PWMSign3+ PWMMag1A+ PWMSign2+ 19 PWMMag3A+ GND PWMMag1A+ Y axis, Direction - or 16 Z axis, Pulse + or 17 PWMSign3X axis, Pulse - or 14 Y axis, Direction + or 15 PWMMag2AZ axis, Direction - or 12 X axis, Pulse + or 13 PWMSign4Y axis, Pulse - or 10 Z axis, Direction + or 11 PWMSign1W axis, Direction - or 8 Y axis, Pulse + or 9 PWMMag4AX axis, Direction - or 6 W axis, Direction + or 7 GND W axis, Pulse - or 4 X axis, Direction + or 5 Description PWMSign2Z axis, Pulse - or 18 20 PWMMagA3GND -oBrushless Servo/Microstepping Mode Pinout Description Pinout description in brushless servo w/ internal commutation, microstepping and multiple motor mode POSYS® 182x: Pin 1-50 = J5, Pin 51-100 = J6 C onnectors on the board: TSM-125-01-T-DV (Samtec) Mating with: IDSD-25-S Pin Connection Description Pin Connection 1 2 A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 50 Description © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection Description 8 GND Ground 58 GND 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND Ground 13 OUT1 User programmable output (X) 63 OUT3 User programmable output (Z) 14 n.c. No connection. 64 n.c. No connection 15 n.c. No connection 65 n.c. No connection 16 AXIN1 User programmable input (X) 66 AXIN3 User programmable input (Z) 17 DAC1A Motor command (X), ±10V signal 67 DAC3A Motor command (Z), ±10V signal 18 AGND Ground for motor command 68 AGND Ground for motor command 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 OUT2 User programmable output (Y) 80 OUT4 User programmable output (W) 31 n.c. No connection 81 n.c. No connection 32 n.c. No connection 82 n.c. No connection 33 AXIN2 User programmable input (Y) 83 AXIN4 User programmable input (W) 34 DAC2A Motor command (Y), ±10V signal 84 DAC4A Motor command (W), ±10V signal 35 AGND Ground for motor command 85 AGND Ground for motor command 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 51 Ground Amplifier enable (Z) or user programmable output © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection 49 Ainput3 50 Ainput4 Description Pin Connection Description analog input channel (2) 99 Ainput7 analog input channel (6) analog input channel (3) 100 Ainput8 analog input channel (7) Inverted Signal Output for Stepper Motor Drives or PWM Output for Servo Motors "J12" This connector will be available on all POSYS® 1800 versions. It provides stepping motor pulse and direction outputs or PWM sign/magnitude outputs using line drivers. Most modern stepping motor drivers require step and direction inputs with inverted signals. It helps in regard to higher noise immunity. This means there is less of a chance of mispositioning due to noise signals on the drive of the stepping motor. Depending on how the axis was configured (stepper or servo with PWM) the outputs have different meanings. Pin 1 Description GND Pin 2 W axis, Pulse + or 3 PWMMag4A+ PWMSign1+ PWMSign4+ PWMMag2A+ PWMSign3+ PWMMag1A+ PWMSign2+ 19 PWMMag3A+ GND PWMMag1A+ Y axis, Direction - or 16 Z axis, Pulse + or 17 PWMSign3X axis, Pulse - or 14 Y axis, Direction + or 15 PWMMag2AZ axis, Direction - or 12 X axis, Pulse + or 13 PWMSign4Y axis, Pulse - or 10 Z axis, Direction + or 11 PWMSign1W axis, Direction - or 8 Y axis, Pulse + or 9 PWMMag4AX axis, Direction - or 6 W axis, Direction + or 7 GND W axis, Pulse - or 4 X axis, Direction + or 5 Description PWMSign2Z axis, Pulse - or 18 20 PWMMagA3GND Pinout description brushless servo and multiple motor mode: Option Connector PC/104 NOTE: only POSYS® 182x (J9) Pin Connection Description Pin Connection 1 BPWM1A PWM magnitude Phase A (X) 26 HALL2B Description Phase B Hall Sensor input (Y) 2 BPWM1B PWM magnitude Phase B (X) 27 HALL2C Phase C Hall Sensor input (Y) 3 BPWM1C PWM magnitude Phase C (X) 28 GND 4 BPWMS1A PWM sign (X) 29 HALL3A Phase A Hall Sensor input (Z) 5 GND Ground 30 HALL3B Phase B Hall Sensor input (Z) 6 BPWM2A PWM magnitude Phase A (Y) 31 HALL3C Phase C Hall Sensor input (Z) 7 BPWM2B PWM magnitude Phase B (Y) 32 GND 8 BPWM2C PWM magnitude Phase C (Y) 33 HALL4A Phase A Hall Sensor input (W) 9 BPWMS2A PWM sign (Y) 34 HALL4B Phase B Hall Sensor input (W) Phase C Hall Sensor input (W) Ground Ground 10 GND Ground 35 HALL4C 11 BPWM3A PWM magnitude Phase A (Z) 36 GND 12 BPWM3B PWM magnitude Phase B (Z) 37 AGND Ground for motor command 13 BPWM3C PWM magnitude Phase C (Z) 38 DAC1A Motor command (X), ±10V signal, Phase A 52 Ground © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 14 BPWMS3A PWM sign (Z) 39 DAC2A Motor command (Y), ±10V signal, Phase A 15 GND Ground 40 DAC3A Motor command (Z), ±10V signal, Phase A 16 BPWM4A PWM magnitude Phase A (W) 41 DAC4A Motor command (W), ±10V signal, Phase A 17 BPWM4B PWM magnitude Phase B (W) 42 DAC1B Motor command (X), ±10V signal, Phase B 18 BPWM4C PWM magnitude Phase C (W) 43 DAC2B Motor command (Y), ±10V signal, Phase B 19 BPWMS4A PWM sign (W) 44 DAC3B Motor command (Z), ±10V signal, Phase B 20 GND Ground 45 DAC4B Motor command (W), ±10V signal, Phase B 21 HALL1A Phase A Hall Sensor input (X) 46 AGND Ground for motor command 22 HALL1B Phase B Hall Sensor input (X) 47 GND Ground 23 HALL1C Phase C Hall Sensor input (X) 48 GND Ground Ground 49 Vc1 +5V Phase A Hall Sensor input (Y) 50 Vc1 +5V 24 GND 25 HALL2A Description -oStepper Mode Pinout Description Pinout description stepper/microstepping* version POSYS® 180x/182x/185x: Pin 1-50 = J5, Pin 51-100 = J6 C onnectors on the board: TSM-125-01-T-DV (Samtec) Mating with: IDSD-25-S Pin Connection Description Pin Connection 1 A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) 2 A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND Ground 13 OUT1 User programmable output (X) 63 OUT3 User programmable output (Z) 14 PULSE1 Pulse (X) 64 PULSE3 Direction (X) 65 DIR3 User programmable input (X) 66 AXIN3 At Rest (X) 67 ATREST3 15 DIR1 16 AXIN1 17 ATREST1 53 Description Pulse (Z) Direction (Z) User programmable input (Z) At Rest (Z) © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 18 19 Description GND Ground 68 GND Ground A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 OUT2 User programmable output (Y) 80 OUT4 User programmable output (W) 31 PULSE2 Pulse (Y) 81 PULSE4 Direction (Y) 82 DIR4 User programmable input (Y) 83 AXIN4 Pulse (W) 32 DIR2 33 AXIN2 Direction (W) 34 ATREST2 At Rest (Y) 84 ATREST4 35 GND Ground 85 GND Ground 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output User programmable input (W) At Rest (W) Amplifier enable (Z) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) Ainput8 analog input channel (7) 50 Ainput4 analog input channel (3) 100 *Microstepping with appropriate type driver when using 180x or 185x. Inverted Signal Output for Stepper Motor Drives "J12" This connector will be available on all POSYS® 1800 versions. It provides stepping motor pulse and direction outputs using line drivers. Most modern stepping motor drivers require step and direction inputs with inverted signals. It helps in regard to higher noise immunity. This means there is less of a chance of mispositioning due to noise signals on the drive of the stepping motor. Pin Description Pin Description 1 GND 2 GND 3 W axis, Pulse + 4 W axis, Pulse - 5 X axis, Direction + 6 X axis, Direction - 54 © POSYS Motion Control GmbH & Co.KG, 2013 Pin Description Pin Description 7 W axis, Direction + 8 W axis, Direction - 9 Y axis, Pulse + 10 Y axis, Pulse - 11 Z axis, Direction + 12 Z axis, Direction - 13 X axis, Pulse + 14 X axis, Pulse - 15 Y axis, Direction + 16 Y axis, Direction - 17 Z axis, Pulse + 18 Z axis, Pulse - 19 GND 20 GND -oAnalog Input Pinout Description; POSYS® 1800 Analog Input Pinout description (only valid for POSYS® 1800) J5 Pin-Out Description Explanation 47 Analog Input 1 Analog input for channel (0) 48 Analog Input 2 Analog input for channel (1) 49 Analog Input 3 Analog input for channel (2) 50 Analog Input 4 Analog input for channel (3) J6 Pin-Out Description Explanation 47 Analog Input 5 Analog input for channel (4) 48 Analog Input 6 Analog input for channel (5) 49 Analog Input 7 Analog input for channel (6) 50 Analog Input 8 Analog input for channel (7) The analog input voltage for the 8 channels can range from 0-2.048 VDC, the resolution is 10 bits. ReadAnalog(channel) C hannel = 0-7 for the 8 inputs. To display the returned value in volts, use the following conversion: AnalogInputVoltage = (ReadAnalog(channel) / 65536) * 2.048 This scales the returned value to the correct voltage. If other than the standard input voltage is desired then we can offer optional input voltages at following rates: 1.8V, 2.5V, 3.0V and 3.3V. -oUsage of the On-Board Dual Port RAM with POSYS® 1800 POSYS® 1800 Series (PC-104 Bus), Dual Port RAM This TN describes the usage of the POSYS® 1800 with dual port RAM. The POSYS® 1800 can be equipped with single port RAM (512K x 8 and 1024k x 8) or dual port RAM with 16K x 16, 32K x 16 or 64k x 16. One data position occupies 4 bytes (32 bits). So the dual port RAM can store up to 8191 DWORDS (16k x 16). Applications requiring fast data transfer and access should use units with dual port RAM. Writing and reading the dual port RAM is much faster, requiring approximately 55 © POSYS Motion Control GmbH & Co.KG, 2013 2 microseconds to read or write a DWORD. The time for a single port RAM write or read is approximately 52 microseconds. The Dual Port RAM is appoximately 26 times as fast as the Single Port RAM. This TN describes the usage of the POSYS® 1800 with dual port RAM. The applications include storing trace data written to the dual port RAM by the motion processor and being read continuously by the host program using the other port. The storage capability is infinite. Another application is the use of the dual port RAM as a data storage for motion control. Storing velocity, acceleration, jerk, position and a time multiplier for up to 4 axes in the EXTERNAL profile mode allows very complex motion profiles with an infinite length. When the buffer gets to the end it will roll over and read new data. For the PC-104 bus (same as the ISA bus) the Dual Port RAM is memory mapped in the Upper Memory Block area of the ISA bus. This is typically between 640 K and 1024 K. This is the only area available to be used for storing and retrieving data from, being protected from programs and data storage below 640 K. The area above 640 K is sectioned into 6 segments of 64 K each. The segments are defined as: A000 : 0000 ;the first part 0xA000 is the segment (=40960 decimal), the second part is the offset, ranging from 0x0000 to 0xFFFF (0 to 65535 decimal). This corresponds to a linear address of 0xA000 x 0x010 = 0xA0000 plus offset. B000 : 0000 C 000 : 0000 D000 : 0000 E000 : 0000 F000 : 0000 Not all of these address ranges are available for add-on ISA (PC-104) bus cards. The table below shows the layout of the upper memory area and the way that the various memory locations are typically used in a modern PC: Address A0000AFF FF h F irst 16K (x0000h-x3FF Fh) Second 16K (x4000h-x7FF Fh) Third 16K (x8000h-xBFF Fh) F ourth 16K (xC000h-xF FF Fh) VGA Graphics Mode Video RAM B0000BFFFF h VGA Monochrome Text Mode Video RAM C0000CFF FF h VGA Video BIOS ROM VGA C olor Text Mode Video RAM IDE Hard Disk BIOS ROM Optional Adapter ROM BIOS or RAM UMBs D0000DFF FF h Optional Adapter ROM BIOS or RAM UMBs E0000hEFF FF h System BIOS Plug and Play Extended Information F 0000F FF FF h System BIOS ROM This is a typical example only. The actual useage will vary from system to system. Experience has shown that the most commonly available ranges are: B0000 – BFFFFh C 0000 – CFFFFh most common D0000 – DFFFFh most common E0000 – EFFFFh The above ranges are 65535 bytes, the POSYS® 1800 dual port RAM requires only one half of that, 0x7FFF (32767) bytes when equipped with 16k x 16 DPRAM. To determine availability use a diagnostic program to analyse the system. One program, which is not provided as part of the POSYS® 1800 software package is the Microsoft MSD.EXE program. This program is copyright protected and is part of the MS DOS 6.22 distribution. It is on the second disk of the three disk set. It is normally also included with Windows 9x distributions. It can be located in the directories \TOOLS\OLDMSDOS=MSD v2.14 and \OTHER\MSD=MSD v2.13. It is a DOS based program and provides useful information about this system and the submenu MEMORY will show available memory areas between 640 K and 1024 K. MSD.EXE works for systems using a DOS or a Windows operating system. The matching base memory address must be set using DIP switch SW2. The minimum range setting is 32767 bytes. Switches 1, 2 and 3 must always be in the ON position. Switches 4, 5, 6, 7 and 8 set the base memory address. The address associated with each switch set to the OFF position is shown in the following table: 56 © POSYS Motion Control GmbH & Co.KG, 2013 SW2 -S4 SW2-S5 SW2-S6 SW2-S7 SW2-S8 32767 (0x8000) 65536 (0x10000) 131072 (0x20000) 262144 (0x40000) 524288 (0x80000) The next table shows DIP switch settings for the most common base memory address selections: Base Memory Range (Hex) SW2-S4 SW2-S5 SW2-S6 SW2-S7 SW2-S8 B0000 – B7FFF ON OFF OFF ON OFF B8000 - BFFFF OFF OFF OFF ON OFF C 0000 – C 7FFF ON ON ON OFF OFF C 8000 - CFFFF OFF ON ON OFF OFF D0000 – D7FFF ON OFF ON OFF OFF D8000 – DFFFF OFF OFF ON OFF OFF E0000 – E7FFF ON ON OFF OFF OFF E8000 – EFFFF OFF ON OFF OFF OFF For DOS based programs refer to the example program Test1800.exe to see how to read and write to the Dual Port RAM. This is a C-program using the peek and poke functions. For example this procedure writes 0 to finalpos DWORD locations: ofs=0; for (ii=0; ii<(finalpos+1); ii++) { poke(base_memory,ofs,((WORD2LONG*)&value)->wordhi); ofs=ofs+2; poke(base_memory,ofs,((WORD2LONG*)&value)->wordlo); ofs=ofs+2; } writes first the high word and then the low word to base_memory + ofs to store a DWORD. The next C routine is an example for reading from the Dual Port RAM 0 to finalpos DWORDs: ofs=0; for (ii=0; ii<(finalpos+1); ii++) { value1 = peek(base_memory,ofs); ofs=ofs+2; value2 = peek(base_memory,ofs); ofs=ofs+2; value=GetDWORD(value1,value2); printf("Value read: %lx\n",value); } The following type definition and functions are needed for the above routines: typedef struct { unsigned short wordlo,wordhi; } WORD2LONG; //conversion of 2 WORD values to a DWORD LONG GetDWORD(unsigned short val_1,unsigned short val_2) { LONG temp; temp=0; ((WORD2LONG*)&temp)->wordhi=val_1; ((WORD2LONG*)&temp)->wordlo=val_2; return (temp); }/**********************************/ After power-on the dual port RAM is disabled, so the BIOS will not see it and possibly cause hang-ups during initialization. 57 © POSYS Motion Control GmbH & Co.KG, 2013 After power-on the RAM can only be used in single port RAM mode. All writes and reads are via the motion controller. To enable the dual port RAM use the Funktion EnableDPRam(void) EnableDPRam(hPosys:P1800_Handle);stdcall //DOS //Windows DLL It can be disabled again anytime by using the function DisableDPRam(void) DisableDPRam(hPosys:P1800_Handle);stdcall //DOS //Windows DLL A hardware Reset of the motion controller will also disable the dual port RAM function. The function EnableDPRam(void) EnableDPRam(hPosys:P1800_Handle);stdcall //DOS //Windows DLL will re-enable the dual port RAM functionality after a hardware Reset or an ISA-Bus Reset. In a Windows operating system the above routines will not work since the processor is in protected mode direct IO and memory access is not possible. For Windows 98/Me and 2000/XP you must use the supplied DLL for accessing IO and memory. The GUI program POSYS1800V4 makes use of the DLL routines and permits to exercise most of POSYS® 1800 functions. For details please refer to separate documentation for using the on-board memory. Hints to define available Memory Space Note: the hints below are only valid for Microsoft operating systems as these operating systems, beginning with DOS upto Windows XP, make problems when using Dual Port RAM via ISA-Bus, because they still reserve memory areas for exclusive use in the range between 640k and 1MB and the usage can vary from computer to computer. Linux based operating systems work perfectly when using our driver provided with the software package for Linux, no matter which area is selected as far as the PC will accept a ISA-Bus/PC-104-Bus based card with Dual Port RAM. This also is not supported from all systems and may need to be evaluated before decision has been made for a certain PC-system. Each computer behaves different especially when it uses the Upper Memory Area (640k - 1MB). The usage of this area is also determined by the operating system. For example: the same computer when using MSDOS 6.22 may have more available area than when using DRDOS 7.03 which may make it necessary to change the memory address area on the POSYS® 1800. On a different computer it may be the other way round. Allthough MSD.EXE is very useful for determining available memory space it is not always 100% reliable and shows areas to be available which are actually not available, but it still gives useful information which area may be usable and which may not. Unfortunately we made the experience that areas being shown as to be used by other software/components were available but areas to be shown as available did not work. For this reason if you detemine a certain area to be free for use with Dual Port RAM and it doesn't work, then just try other areas as they may work. Dependent on the computer it may also be necessary to reserve certain memory areas already by determining the space in the BIOS. Some computers offer the possibility to reserve the areas for use, but others may not have this feature and still will work and others again don't care no matter to which setting the BIOS was set. Another problem may be that not much upper memory is available, especially when you want to use additional boards. The more POSYS® 1800 or other boards with Dual Port RAM are installed the less possibilities you have to reserve memory space for the POSYS® 1800 and to get them all running. For this situation we can offer a very useful hint to avoid running into problems with low UMAs. For more information please contact servo-Halbeck GmbH & Co.KG. If you wish to avoid the effort determining available memory space then we can offer the POSYS® 1800 with 512 KB Single Port RAM. When it is necessary to use additional boards in the same system this may be the only reliable solution. For more information regarding Dual Port RAM with POSYS® 1800 please contact us directly. Date: 28.04.2005 Revision: 09.05.2005 18.05.2005 E-mail: [email protected] POSYS® is a registered trade mark of servo-Halbeck 58 © POSYS Motion Control GmbH & Co.KG, 2013 -o- 59 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS® 9xx Versions 9xx List of available versions POSYS® 90x for brushed servo motors. The POSYS® 90x can be used as well for brushless servo motors when the appropriate type of amplifier is used. Model # of Axes POSYS® 902 2 POSYS® 904 4 POSYS® 95x for stepper motors The POSYS® 95x can be used as well for microstepping motors when the appropriate type of driver is used. Model # of Axes POSYS® 952 2 POSYS® 954 4 All versions are also available for extended temperature range (-40° - +95°C ). Not in stock. Please add for order "I" to the model number (for example: 904-BI). -oUser settable components; POSYS® 9xx User settable Components; POSYS® 9xx The figure below shows the locations of the principal components of the POSYS 9xx cards. The component side of the board is shown with the 100-position connector to the right. All component locations in this manual refer to this orientation. The important user-accessible components of the card are: Resistor Packs RS1, RS2, and RS3 set the Encoder termination Mode jumper allows theserial interfaceport mode to be selected Sync I/O for multiple card synchronization 60 © POSYS Motion Control GmbH & Co.KG, 2013 Abbildung zeigt POSYS® 9xx Resistor Packs RS1, RS2, RS3 The following table shows the function of the RS1-RS3 resistor packs Item What to set Description Resistor packs - RS1, RS2, RS3 Installed This is the default setting of resistor packs RS1-RS3 If you are using differential connections leave these resistor packs installed. Remove if you are not using differential encoders If you are using single-ended encoder connections, remove the resistor packs. If TTL as well as oncoders with inverted signals are going to be used then please look-up page Resistor Networks for TTL or inverted Encoder Signalsfor details on how to setup the resistor networks for mixed usage. Mode Jumper JP4 The following table describes the meaning of the Mode Jumper. Actually it is not necessary anymore to change this jumper for use with either communication mode. Both methods work on either position, PC I and serial. This jumper is only on the PC /104 8xx-B-series and PC I cards. Item What to set Description Mode Jumper - JP4 1-2 This is the default setting of mode jumper Sets PC I bus to be main communications channel. 2-3 Serial port is primary communication channel Parallel Input Connector "J1" Pin No. Description Pin No. Description 1 GND 2 A0 3 DS0 4 A1 5 DS1 6 A2 61 © POSYS Motion Control GmbH & Co.KG, 2013 Pin No. Description Pin No. Description 7 DS2 8 A3 9 DS3 10 A4 11 DS4 12 A5 13 DS5 14 A6 15 DS6 16 A7 17 DS7 18 A8 19 DS8 20 A9 21 DS9 22 A10 23 DS10 24 A11 25 DS11 26 A12 27 DS12 28 A13 29 DS13 30 A14 31 DS14 32 A15 33 DS15 34 IS- 35 DS- 36 STRB- 37 WE- 38 VC C 39 R/W 40 PS- -oSerial Port Serial Port This module and associated signals provides the capability to operate the POSYS® card using an asynchronous serial port (only PC/104 8xx-B/18xx/18xx-B and PCI cards), or to allow certain monitoring operations to be performed through the serial port, even while the PCI bus is used to command motion sequences. To operate the serial port as the primary communication channel to the card please refer to chapter „Host Communication – Serial Port“. The serial cable is optional. Please contact us if you wish to connect via RS232 to the POSYS®. The following connector is used during serial communications. The Serial I/F connector is a 5-position Molex PicoBlade SMD style connector (Molex part no.: 53398-0571) for the PCI cards POSYS® 9xx, 19xx and for the PC/104 card POSYS® 18xx/18xx-B or 6-position connector for the PC/104 B-series. The counter connector for the cable for the PCI cards is a female connector from Molex (Molex part no.: 51021-0500). The default serial communication settings after power-on are: speed: 9600 baud/s. parity: none stop bits: 1 protocol: point-to-point If different than the standard power-on settings are desired, please contact servo-Halbeck. These values can be changed and hard-coded to accomplish customer requirements. An initial change of the settings after each power-on can be omitted. The appropriate settings take place at once. Serial I/F Connector PCI Card POSYS® 9xx series The following connector is used during serial communications. The Serial I/F connector is a 5-position Molex PicoBlade (part no.: 53261-0571) SMD style connector. The counter connector's part no. is: 51021-0500 Pin Connection Description 1 SrlEnable Serial enable (only used for RS422/485) 2 SrlXmt Serial transmit output 3 SrlRcv Serial receive input 4 GND Ground 62 © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description 5 Vcc +5V Set/GetSerialPortMode, Serial Port Description -oBrushed Servo Mode Pinout Description Pinout description brushed servo and brushless servo w/ external commutation POSYS® 90x Pin Connection Description Pin Connection 1 2 Description A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND Ground 13 OUT1 User programmable output (X) 63 OUT3 User programmable output (Z) PWM magnitude (X) 64 BPWM3 PWM sign (X) 65 BPWMS3 14 BPWM1 15 BPWMS1 PWM magnitude (Z) PWM sign (Z) 16 AXIN1 User programmable input (X) 66 AXIN3 User programmable input (Z) 17 DACV1 Motor command (X), ±10V signal 67 DACV3 Motor command (Z), ±10V signal 18 AGND Ground for motor command 68 AGND Ground for motor command 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 63 © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 29 Description HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 OUT2 User programmable output (Y) 80 OUT4 User programmable output (W) 31 BPWM2 PWM magnitude (Y) 81 BPWM4 32 BPWMS2 PWM sign (Y) 82 BPWMS4 33 AXIN2 User programmable input (Y) 83 AXIN4 User programmable input (W) 34 DACV2 Motor command (Y), ±10V signal 84 DACV4 Motor command (W), ±10V signal 35 AGND Ground for motor command 85 AGND Ground for motor command 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) 50 Ainput4 analog input channel (3) 100 Ainput8 analog input channel (7) PWM magnitude (W) PWM sign (W) Amplifier enable (Z) or user programmable output -oStepper Version Pinout Description Pinout description stepper/microstepping* version POSYS® 95x Pin Connection Description Pin Connection 1 2 A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND 64 Description Ground © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection 13 AXISOUT1 14 PULSE1 Description Pin Connection User programmable output (X) 63 AXISOUT3 Pulse (X) 64 PULSE3 Direction (X) 65 DIR3 User programmable input (X) 66 AXIN3 Description User programmable output (Z) Pulse (Z) 15 DIR1 16 AXIN1 Direction (Z) 17 ATREST1 At Rest (X) 67 ATREST3 18 GND Ground 68 GND Ground 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 AXISOUT2 User programmable output (Y) 80 AXISOUT4 User programmable output (W) 31 PULSE2 Pulse (Y) 81 PULSE4 Direction (Y) 82 DIR4 User programmable input (Y) 83 AXIN4 User programmable input (Z) At Rest (Z) Pulse (W) 32 DIR2 33 AXIN2 Direction (W) 34 ATREST2 At Rest (Y) 84 ATREST4 35 GND Ground 85 GND Ground 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output User programmable input (W) At Rest (W) Amplifier enable (Z) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) 100 Ainput8 analog input channel (7) 50 Ainput4 analog input channel (3) *Microstepping with appropriate type driver Pinout Description stepper version Option Connector 900 PCI POSYS® 95x (68-position SCSI) Pin Connection 1 n.c. Description Pin Connection 2 n.c. No Connection 65 Description No Connection © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 3 n.c. 5 n.c. 7 n.c. No Connection 9 n.c. No Connection 11 n.c. No Connection 13 n.c. No Connection 15 n.c. 17 n.c. 19 21 Description No Connection 4 GND Ground No Connection 6 GND Ground 8 n.c. No Connection 10 GND Ground 12 GND Ground 14 n.c. No Connection No Connection 16 GND Ground No Connection 18 GND Ground n.c. No Connection 20 n.c. No Connection n.c. No Connection 22 GND Ground 23 n.c. No Connection 24 GND Ground 25 n.c. No Connection 26 n.c. No Connection 27 n.c. No Connection 28 GND Ground 29 n.c. No Connection 30 n.c. No Connection 31 n.c. No Connection 32 GND Ground 33 n.c. No Connection 34 n.c. No Connection 35 n.c. No Connection 36 GND Ground 37 n.c. No Connection 38 n.c. No Connection 39 n.c. No Connection 40 GND Ground 41 Pulse1+ Pulse+ (X) 42 Pulse1- Pulse- (X) 43 Pulse2+ Pulse+ (Y) 44 Pulse2- Pulse- (Y) 45 Pulse3+ Pulse+ (Z) 46 Pulse3- Pulse- (Z) 47 Pulse4+ Pulse+ (W) 48 Pulse4- Pulse- (W) 49 Direction1+ Direction+ (X) 50 Direction1- Direction- (X) 51 Direction2+ Direction+ (Y) 52 Direction2- Direction- (Y) 53 Direction3+ Direction+ (Z) 54 Direction3- Direction- (Z) 55 Direction4+ Direction+ (W) 56 Direction4- Direction+ (W) 57 Vc1 +5V 58 Vc1 +5V 59 GND Ground 60 GND Ground 61 n.c. No Connection 62 n.c. No Connection 63 n.c. No Connection 64 n.c. No Connection 65 n.c. No Connection 66 n.c. No Connection 67 n.c. No Connection 68 n.c. No Connection -oAnalog Input Pinout Description; POSYS® 900 Analog Input Pinout description (only valid for POSYS® 900) GP CON Description Explanation 47 Analog Input 1 Analog input for channel (0) 48 Analog Input 2 Analog input for channel (1) 49 Analog Input 3 Analog input for channel (2) 50 Analog Input 4 Analog input for channel (3) 97 Analog Input 5 Analog input for channel (4) 98 Analog Input 6 Analog input for channel (5) 99 Analog Input 7 Analog input for channel (6) 100 Analog Input 8 Analog input for channel (7) 66 © POSYS Motion Control GmbH & Co.KG, 2013 The analog input voltage for the 8 channels can range from 0-2.048 VDC, the resolution is 10 bits. ReadAnalog(channel) C hannel = 0-7 for the 8 inputs. To display the returned value in volts, use the following conversion: AnalogInputVoltage = (ReadAnalog(channel) / 65536) * 4.096 This scales the returned value to the correct voltage. If other than the standard input voltage is desired then we can offer optional input voltages at following rates: 1.8V, 2.5V, 3.0V and 3.3V. -o- 67 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS® 19xx Versions 19xx List of available versions POSYS® 192x for brushed servo and brushless servo motors w/ internal commutation, microstepping and stepper motors The POSYS® 192x can be used for all types of motors (brushed, brushless, microstepping and stepper) Model # of Axes POSYS® 1922 2 POSYS® 1924 4 POSYS® 195x for stepper motors The POSYS® 195x can be used as well for microstepping motors when the appropriate type of driver is used. Model # of Axes POSYS® 1952 2 POSYS® 1954 4 All versions are also available for extended temperature range (-40° - +85°C ). Not in stock. Please add for order "-I" to the model number (for example: 1904-I). The models 190x and 195x are available either with Single Port RAM (512KB) or Dual Port RAM (32KB or 64KB). The versions 192x are generally equipped with 32KB Dual Port RAM. When ordering please add the type of RAM desired otherwise standard versions will be delivered. For example: POSYS® 1904 with 32KB DPRAM = 1904-32 POSYS® 1904 with 64KB DPRAM = 1904-64 POSYS® 1904 with 32KB DPRAM for extended temperature range = 1904-I32 If it is desired to use the 192x with SPRAM instead of 32KB DPRAM then please order: 192x-S If it is desired to use 64KB DPRAM instead of 32KB DPRAM then please order: 192x-64 where x is the desired amount of axes. -oUser settable components; POSYS® 19xx User settable components; POSYS® 19xx The figure below shows the locations of the principal components of the POSYS® 19xx PCI cards. The component side of the board is shown, with the PCI slot connector at the bottom and the 100-position connector at the right. All component locations in this manual refer to this orientation. The important user-accessible components of the card are: Resistor Packs RS1, RS2, and RS3 set the Encoder termination Mode jumper allows the serial communication port mode to be selected Sync I/O can be selected to set the board into master or slave mode when using additional cards C AN 2.0B can be selected if the desired communication mode should be CAN 2.0B JP1 und JP2 can be selected for either axis to be used in servo or stepper mode (not on stepper only card; POSYS® 195x) In the following the settings of the different positions, connectors, resistor packs, and jumpers are described more thoroughly: 68 © POSYS Motion Control GmbH & Co.KG, 2013 picture shows: POSYS® 19xx Resistor Packs RS1, RS2, RS3 The following table shows the function of the RS1-RS3 resistor packs Item What to set Description Resistor packs - RS1, RS2, RS3 Installed This is the default setting of resistor packs RS1-RS3 If you are using differential connections leave these resistor packs installed. Remove if you are not using differential encoders If you are using single-ended encoder connections, remove the resistor packs. If TTL as well as oncoders with inverted signals are going to be used then please look-up page Resistor Networks for TTL or inverted Encoder Signals for details on how to setup the resistor networks for mixed usage. Parallel Input Connector "J1" Pin No. Description Pin No. Description 1 GND 2 A0 3 DS0 4 A1 5 DS1 6 A2 7 DS2 8 A3 9 DS3 10 A4 11 DS4 12 A5 13 DS5 14 A6 15 DS6 16 A7 17 DS7 18 A8 19 DS8 20 A9 21 DS9 22 A10 23 DS10 24 A11 25 DS11 26 A12 27 DS12 28 A13 69 © POSYS Motion Control GmbH & Co.KG, 2013 Pin No. Description Pin No. Description 29 DS13 30 A14 31 DS14 32 A15 33 DS15 34 IS- 35 DS- 36 STRB- 37 WE- 38 VCC 39 R/W 40 PS- -oSYNC IO SYNC I/O These two connectors allow to synchronize additional cards in one system to work within the same cycle period. If not connected additional cards would start to work after the first card was initialized. This could be up to 400 or 600 µsec after a 4 axis card, depending on model. With SYNC I/O activated all additional cards would not start to work later than 50 nsec. after the master. This allows precise synchronizing of all implemented axes. How to accomplish this is described in the section Set/GetSynchronizationMode of this manual. To connect 2 or more cards for synchronizing purpose you need the optional SYNC I/O cable (1 for each set of two boards). This cable can be connected to any of the two SYNC I/O connectors on the boards. Both connectors act either as an input or output. The SYNC I/O function is only available on selected versions for PC/104 and PCI-Bus cards. The connector on the board is a 2-position Molex male connector (Molex part no.: 53261–0271). The counter connector for the cable is a female connector from Molex (Molex part no.: Molex 51021-0200, Crimp contact: Molex 50079-8100). Set/GetSynchronizationMode, Sync IO Description -oSerial Port Serial Port This module and associated signals provides the capability to operate the POSYS® card using an asynchronous serial port, or to allow certain monitoring operations to be performed through the serial port, even while the PCI bus is used to command motion sequences. To operate the serial port as the primary communication channel to the card please refer to chapter „Host Communication – Serial Port“. The serial cable is optional. Please contact us if you wish to connect via RS232 to the POSYS®. The following connector is used during serial communications. The Serial I/F connector is a 5-position Molex MLX Micro-4-SMD style connector (Molex part no.: 53398-0571) for the PCI cards POSYS® 9xx, 19xx and for the PC/104 card POSYS® 18xx/18xx-B or 6-position connector for the PC/104 B-series. The counter connector for the cable for the PCI cards is a female connector from Molex (Molex part no.: 51021-0500). The default serial communication settings after power-on are: speed: 57600 baud/s. parity: none stop bits: 2 protocol: point-to-point If different than the standard power-on settings are desired, please contact servo-Halbeck. These values can be changed and hard-coded to accomplish customer requirements. An initial change of the settings after each power-on can be omitted. The appropriate settings take place at once. Serial I/F Connector PCI Card POSYS® 19xx series The following connector is used during serial communications. The Serial I/F connector is a 5-position Molex PicoBlade (part no.: 53261-0571) SMD style connector. The counter connector's part no. is: 51021-0500 70 © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description 1 SrlEnable Serial enable (only used for RS422/485) 2 SrlXmt Serial transmit output 3 SrlRcv Serial receive input 4 GND Ground 5 Vcc +5V Set/GetSerialPortMode, Serial Port Description -oCAN 2.0B CAN 2.0B The POSYS® 18xx/19xx can integrate into a C AN 2.0B network and will coexist (but not communicate) with CAN 2.0B nodes on that network. The POSYS® 18xx/19xx uses C AN to receive commands, send responses and (optionally) send asynchronous event notifications. The CAN 2.0B connector is a 2-position Molex PicoBlade (part no.: 53261-0271) SMD style connector. The counter connector's part no. is: 51021-0200 For more information please refer to the pages: CAN (C ontroller Area Network, Konfiguration der CAN2.0B Schnittstelle, C AN Ereignis Benachrichtigung and Set/GetCanMode) -oMotor Mode Configuration; POSYS® 19xx Motor Mode Jumpers „JP1“ und „JP2“ Depending on the model, there are several possibilities of setting up an axis for the one or other type of motor, for example brushed/brushless servo motors (with or without on-board commutation), microstepping or stepper mode. In a ddition to the hardware setup you also must setup your software for the one or other motor type. The software commands are described in the Programmer's manual. The default values after power-on or after a HardReset is for use with brushed servo motors (exception: POSYS® 195x which is set to stepper mode by default). If a different default is desired then please contact us for details. It is possible to setup each axis to a default which meets your requirements. These defaults can be hard-wired to the card. The following section describes only the hardware configuration for the one or other motor type. The mixed usage is possible. Please take in consideration that if the one or other motor type was chosen then the other motor type can not be used unless the hardware and software configuration is changed again. To change the configuration the jumpers JP1 and JP2 must be set accordingly: Motor ty pe Jumper setting DC Brushed JP2 DC Brushless JP2 Microstepping JP2 Stepper JP1 JP1 and JP2 exist each of 4 jumpers. Each jumper represents an axis (1, 2, 3 or 4) and is dependant if you purchased a 1, 2, 3 or 4 axes card. The following tables describe the correct jumper positioning for the correct motor output signals for the connected type of amplifier/driver. POSYS® 192x The POSYS® 192x can be setup for use with DC brushed servo motors, DC brushless with internal/external commutation, microstepping and stepper motors. The following table describes the positions of the jumpers on JP1 and JP2 for use with 71 © POSYS Motion Control GmbH & Co.KG, 2013 the one or other motor type: Achse Motor ty pe DC Brushed Serv o Motor DC Brushless Serv o Motor (w/ internal/external Commutation) or Microstepping Motor Stepper or Micostepping Motor (w/ Microstepping Driv er) 1 JP2 short (first from left); JP1 open JP1 short (first from left); JP2 open 2 JP2 short (second from left); JP1 open JP1 short (second from left); JP2 open 3 JP2 short (third from left); JP1 open JP1 short (third from left); JP2 open 4 JP2 short (fourth from left); JP1 open JP1 short (fourth from left); JP2 open POSYS® 195x The POSYS® 195x can only be setup for use with stepper motors. With the appropriate type of drive this card can be used with microstepping drives that take the pulse & direction signal and generates the desired microsteps. The following table describes the positions of the jumpers on JP1 and JP2 for use with this motor type: Achse Motor ty pe DC Brushed Serv o Motor DC Brushless Serv o Motor (w/ internal/external Commutation) or Microstepping Motor Stepper or Micostepping Motor (w/ Microstepping Driv er) 1 n/a JP1 short (first from left); JP2 open 2 n/a JP1 short (second from left); JP2 open 3 n/a JP1 short (third from left); JP2 open 4 n/a JP1 short (fourth from left); JP2 open -oBrushed Servo Mode Pinout Description Pinout description brushed servo and brushless servo w/ external commutation POSYS® 190x/192x Pin Connection Description Pin Connection 1 2 A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch Ground 62 GND User programmable output (X) 63 AXISOUT3 12 GND 13 AXISOUT1 72 Description Ground User programmable output (Z) © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection 14 BPWM1 15 BPWMS1 Description Pin Connection PWM magnitude (X) 64 BPWM3 PWM sign (X) 65 BPWMS3 Description PWM magnitude (Z) PWM sign (Z) 16 AXIN1 User programmable input (X) 66 AXIN3 User programmable input (Z) 17 DACV1 Motor command (X), ±10V signal 67 DACV3 Motor command (Z), ±10V signal 18 AGND Ground for motor command 68 AGND Ground for motor command 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 AXISOUT2 User programmable output (Y) 80 AXISOUT4 User programmable output (W) 31 BPWM2 PWM magnitude (Y) 81 BPWM4 32 BPWMS2 PWM sign (Y) 82 BPWMS4 33 AXIN2 User programmable input (Y) 83 AXIN4 User programmable input (W) 34 DACV2 Motor command (Y), ±10V signal 84 DACV4 Motor command (W), ±10V signal 35 AGND Ground for motor command 85 AGND Ground for motor command 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) 50 Ainput4 analog input channel (3) 100 Ainput8 analog input channel (7) PWM magnitude (W) PWM sign (W) Amplifier enable (Z) or user programmable output -oBrushless Servo/Microstepping Mode Version Pinout Description Pinout description brushless servo w/ internal commutation, 73 © POSYS Motion Control GmbH & Co.KG, 2013 microstepping and multiple motor version POSYS® 192x Pin Connection Description Pin Connection 1 2 Description A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch 12 GND Ground 62 GND Ground 13 OUT1 User programmable output (X) 63 OUT3 User programmable output (Z) 14 n.c. No connection. 64 n.c. No connection 15 n.c. No connection 65 n.c. No connection 16 AXIN1 User programmable input (X) 66 AXIN3 User programmable input (Z) 17 DAC1A Motor command (X), ±10V signal 67 DAC3A Motor command (Z), ±10V signal 18 AGND Ground for motor command 68 AGND Ground for motor command 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 Limit switch positive direction (W) 28 XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 OUT2 User programmable output (Y) 80 OUT4 User programmable output (W) 31 n.c. No connection 81 n.c. No connection 32 n.c. No connection 82 n.c. No connection 33 AXIN2 User programmable input (Y) 83 AXIN4 User programmable input (W) 34 DAC2A Motor command (Y), ±10V signal 84 DAC4A Motor command (W), ±10V signal 35 AGND Ground for motor command 85 AGND Ground for motor command 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 74 © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 38 39 40 AMPEN1 41 42 Description UI2 uncommitted input (2) 88 UI6 uncommitted input (6) UI3 uncommitted input (3) 89 UI7 uncommitted input (7) Amplifier enable (X) or user programmable output 90 AMPEN3 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output Amplifier enable (Z) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) 50 Ainput4 analog input channel (3) 100 Ainput8 analog input channel (7) Pinout Description brushless servo and multiple motor version Option Connector PCI POSYS® 192x (68-position SCSI); Pinout description only valid when using internal and external SCSI cable and IO68 provided by servo-Halbeck GmbH & Co.KG. If you wish to configure your own cables and use different interconnect modules then please use pinout description as described in the section OPTION CON. Pin Connection Pin Connection 1 BPWM1A Description PWM magnitude Phase A (X) 2 BPWM1B Description 3 BPWM1C PWM magnitude Phase C (X) 4 GND Ground 5 BPWMS1B PWM sign (X) 6 GND Ground PWM magnitude Phase B (X) 7 BPWM2A PWM magnitude Phase A (Y) 8 BPWM2B 9 BPWM2C PWM magnitude Phase C (Y) 10 GND PWM magnitude Phase B (Y) Ground 11 BPWMS2B PWM sign (Y) 12 GND Ground 13 BPWM3A PWM magnitude Phase A (Z) 14 BPWM3B 15 BPWM3C PWM magnitude Phase C (Z) 16 GND Ground 17 BPWMS3B PWM sign (Z) 18 GND Ground PWM magnitude Phase B (Z) 19 BPWM4A PWM magnitude Phase A (W) 20 BPWM4B 21 BPWM4C PWM magnitude Phase C (W) 22 GND PWM magnitude Phase B (W) Ground 23 BPWMS4B PWM sign (W) 24 GND Ground 25 HALL1A Phase A Hall Sensor input (X) 26 HALL1B 27 HALL1C Phase C Hall Sensor input (X) 28 GND 29 HALL2A Phase A Hall Sensor input (Y) 30 HALL2B 31 HALL2C Phase C Hall Sensor input (Y) 32 GND 33 HALL3A Phase A Hall Sensor input (Z) 34 HALL3B 35 HALL3C Phase C Hall Sensor input (Z) 36 GND 37 HALL4A Phase A Hall Sensor input (W) 38 HALL4B 39 HALL4C Phase C Hall Sensor input (W) 40 GND 41 Pulse1+ Pulse+ (X) 42 Pulse1- Pulse- (X) 43 Pulse2+ Pulse+ (Y) 44 Pulse2- Pulse- (Y) 45 Pulse3+ Pulse+ (Z) 46 Pulse3- Pulse- (Z) 47 Pulse4+ Pulse+ (W) 48 Pulse4- Pulse- (W) 49 Direction1+ Direction+ (X) 50 Direction1- Direction- (X) 51 Direction2+ Direction+ (Y) 52 Direction2- Direction- (Y) 53 Direction3+ Direction+ (Z) 54 Direction3- Direction- (Z) 55 Direction4+ Direction+ (W) 56 Direction4- Direction+ (W) 57 Vc1 +5V 58 Vc1 75 Phase B Hall Sensor input (X) Ground Phase B Hall Sensor input (Y) Ground Phase B Hall Sensor input (Z) Ground Phase B Hall Sensor input (W) Ground +5V © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection Description 59 GND Ground 60 GND 61 DAC1B Motor command (X), ±10V signal, Phase B 62 DAC1A Ground Motor command (X), ±10V signal, Phase A 63 DAC2B Motor command (Y), ±10V signal, Phase B 64 DAC2A Motor command (Y), ±10V signal, Phase A 65 DAC3B Motor command (Z), ±10V signal, Phase B 66 DAC3A Motor command (Z), ±10V signal, Phase A 67 DAC4B Motor command (W), ±10V signal, Phase B 68 DAC4A Motor command (W), ±10V signal, Phase A -oStepper Mode Pinout Description Pinout description stepper/microstepping* version POSYS® 190x/192x/195x Pin Connection Description Pin Connection 1 2 A1+ C hannel A+ encoder signal (X) 51 A3+ C hannel A+ encoder signal (Z) A1- C hannel A- inverted encoder signal (X) 52 A3- C hannel A- inverted encoder signal (Z) 3 B1+ C hannel B+ encoder signal (X) 53 B3+ C hannel B+ encoder signal (Z) 4 B1- C hannel B- inverted encoder signal (X) 54 B3- C hannel B- inverted encoder signal (Z) 5 I1+ C hannel I+ encoder signal (X) 55 I3+ C hannel I+ encoder signal (Z) 6 I1- C hannel I- inverted encoder signal (X) 56 I3- C hannel I- inverted encoder signal (Z) 7 Vc1 +5V 57 Vc1 +5V 8 GND Ground 58 GND Ground 9 XPLIM1 Limit switch positive direction (X) 59 XPLIM3 Limit switch positive direction (Z) 10 XNLIM1 Limit switch negative direction (X) 60 XNLIM3 Limit switch negative direction (Z) 11 HOME1 Home signal (X) or high speed latch 61 HOME3 Home signal (Z) or high speed latch Ground 62 GND User programmable output (X) 63 AXISOUT3 Pulse (X) 64 PULSE3 Direction (X) 65 DIR3 User programmable input (X) 66 AXIN3 At Rest (X) 67 ATREST3 12 GND 13 AXISOUT1 14 PULSE1 15 DIR1 Description Ground User programmable output (Z) Pulse (Z) Direction (Z) 16 AXIN1 17 ATREST1 18 GND Ground 68 GND Ground 19 A2+ C hannel A+ encoder signal (Y) 69 A4+ C hannel A+ encoder signal (W) 20 A2- C hannel A- inverted encoder signal (Y) 70 A4- C hannel A- inverted encoder signal (W) 21 B2+ C hannel B+ encoder signal (Y) 71 B4+ C hannel B+ encoder signal (W) 22 B2- C hannel B- inverted encoder signal (Y) 72 B4- C hannel B- inverted encoder signal (W) 23 I2+ C hannel I+ encoder signal (Y) 73 I4+ C hannel I+ encoder signal (W) 24 I2- C hannel I- inverted encoder signal (Y) 74 I4- C hannel I- inverted encoder signal (W) 25 Vc1 +5V 75 Vc1 +5V 26 GND Ground 76 GND Ground 27 XPLIM2 Limit switch positive direction (Y) 77 XPLIM4 76 User programmable input (Z) At Rest (Z) Limit switch positive direction © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 28 Description XNLIM2 Limit switch negative direction (Y) 78 XNLIM4 Limit switch negative direction (W) 29 HOME2 Home signal (Y) or high speed latch 79 HOME4 Home signal (W) or high speed latch 30 AXISOUT2 User programmable output (Y) 80 AXISOUT4 User programmable output (W) 31 PULSE2 Pulse (Y) 81 PULSE4 32 DIR2 Direction (Y) 82 DIR4 User programmable input (Y) 83 AXIN4 At Rest (Y) 84 ATREST4 (W) Pulse (W) Direction (W) 33 AXIN2 34 ATREST2 35 GND Ground 85 GND Ground 36 UI0 uncommitted input (0) 86 UI4 uncommitted input (4) 37 UI1 uncommitted input (1) 87 UI5 uncommitted input (5) 38 UI2 uncommitted input (2) 88 UI6 uncommitted input (6) 39 UI3 uncommitted input (3) 89 UI7 uncommitted input (7) 40 AMPEN1 Amplifier enable (X) or user programmable output 90 AMPEN3 41 UO0 uncommitted output (0) 91 UO4 uncommitted output (4) 42 UO1 uncommitted output (1) 92 UO5 uncommitted output (5) 43 UO2 uncommitted output (2) 93 UO6 uncommitted output (6) 44 UO3 uncommitted output (3) 94 UO7 uncommitted output (7) 45 AMPEN2 Amplifier enable (Y) or user programmable output 95 AMPEN4 Amplifier enable (W) or user programmable output 46 RS- Hardware reset 96 ANGND GND for analog inputs 47 Ainput1 analog input channel (0) 97 Ainput5 analog input channel (4) 48 Ainput2 analog input channel (1) 98 Ainput6 analog input channel (5) 49 Ainput3 analog input channel (2) 99 Ainput7 analog input channel (6) Ainput8 analog input channel (7) 50 Ainput4 analog input channel (3) 100 *Microstepping with appropriate type driver when using 190x or 195x User programmable input (W) At Rest (W) Amplifier enable (Z) or user programmable output Pinout Description stepper motor version Option Connector 1900 PCI POSYS® 192x (68-position SCSI) Pin Connection Pin Connection 1 n.c. Description No Connection 2 n.c. No Connection 3 n.c. No Connection 4 GND Ground 5 n.c. No Connection 6 GND Ground 7 n.c. No Connection 8 n.c. No Connection 9 n.c. No Connection 10 GND Ground 11 n.c. No Connection 12 GND Ground 13 n.c. No Connection 14 n.c. No Connection 15 n.c. No Connection 16 GND Ground 17 n.c. No Connection 18 GND Ground 19 n.c. No Connection 20 n.c. No Connection 21 n.c. No Connection 22 GND Ground 23 n.c. No Connection 24 GND Ground 25 n.c. No Connection 26 n.c. No Connection 27 n.c. No Connection 28 GND Ground 29 n.c. No Connection 30 n.c. No Connection 31 n.c. No Connection 32 GND Ground 33 n.c. No Connection 34 n.c. No Connection 77 Description © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection 35 37 Description n.c. No Connection 36 GND Ground n.c. No Connection 38 n.c. No Connection 39 n.c. No Connection 40 GND Ground 41 Pulse1+ Pulse+ (X) 42 Pulse1- Pulse- (X) 43 Pulse2+ Pulse+ (Y) 44 Pulse2- Pulse- (Y) 45 Pulse3+ Pulse+ (Z) 46 Pulse3- Pulse- (Z) 47 Pulse4+ Pulse+ (W) 48 Pulse4- Pulse- (W) 49 Direction1+ Direction+ (X) 50 Direction1- Direction- (X) 51 Direction2+ Direction+ (Y) 52 Direction2- Direction- (Y) 53 Direction3+ Direction+ (Z) 54 Direction3- Direction- (Z) 55 Direction4+ Direction+ (W) 56 Direction4- Direction+ (W) 57 Vc1 +5V 58 Vc1 +5V 59 GND Ground 60 GND Ground 61 n.c. No Connection 62 n.c. No Connection 63 n.c. No Connection 64 n.c. No Connection 65 n.c. No Connection 66 n.c. No Connection 67 n.c. No Connection 68 n.c. No Connection -oAnalog Input Pinout Description; POSYS® 1900 Analog Input Pinout description (only valid for POSYS® 1900) GP CON Description Explanation 47 Analog Input 1 Analog input for channel 1 48 Analog Input 2 Analog input for channel 2 49 Analog Input 3 Analog input for channel 3 50 Analog Input 4 Analog input for channel 4 97 Analog Input 5 Analog input for channel 5 98 Analog Input 6 Analog input for channel 6 99 Analog Input 7 Analog input for channel 7 100 Analog Input 8 Analog input for channel 8 The analog input voltage for the 8 channels can range from 0-2.048 VDC, the resolution is 10 bits. ReadAnalog(channel) C hannel = 0-7 for the 8 inputs. To display the returned value in volts, use the following conversion: AnalogInputVoltage = (ReadAnalog(channel) / 65536) * 2.048 This scales the returned value to the correct voltage. If other than the standard input voltage is desired then we can offer optional input voltages at following rates: 1.8V, 2.5V, 3.0V and 3.3V. -o- 78 © POSYS Motion Control GmbH & Co.KG, 2013 GP CON Connector GP CON Connector „GP CON“ Connector The GP Con connector is used to connect to various motion peripherals such as encoders, amplifiers, etc. It is a 100-position high density connector. The following table provides ordering information for those users wishing to develop their own cables to this connector: Part description Vendors and part numbers Straight connector AMP: 2-5175887-9 (C hamp) 3M: 102A0-6212VC (Mini D-ribbon) Right angle connector AMP: 2-5178238-9 (C hamp) 3M: N102A0-52E2VC Shielded cable connector AMP: 176793-9 champ (shell) AMP: 2-5175677-9 champ (plug) 3M: 103A0-A200-00 (shell) 3M: 101A0-6000EC (plug) Connectors on the POSYS® 800-B/1800 board: TSM-125-01-T-DV (Samtec) Mating with: IDSD-25-S Depending on which card is being used, there are different pin descriptions. These are decribed in the sections of the POSYS® versions specifics: POSYS® 7xx, POSYS® 8xx-B, POSYS® 18xx, POSYS® 9xx and POSYS® 19xx. -o- 79 © POSYS Motion Control GmbH & Co.KG, 2013 Interconnect Module IO700/800-1 IO700/800-1 The IO700/800-1 is an interconnect module which helps you to setup your motion control system and provide you with all necessary connections to the “outside world”. All wiring from and to the amplifiers, power supplies, IOs and encoder feedback can easily be connected to this central point. The enclosure of the board is a standard Phoenix EN rail mounting system. For alternative mounting you can take off the enclosure and use the four 3.5 mm diameter holes on the board and mount it to whatever kind of mounting system you prefer. The pinout descriptions on the previous pages will guide you to the right connections. Please observe the differences between the servo and stepping motor versions. The screw terminal numbers correspond to the pin out description for the POSYS® controller. 80 © POSYS Motion Control GmbH & Co.KG, 2013 J1 is used with the ISA-Bus POSYS® 7xx and PCI-Bus motion controllers POSYS 9xx/19xx. J4 and J5 are in parallel to J1 and are used with the PC/104 motion controller POSYS® 8xx/8xx-B and 18xx. J5 corresponds to the pinout 1-50 and J4 corresponds to the pinout 51-100. Please refer to the pinout definition of the PC/104 board you are using for correct connection. The POSYS® supplies 5 VDC from the computer to the pins 7, 25, 57 and 75 for the encoders. The output is protected by a 1 Amp fuse. It is also possible to use an external power supply. This input is also protected by a 1 Amp fuse. Depending on the type of encoder used, this voltage can be 5 VDC or a max. of 12 VDC for encoders requiring more than 5 VDC. In this case connect the external power to pin 106 and GND to pin 107. If using the internal power supllied by the POSYS card the jumpers JP1 to JP4 need to short 1 - 2. If an external power supply (5V or 12V) is supposed to be used, then the jumpers JP1 to JP4 need to short 2 - 3. The pins 101, 102, 103, 104 and 105 output 5 or 12 VDC with 1 Amp. max. The mechanical dimensions of the interconnect module are: With enclosure for rail mounting: 162x112x50 mm Without enclosure for rail mounting: 160x108x28 mm OPTO 22 C onnections to J3 (OPTO 22) are as follows: J3, Pins 2, 4, 6, 8…50 are connected to GND Jumper JP5, 5 VDC will be supplied to pin 49 of J3 if jumper is inserted J1 Pin Pin J3 Description 49 connected to JP5, provides +5 VDC if jumpered 36 47 UI0 J1 J3 Description 37 45 UI1 38 43 UI2 39 41 UI3 86 39 UI4 87 37 UI5 88 35 UI6 89 33 UI7 41 31 UO0 42 29 UO1 43 27 UO2 44 25 UO3 91 23 UO4 92 21 UO5 93 19 UO6 94 17 UO7 40 15 AMPEN1 45 13 AMPEN2 90 11 AMPEN3 95 09 AMPEN4 13 07 OUT1 30 05 OUT2 63 03 OUT3 80 01 OUT4 -o- 81 © POSYS Motion Control GmbH & Co.KG, 2013 82 © POSYS Motion Control GmbH & Co.KG, 2013 IO700/800-2 IO700/800-2 This interconnect module is especially designed to interface to Berger Lahr drivers (pulse & direction output) and amplifiers (±10V motor command output). For pinout description please refer to the description/tables below: The following tables shows the connection description of the screw-type terminal breakout and the other connectors: 83 © POSYS Motion Control GmbH & Co.KG, 2013 Connectors: Description J1 100-position connector to the motion control card with shielded and round cable to the POSYS® 700/900/1900 and with adaptor card to POSYS® 800-B/1800 J4, J5 2 x 50-position IDC connector, parallel to J1, for the POSYS® 800-B/1800.J4 is for axes 1+2 (X/Y) and J5 is for axes 3+4 (Z/W). The connectors ofJ4 (Pins 1-50) are connected parallel to those with the connectors 1-50 J1. of The connectors ofJ5 (Pins 1-50) are connected parallel to those with the connectors 51-100 J1. of J2, J3,J6, J7 4 x 15-position SUB-D female connectors for encoders. PIN J2 J3 J6 J7 1 A1+ A2+ A3+ A4+ 9 A1- A2- A3- A4- 12 B1+ B2+ B3+ B4+ 5 B1- B2- B3- B4- 13 I1+ I2+ I3+ I4+ 6 I1- I2- I3- I4- 2 VC C VC C VC C VC C 3 GND GND GND GND The power supply for the encoders can be 5 or 12 VDC , depending on the type of encoders used. J8 – J11 J21 4 x 15-position SUB-D male connector for Pulse & Direction outputs, Amplifier Enable, AxisOut output, AxisID input and UI-input Pin J8 J9 J10 J11 1 Pulse1+ Pulse2+ Pulse3+ Pulse4+ 9 Pulse1- Pulse2- Pulse3- Pulse4- 2 DIR1+ DIR2+ DIR3+ DIR4+ 10 DIR1- DIR2- DIR3- DIR4- 3 AMPEN1+ AMPEN2+ AMPEN3+ AMPEN4+ 11 AMPEN1- AMPEN2- AMPEN3- AMPEN4- 5 OUT1+ OUT2+ OUT3+ OUT4+ 6 OUT1- OUT2- OUT3- OUT4- 8 AxisIn1 AxisIn2 AxisIn3 AxisIn4 15 GND GND GND GND J21 is a screw-type terminal with 36 connections. The connections are as following: 84 © POSYS Motion Control GmbH & Co.KG, 2013 Connectors: Description Connector Name Description 1 5VDC /out 5 V output from the computer can be connected with connector 4 to supply encoders with 5V 2 DAC V1 ±10 V motor command output (only for servo motors, X-axis) 3 XPLIM1-HV positive limit switch input, X-axis, 24VDC 4 5VDC /in VC C input for encoder supply voltage (5 VDC or 12 VDC ) 5 DAC V2 ±10 V motor command output (only for servo motors, Y-axis) 6 XNLIM1-HV negative limit switch input, X-axis, 24VDC 7 GND Digital Ground 8 DAC V3 ±10 V motor command output (only for servo motors, Z-axis) 9 XPLIM2-HV positive limit switch input, Y-axis, 24VDC max. 10 AGND Analog Ground for analog outputs and inputs 11 DAC V4 ±10 V motor command output (only for servo motors, W-axis) 12 XNLIM2-HV negative limit switch input, Y-axis, 24VDC max. 13 AINPUT1 Analog Input channel 1 (0-2.5 VDC ) 14 AGND Analog Ground for analog outputs and inputs 15 XPLIM3-HV positive limit switch input, Z-axis, 24VDC max. 16 AINPUT2 Analog Input channel 2 (0-2.5 VDC ) 17 GND Digital Ground 18 XNLIM3-HV negative limit switch input, Z-axis, 24VDC max. 19 AINPUT3 Analog Input channel 3 (0-2.5 VDC ) 20 GND Digital Ground 21 XPLIM4-HV positive limit switch input, W-axis, 24VDC max. 22 AINPUT4 Analog Input channel 4 (0-2.5 VDC ) 23 GND Digital Ground 24 XNLIM4-HV negative limit switch input, W-axis, 24VDC max. 25 AINPUT5 Analog Input channel 5 (0-2.5 VDC ) 26 GND Digital Ground 27 HOME1-HV Latch input (High Speed), X-axis, 24 VDC max. 28 AINPUT6 Analog Input channel 6 (0-2.5 VDC ) 29 GND Digital Ground 30 HOME2-HV Latch input (High Speed), Y-axis, 24 VDC max. 31 AINPUT7 Analog Input channel 7 (0-2.5 VDC ) 32 GND Digital Ground 33 HOME3-HV Latch input (High Speed), Z-axis, 24 VDC max. 34 AINPUT8 Analog Input channel 8 (0-2.5 VDC ) 35 RS- Reset input, parallel to the Reset switch S1 36 HOME4-HV Latch input (High Speed), W-axis, 24 VDC max. The analog outputs DAC V1 to DAC V4 are only for motion controllers which provide ±10 V motor command output for servo motors. Motion controllers for stepper motors only provide Pulse & Direction signals. The new POSYS® series 180x/190x/182x/192x now can be used in combination with servo and stepper motor signal outputs. F 1 and F 2 are 1 Ampere fuses. The 5 VDC from the host and the external 5VDC and 12VDC are being secured. -o- 85 © POSYS Motion Control GmbH & Co.KG, 2013 OPTON CON Option CON with POSYS® PCI When either the brushless DC or microstepping motors are used, the Option Connector provides additional signals for multi-phase motor output and input of signals such as Hall sensors. If only one axis is setup for DC Brushless or Microstepping mode, then this additional cable will be needed. The Option Connector is a 68-pin SCSI-style connector for the POSYS® 95x/190x. The following tables provide ordering information for those users wishing to develop their own cables to this connector: Part description Vendors and part numbers for flat ribbon Harting: 60 06 068 5440 (for AWG 30, 0,635mm flat ribbon) Plug Harting: 60 03 068 52 Shell Harting: 60 03 068 0155 Figure shows OPTION CON (only PCI cards) with pinout description The following table shows connections to the Extension Connector when the axes are used for brushless DC, or microstepping motors. Unless otherwise noted, 1 indicates axis 1, 2 indicates axis 2, etc., and A indicates phase A, B indicates phase B, etc. POSYS® PCI cards Description Pin number Pin number Beschreibung PWM Magnitude 1A 1 35 PWM Magnitude 1B PWM Magnitude 1C 2 36 GND PWM Sign 1 3 37 GND PWM Magnitude 2A 4 38 PWM Magnitude 2B PWM Magnitude 2C 5 39 GND PWM Sign 2 6 40 GND PWM Magnitude 3A 7 41 PWM Magnitude 3B PWM Magnitude 3C 8 42 GND PWM Sign 3 9 43 GND PWM Magnitude 4A 10 44 PWM Magnitude 4B PWM Magnitude 4C 11 45 GND PWM Sign 4 12 46 GND Hall 1A 13 47 Hall 1B Hall 1C 14 48 GND Hall 2A 15 49 Hall 2B Hall 2C 16 50 GND Hall 3A 17 51 Hall 3B Hall 3C 18 52 GND Hall 4A 19 53 Hall 4B 86 © POSYS Motion Control GmbH & Co.KG, 2013 Description Pin number Pin number Beschreibung Hall 4C 20 54 GND Pulse 1+ 21 55 Pulse 1- Pulse 2+ 22 56 Pulse 2- Pulse 3+ 23 57 Pulse 3- Pulse 4+ 24 58 Pulse 4- Direction 1+ 25 59 Direction 1- Direction 2+ 26 60 Direction 2- Direction 3+ 27 61 Direction 3- Direction 4+ 28 62 Direction 4- VC C (5V) Output 29 63 VC C (5V) Output GND 30 64 GND DAC B1 (X-Axis) 31 65 DAC A1 (X-Axis) DAC B2 (Y-Axis) 32 66 DAC A2 (Y-Axis) DAC B3 (Z-Axis) 33 67 DAC A3 (Z-Axis) DAC B4 (W-Axis) 34 68 DAC A4 (W-Axis) OPTION CON and OPTION CON "J9" with POSYS® PC/104 (only POSYS® 18xx) When either the brushless DC or microstepping motors are used, the Option Connector provides additional signals for multi-phase motor output and input of signals such as Hall sensors. If only one axis is setup for DC Brushless or Microstepping mode, then this additional cable will be needed. The Option Connector is a 50-pin IDC-style connector for the POSYS® 182x/185x: Part description Manufacturer and part number POSYS® PC /104: female Samtec: ASP-53116-02 IDC with cable 50-position Pin Connection Description Pin Connection Description 1 BPWM1A PWM magnitude Phase A (X) 26 HALL2B Phase B Hall Sensor input (Y) 2 BPWM1B PWM magnitude Phase B (X) 27 HALL2C Phase C Hall Sensor input (Y) 3 BPWM1C PWM magnitude Phase C (X) 28 GND Ground 4 BPWMS1A PWM sign Phase A (X) 29 HALL3A Phase A Hall Sensor input (Z) 5 GND Ground 30 HALL3B Phase B Hall Sensor input (Z) 6 BPWM2A PWM magnitude Phase A (Y) 31 HALL3C Phase C Hall Sensor input (Z) 7 BPWM2B PWM magnitude Phase B (Y) 32 GND Ground 8 BPWM2C PWM magnitude Phase C (Y) 33 HALL4A Phase A Hall Sensor input (W) 9 BPWMS2A PWM sign Phase A (Y) 34 HALL4B Phase B Hall Sensor input (W) 10 GND Ground 35 HALL4C Phase C Hall Sensor input (W) 11 BPWM3A PWM magnitude Phase A (Z) 36 GND Ground 12 BPWM3B PWM magnitude Phase B (Z) 37 AGND Ground for motor command 13 BPWM3C PWM magnitude Phase C (Z) 38 DAC 1A Motor command (X), ±10V signal, Phase A 14 BPWMS3A PWM sign Phase A (Z) 39 DAC 2A Motor command (Y), ±10V signal, Phase A 15 GND Ground 40 DAC 3A Motor command (Z), ±10V signal, Phase A 16 BPWM4A PWM magnitude Phase A (W) 41 DAC 4A Motor command (W), ±10V signal, Phase A 17 BPWM4B PWM magnitude Phase B (W) 42 DAC 1B Motor command (X), ±10V signal, Phase B 18 BPWM4C PWM magnitude Phase C (W) 43 DAC 2B Motor command (Y), ±10V signal, Phase B 19 BPWMS4A PWM sign Phase A (W) 44 DAC 3B Motor command (Z), ±10V signal, 87 © POSYS Motion Control GmbH & Co.KG, 2013 Pin Connection Description Pin Connection Description Phase B 20 GND Ground 45 DAC 4B Motor command (W), ±10V signal, Phase B 21 HALL1A Phase A Hall Sensor input (X) 46 AGND Ground for motor command 22 HALL1B Phase B Hall Sensor input (X) 47 GND Ground 23 HALL1C Phase C Hall Sensor input (X) 48 GND Ground 24 GND Ground 49 Vc1 +5V 25 HALL2A Phase A Hall Sensor input (Y) 50 Vc1 +5V -o- 88 © POSYS Motion Control GmbH & Co.KG, 2013 Connection Overview - Amplifiers Overview; Connection Summary - Motor Amplifiers Overview; Connection Summary - Motor Amplifiers The POSYS® card supports four methods of output to motor amplifiers: Motor command output method Description DAC Analog signals from the on-board D/A converters PWM Sign / Magnitude Pulse-width modulated signals with separate magnitude and sign signals per output phase. PWM 50/50 Pulse-width modulated square-wave signals with a single PWM signal per output phase Pulse & Direction Pulse & Direction output signals In addition, each motor axis may have 1, 2, or 3 output phases associated with it. For DC brush motors, the number of phases is one, while for multi-phase motors such as brushless DC or microstepping motors, the number of phases can be 2 or 3, depending on the output waveform programmed into the Motion Processor. The following tables provide convenient summaries of amplifier connections for various configurations of motor output method and motor type. These outputs should be connected from the designated connector pins to the appropriate amplifier inputs. Note that the names of the pins may vary among amplifiers. Common names are shown. -oPOSYS® 8xx-B/18xx POSYS® 8xx-B/18xx; Connections Summary - Motor Amplifiers The POSYS® 8xx/8xx-B/18xx supports four methods of output to motor amplifiers: Motor command signal Description DAC analog signals from the on-board D/A converters PWM Sign / Magnitude PWM signals for Sign/Magnitude mode per phase. PWM 50/50 PWM signals for 50/50 mode per phase. Pulse & Direction Pulse & Direction output signals In addition, each motor axis may have 1, 2, or 3 output phases associated with it. For DC brush motors, the number of phases is one, while for multi-phase motors such as brushless DC or microstepping motors, the number of phases can be 2 or 3, depending on the output waveform programmed into the motion processor. The tables on the following pages provide convenient summaries of amplifier connections for various configurations of motor output method and motor type. These outputs should be connected from the designated connector pins to the appropriate amplifier inputs. Note that the names of the pins may vary among amplifiers. Common names are shown. DC Brush Servo Motor Connections and DC Brushless Servo Motor Connections (external commutation) POSYS® 80x-B POSYS® 182x (for correct interpretation: J7 = J5 and J1 = J6) Connection Motor output method POSYS® 8xx-B Amplifier connection name connection Axis 1 Axis 2 Axis 3 Axis 4 DAC DAC 1-4A Ref+ or V+ J7-17 J7-34 J1-17 J1-34 AGND Ref- or Gnd J7-18 J7-35 J1-18 J1-35 89 © POSYS Motion Control GmbH & Co.KG, 2013 Connection Motor output method POSYS® 8xx-B Amplifier connection name connection Axis 1 Axis 2 Axis 3 Axis 4 PWM sign/magnitude PWMMag1-4A PWM magnitude J7-14 J7-31 J1-14 J1-31 PWMSign1-4A PWM direction J7-15 J7-32 J1-15 J1-32 GND Gnd J7-8 J7-26 J1-8 J1-26 PWM 50/50 unused DC Brushless Motor Connections (internal commutation) POSYS® 182x (for correct interpretation: J7 = J5 and J1 = J6) Connection Motor output method POSYS® 182x Amplifier connection name connection Axis 1 Axis 2 Axis 3 Axis 4 DAC DAC 1-4A Ref1+ or V1+ Option C on-38 Option C on-39 Option C on-40 Option C on-41 DAC 1-4B Ref2+ or V2+ Option C on-42 Option C on-43 Option C on-44 Option C on-45 AGND Ref- or Gnd Option C on-37 Option C on-46 Option C on-37 Option C on-46 PWMMag1-4A PWM phase 1 Option C on-1 Option C on-6 Option C on-11 Option C on-16J1-31 PWMMag1-4B PWM phase 2 Option C on-2 Option C on-7 Option C on-12 Option con-17 PWMMag1-4C PWM phase 3 Option C on-3 Option C on-8 Option C on-13 Option C on-18 GND Gnd Option C on-5 Option C on-10 Option C on-15 Option C on-20 PWM 50/50 PWM sign/magnitude unused Microstepping Motor Connections POSYS® 182x (for correct interpretation: J7 = J5 and J1 = J6) Connection Motor output method POSYS® 182x Amplifier connection name connection Axis 1 Axis 2 Axis 3 Axis 4 DAC DAC 1-4A Ref1+ or V1+ Option C on-38 Option C on-39 Option C on-40 Option C on-41 DAC 1-4B Ref2+ or V2+ Option C on-42 Option C on-43 Option C on-44 Option C on-45 AGND Ref- or Gnd Option C on-37 Option C on-46 Option C on-37 Option C on-46 PWMMag1-4A PWM magnitude Option C on-1 Option C on-6 Option C on-11 Option C on-16 PWMSign1-4A PWM direction Option C on-4 Option C on-9 Option C on-14 Option C on-19 PWMMag1-4B PWM magnitude Option C on-2 Option C on-7 Option C on-12 Option C on-17 PWMSign1-4B PWM sign Option C on-3 Option C on-8 Option C on-13 Option con-18 GND Gnd Option C on-5 Option C on-10 Option C on-15 Option C on-20 PWM sign/magnitude PWM 50/50 unused Pulse & Direction Motor Connections or microstepping with appropriate type drivers 90 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS® 85x-B POSYS® 182x/185x (for correct interpretation: J7 = J5 and J1 = J6) Connection Motor output method POSYS® 85x-B/ Amplifier 18xx connection connection name Axis 1 Axis 2 Axis 3 Axis 4 Pulse & Direction Pulse 1-4 Pulse or step J7-14 J7-31 J1-14 J1-31 Direction 1-4 Direction J7-15 J7-32 J1-15 J1-32 GND Gnd J7-8 J7-26 J1-8 J1-26 -oPOSYS® 9xx/19xx; Connections Summary - Motor Amplifiers POSYS® 9xx/19xx; Connections Summary - Motor Amplifiers The POSYS® PCI cards support, depending on model, up to 4 different motor output signals for amplifiers and drives: Motor command signal Description DAC analog signals from the on-board D/A converters PWM Sign / Magnitude PWM signals for Sign/Magnitude mode per phase. PWM 50/50 PWM signals for 50/50 mode per phase. Pulse & Direction Pulse & Direction output signals Depending on the motor type 1, 2, or 3 phases can be used. DC brushed motors have a single phase, but DC brushless servo motors or microstepping motors have 2 or 3 phases, deppending on the type of signal to use. The following tables list, depending on the type of motor and signal output, the basic connecting possibilities. These outputs should be connected with the corresponding amplifier inputs. Please note that the names used may vary as each amplifier manufacturer may use different names for their connectors. The names used in the tables are usually used names. Brushed Servo Motor mode with DAC output, PWM magnitude and direction output or PWM 50/50 output and DC Brushless Servo Motor Connections (external commutation) POSYS® 190x/192x POSYS® 90x/91x/97x/98x GP CON J6, 100-position Connector Motor command method Signal Connection to amplifier X-Axis Y-Axis Z-Axis W-Axis 16 Bit DAC (±10 Volt) DAC V 1-4 Ref+ or V+ 17 34 67 84 Analog Ground AGND Ref- or GND 18 35 68 85 PWM Sign + Magnitude oder 50/50 Output BPWM 1-4 PWM Magnitude 14 31 64 81 PWM Sign BPWMS 1-4 PWM Sign 15 32 65 82 Digital Ground für 50/50 GND GND 12 26 62 76 Stepping Motor mode ONLY possible or microstepping with appropriate type drivers POSYS® 190x/192x/195x POSYS® 95x GP CON J6, 100-position Connector 91 © POSYS Motion Control GmbH & Co.KG, 2013 Motor command method Signal connection to amplifier X-Axis Y-Axis Z-Axis W-Axis Pulse (TTL) Pulse 1-4 Pulse or C lock 14 31 64 81 Direction (TTL) Dir 1-4 Direction input 15 32 65 82 In –Position (TTL) AtRest 1-4 Standby C urrent 17 34 67 84 Stepping motor mode, inverted signals Pulse & Direction POSYS® 95x POSYS® 190x/192x/195x (Standard 95x/195x) These signals can only be accessed if the board is equipped w ith „Option Con“ J5. OPTION CON J5, 68-position connector Motor command method Signal Connection to amplifier X-Axis Y-Axis Z-Axis W-Axis Pulse, (TTL) Pulse 1-4 Pulse oder C lock 1 4 7 10 Direction, (TTL) Dir 1-4 Direction input 3 6 9 12 Pulse+, Line Driver Pulse+ 1-4 Pulse+ oder C lock+ 21 22 23 24 Pulse- , Line Driver Pulse – 1-4 Pulse– oder C lock- 55 56 57 58 Direction+, Line Driver Dir+ 1-4 Direction+ 25 26 27 28 Direction-, Line Driver Dir- Direction- 59 60 61 62 In-Position, TTL AtRest 1-4 Standby C urrent 2 5 8 11 1-4 Brushless Servo Motor mode with on-board sinusoidal commutation POSYS® 192x POSYS® 92x/93x/97x/98x (requires CON J5) GP CON J6, 100-position Connector Motor command method Signal Connection to amplifier X-Axis Y-Axis Z-Axis W-Axis 16 Bit DAC ± 10 Volt DAC V 1-4 Ref+ or V+ 17 34 67 84 Analog Ground AGND (1-4) Ref- or GND 18 35 68 85 In this mode DACA1-4 and AGND (1-4) are available twice (on GP CON and OPTION CON), but only need to be connected once. The user can choose which connections are more convenient for his application. OPTION CON J5, 68-position Connector Motor command method Signal Connection to amplifier X-Axis Y-Axis Z-Axis W-Axis 16 Bit DAC ± 10 Volt DAC B1-4 Ref+ or V+ 31 32 33 34 Analog Ground AGNDB (1-4) Ref- or GND 30 30 30 30 16 Bit DAC ± 10 Volt DAC A1-4 65 66 67 68 Analog Ground AGNDA (1-4) Ref- or GND 64 64 64 64 PWM 50/50 PWM PWM Phase 1 Magnitude nA 1 4 7 10 PWM 50/50 PWM PWM Phase 2 Magnitude nB 35 38 41 44 PWM 50/50 PWM PWM Phase 3 Magnitude nC 2 5 8 11 Hall Sensor Hall A (1-4) To motor Halls 13 15 17 19 Hall Sensor Hall B (1-4) To motor Halls 47 49 51 53 Hall Sensor Hall C (1-4) To motor Halls 14 16 18 20 Ref+ or V+ 92 © POSYS Motion Control GmbH & Co.KG, 2013 Motor command method Signal Connection to amplifier X-Axis Y-Axis Z-Axis W-Axis Ground Ground GND 48 50 52 54 Ground Ground GND 36 37 39 40 Microstepping Motor mode POSYS® 192x POSYS® 94x/96x/97x/98x (requires CON J5) GP CON J6, 100-position Connector Motor command method Signal Connection to amplifier X-Axis Y-Axis Z-Axis W-Axis 16 Bit DAC ± 10 Volt DAC V 1-4 Ref+ or V+ 17 34 67 84 Analog Ground AGND (1-4) Ref- or GND 18 35 68 85 In diesem Modus sind DACV1-4 und AGND (1-4) doppelt vorhanden (on GP CON and OPTION CON), aber nur das eine oder andere muss angeschlossen werden. Der Anwender kann entscheiden welche Anschlüsse für seine Applikation am bequemsten zu verwenden sind. OPTION CON J5, 68-poliger Stecker Motor command method Signal Connection to amplifier X-Axis Y-Axis Z-Axis W-Axis 16 Bit DAC ± 10 Volt DAC B 1-4 Ref+ or V+ 31 32 33 34 Analog Ground AGNDB (1-4) Ref- or GND 30 30 30 30 16 Bit DAC ± 10 Volt DAC VA1-4 65 66 67 68 Analog Ground AGNDA (1-4) Ref- or GND 64 64 64 64 PWM Magnitude PWM PWM Magnitude Magnitude nA 1 4 7 10 PWM Sign PWM Sign nA PWM Direction 3 6 9 12 PWM Magnitude PWM PWM Magnitude Magnitude nB 35 38 41 44 PWM Sign PWM Sign nB PWM Direction 2 5 8 11 PWM 50/50 PWM PWM Phase 1 Magnitude nA 1 4 7 10 PWM 50/50 PWM PWM Phase 2 Magnitude nB 35 38 41 44 PWM 50/50 PWM PWM Phase 3 Magnitude nC 2 5 8 11 Ref+ or V+ C onnections not specifically listed in these tables would be common to all models for the J5 and J6 connectors. -o- 93 © POSYS Motion Control GmbH & Co.KG, 2013 Usability 94 © POSYS Motion Control GmbH & Co.KG, 2013 Control Modules for POSYS® 1800/1900 with Firmware Version >2.0 95 © POSYS Motion Control GmbH & Co.KG, 2013 Control Flow Overview Control Flow Overview The following figure provides a control flow overview for the Magellan Motion Processors. It shows how a final motor command is generated, starting with the profile generator and ending with the motor output module that generates amplifier-compatible output signals. Depending on the type of product and motor, some modules may not be used. For example, step motors do not use a position PID loop. In addition, depending on the nature of the control problem, some modules may be disabled by the user to tailor the control for their specific application. C ontrol Flow Überblick Each of the major blocks within the control flow diagram is referred to as a module. The following table provides a brief description of each module. Module name Function Trajectory Generator This module accepts user-specified parameters and generates a trajectory. Position Loop This module is used with servo motors only. It inputs the commanded position(the instantaneous desired axis position) and theactual position (the motor position measured by an encoder), and passes the resultantposition error (the difference between the commanded and the actual position) through a PID filter along with dual biquad filters to generate a motor command. C ommutation/Phasin This module is used with multi-phase motors such as brushless DC motors or microstepping step g motors, and generates desired torque signals for each phase of the motor. Motor Output This module inputs the desired motor phase command and generates the appropriate signals for the selected output format. Each of these modules is described in detail in subsequent chapters. Beyond the functions provided by these major control modules, Magellan also provides numerous additional capabilities such as breakpoints, trace, and PLC -style signal control. These features are common to all motor types and motion processors, and are also described in detail in subsequent chapters. -o- 96 © POSYS Motion Control GmbH & Co.KG, 2013 Enabling and Disabling Control Modules Enabling and Disabling Control Modules At various times during setup or operation of an axis, it may be desirable to selectively enable or disable specific control modules. This is accomplished using the command SetOperatingMode. To read back the status set using this command, the command GetOperatingMode is used. Generally speaking, if a module is disabled, Magellan skips whatever features and calculations are associated with that module, and the input from the previous module is passed directly to the subsequent module without modification. The following table summarizes which modules may be disabled or enabled, and describes typical circumstances under which this might be useful. In addition to these specific modules it is possible to enable or disable an entire axis using the SetOperatingMode command. Note that the commutation/phasing module may not be disabled or enabled by the user. If a multi-phase motor type such as brushless DC or microstepping is selected, this module is always enabled. Module Description Typical Uses Trajectory Generator If disabled, the commanded position will stayThe trajectory generator is not usually at its present value. disabled manually. For trajectory control, which requires an immediate stop, the SetStopModecommand with an argument of Abrupt Stop is used instead. Position Loop Used with servo motors only. If disabled, thisDisabling this module with trajectory module outputs from one of two sources, generator enabled is useful if voltage or depending on whether the trajectory current-proportional positioning devices are generator module is enabled or disabled. used, such as certain kinds of Trajectory generator enabled.If the galvanometers. It may also be useful if trajectory generator is enabled, then the amplifier calibration with automated ramps is position loop is skipped, and the output of required. With trajectory generator disabled, the profile generator is input directly to the disabling this module may be useful for subsequent module. amplifier or motor calibration. Trajectory generator disabled.If the trajectory generator is also disabled, the output comes from the Motor C ommand register, which can be manually set using the command SetMotorCommand . Motorausgabe Disabling this module sets all motor Disabling motor output is useful in generation to a value of zero (0). The actual connection with various safety-related states of the associated motor output signalsconditions, or for amplifier calibration. will depend on the selected signalling method (PWM sign/mag, PWM 50/50, parallel DAC , or serial DAC ) In addition to manually disabling modules, there are a number of circumstances where modules may be automatically disabled due to event-related issues, or breakpoints. GetOperatingMode returns the value set using the command SetOperatingMode, which sets the desired operating mode under normal operational circumstances. However this may differ from the actual operating mode for the reasons mentioned above. To determine the actual current status of the operating mode word use the command GetActiveOperatingMode . -o- 97 © POSYS Motion Control GmbH & Co.KG, 2013 Disabling and Enabling the Position Loop Module Disabling and Enabling the Position Loop Module only available for POSYS® 1800/1900 with Motion Control F irmware Version >2.x There are a number of reasons why it might be desirable to disable the position loop module. See Enabling " and Disabling C ontrol Modules” for details. In addition, there are event-related actions that may result in this module being disabled. See “SetEventAction Processing, ” for details. If the position loop module is disabled, the overall control flow of the motion processor module will be altered in one of two ways, depending on whether the trajectory generator is enabled or disabled when the position loop module is disabled. Trajectory generator disabled — If the trajectory generator module is disabled when the position loop is disabled, the output of the position loop module will be a 16-bit word derived from a programmable motor command register, set using SetMotorC ommand , and read back usingGetMotorC ommand . Trajectory generator enabled — If the trajectory generator module is enabled when the position loop is disabled, then the position loop module is bypassed, and the output value of the trajectory generator becomes the motor command value. Note that only the low word of the 32-bit commanded position is used. This is because the output of the trajectory generator is a 32-bit commanded position, while the output of the position loop, and therefore the input to subsequent modules, is a 16-bit motor command. Effectively this means that when used in this mode, the range of the trajectory generator is limited to 16 bits –32,768 ( to +32,767). Regardless of whether the position loop module is enabled or disabled, the actual effective motor command value may be queried using the command GetActiveMotorC ommand. This value will indicate the motor command being sent “ to downstream” processing modules such as commutation, current control (Magellan/ION only), or motor output. A previously disabled position loop module may be re-enabled in a number of ways. If the module was disabled using the SetOperatingModecommand, then anotherSetOperatingModecommand may be issued. If the position loop module was disabled as part of an automatic event-related action (see “SetEventAction Processing, ” for more information) then the command RestoreOperatingMode is used. Regardless of how the module is re-enabled, at the time that the re-enable operation is requested, certain special processing occurs to avoid unexpected axis movement. In particular, all position loop state variables are set to zero(0). -o- 98 © POSYS Motion Control GmbH & Co.KG, 2013 Reading Position Loop Values Reading Position Loop Values only available for POSYS® 1800/1900 with Motion Control F irmware version >2.x As indicated in this chapter and others, there are a number of commands which can be used to read various position loop-related values. These includeGetC ommandedPositionto read the input command of the position loop, GetActualPositionto read the actual encoder position, GetPositionErrorto read the difference between these two quantities, and GetActiveMotorC ommandto read the output of the position loop module. In addition to being readable through these commands, these variables can also be selected for tracing. Beyond these registers, to further facilitate tuning, there are a number of internal position loop values that can be read back as well as traced. To read back these values the command GetPositionLoopValueis used. The variables within the position loop that can be read and traced are summarized in the following table. Variable Name Function Integrator Sum This register holds the sum of the integrator for the position PID loop. Integral Contribution This register holds the overall contribution of the integrator to the position PID loop. Derivative This register holds the position error derivative value. That is, the difference between the present position error and the previous one. BiQuad1 Input This register holds the input value to biquad filter 1. BiQuad2 Input This register holds the input value to biquad filter 2. -o- 99 © POSYS Motion Control GmbH & Co.KG, 2013 Trajectory Generation Trajectories, Profiles and Parameters Trajectories, Profiles and Parameters The trajectory generator performs calculations to determine the instantaneous position, velocity and acceleration of the desired POSYS® at any given moment in time. These values are called the commanded values. During a profile motion some or all of these parameters will change continuously. Once the profile move is complete these parameters will stay at the same value until a new move is started. To query the instantaneous commanded profile values the commands GetCommandedPosition, GetCommandedVelocity, and GetCommandedAcceleration are used. Throughout this manual various command mnemonics will be shown to clarify POSYS® usage or provide specific examples. See the POSYS® Programmers Section for more information on commands, nomenclature, and syntax. The specific profile that is created by the POSYS® depends on several factors including the presently selected profile mode, the presently selected profile parameters, and other system conditions such as whether a motion stop has been requested. Four trajectory profile modes are supported: S-curve point to point Trapezoidal point to point (w/ or w/o smoothing factor) Velocity contouring Electronic gearing The operation of these profile modes will be explained in detail in subsequent sections. The command used to select the profile mode is SetProfileMode. The command GetProfileMode retrieves the programmed profile mode. The profile mode may be programmed independently for each axis. For example axis #1 may be in trapezoidal mode while axis #2 is in S-curve point to point. With one exception, the POSYS® can switch from one profile to another while an axis is in motion. The exception: when switching to the S-curve point-to-point profile from any other profile, the axis must be at rest. -oTrajectory Parameter Representation Trajectory parameter representation The POSYS® sends and receives trajectory parameters using a fixed point representation. In other words, a fixed number of bits are used to represent the integer portion of a real number, and a fixed number of bits are used to represent the fractional component of a real number. The POSYS® uses three formats: Format Word size Range Description 32.0 32 bits 2,147,483,648 to +2,147,483,647 counts Unity scaling. This format uses an integer only representation of the number. 16.16 32 bits 32,768 to 32,767 +65,535/65,536 Uses 1/216 scaling. The POSYS® expects a 32 bit number which has been scaled by a factor of 65,536. For example to specify a velocity 2.75, 2.75 is multiplied by 65,536 and the result is sent to the POSYS® as a 32 bit integer (180,224 dec. or 2c000 hex) 0.32 32 bits 2,147,483,648/ 4,294,967,296 to +2,147,483,647/ 4,294,967,296 Uses 1/232 scaling. The POSYS® expects a 32 bit number which has been scaled by a factor of 4,294,967,296 (232). For example to specify a value of 0.0075, 0.0075 is multiplied by 4,294,967,296 and the result is sent to the POSYS® as a 32 bit integer (32,212,256 dec. or 1eb8520 hex). 100 © POSYS Motion Control GmbH & Co.KG, 2013 The conversion to the appropriate types and formats is already done by the supplied DLL. -oTrajectory Point-to-Point Profile Trapezoidal point-to-point profile The following table summarizes the host specified profile parameters for the trapezoidal point to point profile mode: Profile Parameter Format word size Range Position 32.0 32 bits -2,147,483,648 to +2,147,483,647 counts Velocity 16.16 32 bits 0 to 32,767+65,535/65,536 counts/cycle Acceleration 16.16 32 bits 0 to 32,767+65,535/65,536 counts/cycle² Deceleration 16.16 32 bits 0 to 32,767+65,535/65,536 counts/cycle² The host instructions SetPosition, SetVelocity, SetAcceleration, and SetDeceleration load these values. The commands GetPosition, GetVelocity, GetAcceleration, and GetDeceleration retrieve the programmed values. For this profile, the host specifies an initial acceleration and deceleration, a velocity, and a destination position. The profile gets its name from the resulting curve (Figure 1-1a): the axis accelerates linearly (at the programmed acceleration value) until it reaches the programmed velocity. It continues in motion at that velocity, then decelerates linearly (using the deceleration value) until it stops at the specified position. If deceleration must begin before the axis reaches the programmed velocity, the profile will have no constant velocity portion, and the trapezoid becomes a triangle (Figure 1-1b). 101 © POSYS Motion Control GmbH & Co.KG, 2013 Figure 1-1. Trapezoidal point-to-point profiles The slopes of the acceleration and deceleration segments may be symmetric (if acceleration equals deceleration) or asymmetric (if acceleration is not equal to deceleration). The acceleration parameter is always used at the start of the move. Thereafter, the acceleration value will be used for acceleration in that direction, and deceleration will be used for accelerations in the opposite direction. If no motion parameters are changed during the motion then the acceleration value will be used until the maximum velocity is reached, and the deceleration value will be used when ramping down to zero. It is acceptable to change any of the profile parameters while the axis is moving in this profile mode. The profile generator will always attempt to remain within the legal bounds of motion specified by the parameters. If, during the motion, the destination position is changed in such a way that an overshoot is unavoidable, the profile generator will decelerate until stopped, then reverse direction to move to the specified position. Note that since the direction of acceleration/deceleration is fixed at the start of the move, the deceleration value will be used when ramping up velocity for the final move to the destination position. This is shown in figure 1-1c. If a deceleration value of 0 (zero) is programmed (or no value is programmed leaving the POSYS®´s default value of zero) then the deceleration value used will be the acceleration value. -o- 102 © POSYS Motion Control GmbH & Co.KG, 2013 Smoothing Factor Filtered Trapezoidal Profile (Blending) The Smoothing Factor is an option and enhancement of the standard trapezoidal profile that includes a filtered trapezoidal trajectory generator. Because the underlying profile mode is the trapezoid, profile features including on-the-fly parameter change (position, velocity and acceleration/deceleration) and asymmetrical profile generation are available. This modified trapezoidal profile produces an S-Curve style velocity profile while permitting all trajectory parameters to be changed on the fly. The actual filter is shown below. The “ProfileKp” is a proportional gain parameter with a range between 0 and 32767. When set to 32767 the gain is “unity” and results in no filtered output. For values below 32767 the trajectory is filtered accordingly. C ommanded velocity and acceleration, which are used by the PID filter for the feedforward terms, are derived from the filtered position. The default ProfileKp value after a Reset or power-on is 0x7fff. The following pictures show the differences in the motion without and then with activated Smoothing Factor. Without activated Smoothing Factor you can see clear overshooting when running into position. With activated Smoothing Factor this overshooting is reduced or even eliminated. The first 4 pictures show typical behaviour without activated Smoothing Factor. The first picture gives an overview of the complete motion and the next 3 pictures are zoomed-in areas of the positions where the motion come to an halt and accelerates again or as indicated in the last (4th) picture when it motion comes to a complete end. 103 © POSYS Motion Control GmbH & Co.KG, 2013 Total movement without Smoothing Factor First stop without Smoothing Factor. Overshooting is visible. After in-position the motion continues to new target position 104 © POSYS Motion Control GmbH & Co.KG, 2013 Second stop with overshooting and new start of motion in opposite direction End of motion with overshooting again The next 4 pictures show the same motion with the same target positions, velocity and acceleration values as before. The new effect is that the motion becomes a s-curve similar shape with the difference that all parameters stay changeable "on-the-fly" as usual in trapezoidal mode. Compared to the pure trapezoidal mode the motion needs longer to reach end position. 105 © POSYS Motion Control GmbH & Co.KG, 2013 C omplete motion with Smoothing Factor First stop with Smoothing Factor. Overshooting is no longer visible. After in-position the motion continues to new target position 106 © POSYS Motion Control GmbH & Co.KG, 2013 Second stop without overshooting and new start of motion in opposite direction End of motion without overshooting again All pictures show actual position values as captured with the POSYS® trace function. Set/GetProfileKp -oS-curve Point-to-Point Profile S-curve point-to-point profile The following table summarizes the host specified profile parameters for the S-curve point to point profile mode: Profile Parameter Format Range Position 32 bits -2,147,483,648 to +2,147,483,647 Velocity 32 bits 0 to 32,767+65,535/65,536 counts/cycle 107 © POSYS Motion Control GmbH & Co.KG, 2013 Profile Parameter Format Range Acceleration 32 bits 0 to 32,767+65,535/65,536 counts/cycle² Deceleration 32 bits 0 to 32,767+65,535/65,536 counts/cycle² Jerk 32 bits 0 to 2,147,483,647/4,294,967,296 counts/cycle³ The host instructions SetPosition, SetVelocity, SetAcceleration, SetDeceleration, and SetJerk load these respective values. The commands GetPosition, GetVelocity, GetAcceleration, GetDeceleration, and GetJerk retrieve the programmed values. In S-curve profile mode, the same value must be used for both acceleration and deceleration. Asymmetric profiles are not allowed. The S-curve point-to-point profile adds a limit to the rate of change of acceleration to the basic trapezoidal curve. A new parameter (jerk) is added which specifies the maximum change in acceleration in a single cycle. In this profile mode, the acceleration gradually increases from 0 to the programmed acceleration value, then the acceleration decreases at the same rate until it reaches 0 again at the programmed velocity. The same sequence in reverse brings the axis to a stop at the programmed destination position. Figure 2-1. S-curve profile Figure 2-1 shows a typical S-curve profile. In segment I, the S-curve profile drives the axis at the specified jerk (J) until the maximum acceleration (A) is reached. The axis continues to accelerate linearly (jerk = 0) through Segment II. The profile then applies the negative value of the jerk to reduce acceleration to 0 during Segment III. The axis is now at maximum velocity (V), at which it continues in motion through Segment IV. The profile will then decelerate in a manner similar to the acceleration stage, using the jerk value first to reach the maximum deceleration (A), and then to bring the axis to a halt at the destination. An S-curve profile might not contain all of the segments shown in figure 2-1. For example, if the maximum acceleration cannot be reached before the 'halfway' point to or from the velocity, the profile would not contain a Segment II or a Segment VI. Such a profile is shown in figure 2-2 Figure 2-2. S-curve that doesn't reach maximum acceleration Similarly, if the position is specified such that velocity is not reached, there will be no Segment N, as shown in figure 2-3. (There may also be no Segment II or Segment VI, depending on where the profile is "truncated".) 108 © POSYS Motion Control GmbH & Co.KG, 2013 Figure 2-3. S-curve with no maximum-velocity segment Unlike the trapezoidal profile mode, the S-curve profile mode does not support changes to any of the profile parameters while the axis is in motion. Likewise, the axis may not be switched into S-curve profile mode while the axis is in motion. It is however legal to switch from S-curve mode to any other profile mode while in motion. If the S-curve mode is substantial to the type of control application and the necessity of changing various PID, velocity, accel./decel. parameters, then it is recommended to use the Trapezoidal point to point mode with smoothing factor. This mode allows a S-curve similar behavior of the motion when changing from accel./decel sectors to the velocity sector or coming to a STOP. -oVelocity Contouring Profile Velocity contouring profile The following table summarizes the host specified profile parameters for the Velocity contouring profile mode: Profile Parameter Word size Range Velocity 32 bits 0 to 32,767+65,535/65,536 counts/cycle Acceleration 32 bits 0 to 32,767+65,535/65,536 counts/cycle² Deceleration 32 bits 0 to 32,767+65,535/65,536 counts/cycle² The host instructions SetVelocity, SetAcceleration, and SetDeceleration load these respective values. The commands GetVelocity, GetAcceleration, and GetDeceleration, retrieve the programmed values. Unlike the Trapezoidal and S-curve profile modes where the destination position determines the direction of initial travel, in the Velocity contouring profile mode the sign of the velocity parameter determines the initial direction of motion. Therefore the velocity value that is sent to the POSYS® can have positive values (for positive direction motion) or negative values (for negative direction motion). In this profile, no destination position is specified. The motion is controlled entirely by changing the acceleration, velocity, and deceleration parameters while the profile is being executed. The trajectory is executed by continuously accelerating the axis at the specified rate until the velocity is reached. The axis starts decelerating when a new velocity is specified which has a smaller value (in magnitude) then the present velocity, or has a sign that is opposite to the present direction of travel. A simple velocity-contouring profile looks just like a simple trapezoidal point-to-point profile, as shown in Figure 1-1. Figure 3-1 illustrates a more complicated profile, in which the both the velocity and the direction of motion change twice: 109 © POSYS Motion Control GmbH & Co.KG, 2013 Figure 3-1. Velocity-contouring profile Note: In velocity contouring profile mode axis motion is not bounded by a destination. It is the host´s responsibility to provide acceleration, deceleration, and velocity values w hich result in safe motion within acceptable position limits. -oElectronic Gear Profile Electronic-gear profile The following table summarizes the host specified profile parameters for the electronic gear profile mode: Profile ParameterWord size Range Gear ratio 32 bits -32,767 to 32,767+65,535/65,536 counts/cycle Master axis # 2 bits 0-3* Master source 1 bit 2 values; encoder or commanded (see below for details) *for two axes products 0-1. Single axis products do not support electronic gearing. The host instructions SetGearRatio, and SetGearMaster load these respective values. The commands GetGearRatio and GetGearMaster retrieve the programmed values. In this profile, the host specifies three parameters. The first is the „master“ axis # which is the axis that will be the source of position information used to drive the „slave“ axis, which is the axis in gear mode. The second is the gear source, which is either actual (the encoder position of the master axis) or the commanded (the commanded position of the master axis). The third is the gear ratio, which specifies the direction and ratio of master gear counts to slave counts. Figure 4-1. POSYS® set up for electronic-gearing profile 110 © POSYS Motion Control GmbH & Co.KG, 2013 A positive gear ratio value means that when the master axis actual or commanded position is increasing the slave-commanded position will also increase. A negative gear ratio value has the opposite effect; increasing master position will result in decreasing slave axis commanded position. For example, let us assume the slave axis is axis #0 (axes are counted 0, 1, 2, 3 for a four axes motion controller) and the master axis is set to axis #3. Also assume the source will be actual with a gear ratio of -½. Then for each positive encoder count of axis 3, axis 0 commanded position will decrease in value by ½ count, and for each negative encoder count of axis 3 axis 0 commanded position will increase in value by ½ count. Figure 4-1 shows the arrangement of encoders and motor drives in a typical electronic gearing The electronic gear profile requires two axes to be enabled. The single-axis motion processors, therefore, do not support electronic gearing in a useful way. If the master axis source is set to actual, this axis need not have a physical motor attached to it. Frequently, it is used only for its encoder input, for example from a directly driven (open-loop) motor, or a manual control. It is possible, however, to drive a motor on the master axis by enabling the axis and applying a profile mode other than electronic gear to the axis. The effect of this arrangement is that both master and slave can be driven by the same profile, even though the slave can drive at a different ratio and in a different direction if desired. The master axis will operate the same whether or not it happens to be the master for some other geared axis. The optional components shown in Figure 4-1 illustrate this arrangement. Such a configuration can be used to perform useful functions such as linear interpolation of two axes. NOTES The gear-ratio parameter may be changed while the axis is in motion, but care should be taken to select ratios so that safe motion is maintained. -oExternal Profile Mode On-board RAM All motion controllers utilize on-board RAM as which we refer to on-board RAM in this document. Depending on the type of model they either have 256k x 8 (700, 800 series), 512k x 8 (800-B, 900, 1800, 1850, 1900, 1950 series) Single Port RAM or 32k x 16 (1920, 1820 series) Dual Port RAM. This memory can be used to support two purposes, first it can be used to store trace information, the second purpose is to use it to store profile information (for complex motion profiles, e.g. circular interpolation). The usage of the RAM for the tracing function allows real-time capturing of certain data and events by the motion processor and the automatic storage to the on-board RAM. 4 different variables out of 28 can be selected for parallel capturing. Data is captured each update period. Longer periods can be selected changing the trace capturing period (e.g. every 10th update period or 13th update period). The length of the trace buffers can be defined and is programmable. It is possible to choose the complete amount of memory (POSYS 1800/1900) or just a part of it with exception of the first 512 words (POSYS 700/800/800-B/900). It is possible to define separate trace and program buffers. The different buffers are defined by setting IDs. A trace buffer must always be ID=0. The POSYS 1800/1900 boards are optionally available with DPRAM. Only the fully equipped versions 1820 and 1920 have DPRAM by default (32k x 16). For all other 1800/1900 versions it is possible to order the boards with other RAM sizes and SPRAM or DPRAM. For details please contact servo Halbeck GmbH & Có.KG. Relevant On-Board RAM-Functions Relevant functions for use with on-board RAM are: Profile Mode GetBufferFunction GetBufferLength GetBufferReadIndex GetBufferStart 111 © POSYS Motion Control GmbH & Co.KG, 2013 GetBufferWriteIndex GetStopMode ReadBuffer SetBufferFunction SetBufferLength SetBufferReadIndex SetBufferStart SetBufferWriteIndex SetStopMode WriteBuffer The function SetProfileMode(axis, mode) was extended with the mode "External Profile Mode = 4". All above functions and necessary parameters are described in the Programmer's manual. Trace Mode GetTraceCount GetTraceMode GetTracePeriod GetTraceStart GetTraceStatus GetTraceStop GetTraceVariable SetTraceMode SetTracePeriod SetTraceStart SetTraceStop SetTraceVariable These functions are only valid for setup and execution for tracing. A detailed description can be found in the Programmer's manual. Usage of On-Board RAM for External Profile Mode The on-board RAM can be used to store complex motion profiles. The motion data needs to be pre-calculated by the host and can then be downloaded to the memory from where the motion processor loads the information and executes the motion without further host intervention. Up to 4 axes can be moved in parallel in a high-complex motion sequence. Position Velocity Acceleration Jerk (S-curve) SegmentTime All data needs to be provide in 32 bit format Position data is always absolut und represents the target position at the end of a segment. Velocity is in quadrature counts per update period Acceleration (negative and positive) are quadrature counts per update period² Jerk is in quadrature counts per update period³ SegmentTime is a multiple of the update period If all 4 axes are active and the update period ist set to the standard value of 408 µs (as on POSYS 700/800/800-B/900 boards), then the fastest available update-time for the data in the buffer which are represented by SegmentTime are a multiple of 1. As soon as a SegmentTime multiple of 0 is recognized the External Profile Mode for this axis is stopped. The other axes continue with the execution of their motion profiles. Position Error and an Abrupt Stop are also possible to stop the execution of programs residing in the on-board RAM. 112 © POSYS Motion Control GmbH & Co.KG, 2013 The length of the SegmentTime depends on the type of profile and on the type of application. The shorter the time the more memory is used. Linear motion profiles can utilize much longer SegmentTimes than circular interpolation profiles. SegmentTimes for circular interpolation profiles seldomly need to be shorter than 2 ms (equals about 5 update periods on POSYS 700/800/800-B/900 boards and 8 update periods on POSYS 1800/1900 boards). What needs to be taken into consideration A motion profile being executed in External Profile Mode is normally programmed to reach to an end of the programmed buffer containing its data. If the SegmentTime value of 0 is not found at this position it will jump back to the start position (defined with SetBufferStart) and continue with the execution. This can become a potentially dangerous situation. This can lead to a sudden jump of the axis from one position to another if the End Position differs a lot from the Start Position. To leave the External Profile Mode the last segment must have a SegmentTime multiple of 0 for each involved axis. The axes will then remain in their end position. But the defined Profile Mode is still active (profil=4) and needs to be set to the desried mode with the command SetProfileMode(axis,mode) if the External Profile Mode is no longer needed. Available Memory (RAM) too small for Program Execution If the program length is too small to fit completely in to the on-board RAM, then this is no problem. Devide the motion sequence in to smaller sequences. Load these segments and send additional sequences to the Memory segments as soon as the memory is available again. The memory is devided in to segments which contain just actually executed sequences and segments which wait to be executed. The functions GetBufferReadIndex and GetBufferWriteIndex are mechanisms to define the actual reading and writing position for new data. As soon as the starting data has been executed the read index returns automatically to the start position and continues with the execution of the program. For example: the total number of programmed positions in the RAM equals 26,350, but only 10,000 positions are available. Then do the following: Load the data to the positions 0 to 10,0000 Start to load new data to the RAM and start with the position BufferWriteIndex = 0 until RAM position = 4,999 Start the External Profile Mode Set a Breakpoint which fits to an event as soon as the BufferReadIndex gets to position 5,000 or check the BufferReadIndex >= 5,000 C heck the BufferReadIndex until it is <= 10,000 Start to load new data to the RAM and start at the position BufferWriteIndex = 5,000 and continue until RAM position = 10,000 C ontinue with this method until all data has been loaded and executed. Take care to add the last segment which contains the SegmentTime multiplier = 0 to leave the External Profile Mode at the end of the sequence. -oSetStop Command The SetStop command Normally each of the above trajectory profile modes will execute the specified trajectory, within the specified parameter limits, until the profile conditions are satisfied. For example, for the point-to-point profile modes this means that the profile will move the axis until the final destination position has been reached, at which point the axis will have a velocity of zero. In some cases however it is necessary to halt the trajectory manually, for safety reasons, or simply to achieve a particular desired profile. This can be accomplished using one of two methods: abrupt stop, or smooth stop. To perform a stop the command SetStopMode is used. To retrieve the current stop mode the command GetStopMode is used. AbruptStop instantaneously stops the profile by setting the target velocity of the designated axis to zero. This is, in effect, an emergency stop with instantaneous deceleration. Smooth Stop brings the designated axis to a controlled stop, using the current deceleration parameter to reduce the velocity to zero. CAUTION AbruptStop must be used with care. Sudden deceleration from a high velocity can damage equipment or cause injury. 113 © POSYS Motion Control GmbH & Co.KG, 2013 AbruptStop functions in all profiles. SmoothStop functions in all profiles except electronic-gear. -oMotor Mode Motor Mode All POSYS® support a programmable motor mode that can enable and disable the profile generator, and the axes in servo mode of the POSYS® can be set to open loop mode or closed loop mode. The command SetMotorMode determines the motor mode and the command GetMotorMode retrieves the current value of the motor mode. If the motor mode is set ON then the trajectory generator is active. If the motor mode is set OFF then the profile generator is disabled. In addition, for the POSYS® axes in servo mode, if the motor mode is set OFF then the POSYS® enters open loop mode which means the servo filter is disabled and the motor command (the current output level requested by the POSYS®) is determined manually by the host using the command SetMotorCommand. If the motor mode is set ON then the motor command is determined by the servo loop. The most common use of the motor mode in anything other than the standard ON state is after a motion error. In the case of a motion error (and if auto stop is enabled) then the POSYS® will set the motor mode OFF automatically, thereby placing it in a safe state where no further motion can occur until the host explicitly restores the motor mode to the ON condition. For the servo version it may also be useful to set the motor mode to OFF for purposes of amplifier calibration. -oSetting the Cycle Time Setting the cycle time POSYS® 7xx/8xx/8xx-B/9xx The POSYS® calculates all trajectory and servo information on a fixed, regular interval. This interval is known as the cycle time. For each axis of the POSYS® that is enabled there is a minimum cycle time required for the POSYS® to function properly. The following table shows this for the POSYS® 7xx/8xx-B/9xx: POSYS® Cycle time per enabled axis POSYS® 70x, 80x, 90x, 91x 100 µsec POSYS® 75x, 85x, 94x, 95x, 96x n.a. (instead: profile calculation timing range = 100 µsec for POSYS® 75x, 85x, 95x; 150 µsec for POSYS® 94x, 96x POSYS® 92x, 93x, 97x, 98x 150 µsec To calculate the total minimum cycle time for a given number of enabled axes, multiply the number of axes by the minimum cycle time. For example for a POSYS® with four axes enabled, the minimum loop time would be 4x100 = 400 µsec, for a cycle frequency of 2.5 kHz. The cycle rate determines the trajectory update rate for all products as well as the servo loop calculation rate for the servo products (POSYS® 70x, 80x, 90x, 91x, 92x, 93x, 97x, 98x). An enabled axis receives its cycle "time slice" whether or not it is in motion, and whether or not the motor is on or off SetMotorMode command). If cycle time is critical, it`s possible to reclaim that time by disabling an unused axis and 114 © POSYS Motion Control GmbH & Co.KG, 2013 resetting the loop rate with the instruction SetSampleTime. For example, using a POSYS® 704/804/904, four axes are available, but if only 3 will be used in a specific application then the unused axis can be disabled using the command SetMotorMode and the new sample time of 300 µsec can be set using the SetSampleTime command. This improves the cycle frequency from 2.5 kHz to 3.333 kHz. POSYS® 18xx/19xx The minimum cycle time for the POSYS® 18xx/19xx is 51.2 µs, independent of the number and motor types of the enabled axes. At this setting, the maximum cycle frequency would be 19.531 kHz. Beyond this minimum, cycle time is increased in increments of 51.2/64/68.3/76.8/102.4 µs. For each enabled axis of the POSYS® that is enabled there is a minimum cycle time required for the POSYS® to function properly. The following table shows this: # enabled axes minimum cycle time min. cycle time maximum cycle frequency w/ trace capture time per axis 1 51.2 µs 102.4 µs 102.4 µs 19.53 khz 2 153.6 µs 153.6 µs 76.8 µs 6.51 kHz 3 204.8 µs 204.8 µs 68.3 µs 4.88 kHz 4 256 µs 256 µs 64 µs 3.91 kHz For POSYS 1800/1900 with Motion Control Chip Setz Ver. >2.x # enabled axes minimum cycle time min. cycle time maximum cycle frequency w/ trace capture time per axis 1 102.4 µs 102.4 µs 102.4 µs 9.76kHz 2 153.6 µs 153.6 µs 76.8 µs 6.51 kHz 3 204.8 µs 204.8 µs 68.3 µs 4.88 kHz 4 256 µs 256 µs 64 µs 3.91 kHz The cycle rate determines the trajectory update rate for all motor types as well as the servo loop calculation rate for the servo axes. It does not however determine the commutation rate of the Brushless DC motor types. An enabled axis receives its cycle time slice whether or not it is in motion, and whether or not the motor is on or off (SetMotorMode command). If cycle time is critical, it is possible to reclaim that time slice by disabling an unused axis and resetting the loop rate with the instructions SetSampleTime and SetAxisMode. For example, using a POSYS® with four axes but if only 3 will be used in a specific application then the unused axis can be disabled using the command SetAxisMode and the new sample time of can be set using the SetSampleTime command. Doing so would improve the cycle frequency from 3.91 kHz to 4.88 kHz. It is the responsibility of the host to make sure that the specified sample time is equal or larger than the specified minimums from the table above. -o- 115 © POSYS Motion Control GmbH & Co.KG, 2013 Parameter Update Parameter Buffering Parameter buffering Various parameters must be specified to the POSYS® for an axis to be controlled correctly. In some cases it may be desired that a set of parameters take effect at the exact same time to facilitate precise synchronized motion. To support this all profile parameters and several other types of parameters such as servo parameters (servo axes only) are loaded into the POSYS® using a buffered scheme. These buffered commands are loaded into an area of the POSYS® that does not affect the actual POSYS® behavior until a special event known as an Update occurs. An Update causes the buffered registers to be copied to the active registers, thereby causing the POSYS® to act on the new parameters. For example the following command sequence loads a profile mode, position, velocity, and destination position in but will not become active (take affect) until an Update is given: Command Action SetProfileMode(Axis1, trapezoidal) set profile mode to trapezoidal for axis 1 SetPosition (Axis1,12345) load a destination position for axis 1 SetVelocity (Axis1, 223344) load a velocity for axis 1 SetAcceleration(Axis1,1000) load an acceleration for axis 1 After this sequence is completed the buffered registers for these parameters (including the profile mode itself) are loaded into the POSYS® but the trajectory generator module still operates on whatever the previous trajectory profile mode and parameters were. Only when an Update occurs will the trajectory profile mode actually be changed to trapezoidal and the specified parameters loaded into the trajectory generator, causing the trajectory generator to start the programmed motion. Updates There are three different ways that an Update can occur. They are listed below: Update command - The simplest way is to give an Update command. This causes the parameters for the programmed axis to be updated immediately. MultiUpdate command - The multiple axis instantaneous update, which is specified using the MultiUpdate command, causes multiple axes to be updated simultaneously. This can be useful when synchronized multi-axis profiling is desired. This command takes a 1-word argument which consists of a bit mask, with 1 bit assigned to each axis. Executing this command has the same affect as sending a set of Update commands to each of the individual axes selected in the MultiUpdate command mask. Breakpoints - There is a very useful facility supported by the POSYS® that can be programmed to generate an Update command automatically when a pre-programmed condition becomes true. This feature is known as the breakpoint facility, and it is useful for performing operations such as “automatically change the velocity when a particular position is reached”, or “stop the axis abruptly when a particular external signal goes active.” Whichever Update method is used, at the time the update occurs, all of the buffered registers and commands will be copied to the active registers. Conversely, before the Update occurs, loading the buffered registers or executing buffered commands will have no effect on the system behavior. In addition to profile generation most servo parameter commands are not buffered, and some other commands are buffered. Following is a complete list of buffered values and commands. Buffered Commands Trajectory Servo & Error Tracking Miscellaneous SetProfileMode C learPositionError SetMotorC ommand SetAcceleration SetIntegrationLimit SetJerk SetKaff 116 © POSYS Motion Control GmbH & Co.KG, 2013 Trajectory Servo & Error Tracking SetVelocity SetKd SetPosition SetKi SetDeceleration SetKp SetGearRatio SetKvff Miscellaneous SetKaff -o- 117 © POSYS Motion Control GmbH & Co.KG, 2013 Breakpoints Breakpoints Breakpoints Breakpoints are a convenient way of programming the POSYS® event upon some specific condition. Depending on the breakpoint instruction´s arguments, a breakpoint can cause an update; an abrupt stop followed by an update, a smooth stop followed by an update, a motor-off followed by an update (more on this function in a later section); or no action whatever. Each axis has two breakpoints that may be programmed for it. So two completely separate conditions may be monitored and acted upon. These two breakpoints are known as breakpoint 1 and breakpoint 2. -oDefining a Breakpoint; Overview Defining a breakpoint, Overview Each breakpoint has five components: the breakpoint axis, the source axis for the triggering event, the event itself, the action to be taken and the comparison value. The breakpoint axis is the axis on which the specified action is to be taken. The source axis is the axis on which the triggering event is located. It can be the same as or different than the breakpoint axis. Any number of breakpoints may use the same axis as a source axis. The trigger is the event that causes the breakpoint. The action is the sequence of operations executed by the POSYS® when the breakpoint is triggered. After a breakpoint is triggered the action is performed on the breakpoint axis. The comparison value is used in conjunction with the action to define the breakpoint event. Altogether these parameters provide great flexibility in setting breakpoint conditions. By combining these components, almost any event on any axis can cause a breakpoint. The command used to send the breakpoint axis, the trigger, the source axis and the action is SetBreakPoint. To retrieve these same values the command GetBreakpoint is used. To set the comparison value the command SetBreakpointValue is used. This comparison value can be retrieved using the command GetBreakpointValue. For each of these commands the breakpoint number (1 or 2) must be specified. The SetBreakpointValue command should always be sent before the SetBreakpoint command to set up a particular breakpoint. -oBreakpoint Triggers Breakpoint triggers The POSYS® supports the following breakpoint trigger conditions: Trigger Condition Level or Threshold Positive C ommanded Position Threshold Description Is satisfied when the current commanded position is equal 118 © POSYS Motion Control GmbH & Co.KG, 2013 Trigger Condition Level or Threshold Description to or greater than the programmed compare value Negative C ommanded PositionThreshold Is satisfied when the current commanded position is equal to or less than the programmed compare value Positive Actual Position Threshold Is satisfied when the current actual position is equal to or greater than the programmed compare value Negative Actual Position Threshold Is satisfied when the current actual position is equal to or less than the programmed compare value C ommanded Position C rossedThreshold Is satisfied when the current commanded position crosses (is equal to) the programmed compare value Actual Position C rossed Threshold Is satisfied when the current actual position crosses (is equal to) the programmed compare value Time Threshold Is satisfied when the current POSYS® time (in number of cycles since power-up) is equal to the programmed compare value Event Status Level Is satisfied when the EventStatus register matches bit mask and high/low pattern is programmed compare value Activity Status Level Is satisfied when the ActivityStatus register matches bit mask and high/low pattern is programmed compare value Signal Status Level Is satisfied when the SignalStatus register matches bit mask and high/low pattern is programmed compare value None - Disable any previously set breakpoint If "none" is selected for the breakpoint trigger then this effectively means that breakpoint is inactive. Only one of the above triggers can be selected at a given time. Threshold-triggered breakpoints Threshold triggered breakpoints use the value set using the SetBreakpointValue command as a single 32-bit threshold value to which a comparison is made. When the comparison is true, the breakpoint is triggered. For example, if it is desired that the trigger occur when the commanded position is equal to or greater than 1,000,000, then the comparison value loaded using SetComparisonValue would be 1,000,000, and the trigger selected would be PositiveCommandedPosition. Level-triggered breakpoints To set a level-triggered breakpoint, the host instruction supplies two 16-bit data words: a trigger mask, and a sense mask. These masks are set using the SetBreakpointValue instruction. The high word of data passed with this command is the trigger mask value, the low word is the sense mask value. The trigger mask determines which bits of the selected status register are enabled for the breakpoint. A 1 in any position of the trigger mask enables the corresponding status-register bit to trigger a breakpoint, a 0 in the trigger mask disables the corresponding status register bit. If more then one bit is selected, then the breakpoint will be triggered when any selected bit enters the specified state. The sense mask determines which state of the corresponding status bits cause a breakpoint. Any status bit that is in the same state (i.e. 1 or 0) as the corresponding sense bit is eligible to cause a breakpoint (assuming of course that it has been selected by the trigger mask). For example, if the activity status register breakpoint has been selected, and the trigger mask contains the value 0402h and the sense mask contains the value 0002h, then the breakpoint will be triggered when bit 1 (the at max velocity indicator) assumes the value 1, or bit 10 (the in motion indicator) assumes the value. -oBreakpoint Actions Breakpoint actions 119 © POSYS Motion Control GmbH & Co.KG, 2013 Once a breakpoint has been triggered, the POSYS® can be programmed to perform one of the following instruction sequences: Action Command Sequence Executed Keine No commands executed Update Update Achse Abrupt Stop SetStopMode axis, AbruptStop Update axis SmoothStop SetStopMode axis, SmoothStop Update axis MotorOff SetMotorMode axis, Off Update axis Regardless of the host´s action, once a breakpoint condition has been satisfied, the Event Status bit corresponding to the breakpoint is set and the breakpoint is deactivated. -oBreakpoint Examples Breakpoint Examples Here are a few examples to illustrate how breakpoints can be used. Example #1The host would like axis 1 to change velocity when the encoder position reaches a particular value. Breakpoint #1 should be used. The following command sequence achieves this: Commands Description SetPosition (Axis1,123456) Load destination SetVelocity (Axis1, 55555) Load velocity SetAcceleration (Axis1, 500) Load acceleration SetDeceleration (Axis1,1000) Load deceleration Update (Axis1) Make the move SetVelocity (Axis1,111111) Load a new velocity of 111,111 but do not send an Update SetBreakpointValue (Axis1,1,100000) Load 100,000 into the comparison register for breakpoint 1 SetBreakpoint (Axis1, Breakpoint1, Axis1, Update, PositiveActuaIPosition) Specify a positive actual position breakpoint on axis 1 which will result in an Update when satisfied for breakpoint 1 This sequence makes an initial move and loads a breakpoint after the first move has started. The breakpoint that is defined will result in the velocity being "updated" to 111,111 when the actual position reaches a value of 100,000. Therefore at 100,000 the axis will accelerate from a velocity of 55,555 to 111,111 at the acceleration value of 500. Note that any buffered registers that are not sent again will remain in the buffered registers. For example when the breakpoint performs an Update the values for position, acceleration and deceleration are unchanged and therefore are copied over to the active registers without modification. Example #2The host would like axis 1 to perform an emergency stop whenever the AxislN signal for axis 3 goes high. In addition the axis 1 acceleration should change whenever a particular commanded position is achieved on axis 4. The following command sequence achieves this: Commands Description SetPosition (Axis1,123456) Load destination SetVelocity (Axis1, 55555) Load velocity SetAcceleration(Axis1, 500) Load acceleration SetDeceleration(Axis1,1000) Load deseleration Update (Axis1) Make the move SetVelocity (Axis1, 111111) Load a new velocity of 111,111 but do not send an Update SetBreakpointValue(Axis1,1, 0x400040) Load mask and sense word of 0x40, 0x40 (bit 6 must be high) for breakpoint 1 120 © POSYS Motion Control GmbH & Co.KG, 2013 Commands Description SetBreakpoint(Axis1, Breakpoint1, Axis3, Specify a breakpoint to monitor the signal status register of axis 3 to AbruptStop, SignaIStatus) trigger when bit 6 (Axisln) goes high for breakpoint 1 SetAcceleration(Axis1,5000) Load a new acceleration of 5,000 but do not send an Update SetBreakpointValue(Axis1, 2,100,000) Load 100,000 into the comparison register for breakpoint 2 SetBreakpoint(Axis1, Breakpoint2, Axis4, Specify a positive commanded position breakpoint on axis 4 which will Update, PositiveC ommandedPosition) result in an Update when satisfied for breakpoint 2 This sequence is similar to the previous one except that an additional breakpoint has been defined which causes the abrupt stop. Both of these breakpoints were defined after the primary move was started although this may not be strictly necessary depending on when the breakpoint is expected to occur. Generally breakpoints should be set up after the primary move because there is only one set of buffered registers and it is thus impossible to load primary move parameters (position, velocity, etc.) and also "breakpoint" profile parameters (the profile parameters that will take affect once the breakpoint occurs) before the primary move is Updated. -o- 121 © POSYS Motion Control GmbH & Co.KG, 2013 The Servo Loop Overview; Servo Loop Overview; Servo Loop For the POSYS® in servo mode a servo loop is used as part of the basic method of determining the motor command output. The function of the servo loop is to match as closely as possible the commanded position, which comes from the trajectory generator, and the actual motor position. To accomplish this the profile generator commanded value is combined with the actual encoder position to create a position error, which is then passed through a digital PID-type servo filter. The scaled result of the filter calculation is the motor command, which is output as either a PWM signal to the motor amplifier, or a 16-bit input to a D/A Converter. -oPID Loop Algorithm PID Loop Algorithm The servo filter used with the POSYS® is a proportional-integral-derivative (PID) algorithm, with velocity and acceleration feedforward terms and an output scale factor. An integration limit provides an upper bound for the accumulated error. An optional bias value can be added to the filter calculation to produce the final motor output command. A limiting value for the filter output provides additional constraint. The PID+Vff+Aff formula, including the scale factor and bias terms, is as follows: where E are the accumulated error terms from the main encoder n K I is the Integral Gain K d is the Derivative Gain K P is the Proportional Gain K aff is the Acceleration feed-forward K vff is the Velocity feed-forward Bias is the DC motor offset K out Is the scale factor for the output command All filter parameters, the motor output command limit, and the motor bias are programmable, so that the filter may be fine-tuned to any application. The parameter ranges, formats and interpretations are shown in the following table: Terminus Name Ilim Integration Limit KI Integral Gain Representation & Range unsigned 32 Bit (0 to 2.124.483.647) unsigned 16 Bit (0 to 32.767) 122 © POSYS Motion Control GmbH & Co.KG, 2013 Terminus Name Representation & Range Kd Derivative Gain unsigned 16 Bit (0 to 32.767) Kp Proportional Gain unsigned 16 Bit (0 to 32.767) Kaff Acceleration feed-forward unsigned 16 Bit (0 to 32.767) Kvff Velocity feed-forward unsigned 16 Bit (0 to 32.767) Kout Output scale factor unsigned 16 Bit (0 to 32.767) Bias DC motor offset signed 16 Bit (32.767 to 65.535) Motor command limit unsigned 16 Bit (0 to 32.767) The structure of the digital filter is shown in Figure 4.1-1. Motor bias When an axis is subject to a net external force in one direction (such as a vertical axis pulled downward by gravity), the servo filter can compensate for it by adding a constant DC bias to the filter output. The bias value is set using the host instruction SetMotorBias (axis, bias). It can be read back using the command GetMotorBias axis. Output scaling The Kout parameter can be used to scale down the output of the PID filter in situations that require it. It does this by multiplying the filter result by Kout/65536. It has the effect of increasing the range of Kp, which is typically programmed in the 1 to 150 range when no output scaling is done. The Kout value is set using the host instruction SetKout. It can be read back using the command GetKout. Output limit The motor output limit prevents the filter output from exceeding a boundary magnitude in either direction. If the filter produces a value greater than the limit, the motor command takes the limiting value. 123 © POSYS Motion Control GmbH & Co.KG, 2013 The motor limit applies only in closed-loop mode. It does not affect the motor command value set by the host in open-loop mode (see next section for more information on open and closed loop operations). -oDual Encoder Support Dual Encoder Support The multi-axis POSYS® configurations support an auxiliary encoder input. This is useful for applications where the position of the load is critical but cannot be deterministically related to the motor position because of backlash. In this configuration, the encoder input for a second axis (other than the one being controlled) is incorporated as the derivative term in the servo loop as shown in figure 4.2-1. Dual Enkodereingang When used in this manner, the auxiliary encoder input is not available to its primary axis. Dual Encoder PID Loop Algorithm The structure of the servo filter used by the motion processor in dual-encoder mode is slightly different than that used in single encoder mode, as shown here: Where E1n are the accumulated error terms from the main encoder Pn Is the position of theauxiliary encoder KI is the Integral Gain Kd is the Derivative Gain KP is the Proportional Gain Kaff is the Acceleration feed-forward Kvff is the Velocity feed-forward Bias is the DC motor offset Kout is the scale factor for theoutput command 124 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS Dual Loop Digitalfilter Configuring Dual Encoder Support The SetAuxiliaryEncoderSource command is used to enable dual encoder processing for an axis. The auxiliaryAxis parameter controls which axis encoder input will be used to augment the primary (Load) encoder. The mode parameter enables or disables dual loop processing. When dual loop is disabled (the default condition), the servo processing loop functions exactly as described in previous section. If the application needs to determine the actual position of the auxiliary encoder, use the GetActualPosition command and specify the axis of the auxiliary encoder. Note: The auxiliary encoder should always have a resolution w hich is greater than or equal to the resolution of the main encoder. This will avoid potentially unstable operating conditions. -oBiQuad Output Filter Bi-Quad Ausgangsfilter A bi-quad is a generic digital filter structure. With the proper coefficients it can be programmed to be a low-pass filter, high-pass filter, band-pass filter, notch filter or custom filter. Programs such as Octave (www.octave.org) may be used to find the coefficients. The POSYS® supports up to 2 programmable bi-quad output filters for each axis. These filters are chained; when both are enabled, the output of Filter0 feeds the input of Filter1. If Filter0 is disabled (the default state), the entire filter chain is bypassed and the POSYS® output passes unfiltered to the motor. The output of the filter at time n can be expressed as: where Yn is the output of the filter at time n 125 © POSYS Motion Control GmbH & Co.KG, 2013 Xn is the input to the filter at time n K is a positive scaling value used to avoid rounding errors B0 is a programmable bi-quad coefficient B1 is a programmable bi-quad coefficient B2 is a programmable bi-quad coefficient A1 is a programmable bi-quad coefficient A2 is a programmable bi-quad coefficient Determining Bi-Quad Coefficients Typically, coefficients used in bi-quad filter equations are small floating point numbers. To avoid rounding errors when storing these numbers as 16-bit values, the K coefficient is scaled by 227 to allow the other coefficients to be entered as integers. For example, in Octave the coefficients for a 2nd order butterworth filter can be found as: [b,a] = butter(2,0.1) This results in the coefficients: B0 = 0.020083 B1 = 0.040167 B2 = 0.020083 A1 = -1.56102 a2 = 0.64135 If the POSYS®´s filter equation (shown above) is compared to the filter equation used by Octave (type help filter in Octave), there is a slight difference in that the ax components are subtracted in Octave as opposed to being added in the motion processor. The result is that the a1 and a2 coefficients from Octave (or Matlab) need to be multiplied by -1 before being sent to the motion processor. This results in: b0 b1 b2 a1 a2 = = = = = 0.020083 0.040167 0.020083 1.56102 -0.64135 These values will be scaled and set as the output filter coefficients once the output scaling factor K is determined. Determining the Bi-Quad Scaling Factor To obtain maximum output precision, the programmable scaling value K should be chosen to be a value that will scale the largest absolute value of the set of coefficients (a1 in this case) closest to 32,767 (the largest positive value for a 16-bit signed integer). Using the coefficient values above (and accounting for the 227 internal scaling factor), K can be determined by solving this equation: a1 = K * 32767 * 2-27 which can be easily resolved: restated as: K = (a1 * 227) / 32767 substituting: K = (1.56102 * 227) / 32767 evaluates to: K = 6394 Scaling Bi-Quad Coefficients Once the optimal K scaling factor has been determined, the integer equivalents of the bi-quad coefficients must be calculated. These integer values (named B0, B1, B2, A1 and A2) can be calculated as in the following example: b0 = B0 * K * 2-27 which can be easily resolved: 126 © POSYS Motion Control GmbH & Co.KG, 2013 restated as: B0 = (b0* 227) / K substituting: B0 = (0.020083 * 227) / 6394 evaluates to: B0 = 422 Using this formula ( X = (x * 227) / K ) for each of the coefficients yields: B0 = 422 B1 = 843 B2 = 422 A1 = 32767 A2 = -13463 and K = 6394 Configuring the Bi-Quad Filters Bi-Quad filter coefficients are entered into the POSYS®´s filter registers via the SetBiQuadCoefficient command. See the POSYS® Programmer´s C ommand Reference for detailed information on this command. The following POSYS® command sequence demonstrates setting the coefficients for the first bi-quad filter (Filter0) on axis 1: SetBiQuadC oefficient // Disable the filter SetBiQuadC oefficient // Set K SetBiQuadC oefficient // Set B0 SetBiQuadC oefficient // Set B1 SetBiQuadC oefficient // Set B2 SetBiQuadC oefficient // Set A1 SetBiQuadC oefficient // Set A2 SetBiQuadC oefficient // Enable the filter Upon completion of this command sequence, the filter begins altering the output value of axis 1 immediately. -o- 127 © POSYS Motion Control GmbH & Co.KG, 2013 Output Limit Output Limit The motor output limit prevents the filter output from exceeding a boundary magnitude in either direction. If the filter produces a value greater than the limit, the motor command takes the limiting value. The motor limit value is set using the host instruction SetMotorLimit. It is read by using the commandGetMotorLimit. The value specified is a 16-bit unsigned number with a range of 0 to 32,767. The specified value is the maximum magnitude that will be output to the motor. For example, if the motor limit is set to 30,000 (or 91.6% output), then motor values greater than 30,000 will be output as 30,000, and motor values less than–30,000 will be output as–30,000. The motor limit applies only when the position loop is enabled. In the case that the position loop is disabled, the output limit does not affect either the value passed on from the trajectory generator, or the value specified from the Motor C ommand register. The default value of the motor command limit is 32,767, which corresponds to 100% output. -o- 128 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Bias Motor Bias When an axis is subject to a net external force in one direction (such as a vertical axis pulled downward by gravity), the servo filter can compensate for it by adding a constant DC bias to the filter output. As for the regular PID values, the bias value is set using the host instructionSetMotorBias. It can be read using the command GetMotorBias. The motor bias is applied at all times that the position loop is enabled. If the position loop is disabled but the trajectory generator is enabled, the motor bias is also applied at all times. If the position loop is disabled and the trajectory generator is also disabled, then the motor bias is applied only after a transition to this state, and any subsequent setting of the Motor C ommand register will be applied without motor bias. See “Disabling and Enabling Position Loop Modules ” for more information on setting the Motor C ommand register. For example, if a motor bias value of +1,000 (= ~+3%) has been set, at the time SetOperatingMode a command is given to disable trajectory generator and position loop, or at the time a safety-related response such as motion error occurs and these modules are automatically disabled, the output motor command will be +1,000. If, in the process of recovering from this condition, a user sets the motor command to +2,000, this value, unaffected by the motor bias, will be output. The default value of motor bias is zero (0). If the specified bias value does not properly compensate for the external force, the axis may move suddenly in one direction or another after SetOperatingMode a command. It is the responsibility of the user to select a motor bias v alue which will maintain safe motion. The commandSetOperatingModeis only av ailable on POSYS® 1800/1900 controller with firmware v ersion >2.x. -oClosed Loop and Open Loop Control Modes Closed-loop and open-loop control modes In a previous section motor mode is discussed. For all POSYS® setting the motor off (SetMotorMode OFF) has the effect of disabling the trajectory generator. In addition however, for the servo axes turning the motor off, or having the motor be turned off automatically by the POSYS® via a motion error, places the POSYS® into what is known as open loop mode. In open loop mode the servo filter does not operate and the motor command output value is set manually by the host using the command SetMotorCommand With the motor ON the POSYS® is in closed loop mode and the motor command value is controlled automatically by the servo filter. Figure 3-1. Motor control paths, closed- and open-loop modes C losed-loop mode is the normal operating mode of the servo version of the POSYS®. Open-loop mode is typically used when one or more axes require torque control only, or when the amplifier must be calibrated. 129 © POSYS Motion Control GmbH & Co.KG, 2013 NOTE: Limit switches do not function in open-loop mode. Motor bias in open-loop mode The motor bias applies at all times when operating in closed-loop mode. If the axis is switched to open-loop mode, the bias value continues to be output to the motor, to prevent the axis from suddenly lurching in the direction of the external force. Once the host issues a new motor command, however, its value supersedes the bias output, which no longer has any effect. As soon as the axis returns to closed-loop mode, the previous bias value is reinstated. NOTE: If the specified bias value does not properly compensate for the external force, the axis may move suddenly in one direction or another after a SetMotorMode (Off) instruction. It is the responsibility of the user to select a motor bias value that will maintain safe motion. -o- 130 © POSYS Motion Control GmbH & Co.KG, 2013 Piezo (Ceramic) Motor Functions POSYS 1800 PC-104 Motion Contoller with specific Piezo Motor Parameters POSYS 1900 PCI-Bus Motion Contoller with specific Piezo Motor Parameters Version with changes to servo parameters and methode of updating Description: The POSYS 1800 is a PC -104-Bus motion controller for servo and stepper motors and provides one to four axes of motion. The POSYS 1900 is a PC I-Bus motion controller for servo and stepper motors and provides one to four axes of motion. This is a custom release with a special code base. Piezo motor functionality is available on a given axis when the motor type is Brushed or Brushless. All Magellan V1.5/2.3 commands are available with the exception of those listed below. This document details the changes for this release. Custom F eatures: The piezo motor functionality that exists in this custom release centers around the ability to change the value of the servo parameters on the fly as a function of position error, distance left to move, or whether or not the axis is in motion. In Addition there is a user defined offset added to the output of the servo loop. The changes are detailed below. 1. Two conditions must be present to activate the Piezo motor behaviour on a particular axis. The axis’s motor type must be a “servo” motor (Brushed or Brushless) and the value PzWindow of must be set to non-zero by the user. Otherwise, standard (non-custom) behaviour will occur and steps 2 to 6 do not apply. update command is not necessary to change 2. All servo loop gains (kp, ki, kvff, etc) are updated immediately. The these values and has no effect on them. 3. When the motor is settled into position, its integration limit is replaced by a new limit. The value of the new integration limit is defined by the new user command, Set/GetpzIntLimStl. This integration limit value is only used when the axis is settled. When the axis is in motion (i.e. not settled) then the value used for the integration term constant will depend on the other factors (see #5). The valid range of values for the Set/GetpzIntLimStlcommand is the same as for the Set/GetIntegrationLimitcommand. 4. When the motor is not settled into position, one of two offset values are applied to the servo output (in addition to the standard torque offset if present). The offset used depends on several conditions. If the distance left to move in the profile is greater thanpzWindow then a positive offset is used for positive profile velocities and a negative offset for negative velocities. Otherwise the positive offset is used when the position error is positive and the negative offset is used when the position error is negative. Both offset values are programmed as positive numbers (ranging from 0 to 32k) but the negative offset is always applied as a negative number. These offsets are set by the user commands Set/GetpzOffsetPosand Set/GetpzOffsetNeg. 5. When the motor is in motion (not settled), the distance left to move in the profile is considered. If this distance is greater than pzWindow then a completely new set of servo parameters (Piezo loop gains) are used. Otherwise the new set of servo parameters are still used if the absolute position error is greater than pzWindow. If neither of these cases are true than the standard servo parameters are active. C ommands have been added to allow the user to define the new set of servo parameters for this window. The new commands are Set/GetpzKp, Set/GetpzKi, Set/GetpzKd, Set/GetpzKvff, Set/GetpzKaff, Set/GetpzIntLimand Set/GetpzKdPeriod . The new command that is used to specify the position error threshold for the new parameters to take effectSet/GetpzWindow is . 6. A second position error window has also been added. The value of the secondary window is defined by the Set/GetpzWindow2command. If the motor is not settled, and the absolute position error is greater than the value defined by this command, then a new velocity feed forward (pzKvff2) value is used. The velocity feed forward value for this secondary window is defined by the user command Set/GetpzKvff2. 7. The pseudo-code below explains the behaviour. The term settled is true if bit 7 of the GetActivityStatus is set. This bit will only be set if the conditions defined by SetSettleWindow and SetSettleTimeare met. SetSettleTimedefines the length of time in Update Rate for the position to be within the SettleWindow before bit 7 will be set. For clarity the behaviour of the modified firmware is explained below using pseudo-code. 131 © POSYS Motion Control GmbH & Co.KG, 2013 Pseudo-Code: If (motor type is "servo") and (pzWindow > 0) { (Kp, Kd, Ki, etc.) active. The UPDATE command is not needed to make a buffered position loop parameter If ( settled ) { //the conditions of SetSettleWindow and SetSettleTime are met Use the standard set of loop gains except for integration limit Use the new 'in position' integration limit Don't apply any extra offset to the motor output } else { if(abs(DestintationPos-C ommandedPos)<pzWindow) { Apply the extra offset to the motor output based on sign of position error if( abs(position error) < pzWindow ) use standard set of loop gains. else use Piezo loop gains. } else { Apply the extra offset to the motor output based on the sign of CommandedVelocity Use Piezo loop gains. } if(abs(position error) > pzWindow2) use PzKvff2 instead of PzKvff. } } else use standard behavior Command Usage: The usage of the new custom commands is consistent with the usage of the standard commands. For instance the SetpzKp command has the exact usage, in terms of packet format, parameter range and return codes, as the SetKp command. The only difference would be the OpC ode specified in the command packet. All values for the new commands will default to zero. The Op-C odes associated with the new commands are listed below. COMMAND SIZE OPCODE DESCRIPTION GetpzOffsetPos uint16 0x35 Servo offset used when not settled and position error is positive GetpzOffsetNeg uint16 0x3D Servo offset used when not settled and position error is negatiove GetzIntLimStl uint32 0x04 integration limit (32-bit) used when settled GetpzWindow uint16 0x05 Location of primary Window boundary GetpzKp uint16 0x08 Proportional term when position error is in primary window. GetpzKi uint16 0x09 Integral Term " GetpzKd uint16 0x0A Derivative Term " GetpzKvff uint16 0x0B Velocity Feed Forward Term " GetpzKaff uint16 0x0C Acceleration Feed Forward Term " GetpzIntLim uint32 0x0D Integration Limit " 132 " " " " " © POSYS Motion Control GmbH & Co.KG, 2013 GetpzKdPeriod uint16 0x0E Derivative Time " GetpzWindow2 uint16 0x4E Location of secondary Window boundary GetpzKvff2 uint16 0x4F Velocity Feed Forward Term when position error is in secondary window. SetpzOffsetPos uint16 0x16 See above for corresponding "Get" command. SetpzOffsetNeg uint16 0x17 " •" SetzIntLimStl uint32 0x18 " •" SetpzWindow uint16 0x19 " •" SetpzKp uint16 0x1B " •" SetpzKi uint16 0x1C " •" SetpzKd uint16 0x1F " •" SetpzKvff uint16 0x20 " •" SetpzKaff uint16 0x23 " •" SetpzIntLim uint32 0x24 " •" SetpzKdPeriod uint16 0x28 " •" SetpzWindow2 uint16 0x29 " •" SetpzKvff2 uint16 0x2E " •" C orresponding Delphi types: Word = uint16, LongWord = uint32 The following functions are no longer available in the PIEZO version: Set/GetBiQuadC oefficient Set/GetAuxiliaryEncoderSource Set/GetSPIMode Set/GetPWMFrequency Document Rev. 3.0 Date: 01.09.2008 -----------------------------------------POSYS Motion C ontrol GmbH & C o. KG Tel: 09158 958355 Fax: 09158 1642 ------------------------------------------ -o- 133 " © POSYS Motion Control GmbH & Co.KG, 2013 Status Register Overview; Status Registers Overview; Status Registers The POSYS® can monitor almost every aspect of an axis´s motion. There are numerous numerical registers that can be queried to determine the current state of axis such as the current actual position (GetActualPositioncommand), the current commanded position (GetCommandedPosition-Kommandocommand) etc. In addition to these numerical registers there are three bit-oriented status registers which provide a continuous report on the state of a particular axis. These status registers conveniently combine a number of separate bit-oriented fields for the specified axis. These three 16-bit registers are (GetActivityStatus, GetSignalStatus, GetEventStatus). The host may query these three registers, or the contents of these registers may be used in breakpoint operations to define a triggering event such as "trigger when bit 8 in the signal status register goes low". These registers are also the source of data for the AxisOut mechanism, which allows any bit within these three registers to be output as a hardware signal. -oEvent Status Register Event Status register The Event Status register is designed to record events that do not continuously change in value, but rather tend to occur once upon some specific event. As such, each of the bits in this register is set by the POSYS® and cleared by the host. The EventStatus register is defined in the table below: Bit Name Description 0 Motion complete Set when a trajectory profile completes. The motion being considered complete may be based on the programmed position or actual encoder position. 1 Position wrap Set when the actual motor position exceeds 7FFFFFFFh (the most positive position) and wraps to 80000000h (the most negative position), or vice versa. 2 Breakpoint 1 Set when breakpoint #1 is triggered 3 C apture received Set when the high-speed position capture hardware acquires a new position value. 4 Motion error Set when the actual position differs from the commanded position by an amount more then the specified maximum position error. 5 Positive limit Set when a positive limit switch event occurs 6 Negative limit Set when a negative limit switch event occurs 7 Instruction error Set when an instruction error occurs 8, 9, 10 Reserved May contain 1 or 0 11 C ommutation error Set when a commutation error occurs (not valid in these versions) 12,13 Reserved May contain 1 or 0 14 Breakpoint 2 Set when breakpoint #2 is triggered 15 Reserved May contain 1 or 0 The command GetEventStatus returns the contents of the Event Status register for the specified axis. Bits in the Event Status register are latched. Once set, they remain set until cleared by a host instruction or a system reset. Event Status register bits may be reset to 0 by the instruction ResetEventStatus, using a 16-bit mask. Register bits corresponding to 0s in the mask are reset; all other bits are unaffected. The event status register may also be used to generate a host interrupt signal. 134 © POSYS Motion Control GmbH & Co.KG, 2013 -oInstruction Error Instruction error Bit 7 of the event status register indicates an Anweisungsfehler Such an error occurs if an otherwise valid instruction or instruction sequence is sent when the POSYS®´s current operating state makes the instructions invalid. Instruction errors occur at the time of an update. Should an instruction error occur the invalid parameters are ignored, and the Instruction Error indicator of the Event Status register is set. While invalid parameters checked at the time of the update are ignored, valid parameters are sent on however. This can have unintended side effects depending on the nature of the motion sequence so all instruction error events should be treated very seriously. Example: in the following sequence: SetProfileMode (axis2, Velocity) SetVelocity (axis2, -4387) SetProfileMode (axis2, Trapezoidal) Update (axis2) The negative velocity is not valid in the new profile mode. The Update is executed, but the Instruction Error bit is set. (Legitimate parameters, such as Position, are updated, and profile generation continues. -oActivity Status Register Activity Status register Like the Event Status register, the Activity Status register tracks various POSYS® fields. Activity Status register bits however are not latched, they are continuously set and reset by the POSYS® to indicate the states of the corresponding conditions. The Activity Status register is defined in the table below: Bit Name Description 0 Reserved n.a. 1 At maximum velocity Set (1) when the commanded velocity is equal to the maximum velocity specified by the host. Cleared (0) if it is not. This bit functions only when the profile mode is trapezoidal, velocity contouring, or s-curve. It will not function when the POSYS® is in electronic gearing mode. 2 Position Tracking Set (1 ) when the servo is keeping the axis within the Tracking Window. Cleared (0) when it is not. 3, 4, 5 C urrent Profile Mode These bits indicate the profile mode currently in effect, which might be different than the value set using the SetProfileMode command if an Update command has not yet been issued. The 3 bits define the current profile mode as follows: bit 5 0 0 0 0 1 bit 4 0 0 1 1 0 bit 3 0 1 0 1 0 Profile Mode trapezoidal velocity contouring s-curve electronic gear external profile mode 6 Reserved May contain 1 or 0 7 Axis-settled Set (1) when the axis has remained within the Settle Window for a specified period of time. Cleared (0) if it has not. 8 Motor mode 1. Set (1) when the motor is "on", cleared (0) when the motor is "off'. When the motor is on this means that the POSYS® can perform trajectory operations, and for the servo versions it means the controller is in closed loop mode and the 135 © POSYS Motion Control GmbH & Co.KG, 2013 Bit Name Description servo loop is operating. When the motor is off this means trajectory operations can not be performed and for the servo versions it means the POSYS® is in open loop mode and the servo loop is disabled. The SetMotorMode command is normally used to select the mode of the motor, however the POSYS® will reset the mode to 0 turn the motor off if a motion error occurs. 9 Position capture Set (1) when a new position value is available to read from the high speed capture hardware. Cleared (0) when a new value is not yet been captured. While this bit is set, no new values will be captured. The command GetCaptureValue retrieves a captured position value and clears this bit, allowing additional captures to occur. 10 In-motion indicator Set (1) when the trajectory profile commanded position is changing. Cleared (0) when the commanded position is not changing. The value of this bit may or may not correspond to the value of the motion complete bit of the event status register depending on whether the motion complete mode has been set to commanded or actual. 11 In positive limit Set (1) when the motor is in a positive limit condition. Cleared (0) when it is not. 12 In negative limit Set (1) when the motor is in a negative limit condition. Cleared (0) when it is not. 13, 14, 15 S-curve segment Indicates the S-curve segment number using values 1-7 to indicate s-curve phases 1-7 as shown in the s-curve trajectory section of this manual. A value of 0 in this field indicates the trajectory is not in motion. This field is undefined for profile modes other than s-curve and may contain 0´s or 1´s. The command GetActivityStatus returns the contents of the Activity Status register for the specified axis. -oSignal Status Register Signal Status register The signal status register provides real time signal levels for various POSYS® I/O pins. The SignalStatus register is defined in the table below: Bit Name Description 0 A encoder A signal of quadrature encoder input. 1 B encoder B signal of quadrature encoder input. 2 Index encoder Index signal of quadrature encoder input. 3 Home Home position capture input 4 Positive limit Positive limit switch input 5 Negative limit Negative limit switch input 6 AxisID Generic axis input signal 7 Not for use with servo or step motor version 8 Not for use with servo or step motor version 9 Not for use with servo or step motor version 10 AxisOut Programmable axis output signal 11-15 Reserved The command GetSignalStatus returns the contents of the Signal Status register for the specified axis. All Signal Status register bits are inputs except bit 10 (AxisOut). The bits in the signal status register always represent the actual hardware levels on the corresponding pins. A 1 in this register represents an electrically high value on the pin; a 0 indicates an electrically low level. The state of the signal sense mask affects the value read using GetSignalStatus (see the next section for more information on the signal sense mask). -o- 136 © POSYS Motion Control GmbH & Co.KG, 2013 Signal Sense Mask Signal Sense Mask The bits in the signal status register represent the high/low state of various signal pins on the POSYS®. How these signal pins are interpreted by the POSYS® may be controlled using a signal sense mask. This is useful for changing the interpretation of input signals to match the signal interpretation of the user's hardware. The SignalSenseMask register is defined in the table below: Bit Name Interpretation 0 A encoder Set(1) to invert quadrature A input signal. C lear (0) for no inversion. 1 B encoder Set(1) to invert quadrature B input signal. C lear (0) for no inversion. 2 Index encoder Set(1) to invert Index signal. C lear (0) for no inversion. 3 Home Set(1) to invert home signal. C lear (0) for no inversion. 4 Positive Limit Set (1) for active high interpretation of positive limit switch, meaning positive limit occurs when signal is high. C lear (0) for active low. 5 Negative Limit Set (1) for active high interpretation of negative limit switch, meaning negative limit occurs when signal is high. C lear (0) for active low. 6 Axisln Set (1) to invert AxisID signal. C lear (0) for no inversion. 7 Not for use with servo or step motor motion controller 8 Not for use with servo or step motor motion controller 9 Not for use with servo or step motor motion controller 10 AxisOut Set (1) to invert AxisOut signal. C lear (0) for no inversion. 11-15 Reserved The command SetSignalSense sets the signal sense mask value. The command GetSignalSense retrieves the current signal sense mask. -o- 137 © POSYS Motion Control GmbH & Co.KG, 2013 Monitoring Motion Performance Host Interrupts Host Interrupts Interrupts allow the host to become aware of a special condition without the need for continuous monitoring or polling of the status registers. The POSYS® provides this service in the form of a host interrupt. The events that trigger a host interrupt are the same as those that set the assigned bits of the Event Status Register reproduced here for convenience. Bit Event Occurs when 0 Motion complete The profile reaches endpoint, or motion is otherwise stopped 1 Wrap-around The axis position wraps 2 Breakpoint 1 Breakpoint 1 condition has been satisfied 3 C apture received Encoder index pulse or home pulse has been captured 4 Motion error Maximum position error set for a particular axis has been exceeded 5 In positive limit switch Positive over travel limit switch violation has occurred 6 In negative limit switch Negative over travel limit switch violation has occurred 7 Instruction error Host instruction causes an error 11 C ommutation Error Index pulse does not match actual phase (only for POSYS® 1800/1900 with firmware version >2.x) 14 Breakpoint 2 Breakpoint 2 condition has been satisfied Using a 16-bit mask, the host may condition any or all of these bits to cause an interrupt. This mask is set using the command SetInterruptMask. The value of the mask may be retrieved using the command GetInterruptMask. The mask bit positions correspond to the bit positions of the "Event Status Register". If a 1 is stored in the mask then a 1 in the corresponding bit of the event status register will cause an interrupt to occur. Each axis supports its own interrupt mask, allowing the interrupting conditions to be different for each axis. The POSYS® continually scans the event register and interrupt mask together to determine if an interrupt has occurred. When an interrupt occurs, the HostIntrpt signal is made active. At this point the host can respond to the interrupt (although the execution of the current host instruction, including the transfer of all associated data packets, should be completed), but it is not required to do so. Since it is possible for more then one axis to be configured to generate interrupts at the same time, the POSYS® provides the command GetInterruptAxis This command returns a bitmasked value with one bit set for each axis currently generating an interrupt. Bit 0 will be set if axis 1 is interrupting, bit 1 is set for axis 2, etc. If no interrupt is currently pending then no bits will be set. To process the interrupt normal POSYS® commands are used. The specific commands sent by the host to process the interrupt depend on the nature of the interrupting condition, however at a minimum the interrupting bit in the event status register should be cleared using the ResetEventStatus command. If this is not done then the same interrupt will immediately occur once interrupts are re-enabled. Once the host has completed processing the interrupt, it should send a C learInterrupt command to clear the interrupt line, and re-enable interrupt processing. Note that if another interrupt is pending the interrupt line will only be cleared momentarily and then reasserted. Following is a typical sequence of interrupts and host responses. In this example, an axis has hit a limit switch in the positive direction causing a limit switch event and an abrupt stop. The abrupt stop causes a motion error. Assume that these events all occur more or less simultaneously. In this example the interrupt mask for this axis has been set so that either motion errors or limit switch trips will cause an interrupt. Event Host action Motion error & limit switch trip generates interrupt sends GetInterruptAxis instruction 138 © POSYS Motion Control GmbH & Co.KG, 2013 Event Host action A bitmask identifying all interrupting axes is returned by Sends GetEventStatus instruction, detects motion error the POSYS®. This value identifies one axis as generating and limit switch flags are set. Issues a ResetEventStatus the interrupt. command to clear both bits. Returns the axis to closed loop mode by issuing SetMotorMode On command. Issues a C learInterrupt command to reset the interrupt signal. POSYS® clears motion error bit and disables host interrupt line Generates a negative direction move to clear the limit switch Motor moves off limit switch. Activity status limit bit is cleared. None At the end of this sequence, all status bits are cleared, the interrupt line is inactive, and no interrupts are pending. -oIn-Motion Indicator In-motion Indicator The POSYS® can indicate whether or not the axis is moving. This function is available in the in-motion indicator. The in-motion indicator appears in bit 10 of the activity status register. The in-motion bit is similar to the motion complete bit however there are two important differences. The first is that (like all bits in the Activity Status Register the in-motion indicator continuously indicates its status without interaction with the host. In other words the in-motion bit cannot be set or cleared by the host. The other difference is that this bit always indicates the profile generator (commanded) state of motion, not the actual encoder. The in-motion indicator bit functions in the S-curve point-to-point, Trapezoidal point-to-point, and Velocity Contouring profile modes only. It does not function when the profile mode is set to electronic gearing. -oMotion Error Motion Error Under certain circumstances, the actual axis position (encoder position) may differ from the commanded position (instantaneous output of the profile generator) by an excessive amount. Such an excessive position error often indicates a potentially dangerous condition such as motor or encoder failure, or excessive mechanical friction. To detect this condition, thereby increasing safety and equipment longevity, the POSYS® include a programmable maximum position error. The maximum position error is set using the command SetPositionErrorLimit and read back using the command GetPositionErrorLimit. To determine whether a motion error has occurred the position error limit is continuously compared against the actual position error. If the position error limit value is exceeded, then the axis is said to have had a "motion error". At the moment a motion error occurs several events occur simultaneously. The following list describes these events: Motion Error bit of the event status word is set If automatic stop on motion error is enabled the motor is set off, which has the effect of the disabling the trajectory generator (for all versions) and for the servo versions has the additional affect of disabling the servo loop and placing the POSYS® into open loop mode. This is the equivalent to(SetMotorMode a axis, OFF) command. To recover from a motion error that results in the motor being turned off, the following sequence should be performed: Determine cause of motion error and correct problem (this may require human intervention). 139 © POSYS Motion Control GmbH & Co.KG, 2013 Issue a SetMotorMode axis, On command followed by an Update command.After the above sequence, the axis will be at rest, with the motor on. If automatic stop on motion error is not set then only the motion error status bit is set, the motor is not stopped and no recovery sequence is required to continue operating the POSYS®. Nevertheless, for safety reasons, the user may still want to manually shut down the motion and explore the cause of the motion error. Automatic Stop On Motion Error Because a motion error may indicate a serious problem it is useful to have the axis automatically stop until the problem can be addressed and rectified. This feature is known as automatic stop on motion error. The command SetAutoStopMode controls the action that will be taken if a motion error occurs. The options for this command are disable and enable. If Autostop is enabled, when a motion error occurs a SetAutoStopMode Off command is generated which has the effect of instantaneously halting the trajectory generator and (for servo versions) putting the POSYS® into open loop. For stepping motor versions the motor will stop moving immediately (same as an abrupt stop). For servo versions the trajectory will stop instantly but because motor off means open loop mode the motor will coast to a stop not under servo control in an amount of time determined by the velocity at time of motion error and the inertia of the system. For the servo version, transitioning to open loop mode can be dangerous if the axis is oriented vertically, so that the axis may fall downward due to gravity if not supported by the servo feedback. This problem can be rectified by use of the motor bias value, which is discussed in the Servo Filter sections of this document. The motor bias is a fixed, open-loop command to the motor, which is normally added to the PID-filter output. Upon a motion error with automatic stop enabled the motor bias will be output even while the controller is in open loop mode. This means that with a properly set motor bias, when the axis experiences a motion error and transitions to open loop mode, the motor bias can prevent the axis from falling. Caution: Because the motor bias value is applied open-loop to the axis, care should be taken when setting its value. -oMotion Complete Indicator Motion Complete Indicator In many cases it is useful to have the controller signal that a given motion is completed. This function is available in the motion complete indicator. The motion complete indicator appears in bit 0 of the event status register. As are all bits in the event status register the motion complete bit is set by the controller and cleared by the host. When a motion has been completed, the controller sets the motion complete bit on. The host can examine this bit by polling the Event Status Register or the host can program some automatic follow-on function using a Breakpoint, a Interrupt, or an AxisOut signal. In either case, once the host has recognized that the motion has been completed the host should clear the motion complete bit, enabling the bit to indicate the end of motion for the next move. Motion complete can indicate the end of the trajectory motion in one of two ways. The first is commanded-based; the motion complete indicator is set based on the profile generator position only. The other method is actual-based, meaning the motion complete indicator is based on the actual encoder. The host instruction SetMotionCompleteMode determines which condition controls the indicator. When set to commanded, the motion is considered complete when the commanded velocity and acceleration values both become zero. This normally happens at the end of a move when the destination position has been reached. But it may also happen as the result of a stop command SetStopMode command), a change of velocity to zero, or when a limit switch event occurs. When set to actual-based the motion is considered complete when all of the following have occurred. The profile generator (commanded) motion is complete The difference between the actual position and the commanded position is less than or equal to the value of the settle window. The settle window is set using the command SetSettleWindow. This same value may be read back using the command GetSettleWindow. 140 © POSYS Motion Control GmbH & Co.KG, 2013 The above two conditions have been met continuously for the last N cycles, where N is the programmed settle time. The settle time is set using the command SetSettleTime. This same value may be read back using the command GetSettleTime. At the end of the trajectory profile the cycle timer for the actual-based motion complete mechanism is cleared, so there will always be at least an N cycle delay (where is the settle time) between the profile generator being complete and the motion complete bit being set. Appropriate software methods should be used with the actual-based motion complete mode because it is in fact possible that the motion complete bit will never be set if the servo is not tracking well enough to stay within the programmed position error window for the specified settle time. The motion complete bit functions in the S-curve point-to-point, Trapezoidal point-to-point, and Velocity Contouring profile modes only. It does not function when the profile mode is set to Electronic Gearing. -oSettled Indicator Settled indicator The POSYS® can also continuously indicate whether or not the axis is settled. The settled indicator appears in bit 6 of the "Activity Status Register". The settled indicator is similar to the motion complete bit when the motion complete mode is set to actual-based. The differences are that the settled indicator continuously indicates its status (can not be set or cleared) and also that it indicates regardless of whether or not the " Motion Complete Mode" is set to actual based. The axis is considered to be settled when the axis is at rest (i.e. not performing a trajectory profile) and when the actual motor position has settled in at the commanded position for the programmed settle time. The settle window and settle time used with the settled indicator are the same as for the motion complete bit when set to actual-based. Correspondingly the same commands are used to set and read these values: SetSettleWindow, GetSettleWindow, SetSettleTime, GetSettleTime. Figure 7.5-1. The Tracking Window 141 © POSYS Motion Control GmbH & Co.KG, 2013 Figure 7.5-2. The Settle Window -oTrace Capture Trace Capture Data trace is a powerful feature of the POSYS® that allows various POSYS® parameters and registers to be continuously captured and stored to an on-board memory buffer. The captured data may later be downloaded by the host using standard memory buffer access commands. Data traces are useful for optimizing servo performance, verifying trajectory behavior, capturing sensor data, or to assist with any type of monitoring where a precise time-based record of the system's behavior is needed. Maintaining the trace buffer requires the POSYS® to perform extra work during each cycle. In very high-performance scenarios (such as a single axis configuration running at maximum speed), this may increase the chip cycle time and increase the servo loop time. Most applications should disable trace capture once the motion profile has been debugged. Generally trace data capture (by the POSYS®) and trace data retrieval (by the host) are executed as two separate processes. The host specifies which parameters will be captured, and how the trace will be executed. Then the POSYS® performs the trace, and finally the host retrieves the data after the trace is complete. It is also possible however to perform continuous data retrieval even as the POSYS® is continuing to collect additional data trace. To start a trace the host must specify a number of parameters. They are listed below: "Trace Buffer" - The host must initiate the buffer for the trace. The POSYS® offers various instructions to setup the on-board memory to initialize the size, the start and the end position. "Trace Variables" - Depending on the model you have the choice of upto 28 variables to select which can be stored, Actual Position, Event Status Register, Motion Error aso. The user must select which variables and from which axis the data shall be collected. "Trace Period" - The trace periods to gather and store data can be freely programmed (one cycle, in uneven intervals or in a certain frequency. These variables must be defined. "Trace Mode" - 2 different Trace modes are available, once and continuous. These defines how data is stored and if the trace mode is stopped automatically or if the host interupts the trace. "Trace Start/Stop Conditions" - To allow precise synchronization of data collection it is possible to define the start and stop conditions for a given trace. The POSYS® monitors these specified conditions and starts or stops the trace automatically without host intervention. The trace buffer The POSYS® organizes on-board memory into data buffers. Each buffer is given a numerical ID. The trace buffer must always be ID 0 (zero). Before parameter traces may be used, memory buffer 0 must be programmed with a valid base address and length. 142 © POSYS Motion Control GmbH & Co.KG, 2013 The size of the trace buffer determines the maximum number of data points that may be captured. The maximum size of the trace buffer is only limited by the amount of physical memory in the system. The addressable memory space allows 32/64 KB of Dual Port Ram (default or option) or 512 KB Single Port RAM (default or option) to be addressed all of which (with the exception of the first 1K) may be used to store trace information. While trace data is being collected, it is not legal to change the trace buffer configuration. If an attempt is made to change the base address, length, or write pointer associated with buffer 0 while a trace is running, the change will be ignored and an error will be flagged. It is, however, possible to change the read pointer and read data from the trace buffer while a trace is running. This allows the buffer to be constantly emptied while the trace runs. The trace period The tracing system supports a configurable period register that defines the frequency at which data is stored to the trace buffer. The tracing frequency is specified in units of cycles, where one cycle is the time required to process all enabled axes. The command SetTracePeriod sets the trace period, the command GetTracePeriod retrieves it. Trace variables When traces are running, one to four POSYS® parameters may be stored to the trace buffer every trace period. The four trace variable registers are used to define which parameters are stored. Use the following commands to configure the trace variables: The command SetTraceVariable selects which traceable parameter will be stored by the trace variable specified. The command GetTraceVariable retrieves this same value. The trace parameter value passed and returned by the preceding two commands specifies the axis and type of data to be stored. The format of this word is as follows: Bits Name Description 0-1 Axis Selects the source axis for the parameter 2-7 Reserved Must be written as 0 8-15 ID Selects the parameter to be stored Die supported parameter ID values for POSYS® 700/800/800-B/900 and POSYS® 1800/1900 (<= firmware version 1.5) are: ID Name Description 0 None Indicates that no data is selected for the trace variable 1 Position Error The difference between the actual and commanded position values for the specified axis. 2 C ommanded Position The instantaneous commanded position output from the profile generator. 3 C ommanded Velocity The instantaneous commanded velocity output from the profile generator. 4 Commanded Acceleration The instantaneous commanded acceleration output from the profile generator. 5 Actual Position The actual position of the motor. 6 Actual Velocity An estimated actual velocity (calculated using a simple low-pass filter). 7 Motor Command C ommanded motor torque (output of the servo filter). 8 C ycle Time The chipset time (units of servo cycles). 9 C apture Register The current contents of the high speed capture register. 10 Servo Integral The integral value used in the servo filter. 11 Servo Derivative The derivative value used in the servo filter. 12 Event Status The current contents of the event status register. 13 Activity Status The current contents of the activity status register. 143 © POSYS Motion Control GmbH & Co.KG, 2013 ID Name Description 14 Signal Status The current contents of the signal status register. 15 Phase Angle The current motor phase angle (brushless motors only). 16 Phase Offset The current phase offset value (brushless motors only). 17 Phase A Output The value currently being output to motor winding 1. 18 Phase B Output The value currently being output to motor winding 2. Only valid for two or three phase motors. 19 Phase C Output The value currently being output to motor winding 3. Only valid for three phase motors. 20 Analog Input 0 The most recently read value from analog input 0. 21 Analog Input 1 The most recently read value from analog input 1. 22 Analog Input 2 The most recently read value from analog input 2. 23 Analog Input 3 The most recently read value from analog input 3. 24 Analog Input 4 The most recently read value from analog input 4. 25 Analog Input 5 The most recently read value from analog input 5. 26 Analog Input 6 The most recently read value from analog input 6. 27 Analog Input 7 The most recently read value from analog input 7. 28 PID Position Error The difference between the actual and commanded position values for the specified axis. This is the value used as the error term for the PID filter calculation. Die supported parameter ID values for POSYS® 1800/1900 (> firmware version 2.x) are: ID Name Description 0 None Indicates that no data is selected for the trace variable 1 Position Error The difference between the actual and commanded position values for the specified axis. 2 C ommanded Position The instantaneous commanded position output from the profile generator. 3 C ommanded Velocity The instantaneous commanded velocity output from the profile generator. 4 Commanded Acceleration The instantaneous commanded acceleration output from the profile generator. 5 Actual Position The actual position of the motor. 6 Actual Velocity An estimated actual velocity (calculated using a simple low-pass filter). 7 Motor Command C ommanded motor torque (output of the servo filter). 8 C ycle Time The chipset time (units of servo cycles). 9 C apture Register The current contents of the high speed capture register. 10 Servo Integral The integral value used in the servo filter. 11 Servo Derivative The derivative value used in the servo filter. 12 Event Status The current contents of the event status register. 13 Activity Status The current contents of the activity status register. 14 Signal Status The current contents of the signal status register. 15 Phase Angle The current motor phase angle (brushless motors only). 16 Phase Offset The current phase offset value (brushless motors only). 17 Phase A Output The value currently being output to motor winding 1. 18 Phase B Output The value currently being output to motor winding 2. Only valid for two or three 144 © POSYS Motion Control GmbH & Co.KG, 2013 ID Name Description phase motors. 19 Phase C Output The value currently being output to motor winding 3. Only valid for three phase motors. 20 Analog Input 0 The most recently read value from analog input 0. 21 Analog Input 1 The most recently read value from analog input 1. 22 Analog Input 2 The most recently read value from analog input 2. 23 Analog Input 3 The most recently read value from analog input 3. 24 Analog Input 4 The most recently read value from analog input 4. 25 Analog Input 5 The most recently read value from analog input 5. 26 Analog Input 6 The most recently read value from analog input 6. 27 Analog Input 7 The most recently read value from analog input 7. 28 PID Position Error The difference between the actual and commanded position values for the specified axis. This is the value used as the error term for the PID filter calculation. 29 Phase Angle Scaled The phase angle, scaled from 0 to 360 deg rather than in encoder counts. 56 Drive Status The current contents of the drive status register. 57 Position Loop Integral C ontribution The contribution of the integral portion of the PID filter. 64 Biquad1 Input The value input to biquad 1 filter. 65 Biquad2 Input The value input to biquad 2 filter. Setting a trace variable´s parameter to zero will disable that variable and all subsequent variables. Therefore, if N parameters are to be saved each trace period, trace variables 0 - (N-1) must be used to identify what parameters are to be saved, and trace variable N must be set to zero. For example; assume that the actual and command position values are to be stored for axis three each cycle period. The following commands would be used to configure the trace variables: SetTraceVariable 0, 0203h: Sets trace variable 0 to store parameter 2 (commanded position) for axis 3. SetTraceVariable 1, 0502h: Sets trace variable 1 to store parameter 5 (actual position) for axis 3. SetTraceVariable 2, 0000h: Disable trace variables 2 (and above). Trace Modes As trace data is collected it is written to sequential locations in the trace buffer. When the end of the buffer is reached, the trace mechanism will behave in one of two ways depending on the mode that has been selected. If one-time mode is selected then the trace mechanism will stop collecting data when the buffer is full. If rolling-buffer is selected then the trace mechanism will wrap around to the beginning of the trace buffer and continue storing data. In this mode the diagnostic trace will not end until the conditions specified in a SetTraceStop command are met. Use the command SetTraceMode to select the trace mode. The command GetTraceMode retrieves the trace mode. Trace start/stop conditions The command SetTraceStart is used to specify what conditions will cause the trace mechanism to start collecting data. A similar command (SetTraceStop ) is used to define the condition that will cause the trace mechanism to stop collecting data. Both SetTraceStart and SetTraceStop take a 16-word of data which contains four encoded parameters: Bits Name Description 0-3 Trigger Axis For trigger types other then immediate this field determines which axis will be used as the source for the trigger. Use 0 for axis 1, 1 for axis 2, etc. 145 © POSYS Motion Control GmbH & Co.KG, 2013 Bits Name Description 4-7 Trigger Type Defines the type of trigger to be used. See the table below for a complete list of trigger types. 8-11 Bit Number For trigger types based on a status register, this field determines which bit (0-15) of the status register will be monitored. 12-15 Bit State For status register based trigger types, this field determines which state or (0 or 1) of the specified bit will cause a trigger. The Trigger Type field must contain one of the following values: ID Name Description 0 Immediate This trigger type indicates that the trace starts (stops) immediately when the type is SetTraceStart (SetTraceStop) command is issued. If this trigger type is specified, the source axis, bit number and bit state value are not used. 1 Update The trace will start (stop) on the next update of the specified source axis. This trigger type does not use the bit number or state values. 2 Event Status The specified bit in the event status register will be constantly monitored. When that bit enters the defined state (0 or 1) then the trace will start. 3 Activity Status The specified bit in the activity status register will be constantly monitored. When that bit enters the defined state (0 or 1) then the trace will start. 4 Signal Status The specified bit in the signal status register will be constantly monitored. When that bit enters the defined state (0 or 1) then the trace will start. Downloading Trace Data Once a trace has been run and the trace buffer is full (or partially full) of data, this data may be downloaded by the host using the standard commands to read from on-board buffer memory. When a trace stops running (either because of a SetTraceStop command or because the end of the trace buffer has been reached) the trace buffer´s read pointer will be adjusted to point to the oldest word of data in the trace. If the trace buffer did not wrap then this will be location 0. If a wrap occurred in the trace buffer, then the read pointer will be set to the memory location that would have been overwritten by the next trace sample. At any time, the command GetTraceCount can be used to get the number of 32-bit words of data stored in the trace buffer. This value may be used to determine the number of ReadBuffer commands that must be issued to download the entire contents of the trace buffer. Since the read pointer is automatically set to the oldest word of data in the trace buffer when the trace ends, and since the read pointer will automatically increment and wrap around the buffer as data is read, reading the entire contents of the trace buffer is as easy as issuing N ReadBuffer commands (where N is the value returned by GetTraceCount). During each trace period, each of the trace variables is used in turn to store a 32-bit value to the trace buffer. Therefore, when data is read from the buffer, the first value read would be the value corresponding to trace variable 1, the second value will correspond to trace variable 2, up to the number of trace variables used. Both the length of the trace buffer and the number of trace variables set directly effect the number of trace samples that may be stored. If for example the trace buffer is set to 1000 words (each 32 bits), and 2 trace variables are initialized (variables 0 and 1), then up to 500 trace samples will be stored. However, if three trace variables are used then 333 full trace samples may be stored. In this case the remaining word of data will store the first variable from the 334th Sample. If the trace mode is set to RollingBuffer then the 334th trace sample will store the first word in the last location of the trace buffer, and the second and third words will be stored in locations 0 and 1 respectively. In this case the first two words of the first sample have been overwritten by the last two words of sample 334. When the trace is stopped the read pointer will point to the oldest word of data in the buffer. This word may not correspond to the first word of a trace sample. It is therefore recommended that the length of the trace buffer be set so that it is an even multiple of the number of trace variables being used. This will ensure that the read index is pointing to the first word in a complete trace sample whether the trace buffer wraps or not. The simplest solution is to make sure that the trace buffer length is an even multiple of 12 (since 12 is evenly divisible by all possible numbers of trace variables 1, 2, 3 or 4). Running Traces Here is a summary of data trace operation to help you get started. Setup the trace buffer. Using the commands SetBufferStart and SetBufferLength define the location in on-board RAM where trace data should be stored and the amount of RAM to be used to hold the trace data. Be careful not to extend 146 © POSYS Motion Control GmbH & Co.KG, 2013 the buffer beyond the amount of physical RAM available in your system, in particular recall that SetBufferStart and SetBufferLength specify values based on a 32-bit word size. Set the trace period. The command SetTracePeriod allows an interval between trace samples to be specified. Specify what data is to be stored. The command SetTraceVariable may be used to specify up to four variables to be stored each trace period. Make sure that variables 0 - (N-1) are used if N variables are to be stored, and that variable N is set to zero. Set the trace mode. If the trace is to be started on some event then the OneTime mode should probably be used. This will allow one buffer full of trace data to be stored beginning with the starting event (set using SetTraceStart). Alternatively, if the trace is to stop on an event (as specified using SetTraceStop), then the rolling buffer mode should be used. This will cause the system to constantly record data until the stopping event occurs. At that point the data leading up to the event will be saved in the trace buffer. Set the stopping mode (if desired). If a specific event will cause the trace to stop, then it should be programmed using the SetTraceStop command. However, if the trace is to be programmed to stop when the buffer fills up (by setting the trace mode to OneTime) then it is not necessary to set another stopping event. Also, at any time while the trace is running the SetTraceStop command may be issued to stop the trace immediately. Start the trace. The SetTraceStart command may be used to start the trace directly (by specifying the immediate trigger type). Alternatively, a triggering event may be specified which will start the trace when it occurs. -oTracking Window Tracking window The POSYS® provides programmable tracking windows that can be used to monitor servo performance outside the context of a motion error. The tracking window functions similarly to the motion error, in that there is a programmable position error limit within which the axis must stay. Unlike the motion error facility however, if the axis moves outside of the tracking window the axis is not stopped. The tracking window is useful when external processes depend on the motor tracking the desired trajectory within some range. Alternatively the tracking window can be used as an early warning for performance problems that do not yet qualify as a motion error. To set the size of the tracking window (maximum allowed position error to stay within the tracking window) the command SetTrackingWindow is used. The command GetTrackingWindow retrieves this same value. When the position error is less than or equal to the window value the tracking bit in the Activity Status Register is set. When the position error exceeds the tracking window value, the tracking bit is cleared. -o- 147 © POSYS Motion Control GmbH & Co.KG, 2013 SetEventAction Processing SetEventAction Processing only for POSYS® 1800/1900 with Motion Control Firmware Version >2.x Die POSYS® 1800/1900 provide a programmable mechanism for reacting to various safety or performancerelated conditions. The command SetEventAction is used to specify what action should be taken for a given condition. To define an eventrelated response, both a condition and an action must be specified. The following table lists the possible Event Status Register conditions that can be used to define an event-related action. Condition Name Description Motion Error A motion error occurs when the position error exceeds a programmable threshold. Positive Limit A positive limit event occurs when the corresponding signal goes active while the motor velocity is positive. Negaitve Limit A negative limit event occurs when the corresponding signal goes active while the motor velocity is negative. Both motion error processing and limit switch processing are described in detail later in this chapter. In addition to these four monitored conditions it is possible to request an immediate safety action. Action Name Description No Action No action taken. Smooth Stop C auses a smooth stop to occur at the current active deceleration rate. The velocity command will be set to zero after event action occurs. Abrupt Stop C auses an instantaneous halt of the trajectory generator. The velocity command will be set to zero (0) after event action occurs. Abrupt Stop with Position Clear C auses an instantaneous halt of the trajectory generator as well as a zeroing of the position error (equivalent to ClearPositionError command). The velocity command will be set to zero (0) after event action occurs. Disable Position Loop and Higher Modules Disables trajectory generator and position loop module. Disable Current Loop and Higher Modules Disables trajectory generator, position loop, and current loop modules. Disable Motor Output & Higher Modules Disables trajectory generator, position loop, current loop, and motor output modules. Once the event condition is programmed, the motion processor monitors the specified condition continuously and executes the programmed action if it occurs. Upon occurrence, the programmed action is executed, and related actions may occur such as setting the appropriate bit in theEvent Status Register . To recover from an event action, the command RestoreOperatingModeis used. This command will reset the motion processor to the operating mode previously specified using SetOperatingModecommand. Note that if the event condition is still present, then the event action will immediately occur again. It is the responsibility of the user to safely and thoroughly investigate the cause of ev ent-related events, and only restart motion operations when appropriate correctiv e measures have been taken. If the event action programmed was either No Action, Abrupt Stop, or Smooth Stop, then the RestoreOperatingMode command will have no effect. It is intended to restore disabled modules only, and has no effect on trajectory generator parameters. Once programmed, an event action will be in place until reprogrammed. The occurrence of the event condition does not reset the programmed event action. The POSYS® 1800/1900 boards with firmware version >2.x provide default values for event-related processing. These defaults are intended to provide safe operation for many typical motion systems. Whether or not these defaults are appropriate must be determined by the user. The default event actions are summarized in the following table. 148 © POSYS Motion Control GmbH & Co.KG, 2013 Condition Default Action Motion Error Disable position loop and trajectory generator. Positive & Negative Limit Abrupt Stop with Position Error Clear. -o- 149 © POSYS Motion Control GmbH & Co.KG, 2013 Hardware Signals Overview; Hardware Signals Overview; Hardware Signals There are a number of signals which appear on each axis of the POSYS® which can be used to coordinate POSYS® activity with events outside the POSYS®. In this section we will discuss these signals. They are the bi-directional travel limit switches, the Axisln pin, and the AxisOut pin. These signals appear on each axis of the POSYS®. For example, a four-axis POSYS® such as the POSYS® 1904 has four Axisln pins, four positive limit switches, etc. GetAxis_In_Out_Home -oTravel Limit Switches Travel-limit switches The POSYS® supports motion travel limit switches that can be used to automatically recognize an "end of travel" condition. This is an important safety feature for systems that have a defined range of motion. The positive and negative switches are connected to POSYS® inputs PosIim1-4 and Neglim1-4 respectively, to detect over-travel in the positive and negative directions, respectively. Directional limit switch operation There are two primary functions that the POSYS® provides in connection with the over-travel limit switch inputs: The host can be automatically notified that an axis has entered an over-travel condition, allowing the host to take appropriate special action to manage the over-travel condition. Upon entering an over-travel condition, the trajectory generator can be automatically halted, so that the motor does not travel further into the over travel region. Limit switch processing may be enabled or disabled for a given axis through the command SetLimitSwitchMode. This same register can be read using the command GetLimitSwitchMode. If limit processing is enabled then the POSYS® will constantly monitor the limit switch input pins looking for a limit switch event. A limit switch event occurs when a limit switch goes active while the axis commanded position is moving in that limit switch´s direction. If the axis is not moving, is in open-loop mode, or is moving in the opposite direction, then a limit switch event will not occur. For example a positive limit switch will occur when the axis commanded position is moving in the positive direction and the positive limit switch goes active. However it will not occur if the axis commanded position is moving in the negative direction or is stationary. The "sense" of the limit switch inputs (active high or active low) can be controlled using the SetSignalSense command. 150 © POSYS Motion Control GmbH & Co.KG, 2013 When a limit event occurs, the POSYS® will generate an abrupt stop thereby halting the motion. In addition, the bit in the "Event Status Register" corresponding to the active limit switch will be set. Finally, the appropriate bit in the "Activity Status Register" will be set. Once an axis has entered a limit switch condition the following steps should be taken to clear the limit switch event: Unless limit switch events can occur during normal machine operation the cause of the event should be investigated and appropriate safety corrections made. The limit switch bit(s) in the event status register should be cleared by issuing the ResetEventStatus command. No motion is possible in any direction while either of the limit switch bits in the event status register is set. A move should be made in the direction opposite to the direction that caused the limit switch event. This can be any profile move that „backs“ the axis out of the limit. If the host instead attempts to move the axis further into the limit, a new limit event will occur and an instruction error will be generated. If the limit switches are wired to separate switches it should not be possible for both limit switches to be active at the same time. However, if this does occur (presumably due to a special wiring arrangement) then both limit switch bits in the activity status register would be set, thus disabling moves in either direction. In this case, the SetLimitSwitchMode command should be used to temporarily disable limit switch processing while the motor is moved off of the switches. NOTE: Limit switches do not function when the POSYS® is in motor off, also known as open-loop mode. -oAxisOut Output The AxisOut pin Each axis has a general purpose axis output pin which can be programmed to track the state of any of the assigned bits in the "Event Status Register, "Activity Status Register" or "Signal Status Register". The tracked bit in one of these three registers may be in the same axis or in a different axis as the axis of the AxisOut pin itself. This function is useful for outputting hardware signals to trigger external peripherals. The POSYS® command Set/GetAxisOutSource may be used to configure the axis output pin. This command takes a single word as an argument. The value of this parameter is interpreted as follows: Bits Name Description 0-3 Source axis Specifies the axis to be used as a source for the axis output signal. The axis output pin will follow the specified register bit of the source axis. Writing a zero indicates axis 1, writing a one indicates axis 2, etc. 4-7 Bit number Indicates which bit in the selected status register will be followed by the axis output pin. Bits are numbered from 0-15 where bit 0 indicates the least significant bit. 8-11 Status register Indicates which register will be used as the source for the axis output. The encoding is as follows: ID 1 2 3 4 - 15 12-15 Reserved register None, the axis output pin will always be inactive Event status register Activity status register Signal status register Reserved, do not use Reserved for future use. Should be written as zeros. Note that the AxisOut pin may be configured to be active low or active high using the SetSignalSense command. The default after power-on or reset is 5V (high). It is possible to use the AxisOut pin as a software-programmed direct output bit under direct host control. This can be done by selecting zero as the register ID code in the SetAxisOutSource command and by adjusting the level of the resulting inactive output state to high or low as desired using the SetSignalSense commands. -oAxisIn Input 151 © POSYS Motion Control GmbH & Co.KG, 2013 The Axisln Input Each axis has an input pin (Axisln) which can be used as a general purpose input, readable using the GetSignalStatus command, as well as to trigger automatic events such as performing a motion change (stop, start, change of velocity, etc.) upon a signal transition using breakpoints. No special commands are required to setup or enable the Axisln. -oAnalog Input Analog Input The POSYS® motion controller provides 8 channels of general-purpose analog input. These 8 inputs are connected to internal circuitry that converts the analog signal to a digital word with a precision of 10-bits. The conversions are performed continuously, with all 8 channels being converted every 4 cycles of the controller. To read the most recent value converted by any of the 8 channels, the command ReadAnalog is used. The value returned by this command is the result of shifting the converted 10-bit value 6 bits left. The analog data is general-purpose and is not used by the motion processor in any calculations. These analog inputs can be connected to external devices like joysticks to read in a certain position for manually adjusting or teaching purposes. In conjunction with the trace function the gathered information can be stored and used for automatic contouring. Which input voltages are available and allowed can be found in the descriptions of the POSYS® Versions Specifics. -oThe SYNC IO - Multiple Controller Synchronization The Synch IO - multiple controller synchronization (POSYS® w/o activated stepper axes) The POSYS® controllers contain support for synchronizing their internal cycle time across multiple cards. This allows the start/stop and modification of motion profiles to be synchronized across controllers where precise timing of movement is required. This may be necessary because the controllers are remotely located or the application may require greater than 4 axes of synchronized motion. In the most common configuration one controller is assigned as a Master node and other controllers are set into Slave mode. The input/output state of this IO and its function are set using the command SetSynchronizationMode mode Multiple controller synchronization is not available if any axis is configured for a Pulse & Direction motor type. This feature is then deactivated on the POSYS®. The table below summarizes the modes. Encoding Mode Description 0 Disabled In the disabled mode, the connector is configured as an input and is not used. This is the default mode after reset or power up. 1 Master In the master mode, the controller outputs a synchronization pulse that can be used by slave nodes or other devices to synchronize with the internal controller cycle of the master node. 2 Slave In the slave mode, the controller is configured as an input and a pulse on the controller synchronizes the internal controller cycle. 152 © POSYS Motion Control GmbH & Co.KG, 2013 When synchronizing multiple controllers, the following rules must be observed: All controllers must have their sample time set to the same value. For example, if a POSYS® 1904 and a POSYS® 1902 are to be synchronized the sample time must be at least the greater of the two sample times. In this case the value must be at least 256 µs since the POSYS® 1904 has a sample time of 256 µs and the POSYS® 1902 has a sample time of 102,6 µs. Only one node in the network can be a master. For example, with 3 controllers in a network one controller must be designated the master and the other two must be slaves. Slave nodes must be set into slave mode before the master is set as the master node. This ensures that the slave(s) cycle starts at precisely the moment that the master assumes its state as master. The master node outputs a synchronization pulse every 50 µs. Applications are free to use this pulse to synchronize external equipment to the internal cycle of the POSYS®. -o- 153 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Interfacing Overview; Motor Interfacing Overview; Motor Interfacing The POSYS® supports two types of motor position input: incremental-encoder and parallel-word feedback. The feedback type is programmable, but the appropriate hardware must be installed for the selection to be effective. (parallel-word feedback is option) To set the feedback type the command SetEncoderSource is used. This same value can be read back using the command GetEncoderSource. -oIncremental Encoder Input Incremental Encoder Input Incremental encoder feedback provides two square-wave signals: A quadrature, B quadrature, and an optional Index pulse that normally indicates when the motor has made one full rotation. The A and B signals are offset from each other by 90° as shown in the figure 8-3. Figure 8-3. Quadrature Encoder Timing For the quadrature incremental position to be properly registered by the POSYS®, when the motor moves in the positive direction QuadA should lead QuadB. When the motor moves In the negative direction, QuadB should lead QuadA. Because of the 90° offset, four resolved quadrature counts occur for one full phase of each A and B channel. -oActual Position Register Actual Position Register The POSYS® continually monitors the position feedback signals and accumulates a 32-bit position value called the Actual Position. Upon power-up the default Actual Position is zero. The Actual Position can be explicitly set using the command SetActualPosition, and can be retrieved using the command GetActualPosition. Particularly when using incremental feedback, the Actual Position is generally set shortly after power-up, using a homing procedure to reference the actual position to a physical hardware location. 154 © POSYS Motion Control GmbH & Co.KG, 2013 -oDigital Filtering Digital Filtering All encoder inputs as well both the index and home capture inputs, are digitally filtered to enhance reliability. The filter requires that a valid transition be accepted only if it remains in its new (high or low) state for at least three cycles of 50 nsec each (total 150 nsec). This insures that brief noise pulses will not be interpreted as an encoder transition. Although this digital filtering scheme can increase the overall reliability of the quadrature data, to achieve the highest possible reliability additional techniques may be required, such as differential line drivers/receivers, or analog filtering. Whether these additional schemes are required depends on the specific system, and the amount and type of noise sources. -oHigh Speed Position Capture High speed position capture Each axis of the POSYS® supports a high-speed position capture register that allows the current axis location to be captured triggered by an external signal. One of two signals may be used as the capture trigger the index signal or the home signal. These two input triggers differ in how a capture is recognized. If the index signal is used as the trigger, a capture will be triggered when the A, B, and Index signals achieve a particular state (defined by the signal sense register using the SignalSenseRegister command). If the home signal is selected as the capture trigger source then only the home signal need to be in a particular state for the capture to be triggered. The default values for the A, B, index, and home sense signals in the signal sense register are 0, meaning these signals are active low. In this condition if index is selected as the trigger source a capture will be recognized when A, B, and Index are all low. Any change to the sense mask from active low interpretation to active high interpretation will cause a corresponding change in recognition of the trigger condition. The command SetCaptureSource determines whether the index signal or the home signal will be used as the position capture trigger. The command GetCaptureSource retrieves this same value. When a capture is triggered, the contents of the actual position registers are transferred to the Position capture register, and the Capture-Received indicator (Bit 3 of the Event Status Register is set. To read the capture register the command GetCaptureValue is used. The capture register must be read before another capture can take place. Reading the position capture register causes the trigger to be re-armed, meaning more captures can thereafter occur. As for all Event Status Register bits, to clear the position capture indicator the command ResetEventStatus is used. -oParallel-word Position Input (option) Parallel-word position input (Option) For feedback systems that do not provide incremental signals, but instead a digital binary word, the POSYS® supports a parallel-word input mechanism which can be used with a large variety of devices including the following: Resolvers (after Resolver to Digital conversion) Absolute optical encoders Laser interferometers with parallel word read-out Incremental encoders with external quadrature decoder circuit A/D converters reading an analog feedback signal 155 © POSYS Motion Control GmbH & Co.KG, 2013 In this position-input mode the encoder position is read through the POSYS® external bus by reading a 16-bit word, one for each axis set to this mode. Depending on the nature of the feedback device fewer than 16 bits of resolution may be available, in which case the unused high order data bits should be arranged to indicate a 0 value when read by the POSYS®. It is also acceptable to sign extend these bits, however under no circumstances should unused bits of the parallel-word be left floating. The value input by the POSYS® should be binary coded. The POSYS® assumes that tile position data provided by the external device is a two`s complemented signed number although if the value returned instead ranges from 0 to 2n-1 (where n is the number of bits provided by the feedback device) than the difference in behavior will be the interpretation of the start location, which will be `shifted` by 1/2 the full scale feedback range. If desired this initial position may be altered using the SetActualPosition command. -oMulti-Turn Systems Multi-turn systems In addition to supporting position tracking across the full numeric feedback range of a particular device the ability to support multi-turn systems is also provided. The parallel encoder values being read in are continuously examined and a position "wrap" condition is automatically recognized, whether from largest encoder value to smallest encoder value (negative wrap) or from smallest value to largest value (positive wrap). Using this "virtual" multi-turn counter, the POSYS® continuously maintain the location to a full 32 bits. Of course if the axis does not wrap around (non multi-turn system), the range will stay within a 16 bit value. As the motor moves in the positive direction, the input value should increase up to some maximum at which point it may wrap back to zero and continue increasing from there. Likewise, when the motor moves in the negative direction the value should decrease to zero at which point it may wrap back to its maximum. The value at which the parallel input device wraps is called the device's modulus, and should be set using the SetEncoderModulus command. Note that the SetEncoderModulus command takes as a parameter ½ the value of the modulus. For example if a rotary motor uses a 12-bit resolver for feedback the encoder modulus is 4,096, and therefore the value sent to the SetEncoderModulus command would be 2,048. Once this is done each time the motor rotates and the binary word value 'Jumps' from the largest binary output to the smallest, the POSYS® will properly recognize the motor wrap condition and accumulate actual encoder position with values larger than 4,096 or smaller than 0. For systems that use a position counter with a modulo smaller than the encoder counts per revolution, set the counts/rev value equal to the position counter size. For example, if a rotary laser interferometer is being used which provides a 16-bit output value, but provides 16,777,216 counts per revolution, use a counts/rev value of 32,768 (216/2). No high-speed position capture is supported in the parallel-word device input mode. Therefore for the purpose of position capture the index and home signals, as well as the quadrature A and B signals are unused in this mode. But the reading of position data via this interface is still fast and precise. For example the reading of position data with our SSI800/900 can be done x20.000 per second. Nevertheless for other non-position capture functions utilizing the signal status register these signals can still be used in the normal way. For example these bits can be read (GetSignalStatus) or these bits can be used as breakpoint triggers, etc. -oParallel-word Device Interfacing Parallel-word device interfacing For each axis that is set for parallel-word input the POSYS® will use its peripheral bus and the addresses listed below to read the position feedback value for that axis. The value is read from the POSYS®´s peripheral address bus at the following addresses: 156 © POSYS Motion Control GmbH & Co.KG, 2013 Peripheral bus address POSYS® I/O operation Addressed motor (Axis #) 800h 16-bit peripheral read 1 801h 16-bit peripheral read 2 802h 16-bit peripheral read 3 803h 16-bit peripheral read 4 For each axis that is set to parallel-word position input mode the POSYS® will perform a peripheral read at the corresponding address, but axes not in parallel-word mode will not be addressed. For example, if Axes 1 and 3 are set to incremental feedback mode and 2 and 4 are set to parallel-word, then Addresses 0801h (address for axis #2 from above table) and address 0803h (address for axis # 4) will be read by the POSYS®, and the values returned by the associated host peripheral circuitry will determine the actual position for axis 2 and 4. If you are interested in using this interface to develop your own addon card (for example memory extension, additional digital and analog I/Os), then please contact servo-Halbeck GmbH & Co.KG for additional information. -o- 157 © POSYS Motion Control GmbH & Co.KG, 2013 Parallel Device I/O Parallel Device I/O The Navigator chipsets make use of an external peripheral bus to write to and read from the user's peripheral devices associated with various dedicated chipset functions such as DAC (Digital to Analog C onverter) signal output, parallel-word input, user-defined memory I/O, and serial port configuration input. The bus consists of 5 control signals; ~PeriphSlct, ~Strobe, W/~R, R/~W, and ~WriteEnbl. In addition there are 16 address lines (Addr0-Addr15) and 16 data lines (Data0-Data15). The chipset manipulates these control, address, and data lines in such a way that the user can develop peripheral circuitry to read or write data into or from the chipset. The following diagram shows the pin description of this interface. As an example for using this interface please also take a look at our SSI800/900 SSI card which allows the usage SSI-compatible of absolute encoders . 158 © POSYS Motion Control GmbH & Co.KG, 2013 -o- 159 © POSYS Motion Control GmbH & Co.KG, 2013 Peripheral Device Read Peripheral Device Read To perform a peripheral read the chipset will drive to a low level the ~PeriphSlct signal, the ~Strobe signal, and the W/~R signal. In addition the chipset will drive to a high level one or more address bits depending on the number of addresses to decode for a given function. After these signals have been asserted it is expected that the user's peripheral circuitry will assert the correct data onto the data bus Data0-15. The following table summarizes the addresses of the Navigator peripherals: Base Address Address bits to decode Dev ice Description 0800h - 0803h A0, A1, A11 Parallel-word encoder Addresses for parallel-word feedback devices for axes 1-4. 1000h - 10ffh A0-A7, A12 User-defined Addresses for user-defined I/O devices. The specific timing for the Peripheral Read function is: POSYS® 700/800/800-B/900 Timing Interv al Tn Minimum Maximum Address Setup Delay Time T30 7 nsec Data Access Time T31 71 nsec Data Hold Time T32 Read to Write Delay Time T40 PeriphSlct Low to Strobe Low T55 1 nsec PeriphSlct High to Strobe High T56 4 nsec 2 nsec 50 nsec Note 1 Performance figures and timing information valid at Fclk = 40.0 MHz only. Note 2 For 8/8 and 8/16 interface modes only. Note 3 The clock low/high split has an allowable range of 45-55%. POSYS 1800/1900 160 © POSYS Motion Control GmbH & Co.KG, 2013 Timing Interv al Tn Minimum Maximum External Memory Read C lockOut low to control valid T20 C lockOut low to address valid T21 4nsec Address valid to ~ReadEnable low T22 C lockOut high to ~ReadEnable low T23 5nsec Data access time from Address valid T24 40nsec Data access time from ~ReadEnable low T25 Data hold time T26 C lockOut low to control inactive T27 Address hold time after C lockOut low T28 C lockOut low to Strobe low T29 5nsec C lockOut low to Strobe high T30 6nsec W/~R low to R/~W rising delay time T31 5nsec 8nsec 31nsec 31nsec 0nsec 5nsec 2nsec Peripheral Device Read Address valid to ~ReadEnable low T45 Data access time from Address valid T46 56nsec 65nsec Data access time from ~ReadEnable low T47 56nsec -o- 161 © POSYS Motion Control GmbH & Co.KG, 2013 Peripheral Device Write Peripheral Device Write To perform a peripheral write the chipset will drive to a low level the ~PeriphSlct signal, the R/~W signal, and the ~WriteEnbl signal. In addition the chipset will drive to a high level one or more bits depending on the number of addresses to decode for a given function, also asserting the data word to be written by the chipset. After the Navigator asserts these signals it is expected that the user's peripheral circuitry will read in the data written by the chipset. POSYS® 700/800/800-B/900 Timing Interv al Tn Minimum Maximum Address Setup Delay Time T33 Address Setup to WriteEnable High T34 PeriphSlct Low to WriteEnable High T35 Address Hold Time T36 17 nsec WriteEnable Pulse Width T37 89 nsec Data Setup Time T38 3 nsec Data Setup before Write High Time T39 92 nsec WriteEnable Low to Strobe Low T53 1 nsec WriteEnable High to Strobe High T54 3 nsec 7 nsec 122 nsec 129 nsec Note 1 Performance figures and timing information valid at Fclk = 40.0 MHz only. Note 2 For 8/8 and 8/16 interface modes only. Note 3 The clock low/high split has an allowable range of 45-55%. POSYS 1800/1900 Timing Interv al Tn Minimum Maximum External Memory Write C lockOut high to control valid T32 4nsec 162 © POSYS Motion Control GmbH & Co.KG, 2013 C lockOut high to address valid T33 Address valid to ~WriteEnable low T34 10nsec C lockOut low to ~WriteEnable low T35 Data setup time before ~WriteEnable high T36 33nsec Data bus driven from C lockOut low T37 -3nsec Data hold time T38 2nsec C lockOut high to control inactive T39 Address hold time after C lockOut low T40 C lockOut low to Strobe low T41 6nsec C lockOut low to Strobe high T42 6nsec R/~W low to W/~R rising delay time C lockOut high to control valid T43 T44 5nsec 6nsec 29nsec 6nsec 5nsec -5nsec Peripheral Device Write Address valid to ~WriteEnable low T48 54nsec Data setup time before ~WriteEnable high T49 58nsec -oMotor Command Output Motor Command Output 163 © POSYS Motion Control GmbH & Co.KG, 2013 The POSYS® provides a variety of methods to interface to the motor amplifier, however the methods available vary with each product series. The following table shows the motor output options available for each supported motor type: Motor ty pe POSYS® series Phases per axis Available output format DC -Brush POSYS® 70x 80x 80x-B, 81x-B, 87x-B, 88x-B 90x, 91x, 97x, 98x 180x, 182x 190x, 192x 1 Sign/Magnitude PWM 50/50 PWM 16-bit DAC Brushless DC (w/ external commutation) POSYS® 70x 80x 80x-B, 81x-B, 87x-B, 88x-B 90x, 91x, 97x, 98x 180x, 182x 190x, 192x 1 Sign/Magnitude PWM 50/50 PWM 16-bit DAC Brushless DC (internal commutation) POSYS® 82x-B, 83x-B, 87x-B, 88x-B 92x, 93x, 97x, 98x 182x 192x 2 or 3 Sign/Magnitude PWM* 50/50 PWM 16-bit DAC Microstepping POSYS® 84x-B, 86x-B, 87x-B, 88x-B 94x, 96x, 97x, 98x 182x 192x 2 or 3 Sign/Magnitude PWM* 50/50 PWM 16-bit DAC Stepper POSYS® 75x 85x 85x-B 95x 180x, 182x, 185x 190x, 192x, 195x 1 Pulse & Direction * only when 2 phases are selected. This format is not supported for 3-phases motors. Sign/Magnitude PWM, 50/50 PWM and 16-Bit DAC output signals use a signed numeric command value, but in various formats. In all of these formats the signal is coded in a manner that the numeric value corresponds to a torque demand e.g. velocity demand value which the POSYS® outputs to the amplifier. Pulse and direction is fundamentally different from the other two representations because it makes no attempt to encode a motor torque. Instead pulse and direction supports step motor amplifiers which accept a positive direction movement "pulse" and a negative direction movement "pulse". The amplifier then determines the motor torque, usually through an analog setting on the amplifier itself. The command SetOutputMode controls which of the available output formats will be used. The command GetOutputMode retrieves this same value. -oSign/Magnitude PWM Sign/Magnitude PWM In this mode, two pins are used to output the motor command information for each motor phase. One pin carries the PWM magnitude that ranges from 0 to 100%. This signal expresses the absolute magnitude of the desired motor command. A high signal on this pin means the motor coil should be driven with voltage. A second pin outputs the sign of the motor command by going high for positive sign and low for negative. In this mode, output is resolvable to 1 part per 2,048. The total range of the motor command register which is -32,768 to +32,767 is scaled to fit the PWM output range. For example if the motor command that the POSYS® outputs for a given phase is +12,345 then the sign bit will be output 164 © POSYS Motion Control GmbH & Co.KG, 2013 as a high level, and the magnitude pin will output with a duty cycle of 2,048*12,345/32,768 = 771.56 = 772, meaning the magnitude signal will be high for 772 cycles and low for the remaining 1,276 cycles. If it were desired that the output value be -12,345 then the magnitude signal would be the same but the sign bit would be low instead of high. Sign/Magnitude PWM output is typically used with H-bridge type amplifiers. Most such amplifiers have separate sign and magnitude inputs allowing the POSYS® signals to be connected directly. The following figure shows sign and magnitude output waveforms: Typical Sign/Magnitude PWM output signals Set/GetOutputMode -o50/50 PWM Motor Command Output 50/50 PWM In this mode only one pin is used per motor output or per motor phase. This pin carries a variable duty cycle PWM signal much like the magnitude signal for sign magnitude PWM. This PWM output method differs however in that a 50% output signal (high half the time, low half the time) indicates a desired motor command of zero, and positive motor commands are encoded as duty cycles greater than 50% duty cycles, and negative motor commands are encoded as duty cycles less than 50 %. In this mode a full on positive command is encoded as a 100% duty cycle (always high) and a full on negative command is encoded as a 0 % duty cycle (always low). For example if the motor command that the controller outputs for a given phase is +12,345 then the magnitude pin will output with a duty cycle of 1,024 + 1,024*12,345/32,768 = 771.56 = 1,409.78 = 1,410, meaning the magnitude signal will be high for 1,410 cycles and low for the remaining 638 cycles. If it were desired that the output value be -12,345 then the magnitude signal would have a duty cycle of 1,024 + 1,024*-12,345/32,768 = 638.2 = 638 meaning the magnitude signal will be high for 638 cycles and low for the remaining 1,410. 50/50 magnitude PWM output is used with two different types of amplifiers. When driving a brushless PM (permanent magnet) motor the magnitude signal is connected to a half bridge driver. When driving a DC brushed motor an H-bridge type amplifier is used however the magnitude signal input of the H-bridge. This alternative method of controlling an H-bridge is occasionally useful in situations where motor back-EMF during deceleration is a problem using the standard sign magnitude schemes. Set/GetOutputMode -o16 Bit DAC Motor Command Output 165 © POSYS Motion Control GmbH & Co.KG, 2013 16-Bit DAC In this mode the motor command for a given phase is output directly to the POSYS's® peripheral bus where it is assembled into an analog voltage using a DAC (Digital to Analog Converter). The POSYS® writes the DAC output value to each enabled channel in this mode at the commutation frequency of 10 kHz. So (for example) for a 4-axes POSYS® which has all four axes set to Parallel DAC mode, DAC output will be written for each axis once per 100 µsec, with the writes in pairs separated by 50 µsec. For one or two phase motors, one DAC output is used for each phase. For three phase motors, only two DAC outputs are used, the third phase will always be an analog signal equal to - 1 * (P1 + P2) where P1 is the output for phase 1 and P2 is the output for phase 2. If necessary this third phase signal may be realized using an inverting summing amplifier in the external circuitry. Generally though this is not necessary since the majority of 3-phase off-the-shelf amplifiers accept two phases and internally construct the third. The output value written has a resolution of 16 bit. This value is offset by 8000h, so a value of 0 will correspond to the most negative output. A value of 8000h corresponds to zero output, and a value of 0FFFFh corresponds to the most positive output. Set/GetOutputMode -o- 166 © POSYS Motion Control GmbH & Co.KG, 2013 Host Communication Overview; Host Communication Overview; Host Communication The POSYS® communicates with its host(s) through either of three ports: a bi-directional parallel port, an asynchronen seriellen Port, or via C AN 2.0B. The POSYS® accepts commands from the host in a packet format. By sending sequences of commands the host can control the behavior of the motion system as desired, and monitor the status of the POSYS® and the motors. -oParallel Communication Port Parallel Communication Port The bi-directional parallel port is configured to operate in the following mode, as follows: 16-bit mode The POSYS® transfers instructions and data as full 16-bit words, using the entire 16-bit data path. This is the default after power-on. -oSerial Interface Serial Port In addition to the parallel interface, the POSYS® provides an asynchron serial interface. This serial port may be configured to operate at baud rates ranging from 1200 baud to 416,667 baud, and may be used in point-to-point or multi-drop mode. Configuration Following serial I/F connectors are used on the boards. POSYS® 8xx-B: 2x 3-position female connector (2 mm) The counter connector is a male style connector 2x 3-position (2 mm) POSYS® 18xx/9xx/19xx: Molex 5-position PicoBlade SMT style connector part no.: 53261-0590 or 53261-0571 (lead-free) The counter connector for the Molex 5-position connector is: Molex part no. 51021-0500 The POSYS® 7xx and 8xx do not offer the possibility of serial communication. The configuration word read by the POSYS® at address 200h is organized as follows: Bit Parameter Indications 0-3 Transmission rate selector 0 1 2 3 4 5 6 7 1200 bps 2400 bps 9600 bps 19200 bps 57600 bps* 115200 bps* 250000 bps 416667 bps 4-5 Parity selector 0 None 167 © POSYS Motion Control GmbH & Co.KG, 2013 Bit Parameter Indications 1 2 3 Odd parity Even parity Reserved (do not use) 6 Number of stop bits 0 1 1 stop bit 2 stop bits 7-8 Protocol type 0 1 2 3 Point-to-point Reserved (do not use) Multi-drop (address bit mode) Multi-drop (idle line mode) 9-10 Reserves 11-15 Multi-drop address selector Should be zero in point-to-point mode 0 1 ... 31 Address 0 Address 1 Address 31 *To insure synchronization between characters at these transmission rates, use 2 stop bits. The default values at power-on are for the various types different. The POSYS® 8xx-B and 9xx vary from those for the POSYS® 18xx and 19xx. Other default values are possible and can be defined by the customer and programmed by servo-Halbeck to the Eprom. This customization must be determined before ordering. The default values are for the POSYS® 8xx-B and 9xx: Argument Default values Serial communication 9600 baud Parity none Stop bits 1 Protocol point-to-point The default values are for the POSYS® 18xx and 19xx: Argument Default values Serial communication 57600 baud Parity none Stop bits 2 Protocol point-to-point All of the defaults can be changed by writing to the appropriate register. A soft reset (motion processor only) will not reset these values, they will be retained and read by the CP (after a CP reset) and used as new defaults. After a HardReset or power-on reset the original defaults will be used again. Control Signals Three signals, SrlXmt, SrlRcv, and SrlEnable mediate serial transfers. SrlXmt encodes data transmitted from the CP to the host processor. SrlRcv receives data sent from the host to the CP. SrlEnable goes active (high) when data is being transmitted in multi-drop mode. This signal may be connected to the output enable pin of a serial buffer IC to allow tri-stating of the transmit line of a serial bus when not in use. In point-to-point mode the SrlEnable pin is always active (high). The basic unit of serial data transfer (both transmit and receive) is the byte. Each byte of data consists of the following parts: One start bit Eight data bits An optional even/odd parity bit One or two stop bits An extra bit which distinguishes between address bytes and data bytes (address-bit style multi-drop mode only) Command format The command format used to communicate between the host and POSYS® consists of a command packet sent by the host 168 © POSYS Motion Control GmbH & Co.KG, 2013 processor followed by a response packet sent by the POSYS®. C ommand packets sent by the host contain the following fields: Field Byte Description Address 1 One byte identifying which CP the command packet is being sent to. This field should always be zero in point-to-point mode. Checksum 2 One byte value used to validate packet data. See description below. Instruction code 3-4 Two byte instruction, sent upper byte (axis number) first. The command codes are the same as used in the parallel communication mode. Data 5- Zero to six bytes of data, sent most significant byte first. See the individual command descriptions for details on what data is required for each command. In response to the command packet, the POSYS® will respond with a packet of the following format: Field Byte Description Status 1 Zero if the command was completed correctly, otherwise an error code specifying the nature of the error. (see Host I/O Errors) Checksum 2 A one-byte checksum value used to validate the packet's integrity. See details below. Data 3 Zero to six bytes of data. No data will be sent if an error occurred in the command (i.e. the status byte was non-zero). If no error occurred, then the number of bytes of data returned would depend on what command had the CP was responding to. Data is always sent MSB first. Host I/O Errors There are a number of checks that the chip makes on the command sent to the chip. These checks improve safety of the motion system by eliminating some obviously incorrect command data values. All such checks associated with host I/O commands are referred to as Host I/O errors. The status byte in the response packet will contain one of the following error codes: Code Indication Cause 0 No error No error condition. 1 Pilot reset Default value of error code on reset or power-up. 2 Invalid instruction Instruction is not valid in the current context, or an illegal instruction code has been detected. 3 Invalid axis 4 Invalid parameter The parameter value sent to the POSYS® was out of its acceptable range. 5 Trace running 6 Reserved 7 Block bound exceeded 1. The value sent by SetBufferLength or SetBufferStart would create a memory block which extends beyond the allowed limits of 400h – 7FFFFFFFh. 2. Either SetBufferReadIndex or SetBufferWriteIndex sent an index value greater than or equal to the block length. 8 Trace zero SetTraceStart Immediate was issued, but the length of the trace buffer is currently set to zero. 9 Bad checksum The checksum complied and returned by the POSYS® does not match that sent by the host. Bh Negative velocity An attempt was made to set a negative velocity without the axis being in velocity contouring profile mode. Ch S-curve change The axis is currently executing an S-curve profile move and an attempt was made to change the profile parameters. This is not permitted. Dh Limit event pending A limit switch event has occurred. Eh Move into limit An attempt was made to execute a move without first clearing the limit bit(s) in the Event Status register. The axis number contained in the upper bits of the instruction word is not supported by this chip. An instruction was issued that would change the state of the tracing mechanism while the trace is running. Instructions which can return this error are SetTraceVariable, SetTraceMode & SetTracePeriod. 169 © POSYS Motion Control GmbH & Co.KG, 2013 Checksums Both command and response packets contain a checksum byte. The checksum is used to detect transmission errors, and allows the POSYS® to identify and reject packets which have been corrupted during transmission or which were not properly formed. Unlike the parallel interface, checksums are mandatory when using serial communications. Any command packets sent to the POSYS® containing invalid checksums will not be processed and will result in a data packet being returned containing an error status code. The serial checksum is calculated by summing all bytes in the packet (not including the checksum) and negating (i.e. taking the two's complement of) the result. The lower eight bits of this value are used as the checksum. To check for a valid checksum, all bytes of a packet should be summed (including the checksum byte) and if the lower eight bits of the result are zero then the checksum is valid. For example, if a command packet is sent to POSYS® address 3, containing command 0177h (SetMotor- Command for axis 2) with the one word data value 1234h, then the checksum will be calculated by summing all bytes of the command packet (03h + 01h + 77h + 12h + 34h = C1) and negating this to find the checksum value (3Fh). On receipt, the CP will sum all bytes of the packet and if the lower eight bits of the result are zero then it will accept the packet (03h + 3Fh + 01h + 77h + 12h + 34h = 100h). Transmission protocols The POSYS®s support the ability to have more than one POSYS® on a serial bus , thereby allowing a chain, or network of POSYS®s to communicate on the same serial hardware signals. There are three methods supported by the serial port to resolve timing problems, transmission conflicts, and other issues that may occur during serial operations. These are point-to-point (used when there is only one device connected to the serial port), multi-drop address bit-mode (used when there are multiple devices on the serial bus), and multi-drop idle-line mode (also used when there are multiple devices on the serial bus). The next sections describe these three transmission protocols. Point-to-point mode Point-to-point serial mode is intended to be used when there is a direct serial connection between one host and one motion controller. In this mode the address byte is not used by the POSYS® (except in the calculation of the checksum), and the POSYS® responds to all commands sent by the host. When in point-to-point mode there are no timing requirements on the data transmitted within a packet. The amount of data contained in a command packet is determined by the command code in the packet. Each command code has a specific amount of data associated with it. When the POSYS® receives a command code it waits for all data bytes to be received before processing the command. The amount of data returned from any command is also determined by the command code. After processing a command the POSYS® will return a data packet of the necessary length. When running in point-to-point mode there is no direct way for the POSYS® to distinguish the beginning of a new command packet, except by context. It is therefore important for the host to remain synchronized with the POSYS® when sending and receiving data. To ensure that the POSYS® stay in synchronization it is recommended that the host processor implement a time limit when waiting for data packets to be sent by the POSYS®. The minimum time-out period suggested is the amount of time required to send one byte at the selected baud rate plus one millisecond. For example, at 9600 baud each bit takes 1/9600 seconds to transfer, and a typical byte consists of 8 data bits, 1 start bit, and 1 stop bit. Therefore, one byte takes just over 1 millisecond, and the recommended minimum timeout is 2 milliseconds. If the timeout period elapses between bytes of receive data while the host is waiting on a data packet, then the host should assume that it is out of synchronization with the POSYS®. To resynchronize, the host should send a byte containing zero data and wait for a data packet to be received. This process should be repeated until a data packet is received from the POSYS®, at which point the two processors will be synchronized. Multi-drop protocols Two multi-drop serial protocols are supported by the POSYS®. Multi-drop modes are intended to be used on a serial bus in which a single host processor communicates with multiple POSYS® (or other subordinate devices). In this mode the address byte which starts a command packet is used to indicate which device the packet is intended for. Only the addressed device will respond to the packet. Therefore, it is important to properly set up the POSYS® address (using the serial configuration word described above), and to include this address as the first byte of any command packet destined for the POSYS®. Because the address that starts a command packet is used to enable or disable the response from a POSYS® in multi-drop mode, the multi-drop protocols must include a method to avoid losing synchronization between the host and the POSYS®(s) because it would be difficult to regain synchronization in this environment. The two multi-drop protocols differ in the methods they use to control packet synchronization. 170 © POSYS Motion Control GmbH & Co.KG, 2013 Note that the multi-drop protocols may also be used when the host and POSYS® are wired in a point-to-point configuration as long as the host always transmits the correct address byte at the start of a packet, and follows any additional rules detailed below for the selected protocol. This mode of operation allows the host to be sure that it will remain synchronized with the POSYS® without implementing the timeout and re-synch procedure outlined above. Idle-line mode When the idle-line protocol is used, the POSYS® imposes tight timing requirements on the data sent as part of a command packet. In this mode, the POSYS® will interpret the first byte received after an idle period as the start of a new packet. Any data already received will be discarded. The timeout period is equal to the time required to send ten bits of serial data at the configured baud rate (roughly 1 millisecond at 9600 baud for example). If a delay of this length occurs between bytes of a command packet then the bytes already received will be discarded, and the first character received after the delay will be interpreted as the address byte of a new packet. Address bit mode When the address bit protocol is used, each byte of data transmitted or received by the POSYS® contains an extra bit of data (just after the last data bit). This bit is used to identify the address byte of a packet. Any byte received by the POSYS® which has this bit set will be interpreted as the start of a new command packet. If the POSYS® was in the process of receiving data from an earlier command packet then that data will be discarded. -oController Area Network CAN2.0B Controller Area Network (CAN) The POSYS® 18xx/19xx can integrate into a C AN 2.0B network and will coexist (but not communicate) with CAN 2.0B nodes on that network. The POSYS® 18xx/19xx uses C AN to receive commands, send responses and (optionally) send asynchronous event notifications. Each message type has an address, as follows: Message ty pe CAN Address C ommand receive 0x600 + nodeID C ommand response 0x580 + nodeID Event notification 0x180 + nodeID C AN nodes communicate via messages. Each message can carry a data payload of up to 8 bytes. The C AN interface layer automatically corrects transmission errors, so a checksum is not a part of the motion IC s C AN interface protocol as it is with serial or parallel. The data formats for the three message types are expressed in terms of the byte sequences for the parallel interface. C ommands have varying data lengths; see the POSYS® Programmer´s C ommand Reference for the data formats of particular commands. Bytes that will always be present independent of the command being processed are marked as required below. The corresponding byte sequences in the C AN protocol for the 3 message types are as follows: Command received Message data byte Required? Corresponding parallel by te 1 Y C ommand word, high byte 2 Y C ommand word, low byte 3 N 1st data word, high byte 4 N 1st data word, low byte 5 N 2nd data word, high byte 6 N 2nd data word, low byte 7 N 3rd data word, high byte 8 N 3rd data word, low byte 171 © POSYS Motion Control GmbH & Co.KG, 2013 Command response Message data byte Required? Corresponding parallel by te 1 Y C ommand word, high byte 2 Y C ommand word, low byte 3 N 1st data word, high byte 4 N 1st data word, low byte 5 N 2nd data word, high byte 6 N 2nd data word, low byte 7 N 3rd data word, high byte 8 N 3rd data word, low byte Event notification Message data byte Required? Data interpretation 1 Y Axis number (1-4) 2 Y event status register value, high byte 3 Y event status register value, low byte -oConfiguring the CAN 2.0B Interface Configuring the CAN 2.0B Interface The POSYS®'s CAN interface is configured via the SetCANMode command. This command is used to set the CAN nodeID of a particular POSYS® (0 - 127), as well as the transmission rate of the connected CAN network. The supported transmission rates are listed here: SetCANMode Encoding CAN Transmission Rate (bps) 0 1000000 1 800000 2 500000 3 250000 4 125000 5 50000 6 20000 7 10000 The default values at power-on are for the various types the same. Other default values are possible and can be defined by the customer and programmed by servo-Halbeck to the Eprom. This customization must be determined before ordering. The default values are: Argument Default values Transmission rate 500000 C AN nodeID 0 All of the defaults can be changed by writing to the appropriate register. A soft reset (motion processor only) will not reset these values, they will be retained and read by the CP (after a CP reset) and used as new defaults. After a HardReset or power-on reset the original defaults will be used again. -oCAN Event Notification 172 © POSYS Motion Control GmbH & Co.KG, 2013 CAN Event Notification When communicating via the C AN interface, the POSYS® can (optionally) send messages when selected bits in the Event Status Register are set active. This facility directly corresponds to the motion IC s host interrupt facility when using the parallel interface (refer to section Host Interrupts for more information). These messages are sent with a CAN address of 0x180 + nodeID. This CAN notification facility is controlled with the SetInterruptMask command. For each on bit in the notify mask, a CAN message will be generated whenever the corresponding bit in the event status register becomes 1. The available mask bits are as follows: POSYS® Ev ent Mask Bit Motion complete 0001h Wrap-around 0002h Breakpoint 1 0004h C apture received 0008h Motion error 0010h In positive limit 0020h In negative limit 0040h Instruction error 0080h C ommutation error 0800h Breakpoint 2 4000h -oElectrical Diagrams for CAN Interface Electrical Diagrams for CAN Interface C AN Interface for POSYS® 1800/1900 Series Motion Controllers The POSYS® 1800/1900 uses the TI SN65HVD232QD-SO8 CAN Transceiver. For more details please refer to the TI data sheet. The CANH and CANL connections are made via the CON3 Molex connector on the POSYS® 1800/1900 board. The CAN 2.0B cable is optional. Please contact us if you wish to connect via CAN 2.0B to the POSYS®. The connector on the board is a 2-position Molex male connector (Molex part no.: 53398 – 0290). The counter connector for the cable is a female connector from Molex (Molex part no.: Molex 51021-0200, Crimp contact: Molex 50079-8100). -o- 173 © POSYS Motion Control GmbH & Co.KG, 2013 Using On-Board Memory Memory Configuration Memory Configuration POSYS® 7xx, 8xx, 8xx-B, 9xx The POSYS® motion controller is capable of accessing on-board memory used to store trace data. In addition it is possible to access the on-board memory independent of the trace function, thereby allowing it to be used for generic storage such as for product configuration or path information (ExternalProfileMode). If on-board RAM is present, it must be configured with a width of 16 bits. Any size of RAM may be supported from 1K and up although the first 1024 words of on-board memory are always reserved for the use of the controller. The total on-board memory available for functions such as trace must therefore be calculated accordingly. The controller address and data busses are used to interface to the on-board memory. The controller uses 15 address lines for on-board memory operation that allow it to directly access up to 32K words of memory. To allow a greater addressable space, the controller also makes use of a memory page selector (mapped into peripheral address space at location 2000h) which allows up to 64K pages to be accessed. This increases the maximum addressable memory space to 2,048M words (2,147,483,648 words, each 16 bits wide). This memory organization gives the designer several options as to the level of support provided to this feature: Memory size Notes None The on-board memory space is optional. Diagnostic trace and other features that make use of the on-board memory space cannot be used. 1K to 32K The first 1K (1024 words) are reserved by the controller. All memory fits into the first page, so there is no need to decode writes to the external page pointer. More than 32K An external page pointer must be used. The first 1K words of page zero are reserved for use by the C P. POSYS® 18xx, 19xx The POSYS® 18xx and 19xx are capable of accessing external memory used to store trace data. In addition it is possible to access the external memory independent of the trace function, thereby allowing it to be used for generic storage such as for product configuration information or path information (ExternalProfileMode). If on-board RAM is present, it must be configured with a width of 16 bits. Any size of RAM may be supported. The controller address and data busses are used to interface to the external memory. The controller uses 15 address lines for external memory operation that allow it to directly access up to 32K words of memory. To allow a greater addressable space, the CP also makes use of a memory page selector (mapped into peripheral address space at location 2000h) which allows up to 64K pages to be accessed. This increases the maximum addressable memory space to 2,048M words (2,147,483,648 words, each 16 bits wide). This memory organization gives the designer several options as to the level of support provided to this feature: Memory size Notes None The on-board memory space is optional. Diagnostic trace and other features that make use of the on-board memory space cannot be used. Up to 32K All memory fits into the first page, so there is no need to decode writes to the external page pointer. More than 32K An external page pointer must be used. The first 1K words of page zero are reserved for use by the C P. -oMemory Page Pointer 174 © POSYS Motion Control GmbH & Co.KG, 2013 Memory page pointer If a memory address space of more then 32K words is desired, then an external page register must be supported. Before the controller writes to on-board memory space, it writes a 16-bit page number to peripheral address location 2000h. This value should be latched and used as the upper 16 bits of the 31 bit true memory address. The controller will never attempt to read from this page number register, so there is no need to provide support for reads. Although the value written by the controller is 16 bits, it is not necessary to latch any bits that will not be used. For example, if 128K words of memory mapped to the physical addresses 0 – 1FFFFh, then 4 pages of memory (4 x 32K = 128K) will be needed. This corresponds to the low two bits of the page register. When the controller a 16-bit value to peripheral address 2000h the lowest two bits should be latched and used as address bits 15 and 16 when accessing on-board memory. The upper 14 bits of the page register value need not be saved since they will not be used. External memory signal decoding. -oOn-Board Memory Signal Decoding On-board memory signal decoding The POSYS® controller support an on-board RAM memory bus to read and write to on-board memory. The bus consists of 4 control signals; ~RAMSlct, W/~R, R/~W, and ~WriteEnbl. In addition there are 15 address lines (Addr0-Addr14) and 16 data lines (Data0-Data15). -oOn-Board Memory Read On-board memory read To perform an on-board memory read the controller first loads the memory page pointer using the peripheral bus as described above. Then to perform the read the controller will drive to a low level the ~RAMSlct signal, the ~Strobe signal, and the W/~R signal. In addition the controller will drive the address bus high or low based on the specific memory being fetched. After the POSYS® asserts these signals it is expected that the user´s peripheral circuitry will assert the requested data onto the controller's data bus data0-15. ReadBuffer, WriteBuffer -oOn-Board Memory Write On-board memory write To perform an on-board memory write the controller first loads the memory page pointer using the peripheral bus described above. Then to perform a write the controller will drive to a low level the ~RAMSlct signal, the ~Strobe signal, the W/~R signal, and the ~WriteEnbl signal. In addition the controller will drive the address bus high or low based on the specific memory being written to and it will also assert the data word on to the data bus for the value being written by the controller. After the POSYS® asserts these signals it is expected that the user´s peripheral circuitry will read in and store the data written by the controller. ReadBuffer, WriteBuffer 175 © POSYS Motion Control GmbH & Co.KG, 2013 -oOn-Board Memory Buffer On-board memory buffers The POSYS® provides a number of commands that may be used to access the on-board memory space. Through these commands, up to 16 memory buffers may be defined. A buffer describes a contiguous block of memory by defining a base address for the block and a block length. Once a buffer´s base address and length have been defined, data values may be written to and read back from the buffer. When defining memory buffers, the on-board memory space is treated as a sequence of 32-bit memory locations. Each 32-bit value takes up two 16-bit memory locations in physical memory. Buffer base addresses and lengths both deal with 32 bit quantities, and therefore must be doubled to get the corresponding physical addresses. When defining memory buffers, the controller will allow any values to be used for the base address and length as long as those values result in legal addresses. Legal memory addresses range from 200h (only valid for POSYS® 700/800/800-B/900; corresponding to physical location 400h that falls just after the 1K reserved block) to 3FFFFFFFh (corresponding to physical address 7FFFFFFEh). The memory on the POSYS® 1800/1900 boards have no restrictions regarding buffer start address. This can be 0h. Unless the full two Gigawords of physical memory are present, it is possible to map a buffer to a memory location that does not contain physical memory. Accessing such a memory location will result in unpredictable behavior, and should be avoided. In addition to the base address and length, each memory block maintains a read index and a write index. The read index may be assigned a value between 0 and L-1 (where L is the buffer length). It defines the location from which the next value will be read. Similarly, the write index ranges from 0 to L-1 and defines the location at which the next value will be written. When a value is read from the memory buffer the read index is automatically incremented, thereby selecting the next value for reading. The write index is incremented whenever a value is written to a buffer. If either index reaches the end of the buffer, it is automatically reset to 0 on the next read/write operation. Set/GetBufferFunction, Set/GetBufferLength -oExternal Memory Commands External memory commands This section details host I/O commands which setup, access, and monitor the on-board memory. Commands Description SetBufferStartbufferID, address Sets the base address of a buffer. bufferID is a 16-bit integer in the range 0–15 which specifies which buffer to modify; address is a 32-bit integer in the range 200h to 3FFFFFFFh which defines the new base address of the buffer. The controller addsaddress to the current buffer length (as set by the SetBufferLength instruction) to be sure that the buffer will not extend beyond the addressable memory limit. If it would extend beyond the limit, the instruction is ignored and the instruction error bit is set. GetBufferStartbuffered Returns the base address of the specified buffer. SetBufferLength, bufferID, length Sets the length of a buffer.bufferID is a 16-bit integer in the range – 015. length is a 32-bit integer in the range 1 to 3FFFFFFFh. The controller adds length to the current buffer base address (as set by the SetBufferStart instruction) to be sure that the buffer will not extend beyond the addressable memory limit. If it would, the instruction is ignored and the instruction error bit is set. SetBufferStart and SetBufferLength reset the buffer indexes to zero. 176 © POSYS Motion Control GmbH & Co.KG, 2013 Commands Description GetBufferLengthbuffered Returns the length of the specified buffer. SetBufferReadIndexbufferID, index Sets the read index for the specified buffer. index is a 32-bit integer in the range 0 to length-1, where length is the current buffer length. Ifindex is not in this range, it is not set, and an instruction error is generated. GetBufferReadIndexbufferID Returns the value of the read index for the specified buffer. SetBufferWriteIndexbufferID, index Sets the write index for the specified buffer. index is a 32-bit integer in the range 0 to length-2, where length is the current buffer length. Ifindex is not in this range, it is not set, and an instruction error is generated. GetBufferWriteIndexbufferID Returns the value of the write index for the specified buffer. ReadBuffer bufferID Returns a 32-bit value from the specified buffer. The location from which the value is read is determined by adding the base address to the read index. After the value has been read, the read index is incremented. If the result is equal to the current buffer length, the read index is set to zero. WriteBuffer bufferID, value Writes a 32-bit value to the specified buffer. The location to which the value is written is determined by adding the base address to the write index. After the value has been written, the write index is incremented. If the result is equal to the current buffer length, the write index is set to zero. -o- 177 © POSYS Motion Control GmbH & Co.KG, 2013 Sinusoidal Commutation Overview; Sinusoidal Commutation Overview; Sinusoidal Commutation In addition to trajectory generation and servo loop closure the POSYS® controllers provide sinusoidal motor commutation of 3 and 2-phase brushless motors. This allows for mixed motor combinations using just one controller. The following diagram shows an overview of the control flow of the sinusoidal commutation portion of the axes of the POSYS® running in brushless mode: The commutation portion of the controller uses as input the motor command signal from either the servo filter or the motor command register (depending on whether the controller is in closed loop or open loop mode). This pre-commutated command signal is then multiplied by commutation values derived from an internal lookup Sin/Cos table. The commutation angle used in the Sin/Cos lookup is determined by the position encoder as well as parameters set by the host processor which relate the specific encoder used to the motor magnetic poles. Two commutation waveforms are provided, one appropriate for 3-phase devices with 120 deg. separation between phases (such as brushless motors), and one appropriate for 2-phase devices with 90 deg. separation between phases (such as stepper motors). Other features of the POSYS® are the ability to use Hall-sensor inputs for phase initialization, to use an index pulse to maintain commutation synchronization, to pre-scale the encoder input to support a wider variety of feedback devices, and to provide velocity-based phase advance for smoother and more efficient high speed operation. -oSelecting Single Phase Output for the POSYS® Selecting single-phase output with the POSYS® To operate a brushed single phase motor with the POSYS®, the command SetNumberPhases is used for the POSYS® 8xx-B and POSYS® 9xx multiple motor cards and SetMotorType for the POSYS® 182x/192x. Additionally the output mode should be set according the requirements as shown in the following example: POSYS® 8xx-B/9xx (versions for brushless servo motors) 178 © POSYS Motion Control GmbH & Co.KG, 2013 Command Description SetOutputMode Set the output mode SetNumberPhases Set the number of phases to one POSYS® 182x/192x Command Description SetMotorType Set the output mode -oCommutation Waveforms Commutation Waveforms The POSYS® supports two commutation waveforms, a 120 degree offset waveform appropriate for 3-phase brushless motors, and a 90-degree offset waveform appropriate for 2-phase brushless motors. To specify the 3-phase brushless waveform the command SetNumberPhases 3 is used, and to set it for 2-phase brushless motors the command SetNumberPhases 2 is used or for the POSYS® 18xx/19xx the command Set/GetMotorType is used. Depending on the waveform selected, as well as the motor output mode selected (PWM or DAC16), either 2 or 3 commutated output signals per axis will be provided by the controller. The following chart shows this. Waveform Motor output mode Number of output signals & name 3-phase PWM5050 3 (A, B, C ) 3-phase PWMSign/Mag 2 (A, B) 3-phase DAC 16 2 (A, B) 2-phase PWM5050 2 (A, B) 2-phase PWMSign/Mag 2 (A, B) 2-phase DAC 16 2 (A, B) The diagram below shows the phase A, B, and C commutation signals for a 3-phase brushless motor, and the phase A and phase B signals for a 2-phase brushless motor. 179 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetNumberPhases, Set/GetMotorType -oCommutation Parameters Commutation Parameters To perform sinusoidal commutation it is necessary to specify the number of encoder counts per electrical cycle. To determine this value the number of electrical cycles of the motor, along with the number of encoder counts per motor revolution must be known. Knowing these two quantities the number of encoder counts per electrical cycle is given by the following equation: C ounts_per_cycle = Counts_per_rot/Electrical_cycles where: C ounts_per_rot is the number of encoder counts per motor rotation Electrical_cycles is the number of motor electrical cycles The number of electrical cycles can normally be determined by examining the motor manufacturer’s specification. The number of electrical cycles is usually half the number of poles. Care should be taken not to confuse poles with pole pairs. The command used to set the number of encoder counts per electrical cycle is SetPhaseCounts. To read back this value use the command GetPhaseCounts. -oIndex Pulse Referencing Index Pulse Referencing To enhance long term commutation reliability the POSYS® provides the ability to utilize an index pulse input from the motor encoder as a reference point during commutation. By using an index pulse during the phase calculations any long term loss of encoder counts which might otherwise affect the accuracy of the commutation are automatically eliminated. 180 © POSYS Motion Control GmbH & Co.KG, 2013 To utilize index pulse referencing the motor encoder chosen must provide an index pulse signal to the controller once per rotation. This index pulse is connected to the controller using the Index signal of the I/O chip. Index pulse referencing is recommended for all rotary brushless motors with quadrature encoders. For linear brushless motors it is generally not used, although it can be used as long as the index pulses are arranged so that each pulse occurs at the same phase angle within the commutation cycle. When using an index pulse the number of encoder counts per electrical cycle is not required to be an exact integer. In the case that this value is not an integer, the nearest integer should be chosen. C onversely, if index pulses are not being used then the number of counts per electrical cycle must be an exact integer, with no remainder. For example if a 6-pole brushless motor is to be used with an encoder without an index pulse than an encoder with 1200 counts per rotation would be an appropriate choice, but an encoder with 1024 would not because 1024 cannot be divided by 3 evenly. The command Set/GetPhaseCorrectionMode is used to enable/disable index pulse phase correction. Index pulse referencing is performed automatically by the controller, regardless of the initialization scheme used (algorithmic, Hall-based, microstepping, or direct set). -oCommutation Error Detection Commutation Error Detection With an index signal properly installed the controller will automatically correct any small losses of encoder counts that may occur. If the loss of encoder counts becomes excessive however, or if the index pulse does not arrive at the expected location within the commutation cycle, a "commutation error" is said to occur. The commutation error bit (11) in the Event Status Register is set whenever a commutation error occurs. This bit is set if the required correction is greater than (PhaseCounts/128)+4. Commutation errors are caused by a number of circumstances. The most common are listed below: noise on the A or B encoder lines noise on the index line incorrect setting of encoder counts per electrical cycle For each instance that a commutation error occurs phase referencing will not occur for that index pulse. Depending on the cause of the error the commutation error may be a one-time event, or may occur continuously after the first event. When a commutation error occurs bit #11 of the Event Status Register word is set high (1). This condition can also be used as a source of host interrupts so the host can be automatically notified of a commutation error. To recover from a commutation error this bit is cleared by the host, however depending on the nature of the error it is possible that commutation errors will continue to be generated. A commutation error may indicate a serious problem with the motion system, potentially resulting in unsafe motion. It is the responsibility of the host to determine and correct the cause of commutation errors. -oPhase Initialization Phase Initialization After startup the controller must determine the proper commutation angle of the motor relative to the encoder position. This information is determined using a procedure called phase initialization. 181 © POSYS Motion Control GmbH & Co.KG, 2013 The controller provides four methods to perform phase initialization; algorithmic, Hall Sensor-based, microstepping, and direct-set. Algorithmic Phase Initialization To set the controller for algorithmic initialization use the command SetPhaseInitializeMode and specify Algorithmic as the parameter. In the algorithmic initialization mode no additional motor sensors beyond the position encoder are required. To determine the phasing the controller performs a sequence that briefly stimulates the motor windings, and sets the initial phasing using the observed motor response. From the resulting motion the controller can automatically determine the correct motor phasing. Depending on the size and speed of the motor, the time between the start of motor phasing and the motor coming to a complete rest (settling time) will vary. To accommodate these differences the amount of time to wait for the motor to settle is programmable using the command SetPhaseInitializeTime. To read back this value use the command GetPhaseInitializeTime. To minimize the impact on the system mechanics this method utilizes a motor command value set by the host processor to determine the overall amount of power to "inject" into the motor during phase initialization Typically, the amount of power to inject should be in the range of 5 - 25 % of full scale output, but in any case should be at least 3 times the breakaway starting friction. For best results the initialization motor command value can be determined experimentally. The command used to set the motor output level is SetMotorCommand. To read back this value use the command GetMotorCommand. To execute the initialization procedure, the host command InitializePhase is used. Upon executing this command, the phasing procedure will immediately be executed. Before the phase initialization command is given however (InitializePhase), the motor must be turned off (SetMotorMode command), a motor command output must be specified (SetMotorCommand)and an initialization duration must be specified (SetPhaseInitializeTime). During algorithmic phase initialization the motor may move suddenly in either direction. Proper safety precautions should be taken to prevent damage from this movement. In addition, to provide accurate results motor movement must be unobstructed in both directions and must not experience excessive starting friction. Hall-Based Phase Initialization To set the controller for Hall-based initialization use the command SetPhaseInitializeMode and specify Hall-based as the parameter. In this mode 3 Hall-Sensor signals are used to initially determine the motor phasing, and sinusoidal commutation begins automatically after the motor has moved through one full rotation. The Hall-Sensor signals are fed back to the controller through the signals Hall1A-C (axis #1) and Hall2A-C (axis #2), etc. C are should be taken to connect these sensors properly. To read the current status of the hall sensors use the command GetSignalStatus. The following diagram shows the relationship between the state of the three Hall sensor inputs for each axis and the commutated motor outputs. This graph shows the expected Hall sensor states and winding excitation for forward motion (increasing position). 182 © POSYS Motion Control GmbH & Co.KG, 2013 Unlike the algorithmic method, using Hall-based phase initialization no special motor setup procedures is required. Initialization is performed using the command InitializePhase, and occurs immediately, without any motor motion. To accommodate varying types of Hall sensors, or sensors that contain inverter circuitry, the signal level/logic interpretation of the Hall sensor input signals can be set through the host. The command SetSignalSense accepts a bit-programmed word that controls whether the incoming Hall signals are interpreted as active high or active low. To read back this Hall interpretation value use the command GetSignalSense. Hall-based initialization should only be used with a 3-phase commutation waveform, and with Hall sensors located 120 degrees apart. Hall-sensors located 60 degrees apart should not be used. Microstepping Phase Initialization If the location of the index pulse in relation to the motor rotor and case is known then it may be advantageous to use an initialization technique which operates the motor as a microstepper, rotating the motor until the index pulse is found, and then setting the phase angle explicitly. This scheme is only appropriate for motors which have the index pulse in a fixed and repeatable location within the commutation cycle for all of the motors to be used during manufacturing of the product. Although this is relatively uncommon, it is typical for motors with optical Hall-sensors which use a single disk containing the A, B, index, and Hall sensor information. To set the controller for microstepping operation the command SetCommutationMode Microstepping is used. To restore the controller for encoder-based commutation the command SetCommutationMode Sinusoidal is used. Once the index pulse is encountered the phase angle can be set using the command SetPhaseAngle. To operate the motor in microstepping mode the motor must be set on (SetMotorMode) and a motor output value must be provided (SetMotorCommand). In addition the number of encoder counts per electrical cycle should be set to 512. When in microstepping mode each trajectory count corresponds to 1/256 of a full electrical cycle. For example using a 4-pole motor (2 electrical cycles per motor rotation) a trajectory move of 512 counts will move the motor 1 full motor rotation. Special care should be taken when initializing the motor using the microstepping method. Because the motor is operated open-loop the resultant coil energization and subsequent rotation may be jerky and abrupt. Phase initialization using the microstepping method should only be used under special circumstances. It is not generally recommended unless the algorithmic or Hall-based methods cannot be used. Direct-Set Phase Initialization If, after power-up, the location of the motor phasing is known explicitly the phase angle can simply be set directly using the SetPhaseAngle command. This typically occurs when sensors such as resolvers are used where the returned motor position information is absolute in nature (not incremental), and can be used to generate a quadrature data stream as well as be read by the host directly. 183 © POSYS Motion Control GmbH & Co.KG, 2013 -oPhase Initialization Programming Phase Initialization Programming The following examples show typical host command sequences to initialize the commutation of a brushless motor for all four initialization methods. Algorithmic Initialization Sequence Command Description SetOutputMode m Set the output mode SetNumberPhasesp Set the number of phases or the Motor Type depending on the type of controller SetPhaseC ountsuuuu Set # of encoder counts per electrical cycle. SetPhaseInitializeModeAlgorithmic Set phase initialization method to algorithmic. SetMotorMode Off Turn motor off so it doesn't conflict with initialization procedure. SetPhaseInitializeTimewwww Set algorithmic phase init duration. SetMotorC ommandyyyy Set initialization motor command level. InitializePhase Perform the initialization. This sequence will cause the motor to immediately begin the initialization procedure, which will last wwww servo loops long. To determine if the procedure is completed, the command GetActivityStatus can be used. The 'phase initialization’ bit will indicate when the procedure is finished. After the initialization procedure is completed the motor should be enabled ( SetMotorMode On) if the controller is to be run in closed loop mode. Hall-based Initialization Sequence Command Description SetOutputMode m Set the output mode SetNumberPhasesp Set the number of phases or the Motor Type depending on the type of controller SetPhaseC ountsuuuu Set # of encoder counts per electrical cycle. SetSignalSensevvvv Set Hall sensor signal interpretation. SetPhaseInitializeMode Hall Set phase initialization method to hall based. InitializePhase Perform the initialization. This sequence will cause the controller to read the Hall sensor signals and initialize the phasing immediately. The motor will not move as a result of this sequence, and no delay is required for further motor operations to be performed. Microstepping Initialization Sequence Command Description SetOutputMode m Set the output mode SetNumberPhasesp Set the number of phases or the Motor Type depending on the type of controller SetPhaseC ounts512 Set # of encoder counts per electrical cycle. SetC ommutationModeMicrostepping Set controller for microstepping mode. SetC aptureSourceIndex Set capture mode to index (not necessary if already so set). ResetEventStatus0 C lear axis status. GetC aptureValue C lear out any previous captures. SetMotorMode On Turn motor on (not necessary if already on). SetMotorC ommandxxxx Set motor command value. SetPosition 560 Set rotation distance a bit more than 1 full motor rotation (assuming 4-pole motor). SetVelocity yyyy Set velocity. 184 © POSYS Motion Control GmbH & Co.KG, 2013 Command Description SetAccelerationzzzz Set acceleration. Update Start the motion. This sequence will cause the motor to make a move of somewhat more than 1 rotation. After the Update the host should poll the status word (GetEventStatus) until a capture occurs and then immediately send a SetPhaseAngle command, followed by a SetPhaseOffset command, each loaded with the phase angle required to initialize the phasing. See the following section of this manual entitled "Adjusting the commutation angle" for more information on determining the correct phase set value. Once the SetPhaseAngle and SetPhaseOffset commands have been sent by the host the controller should be initialized for normal commutation operation. This means the phasing mode should be set to encoder-based (SetCommutationMode Sinusoidal) and the correct # of encoder counts per electrical cycle should be set SetPhaseCounts. Direct-Set Initialization Sequence Command Description SetOutputMode m Set the output mode SetNumberPhasesp Set the number of phases or the Motor Type depending on the type of controller SetPhaseC ountsxxxx Set the number of encoder counts per electrical cycle (hex). SetPhaseAngleyyyy Set phase angle based on information from external sensor. This sequence will directly set the phase angle to a value determined by another sensor. The set value must be between 0 and the number of encoder counts per electrical cycle. -oAdjusting the Commutation Angle Adjusting The Commutation Angle The POSYS® supports the ability to change the motor's commutation angle directly, both when the motor is stationary and when it is in motion. Although this is not generally required it can be useful during testing, or during commutation initialization when the microstepping or direct-set methods are used. To change the commutation angle when the motor is stationary use the command SetPhaseAngle. To change the commutation angle while the motor is moving the index pulse is required, and a different command SetPhaseOffset is used which only takes effect when an index pulse occurs. The following description provides some background on this function. After phase initialization has occurred the correct commutation angle is stored by the controller as the offset from the index mark (in encoder counts) to the phase A maximum output value (commutation zero location). This 16-bit offset register can be read using the command GetPhaseOffset. The following chart shows the relationship between the phase A commutation zero location, the index location, and the phase offset value. For a given motor the index pulse shown in this figure could have been located anywhere within the phase cycle since it will usually vary in position from motor to motor. Only motors that have been mechanically assembled such that the index position is referenced to the motor windings will have a consistent index position relative to the commutation zero location. 185 © POSYS Motion Control GmbH & Co.KG, 2013 Before phase initialization has occurred the phase offset register will have a value of ffff (hex). Once phase initialization has occurred and the motor has been rotated such that at least one index pulse has been received, the phase offset value will be stored as a positive number with a value between 0 and the number of encoder counts per electrical cycle. To convert the phase offset value, which is in encoder counts, to degrees, the following expression can be used: Offsetdegrees = 360 * Offsetcounts/counts_per_cycle where: Offsetdegrees is the phase offset in degrees Offsetcounts is the phase offset in encoder counts counts_per_cycle is the # of counts per electrical cycle set using the SetPhaseCounts command The phase offset value can also be changed any number of times while the motor is in motion, although only relatively small changes should be made to avoid sudden jumps in the motor motion. The SetPhaseOffset and GetPhaseOffset commands can only be used when an index pulse from the encoder is connected. If no index pulse is used the phase offset angle cannot be adjusted or read back by the host. Setting the phase offset value does not change the relative phasing of phase B and C to phase A. These phases are still set at either 90 or 120 degree offsets from phase A (depending on the waveform chosen). -oEncoder Pre-Scalar Encoder Pre-Scalar Particularly when used with linear motors, the range in the value of the # of encoder counts per electrical cycle can vary widely. Typical rotary motors can have a value between 1 and 32,767. Linear brushless motors however can have values of 1,000,000 counts per cycle or higher because they often use high accuracy laser-based encoders. To accommodate this large range the POSYS® brushless servo series controllers support a prescalar function which, for the purposes of commutation calculations, divides the incoming encoder counts by 64. With the prescalar enabled the max range for the number of encoder counts per electrical cycle is 2,097,088. To enable the prescalar use the command SetPhasePrescale On. To disable the prescalar use the command SetPhasePrescale Off. The prescalar function only affects the commutation of the controller. It does not affect the position used during servo filtering or requested by the command GetActualPosition. The prescalar function should not be enabled or disabled once the motor has been put in motion. -oMotor Output Configuration 186 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Output Configuration The POSYS® controllers supports up to four motor output methods, PWM and DAC (up to 16 bit resolution), microstepping and Pulse & Direction (Set/GetOutputMode). Below is shown a typical amplifier configuration for a 3-phase brushless motor using the PWM output mode: In this configuration the controller outputs 3 phased PWM magnitude signals per axis. These signals are then fed directly into 3 half-bridge type voltage amplifiers. Below is shown a typical amplifier configuration for a 3-phase brushless motor using the DAC output mode: When using DAC output mode the digital word provided by the controller must first be converted into a voltage using an external DAC. Two DAC channels are required per axis. To construct the third phase for a brushless motor (C phase) the sum of the A and B signals must be 'negated' using C = -(A+B). This is usually accomplished with an Op-amp circuit. In addition, if current loop control is desired the three output signals are usually arranged so that the sum of the currents flowing through the windings of the motor are zero. Motor Output Signal Interpretation The following graph shows the desired output voltage waveform for a single phase. 187 © POSYS Motion Control GmbH & Co.KG, 2013 The waveform is centered around a value of 0 volts. The magnitude of the generated waveform is proportional to either the output of the servo filter or the motor command register (depending on the commutation mode and motor on/off status). For example if the controller is connected to a DAC with output range of -10 Volts to +10 Volts and the controller is set to open loop mode with a motor command value of 32,767 (which is the maximum allowed value) than as the motor rotates through a full electrical cycle, a sinusoidal waveform centered at 0 volts will be output with a minimum voltage of -10 and a maximum voltage of +10. PWM Decoding The PWM output mode also outputs a sinusoidal desired voltage waveform for each phase; however, the method by which these signals encode the voltage differ substantially from the DAC16 digital word. The PWM output mode uses a single signal per output motor phase. This signal contains a pulse-width encoded representation of the desired voltage. In this encoding the duty cycle of the waveform determines the desired voltage. The PWM cycle has a frequency of 20 kHz, with a resolution of 10 bits, or 1/1,024. The following chart shows the encoding: An output pulse width of 0 parts per 1,024 represents the maximum negative voltage, an output pulse width of 512 per 1,024 (50 %) represents a voltage of 0, and a pulse width of 1,024 per 1,024 represents the maximum positive voltage. This PWM scheme has been chosen to allow convenient interfacing to half bridge type amplifiers by connecting the PWM output to a level shifter circuit, and using this output to drive the high and low side drivers of the bridge. Set/GetNumberPhases, Set/GetMotorType -o- 188 © POSYS Motion Control GmbH & Co.KG, 2013 Open Loop Stepper Control Overview; Open Loop Stepper Control Overview; Open Loop Stepper Control This chapter describes the open loop stepper control features of the POSYS® controllers. All of these controllers contain circuitry for encoder feedback that can be used for detecting a stall in the motion of the attached motor in addition to output circuitry designed for stepper motor control. The beginning of this chapter discusses the common stepper features of the POSYS®, with the output mechanisms specific to each motor mode (stepper or microstepping) being discussed in the second and third sections of the chapter. -oTrajectory Control Units Trajectory control units For the POSYS® stepping products, all units for trajectory control are steps for the POSYS® in stepper mode and micro-steps for the POSYS® in microstep mode. In the servo products all units are in encoder counts. The table below shows the commands and the appropriate units. Command Servo Microstep Step Set/GetPosition counts micro-steps steps Set/GetVelocity counts/cycle micro-steps/cycle steps/cycle Set/GetAcceleration counts/cycle² micro-steps/cycle² steps/cycle² Set/GetDeceleration counts/cycle² micro-steps/cycle² steps/cycle² Set/GetJerk counts/cycle³ micro-steps/cycle³ steps/cycle³ Set/GetStartVelocity - micro-steps/cycle steps/cycle GetC ommandedPosition counts micro-steps Steps GetC ommandedVelocity counts/cycle micro-steps/cycle steps/cycle GetC ommandedAcceleration counts/cycle² micro-steps/cycle² steps/cycle² Set/GetPositionErrorLimit counts micro-steps Steps GetPositionError counts micro-steps steps -oEncoder Feedback Encoder feedback The POSYS® stepping controllers include support for an incremental encoder, or position data presented as a parallel word on the data bus. On power-up or after a Reset instruction, the encoder source (GetEncoderSource) is set to none, making the encoder feedback optional. In this mode, the encoder position is ignored by the controller. The current actual position is retrieved using the command GetActualPosition. The SetActualPosition command can be used to set the current actual position to a programmed value. The default units of this command are encoder counts. To simplify program design and debugging, actual position units can be changed to steps/micro-steps. This is done using the command SetActualPositionUnits. The table below shows the commands that are affected by: 189 © POSYS Motion Control GmbH & Co.KG, 2013 Command Position Units = counts Position Units = steps Set/GetActualPosition counts steps/micro-steps AdjustActualPosition counts steps/micro-steps GetC aptureValue counts steps/micro-steps -oStall Detection Stall Detection In addition to passively returning position to the host with the GetActualPosition command, the POSYS® controller can actively monitor the target and actual position and detect a motion error that results in a stall condition. Automatic stall detection allows the controller to detect when the step motor has lost steps during a motion. This typically occurs when the motor encounters an obstruction, or otherwise exceeds its rated torque specification. Automatic stall detection operates continuously once it is initiated. The current desired position (commanded position) is compared with the actual position (from the encoder) and if the difference between these two values exceeds a specified limit a stall condition is detected. The user programmed register SetPositionErrorLimit determines the threshold at which a motion error is generated. To initiate automatic stall detection the host must specify the number of encoder counts per output step/micro-step. This is accomplished using the command SetEncoderToStepRatio This command accepts two parameters, the first parameter is the number of encoder counts per motor rotation and the second parameter is the number of steps/micro-steps per motor rotation. Parameter Format Word size Range Encoder counts per rev 16.0 16 bits 0 to 32,767 Steps/micro-steps per rev 16.0 16 bits 0 to 32,767 For example if a step motor with 1.8 degree full step size is used with an encoder which has 4,000 counts per motor rotation, the parameters used would be SetEncoderToStepRatio 4000 200 where the number of steps per rotation is derived from 360/1.8. If the same motor and encoder are used with the POSYS® microstepper versions and the number of micro-steps per full step is set to 64, then the parameters would be SetEncoderToStepRatio 4000 12800 where the number of steps per rotation is derived from (360/1.8)*64. In cases where the number of steps, micro-steps or encoder counts per rotation exceeds the allowed maximum of 32767, the parameters can be specified as a fractions of a rotation as long as the ratio is maintained accurately. So in the above example, the ratio could also be represented as SetEncoderToStepRatio 2000 6400 indicating the ratio for half a revolution. Specifying the ratio for a fraction of a rotation is just as accurate as specifying it for a full rotation. A typical sequence for enabling stall detection is shown below. Commands Description SetEncoderSource Incremental Set the source for encoder position feedback SetEncoderToStepRatio 4096 200 Set the ratio between the steps/micro-steps and the encoder 190 © POSYS Motion Control GmbH & Co.KG, 2013 Commands Description counts per revolution SetPositionErrorLimit Set the desired error window in units of steps/micro-steps C learPositionError Zero any existing position error Update Send buffered commands to motion processor SetAutoStopMode On Enables stopping the motor when a motion error is detected At the moment a motion error occurs, several events occur simultaneously. The Motion Error bit of the event status word is set. If automatic stop on motion error is enabled the motor is set off, which has the effect of disabling the trajectory generator. -oPulse & Direction Signal Generation Pulse & Direction Signal Generation For each axis two signals are provided which determine the desired axis position at any given moment. These two signals are the pulse signal, and the direction signal. The pulse signal output by the controller consists of a precisely controlled series of individual pulses each of which represents a desired increment of movement. This signal is always output as a square wave pulse train (50 % duty cycle regardless of pulse rate). By default, a step, or pulse, is considered to have occurred when the pulse signal transitions from a high to a low output value. Inverting this logic is discussed later in this chapter. The direction signal is synchronized with the pulse signal at the moment each pulse transition occurs. The direction signal is encoded such that a high value indicates a positive direction pulse, and a low value indicates a negative direction pulse. The POSYS® stepper controllers supports separate pulse rate modes using the command SetStepRange The table below shows the values and resultant step ranges available using this command. Command Frequency range of output pulses SetStepRange 1 0 to 4.98 M steps per second SetStepRange 4 0 to 622.5 K steps per second SetStepRange 6 0 to 155.625 K steps per second SetStepRange 8 0 to 38.90625 K steps per second The ranges above show the maximum and minimum ranges that can be generated by the controller for the specified mode. So, for example, if the desired maximum step rate is 200 K steps per second, then the appropriate setting is SetStepRange 4. For full-step and half-step applications, as well as pulse and direction applications which will have a maximum velocity of ~ 38 ksteps/sec, SetStepRange 8 should be used. For applications which require pulse rates higher than 48 ksteps/sec the 191 © POSYS Motion Control GmbH & Co.KG, 2013 higher speed ranges should be used. A different step range can be set for each axis. To read back the current step range setting, use the GetStepRange command. The pulse counter is designed such that a step occurs when the pulse signal transitions from high to low. Systems that use step motor amplifiers that interpret a pulse as a low to high transition should use the command SetSignalSense to set the step logic to this mode. Refer to the Programmer’s Reference for information on SetSignalSense. -oPulse Generation Control Pulse Generation Control The rate of pulse output is usually determined by the particular trajectory profile parameters being requested by the host processor. In addition to the trajectory profile however there is separate method of enabling and disabling pulse generation. This method is known as motor control and provides an on/off pulse generator control mechanism. The command to enable pulse output is SetMotorMode ON and the command to disable pulse generation is SetMotorMode OFF. SetMotorMode OFF causes the trajectory generator to immediately discontinue further pulse generation until a SetMotorMode ON command is given. As long as the motor is in the off state any further trajectory commands will have no effect until the motor is turned on. The current motor status (on or off) can be read back using GetMotorMode. If the motor is turned on by the host (Command SetMotorMode ON) the motor will stay at rest until a new trajectory move is loaded and initiated, if will not restart motion if a trajectory was previously programmed. -oAtRest Indicator AtRest Indicator In addition to the standard pulse and direction output signals the POSYS® stepper controllers provide an additional output for each axis known as the AtRest signal which indicates when the trajectory generator is in motion. This signal can be useful when interfacing with amplifiers that support a separate torque output level for the stepper during motion as when the motor is not moving (holding). This feature is enabled and operational automatically at all times. It does not need to be enabled by the host processor. -o- 192 © POSYS Motion Control GmbH & Co.KG, 2013 Microstep Sine/Cosine Motor Command Output DAC & PWM Motor Output (POSYS® Microstepping Mode only) DAC and PWM Motor Output (POSYS® microstepping only) The POSYS® microstepping series of controllers support two motor output methods, PWM and DAC. The motor output method is host-selectable. The method can be selected individually for each axis. The host command to select the output mode is SetMotorCommand with the parameter specifying the output method. A value of zero sets the output type to DAC and a value of one sets the output to PWM sign/magnitude. -oMotor Output Signal Interpretation Motor Output Signal Interpretation The diagram below shows typical waveforms for a single output phase of the POSYS®. Each phase has a similar waveform, although the phase of the B channel output is shifted relative to the A channel output by 90 or 120 degrees (depending on the waveform selected). The waveform is centered around an output value of 0. The magnitude of the overall generated waveform is controlled by the motor command register (SetMotorCommand). For example if the controller is connected to a DAC with an output range of -10 Volts to + 10 Volts and the controller is set to a motor command value of 32,767 (which is the maximum allowed value) than as the motor rotates through a full electrical cycle, a sinusoidal waveform centered at 0 volts will be output with a minimum voltage of - 10, and a maximum voltage of +10. -oPMW Decoding 193 © POSYS Motion Control GmbH & Co.KG, 2013 PWM Decoding The PWM output mode also outputs a sinusoidal desired voltage waveform for each phase, however the method by which these signals encode the voltage differ substantially from the DAC digital word. The PWM mode uses a magnitude signal and a sign signal. The magnitude signal encodes the absolute value of the output sinusoid and the sign signal encodes the polarity of the output, positive or negative. The following diagram shows the magnitude and sign signals for a single output phase. In this diagram the PWM magnitude signal has been filtered to convert it from a digital variable duty cycle waveform to an analog signal. Before filtering this signal contains a pulse-width encoded representation of the 'analog' desired voltage. In this encoding the duty cycle of the waveform determines the desired voltage. The PWM cycle has a frequency of 20 kHz, with a resolution of 10 bits; or 1/1024. or 78 KHz, with a resolution of 8 bits, or 1/256. -oMicrostepping Waveform Generation Microstepping Waveform Generation In addition to trajectory generation the POSYS® microstepping controller provides direct internal generation of microstepping signals for 2-phase, as well as 3-phase stepper motors. The following diagram shows an overview of the control flow of the microstepping scheme: The microstepping portion of the controller generates a sinusoidal waveform with a number of distinct output values per full step (one full step is one quarter of an electrical cycle). The number of microsteps per full step is set using the command SetPhaseCounts. The parameter used for this command represents the number of microsteps per electrical cycle (4 times the desired number of microsteps). So for example, to set 64 microsteps per full step, the command SetPhaseCounts 256 should be used. The maximum number of microsteps that can generated per full step is 256, giving a maximum parameter for this command of 1024. 194 © POSYS Motion Control GmbH & Co.KG, 2013 The output frequency of the microstepping signals are controlled by the trajectory generator. The amplitude of the microstepping signals are controlled using a register that can be set by the host processor known as the motor command register. Adjustment of this register by the host allows different motor power levels during (for example) motion, and at rest. Two microstepping waveforms are provided, one appropriate for traditional 2-phase stepper motors with 90 deg. of separation between phases, and one appropriate for 3-phase stepper motors and AC Induction motors with 120 deg. separation between phases. For more information on AC Induction Motor Control see the section entitled AC Induction Motor Control. -oMicrostepping Waveforms Microstepping Waveforms To specify 2-phase motor waveforms use the command SetNumberPhases 2, and to specify 3-phase motor waveforms use the command SetNumberPhases 3. This command is only used for the POSYS® 8xx-B and 9xx for microstepping or multiple motor types. For the POSYS® 182x/192x the command SetMotorType is used to automatically define the number of Phases used. Waveform Motor output mode Number of output signals & name 2-phase PWMSign/Mag 2 (A, B) 2-phase DAC 2 (A, B) 3-phase PWM50/50 3 (A, B, C ) 3-phase DAC 2 (A, B) The diagram below shows the phase A, B signals for a 2-phase stepper motor, and the phase A, B and C signals for a 3-phase stepper motor or AC Induction motor. For 3-phase stepper motors or AC Induction motors, the phase C waveform must be constructed externally using the expression C = -(A+B). Typically this is performed by the motor amplifier. See the "Motor Output" section for more information. -oMotor Command Control 195 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Command Control The POSYS® microstepping controller provides the ability to set the motor command (power output) level of the stepper motor. This is often useful to optimize the motor torque, power consumption, and heat generation of the motor while it is at rest, or in various states of motion. The motor output level is controlled by the motor command register. This register can be set using SetMotorCommand. A value between 0 and 32767 is set, representing an amplitude of zero to 100 percent. Since SetMotorCommand is double buffered, it requires an Update or a breakpoint to occur before it takes effect. This feature can be used to advantage when it is desired that the motor power changes be synchronized with other profile changes such as at the start or the end of a move. C hanging the power level does not affect the microstepping output phasing or the frequency of the output waveform, it simply adjusts the magnitude of the waveform. -oAC Induction Motor Control AC Induction Motor Control The POSYS® microstepping controller can be used as the basis of a variable speed 3-phase AC Induction motor controller. In this mode the controller is set for a 3-phase waveform, and is operated as if it were a stepper motor. The position of the motor is not precisely maintained, however the velocity of the AC Induction motor can typically be controlled to within 10 20 percent. Such a controller can be used for spindles, and other motors where velocity control, not positioning is required. When running an AC Induction motor using variable speed control care should be taken that the output drive signal should never have a frequency of 0. Even if the motor is not rotating the drive frequency should have at least some rotational frequency. This is because a relative difference in the frequency of the drive signals and the motor rotor (called the slip frequency) is required to avoid magnetic field saturation at rest, a potentially damaging condition. Using the POSYS® microstepping controller, up to four, two or one AC Induction motor can be controlled. The output drive configuration is the same as for 3-phase steppers shown in the 'Motor Output Configuration' section. The POSYS® in microstepping mode does not provide Flux Vector Control of AC Induction Motors, only variable speed control. Therefore the POSYS® in microstepping mode should not be used in AC Induction applications involving precision positioning. -oCommand Summary Command Summary The following table summarizes the commands that are used in conjunction with microstepping signal generation: Commands F unction Set/GetOutputMode Sets the output to either PWM or DAC Set/GetNumberPhases , Set/GetMotorType Sets the number of motor phases Set/GetMotorC ommand Sets the amplitude of the output waveform. This is a buffer command and requires an Update Set/GetPhaseC ounts Sets the number of microsteps per electrical cycle of the motor Before the controller will generate any motor output, the motor command value must be set and the appropriate output mode and number of phases must be set. -o- 196 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Drive Configurations Motor Drive Configurations Shown below is a typical amplifier configuration for a 2-phase stepper motor using either the PWM or DAC output mode. Using the DAC output mode the digital motor output word for each phase is typically converted into a DC signal with a value between -10 to +10 volts. This signal can then be input into an off-the-shelf DC-Servo type amplifier (one amplifier for each phase) or into any other linear or switching amplifier that performs current control and provides a bipolar, two-lead output. In this scheme each amplifier drives one phase of the stepper motor, with the controller generating the required sinusoidal waveforms in each phase to perform smooth, accurate motion. If the controller’s PWM output mode is used the PWM magnitude and sign signals are typically connected to an H-bridge-type device. For maximum performance, current control should be performed by the amplifier. This minimizes the coil current distortion due to inductance and back-EMF. Although there are several methods that can be used to achieve current control with the PWM output mode, a common method is to pass the PWM magnitude signal through a low pass filter, thereby creating an analog reference signal which can be directly compared with the current through the coil. Several single-chip amplifiers are available which are compatible with these input signals. These amplifiers require an analog reference input (low-passed PMWMag signal from controller) as well as a sign bit (PWMSign signal from controller). The amplifier in-turn performs current control typically, using a fixed-off time PWM drive scheme. The diagram below shows this amplifier scheme: Relative to the DAC output method the PWM output mode when used with this amplifier scheme has the advantage of high performance with a minimum of external parts. Below is shown a typical amplifier configuration using the POSYS® microstepper in DAC mode for a 3-phase stepper or for an AC Induction motor with 3 phases. 197 © POSYS Motion Control GmbH & Co.KG, 2013 When using DAC output mode the digital word provided by the controller must first be converted into a voltage using an external DAC. Two DAC channels are required per axis. The third phase is constructed externally using the expression C = -(A+B). This is usually accomplished with an Op-amp circuit. For additional information, or for technical assistance, please contact servo-Halbeck GmbH & Co.KG ( www.servo-halbeck.com) at +49 9158 1612, or e-mail us: [email protected] -o- 198 © POSYS Motion Control GmbH & Co.KG, 2013 Programmer's Manual How to use this manual Instruction Reference How to use this reference IMPORTANT: For the PCI-based cards (POSYS 900 and 1900 series), we recommend the new software package based on the new motion controller driver and C/C++ code (available as source code). Please also use therein Help for using the new software. This software is suitable for both 32-bit and 64-bit Windows operating systems (Windows 8 has not been tested). The previously provided software for the motion controller 900 and 1900 series (and soon POSYS 800-B, 1800-B and 1800 cards) is already or will soon be available only on request. The following documentation is not valid for the new software. This document is in two parts: first, a detailed description of all host instructions, and second, a set of summary tables listing the instructions by functional group, and alphabetically by instruction mnemonic. In the reference section, instructions are arranged alphabetically, except that all Set/Get pairs (for example, SetVelocity and GetVelocity) are described together. Each description begins on a new page; most occupy no more than a page. The page is organized as follows: Name The instruction mnemonic is shown at the left. Syntax The instruction mnemonic and its required arguments are shown with all arguments separated by spaces. Motor Ty pes The motor types to which this command applies. Supported motor types are printed in black, unsupported motor types for the command are blanked out. Arguments There are two types of arguments: encoded-field and numeric. Encoded-field arguments are packed into a single 16-bit data word, except for axis, which occupies bits 11-8 of the instruction word. The Name of the argument is that shown in the generic syntax. Instance is the mnemonic used to represent the data value. Encoding is the value assigned to the field for that instance. For numeric arguments, the parameter Value, the Type (signed or unsigned integer) and Range of acceptable values are given. Numeric arguments may require one or two data words. For 32-bit arguments, the high-order part is transmitted first. Buffered C ertain parameters and other data written to the motion IC are buffered. That is, they are not acted upon until the next Update or MultiUpdate command is executed. These parameters are identified by the word buffered in the instruction heading. Description Describes what the instruction does and any special information relating to the instruction. Restrictions Describes the circumstances in which the instruction is not valid, that is, when it should not be issued. For example, velocity, acceleration, deceleration, and jerk parameters may not be issued while an S-curve profile is being executed. API The syntax of the Delphi, C ++ or VB function call in the POSYS® DLL that implements this motion processor command. see Refers to related instructions. -o- 199 © POSYS Motion Control GmbH & Co.KG, 2013 Commands 200 © POSYS Motion Control GmbH & Co.KG, 2013 List of available commands POSYS® Functions and Procedures MotionScript® requires for the parameters the type DOUBLE and if a value is returned it is also returned as a DOUBLE. By default all numeric MotionScript® variables are of the type DOUBLE, in fact that is the only numeric type Card Initialization & Addressing Procedure InitializePOSYS(cardAddress0, cardAddress1:word);stdcall; Function OpenDevice(base_IO:word;base_MEM, MEM_range:DWORD):P1800_HANDLE;stdcall; //only valid for POSYS 1800 equipped with Dual Port RAM Function OpenDevice:word; Function C loseDevice(hPosys :integer) :integer;stdcall; Function DetectPosysDevices:word;stdcall; Function RegisteredPosysDevices:word;stdcall; Breakpoints & Interrupts Procedure C learInterrupt(hPosys:Thandle);stdcall; Function GetInterruptAxis(hPosys:Thandle):word;stdcall; Procedure SetBreakpoint(hPosys:Thandle;axis,breakpoint,sourceAxis,action,trigger:word);stdcall; Function GetBreakpoint(hPosys:Thandle;axis,breakpoint:word):word;stdcall; Procedure SetBreakpointValue(hPosys:Thandle;axis,breakpoint:word;value:integer);stdcall; Function GetBreakpointValue(hPosys:Thandle;axis,breakpoint:word):integer;stdcall; Procedure SetBreakpointUpdateMask(hPosys:Thandle;axis,breakpointID,mask:word);stdcall; Function GetBreakpointUpdateMask(hPosys;Thandle;axis,breakpointID:word):word;stdcall; Procedure SetInterruptMask(hPosys:Thandle;axis,interruptMask:word);stdcall; Function GetInterruptMask(hPosys:Thandle;axis:word):word;stdcall; Commutation Function GetPhaseCommand(hPosys:Thandle;axis:word):integer;stdcall; Procedure InitializePhase(hPosys:Thandle;axis:word);stdcall; Procedure SetCommutationMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetCommutationMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetNumberPhases(hPosys:Thandle;axis,phases:word);stdcall; Function GetNumberPhases(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseAngle(hPosys:Thandle;axis,angle:word);stdcall; Function GetPhaseAngle(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseCorrectionMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetPhaseCorrectionMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseCounts(hPosys:Thandle;axis,count:word);stdcall; Function GetPhaseCounts(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseInitializeMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetPhaseInitializeMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseInitializeTime(hPosys:Thandle;axis,time:word);stdcall; Function GetPhaseInitializeTime(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseOffset(hPosys:Thandle;axis,offset:word);stdcall; Function GetPhaseOffset(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhasePrescale(hPosys:Thandle;axis,mode:word);stdcall; Function GetPhasePrescale(hPosys:Thandle;axis:word):word;stdcall; Digital Servo Filter Procedure C learPositionError(hPosys:Thandle;axis:word);stdcall; Procedure DACOutputsOff(hPosys:Thandle);stdcall; Procedure DACOutputsOn(hPosys:Thandle);stdcall; Function GetAmpEnable(hPosys:Thandle;ampID:word):word;stdcall; Function GetDerivative(hPosys:Thandle;axis:word):word;stdcall; Function GetIntegral(hPosys:Thandle;axis:word):integer;stdcall; Function GetPositionError(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetAmpDisable(hPosys :integer; disable :word);stdcall; Procedure SetAmpEnable(hPosys :integer; enable :word);stdcall; Procedure SetAutoStopMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetAutoStopMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetBiQuadCoefficient(hPosys:Thandle;axis,coefficientID,filterID,value:word);stdcall; Function GetBiQuadCoefficient(hPosys:Thandle,axis:word);stdcall; Procedure SetDerivativeTime(hPosys:Thandle;axis,time:word);stdcall; Function GetDerivativeTime(hPosys:Thandle;axis:word):word;stdcall; 201 © POSYS Motion Control GmbH & Co.KG, 2013 Procedure SetIntegrationLimit(hPosys:Thandle;axis:word;limit:integer);stdcall; Function GetIntegrationLimit(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetKaff(hPosys:Thandle;axis,Kaff:word);stdcall; Function GetKaff(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKd(hPosys:Thandle;axis,Kd:word);stdcall; Function GetKd(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKi(hPosys:Thandle;axis,Ki:word);stdcall; Function GetKi(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKp(hPosys:Thandle;axis,Kp:word);stdcall; Function GetKp(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKout(hPosys:Thandle;axis,Kout:word);stdcall; Function GetKout(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKvff(hPosys:Thandle;axis,Kvff:word);stdcall; Function GetKvff(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorBias(hPosys:Thandle;axis,bias:word);stdcall; Function GetMotorBias(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorLimit(hPosys:Thandle;axis,limit:word);stdcall; Function GetMotorLimit(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPositionErrorLimit(hPosys:Thandle;axis:word;limit:integer);stdcall; Function GetPositionErrorLimit(hPosys:Thandle;axis:word):integer;stdcall; Piezo (Ceramic) Motor Functions Procedure SetpzOffsetPos(hPosys:Thandle;axis:word;offset:word);stdcall;external DLL; Function GetpzOffsetPos(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzOffsetNeg(hPosys:Thandle;axis:word;offset:word);stdcall;external DLL; Function GetpzOffsetNeg(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzIntLimitStl(hPosys:Thandle;axis:word;limit:longword);stdcall;external DLL; Function GetpzIntLimitStl(hPosys:Thandle;axis:word):longword;stdcall;external DLL; Procedure SetpzWindow(hPosys:Thandle;axis:word;window:word);stdcall;external DLL; Function GetpzWindow(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKp(hPosys:Thandle;axis:word;kp:word);stdcall;external DLL; Function GetpzKp(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKi(hPosys:Thandle;axis:word;ki:word);stdcall;external DLL; Function GetpzKi(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKd(hPosys:Thandle;axis:word;kd:word);stdcall;external DLL; Function GetpzKd(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKvff(hPosys:Thandle;axis:word;kvff:word);stdcall;external DLL; Function GetpzKvff(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKaff(hPosys:Thandle;axis:word;kaff:word);stdcall;external DLL; Function GetpzKaff(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzIntLim(hPosys:Thandle;axis:word;intlim:longword);stdcall;external DLL; Function GetpzIntLim(hPosys:Thandle;axis:word):longword;stdcall;external DLL; Procedure SetpzKdPeriod(hPosys:Thandle;axis:word;kdperiod:word);stdcall;external DLL; Function GetpzKdPeriod(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzWindow2(hPosys:Thandle;axis:word;window2:word);stdcall;external DLL; Function GetpzWindow2(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKvff2(hPosys:Thandle;axis:word;kvff2:word);stdcall;external DLL; Function GetpzKvff2(hPosys:Thandle;axis:word):word;stdcall;external DLL; Encoder Procedure AdjustActualPosition(hPosys:Thandle;axis:word;position:integer);stdcall; Function GetAbsoluteSSIPosition(hPosys:Thandle;axisID:word):integer;stdcall; Function GetActualVelocity(hPosys:Thandle;axis:word):integer;stdcall; Function GetCaptureValue(hPosys:Thandle;axis:word):integer;stdcall; Function GetSSIVersion(hPosys:Thandle):word;stdcall; Procedure WriteSSIRegister(hPosys:Thandle;axisID:word; resolution, frequency:word);stdcall; Procedure ReadSSIRegister(hPosys:Thandle;axisID:word;var resolution:word;var frequency:word);stdcall; Procedure WriteSSIResolution(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure ReadSSIResolution(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure WriteSSIFrequency(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure ReadSSIFrequency(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure ResetSSI(hPosys:Thandle);stdcall; Procedure SetActualToAbsolutePosition(hPosys:Thandle;axisID:word);stdcall; Procedure SetActualPosition(hPosys:Thandle;axis:word;pos:integer);stdcall; Function GetActualPosition(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetActualPositionUnits(hPosys:Thandle;axis,mode:word);stdcall; Function GetActualPositionUnits(hPosys:Thandle;axis:word):word;stdcall; Procedure SetAuxiliaryEncoderSource(hPosys:Thandle;axis,mode,auxiliaryAxis:word);stdcall; Function GetAuxiliaryEncoderSource(hPosys:Thandle;axis:word);stdcall; Procedure SetCaptureSource(hPosys:Thandle;axis,source:word);stdcall; Function GetCaptureSource(hPosys:Thandle;axis:word):word;stdcall; Procedure SetEncoderModulus(hPosys:Thandle;axis,modulus:word);stdcall; 202 © POSYS Motion Control GmbH & Co.KG, 2013 Function GetEncoderModulus(hPosys:Thandle;axis:word):word;stdcall; Procedure SetEncoderSource(hPosys:Thandle;axis,source:word);stdcall; Function GetEncoderSource(hPosys:Thandle;axis:word):word;stdcall; Procedure SetEncoderToStepRatio(hPosys:Thandle;axis,encodercounts,steps:word);stdcall; Function GetEncoderToStepRatio(hPosys:Thandle;axis:word):integer;stdcall; On-Board RAM Procedure EnableDPRam(hPosys:P1800_Handle);stdcall; //only valid for POSYS® 1800 series equipped with Dual Port RAM Procedure DisableDPRam(hPosys:P1800_Handle);stdcall; //only valid for POSYS® 1800 series equipped with Dual Port RAM Function ReadBuffer(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure SetBufferFunction(hPosys:Thandle;axis:word;funct:integer;bufferID:word);stdcall; Function GetBufferFunction(hPosys:Thandle;axis:word;funct:word):word;stdcall; Procedure SetBufferLength(hPosys:Thandle;bufferID:word;length:integer);stdcall; Function GetBufferLength(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure SetBufferReadIndex(hPosys:Thandle;bufferID:word;index:integer);stdcall; Function GetBufferReadIndex(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure SetBufferStart(hPosys:Thandle;bufferID:word;address:integer);stdcall; Function GetBufferStart(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure SetBufferWriteIndex(hPosys:Thandle;bufferID:word;index:integer);stdcall; Function GetBufferWriteIndex(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure WriteBuffer(hPosys:Thandle;bufferID:word;value:integer);stdcall; Function ReadDPRamLong(hPosys:Thandle;offset:dword):integer;stdcall; Procedure WriteDPRamLong(hPosys:Thandle;offset:dword;value:dword);stdcall; Motor Output Function GetCurrentMotorCommand(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorCommand(hPosys:Thandle;axis,value:word);stdcall; Function GetMotorCommand(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetMotorMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorType(hPosys:Thandle;axis:word):word;stdcall; Function GetMotorType(hPosys:Thandle;axis:word):word;stdcall; Procedure SetOutputMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetOutputMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPWMFrequency(hPosys:Thandle;axis,frequency:word);stdcall; Function GetPWMFrequency(hPosys:Thandle;axis:word);stdcall; Procedure SetStepRange(hPosys:Thandle;axis,frequency:word);stdcall; Function GetStepRange(hPosys:Thandle;axis:word):word;stdcall; Profile Generation Function GetCommandedAcceleration(hPosys:Thandle;axis:word):integer;stdcall; Function GetCommandedPosition(hPosys:Thandle;axis:word):integer;stdcall; Function GetCommandedVelocity(hPosys:Thandle;axis:word):integer;stdcall; Procedure MultiUpdate(hPosys:Thandle;mask:word);stdcall; Procedure SetAcceleration(hPosys:Thandle;axis:word;accel:integer);stdcall; Function GetAcceleration(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetDeceleration(hPosys:Thandle;axis:word;deceleration:integer);stdcall; Function GetDeceleration(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetGearMaster(hPosys:Thandle;axis,masterAxis,source:word);stdcall; Function GetGearMaster(hPosys:Thandle;axis:word):word;stdcall; Procedure SetGearRatio(hPosys:Thandle;slaveAxis:word;ratio:integer);stdcall; Function GetGearRatio(hPosys:Thandle;slaveAxis:word):integer;stdcall; Procedure SetJerk(hPosys:Thandle;axis:word;jerk:integer);stdcall; Function GetJerk(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetPosition(hPosys:Thandle;axis:word;position:integer);stdcall; Function GetPosition(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetProfileMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetProfileMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetStartVelocity(hPosys:Thandle;axis:word;velocity:integer);stdcall; Function GetStartVelocity(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetStop(hPosys:Thandle;axis,mode:word);stdcall; Function GetStop(hPosys:Thandle;axis:word):word;stdcall; Procedure SetStopMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetStopMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetVelocity(hPosys:Thandle;axis:word;velocity:integer);stdcall; Function GetVelocity(hPosys:Thandle;axis:word):integer;stdcall; Procedure Up_date(hPosys:Thandle;axis:word);stdcall; 203 © POSYS Motion Control GmbH & Co.KG, 2013 Procedure Update(hPosys:Thandle;axis:word);stdcall; Servo Loop Control Function GetTime(hPosys:Thandle):integer;stdcall; Procedure SetAxisMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetAxisMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetLimitSwitchMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetLimitSwitchMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotionCompleteMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetMotionCompleteMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetSampleTime(hPosys:Thandle;time:word);stdcall; Function GetSampleTime(hPosys:Thandle):word;stdcall; Procedure SetSettleTime(hPosys:Thandle;axis,time:word);stdcall; Function GetSettleTime(hPosys:Thandle;axis:word):word;stdcall; Procedure SetSettleWindow(hPosys:Thandle;axis,window:word);stdcall; Function GetSettleWindow(hPosys:Thandle;axis:word):word;stdcall; Procedure SetTrackingWindow(hPosys:Thandle;axis,window:word);stdcall; Function GetTrackingWindow(hPosys:Thandle;axis:word):word;stdcall; Status Registers and AxisOut Indicator Function GetActivityStatus(hPosys:Thandle;axis:word):word;stdcall; Function GetAxis_In_Out_Home(hPosys:Thandle;statID:word):word;stdcall; Function GetEventStatus(hPosys:Thandle;axis:word):word;stdcall; Function GetSignalStatus(hPosys:Thandle;axis:word):word;stdcall; Procedure ResetEventStatus(hPosys:Thandle;axis,mask:word);stdcall; Procedure SetAxisOutSource(hPosys:Thandle;axis:word;sourceAxis,bit,reg:word);stdcall; Function GetAxisOutSource(hPosys:Thandle;axis:word):word;stdcall; Procedure SetSignalSense(hPosys:Thandle;axis,mask:word);stdcall; Function GetSignalSense(hPosys:Thandle;axis:word):word;stdcall; Traces Function GetTraceCount(hPosys:Thandle):integer;stdcall; Function GetTraceStatus(hPosys:Thandle):word;stdcall; Procedure SetTraceMode(hPosys:Thandle;mode:word);stdcall; Function GetTraceMode(hPosys:Thandle):word;stdcall; Procedure SetTracePeriod(hPosys:Thandle;period:word);stdcall; Function GetTracePeriod(hPosys:Thandle):word;stdcall; Procedure SetTraceStart(hPosys:Thandle;triggerAxis,condition,triggerBit,triggerState:word);stdcall; Function GetTraceStart(hPosys:Thandle):word;stdcall; Procedure SetTraceStop(hPosys:Thandle;triggerAxis,condition,triggerBit,triggerState:word);stdcall; Function GetTraceStop(hPosys:Thandle):word;stdcall; Procedure SetTraceVariable(hPosys:Thandle;variableNumber,traceAxis,variable:word);stdcall; Function GetTraceVariable(hPosys:Thandle;variableNumber:word):word;stdcall; Miscellaneous (Controller Reset, Communication Mode aso) # Function EnableIO(deviceNo, portCount:word):word (no longer needed with new driver Windriver) Function GetChecksum(hPosys);stdcall; Function GetHostIOError(hPosys:Thandle):word;stdcall; Function GetProcessorStatus(hPosys:Thandle):word;stdcall; Function Get_Version(hPosys:Thandle):integer;stdcall; Function GetVersion(hPosys:Thandle):integer;stdcall; Procedure HardReset(hPosys:Thandle);stdcall; Procedure MCReset(hPosys:Thandle);stdcall; Procedure NoOperation(hPosys:Thandle);stdcall; Function PortInW(hPosys:Thandle;address:word):word;stdcall; Procedure PortOutW(hPosys:Thandle;address,outword:word);stdcall; Procedure PortOutB(hPosys:Thandle;address:word;value:byte);stdcall; Function ReadAnalog(hPosys:Thandle;portID:word):word;stdcall; Function ReadIO(hPosys:Thandle;ioID:word):word;stdcall; Function ReadPLD(hPosys:Thandle;pld_adr:word):word;stdcall; Procedure SoftReset(hPosys:Thandle);stdcall; Procedure SetCANMode(hPosys:mask);stdcall; Function GetCANMode(hPosys);stdcall; Procedure SetDiagnosticPortMode(hPosys:Thandle;mode:word);stdcall; Function GetDiagnosticPortMode(hPosys:Thandle):word;stdcall; Procedure SetSerialPort(hPosys:Thandle;baudrate,parity,stopbits,protocol,mdaddress:word);stdcall; Function GetSerialPort(hPosys:Thandle):word;stdcall; Procedure SetSerialPortMode(hPosys:Thandle;baudrate,parity,stopbits,protocol,mdaddress:word);stdcall; 204 © POSYS Motion Control GmbH & Co.KG, 2013 Function GetSerialPortMode(hPosys:Thandle):word;stdcall; Procedure SetSynchronizationMode(hPosys:Thandle;mode:word);stdcall; Function GetSynchronizationMode(hPosys:Thandle):word;stdcall; Procedure SetWatchDog(hPosys:Thandle;watchdog_adr:word;watchdog_value:word);stdcall; Procedure WriteIO(hPosys:Thandle;ioID,data:word);stdcall; Additional MotionScript® Functions Procedure Procedure Procedure Procedure Procedure Procedure BitReset(hPosys:Thandle;testVar,bitToReset:integer);stdcall; BitSet(hPosys:Thandle;testVar,bitToReset:integer);stdcall; BitTest(hPosys:Thandle;testVar,bitToReset:integer);stdcall; C ompareActivity(hPosys:Thandle;axis:word;mask:integer);stdcall; C ompareEvent(hPosys:Thandle;axis:word;mask:integer);stdcall; C ompareSignal(hPosys:Thandle;axis:word;mask:integer);stdcall; -o- Card Initializing and Addressing 205 © POSYS Motion Control GmbH & Co.KG, 2013 InitializePOSYS InitializePOSYS only valid for ISA-Bus and PC/104 cards (POSYS® 7xx, 8xx, 8xx-B and 18xx) only valid with Kithara Driver (no longer supported) Syntax InitializePOSYS(hPosys, cardAddress) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle Pulse & Direction Type card address Description unsigned 16 bits Range 512-1016 Scaling none InitializePOSYS initializes the address space that the motion control card occupies in the IO space of your computer. The cardAddress must correspond to the address set on the motion control card. This corresponds to the base address of the card and a call to InitializePOSYS(cardAddress) will set the command, data and hardware reset addresses. No other motion control card or other peripheral device should be within this address space (cardAddress + 7 bytes). If more than one card is installed then there must be 8 bytes between the address of card 1 and card 2. Assuming card 1 is at address 768 (300 H) then card 2 could be at address 776 (308H). If more than one card is installed it is necessary to switch address space by calling InitializePOSYS(cardAddress1) or InitializePOSYS(cardAddress2) for example before sending commands to the motion control cards. Restriction This command is only valid for the POSYS ® ISA and PC /104 cards. The only restrictions that apply are related to the available address space for the particular computer configuration. Theoretically it is possible to also use the address space below 512 as long as there is no conflict with other devices or system calls to those addresses. see OpenDevice/CloseDevice DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention InitializePOSYS(hPosys#, cardAddress) hPosys# is the value returned by a call to EnableIO -o- 206 © POSYS Motion Control GmbH & Co.KG, 2013 OpenDevice/CloseDevice OpenDevice CloseDevice Syntax OpenDevice(deviceNumber) stdcall for PCI-Bus OpenDevice(base_IO;base_MEM;MEM_range) stdcall for POSYS® 1800 w/ Dual Port RAM (PC-104 bus) OpenDevice(base_IO) stdcall for POSYS® 700/ 800/800-B/1800 (ISA & PC-104 bus; 1800 w/ Single Port RAM) C loseDevice(hPosys) stdcall for all cards Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding PCI: deviceNumber Pulse & Direction no limitation (1 -) ISA/PC-104: Returned Data base_IO unsigned 16 Bit 512 - 1024 base_MEM unsigned 32 Bit B0000 to EFFFF MEM_range unsigned 32 Bit 16k x 16 (32768 KB) or other sizes for custom purposes possible PCI: returns a 32 Bit handle "hPosys which was opened with the card instance "deviceNumber" ISA/PC-104: reserves the addressed area for the ISA-bus based cards (ISA & PC/104). In addition the POSYS® 1800 has two possibilities: 1.) if equipped with Dual Port RAM three parameters, 1 for the base_IO address, 1 for the base_MEM and 1 for the MEM_range are defined and if available are reserved 2.) if equipped with Single Port RAM only 1 parameter is needed for reserving and addressing the base_IO address. For more information on how to use and address the Dual Port RAM equipped POSYS® 1800 cards please look-up section "Usage of the On-Board Dual Port RAM with POSYS® 1800". Description OpenDevice PCI: opens an instance of the POSYS® PC I driver and returns the handle hPosys to the motion control card. ISA/PC104: starts the driver. In addition for the POSYS® 1800 the base MEM-address and the MEM_range are defined. C loseDevice(hPosys) closes the device driver of the appropriate card in the system and frees resources. No values returned. (hPosys) indicates the device that should be opened (only PCI) or closed (PCI, ISA/PC-104). Restriction The number of supported cards is only dependent from the amount of available slots. The driver is theorically capable of addressing an unlimited amount of instances. For the POSYS® 1800 two possibilities exist to address the card. for Dual PORT RAM equipped cards both methods can be used whereas the second method as described before allows the use of Dual Port RAM only in Single Port RAM mode. Cards equipped with Single Port RAM must not be addressed with the base_MEM and MEM_range parameters as this simply does not function. see PortInOutW, DetectPosysDevices, RegisteredPosysDevices DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention OpenDevice(deviceNumber) for PCI cards only OpenDevice(base_IO;base_MEM;MEM_range) for POSYS® 1800 only w/ Dual Port RAM OpenDevice(base_IO) for POSYS® 700/800/800-B/ 1800 w/ Single Port RAM C loseDevice(hPosys#) for all cards 207 © POSYS Motion Control GmbH & Co.KG, 2013 -o- 208 © POSYS Motion Control GmbH & Co.KG, 2013 DetectPosysDevices DetectPosysDevices only valid for POSYS® PCI cards (POSYS® 900/1900) Syntax DetectPosysDevices stdcall Motor type DC Brush Arguments none Result Returns the number of found POSYS® PCI Motion Controllers. None were found if 0 is returned. Description DetectPosysDevices searches for all POSYS® PCI motion controllers. All PCI-busses are queried. Returned Data Returns a number between 0 and 16. DC Brushless Microstepping Pulse & Direction Returns the number of found POSYS® PCI motion controllers. No POSYS® PCI motion controllers were located if 0 is returned. Restriction The driver supports a maximum of 15 POSYS® PC I motion controllers and reports them as 1 - 16 see OpenDevice/CloseDevice, RegisteredPosysDevices DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention DetectPosysDevices() //no Parameters -o- 209 © POSYS Motion Control GmbH & Co.KG, 2013 RegisteredPosysDevices RegisteredPosysDevices only valid for POSYS® ISA/PC-104 cards (POSYS® 7xx/8xx/8xx-B/18xx) Syntax RegisteredPosysDevices stdcall Motor type DC Brush Arguments none Returned Data Returns a number between 0 and 16. DC Brushless Microstepping Pulse & Direction Returns the number of found POSYS® ISA/PC-104 motion controllers. No POSYS® ISA/PC-104 motion controllers were located if 0 is returned. Description RegisteredPosy sDev ices will find all registered POSYS® ISA/PC -104motion controllers. All cards registered using POSYSDriverXSetup will be found. Restriction The driver supports a maximum of 16 POSYS® ISA/PC -104 motion controllers and reports them as 1 - 16. POSYS® controllers (ISA-Bus and PC /104) must have been registered in the registry using the utility program POSYSDriverXSetup see OpenDevice/CloseDevice DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention RegisteredPosysDevices() POSYS® controllers (ISA-Bus and PC /104) must have been registered in the registry using the utility program POSYSDriverXSetup. -o- 210 © POSYS Motion Control GmbH & Co.KG, 2013 Breakpoints und Interrupts ClearInterrupt ClearInterrupt Syntax C learInterrupt(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Description Pulse & Direction ClearInterruptresets the HostInterrupt signal to its inactive state. If interrupts are still pending, the HostInterrupt line will return to its active state within one cycle. It is used after an interrupt has been recognized and processed by the host. This command does not affect the Event Status Register. If this command is executed when no interrupts are pending it has no effect. When communicating using C AN, this command resets the interrupt message sent flag. When an interrupt is triggered on an axis, a single interrupt message is sent and no further messages will be sent by that axis until this command is issued. When serial or parallel communication is used, the axis number is not used. Restriction see GetInterruptAxis, Set/GetInterruptMask, ResetEventStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention C learInterrupt(hPosys#) -o- 211 © POSYS Motion Control GmbH & Co.KG, 2013 GetInterruptAxis GetInterruptAxis Syntax GetInterruptAxis(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys CardHandle value returned by call to OpenDevice Name Instance Encoding axis None Axis1mask Axis2mask Axis3mask Axis4mask 0 1 2 4 8 Returned Data Description GetInterruptAxis returns a field which identifies all axes with pending interrupts. Axis numbers are assigned to the low-order four bits of the returned word; bits corresponding to interrupting axes are set to 1. If the host interrupt signal has not been set, the returned word is 0. If any axis has a pending interrupt, the HostInterrupt signal will be in an active state. Restriction see ClearInterrupt, Set/GetInterruptMask DLL: Delphi, C++, Refer to the various import files (imp*.*) VB MotionScript® language calling convention Pulse & Direction GetInterruptAxis(hPosys#) -o- 212 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBreakpoint SetBreakpoint GetBreakpoint Some options are dependent on the firmware used. For POSYS® 1800/1900 if equipped with Motion Control Chipset >< V2.x. These are marked with an "*". Syntax SetBreakpoint(hPosys, axis, breakpoint, sourceAxis, action, trigger) stdcall GetBreakpoint(hPosys, axis, breakpoint) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 breakpointID Breakpoint 1 Breakpoint 2 0 1 sourceAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 action (none) Update AbruptStop SmoothStop Motor Off ** Disable Position Loop & Higher Modules * n/a Disable Motior Output & Higher Modules * Abrupt Stop with Position Error Clear * 0 1 2 3 4 5 6 7 8 trigger (none) GreaterOrEqualCommandedPosition LesserOrEqualCommandedPosition GreaterOrEqualActualPosition LesserOrEqualActualPosition C ommandedPositionCrossed ActualPositionCrossed Time EventStatus ActivityStatus SignalStatus Drive Status * 0 1 2 3 4 5 6 7 8 9 Ah Bh Description Pulse & Direction SetBreakpointestablishes a breakpoint for the specified axis to be triggered by a condition or event on sourceAxis, which may be the same as or different from axis. Up to two concurrent breakpoints can be set for each axis, each of which may have its own breakpoint type and comparison value. The breakpoint field specifies which breakpoint the SetBreakpoint and GetBreakpoint commands will address. The six Position breakpoints and the Time breakpoint are threshold-triggered; the breakpoint occurs when the indicated value reaches or crosses a threshold. The Status breakpoints are level-triggered; the breakpoint occurs when a specific bit or combination of bits in the indicated status register changes state. Thresholds and bit specifications are both set by the SetBreakpointValue instruction. action determines what the POSYS® does when the breakpoint occurs, as follows: Action Resultant command sequence None Update AbruptStop SmoothStop MotorOff ** Disable Position Loop & no action Update axis SetStop axis, AbruptStop, Update axis SetStop axis, SmoothStop, Update axis SetMotorMode axis, Off, Update axis Deactivates Trajectory Generator & higher modules 213 © POSYS Motion Control GmbH & Co.KG, 2013 Higher Modules * Disable Motor Output & Deactivates all modules incl. motor command output & higher modules Higher Modules * Abrupt Stop with Abrupt Stop of the Trajectory Generator and Position Error cleared Position Error Clear * axis is the axis for which the breakpoint has been set. GetBreakpoint returns the condition, axis, and action for the specified breakpoint (1 or 2) of the indicated axis. When a breakpoint occurs the trigger value will be reset to none. The C ommandedPositionC rossed and the ActualPositionC rossed triggers are converted to one of the position trigger types 1-4 depending on the current position when the command is issued. Two completely separate breakpoints are supported, each of which may have its own breakpoint type and comparison value. The breakpoint field specifies which breakpoint the SetBreakpoint and GetBreakpoint commands will address. Restriction Before setting a new breakpoint condition (SetBreakpoint command) ALWAYS load the comparison value first (SetBreakpointValue command). This is because as soon as the breakpoint condition is set the POSYS® will start using the breakpoint value register, and if it is not yet defined the breakpoint will not behave as expected. * with asterisk marked options for action and trigger are only available on POSYS® 1800/1900 with firmware vers. >2.x. ** with 2 asterisk marked options for action are only available for POSYS® 800-B, 900, 1800 and 1900. For POSYS® 1800/1900 this option is restricted to versions with firmware <2.x. see Set/GetBreakpointValue, Set/GetBreakpointUpdateMask DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBreakpoint(hPosys#, axis, breakpoint, sourceAxis, action, trigger) GetBreakpoint(hPosys#, axis, breakpoint) -o- 214 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBreakpointUpdateMask SetBreakpointUpdateMask GetBreakpointUpdateMask only valid for POSYS® 1800/1900 with firmware version >2.x Syntax SetBreakpointUpdateMask(hPosys, axis, breakpointID, mask) stdcall GetBreakpointUpdateMask(hPosys, axis, breakpointID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle Wert zurückgeliefert durch Aufruf von OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 breakpointID Breakpoint 1 Breakpoint 2 0 1 mask unsigned 16 bits bitmask Description Pulse & Direction SetBreakpointUpdateMask configures what loops are updated upon the Update action of a breakpoint. If the bitmask for a given loop is set in the mask, the operating parameters for that loop will be updated from the buffered values when the breakpoint is hit, and Update is the breakpoint action. Each breakpoint has its own Update Mask. The bitmask encoding is given below. Name Bit(s) Description Trajectory 0 Set to 1 to update trajectory from buffered parameters. Position Loop 1 Set to 1 to update position loop from buffered parameters. Reserved 2-15 For example, if the Update Mask for breakpoint 1 is set to hexadecimal 0001h, and the action for breakpoint 1 is set to Update, the trajectory for the given axis will be updated from its buffered parameters when breakpoint 1 is hit. GetBreakpointUpdateMask gets the Update Mask for the indicated breakpoint. Restriction see Set/GetBreakpoint, Set/GetUpdateMask DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBreakpointUpdateMask(hPosys#, axis, breakpointID, mask) GetBreakpointUpdateMask(hPosys#, axis, breakpointID) -o- 215 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBreakpointValue SetBreakpointValue GetBreakpointValue Syntax SetBreakpointValue(hPosys, axis, breakpoint, value) stdcall GetBreakpointValue(hPosys, axis, breakpoint) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 breakpoint Breakpoint 1 Breakpoint 2 0 1 value Description Pulse & Direction see below SetBreakpointValuesets the breakpoint comparison value for the specified axis. For the position and time breakpoints this is a threshold comparison value. The value parameter is interpreted according to the trigger condition for the selected breakpoint. The data format for each trigger condition is as follows: Breakpoint Trigger Value Type Range Units GreaterOrEqualCommandedPosition signed 32 bit 31 31 -2 to 2 -1 counts LesserOrEqualCommandedPosition signed 32 bit 31 31 -2 to 2 -1 counts GreaterOrEqualActualPosition signed 32 bit 31 31 -2 to 2 -1 counts LesserOrEqualActualPosition signed 32 bit 31 31 -2 to 2 -1 counts C ommandedPositionCrossed signed 32 bit 31 31 -2 to 2 -1 counts ActualPositionCrossed signed 32 bit 31 31 -2 to 2 -1 counts Time unsigned 32 bit 32 cycles EventStatus 2 word mask - Boolean status values ActivityStatus 2 word mask - Boolean status values 2 word mask - Boolean status values SignalStatus Description 0 to 2 -1 For level-triggered breakpoints, the high-order part of value is the selection mask, and the low-order word is the sense mask. For each selection bit that is set to 1, the corresponding bit of the specified status register is conditioned to cause a breakpoint when it changes state. The sense-mask bit determines which state causes the break. If it is 1, the corresponding status-register bit will cause a break when it is set to 1. If it is 0, the status-register bit will cause a break when it is set to 0. For example assume it is desired that the breakpoint type will be set to EventStatus and that a breakpoint should be recognized whenever the motion complete bit (bit 0 of event status register) is set to 1, or the commutation error bit (bit 11 of event status register) is set to 0. In this situation the high and low words for value would be high word: 0x801 (hex) and low word: 1. GetBreakpointValuereturns the current breakpoint value for the specified breakpoint. Two completely separate breakpoints are supported, each of which may have its own breakpoint type and comparison value. The breakpoint field specifies which breakpoint the SetBreakpointValue and GetBreakpointValue commands will address. Restriction Always load the breakpoint comparison value (SetBreakpointValue command) before setting a new breakpoint condition (SetBreakpoint command). Failure to do so will likely result in unexpected motion IC behavior. see Set/GetBreakpoint DLL: Delphi, C++, VB Refer to the various import files (imp*.*) 216 © POSYS Motion Control GmbH & Co.KG, 2013 MotionScript® language calling convention SetBreakpointValue(hPosys#, axis, breakpoint, value) GetBreakpointValue(hPosys#, axis, breakpoint) -o- 217 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetInterruptMask SetInterruptMask GetInterruptMask Syntax SetInterruptMask(hPosys, axis, interruptMask) stdcall GetInterruptMask(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 InterruptMask Motion complete 0001h Wrap-around 0002h Breakpoint 1 0004h C apture received 0008h Motion error 0010h In positive limit 0020h In negative limit 0040h Instruction error 0080h C ommutation error 0800h Breakpoint 2 4000h Description Pulse & Direction SetInterruptMaskdetermines which bits in the Event Status register of the specified axis will cause a host interrupt. For each interrupt mask bit that is set to 1, the corresponding Event Status register bit will cause an interrupt when that status register bit goes active (is set to 1). Interrupt mask bits set to 0 will not generate interrupts. GetInterruptMaskreturns the current mask for the specified axis. Example: The interrupt mask value 28h will generate an interrupt when either the "in positive limit" bit or the "capture received" bit of the event status register goes active (set to 1). POSYS® 18xx/19xx: SetInterruptMask also controls CAN event notification when using the POSYS® CAN 2.0B interface. Whenever a host interrupt is activated, a CAN message is generated using message ID 0x180 + nodeID, notifying interested CAN nodes of the change in the Event Status Register. Restriction see C learInterrupt, GetInterruptAxis DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetInterruptMask(hPosys#, axis, interruptMask) GetInterruptMask(hPosys#, axis) -o- 218 © POSYS Motion Control GmbH & Co.KG, 2013 Commutation GetPhaseCommand GetPhaseCommand Syntax GetPhaseCommand(hPosys, axis, phase) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 phase PhaseA PhaseB PhaseC 0 1 2 Name Type motor command signed 16 bits Returned Data Range Scaling Units Description 15 15 -2 to 2 -1 100/2 15 % output GetPhaseCommandreturns the value of the current motor output command for phase A, B, or C of the specified axis. These are values directly output to the motor after commutation. Scaling example: If a value of 4,489 is retrieved (EE77h) for a given axis and phase then this corresponds to 4,489*100/32,767 = -13.7% of full-scale output. Restriction PhaseC is only valid when the motor type has been set for a 3-phase commutation. see InitializePhase, Set/GetNumberPhases, Set/GetMotorType DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetPhaseCommand(hPosys#, axis, phase) -o- 219 © POSYS Motion Control GmbH & Co.KG, 2013 InitializePhase InitializePhase Syntax InitializePhase(hPosys, axis) stdcall Motor type Arguments DC Brushless Name Instance Encoding hPosys cardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Description InitializePhase initializes the phase angle for the specified axis using the mode (Hall-based or Algorithmic) specified by the Set/GetPhaseInitializationMode command. Restriction Warning: If the phase initialization mode has been set to algorithmic then after this command is sent the motor can move suddenly in an uncontrolled manner. see GetPhaseCommand, Set/GetCommutationMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention InitializePhase(hPosys#, axis) -o- 220 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetCommutationMode SetCommutationMode GetCommutationMode Syntax SetCommutationMode(hPosys, axis, mode) stdcall GetCommutationMode(hPosys, axis) stdcall Motor type Arguments Description DC Brushless Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode sinusoidal hall-based microstepping 0 1 2 SetCommutationModesets the phase commutation mode for the specified axis. When set to sinusoidal, as the motor turns, the encoder input signal is used to calculate the phase angle. This angle is in turn used to generate sinusoidally varying outputs to each motor winding. When set to Hall-basedthe hall effect sensor inputs are used to commutate the motor windings using a six-step or trapezoidal waveform method. When set to microsteppingthe output of the trajectory generator is used to calculate the phase angle. This angle is in turn used to generate sinusoidally varying outputs to each motor phase. When operating with brushless servo motors either sinusoidal or Hall-based are typically used for motor commutation. Microstepping is sometimes used with brushless motors to "manually" move the motor before phase initialization has occurred. Alternatively, Microstepping can be used step motors or with AC induction motors where frequency synthesis is all that is required to rotate the motor. GetCommutationMode returns the current commutation mode. Restriction see Set/GetPhasePrescale, Set/GetPhaseCounts DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetCommutationMode(hPosys#, axis, mode) GetCommutationMode(hPosys#, axis) -o- 221 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetNumberPhases SetNumberPhases GetNumberPhases only valid for POSYS® 8xx-B and 9xx Syntax SetNumberPhases(hPosys, axis, phase) stdcall GetNumberPhases(hPosys, axis) stdcall Motor type Arguments Description DC Brushless Microstepping Name Instance Encoding hPosys C ardHandle value returned by call toOpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode 1Phase 2Phases 3Phases 1 2 3 SetNumberPhasesestablishes the number of phases, 1, 2 or 3, for commutation of the specified axis. GetNumberPhases returns the number of phases set for the axis. Restriction In PWM Sign/Magnitude output mode, the number of phases can be set to 1 or 2. In PWM 5050 output mode, the number of phases can be set to 1,2 or 3. This command is only valid for POSYS® 8xx-B and POSYS® 9xx with internal commutation or microstepping mode. see GetPhaseCommand, InitializePhase, Set/GetPhaseOffset, Set/GetOutputMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetNumberPhases(hPosys#, axis, phase) GetNumberPhases(hPosys#, axis) -o- 222 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPhaseAngle SetPhaseAngle GetPhaseAngle Syntax SetPhaseAngle(hPosys, axis, angle) stdcall GetPhaseAngle(hPosys, axis) stdcall Motor type Arguments DC Brushless Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type angle Description unsigned 16 bits Range 0 to 2 15 -1 Scaling unity Units counts microsteps SetPhaseAnglesets the instantaneous commutation angle for the specified axis. GetPhaseAnglereturns the value of the current phase angle. To convert counts to an actual phase angle divide by the number of encoder counts per electrical cycle and multiply by 360. For example if a value of 500 is retrieved using GetPhaseAngle and the counts per electrical cycle value has been set to 2,000 (SetPhaseCounts command) this corresponds to an angle of (500/2,000)*360 = 90 degrees current phase angle position. Restriction The specified angle must not exceed the number of counts per electrical cycle set by the SetPhaseCounts command. see Set/GetPhaseCounts, InitializePhase, Set/GetMotorType, Set/GetNumberPhases DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPhaseAngle(hPosys#, axis, angle) GetPhaseAngle(hPosys#, axis) -o- 223 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPhaseCorrectionMode SetPhaseCorrectionMode GetPhaseCorrectionMode Syntax SetPhaseCorrectionMode(hPosys, axis, mode) stdcall GetPhaseCorrectionMode(hPosys, axis) stdcall Motor type Arguments Description DC Brushless Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode disable enable 0 1 SetPhaseCorrectionMode sets the phase correction mode for the specified axis to either 0 (disabled) or 1 (enabled). When phase correction is enabled, the encoder index signal is used to update the commutation phase angle each motor revolution. This ensures that the commutation angle will remain correct even if some encoder counts are lost due to electrical noise, or due to the number of encoder counts/electrical phase not being an integer. GetPhaseCorrectionMode returns the current phase correction mode. Restriction see GetPhaseCommand, InitializePhase, Set/GetMotorType, Set/GetNumberPhases, Set/GetPhaseCounts DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPhaseCorrectionMode(hPosys#, axis, mode) GetPhaseCorrectionMode(hPosys#, axis) -o- 224 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPhaseCounts SetPhaseCounts GetPhaseCounts Syntax SetPhaseCounts(hPosys, axis, counts) stdcall GetPhaseCounts(hPosys, axis) stdcall Motor type Arguments DC Brushless Microstepping Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type counts unsigned 32 bits POSYS® 18xx/19xx: Range 1 to 2 15 Scaling unity Units counts steps -1 POSYS® 8xx-B/9xx: Range Description 0 to 2 15 Scaling unity Units counts steps -1 For POSYS® axes configured for DC Brushless motor types, SetPhaseCountssets the number of encoder counts per electrical phase of the motor. The number of electrical cycles is equal to 1/2 the number of motor poles. If this value is not an integer then the closest integer value should be used and phase correction mode should be enabled (See SetPhaseC orrectionMode command). For POSYS® axes configured for microstepping motor types, the number of microsteps per full step is set using the commandSetPhaseCounts. The parameter used for this command represents the number of microsteps per electrical cycle (4 times the desired number of microsteps). So for example, to set 64 microsteps per full step, the command SetPhaseC ounts 256 should be used. The maximum number of microsteps that can be generated per full step is 256, giving a maximum parameter for this command of 1024. GetPhaseCounts returns the number of counts or microsteps per electrical cycle. Restriction see Set/GetPhaseAngle DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPhaseCounts(hPosys#, axis, counts) GetPhaseCounts(hPosys#, axis) -o- 225 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPhaseInitializeMode SetPhaseInitializeMode GetPhaseInitializeMode Syntax SetPhaseInitializeMode(hPosys, axis, mode) stdcall GetPhaseInitializeMode(hPosys, axis) stdcall Motor type Arguments Description DC Brushless Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode Algorithmic Hall-based 0 1 SetPhaseInitializeModeestablishes the mode in which the specified axis is to be initialized for commutation. The options are Algorithmic and Hall-based. In algorithmic mode the chip set briefly stimulates the motor windings and sets the initial phasing based on the observed motor response. In Hall-based initialization mode the 3 Hall sensor signals are used to determine the motor phasing. GetPhaseInitializeMode returns the current initialization mode. Restriction Algorithmic mode should only be selected if it is known that the axis is free to move in both directions, and that a brief uncontrolled move can be tolerated by the motor, mechanism, and load. see GetPhaseCommand, InitializePhase, Set/GetMotorType, Set/GetNumberPhases DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPhaseInitializeMode(hPosys#, axis, mode) GetPhaseInitializeMode(hPosys#, axis) -o- 226 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPhaseInitializeTime SetPhaseInitializeTime GetPhaseInitializeTime Syntax SetPhaseInitializeTime(hPosys, axis, time) stdcall GetPhaseInitializeTime(hPosys, axis) stdcall Motor type Arguments DC Brushless Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type time Description unsigned 16 bits Range 0 to 2 15 Scaling unity Units cycles -1 SetPhaseInitializeTimesets the time value (in cycles) to be used during the algorithmic phase initialization procedure. This value determines the duration of each of the four segments in the phase initialization algorithm. See the User's guide for more information on algorithmic initialization. GetPhaseInitializeTime returns the current phase initialization time. Restriction see GetPhaseCommand, InitializePhase, Set/GetNumberPhases, Set/GetPhaseInitializeMode, Set/GetMotorType DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPhaseInitializeTime(hPosys#, axis, time) GetPhaseInitializeTime(hPosys#, axis) -o- 227 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPhaseOffset SetPhaseOffset GetPhaseOffset Syntax SetPhaseOffset(hPosys, axis, offset) stdcall GetPhaseOffset(hPosys, axis) stdcall Motor type Arguments DC Brushless Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type time unsigned 16 bits POSYS® 18xx/19xx: Range -1 to 2 Scaling unity Units counts 15 -1 POSYS® 8xx-B/9xx: Range Description 0 to 2 15 Scaling unity Units counts -1 SetPhaseOffsetsets the offset from the index mark of the specified axis to the maximum output value of phase A. This command will have no immediate effect on the commutation angle but will have an affect once the index pulse is encountered. GetPhaseOffsetreturns the current value of the phase offset. To convert counts to a phase angle in degrees, divide by the number of encoder counts per electrical cycles and multiply by 360. For example if a value of 500 is specified using SetPhaseOffset and the counts per electrical cycle value has been set to 2,000 (SetPhaseCounts command) this corresponds to an angle of (500/2,000)*360 = 90 degrees phase angle at the index mark. Restriction Before the first index capture has occurred GetPhaseOffset will return 65535. see GetPhaseCommand, InitializePhase, Set/GetNumberPhases, Set/GetMotorType DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPhaseOffset(hPosys#, axis, offset) GetPhaseOffset(hPosys#, axis) -o- 228 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPhasePrescale SetPhasePrescale GetPhasePrescale Syntax SetPhasePrescale(hPosys, axis, scale) stdcall GetPhasePrescale(hPosys, axis) stdcall Motor type Arguments Description DC Brushless Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 scale Off 1/64 1/128 1/256 0 1 2 (only POSYS® 18xx/19xx) 3 (only POSYS® 18xx/19xx) SetPhasePrescalecontrols scaling of the encoder counts before they are used to calculate a commutation angle for the specified axis. When operated in the prescale mode the POSYS® can commutate motors with a high number of counts per electrical cycle, such as motors with very high accuracy encoders. SetPhasePrescale Off removes the scale factor. GetPhasePrescale returns the current scaling mode. Restriction see GetPhaseCommand, InitializePhase, Set/GetNumberPhases, Set/GetMotorType DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPhasePrescale(hPosys#, axis, scale) GetPhasePrescale(hPosys#, axis) -o- 229 © POSYS Motion Control GmbH & Co.KG, 2013 Digital Servo Filter ClearPositionError ClearPositionError Syntax C learPositionError(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Description ClearPositionError sets the current profile's commanded position equal to the actual position (encoder input), thereby clearing the position error for the specified axis. This command can be used when the axis is at rest, or when it is moving. If it is used when the axis is moving the host should be aware that the trajectory destination position (used in trapezoidal and s-curve modes) is not changed by this command. Restriction ClearPositionErroris a buffered command. The new value set will not take effect until the next Update or MultiUpdate instruction is entered. This command should not be sent while the controller is executing a move using the S-curve profile mode. see GetPositionError, Set/GetPositionErrorLimit, Update, MultiUpdate DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention C learPositionError(hPosys#,axis) -o- 230 © POSYS Motion Control GmbH & Co.KG, 2013 DACOutputs DACOutputsOn DACOutputsOff Syntax DACOutputsOn(hPosys) stdcall DACOutputsOff(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Description DACOutputsOn turns all ±10V outputs (optical switches) on (ON). DACOutputsOff turns all ±10V outputs (optical switches) off (OFF). The outputs are connected to GND. This is the power-on state and the state after a HardReset and an external Reset. Restriction This applies only to the analog motor command outputs. It has no effect on the PWM outputs. The PWM motor command outputs are connected to different pins. see HardReset/MCReset DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention DACOutputsOn(hPosys#) DACOutputsOff(hPosys#) -o- 231 © POSYS Motion Control GmbH & Co.KG, 2013 GetAmpEnable GetAmpEnable Syntax GetAmpEnable(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type Range 0 - 15 enabled1 enabled2 enabled3 enabled4 none signed 16 bits Returned Value 1 2 4 8 0 Returned Data Description GetAmpEnable will return the status of the four output lines. Restriction see SetAmpDisable, SetAmpEnable DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetAmpEnable(hPosys#) -o- 232 Pulse & Direction © POSYS Motion Control GmbH & Co.KG, 2013 GetDerivative GetDerivative Syntax GetDerivative(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type derivative signed 16 bits Returned Data Description Range 15 15 -2 to 2 -1 Scaling unity Units counts/cycle GetDeriv ativ ereturns the derivative of the current position error as calculated by the servo filter. The derivative value is defined as the previous position error subtracted from the current position error. See SetDerivativeTime for details on setting the derivative sampling time. Restriction This value is available only when the POSYS® is in closed-loop operation. see GetIntegral, Set/GetDerivativeTime DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetDerivative(hPosys#, axis) -o- 233 © POSYS Motion Control GmbH & Co.KG, 2013 GetIntegral GetIntegral Syntax GetIntegral(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type integral signed 32 bits Returned Data Description Range 31 31 -2 to 2 -1 Scaling 8 1/2 Units counts*cycle GetIntegralreturns the current integrated position error of the servo filter for the specified axis. GetIntegral can be used to monitor loading on the axis, because changes in the axis loading can be reflected in the value of the integration term. Scaling example: If a constant position error of 100 counts is present for 256 cycles then the total accumulated integral value will be 100 (100*256/256). Alternatively a returned value of 1,000 indicates a total stored value of 256,000 counts*cycles (1,000*256). Restriction The integrated position error is available only when the POSYS® is in closed-loop mode (SetMotorMode command). see GetDerivative, Set/GetIntegrationLimit, GetPositionError DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetIntegral(hPosys#, axis) -o- 234 © POSYS Motion Control GmbH & Co.KG, 2013 GetPositionError GetPositionError Syntax GetPositionError(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type position error signed 32 bits Returned Data Description Pulse & Direction Range 31 31 -2 to 2 -1 Scaling unity Units counts steps GetPositionErrorreturns the current position error of the specified axis. The error is the difference between the actual position (encoder position) and the commanded position (instantaneous output of the trajectory generator). When used with the motor type set to microstepping, or pulse and direction, the error is defined as the difference between the encoder position (represented in steps), and the commanded position (instantaneous output of the trajectory generator). Restriction see Set/GetPosition, Set/GetPositionErrorLimit DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetPositionError(hPosys#, axis) -o- 235 © POSYS Motion Control GmbH & Co.KG, 2013 GetPositionLoopValue GetPositionLoopValue only valid for POSYS® 1800/1900 with firmware version >2.x Syntax GetPositionLLoop(hPosys, axis, node) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 node Integrator Sum Integral Contribution Deivative Biquad1 Input Biqaud2 Input 0 1 2 3 4 Type Range/Scaling signed 32 bits see below Result value Description GetPositionLoopValueis used to find the value of a node in the position loop. Refer to the product user’s guide for more detail on the location of each node in the position loop processing. Though the data returned is signed 32 bits regardless of the node, the range and format varies depending on thenode, as follows: Parameter Range Scaling Units Integrator Sum 31 31-1 -2 to 2 unity (counts or microsteps)*cycles Integral Contribution 31 31-1 -2 to 2 16 100*Kout/(2 ) Derivative 15 15-1 -2 to 2 unity (counts oder microsteps)/cycles Biquad1 Input 15 15-1 -2 to 2 unity counts or microsteps Biquad2 Input 15 15-1 -2 to 2 unity counts or microsteps Restriction see Set/GetPositionLoop DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetPositionLoopValue(hPosys#, axis, node) -o- 236 © POSYS Motion Control GmbH & Co.KG, 2013 SetAmpDisable SetAmpDisable Syntax SetAmpDisable(hPosys, disable) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice disable1 disable2 disable3 disable4 1 2 4 8 Description Pulse & Direction SetAmpDisable is used to reset one, any combination or all of the amplifier enable outputs. After power-on or an external reset or a HardReset command all 4 amplifier enable outputs will be in a low state. Setting an amplifier output will put it into a high state. The SoftReset command has no effect on the state of the amplifier enable outputs. The command SetAmpDisable will turn off (put into a low state) the amplifier enable outputs. Restriction see SetAmpEnable, GetAmpEnable DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetAmpDisable(hPosys#, disable) -o- 237 © POSYS Motion Control GmbH & Co.KG, 2013 SetAmpEnable SetAmpEnable Syntax SetAmpEnable(hPosys, enable) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice enable1 enable2 enable3 enable4 1 2 4 8 Pulse & Direction Description SetAmpEnable is used to set one, any combination or all of the amplifier enable outputs. After power-on or an external reset or a HardReset command all 4 amplifier enable outputs will be in a low state. Setting an amplifier output will put it into a high state. Restriction The SoftReset command has no effect on the state of the amplifier enable outputs. see SetAmpDisable, GetAmpEnable DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetAmpEnable(hPosys#, enable) -o- 238 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetAutoStopMode SetAutoStopMode GetAutoStopMode Syntax SetAutoStopMode(hPosys, axis, mode) stdcall GetAutoStopMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode Disable Enable 0 1 Description Pulse & Direction SetAutoStopModedetermines the behavior of the specified axis when a motion error occurs. When auto stop is enabled (SetAutoStopMode (enable)), the axis goes into open-loop mode when a motion error occurs. When Auto-Stop is disabled (SetAutoStopMode (disable)), the axis is not affected by a motion error. GetAutoStopMode returns the current state of the Auto-Stop mode. Restriction When the encoder is set to none (SetEncoderSource none), setting the auto stop mode to Enable will not stop motion in the event that the position error limit is exceeded. see GetEventStatus, Set/GetPositionErrorLimit DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetAutoStopMode(hPosys#, axis, mode) GetAutoStopMode(hPosys#, axis) -o- 239 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetAuxiliaryEncoderSource SetAuxiliaryEncoderSource GetAuxiliaryEncoderSource only available for POSYS® 18xx/19xx Series Syntax SetAuxiliaryEncoderSource(hPosys, axis, mode, auxiliaryAxis) stdcall GetAuxiliaryEncoderSource(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode disable enable 0 1 auxiliaryAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Description Pulse & Direction SetAuxiliaryEncoderSource controls the motion IC 's dual encoder loop feature. The mode argument enables or disables the secondary encoder loop for axis. The auxiliaryAxis parameter selects which axis encoder input is to be interpreted as the damping term (Kd) of the servo equation for axis. To determine the actual position of the auxiliary encoder, use GetActualPosition (auxiliaryAxis) . Restriction To avoid a potentially unstable operating condition the auxiliary encoder should always have a resolution greater or equal to that of the main encoder. This command is not available for POSYS® 700/800/800-B/900, it is only available for the POSYS® 1800/1900 series. see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetAuxiliaryEncoderSource(hPosys#, axis, mode, auxiliaryAxis) GetAuxiliaryEncoderSource(hPosys#, axis) -o- 240 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBiQuadCoefficient SetBiQuadCoefficient GetBiQuadCoefficient only available for POSYS® 18xx/19xx Series Syntax SetBiQuadCoefficient(hPosys, axis, coefficientID, filterID, value) stdcall GetBiQuadCoefficient(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 coefficientID FilterEnable coefficient B0 coefficient B1 coefficient B2 coefficient A1 coefficient A2 coefficient k 0 1 2 3 4 5 6 filterID Filter0 Filter1 0 1 Type value Description signed 16 bit Range 15 15 -2 to 2 -1 Scaling unity SetBiQuadCoefficientsets the selected coefficient for the selected bi-quad output filter of the selected axis. An axis´ filter is enabled by sending a coefficientID of 0 (FilterEnable) and a value of 1; a value of 0 disables the filter. The output of the filter at time n (Y[n]) is determined by the input data (X[n]) using the following formula: Y[n] = K*(B0*X[n] + B1*X[n-1] + B2*X[n-2] + A1*Y[n-1] + A2*Y[n-2] B0, B1, B2, A1 and A2 are the signed coefficients; K is a 15-bit positive scaler used to help reduce round-off errors. GetBiQuadCoefficient returns the selected coefficient for the selected bi-quad output filter of the selected axis. Restriction Each POSYS® supports up to 2 bi-quad filters per axis (depends on # of axes per card). If both filters are enabled, their outputs are chained (filter0 followed by filter1). If filter0 is disabled for an axis, filter1 is also disabled on that axis, regardless of the filterEnable setting for filter1. It is recommended that the filter be disabled while its parameters are being changed, then re-enabled once all parameters have been set. Doing so will avoid sudden, unexpected changes in the motor output values. This command is not available for the POSYS® 700/800/800-B/900 series. It is only available for the POSYS® 1800/1900 series. For POSYS® 1800/1900 boards with Piezo-functionality this command is not available. see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBiQuadCoefficient(hPosys#, axis, coefficientID, filterID, value) GetBiQuadCoefficient(hPosys#, axis) -o- 241 © POSYS Motion Control GmbH & Co.KG, 2013 242 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetDerivativeTime SetDerivativeTime GetDerivativeTime Syntax SetDerivativeTime(hPosys, axis, time) stdcall GetDerivativeTime(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type time Description unsigned 16 bits Range 0 to 2 15 Scaling unity Units cycles -1 SetDeriv ativeTimesets the sampling time, in number of servo cycles, for the servo filter to use in calculating the derivative term for the specified axis. GetDerivativeTime returns the derivative sampling time. Restriction This command is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. This command does not affect the overall cycle time of the POSYS®, only the derivative sampling time. The overall cycle time of the POSYS® is set using the command SetSampleTime. see GetDerivative DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetDerivativeTime(hPosys#, axis, time) GetDerivativeTime(hPosys#, axis) -o- 243 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetIntegrationLimit SetIntegrationLimit GetIntegrationLimit Syntax SetIntegrationLimit(hPosys,axis, limit) stdcall GetIntegrationLimit(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type limit unsigned 32 bits Returned Data Description Range 0 to 2 31 -1 Scaling 8 1/2 Units counts*cycle SetIntegrationLimitloads the integration-limit register of the digital servo filter for the specified axis. GetIntegrationLimitreturns the value of the current integration limit. Scaling example: The scaling is the same as for the GetIntegral command, namely that (for example) a constant position error of 100 counts which is present for 256 cycles will result in an integral value of 100 (100*256/256) , and therefore an Integration Limit value of 100 will limit the total accumulated integration error to 25,600 count*cycles. Restriction This is a buffered command. The value set using this command will not take effect until the next: Update or MultiUpdate instruction. see GetIntegral, GetDerivative, Set/GetDerivativeTime, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetIntegrationLimit(hPosys#, axis, limit) GetIntegrationLimit(hPosys#, axis) -o- 244 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetKaff SetKaff GetKaff Syntax SetKaff(hPosys, axis, Kaff) stdcall GetKaff(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kaff unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetKaff sets the acceleration feedforward gain of the digital servo filter for the specified axis. GetKaff reads the current value of the acceleration feedforward gain. Restriction SetKaff is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetKd, Set/GetKi, Set/GetKout, Set/GetKp, Set/GetKvff, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetKaff(hPosys#, axis, Kaff) GetKaff(hPosys#, axis) -o- 245 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetKd SetKd GetKd Syntax SetKd(hPosys, axis, Kd) stdcall GetKd(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kd unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetKd sets the derivative gain of the digital servo filter for the specified axis. GetKd reads the current value of the derivative gain. Restriction SetKd is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetKi, Set/GetKout, Set/GetKp, Set/GetKaff, Set/GetKvff, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetKd(hPosys#, axis, Kd) GetKd(hPosys#, axis) -o- 246 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetKi SetKi GetKi Syntax SetKi(hPosys, axis, Ki) stdcall GetKi(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Ki unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetKi sets the integral gain of the digital servo filter for the specified axis. GetKi reads the current value of the integral gain. Restriction This is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetKd, Set/GetKout, Set/GetKp, Set/GetKaff, Set/GetKvff, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetKi(hPosys#, axis, Ki) GetKi(hPosys#, axis) -o- 247 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetKout SetKout GetKout Syntax SetKout(hPosys,axis, Kout) stdcall GetKout(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kout unsigned 16 bits Range Scaling Units Description 0 to 2 16 100/2 -1 16 % output SetKout sets the output scale factor of the digital servo filter for the specified axis. The default value of Kout is 65,535, approximately 100% output. GetKout reads the current value of the output scale register. Example: To set the output scaling of the servo filter to 50%, set the Kout register to 32,767. Restriction This command is NOT buffered. It will take effect immediately after it is sent. see Set/GetKd, Set/GetKi, Set/GetKp, Set/GetKaff, Set/GetKvff, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetKout(hPosys#, axis, Kout) GetKout(hPosys#, axis) -o- 248 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetKp SetKp GetKp Syntax SetKp(hPosys, axis, Kp) stdcall GetKp(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kp unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetKp sets the proportional gain of the digital servo filter for the specified axis. GetKp reads the current value of the proportional gain. Restriction SetKp is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetKd, Set/GetKi, Set/GetKout, Set/GetKaff, Set/GetKvff, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetKp(hPosys#, axis, Kp) GetKp(hPosys#, axis) -o- 249 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetKvff SetKvff GetKvff Syntax SetKvff(hPosys, axis, Kvff) stdcall GetKvff(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kvff unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetKvff sets the velocity feedforward gain of the digital servo filter for the specified axis. GetKvff reads the current value of the velocity feedforward gain. Restriction SetKvff is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetKd, Set/GetKi, Set/GetKout, Set/GetKp, Set/GetKaff, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetKvff(hPosys#, axis, Kvff) GetKvff(hPosys#, axis) -o- 250 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetMotorLimit SetMotorLimit GetMotorLimit Syntax SetMotorLimit(hPosys, axis, limit) stdcall GetMotorLimit(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type limit unsigned 16 bits Range Scaling Units Description 0 to 2 15 100/2 -1 15 % output SetMotorLimitsets the maximum value for the motor output command allowed by the digital servo filter of the specified axis. Motor command values beyond this value will be clipped to the specified motor command limit. For example if the motor limit was set to 1,000 and the servo filter determined that the current motor output value should be 1,100 the actual output value would be 1,000. Conversely if the output value were -1,100 then it would be clipped to -1,000. This command is useful for protecting amplifiers, motors, or system mechanisms when it is known that a motor command exceeding a certain value will cause damage. GetMotorLimitreads the current motor limit value Scaling example: If it is desired that a motor limit of 75 % of full scale be established then this register should be loaded with a value of 75.0*32,768/100 = 24,576 (decimal). This corresponds to a hexadecimal value of 06000h. Restriction This command only affects the motor output when an axis is in closed loop mode. When an axis of the POSYS® is in open loop mode this command has no affect. see Set/GetMotorBias, Set/GetMotorCommand, Set/GetMotorMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetMotorLimit(hPosys#, axis, limit) GetMotorLimit(hPosys#, axis) -o- 251 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPositionErrorLimit SetPositionErrorLimit GetPositionErrorLimit Syntax SetPositionErrorLimit(hPosys, axis, limit) stdcall GetPositionErrorLimit(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type limit Description unsigned 32 bits Range 0 to 2 31 Scaling unity Units counts -1 SetPositionErrorLimitsets the absolute value of the maximum position error allowable by the POSYS® for the specified axis. If the position error exceeds this limit, a motion error occurs. Such a motion error may or may not cause the axis to stop moving depending on the value set using the SetAutoStopMode command. GetPositionErrorLimit returns the current position error limit value. Restriction see GetPositionError, Set/GetActualPosition, Set/GetPosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPositionErrorLimit(hPosys#, axis, limit) GetPositionErrorLimit(hPosys#, axis) -o- 252 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPositionLoop SetPositionLoop GetPositionLoop only valid for POSYS® 1800/1900 with firmware version >2.x Syntax SetPositionLoop(hPosys, axis, parameter, value) stdcall GetPositionLoop(hPosys, axis, parameter) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Encoding axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 parameter PID Proportional Gain (Kp) PID Integrator Gain (Ki) PID Integrator Limit (Ilimit) PID Derivative Gain (Kd) PID Derivate Time PID Output Gain (Kout) Velocity Feedforward Gain (Kvff) Acceleration Feedforward Gain (Kaff) Biquad1, enable filter Biquad1, coefficientB0 Biquad1, coefficientB1 Biquad1, coefficientB2 Biquad1, coefficientA1 Biquad1, coefficientA2 Biquad1, coefficientK Biquad2, enable filter Biquad2, coefficientB0 Biquad2, coefficientB1 Biquad2, coefficientB2 Biquad2, coefficientA1 Biquad2, coefficientA2 Biquad2, coefficientK 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 Type Range/Scaling signed 32 bits see below value Definition SetPositionLoopis used to configure the operating parameters of the PID position loop. Refer to the product user’s guide for more detail on how each parameter is used in the position loop processing. Though these commands always use 32-bit data, the range and format vary depending on the parameter, as follows: The values read by GetPositionLoop are the buffered settings. Parameter Range Velocity Feedforward Gain (Kvff) 0 to 2 Acceleration Feedforward Gain (Kaff) 0 to 2 PID Proportional Gain (Kp) 0 to 2 PID Integrator Gain (Ki) 0 to 2 PID Derivative Gain (Kd) 0 to 2 PID Integrator Limit (Limit) 0 to 2 Scaling 15-1 unity 15-1 unity 15-1 unity 15-1 1/256 15-1 unity 31-1 unity 253 Units count*cycles © POSYS Motion Control GmbH & Co.KG, 2013 PID Derivative Time PID Output Gain (Kout) 0 to 2 0 to 2 15-1 unity 16-1 100/2 cycles 16 Biquad1, Enable Filter 0 to 1 0=disable 1=enable Biquad1, coefficientB0 15 15-1 -2 to 2 unity Biquad1, coefficientB1 15 15-1 -2 to 2 unity Biquad2, coefficientB2 15 15-1 -2 to 2 unity Biquad1, coefficientA1 15 15-1 -2 to 2 unity Biquad1, coefficientA2 15 15-1 -2 to 2 unity Biquad1, coefficientK 0 to 2 15-1 unity Biquad2, Enable Filter 0 to 1 0=disable 1=enable Biquad2, coefficientB0 15 15-1 -2 to 2 unity Biquad2, coefficientB1 15 15-1 -2 to 2 unity Biquad2, coefficientB2 15 15-1 -2 to 2 unity Biquad2, coefficientA1 15 15-1 -2 to 2 unity Biquad2, coefficientA2 15 15-1 -2 to 2 unity Biquad2, coefficientK 0 to 2 %output 15-1 unity Many of these parameters are self-descriptive. However, below are some additional comments on the use of specific parameters. PID Derivative Time has units of cycles. This is the sample time of the axis, as configured by SetSampleTime. For example, if set to 10, the derivative term will be computed every 10 cycles of the axis position loop.PID Integrator Limit has units of count*cycles, and scaling of unity. This matches the units and scaling of the position loop integrator sum. For example, a constant position error of 100 counts which is present for 256 cycles will result an an integrator sum of 100*256 = 25,600. PID Integrator Gain has scaling of 1/256. Thus, a setting of 256 corresponds to “unity” integrator gain. From the above example, this would make the integrator sum of 25,600 create a contribution to the PID output of 25,600. PID Output Gain is a scaling factor applied to the output of the digital servo filter, with units of % output. Its default value is 65,535, or approximately 100% output. To set the scaling to, for example, 50% of output, PID Output Gain would be set to 32,767. The biquad coefficients configure the two biquad output filters. If both filters are enabled, their outputs are chained (filter1 followed by filter2). If filter1 is disabled for an axis, filter2 is also disabled for that axis, regardless of user setting of Biquad2 Enable Filter. The signed coefficients and unsigned scalar K combine to implement the following equation, for each filter: Y = K x (B x X + B x X +B xX +A xY *A xY ) n 0 1 n-1 2 n-2 1 n-1 2 n-2 Where Y is the filter output at cycle n, and X is the filter input at cycle n. n n Restrictions Set/GetPositionLoop are buffered commands. All parameters set are buffered, and will not take effect until an update is done on the position loop (through Update command, MultiUpdate command, or update action on breakpoint). see Update, Set/GetUpdateMask, MultiUpdate, Set/GetBreakPointUpdateMask, GetPositionLoopValue, Set/GetKi, Set/GetKd, Set/GetKp, Set/GetBiQuadCoefficient, Set/GetIntegrationLimit, Set/GetDerivativeTime, Set/GetKout, Set/GetKaff, Set/GetKvff DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPositionLoop(hPosys#, axis, parameter, value) GetPositionLoop(hPosys#, axis, parameter) -o- 254 © POSYS Motion Control GmbH & Co.KG, 2013 255 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetProfileKp SetProfileKp GetProfileKp Syntax SetProfileKp(hPosys, axis, Kp) stdcall GetProfileKp(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kp unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity This modified trapezoidal profile produces an S-C urve style velocity profile while permitting all trajectory parameters to be changed "on-the-fly". The “ProfileKp” is a proportional gain parameter with a range between 0 and 32767. When set to 32767 the gain is “unity” and results in no filtered output. For values below 32767 the trajectory is filtered accordingly. SetProfileKpsets this proportional acceleration gain parameter for the specified axis. The command is available in trapezoidal, electronic geraing and velocity mode. GetProfileKpreturns the programmed value for the proportional acceleration gain. Restriction SetProfileKp is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. This command is optional and only available on POSYS® 800-B/900 boards. For details please contact servo-Halbeck GmbH & Co.KG. see Set/GetKd, Set/GetKi, Set/GetKout,Set/GetKaff, Set/GetKvff, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetProfileKp(hPosys#, axis, Kp) GetProfileKp(hPosys#, axis) -o- 256 © POSYS Motion Control GmbH & Co.KG, 2013 Special Piezo Motor Functions 257 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzIntLim SetpzIntLim GetpzIntLim only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzIntLim(hPosys,axis, limit) stdcall GetpzIntLim(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type limit unsigned 32 bits Description Range 0 to 2 31 -1 Scaling 8 1/2 Units counts*cycle SetpzIntLim sets the Interal Portion in the digital servo filter for the specified axis when position error in primary window. GetpzIntLim returns the programmed value for the specified axis. Returned value = unsigned 32 bit Scaling example: The scaling is the same as for the Set/GetIntegrationLimit command, namely that (for example) a constant position error of 100 counts which is present for 256 cycles will result in an integral value of 100 (100*256/256) , and therefore an Integration Limit value of 100 will limit the total accumulated integration error to 25,600 count*cycles. Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKp, Set/GetpzKi, Set/GetpzKd, Set/GetpzKvff, Set/GetpzKdPeriod, Set/GetpzWindow2, Set/GetpzKvff2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzIntLim(hPosys#,axis, limit) GetpzIntLim(hPosys#, axis) -o- 258 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzIntLimStl SetpzIntLimitStl GetpzIntLimitStl only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzIntLimitStl(hPosys,axis, limit) stdcall GetpzIntLimitStl(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type limit unsigned 32 bits Description Range 0 to 2 31 -1 Scaling 8 1/2 Units counts*cycle SetpzIntLimitStlsets the Integration Limit for the specified axis when settled. GetpzIntLimitStlreturns the programmed value for the specified axis. Returned value = unsigned 32 bit Scaling example: The scaling is the same as for the Set/GetIntegrationLimit command, namely that (for example) a constant position error of 100 counts which is present for 256 cycles will result in an integral value of 100 (100*256/256) , and therefore an Integration Limit value of 100 will limit the total accumulated integration error to 25,600 count*cycles. Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzOffsetNeg, Set/GetpzOffsetPos, Set/GetpzWindow DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzIntLimitstl(hPosys#,axis, limit) GetpzIntLimitStl(hPosys#, axis) -o- 259 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKaff SetpzKaff GetpzKaff only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzKaff(hPosys, axis, Kaff) stdcall GetpzKaff(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kaff unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetpzKaff sets the acceleration feedforward gain of the digital servo filter for the specified axis when position error is in primary window. GetpzKaff returns the programmed value for the specified axis. Returned value = unsigned 32 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKp, Set/GetpzKi, Set/GetpzKd, Set/GetpzKvff, Set/GetpzIntLim, Set/GetpzKdPeriod, Set/GetpzWindow2, Set/GetpzKvff2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzKaff(hPosys#, axis, Kaff) GetpzKaff(hPosys#, axis) -o- 260 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKd SetpzKd GetpzKd only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzKd(hPosys, axis, Kd) stdcall GetpzKd(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kd unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetpzKd sets the derivative gain of the digital servo filter of the specified axis when position error in primary window. GetpzKd returns the programmed value for the specified axis. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKp, Set/GetpzKi, Set/GetpzKvff, Set/GetpzIntLim, Set/GetpzKdPeriod, Set/GetpzWindow2, Set/GetpzKvff2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzKd(hPosys#, axis, Kd) GetpzKd(hPosys#, axis) -o- 261 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKdPeriod SetpzKdPeriod GetpzKdPeriod only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzKdPeriod(hPosys, axis, time) stdcall GetpzKdPeriod(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type time Description unsigned 16 bits Range 0 to 2 15 Scaling unity Units cycles -1 SetpzKdPeriodsets the derivative time for the specified axis when position error is in primary window. GetpzKdPeriodreturns the programmed value for the specified axis. Returned value = unsigned 32 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKp, Set/GetpzKi, Set/GetpzKd, Set/GetpzKvff, Set/GetpzIntLim, Set/GetpzWindow2, Set/GetpzKvff2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzKdPeriod(hPosys#, axis, time) GetpzKdPeriod(hPosys#, axis) -o- 262 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKi SetpzKi GetpzKi only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzKi(hPosys, axis, Ki) stdcall GetpzKi(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Ki unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetpzKi sets the integral term for the specified axis when position error is in primary window. GetpzKi returns the programmed value for the specified axis. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKp, Set/GetpzKd, Set/GetpzKvff, Set/GetpzIntLim, Set/GetpzKdPeriod, Set/GetpzWindow2, Set/GetpzKvff2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzKi(hPosys#, axis, Ki) GetpzKi(hPosys#, axis) -o- 263 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKp SetpzKp GetpzKp only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzKp(hPosys, axis, Kp) stdcall GetpzKp(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kp unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetpzKp sets the proportional gain of the digital servo filter for the specified axis when the position error is in the primary window. GetpzKp returns the programmed value for the specified axis. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKi, Set/GetpzKd, Set/GetpzKvff, Set/GetpzIntLim, Set/GetpzKdPeriod, Set/GetpzWindow2, Set/GetpzKvff2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetKp(hPosys#, axis, Kp) GetKp(hPosys#, axis) -o- 264 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKvff SetpzKvff GetpzKvff only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzKvff(hPosys, axis, Kvff) stdcall GetpzKvff(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kvff unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetpzKvff sets the velocity feedforward gain of the digital servo filter des digitalen Servofilters for the specified axis when the position error is in the primary window. GetpzKv ffreturns the programmed value for the specified axis. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKp, Set/GetpzKi, Set/GetpzKd, Set/GetpzIntLim, Set/GetpzKdPeriod, Set/GetpzWindow2, Set/GetpzKvff2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzKvff(hPosys#, axis, Kvff) GetpzKvff(hPosys#, axis) -o- 265 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzKvff2 SetpzKvff2 GetpzKvff2 only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzKvff2(hPosys, axis, Kvff) stdcall GetpzKvff2(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Kvff unsigned 16 bits Range Scaling Description 0 to 2 15 -1 unity SetpzKvff2 sets die Velocity Feedforward term of the digital servo filters for the specified axis when the position error is in secondary window. GetpzKv ff2returns the programmed value for the specified axis when position error is in secondary window. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKp, Set/GetpzKi, Set/GetpzKd, Set/GetpzKvff, Set/GetpzIntLim, Set/GetpzKdPeriod, Set/GetpzWindow2 DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzKvff2(hPosys#, axis, Kvff) GetpzKvff2(hPosys#, axis) -o- 266 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzOffsetNeg SetpzOffsetNeg GetpzOffsetNeg only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzOffsetNeg(hPosys, axis, offset) stdcall GetpzOffsetNeg(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type offset unsigned 16 bit Range Scaling Description 0 to 2 15 -1 unity SetpzOffsetNegis a servo offset used when not settled as defined in SetSettleWindow and SetSettleTime and position error is negative. GetpzOffsetNegreturns the programmed value for the specified axis. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzOffsetPos, Set/GetpzIntLimStl, Set/GetpzWindow DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzOffsetNeg(hPosys#, axis, offset) GetpzOffsetNeg(hPosys#, axis) -oSet/GetpzOffsetPos SetpzOffsetPos GetpzOffsetPos only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzOffsetPos(hPosys, axis, offset) stdcall GetpzOffsetPos(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type offset unsigned 16 bit Range Scaling 267 0 to 2 unity 15 -1 © POSYS Motion Control GmbH & Co.KG, 2013 Description SetpzOffsetPosis a servo offset used when not settled as defined in SetSettleWindow and SetSettleTime and position error is positive. GetpzOffsetPosreturns the programmed value for the specified axis. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzOffsetNeg, Set/GetpzIntLimStl, Set/GetpzWindow DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzOffsetPos(hPosys#, axis, offset) GetpzOffsetPos(hPosys#, axis) -o- 268 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzWindow SetpzWindow GetpzWindow only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzWindow(hPosys, axis, window) stdcall GetpzWindow(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type window Description unsigned 16 bits Range 0 to 2 16 Scaling unity Units counts -1 SetpzWindow defines the location of the primary window boundary. GetpzWindow reads the current value for the specified axis. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzOffsetNeg, Set/GetpzOffsetPos, Set/GetpzIntLimStl DLL: Delphi, C++, VB refer to the various import files (imp*.*) MotionScript® language calling convention SetpzWindow(hPosys#, axis, window) GetpzWindow(hPosys#, axis) -o- 269 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetpzWindow2 SetpzWindow2 GetpzWindow2 only available for the POSYS® 18xx-Piezo/19xx-Piezo Series Syntax SetpzWindow2(hPosys, axis, window) stdcall GetpzWindow2(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type window Description unsigned 16 bits Range 0 to 2 16 Scaling unity Units counts -1 SetpzWindow2 defines the boundary of the secondary window. GetpzWindow2 reads the current value of the secondary window. Returned value = unsigned 16 bit Restriction This command is not available for the POSYS® 700/800/800-B/1800/1900 series. It is only available for the POSYS® 1800-Piezo and 1900-Piezo. see Set/GetpzKaff, Set/GetpzKp, Set/GetpzKi, Set/GetpzKd, Set/GetpzKvff, Set/GetpzIntLim, Set/GetpzKdPeriod, Set/GetpzKvff2 DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetpzWindow2(hPosys#, axis, window) GetpzWindow2(hPosys#, axis) -o- 270 © POSYS Motion Control GmbH & Co.KG, 2013 Encoder AdjustActualPosition AdjustActualPosition Syntax AdjustActualPosition(hPosys, axis, position) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type position Description signed 32 bits Range 31 31 -2 to 2 -1 Scaling unity Units counts steps The position specified as the parameter to AdjustActualPositionis summed with the actual position register (encoder position) for the specified axis. This has the effect of adding or subtracting an offset to the current actual position. At the same time, the current commanded position is replaced by the new actual position value minus the current actual position error. This prevents a servo "bump" when the new axis position is established. The destination position (see SetPosition) is also modified by this amount so that no trajectory motion will occur when the update instruction is issued. In effect, this instruction establishes a new reference from which subsequent positions can be calculated. It is commonly used to set a known reference position after a homing procedure. Note: On axes configured for stepping and microstepping motors, the current actual position error is zeroed. AdjustActualPosition takes effect immediately, it is not buffered. Restriction see GetPositionError, GetActualVelocity, Set/GetActualPositionUnits, Set/GetActualPosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention AdjustActualPosition(hPosys#, axis, position) -o- 271 © POSYS Motion Control GmbH & Co.KG, 2013 GetAbsoluteSSIPosition GetAbsoluteSSIPosition Syntax GetAbsoluteSSIPosition(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Returned Data Absolute encoder position as a 32 bit integer Description GetAbsoluteSSIPosition returns a 32 bit integer representing the encoder´s absolute position as reported by the encoder for the selected axis. Absolute encoder position as a 32 bit integer. Restriction These functions are only available if the SSI 800/900 (Synchronous Serial Interface) board is installed. The SSI 800/900 can only be used with the POSYS® 900 and POSYS® 800/800-B, 1800 and 1900 motion controller. see GetSSIVersion, Set/GetEncoderSource, ResetSSI, Read/WriteSSIResolution,Read/WriteSSIRegister , Read/WriteSSIFrequency, SetActualToAbsolutePosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetAbsoluteSSIPosition(hPosys#, axis) -o- 272 © POSYS Motion Control GmbH & Co.KG, 2013 GetActualVelocity GetActualVelocity Syntax GetActualVelocity(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type velocity signed 32 bits Returned Data Description Pulse & Direction Range 31 31 -2 to 2 -1 Scaling 16 1/2 Units counts/cycle GetActualVelocityreads the value of the velocity for the specified axis. The actual velocity is derived by subtracting the actual position during the previous chip cycle from the actual position for this chip cycle. The result of this subtraction will always be integer because position is always integer. As a result the value returned by GetActualVelocity will always be a multiple of 65,536 since this represents a value of one in the 16.16 number format. The low word is always zero. This value is the result of the last encoder input, so it will be accurate to within one cycle. Scaling example: If a value of 1,703,936 is retrieved by the GetActualVelocity command (high word: 01Ah, low word: 0h) this corresponds to a velocity of 1,703,936/65,536 or 26 counts/cycle. Restriction The actual velocity is derived by subtracting the actual position during the previous chip cycle from the actual position for this chip cycle. The result of this subtraction will always be integer because position is always integer. As a result the value returned by GetActualVelocity will always be a multiple of 65,536 since this represents a value of one in the 16.16 number format. The low word is always zero. see GetCommandedVelocity DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetActualVelocity(hPosys#, axis) -o- 273 © POSYS Motion Control GmbH & Co.KG, 2013 GetCaptureValue GetCaptureValue Syntax GetCaptureValue(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Returned Data Type captured position Description Pulse & Direction signed 32 bits Range 31 31 -2 to 2 -1 Scaling unity Units counts steps GetCaptureValuereturns the contents of the Position C apture Register for the specified axis. This command also resets the bit 9 of the activity status register to allow another capture to occur. If actual position units is set to steps, the returned position will be in units of steps. Restriction see Set/GetCaptureSource, Set/GetActualPositionUnits, GetActivityStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetCaptureValue(hPosys#, axis) -o- 274 © POSYS Motion Control GmbH & Co.KG, 2013 GetSSIVersion GetSSIVersion Syntax GetSSIVersion(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type version unsigned 16 bit Returned Data Pulse & Direction Description This function returns the version number of the SSI board installed. It provides useful information when analyzing problems. Restriction This function is only available if the SSI 800/900 (Synchronous Serial Interface) board is installed. The SSI 800/900 can only be used with the POSYS® 900 and POSYS® 800/800-B, 1800 and 1900 motion controller. see GetAbsoluteSSIPosition, Set/GetEncoderSource, ResetSSI, Read/WriteSSIResolution, Read/WriteSSIRegister, Read/WriteSSIFrequency, SetActualToAbsolutePosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetSSIVersion(hPosys#) -o- 275 © POSYS Motion Control GmbH & Co.KG, 2013 Read/WriteSSIFrequency WriteSSIFrequency ReadSSIFrequency Syntax WriteSSIFrequency(hPosys, axis, resolution) stdcall ReadSSIFrequency(hPosys, axis, resolution) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 frequency 1100 KHz 550 KHz 275 KHz 137.5 KHz 1100 550 275 137 Description Pulse & Direction WriteSSIFrequencyoverwrites the power-on default DIP-switch settings for frequency of the selected axis. Each axis can be set to its individual value. ReadSSIFrequency returns the active frequency for the selected axis. Restriction Do not change frequency while the sy stem is running and motors and driv ers are powered! These functions are only available if the SSI 800/900 (Synchronous Serial Interface) board is installed The SSI 800/900 can only be used with the POSYS® 900 and POSYS® 800/800-B/1800/1900 motion controller. see GetSSIVersion, GetAbsoluteSSIPosition, Set/GetEncoderSource, ResetSSI,Read/WriteSSIResolution , Read/WriteSSIRegister, SetActualToAbsolutePosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention WriteSSIFrequency(hPosys#, axis, resolution) ReadSSIFrequency(hPosys#, axis, resolution) -o- 276 © POSYS Motion Control GmbH & Co.KG, 2013 Read/WriteSSIRegister WriteSSIRegister ReadSSIRegister Syntax WriteSSIRegister(hPosys, axis, resolution, frequency) stdcall ReadSSIRegister(hPosys, axis, resolution, frequency) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 resolution 25 13 12 10 25 13 12 10 frequency 1.1 MHz 550 KHz 275 KHz 137.5 KHz Description bits bits bits bits Pulse & Direction 1100 550 275 137 WriteSSIRegisteroverwrites the power-on defaults (1.1 MHz frequency) and the DIP-switch settings for resolution. Each axis can be set to its individual values. ReadSSIRegister returns the active resolution and frequency in these two variables for the selected axis. Restriction Do not change resolution while the sy stem is running and motors and driv ers are powered! These functions are only available if the SSI 800/900 (Synchronous Serial Interface) board is installed The SSI 800/900 can only be used with the POSYS® 900 and POSYS® 800/800-B/1800/1900 motion controller. see GetSSIVersion, GetAbsoluteSSIPosition, Set/GetEncoderSource, ResetSSI,Read/WriteSSIResolution , Read/WriteSSIFrequency, SetActualToAbsolutePosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention WriteSSIRegister(hPosys#, axis, resolution, frequency) ReadSSIRegister(hPosys#, axis, resolution, frequency) -o- 277 © POSYS Motion Control GmbH & Co.KG, 2013 Read/WriteSSIResolution WriteSSIResolution ReadSSIResolution Syntax WriteSSIResolution(hPosys, axis, resolution) stdcall ReadSSIResolution(hPosys, axis, resolution) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 resolution 25 13 12 10 25 13 12 10 Description bits bits bits bits Pulse & Direction WriteSSIResolutionoverwrites the power-on default DIP-switch settings for resolution of the selected axis. Each axis can be set to its individual value. ReadSSIResolution returns the active resolution for the selected axis. Restriction Do not change resolution while the sy stem is running and motors and driv ers are powered! These functions are only available if the SSI 800/900 (Synchronous Serial Interface) board is installed The SSI 800/900 can only be used with the POSYS® 900 and POSYS® 800/800-B/1800/1900 motion controller. see GetSSIVersion, GetAbsoluteSSIPosition, Set/GetEncoderSource, ResetSSI,Read/WriteSSIRegister, Read/WriteSSIFrequency, SetActualToAbsolutePosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention WriteSSIResolution(hPosys#, axis, resolution) ReadSSIResolution(hPosys#, axis, resolution) -o- 278 © POSYS Motion Control GmbH & Co.KG, 2013 ResetSSI ResetSSI Syntax ResetSSI(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Description ResetSSI resets the SSI board to its defaults. Frequency = 1.1 MHz and resolution to the DIP-switch settings. After reset the momentary absolute position of the encoder will be send to the POSYS® motion controller. Restriction An external reset or using the POSYS® hardware reset command HardReset will NOT reset the SSI 800/900 board. Only removal of power or issuing the ResetSSI command will cause a reset of the SSI 800/900 board. see GetSSIVersion, GetAbsoluteSSIPosition, Set/GetEncoderSource,Read/WriteSSIResolution, Read/WriteSSIRegister, Read/WriteSSIFrequency,SetActualToAbsolutePosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention ResetSSI(hPosys#) -o- 279 © POSYS Motion Control GmbH & Co.KG, 2013 SetActualToAbsolutePosition SetActualToAbsolutePosition Syntax SetActualToAbsolutePosition(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys CardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Description SetActualToAbsolutePosition will set the motion controller´s actual position to the encoder´s absolute position for the selected axis. This synchronizes the two counters. The motion controller will maintain the position for the full 32 bit range, the SSI 800/900 maintains the position for the absolute encoder´s range. If the encoder´s resolution is 25 bits the position range will be 0 to 33,554,432 counts and then start at zero again. Restriction Caution must be exercised when using this function to assure that no abrupt motion takes place. Before motors and amplifiers are powered assure that commanded and actual positions do not deviate by more than a few counts otherw ise their could be DANGEROUS abrupt movement when the system starts to servo! SetMotorMode should be OFF (not servoing) before using the SetActualToAbsolutePosition command. Note: These functions are only available if the SSI 800/900 (Synchronous Serial Interface) board is installed. The SSI 800/900 can only be used with the POSYS® 900 and POSYS® 800/800-B, 1800 and 1900 motion controller. see GetSSIVersion, GetAbsoluteSSIPosition, Set/GetEncoderSource, ResetSSI, Read/WriteSSIResolution, Read/WriteSSIRegister, Read/WriteSSIFrequency, SetActualToAbsolutePosition, Set/GetActualPosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetActualToAbsolutePosition(hPosys#, axis) -o- 280 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetActualPosition SetActualPosition GetActualPosition Syntax SetActualPosition(hPosys, axis, position) stdcall GetActualPosition(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type position Description signed 32 bit Range 31 31 -2 to 2 -1 Scaling unity Units counts steps SetActualPositionloads the actual position register (encoder position) for the specified axis. At the same time, the current commanded position is replaced by the loaded value minus the current actual position error. This prevents a servo "bump" when the new axis position is established. The destination position (see SetPosition) is also modified by this amount so that no trajectory motion will occur when the update instruction is issued. In effect, this instruction establishes a new reference position from which subsequent positions can be calculated. It is commonly used to set a known reference position after a homing procedure. Note: On the POSYS® axes in stepper or microstepping mode, the actual position is set in units of steps. This ensures a common unit is used for both the trajectory generator and the actual position. Normally the trajectory generator has a higher resolution than the encoder so maximum accuracy is achieved using this method. Note: On the POSYS® axes in stepper or microstepping mode, the current actual position error is zeroed and the units are determined by Set/GetActualPositionUnits. SetActualPositiontakes effect immediately, it is not buffered. GetActualPositionreads the contents of the encoder's actual position register. This value will be the result of the last encoder input, which will be accurate to within one cycle (as determined by Set/GetSampleTime). Restriction Note: For the stepper motor versions the actual position is defined in steps. This guarantees, that for the trajectory generator and for the actual position identical values are used. Normally the trajectory generator has a higher resolution than the used type of encoders which results in maximum accuracy. Note: The actual following error is zeroed for stepper motor versions. see GetPositionError, GetActualVelocity, Set/GetActualPositionUnits, AdjustActualPosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetActualPosition(hPosys#, axis, position) GetActualPosition(hPosys#, axis) -o- 281 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetActualPositionUnits SetActualPositionUnits GetActualPositionUnits Syntax SetActualPositionUnits(hPosys, axis, mode) stdcall GetActualPositionUnits(hPosys, axis) stdcall Motor type Arguments Description Microstepping Pulse & Direction Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode counts steps 0 1 SetActualPositionUnitsdetermines the units used by the GetActualPosition, AdjustActualPosition and GetC aptureValue when it returns the axis position for the specified axis. When set to C ounts GetActualPosition returns the axis position in encoder counts. When set to Steps GetActualPosition returns the axis position in steps. The step position is calculated using the ratio as set by the SetEncoderToStepRatio command. GetActualPositionUnits returns the position units for the specified axis. Restriction see Set/GetActualPosition, Set/GetEncoderToStepRatio, AdjustActualPosition, GetCaptureValue DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetActualPositionUnits(hPosys#, axis, mode) GetActualPositionUnits(hPosys#, axis) -o- 282 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetCaptureSource SetCaptureSource GetCaptureSource Syntax SetCaptureSource(hPosys, axis, source) stdcall GetCaptureSource(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 source index home 0 1 Description Pulse & Direction SetCaptureSourcedetermines which of two encoder signals, Index or Home, is used to trigger the high-speed capture of the actual axis position for the specified axis. GetCaptureSource returns the capture signal source for the selected axis. Restriction see GetCaptureValue DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetCaptureSource(hPosys#, axis, source) GetCaptureSource(hPosys#, axis) -o- 283 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetEncoderModulus SetEncoderModulus GetEncoderModulus Syntax SetEncoderModulus(hPosys, axis, modulus) stdcall GetEncoderModulus(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type modulus Description unsigned 16 bits Range 1 to 2 16 Scaling unity Units counts -1 SetEncoderModulus sets the parallel word range for the specified axis when parallel-word feedback is used. Modulus determines the range of the connected device. The value provided should be one-half of the actual modulus of the axis. For example if the parallel-word input is used with a linear potentiometer connected to an external A/D (Analog to Digital converter) which has 12 bits of resolution, then the total range is 4,096 and a value of 2,048 should be loaded with this command. GetEncoderModulus returns the current encoder modulus. Restriction These commands are only used if parallel-word feedback is used (Option). If incremental encoder feedback is used then these commands are not required. see Set/GetEncoderSource DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetEncoderModulus(hPosys#, axis, modulus) GetEncoderModulus(hPosys#, axis) -o- 284 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetEncoderSource SetEncoderSource GetEncoderSource Syntax SetEncoderSource(hPosys, axis, source) stdcall GetEncoderSource(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 source incremental parallel none loopback (POSYS® 1800/1900 series only) 0 1 2 3 Description Pulse & Direction SetEncoderSourcesets the type, of feedback (incremental quadrature encoder or parallel-word (option)) for the specified axis. When incremental quadrature is selected the POSYS® expects A and B quadrature signals to be input at the I/O chip. When parallel-word is selected the POSYS® expects user-defined external circuitry connected to the POSYS's® external bus to load a 16-bit word containing the current position value for each axis. External feedback devices with less than 16 bits may be used but the unused bits must be sign extended or zeroed. When motor type is set to Pulse & Direction and the encoder source is set to Loopback (only for POSYS® 1800/1900 series), the step output is internally fed back into the quad counters. This allows for position capture of the step output when a physical encoder is not present. Otherwise it is also possible to use the command GetC ommandedPositionto determine the commanded (possible actual) position of the stepper motor when using it without an encoder. This is needed when using the POSYS® 85x-B or 95x series. The two modes, loopback andGetC ommandedPosition , do not allow to determine the real actual position, but only offer the possibility to determine the possibly actual position because of the commanded position to a certain time. GetEncoderSource returns the code for the current type of feedback. Restriction see Set/GetEncoderModulus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetEncoderSource(hPosys#, axis, source) GetEncoderSource(hPosys#, axis) -o- 285 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetEncoderToStepRatio SetEncoderToStepRatio GetEncoderToStepRatio Syntax SetEncoderToStepRatio(hPosys, axis, counts, steps) stdcall GetEncoderToStepRatio(hPosys, axis) stdcall Motor type Arguments Microstepping Pulse & Direction Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type counts steps Description unsigned 16 bits unsigned 16 bits Range 0 to 2 15 Scaling unity Units counts Range 0 to 2 Scaling unity Units steps 15 -1 -1 SetEncoderToStepRatiosets the ratio of number of encoder counts to the number of output steps per motor rotation used by the motion controller to convert encoder counts into steps. C ounts is the number of encoder counts per full rotation of the motor. Steps is the number of steps output by the motion processor per full rotation of the motor. Since this command sets a ratio, the parameters do not have to be for a full rotation as long as they correctly represent the encoder count to step ratio. GetEncoderToStepRatio gets the ratio of number of encoder counts to the number of output steps per motor rotation. Restriction see Set/GetActualPositionUnits DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetEncoderToStepRatio(hPosys#, axis, counts, steps) GetEncoderToStepRatio(hPosys#, axis) -o- 286 © POSYS Motion Control GmbH & Co.KG, 2013 On-Board RAM 287 © POSYS Motion Control GmbH & Co.KG, 2013 DisableDPRam DisableDPRam Syntax DisableDPRam(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Result Deactivates the Dual Port RAM Mode thru the ISA-Bus. Description DisableDPRamdeactivates the DPRam mode on the POSYS® 1800. The on-board memory is then only accessable via the motion processor in the Single Port RAM mode which results in slower write-/read processes. During the boot sequence the Dual Port RAM is deactivated to reduce eventually occurring problems on PC s which may not act correctly with ISA-boards equipped with Dual Port RAM. This command can also be used to deactivate Dual Port RAM during normal operation. The command EnableDPRam can be used at any time to activate the Dual Port RAM Mode again. Restriction This command is only available for POSYS® 1800 PC /104 boards equipped with Dual Port RAM. see EnableDPRam, ReadDPRamLong, WriteDPRamLong DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention DisableDPRam(hPosys#) -o- 288 © POSYS Motion Control GmbH & Co.KG, 2013 EnableDPRam EnableDPRam Syntax EnableDPRam(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Result Activates the Dual Port RAM Mode thru the ISA-Bus. Description EnableDPRamactivates the DPRAM on the POSYS® 1800. The on-board memory can then be accessed via the ISA-Bus as well thru the motion processor. Without activation the on-board Dual Port RAM can only be accessed thru the motion processor which results in slower read-/write processes. This command can also be helpful to reduce problems on PC -systems. During the boot sequence the Dual Port RAM is deactivated to reduce eventually occurring problems on PC s which may not act correctly with ISA-boards equipped with Dual Port RAM. This command can also be used to re-activate Dual Port RAM during normal operation after a previous deactivation. The command DisableDPRam can be used at any time to deactivate the Dual Port RAM Mode again. Restriction This command is only available for POSYS® 1800 PC /104 boards equipped with Dual Port RAM. see DisableDPRam, ReadDPRamLong, WriteDPRamLong DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention EnableDPRam(hPosys#) -oReadBuffer ReadBuffer Syntax ReadBuffer(hPosys, bufferID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Type bufferID Returned Data unsigned 16 Bit Range 0 to 31 Scaling unity Units - Range 31 31 -2 to 2 -1 Scaling unity Units - Type data signed 32 Bit Description ReadBuffer returns the 32-bit contents of the current location in the specified buffer. The current location is determined by adding the base address of the buffer (set by SetBufferStart), to the buffer´s Read Index (set by SetBufferReadIndex). After the contents have been read, the Read Index is incremented by 1; if the result is equal to the buffer length (set by SetBufferLength), the Index is reset to 0. Restriction Some commands automatically change the read index such as at the completion of a trace when in rolling mode. Range of bufferID: 0 to 31 To read the buffer you must first call ReadIndex(n) n = starting position of the buffer 289 © POSYS Motion Control GmbH & Co.KG, 2013 see Set/GetBufferReadIndex, WriteBuffer, Set/GetBufferStart, Set/GetBufferLength DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention ReadBuffer(hPosys#, bufferID) -o- 290 © POSYS Motion Control GmbH & Co.KG, 2013 ReadDPRamLong ReadDPRamLong only valid for POSYS® 18xx/19xx with Dual Port RAM Syntax ReadDPRamLong(hPosys;offset) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice offset unsigned 32 Bit Memory base address + offset Returned Data Pulse & Direction Type data signed 32 Bit Range 31 31 -2 to 2 -1 Scaling unity Units - Description Reads a 32-Bit value at the memory base address + offset. Restriction This command is only valid for POSYS® 1800 cards equipped with Dual Port RAM. see WriteDPRamLong, EnableDPRam, DisableDPRam DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention ReadDPRamLong(hPosys#, offset) -o- 291 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBufferFunction SetBufferFunction GetBufferFunction Syntax SetBufferFunction(hPosys, axis, function, bufferID) stdcall GetBufferFunction(hPosys, axis, function) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 function Position Velocity Acceleration Jerk Time AxisOut1 0 1 2 3 4 5 (only available on POSYS 1800 & 1900 with firmware 5842018FD = Piezo version) Type Range signed 16 bits -1 to 31 bufferID Description Pulse & Direction SetBufferF unctionsets the interpretation for data stored in a buffer when an axis is in External Profile Mode. A function will have no associated buffer if the bufferID parameter is set to -1. This is useful for disabling a function. GetBufferFunction returns the bufferID for the specified function. If a function has not been assigned a buffer, the return value is -1. Restriction see Set/GetProfileMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBufferFunction(hPosys#, axis, function, bufferID) GetBufferFunction(hPosys#, axis, function) -o- 292 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBufferLength SetBufferLength GetBufferLength Syntax SetBufferLength(hPosys, bufferID, length) stdcall GetBufferLength(hPosys, bufferID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Description Type Range bufferID unsigned 16 bit 0 to 31 length unsigned 32 bit 1 to 2 30 Pulse & Direction -1 SetBufferLengthsets the length, in number of 32-bit elements, of the buffer in the memory block identified by bufferID. Note: SetBufferLength resets the buffers read and write indexes to 0. GetBufferLength returns the length of the specified buffer. Restriction If the specified length extends beyond the end of addressable memory, SetBufferLength is not executed, and returns host-I/O error code 7, buffer bound exceeded. Note: Setting the buffer length bey ond the end of physical memory could cause the POSYS® to unexpectedly reset during operation. see Set/GetBufferReadIndex, Set/GetBufferStart, Set/GetBufferWriteIndex DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBufferLength(hPosys#, bufferID, length) GetBufferLength(hPosys#, bufferID) -o- 293 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBufferReadIndex SetBufferReadIndex GetBufferReadIndex Syntax SetBufferReadIndex(hPosys, bufferID, index) stdcall GetBufferReadIndex(hPosys, bufferID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Type bufferID index Description unsigned 16 bit unsigned 32 bit Range 0 to 31 Scaling unity Units - Range 0 to buffer length - 1 Scaling unity Units double words SetBufferReadIndexsets the address of the Read Index for the specified buffer. GetBufferReadIndex returns the current Read Index for the specified buffer. Restriction If the read index is set to an address beyond the length of the buffer, the command will not be executed and will return an error. see Set/GetBufferLength, Set/GetBufferStart, Set/GetBufferWriteIndex DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBufferReadIndex(hPosys#, bufferID, index) GetBufferReadIndex(hPosys#, bufferID) -o- 294 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBufferStart SetBufferStart GetBufferStart Syntax SetBufferStart(hPosys, bufferID, address) stdcall GetBufferStart(hPosys, bufferID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Type Range bufferID unsigned 16 bit 0 to 31 address unsigned 32 bit 31 200h to 2 -1 for POSYS® 700/800/800-B/900 31 0h to 2 -1 for POSYS® 1800/1900 Description Pulse & Direction SetBufferStartsets the starting address for the specified buffer. The buffer start address must be 200h or greaterfor POSYS® 700/800/800-B/900. The start address for POSYS® 1800/1900 can be 0h. Note: SetBufferStart resets the buffers read and write indexes to 0. GetBufferStart returns the starting address for the specified buffer. Restriction If the specified length extends beyond the end of addressable memory, SetBufferStart is not executed, and returns host-I/O error code 7, buffer bound exceeded. Note: Setting the buffer start bey ond the end of phy sical memory could cause the POSYS® to unexpectedly reset during operation see Set/GetBufferLength, Set/GetBufferReadIndex, Set/GetBufferWriteIndex DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBufferStart(hPosys#, bufferID, address) GetBufferStart(hPosys#, bufferID) -o- 295 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetBufferWriteIndex SetBufferWriteIndex GetBufferWriteIndex Syntax SetBufferWriteIndex(hPosys, bufferID, index) stdcall GetBufferWriteIndex(hPosys, bufferID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Type bufferID index Description unsigned 16 bit unsigned 32 bit Range 0 to 32 Scaling unity Units - Range 0 to buffer length - 1 Scaling unity Units double words SetBufferWriteIndexsets the address of the write index for the specified buffer. If the write index is set to an address beyond the length of the buffer, the command will not be executed and will return an error. GetBufferWriteIndex returns the current write index for the specified buffer. Restriction If the read index is to an address beyond the length of the buffer, the command will be executed and will return host I/O error code 7, buffer bound exceeded. see Set/GetBufferLength, Set/GetBufferReadIndex, Set/GetBufferStart DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetBufferWriteIndex(hPosys#, bufferID, index) GetBufferWriteIndex(hPosys#, bufferID) -o- 296 © POSYS Motion Control GmbH & Co.KG, 2013 WriteBuffer WriteBuffer Syntax WriteBuffer(hPosys, bufferID, value) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Type Range bufferID unsigned 16 bits 0 to 31 value signed 32 bits 31 31 -2 to 2 -1 POSYS® 7xx, 8xx, 8xx-B, 9xx Type Range bufferID unsigned 16 bits 0 to 15 value signed 32 bits 31 31 -2 to 2 -1 Pulse & Direction POSYS® 18xx, 19xx Description WriteBufferwrites the 32-bit value into the current location in the specified buffer. The current location is determined by adding the base address of the buffer (set by SetBufferStart), to the buffer's write index (set by SetBufferWriteIndex). After the contents have been read, the write index is incremented by 1; if the result is equal to the buffer length (set by SetBufferLength), the index is reset to 0. Some POSYS® operations automatically change the write index such as during a trace. See the POSYS® User's Guide for more details. Restriction see ReadBuffer, Set/GetBufferWriteIndex DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention WriteBuffer(hPosys#, bufferID, value) -o- 297 © POSYS Motion Control GmbH & Co.KG, 2013 WriteDPRAMLong WriteDPRamLong only valid for POSYS® 18xx/19xx with Dual Port RAM Syntax WriteDPRamLong(hPosys,offset,value) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice offset unsigned 32 Bit memory base address + offset value signed 32 Bit Range 31 31 -2 to 2 -1 Scaling Unity Units - Pulse & Direction Description Writes a 32-Bit value to the memory base address + offset Restriction This command is only valid for POSYS® cards equipped with Dual Port RAM. see ReadDPRamLong, EnableDPRam, DisableDPRam DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention WriteDPRamLong(hPosys#,offset,value) -o- 298 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Output 299 © POSYS Motion Control GmbH & Co.KG, 2013 GetActiveMotorCommand GetActiveMotorCommand only valid for POSYS® 1800/1900 with firmware version >2.x Syntax GetActiveMotorCommand(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type Returned Data Motor output command signed 16 bits Range Scaling Units Description 15 15 -2 to 2 -1 100/2 15 % output GetActiveMotorCommandreturns the value of the motor output command for the specified axis. This is the input to the commutation or FOC current control. Its source depends on the motor type, as well as the Operating Mode of the axis. For brushless DC and DC brush motors: If position loop is enabled, it is the output of the position servo filter. If trajectory generator is enabled without the position loop, it is the output of the trajectory generator. If both trajectory generator and position loop are disabled, it is the contents of the motor output command register. For Microstepping motors: It is the contents of the motor output command register, subject to holding current reduction. Restrictions see Set/GetMotorCommand DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetActiveMotorCommand(hPosys#, axis) -oGetCurrentMotorCommand GetCurrentMotorCommand Syntax GetCurrentMotorCommand(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type Returned Data Motor output command signed 16 bits 300 Range 15 15 -2 to 2 -1 © POSYS Motion Control GmbH & Co.KG, 2013 Scaling Units Description 100/2 15 % output GetCurrentMotorCommandreturns the current motor output command for the specified axis. In closed-loop mode, this is the output of the servo filter, in open-loop mode it is the contents of the motor output command register. Scaling example: To convert the retrieved value to units of % of full scale motor output multiply by 100/32,768. For example if the value -123 is retrieved by the GetC urrentMotorC ommand, this represents -123*100/32,768 or -.3754 % of full scale output. Restriction see Set/GetMotorCommand DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetCurrentMotorCommand(hPosys#, axis) -o- 301 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetHoldingCurrent SetCurrentHolding GetCurrentHolding only valid for POSYS® 1800/1900 with firmware version >2.x Syntax SetCurrentHolding(hPosys, axis, parameter, value) stdcall GetCurrentHolding(hPosys, axis, parameter) stdcall Motor type Arguments Microstepping Name Instance Encoding hPosys C ardHandle Wert zurückgeliefert durch Aufruf von OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 parameter Holding Motor Limit Holding Delay 0 1 value unsigned 16 bits Range Scaling Units Description Pulse & Direction 0 to 2 15-1 100/2 15 % output SetHoldingCurrentconfigures the operation of the holding current. The two parameters to set are Holding Motor Limit, the maximum commanded current when in holding, and Holding Delay, the number of cycles to wait after end of move before going into holding current. The Holding Motor Limitis in units of % maximum current, with scaling of 100/2^15. Its range is 0 to 2^15–1. It defines the value to which the current will be limited when in the holding state. This limit is applied as an additional limit to the motor limit, so the lower of the two will affect the true limit. The Holding Delay is in units of trajectory generator cycles, with unity scaling and a range of 0 to 2^15–2. It defines the wait time between ending a move and switching to the holding current limit. That is, there will be a delay of Holding Delay trajectory cycles after Motion C omplete, after which the In Holding bit in theDrive Status Registerwill be set, and the motor command will be limited by the Holding Motor Limit. When the Holding Delay is set to 2^15–1 (its reset default), the axis will never go into holding current. GetHoldingCurrent gets the indicated holding current parameter. Restriction For Pulse & Direction motor types, only the Holding Delay is used. It delays the assertion of the AtRest output by the indicated number of cycles after a move is complete. see GetDriveStatus, Set/GetSampleTime DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetCurrentHolding(hPosys#, axis, parameter, value) GetCurrentHolding(hPosys#, axis, parameter) -o- 302 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetMotorBias SetMotorBias GetMotorBias Syntax SetMotorBias(hPosys, axis, bias) stdcall GetMotorBias(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type bias signed 16 bits Range Scaling Units Description 15 15 -2 to 2 -1 100/2 15 % output SetMotorBiassets the bias voltage of the digital servo filter for the specified axis. GetMotorBiasreacts the current bias voltage of the digital servo filter. Scaling example: If it is desired that a motor bias value of -2.5 % of full scale be placed on the servo filter output than this register should be loaded with a value of -2.5*32,768/100=-819 (decimal). This corresponds to a loaded hexadecimal value of 0FCC Dh. Restriction see Set/GetMotorCommand, Set/GetMotorLimit DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetMotorBias(hPosys#, axis, bias) GetMotorBias(hPosys#, axis) -o- 303 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetMotorCommand SetMotorCommand GetMotorCommand Syntax SetMotorCommand(hPosys, axis, value) stdcall GetMotorCommand(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type value signed 16 bits Range Scaling Units Description 15 15 -2 to 2 -1 100/2 15 % output SetMotorCommandloads the motor-command buffer register of the specified axis. For axes configured for microstepping mode, this command is used to control the magnitude of the output waveform. GetMotorCommandreads the contents of the motor-command buffer register. Scaling example: If it is desired that a motor command value of 13.7 % of full scale be output to the motor then this register should be loaded with a value of 13.7 *32,768/100 = 4,489 (decimal).This corresponds to a hexadecimal value of 1189h. Restriction SetMotorC ommand is valid only when the motor is "off" for axes configured as DC -Brushless or DC -Brushed. SetMotorCommand is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetMotorBias, Set/GetMotorLimit, Set/GetMotorMode, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetMotorCommand(hPosys#, axis, value) GetMotorCommand(hPosys#, axis) -o- 304 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetMotorMode SetMotorMode GetMotorMode Syntax SetMotorMode(hPosys, axis, mode) stdcall GetMotorMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode off on 0 1 Description Pulse & Direction SetMotorModedetermines the mode of motor operation. When set to On, several events take place. For servo axes, the axis is placed in closed-loop mode, and is controlled by the output of the servo filter. For step motor and microstepping axes, the trajectory generator controls the motor output. For all motor types, when the encoder source (Set/GetEncoderSource) is set to incremental or parallel, the position error is cleared; equivalent to a C learPositionError command. When the motor mode is set to Off, the axis is in open-loop mode, and is controlled by commands placed directly into the motor output register by the host. Setting the motor mode to Off also resets the trajectory generator, bringing any active motion to an abrupt stop. In addition, the maximum velocity (Set/GetVelocity) is set to zero. On axes configured for step motor and microstepping motor types, the step generator is switched off when the motor mode is set to Off. Motor Type Motor Mode Motor Output Source DC brush; brushless DC off Motor command register on servo filter Pulse & direction; microstepping off N/A on Trajectory generator GetMotorMode returns the current motor mode. Restriction see GetActivityStatus, Set/GetMotorCommand DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetMotorMode(hPosys#, axis, mode) GetMotorMode(hPosys#, axis) -o- 305 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetMotorType SetMotorType GetMotorType only valid for POSYS® 18xx/19xx Syntax SetMotorType(hPosys, axis, type) stdcall GetMotorType(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 type Brushless DC (3 phase) Brushless DC (2 phase) Microstepping (3 phase) Microstepping (2 phase) Pulse & Direction DC Brush 0 1 2 3 4 7 Description Pulse & Direction SetMotorTypesets type of motor being driven by the selected axis. This operation sets the number of phases for commutation on the axis, as well as internally configuring the motion IC for the motor type. Refer to the POSYS® User's Guide for more information. For each motor type the table below lists the number of phases that will be commutated. GetMotorType returns the configured motor type for the selected axis. Restriction Motor Type Commutation DC Brushless (3 phase) 3 phase DC Brushless (2 phase) 2 phase Microstepping (3 phase) 3 phase Microstepping (2 phase) 2 phase Pulse & Direction None DC Brushed None only valid for POSYS® 18xx/19xx. The motor type should only be set once for each axis; either via the motor configuration word during device startup, or immediately after reset using SetMotorType. Once it has been set, it should not be changed. see Set/GetOutputMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetMotorType(hPosys#, axis, type) GetMotorType(hPosys#, axis) -o- 306 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetOutputMode SetOutputMode GetOutputMode Syntax SetOutputMode(hPosys, axis, mode) stdcall GetOutputMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode Bipolar DAC PWMSignMagnitude PWM5050Magnitude SPIDAC Unipolar DAC 0 1 2 3 (only POSYS® 18xx/19xx) 4 (only POSYS® 18xx/19xx) Description SetOutputModedetermines the form of the motor output signal of the specified axis. GetOutputMode returns the code for the current motor output mode. Restriction see Set/GetMotorType DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetOutputMode(hPosys#, axis, mode) GetOutputMode(hPosys#, axis) -o- 307 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPWMFrequency SetPWMFrequency GetPWMFrequency only valid for POSYS® 18xx/19xx Syntax SetPWMFrequency(hPosys, axis, frequency) stdcall GetPWMFrequency(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type frequency Description unsigned 16 bits Range 0 to 2 Scaling 8 1/2 Units kHz 16 -1 SetPWMFrequencysets the PWM output frequency (in kHz) for the specified axis. Only two frequencies are supported by the POSYS®; these are shown in the table below. To select one of the supported frequencies, pass the value listed in the SetPWMFrequency Value column as the frequency argument to this command. GetPWMFrequency returns the programmed value. Restriction Frequency PWM Bit Resolution Actual Frequency SetPWMFrequency Value 20 kHz 10 bit 19.531 kHz 5 80 kHz 8 bit 78.124 kHz 20 This command is only valid for the POSYS® 18xx/19xx series. Only 20 kHz and 80 kHz are currently supported by the POSYS® Motion C ontroller. This command is not available on POSYS® 1800/1900 boards with Piezo-functionality. The PWM frequency is set to 20 kHz/10-bit resolution and can not be changed. see Set/GetOutputMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPWMFrequency(hPosys#, axis, frequency) GetPWMFrequency(hPosys#, axis) -o- 308 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetStepRange SetStepRange GetStepRange Syntax SetStepRange(hPosys, axis, frequency) stdcall GetStepRange(hPosys, axis) stdcall Motor type Arguments Description Pulse & Direction Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 frequency 5 MHz 625 KHz 156.25 KHz 39.062 KHz 1 4 6 8 SetStepRangesets the maximum pulse rate frequency for the specified axis. For example, if the desired maximum pulse rate is 200.000 pulses/sec., the command SetStepRange 4 should be issued. GetStepRange returns the maximum pulse rate frequency for the specified axis. Restriction This command is only valid for stepper motor cards or for cards with axes running in stepper mode. see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetStepRange(hPosys#, axis, frequency) GetStepRange(hPosys#, axis) -o- 309 © POSYS Motion Control GmbH & Co.KG, 2013 Operating Mode, Event und Update Control 310 © POSYS Motion Control GmbH & Co.KG, 2013 GetActiveOperatingMode GetActiveOperatingMode only valid for POSYS® 1800/1900 with firmware version >2.x Syntax GetActiveOperatingMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type mode unsigned 16 bits Returned Data Description bit field GetActiveOperatingModegets the actual Operating Mode that the axis is currently in. This may or may not be the same as the static Operating Mode, as safety responses or programmable conditions may change the Active Operating Mode. When this occurs, the Active Operating Mode can be changed to the programmed static Operating Mode using the RestoreOperatingMode command. The bit definitions of the Operating Mode are given below. Name Bit Description Axis Enabled 0 0: No axis processing, axis outputs in Reset state. 1: Axis active. Motor Output Enabled 1 0: Axis motor outputs disabled. 1: Axis motor outputs enabled. Reserved 2-3 Position Loop Enabled 4 0: Axis position loop bypassed. 1: Axis position loop active. Trajectory Enabled 5 0: Trajectory Generator disabled. 1: Trajectory Generator enabled. Reserved 6-15 When the axis is disabled, no processing will be done on the axis, and the axis outputs will be at their reset states. When the axis motor output is disabled, the axis will function normally, but its motor outputs will be in their disabled state. When a loop is disabled (position or current loop), it operates by passing its input directly to its output, and clearing all internal state variables (such as integrator sums, etc.). When the Trajectory Generator is disabled, it operates by commanding zero (0) velocity. Restrictions The possible modes of an axis are axis specific. Refer to the product user’s guide for a description of what modes are supported on each axis. see Set/GetOperatingMode, RestoreOperatingMode, Set/GetEventAction, Set/GetBreakpoint DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetActiveOperatingMode(hPosys#, axis) -o- 311 © POSYS Motion Control GmbH & Co.KG, 2013 MultiUpdate MultiUpdate Syntax MultiUpdate(hPosys, mask) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice mask None Axis1mask Axis2mask Axis3mask Axis4mask 0 1 2 4 8 Description Pulse & Direction MultiUpdate causes an Update to occur on all axes whose corresponding bit is set to 1 in the mask argument. After this command is executed, and for those axes which are selected using the mask, all buffered data parameters are copied into the corresponding run-time registers. The following instruction is buffered: C learPositionError. The following trajectory parameters are buffered: Acceleration, Deceleration, GearRatio, Jerk, Position, ProfileMode, StartVelocity, StopMode, and Velocity. The following PID filter parameters are buffered: DerivativeTime, IntegrationLimit, Kaff, Kd, Ki, Kp, and Kvff. The following Motor C ommand parameter is buffered: MotorC ommand Restriction see Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention MultiUpdate(hPosys#, mask) -o- 312 © POSYS Motion Control GmbH & Co.KG, 2013 RestoreOperatingMode RestoreOperatingMode only valid for POSYS® 1800/1900 with firmware version >2.x Syntax RestoreOperatingMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Description RestoreOperatingModeis used to command theaxis to return to its static Operating Mode. It should be used when the Active Operating Mode has changed due to actions taken from safety events or other programmed events. C alling RestoreOperatingMode will re-enable all loops that were disabled as a result of events. Restriction Before using RestoreOperatingMode to return to the static Operating Mode, the Event Status Register bits should all be cleared. If a bit in Event Status that caused a change in Operating Mode is not cleared, this command will return an error. An exception to this is Motion Error, which does not have to be cleared prior to restoring the Operating Mode. Though RestoreOperatingMode will re-enable the trajectory generator (if it was disabled as a result of an event action), it will not resume a move. This must be done through an Update or MultiUpdate. see GetActiveOperatingMode, Set/GetOperatingMode, Set/GetEventAction, Set/GetBreakpoint DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention RestoreOperatingMode(hPosys#, axis) -o- 313 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetEventAction SetEventAction GetEventAction only valid for POSYS® 1800/1900 with firmware version >2.x Syntax SetEventAction(hPosys, axis, event, action) stdcall GetEventAction(hPosys, axis, event) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle Wert zurückgeliefert durch Aufruf von OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 event Immediate Positive Limit Negative Limit Motion Error 0 1 2 3 action none 0 Reserved 1 Abrupt Stop 2 Smooth Stop 3 Reserved 4 Disable Position Loop & 5 Higher Modules n/a 6 Disable Motor Output & 7 Higher Modules Abrupt Stop with 8 Position Error Clear Description Pulse & Direction SetEv entActionconfigures what actions will be taken by the axis in response to a givenevent. The action can be either to modify the Operating Mode by disabling some or all of the loops, or, in the case of all loops remaining on, to perform an abrupt or smooth stop. The Abrupt Stop action can be done with or without a clearing of the position error. When, through SetEventAction one of the events causes an action, the event bit in the Event Status register must be cleared prior to returning to operation. For trajectory stops, this means that the bit must be cleared prior to performing another trajectory move. For changes in Operating Mode, this means that the bit must be cleared prior to restoring the Operating Mode, either by RestoreOperatingMode or SetOperatingMode. An exception is the Motion Error event, which only needs to be cleared in Event Status ifaction its is Abrubt Stop or Smooth Stop. If it causes changes in Operating Mode, the Operating Mode can be restored without clearing the bit in Event Status first. GetEventAction gets the action that is currently programmed for the given event with the exception of the Immediate event, which cannot be read back. Restriction If a Smooth Stop action occurs while the trajectory mode is S-curve, the trajectory cannot be restarted until the smooth stop is complete. If a Smooth Stop action occurs while the trajectory mode is electronic gearing, an abrupt stop will occur. see GetActiveOperatingMode, RestoreOperatingMode, Set/GetOperatingMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetEventAction(hPosys#, axis, event, action) GetEventAction(hPosys#, axis, event) -o- 314 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetOperatingMode SetOperatingMode GetOperatingMode only valid for POSYS® 1800/1900 with firmware version >2.x Syntax SetOperatingMode(hPosys, axis, mode) stdcall GetOperatingMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle Wert zurückgeliefert durch Aufruf von OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode unsigned 16 bit see below Description Pulse & Direction SetOperatingModeconfigures the Operating Mode of the axis. Each bit of the mode configures whether a feature/loop of theaxis is active or disabled, as follows: Name Bit Description Axis enabled 0 0: No axis processing, axis outputs in reset state. 1: Axis active. Motor Output Enabled 1 0: Axis motor outputs disabled. 1: Axis motor outputs enabled. Reserved 2-3 Reserved Position Loop Enabled 4 0: Axis position loop bypassed. 1: Axis position loop active. Trajectory Enabled 5 0: Trajectory Generator disabled. 1: Trajectory Generator enabled. Reserved 6-15 Reserved When the axis is disabled, no processing will be done on the axis, and the axis outputs will be at their reset states. When the axis motor output is disabled, the axis will function normally, but its motor outputs will be in their disabled state. When a loop is disabled (position or current loop), it operates by passing its input directly to its output, and clearing all internal state variables (such as integrator sums, etc.). When the Trajectory Generator is disabled, it operates by commanding 0 velocity. For example, to configure an axis for Torque Mode, (trajectory and position loop disabled) the Operating Mode would be set to hexadecimal 0007h. This command should be used to configure the static Operating Mode of the axis. The actual current Operating Mode may be changed by the axis in response to safety events, or user-programmable events. In this case, the present Operating Mode is available using GetActiveOperatingMode. GetOperatingMode will always return the static Operating Mode set using SetOperatingMode. Executing the SetOperatingMode command sets both the static Operating Mode and the Active Operating Mode to the desired state. GetOperatingModegets the operating mode of theaxis. Restrictions see GetActiveOperatingMode, RestoreOperatingMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetOperatingMode(hPosys#, axis, mode) GetOperatingMode(hPosys#, axis) -o- 315 © POSYS Motion Control GmbH & Co.KG, 2013 316 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetUpdateMask SetUpdateMask GetUpdateMask only valid for POSYS® 1800/1900 with firmware version >2.x Syntax SetUpdateMask(hPosys, axis, mask) stdcall GetUpdateMask(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type Scaling unsigned 16 bits bitmask mask Description Pulse & Direction SetUpdateMaskconfigures what loops in theaxis are updated when an update is executed on the given axis. If the bitmask for a given loop is set in the mask, the operating parameters for that loop will be updated from the buffered values when an Update or MultiUpdate command is received. Name Bit(s) Description Trajectory 0 Set to 1 to update trajectory from buffered parameters. Position Loop 1 Set to 1 to update position loop from buffered parameters. Reserved 2-15 GetUpdateMaskgets the Update Mask for the indicated axis. Restrictions see Set/GetBreakpointUpdateMask, Update, MultiUpdate DLL: Delphi, C++, VB wir verweisen auf die verschiedenen Importdateien (imp*.*) MotionScript® language calling convention SetUpdateMask(hPosys#, axis, mask) GetUpdateMask(hPosys#, axis) -o- 317 © POSYS Motion Control GmbH & Co.KG, 2013 Update Update Syntax Update(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Description Pulse & Direction Update causes all buffered data parameters are copied into the corresponding run-time registers on the specified axis. The following instruction is buffered: C learPositionError. The following trajectory parameters are buffered: Acceleration, Deceleration, GearRatio, Jerk, Position, ProfileMode, StopMode, and Velocity. The following PID filter parameters are buffered: DerivativeTime, IntegrationLimit, Kaff, Kd, Ki, Kp, and Kvff. The following motor command parameters is buffered: MotorCommand. Restriction see MultiUpdate DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention Update(hPosys#, axis) -o- 318 © POSYS Motion Control GmbH & Co.KG, 2013 Profile Generation GetCommandedAcceleration GetCommandedAcceleration Syntax GetCommandedAcceleration(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type acceleration signed 32 bits Returned data Description Pulse & Direction Range 31 31 -2 to 2 -1 Scaling 16 1/2 Units counts/cycle² steps/cycle² GetCommandedAcceleration returns the commanded acceleration value for the specified axis. C ommanded acceleration is the instantaneous acceleration value output by the trajectory generator. Scaling example: If a value of 114,688 is retrieved using this command then this corresponds to 114,688/65,536 = 1.750 counts/cycle² acceleration value. Restriction This command functions only in the trapezoidal, s-curve and velocity contouring profile modes. see GetCommandedPosition, GetCommandedVelocity DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetCommandedAcceleration(hPosys#, axis) -o- 319 © POSYS Motion Control GmbH & Co.KG, 2013 GetCommandedPosition GetCommandedPosition Syntax GetCommandedPosition(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type position signed 32 bits Returned Data Description Pulse & Direction Range 31 31 -2 to 2 -1 Scaling unity Units counts steps GetCommandedPositionreturns the current commanded position for the specified axis. C ommanded position is the instantaneous position value output by the trajectory generator. This command functions in all profile modes. Restriction see GetCommandedAcceleration, GetCommandedVelocity DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetCommandedPosition(hPosys#, axis) -o- 320 © POSYS Motion Control GmbH & Co.KG, 2013 GetCommandedVelocity GetCommandedVelocity Syntax GetCommandedVelocity(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type velocity signed 32 bits Returned Data Description Pulse & Direction Range 31 31 -2 to 2 -1 Scaling 16 1/2 Units counts/cycle Steps/cycle GetCommandedVelocityreturns the current commanded velocity value for the specified axis. C ommanded velocity is the instantaneous velocity value output by the trajectory generator. Scaling example: If a value of -1,234,567 is retrieved using this command (FFEDh in high word, 2979h in low word) then this corresponds to 1,234,567/65,536 18.8380 counts/cycle velocity value. This command functions in all profile modes. Restriction see GetCommandedAcceleration, GetCommandedPosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetCommandedVelocity(hPosys#, axis) -o- 321 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetAcceleration SetAcceleration GetAcceleration Syntax SetAcceleration(hPosys, axis, acceleration) stdcall GetAcceleration(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type acceleration unsigned 32 bit Description Range Pulse & Direction 0 to 2 31 -1 Scaling 16 1/2 Units counts/cycle² steps/cycle² SetAccelerationloads the maximum acceleration buffer register for the specified axis. This command is used with the Trapezoidal, Velocity C ontouring, and S-profiling modes. GetAccelerationreads the maximum acceleration buffer register set by the previous SetAcceleration command. Scaling example: To load a value of 1.750 counts/cycle² multiply by 65,536 (giving 114,688) and load the resultant number as a 32 bit number, giving 0001 in the high word and C 000h in the low word. Values returned by GetAcceleration must correspondingly be divided by 65,536 to convert to units of counts/cycle² or steps/cycle². Please note that the values are scaled. To load a value of 2.58 counts/cycle² multiply 2.58 * 65536 = 169083 and load this value. Restriction SetAcceleration may not be issued while an axis is in motion with the S-curve profile. SetAcceleration is not valid in Electronic Gearing profile mode. SetAcceleration is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetDeceleration, Set/GetJerk, Set/GetPosition, Set/GetVelocity, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetAcceleration(hPosys#, axis, acceleration) GetAcceleration(hPosys#, axis) -o- 322 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetDeceleration SetDeceleration GetDeceleration Syntax SetDeceleration(hPosys, axis, deceleration) stdcall GetDeceleration(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type deceleration Description unsigned 32 bits Range 0 to 2 31 -1 Scaling 16 1/2 Units counts/cycle² steps/cycle² SetDecelerationloads the maximum deceleration buffer register for the specified axis. GetDecelerationreads the Maximum Deceleration buffer. Scaling example: To load a value of 1.750 counts/cycle² multiply by 65,536 (giving 114,688) and load the resultant number as a 32 bit number, giving 0001 in the high word and C000h in the low word. Retrieved numbers (GetDeceleration) must correspondingly be divided by 65,536 to convert to units of counts/cycle² or steps/cycle². Restriction This is a buffered command. The new value set will not take effect until the next Update or MultiUpdate instruction is entered. These commands are used with the Trapezoidal and Velocity contouring profile modes. They are not used with the electronic gearing, S-curve or external profile mode. Note: If deceleration is set to zero then the acceleration value will be used. see Set/GetAcceleration, Set/GetPosition, Set/GetVelocity, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetDeceleration(hPosys#, axis, deceleration) GetDeceleration(hPosys#, axis) -o- 323 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetGearMaster SetGearMaster GetGearMaster Syntax SetGearMaster(hPosys, axis, masterAxis, source) stdcall GetGearMaster(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 masterAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 source Actual Commanded 0 1 Description Pulse & Direction SetGearMasterestablishes the slave (axis) and master (masterAxis) axes for the electronic-gearing profile, and sets the source, Actual or C ommanded, of the master axis position data to be used. The masterAxis determines what axis will drive the slave axis. Both the slave and the master axes must be enabled (SetAxisMode command). The source determines whether the master axis' commanded position as determined by the trajectory generator will be used to drive the slave axis, or whether the master axis' encoder position will be used to drive the slave. GetGearMaster returns the codes for the geared axes and position source. Restriction For electronic gear mode to operate properly the master axis must be enabled. The command Set/GetProfileMode must be set to "Electronic Gearing". see Set/GetGearRatio, Set/GetProfileMode, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetGearMaster(hPosys#, axis, masterAxis, source) GetGearMaster(hPosys#, axis) -o- 324 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetGearRatio SetGearRatio GetGearRatio Syntax SetGearRatio(hPosys, slaveAxis, ratio) stdcall GetGearRatio(hPosys, slaveAxis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice slaveAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type ratio Description signed 32 bits Range 31 31 -2 to 2 -1 Scaling 16 1/2 Units Slavecounts/ Mastercounts SetGearRatiosets the ratio between the master and the slave axes for the electronic gearing profile for the currentaxis. Positive ratios cause the slave to move in the same direction as the master, negative ratios in the opposite direction. The specified ratio has a unity scaling of 65,536 (means 65,536 increments for the MasterAxis = 1 increment for the SlaveAxis). GetGearRatioreturns the gear ratio set for the specified slave axis. Scaling example: ratio value resultant ratio -32,768 .5 negative slave counts for each positive master count 1,000,000 15.259 positive slave counts for each positive master count 123 .0018 positive slave counts for each positive master count Restriction This is a buffered command. The new value set will not take effect until the next Update or MultiUpdate instruction is entered. see Set/GetGearMaster, Set/GetProfileMode, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetGearRatio(hPosys#, slaveAxis, ratio) GetGearRatio(hPosys#, slaveAxis) -o- 325 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetJerk SetJerk GetJerk Syntax SetJerk(hPosys, axis, jerk) stdcall GetJerk(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type jerk Description unsigned 32 bits Range 0 to 2 31 -1 Scaling 32 1/2 Units counts/cycle³ steps/cycle³ SetJerk loads the jerk register in the parameter buffer for the specified axis. GetJerk reads the contents of the jerk register. Scaling example: To load a jerk value (time rate of change of acceleration) of .012345 32 counts/cycle³ (or steps/cycle³) multiply by 2 or 4,294,967,296. In this example this gives a value to load of 53,021,371 (decimal) which corresponds to a high word of 0329h and a low word of 0ABBh when loading each word in hexadecimal. Restriction SetJerk is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. This command is used only with the S-curve profile mode. It is not used with the trapezoidal, velocity contouring, or electronic gear profile modes. see Set/GetAcceleration, Set/GetDeceleration, Set/GetPosition, Set/GetVelocity, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetJerk(hPosys#, axis, jerk) GetJerk(hPosys#, axis) -o- 326 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetPosition SetPosition GetPosition Syntax SetPosition(hPosys, axis, position) stdcall GetPosition(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type position Description signed 32 bits Range 31 31 -2 to 2 -1 Scaling unity Units counts steps SetPosition specifies the trajectory destination of the specified axis. It is used in the Trapezoidal and S-curve profile modes. GetPosition reads the contents of the buffered position register. Restriction SetPosition is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetAcceleration, Set/GetDeceleration, Set/GetJerk, Set/GetVelocity, GetPositionError, Set/GetPositionErrorLimit, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetPosition(hPosys#, axis, position) GetPosition(hPosys#, axis) -o- 327 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetProfileMode SetProfileMode GetProfileMode Syntax SetProfileMode(hPosys, axis, profile) stdcall GetProfileMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 profile Trapezoidal Velocity S-curve Electronic gear External 0 1 2 3 4 Description Pulse & Direction SetProfileModesets the profile mode, selecting Trapezoidal, Velocity C ontouring, S-curve, Electronic gear, or External for the specified axis. GetProfileMode returns the contents of the buffered profile-mode register for the specified axis. Restriction SetProfileMode is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see MultiUpdate, Update, Set/GetGearMaster, Set/GetGearRatio, Set/GetBufferFunction DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetProfileMode(hPosys#, axis, profile) GetProfileMode(hPosys#, axis) -o- 328 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetStartVelocity SetStartVelocity GetStartVelocity Syntax SetStartVelocity(hPosys, axis, velocity) stdcall GetStartVelocity(hPosys, axis) stdcall Motor type Arguments Microstepping Pulse & Direction Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Type velocity Description unsigned 32 bits Range 0 to 2 31 -1 Scaling 16 1/2 Units counts/cycle steps/cycle SetStartVelocityloads the starting velocity buffer register for the specified axis. GetStartVelocityreads the starting velocity buffer register. Scaling example: To load a starting velocity value of 1.750 counts/cycle multiply by 65,536 (giving 114,688) and load the resultant number as a 32 bit number, giving 0001 in the high word and C 000h in the low word. Retrieved numbers (GetStartVelocity) must correspondingly be divided by 65,536 to convert to units of counts/cycle. Restriction StartVelocity is only used in the Velocity Contouring and Trapezoidal profile modes. SetStartVelocity is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetAcceleration, Set/GetDeceleration, Set/GetVelocity, Set/GetPosition, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetStartVelocity(hPosys#, axis, velocity) GetStartVelocity(hPosys#, axis) -o- 329 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetStopMode SetStopMode GetStopMode Syntax SetStopMode(hPosys, axis, mode) stdcall GetStopMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode NoStop AbruptStop SmoothStop 0 1 2 Description Pulse & Direction SetStopModestops the specified axis. The available stop modes are AbruptStop, which instantly (without any deceleration phase) stops the axis, SmoothStop which uses the programmed deceleration value and profile shape for the current profile mode to stop the axis, or NoStop which is generally used to turn off a previously set stop command. Note: After an Update a buffered stop command (SetStopMode command) will reset to the NoStop condition. In other words if the command SetStopMode is followed by an Update command and then by a GetStopMode command, the retrieved stop mode will be NoStop. GetStopMode returns the stop mode set using SetStopMode. Restriction SmoothStop mode is not valid in the electronic-gearing profile. SetStopMode is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetStopMode(hPosys#, axis, mode) GetStopMode(hPosys#, axis) -o- 330 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetVelocity SetVelocity GetVelocity Syntax SetVelocity(hPosys, axis, velocity) stdcall GetVelocity(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type velocity Description signed 32 bits Range 31 31 -2 to 2 -1 Scaling 16 1/2 Units counts/cycle steps/cycle SetVelocityloads the maximum velocity buffer register for the specified axis. GetVelocityreturns the contents of the maximum velocity buffer register. Scaling example: To load a velocity value of 1.750 counts/cycle multiply by 65,536 (giving 114,688) and load the resultant number as a 32 bit number, giving 0001 in the high word and C 000h in the low word. Retrieved numbers (GetVelocity) must correspondingly be divided by 65,536 to convert to units of counts/cycle. Restriction SetVelocity may not be issued while an axis is in motion with the S-curve profile. SetVelocity is not valid in Electronic Gear or External profile mode. The velocity must not be < 0 except in the Velocity-C ontouring profile mode. SetVelocity is a buffered command. The value set using this command will not take effect until the next Update or MultiUpdate instruction. see Set/GetAcceleration, Set/GetDeceleration, Set/GetJerk, Set/GetPosition, MultiUpdate, Update DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetVelocity(hPosys#, axis, velocity) GetVelocity(hPosys#, axis) -o- 331 © POSYS Motion Control GmbH & Co.KG, 2013 Servo Loop Control GetTime GetTime Syntax GetTime(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type time unsigned 32 bits Returned Data Description Range Pulse & Direction 0 to 2 32 Scaling unity Units cycles -1 Returns the number of cycles that have occurred since the POSYS® was last initialized or reset. Restriction see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetTime(hPosys#) -o- 332 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetAxisMode SetAxisMode GetAxisMode Syntax SetAxisMode(hPosys, axis, mode) stdcall GetAxisMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode off on 0 1 Description Pulse & Direction SetAxisModeenables (On) or disables (off) the specified axis. A disabled axis will not respond to profile or other motion commands. GetAxisMode returns the current status of the specified axis. Restriction Disabled axes do not provide encoder feedback. If it is desired that an axis provide encoder feedback even though no profiling or servo control is to be used, that axis must be left enabled. see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetAxisMode(hPosys#, axis, mode) GetAxisMode(hPosys#, axis) -o- 333 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetLimitSwitchMode SetLimitSwitchMode GetLimitSwitchMode Syntax SetLimitSwitchMode(hPosys, axis, mode) stdcall GetLimitSwitchMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode off on 0 1 Description Pulse & Direction SetLimitSwitchModeenables (On) or disables (Off) limit-switch sensing for the specified axis. When the mode is enabled, the axis will cause the corresponding limit-switch bits in the Event Status register and Activity Status register to be set when it enters either the positive or negative limit switches and the axis will be immediately stopped. When it is disabled these bits are not set, regardless of whether the axis is in a limit switch or not. GetLimitSwitchMode returns the code for the current state of the limit-sensing mode. Restriction see GetActivityStatus, GetEventStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetLimitSwitchMode(hPosys#, axis, mode) GetLimitSwitchMode(hPosys#, axis) -o- 334 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetMotionCompleteMode SetMotionCompleteMode GetMotionCompleteMode Syntax SetMotionCompleteMode(hPosys, axis, mode) stdcall GetMotionCompleteMode(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mode commanded actual 0 1 Description Pulse & Direction SetMotionCompleteModeestablishes the source for the comparison which determines the motion-complete status for the specified axis. When set to commanded mode the motion is considered complete when the profile velocity reaches zero and no further motion will occur without an additional host command. This mode is unaffected by the actual encoder location. When set to actual mode the motion complete bit will be set when the above condition is true AND the actual encoder position has been within the Settle Window (SetSettleWindow command) for the number of servo loops specified by the SetSettleTime command. The settle "timer" is started at zero at the end of the trajectory profile motion so at a minimum a delay of SettleTime cycles will occur after the trajectory profile motion is complete. GetMotionCompleteMode reads the code for the current motion-complete mode. Restriction see Set/GetSettleTime, Set/GetSettleWindow DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetMotionCompleteMode(hPosys#, axis, mode) GetMotionCompleteMode(hPosys#, axis) -o- 335 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetSampleTime SetSampleTime GetSampleTime Syntax SetSampleTime(hPosys, time) stdcall GetSampleTime(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction POSYS® 18xx/19xx Type time Description unsigned 32 bits POSYS® 7xx, 8xx, 8xx-B, 9xx Type time unsigned 16 bits Range 51 to 220 Scaling unity Units µsec/cycle Range 1 to 2 15 -1 Scaling unity Units µsec/cycle SetSampleTimesets the time basis for the POSYS®. This time basis determines the trajectory update rate for all motor types as well as the servo loop calculation rate for the servo axes. It does not, however, determine the commutation rate of the Brushless DC motor types. The time value is expressed microseconds. The POSYS® hardware can adjust the cycle time only in increments of 64 microseconds (depends on number of activated axes); the time value passed to this command will be rounded up to the nearest increment of this base value. GetSampleTimereturns the current sample time value. Minimum cycle time depends on the number of enabled axes as follows: POSYS® 18xx and 19xx series # enabled axes Minimum cycle time Cycle time w/ trace capture Cycle time Time per axis Maximum cycle frequency 1 51.2 µs 102.4 µs 102.4 µs 19.53 kHz (9.76 kHz w/ Trace C apture) 2 153.6 µs 153.6 µs 76.8 µs 6.51 kHz 3 204.8 µs 204.8 µs 68.3 µs 4.88 kHz 4 256 µs 256 µs 64 µs 3.91 kHz Minimum cycle time brushed and stepper versions Minimum cycle time brushless DC and microstepping versions Maximum cycle Maximum cycle frequency brushed frequency brushless and stepper versions DC and microstepping versions 1 102.4 µs 153.6 µs 10 kHz 6.51 kHz 2 204.8 µs 307.2 µs 5 kHz 3.255 kHz 3 307.2 µs 460.8 µs 3.33 kHz 4.822 kHz 4 409.6 µs 614.4 µs 2.5 kHz 1.627 kHz POSYS® 7xx, 8xx, 8xx-B and 9xx series # enabled axes Restriction This command affects the cycle time for all axes on multi-axis configurations. This command cannot be used to set a sample time lower than the required minimum cycle time for the current configuration. Attempting to do so will set the sample time to the required minimum cycle time as specified in the previous table. see DLL: Delphi, C++, Refer to the various import files (imp*.*) 336 © POSYS Motion Control GmbH & Co.KG, 2013 VB MotionScript® language calling convention SetSampleTime(hPosys#, time) GetSampleTime(hPosys#) -o- 337 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetSettleTime SetSettleTime GetSettleTime Syntax SetSettleTime(hPosys, axis, time) stdcall GetSettleTime(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction Type time Description unsigned 16 bits Range 0 to 2 15 Scaling unity Units cycles -1 SetSettleTimesets the time, in number of cycles, that the specified axis must remain within the settle window before the axis-settled indicator (in the activity status register) is set. GetSettleTime returns the current settle time for the specified axis. Restriction see Set/GetMotionCompleteMode, Set/GetSettleWindow, GetActivityStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetSettleTime(hPosys#, axis, time) GetSettleTime(hPosys#, axis) -o- 338 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetSettleWindow SetSettleWindow GetSettleWindow Syntax SetSettleWindow(hPosys, axis, window) stdcall GetSettleWindow(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction POSYS® 18xx, 19xx Type window Description unsigned 16 bits POSYS® 7xx, 8xx, 8xx-B, 9xx Type window unsigned 16 bits Range 0 to 2 16 Scaling unity Units counts Range 0 to 2 15 Scaling unity Units counts -1 -1 SetSettleWindowsets the position range within which the specified axis must remain for the duration specified by SetSettleTime before the axis-settled indicator (in the activity status register) is set. GetSettleWindow returns the current value of the settle window. Restriction see Set/GetMotionCompleteMode, Set/GetSettleTime, GetActivityStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetSettleWindow(hPosys#, axis, window) GetSettleWindow(hPosys#, axis) -o- 339 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetTrackingWindow SetTrackingWindow GetTrackingWindow Syntax SetTrackingWindow(hPosys, axis, window) stdcall GetTrackingWindow(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Pulse & Direction POSYS® 18xx/19xx Type window Description unsigned 16 bits POSYS® 7xx, 8xx, 8xx-B, 9xx Type window unsigned 16 bits Range 0 to 2 16 Scaling unity Units counts Range 0 to 2 15 Scaling unity Units counts -1 -1 SetTrackingWindowsets boundaries for the actual position of the specified axis. If the axis crosses the window boundary in either direction, the tracking indicator (bit 2 of the activity status register) is set to 0. When the axis returns to within the window, the tracking indicator is set to 1. GetTrackingWindow returns the value of the current tracking window. Restriction see GetActivityStatus, Set/GetActualPosition DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetTrackingWindow(hPosys#, axis, window) GetTrackingWindow(hPosys#, axis) -o- 340 © POSYS Motion Control GmbH & Co.KG, 2013 Status Register and AxisOut Indicator GetActivityStatus GetActivityStatus Syntax GetActivityStatus(hPosys, axis) stdcall Motor type DC Brush DC Brushless Arguments Name Instance hPosys C ardHandle Microstepping Pulse & Direction Encoding value returned by call to OpenDevice axis Returned Data 0 1 2 3 Type status Description Axis1 Axis2 Axis3 Axis4 unsigned 16 bits see below GetActivity Statusreads the 16 bit activity status register for the specified axis. Each of the bits in this register continuously indicate the state of the POSYS® without any action on the part of the host. There is no direct way to set or clear the state of these bits, since they are controlled by the POSYS®. The following table shows the encoding of the data returned by this command. Name Bit Number Description Phasing Initialized 0 Set to 1 if phasing is initialized (axes in DC brushless mode only) At maximum velocity 1 Set to 1 when the trajectory is at maximum velocity. This bit is determined by the trajectory generator, not the actual encoder velocity. Tracking 2 Set to 1 when the axis is within the tracking window 3-5 C ontains trajectory mode encoded as mode follows: C urrent profile mode Bit 1 Bit 2 Bit 3 Profile Mode 0 0 0 Trapezoidal 0 0 1 Velocity contouring 0 1 0 S-curve 0 1 1 Electronic gear 1 0 0 External profile mode reserved 6 Not used, may be 0 or 1 Axis settled 7 Set to 1 when the axis is settled Motor on/off 8 Set to 1 when motor mode is on, 0 when off. Position capture 9 Set to 1 when a value has been captured by the high speed position capture hardware but has not yet been read. The GetCaptureValue command must be executed before another capture can occur. In-motion 10 Set to 1 when the trajectory generator is executing a profile on the axis. In positive limit 11 Set to 1 when the positive limit switch is 341 © POSYS Motion Control GmbH & Co.KG, 2013 active In negative limit 12 Set to 1 when the negative limit switch is active Profile segment 13-15 Only used during S-curve profile mode. C ontains value of 0 when the profile is at rest. Contains phase number 1-7 when profile is in motion. Restriction see GetEventStatus, GetSignalStatus, ResetEventStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetActivityStatus(hPosys#, axis) -o- 342 © POSYS Motion Control GmbH & Co.KG, 2013 GetAxis_In_Out_Home GetAxis_In_Out_Home Syntax GetAxis_In_Out_Home(hPosys, statID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice statID InOutHomeStatus 01 Description Pulse & Direction GetAxis_In_Out_Homereturns the status of the four axis specific AxisIn input, AxisOut outputs and the Home inputs. The lowest four bits 0-3 relate to the status of the home inputs, bits 4-7 to the AxisOut status and the bits 8-11 relate to the AxisIn inputs. The exact meaning: Bits 0-3: Home inputs axis 0-3 (X-W) Bits 4-7: AxisIn inputs axis 0-3 (X-W) Bits 8-11: AxisOut outputs axis 0-3 (X-W) Bit 12: Reset cause - Software Bit 13: Reset cause - Undervoltage Bit 14: Reset cause - External Bit 15: Reset cause - Watchdog Restriction These outputs are not affected by a HardReset, SoftReset or an external reset. They will retain their state. see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetAxis_In_Out_Home(hPosys#, statID) -o- 343 © POSYS Motion Control GmbH & Co.KG, 2013 GetDriveStatus GetDriveStatus only valid for POSYS® 1800/1900 with firmware version >2.x Syntax GetDriveStatus(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type status unsigned 16 bits Returned Data Description Pulse & Direction see below GetDriveStatusreads the Drive Status register for the specified axis. All of the bits in this status word are set and cleared by the motion processor. They are not settable or clearable by the host. The bits represent states or conditions in the motion processor that are of a transient nature. Name Bit Reserved 0-3 In Holding 4 Reserved 5-15 Description Set to 1 when the unit is in the holding current state– the output current is limited by the holding current limit. Restriction see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetDriveStatus(hPosys#, axis) -o- 344 © POSYS Motion Control GmbH & Co.KG, 2013 GetEventStatus GetEventStatus Syntax GetEventStatus(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type Encoding status unsigned 16 bits see below Returned Data Description Pulse & Direction GetEv entStatusreads the event register for the specified axis. All of the bits in this status word are set by the motion processor and cleared by the host. To clear these bits, use the ResetEventStatus command. The following table shows the encoding of the data returned by this command. Name Bit(s) Description Motion Complete 0 Set to 1 when motion is completed. SetMotionCompleteMode determines if this bit is based on the trajectory generator position or the encoder position. Wrap-around 1 Set to 1 when the actual (encoder) position wraps from maximum allowed position to minimum or vice versa Breakpoint 1 2 Set to 1 when breakpoint 1 is triggered C apture received 3 Set to 1 when a position capture occurs Motion error 4 Set to 1 when a motion error occurs In positive limit 5 Set to 1 when the axis enters a positive limit switch condition In negative limit 6 Set to 1 when the axis enters a negative limit switch condition Instruction error 7 Set to 1 when instruction error occurs reserved C ommutation error reserved 8-10 11 12-13 Not used, may be 0 or 1 Set to 1 when a commutation error occurs Not used, may be 0 or 1 Breakpoint 2 14 Set to 1 when breakpoint 2 is triggered reserved 15 Not used, may be 0 or 1 Restriction All bits in this status word are set by the POSYS® and cleared by the host. To clear these bits use the ResetEventStatus command. see GetActivityStatus, GetSignalStatus, ResetEventStatus, GetDriveStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetEventStatus(hPosys#, axis) -o- 345 © POSYS Motion Control GmbH & Co.KG, 2013 GetSignalStatus GetSignalStatus Syntax GetSignalStatus(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Name Type see below unsigned 16 bits Returned Data Description Pulse & Direction GetSignalStatusreturns the contents of the signal status register for the specified axis. The signal status register contains the current value of the various hardware signals connected to each axis of the POSYS®. The value read is combined with the signal sense register (SetSignalSense command) and then returned to the user. For each bit in the Signal Sense register that is set to 1 the corresponding bit in the GetSignalStatus command will be inverted, so that a low signal will be read as 1 and a high signal will be read as a 0. C onversely for each bit in the Signal Sense register that is set to 0 the corresponding bit in the GetSignalStatus command is not inverted, so that a low signal will be read as 0 and a high signal will be read as a 1. All of the bits in the GetSignalStatus command are inputs except for AxisOut. The value read for this bit is equal to the current value output by the axis out mechanism. See SetAxisOutSource command for more details. Name Description Bit Number status Encoder A Encoder B Encoder Index Encoder Home Positive limit Negative limit Axisln Hall A Hall B Hall C AxisOut reserved 0 1 2 3 4 5 6 7 8 9 10 11-15 Restriction see GetActivityStatus, GetEventStatus, ResetEventStatus, Set/GetSignalSense DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetSignalStatus(hPosys#, axis) -o- 346 © POSYS Motion Control GmbH & Co.KG, 2013 ResetEventStatus ResetEventStatus Syntax ResetEventStatus(hPosys, axis, mask) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mask Description Motion Complete Wrap-Around Breakpoint 1 C apture Received Motion Error In positive Limit In negative Limit Instruction Error C ommutation Error Breakpoint 2 Pulse & Direction POSYS® 700, 800, 800B all versions & POSYS® 1800, 1900 Firmware <=1.5 POSYS® 1800/1900 Firmware >2.x 0001h 0002h 0004h 0008h 0010h 0020h 0040h 0080h 0800h 4000h FFFEh FFFDh FFFBh FFF7h FFEFh FFDFh FFBFh FF7Fh F7FFh BFFFh ResetEventStatusclears (sets to 0), for the specified axis, each bit in the Event Status Register that has a value of 0 in the mask sent with this command. All other Event Status Register bits (bits which have a mask value of 1) are unaffected. POSYS 18001900 mit Firmware >2.x Events that cause changes in Operating Mode or trajectory require, in general, that the corresponding bit in Event Status be cleared prior to returning to operation. That is, prior to restoring the Operating Mode (in cases where the Event caused a change in it) or prior to performing another trajectory move (in cases where the Event caused a trajectory stop). The one exception to this is Motion Error, which is not required to be cleared if the event action for it includes disabling of the Position Loop. Restriction see GetEventStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention ResetEventStatus(hPosys#, axis, mask) -o- 347 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetAxisOutMask SetAxisOutSource GetAxisOutSource only valid for POSYS® 1800/1900 with firmware version >2.x Syntax SetAxisOutSource(hPosys, axis, sourceAxis, sourceRegister, selectionMask, senseMask) stdcall GetAxisOutSource(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 sourceAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 sourceRegister disabled EventStatus ActivityStatus SignalStatus DriveStatus 0 1 2 3 4 selectionMask see below bitmask senseMask see below bitmaks Description Pulse & Direction SetAxisOutMaskconfigures what will drive theAxisOut pin of the axis. The sourceRegisterand sourceAxis arguments specify which register, from which axis, will be used to drive AxisOut of the specified axis. For each bit in theselectionMaskthat is set to 1, the corresponding bit of the specified sourceRegisteris selected to setAxisOut active. The senseMask bit determines which state of each bit causesAxisOut to be active—a zero (0) in thesenseMask means that a 0 in the corresponding bit will causeAxisOut to be active, and a 1 in thesenseMask means that a 1 in the corresponding bit will causeAxisOut to be active. If multiple bits are selected in the sourceRegister, AxisOut will be active if any of the selected bits, combined with their sense, require it to be. For example, assume it is desired to have the AxisOut pin of Axis1 driven active whenever motion complete of Axis2 is 1, or commutation error of Axis2 is 0. In this case, axis would be 0 (Axis1), sourceAxis would be 1 (Axis2), sourceRegisterwould be 1 (Event Status), selectionMaskwould be 0801h (commutation error and motion complete) and senseMask would be 0001h. GetAxisOutMaskreturns the mapping of theAxisOut pin of axis. The following table shows the available bits in each register. Encoding of bit Register = event status Register = activity status Registe r= signal status 0 Motion Complete Phasing initialized Encoder A 1 Wrap-around At maximum velocity Encoder B 2 Breakpoint 1 Tracking Encoder index 3 Position capture Home 4 Motion error Positive limit 5 In positive limit Negative limit 6 In negative limit AxisIn 348 Drive Status Registe r In Holding © POSYS Motion Control GmbH & Co.KG, 2013 7 Instruction error Axis settled Hall sensor 1 8 Disable Motor on/off Hall sensor 2 Position capture Hall sensor 3 9 0Ah 0Bh In motion C ommutation error 0Ch In positive limit In negative limit 0Dh 0Eh Breakpoint 2 0Fh see Set/GetSignalSense DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetAxisOutSource(hPosys#, axis, sourceAxis, sourceRegister, selectionMask, senseMask) GetAxisOutSource(hPosys#, axis) -o- 349 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetAxisOutSource SetAxisOutSource GetAxisOutSource Syntax SetAxisOutSource(hPosys, axis, sourceAxis, bit, register) stdcall GetAxisOutSource(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 sourceAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 bit see below 0 to 15 register disabled EventStatus ActivityStatus SignalStatus 0 1 2 3 Description Pulse & Direction SetAxisOutSourcemaps the specified bit of the specified status register of axis to the AxisOut pin for the specified axis. The state of the AxisOut pin will thereafter track the state of bit. If register is absent (encoding of 0), bit is ignored, and the specified AxisOut pin is, in effect, turned off (inactive). When the AxisOutSource is set to disabled, the AxisOut signal can be set high or low using SetSignalSense bit 10. GetAxisOutSourcereads the mapping of the AxisOut pin of axis. The table below shows the source for combinations of bit and register. Encoding of bit Register = event status Register = activity status Register = signal status 0 Motion Complete Phasing initialized Encoder A 1 Wrap-around At maximum velocity Encoder B 2 Breakpoint 1 Tracking Encoder index 3 Position capture Home 4 Motion error Positive limit 5 In positive limit Negative limit 6 In negative limit AxisIn 7 Instruction error Axis settled Hall sensor 1 8 Motor on/off Hall sensor 2 9 Position capture Hall sensor 3 0Ah 0Bh In motion C ommutation error 0Ch In positive limit In negative limit 0Dh 0Eh Breakpoint 2 0Fh see Set/GetSignalSense DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling SetAxisOutSource(hPosys#, axis, sourceAxis, bit, register) GetAxisOutSource(hPosys#, axis) 350 © POSYS Motion Control GmbH & Co.KG, 2013 convention -o- 351 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetSignalSense SetSignalSense GetSignalSense Syntax SetSignalSense(hPosys, axis, mask) stdcall GetSignalSense(hPosys, axis) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 Indicator Encoding Bit number Encoder A Encoder B Encoder Index Encoder Home Positive Limit Negative Limit AxisIn Hall A Hall B Hall C AxisOut StepOutput MotorDirection reserved 0001h 0002h 0004h 0008h 0010h 0020h 0040h 0080h 0100h 0200h 0400h 0800h 1000h 0 1 2 3 4 5 6 7 8 9 10 11 12 13-15 mask Description Pulse & Direction SetSignalSenseestablishes the sense of the corresponding bits of the signal status register, with the addition of StepOutput and MotorDirection, for the specified axis. For all input signals, the input is inverted if the corresponding sense bit is one; otherwise it is not inverted. For encoder index/home: if the sense bit is 1, a capture will occur on a low-to-high signal transition. Otherwise, a capture will occur on a high-to-low transition. For positive and negative limit: if the sense bit is 1, an overtravel condition will occur if the signal is high. Otherwise, an overtravel condition will occur when the signal is low. The AxisOut signal is inverted if the sense bit is set to one; otherwise it is not inverted. When the StepOutput bit is set to 1, a step will be generated by the motion processor with a low-to-high transition on the Pulse signal. Otherwise, a step will be generated by the motion processor with a high-to-low transition on the Pulse signal. Setting the MotorDirection bit has the effect of swapping the sense of positive and negative motor movement. GetSignalSense returns the current signal sense mask. Restriction Inverting the encoder A, B, or index may prevent the index capture mechanism from operating correctly. Please contact us for support. see GetSignalStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetSignalSense(hPosys#, axis, mask) GetSignalSense(hPosys#, axis) -o- 352 © POSYS Motion Control GmbH & Co.KG, 2013 Traces GetTraceCount GetTraceCount Syntax GetTraceCount(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Value Type trace count unsigned 32 bits Returned Data Range Pulse & Direction 0 to 2 32 Scaling unity Units samples -1 Description GetTraceCount returns the number of points (variable values) stored in the trace buffer since the beginning of the trace. Restriction If the trace mode is set to rolling and the buffer wraps, GetTraceCount returns the number of samples in the filled buffer. see ReadBuffer, Set/GetTraceStart, Set/GetTraceStop, Set/GetBufferLength DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetTraceCount(hPosys#) -o- 353 © POSYS Motion Control GmbH & Co.KG, 2013 GetTraceStatus GetTraceStatus Syntax GetTraceStatus(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type see below unsigned 16 bits Returned Data Description Pulse & Direction GetTraceStatusreturns the current trace status. The definitions of the individual status bits are as follows: Bit Number Name Description 0 Mode Set to 0 when trace is in one-time mode, 1 when in rolling mode 1 Activity Set to 1 when trace is active (currently tracing), 0 if trace not active 2 DataWrap Set to 1 when trace has wrapped, 0 if it has not wrapped. If 0, the buffer has not yet been filled and all recorded data are intact. If 1, the trace has wrapped to the beginning of the buffer; any previous data may have been overwritten if not explicitly retrieved by the host using the ReadBuffer command while the trace is active. Restriction see Set/GetTraceStart, Set/GetTraceMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetTraceStatus(hPosys#) -o- 354 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetTraceMode SetTraceMode GetTraceMode Syntax SetTraceMode(hPosys, mode) stdcall GetTraceMode(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice mode OneTime RollingBuffer 0 1 Description Pulse & Direction SetTraceModesets the buffer usage for the next trace. In OneTime mode, the trace continues until the buffer is filled, then stops. In Rolling mode, the trace continues from the beginning of the buffer after the end is reached. Values stored when in the rolling mode are lost if they are not read before being overwritten by the wrapped data being traced and stored. GetTraceMode returns the code for the current buffer mode. Restriction see GetTraceStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetTraceMode(hPosys#, mode) GetTraceMode(hPosys#) -o- 355 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetTracePeriod SetTracePeriod GetTracePeriod Syntax SetTracePeriod(hPosys, period) stdcall GetTracePeriod(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction POSYS® 18xx/19xx Type period Description unsigned 16 bits POSYS® 7xx, 8xx, 8xx-B, 9xx Type period unsigned 16 bit Range 1 to 2 16 Scaling unity Units cycles Range 1 to 2 15 Scaling unity Units cycles -1 -1 SetTracePeriodsets the time period, expressed in number of cycles, between successive trace points. GetTracePeriod returns the current trace period. Restriction see Set/GetSampleTime, Set/GetTraceStart, Set/GetTraceStop DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetTracePeriod(hPosys#, period) GetTracePeriod(hPosys#) -o- 356 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetTraceStart SetTraceStart GetTraceStart Syntax SetTraceStart(hPosys, triggerAxis, condition, triggerBit, triggerState) stdcall GetTraceStart(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice triggerAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 condition Immediate Next update Event Status register bit Activity Status register bit Signal Status register bit 0 1 2 3 4 triggerBit Status register bit 0 to 15 triggerState Triggering state of the bit 0 (value = 0) 1 (value = 1) Description Pulse & Direction SetTraceStartsets the condition for starting the trace. The Immediate condition requires no axis to be specified and the trace will begin upon execution of this instruction. The other four conditions require an axis to be specified; and when the condition for that axis is attained, the trace will begin. When a status register bit is the trigger, the bit number and state must be included in the argument. The trace is started when the indicated bit reaches the specified state (0 or 1). Once a trace has started, the trace-start indicator is reset and the SetTraceStart instruction must be resent before another trace can be started. GetTraceStartreturns the current trace-start condition. Examples: If it is desired that the trace begin on the next Update for axis 3, then a 1 is set for the condition, a 2 is set for the axis number, and bit number and state can be loaded with zeroes since they are not used. If it is desired that the trace begin when bit 7 of the Activity Status register for axis 2 goes to 0 then the trace start is loaded as follows: A 3 is loaded for condition, a 1 is loaded for axis number, a 7 is loaded for bit number, and a 0 is loaded for state. The table below shows the corresponding value for combinations of triggerBit and register. Encoding of bit Register = event status Register = activity status Register = signal status 0 Motion Complete Phasing initialized Encoder A 1 Wrap-around At maximum velocity Encoder B 2 Breakpoint 1 Tracking Encoder index 3 Position capture Home 4 Motion error Positive limit 5 In positive limit Negative limit 6 In negative limit AxisIn 7 Instruction error Axis settled Hall sensor 1 8 Motor on/off Hall sensor 2 9 Position capture Hall sensor 3 0Ah 0Bh In motion C ommutation error 0Ch In positive limit In negative limit 357 © POSYS Motion Control GmbH & Co.KG, 2013 0Dh 0Eh Breakpoint 2 0Fh Restriction see Set/GetBufferLength, GetTraceCount, Set/GetTraceMode, Set/GetTracePeriod, Set/GetTraceStop DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetTraceStart(hPosys#, triggerAxis, condition, triggerBit, triggerState) GetTraceStart(hPosys#) -o- 358 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetTraceStop SetTraceStop GetTraceStop Syntax SetTraceStop(hPosys, triggerAxis, condition, triggerBit, triggerState) stdcall GetTraceStop(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice triggerAxis Axis1 Axis2 Axis3 Axis4 0 1 2 3 condition Immediate Next update Event Status register bit Activity Status register bit Signal Status register bit 0 1 2 3 4 triggerBit Status register bit 0 to 15 triggerState Triggering state of the bit 0 (value = 0) 1 (value = 1) Description Pulse & Direction SetTraceStopsets the condition for starting the trace. The Immediate condition requires no axis to be specified and the trace will begin upon execution of this instruction. The other four conditions require an axis to be specified; and when the condition for that axis is attained, the trace will stop. When a status register bit is the trigger, the bit number and state must be included in the argument. The trace is started when the indicated bit reaches the specified state (0 or 1). Once a trace has started, the trace-start indicator is reset and the SetTraceStop instruction must be sent before another trace can be started. Once a trace has stopped, the trace-stop indicator is reset and the SetTraceStop instruction must be reentered before another trace can be stopped. GetTraceStopreturns the current trace-start condition. Examples: If it is desired that the trace stop on the next Update for axis 3, then a 1 is set for the condition, a 2 is set for the axis number, and bit number and state can be loaded with zeroes since they are not used. If it is desired that the trace stop when bit 7 of the Activity Status register for axis 2 goes to 0 then the trace start is loaded as follows: A 3 is loaded for condition, a 1 is loaded for axis number, a 7 is loaded for bit number, and a 0 is loaded for state. The table below shows the corresponding value for combinations of triggerBit and register. Encoding of bit Register = event status Register = activity status Register = signal status 0 Motion Complete Phasing initialized Encoder A 1 Wrap-around At maximum velocity Encoder B 2 Breakpoint 1 Tracking Encoder index 3 Position capture Home 4 Motion error Positive limit 5 In positive limit Negative limit 6 In negative limit 7 Instruction error AxisIn Axis settled Hall sensor 1 8 Motor on/off Hall sensor 2 9 Position capture Hall sensor 3 0Ah 0Bh In motion C ommutation error 0Ch In positive limit In negative limit 359 © POSYS Motion Control GmbH & Co.KG, 2013 0Dh 0Eh Breakpoint 2 0Fh Restriction see GetTraceCount, Set/GetTraceStart, GetTraceStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetTraceStop(hPosys#, triggerAxis, condition, triggerBit, triggerState) GetTraceStop(hPosys#) -o- 360 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetTraceVariable SetTraceVariable GetTraceVariable Some options are dependent on the firmware used. For POSYS® 1800/1900 if equipped with Motion Control Chipset >< V2.x. These are marked with an "*". Syntax SetTraceVariable(hPosys, variableNumber, traceAxis, variable) stdcall GetTraceVariable(hPosys, variableNumber) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice variableNumber Variable1 Variable2 Variable3 Variable4 0 1 2 3 axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 variable None (disable variable) Position Error C ommanded Position C ommanded Velocity C ommanded Acceleration Actual Position Actual Velocity Motor Command C hip Time C apture Register Position Loop Integral Sum Position Loop Derivative Event Status Register Activity Status Register Signal Status Register Phase Angle Phase Offset Phase A Phase B Phase C Analog Input 1 Analog Input 2 Analog Input 3 Analog Input 4 Analog Input 5 Analog Input 6 Analog Input 7 Analog Input 8 PID Servo Error Phase Angle Scaled * Drive Status Register * Position Loop Integral Contribution * PID Output (Biquad1 Input) * Biquad1 Output (Biquad2 Input) * 0 1 2 3 4 5 6 7 8 9 Ah Bh Ch Dh Eh Fh 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 38h 39h 40h 41h Description Pulse & Direction SetTraceVariableassigns the given variable to the specified variableNumber location in the trace buffer. The variable will always occupy a 32-bit buffer location. All 16-bit values are sign extended to 32 bits. Up to four variables may be traced at one time. All combinations of axis numbers and trace variables are supported. All variable assignments must be contiguous starting with variableNumber = 0. GetTraceVariablereturns the variable and axis of the specified variableNumber. Example: To set up a 3 variable trace capturing the commanded acceleration for axis 1, the actual position for axis 1, and the event status word for axis 3 the following sequence of commands would be used. First a SetTraceVariable command with traceID of 0 , axis of 0 , and variable of 4 would be sent. Then a SetTraceVariable command with traceID of 1 , axis of 0 , and variable of 361 © POSYS Motion Control GmbH & Co.KG, 2013 5 would be sent. Finally a SetTraceVariable command with traceID of 2 , axis of 2 and variable of 0Ch would be sent. Restriction When selecting ActualVelocity as a trace variable, the reported value is the absolute change in position between trace samples, not the velocity per chip cycle. In this way, the trace period can be used to alter the sample period for the velocity. * with an asterisk marked parameters are only available on POSYS® 1800/1900 boards when equipped with a firmware vers. >2.x see Set/GetTracePeriod, Set/GetTraceStart, Set/GetTraceStop DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetTraceVariable(hPosys#, variableNumber, traceAxis, variable) GetTraceVariable(hPosys#, variableNumber) -o- 362 © POSYS Motion Control GmbH & Co.KG, 2013 Miscellaneous GetChecksum GetChecksum Syntax GetChecksum(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Returned Data Type checksum Description Pulse & Direction unsigned 32 bits GetChecksum reads the internal 32-bit checksum value. The return value is dependent on the firmware version of the motion processor; for further information contact servo-Halbeck GmbH & Co.KG Restriction see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) Motion Script® language calling convention GetChecksum(hPosys#) -o- 363 © POSYS Motion Control GmbH & Co.KG, 2013 GetHostIOError GetHostIOError GetInstructionError (only valid for POSYS® 1800/1900 with firmware >2.x) Syntax GetHostIOError(hPosys) stdcall GetInstructionerror(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type Range error code unsigned 16 bit 0 - Eh Returned Data Description Pulse & Direction POSYS® 7xx, 8xx, 8xx-B, 9xx GetHostIOErrorreturns the code for the last Host I/O error, then resets to 0 both the error and the Host I/O bit in the Status-Read word. Generally this command is issued only after the Host I/O error bit in the Status-read word indicates there was an I/O error. POSYS® 18xx, 19xx GetHostIOError / GetInstructionError now only clears the command error bit in the parallel status register if it was called from the parallel interface. Prior to this change, calling the GetHostIOError using any communication interfaces would clear the command error bit. GetHostIOError / GetInstructionError (firmware >2.x) clears the Host I/O Error Bit in the parallel status register only if it was called thru the parallel interface (ISA-Bus or PC I-Bus). Before this change a call to GetHostIOError was valid on any interface. Error Code Encoding No error Processor reset Invalid instruction Invalid axis Invalid parameter Trace running reserved Block out of bounds Trace buffer zero Bad serial checksum reserved Invalid negative value Invalid parameter change Invalid move after limit condition Invalid move into limit Invalid Operating Mode restore after event-triggered change Invalid Operating Mode for command 0 1 2 3 4 5 6 7 8 9 Ah Bh Ch Dh Eh 10h (only POSYS 1800/1900 >2.x) Restriction see GetEventStatus, ResetEventStatus DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetHostIOError(hPosys#) GetInstructionError(hPosys#) -o- 364 11h (only POSYS 1800/1900 >2.x) © POSYS Motion Control GmbH & Co.KG, 2013 GetProcessorStatus GetProcessorStatus Syntax GetProcessorStatus(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Returned Data Pulse & Direction Returns a 16-bit word. Bit 0-12: unused, set to 0 Bit 13: Holds value of HostIOError signal, 1 if a HostIOError occurred Bit 14: Holds value of HostIntrpt signal. A 1 indicates the signal level is high. Bit 15: Holds value of HostRdy signal. A 1 indicates the level is high. Description GetProcessorStatus can be called at any time. The status read returns information about the chip set’s interface signals. Restriction see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetProcessorStatus(hPosys#) -o- 365 © POSYS Motion Control GmbH & Co.KG, 2013 GetVersion GetVersion Syntax GetVersion(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Returned Data Description Restriction Name Type version info high-word unsigned 16 bits version info low-word unsigned 16 bits Pulse & Direction GetVersionreturns product information encoded as shown above. Product information Description Encoding product family motor type POSYS® 2 or 5 (Navigator or Magellan) brushed servo 1 brushless servo 3 microstepping 4 stepper 5 all motor types (only Magellan) 8 number of chips 1, 2 axes supported 1, 2, 3, 4 special attributes reserved 0 to 3 customization code reserved 0 to 255 major s/w version 0 to 15 minor s/w version 0 to 15 Note that in the DLL call GetVersion, the special attributes value and chip count value are combined and returned in a single return parameter (special_and_chip_count). Chip count is encoded in the 2 least-significant bits of this value; special attributes is encoded in the upper 2 bits. see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention GetVersion(hPosys#) -o- 366 © POSYS Motion Control GmbH & Co.KG, 2013 HardReset/MCReset HardReset MCReset Syntax HardReset(hPosys) stdcall alternatively MCReset(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Description Pulse & Direction HardReset executes a hardware reset of the motion control card residing at the address hPosys. The Motion control processor will be reset and the optical motor command output switches will be turned off, actually the output will be put to ground potential. All inputs and outputs are set back to their power-on state. HardReset has the same effect as executing an external reset by bringing the Reset Input low. To reinitialize the motion control card it will be necessary to execute a callSoftReset to followed by reloading filter and other parameters and a call to DAC OutputsOn to turn on the optical output switches to connect the ±10 V motor command output to the servo amplifiers. Only the ±10 V output is connected to the optical output switches. The PWM output uses a different connector pin and is NOT switched by the optical output switches. MCReset executes a hardware reset of the motion control card residing at the address hPosys. This command is faster in the execution than the command HardReset since it will not reload the FPGA. In all other facts it is the same as the command HardReset. Note: POSYS® 700/800 With the exception of the AxisOut outputs other outputs are not automatically reset (user outputs and amplifier enable outputs). If these are to be reset to the default it will be necessary to do this by calls to WriteIO(ioAddress, outputStatus). HardReset has the same effect as executing an external reset by bringing the Reset Input low. Reset restores the POSYS® to its initial condition, setting all variables to their default values. These default values are shown in the following table: Acceleration ActualPosition Active Operating Mode* ActualPositionUnits * AutoStopMode Auxiliary Encoder Source * AxisMode AxisOutSource AxisOut Register * AxisOut Selection Mask * AxisOut Sense Mask * BiQuadCoefficients * Breakpoint 1 Breakpoint 2 BreakpointValue 1 BreakpointValue 2 Breakpoint Update Mask 1 * Breakpoint Update Mask 2 * BufferLength BufferReadIndex BufferStart BufferWriteIndex C aptureSource C ommutation Mode * Deceleration * DerivativeTime * EncoderModulus Encoder Source EncoderToStepRatio GearMaster 0 0 0033h * 0 or motor dependent* 1 0* 1 0 0* 0* 0* 0 0 0 0 0 0* 0* 0 0 siehe notes 0 0 siehe notes 0 or 1 * 0 or 1 * 0 motor dependent * 00010001h 0 367 Kp Kvff LimitSwitchMode MotionCompleteMode Motion Error Event Action * MotorBias MotorCommand MotorLimit MotorMode * Operating Mode * PhaseAngle Phase Correction Mode PhaseCounts PhaseInitializeMode PhaseInitializeTime PhaseOffset * PhasePrescale Position PositionErrorLimit Positive Limit Event Action * Negative Limit Event Action * ProfileMode PWM Frequency * SampleTime SettleTime SettleWindow SignalSense * Start Velocity * Step Range StopMode TraceMode TracePeriod 0 0 1 0 motor dependent * 0 0 32767 1 or motor dependent* 0033h * 0 motor dependent motor dependent 0 0 65353 or -1 * 0 0 siehe notes 8* 8* 0 motor dependent * siehe notes 0 0 motor dependent * 0* 1 0 0 1 © POSYS Motion Control GmbH & Co.KG, 2013 GearRatio Holding Motor Limit * Holding Delay * IntegrationLimit InterruptMask Jerk Kaff Kd Ki * Kout 0 32767 * motor dependent * 0 0 0 0 0 65535 or 0 * 65535 TraceStart TraceStop TraceVariable1 TraceVariable2 TraceVariable3 TraceVariable4 TrackingWindow Update Mask * Velocity 0 0 0 0 0 0 0 0Bh * 0 The motor-type dependant default values are listed below: Variable DC Brushed DC Brushless (3 phase) DC Brushless (2 phase) 0 0 0 n/a 0 0 EncoderSource 0 0 0 Motion Error Event Action * 5 5 5 OutputMode 1 2 2 PhaseCorrectionMode n/a 1 1 PWMFrequency (kHz) 0 n/a n/a Actual Position Units * C ommutationMode Phase Counts * n/a 1 1 Holding Delay * n/a n/a n/a Signal Sense * 0 0 0 Microstepping (3 phase) Microstepping (2 phase) Pulse & Direction Actual Position Units * 0 0 0 C ommutationMode 0 0 n/a EncoderSource 2 2 3 Motion Error Event Action * 5 5 5 OutputMode 2 1 n/a PhaseCorrectionMode n/a n/a n/a PWMFrequency (kHz) 20 80 n/a Phase Counts * 256 256 n/a Holding Delay * 32767 32767 20 Signal Sense * 0 0 0800h Variable Notes: *BiQuadCoefficient:not available on POSYS® 7xx, 8xx, 8xx-B and 9xx BufferStart: The default value set after a Reset with the POSYS® 7xx, 8xx, 8xx-B and 9xx is 1024. A lower value is not possible. The default value set after a Reset with the POSYS® 18xx and 19xx is 0h. MotorLimit: The default value set after a Reset with the POSYS® 7xx, 8xx, 8xx-B and 9xx is 32765 . The default value set after a Reset with the POSYS® 19xx and 18xx is 65535. PositionErrorLimit: The default value set after a Reset with the POSYS® 7xx, 8xx, 8xx-B and 9xx2147483647. is The default value set after a Reset with the POSYS® 19xx and 18xx is 65535. SampleTime: Refer to Set/GetSampleTime for more information regarding SampleTime. All axes supported by the motion processor are enabled at reset on all axes. Profile, servo filter, and other axis-specific parameters are reset on all axes. On-board-memory buffer parameters are reset for all buffers. BufferStart is reset to (200h), the lowest user-accessible address. 368 © POSYS Motion Control GmbH & Co.KG, 2013 Axis-specific conditions are reset on all axes. On-board-memory buffer conditions are reset on all 32 memory buffers. Parameters marked with "*" are normally only valid for POSYS controllers 1800/1900. Please note that most of these parameters are also only available on boards equipped with the firmware version >2.x. If 2 values are noted the first value is valid for firmware versions =< 1.5 and the second value is valid for firmware versions >2.x. (exception: Biquadcoefficient; in all POSYS 1800/1900 boards available with exception of those equipped with firmware supporting Piezo functionality). Restriction PWMFrequency can not be set on the POSYS® 7xx, 8xx, 8xx-B and 9xx Warning: If the external Reset is permanently pulled low for a longer period, the motion processor may be damaged. Therefore it is necessary and the responsibility of the user to setup the circuit for the external Reset in a manner that a permanent Reset can not occur, even at an emergency machine shutdown. In this case warranty is voided. see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention HardReset(hPosys#) or MCReset(hPosys#) -o- 369 © POSYS Motion Control GmbH & Co.KG, 2013 NoOperation NoOperation Syntax NoOperation(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Description Pulse & Direction The NoOperation command has no affect on the POSYS®. It is useful as a "null" operation to verify communications with the Motion Controller. Restriction see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention NoOperation(hPosys#) -o- 370 © POSYS Motion Control GmbH & Co.KG, 2013 PortInOutW PortInW PortOutW Syntax PortInW(hPosys, address) stdcall PortOutW(hPosys, address, data) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Type Description address unsigned 16 bits data unsigned 16 bits Range 51-1023 Scaling none Range 0-65535 Scaling none The function PortInW and PortOutW should under normal conditions never be used. If improperly applied they could cause havoc within your system and may crash your computer and cause dangerous runaway of your motors. They should only be used by experienced programmers.These functions provide direct access to the computers IO address space using the provided device driver. PortInW will read a data word at address and PortOutW will write a data word to address. These functions permit experienced programmers to write programs as close to the hardware as possible. Restriction Do not use these functions unless you are absolutely sure of what you are doing!!! see OpenDevice/CloseDevice DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention PortInW(hPosys#, address) PortOutW(hPosys#, address, data) -o- 371 © POSYS Motion Control GmbH & Co.KG, 2013 ReadAnalog ReadAnalog Syntax ReadAnalog(hPosys, portID) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type portID unsigned 16 bits Returned Data Name Type value unsigned 16 bits Range 0 to 7 Scaling unity Units - Range Scaling Units Description Pulse & Direction 0 to 2 16 100/2 -1 16 % input ReadAnalog returns a 16-bit value representing the voltage (read by an on-chip 10-bit A/D) presented to the specified analog input. The value returned is the result of shifting the 10-bit value 6 bits to the left. Restriction see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention ReadAnalog(hPosys#, portID) -o- 372 © POSYS Motion Control GmbH & Co.KG, 2013 ReadIO ReadIO Syntax ReadIO(hPosys, address) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type address unsigned 16 bits Returned Data Description Name Type data unsigned 16 bits Pulse & Direction Range 0 to 255 Scaling unity Units - Range 0 to 2 Scaling unity Units - 16 -1 ReadIO reads one 16-bit word of data from the device whose address is calculated by adding 1000h to address. (address is an offset from the base address, 1000h, of the POSYS's® memory-mapped I/O space.) The format and interpretation of the 16-bit data word are dependent on the user-defined device being addressed. User-defined I/O can be used to implement a number of features including additional parallel I/O, flash memory for nonvolatile configuration information storage, or display devices such as LED arrays. Restriction see WriteIO DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention ReadIO(hPosys#, address) -o- 373 © POSYS Motion Control GmbH & Co.KG, 2013 ReadPLD ReadPLD Syntax ReadPLD(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type value unsigned 16 bits Returned Data Description Range see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention ReadPLD(hPosys#) -o- 374 0 to 2 Scaling unity Units - Reads internal system data reflecting configuration and revision levels. Restriction Pulse & Direction 15 -1 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetCANMode SetCANMode GetCANMode only available for POSYS® 18xx/19xx Series Syntax SetCANMode(hPosys, mask) stdcall GetCANMode(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Type mask Description unsigned 16 bit see below SetCANMode sets the C AN 2.0B communication parameters for the POSYS®. After completion of this command, the POSYS® will respond to a C AN receive message addressed to 0x600 + nodeID. C AN responses are sent to 0x580 + nodeID. The C AN transmission rate will be as specified in the transmission rate parameter. The standard transmission rate after power-on is 500,000. The following table shows the encoding of the data used by this command: Bit Number Name Instance Encoding 0-6 C AN node ID Address 0 Address 1 ... Address 127 0 1 ... 127 7-12 reserved 13-15 transmission rate 1,000,000 baud 800,000 500,000 250,000 125,000 50,000 25,000 10,000 0 1 2 3 4 5 6 7 Restriction see DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetCANMode(hPosys#, mask) GetCANMode(hPosys#) -o- 375 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetDiagnosticPortMode SetDiagnosticPortMode GetDiagnosticPortMode only available for POSYS® 8xx-B/9xx Series Syntax SetDiagnosticPortMode(hPosys, mask) stdcall GetDiagnosticPortMode(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Pulse & Direction Type mode Description limited full 0 1 SetDiagnosticPortModedetermines the instruction set that can be executed through the diagnostic port. When set to Limited, only the following instructions may be executed: all GET instructions The SetBufferReadIndex instruction When set to FULL, all instructions may be executed. GetDiagnosticPortMode returns the current mode of the diagnostic port. Restriction only valid for POSYS® 8xx-B and 9xx series. see Set/GetSerialPortMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetDiagnosticPortMode(hPosys#, mask) GetDiagnosticPortMode(hPosys#) -o- 376 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetSerialPortMode SetSerialPortMode GetSerialPortMode only available for POSYS® 8xx-B/9xx/18xx/19xx Series Syntax SetSerialPortMode(hPosys, mask) stdcall GetSerialPortMode(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Name Type Encoding mask unsigned 16 bits see unten Description Pulse & Direction SetSerialPortModesets the configuration for the asynchronous serial port. Note: It is recommended that two stop bits be used for baud rates greater than 19200bps. GetSerialPortModereturns the configuration for the asynchronous serial port. The following table shows the encoding of the data used by this command: Restriction Bit number Name Instance Encoding 0-3 Transmission rate 1200 baud 2400 9600 19200 57600 115200 250000 416667 0 1 2 3 4 5 6 7 4-5 parity none odd even 0 1 2 6 stop bits 1 2 0 1 7-8 protocol point-to-point multi-drop using address bit multi-drop using idle line detection 0 1 2 11-15 Multi-drop address Address 0 Address 1 ... Address 31 0 1 ... 31 For the POSYS® 8xx-B and 9xx the command Set/GetDiagnosticPortMode needs to be issued for full access to the complete command structure via serial interface. In addition a jumper must be set for either mode (parallel or serial). Not available for POSYS® 7xx, 8xx Set/GetDiagnosticPortMode is not available for the POSYS® 1800/1900 series. These cards are generally capable to communicate on all three available interfaces simultaneously (parallel, serial, CAN) see Set/GetDiagnosticPortMode DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetSerialPortMode(hPosys#, mask) GetSerialPortMode(hPosys#) -o- 377 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetSynchronizationMode SetSynchronizationMode GetSynchronizationMode only available for POSYS® 8xx-B/9xx with SYNC IO option and 18xx/19xx Series Syntax SetSynchronizationMode(hPosys, mode) stdcall GetSynchronizationMode(hPosys) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice mode Disabled Master Slave 0 1 2 Description SetSy nchronizationMode sets the mode of the pin used for the synchronization of the internal timer across multiple POSYS® motion controllers. In the disabled mode, the pin is configured as an input and is not used. In the master mode, the pin outputs a synchronization pulse that can be used by slave nodes or other devices to synchronize with the internal chip cycle of the master node. In the slave mode, the pin is configured as an input and a pulse on the pin synchronizes the internal chip cycle. GetSynchronizationMode returns the code for the current synchronization mode. Restriction If any axis is configured for Pulse & Direction output (POSYS® 18xx/19xx), multi-controller synchronization cannot be used. The SYNC I/O feature is not available for the POSYS® 7xx, 8xx, 85x-B and 95x. see Set/GetSampleTime, Set/GetBreakpoint, Set/GetBreakpointValue DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetSynchronizationMode(hPosys#, mode) GetSynchronizationMode(hPosys#) -o- 378 © POSYS Motion Control GmbH & Co.KG, 2013 SetWatchDog SetWatchDog Syntax SetWatchDog(hPosys,address,value) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice Description address 0x04 value 0x5562 Pulse & Direction SetWatchDog activates a POSYS® hardware timer which times out after approximately104 milliseconds unless it is refreshed before the timeout. A timeout will cause a hardware reset. The Watch Dog Timer is deactivated after a timeout. Example: address = 4 timeout = 21858 Rem 0x04 Rem 0x5562 SetWatchDog(hPosys,address, timeout) This starts the Watch Dog Timer. It must be refreshedbefore timeout or the motion control card will be reset! Address and timeout values must not be changed!!! Restriction The Watch Dog Timer cannot be stopped once it has been started. It can only be stopped by a reset. The timeout time is fixed at 104 milliseconds. see OpenDevice/CloseDevice, PortInOutW DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention SetWatchDog(hPosys#,address,value) -o- 379 © POSYS Motion Control GmbH & Co.KG, 2013 WriteIO WriteIO Syntax WriteIO(hPosys, address, data) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice POSYS® 18xx, 19xx Type Range address unsigned 16 bits 0 to 255 data unsigned 16 bits POSYS® 7xx, 8xx, 8xx-B, 9xx Type Range address unsigned 8 bits 0 to 255 data unsigned 16 bits Description 0 to 2 0 to 2 16 16 Pulse & Direction -1 -1 WriteIO writes one 16-bit word of data to the device whose address is calculated by adding 1000h to address. In other words, address is an offset from address 1000h of the motion IC ´s memory-mapped I/O space. The format and interpretation of the 16-bit data word are dependent on the user-defined device being addressed. User-defined I/O can be used to implement a variety of features such as additional parallel I/O, flash memory for non-volatile configuration information storage, or display devices such as LED arrays. Restriction see ReadIO DLL: Delphi, C++, VB Refer to the various import files (imp*.*) MotionScript® language calling convention WriteIO(hPosys#, address, data) -o- 380 © POSYS Motion Control GmbH & Co.KG, 2013 Additional MotionScript® Functions BitReset BitReset Syntax BitReset(hPosys#, testVar, bitToReset) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys# C ardHandle value returned by call to OpenDevice testVar 32 bits bitToReset 32 bits Description BitReset will reset bitToReset (set to 0) in testVar. Result = BitReset(testVar, bitToReset), the result of the operation Restriction Only available for the MotionScript® language see BitTest, BitSet, C ompareActivity, C ompareEvent, C ompareSignal DLL: Delphi, C++, VB not applicable MotionScript® language calling convention BitReset(hPosys#, testVar, bitToTest) -o- 381 Pulse & Direction © POSYS Motion Control GmbH & Co.KG, 2013 BitSet BitSet Syntax BitSet(hPosys#, testVar, bitToSet) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys# C ardHandle value returned by call to OpenDevice testVar 32 bits bitToTest 32 bits Description BitSet will set bitToSet in testVar by oring the two values. Result = BitTest(testVar, bitToSet) Restriction Only available for the MotionScript® language see BitReset, BitTest, C ompareActivity, C ompareEvent, C ompareSignal DLL: Delphi, C++, VB not applicable MotionScript® language calling convention BitSet(hPosys#, testVar, bitToTest) -o- 382 Pulse & Direction © POSYS Motion Control GmbH & Co.KG, 2013 BitTest BitTest Syntax BitTest(hPosys#, testVar, bitToTest) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys# C ardHandle value returned by call to OpenDevice testVar 32 bits bitToTest 32 bits Description BitTest returns 1 if the bitToTest is set, otherwise it will return 0. Result = BitTest(testVar, bitToTest) Restriction Only available for the MotionScript® language see BitReset, BitSet, C ompareActivity, C ompareEvent, C ompareSignal DLL: Delphi, C++, VB not applicable MotionScript® language calling convention BitTest(hPosys#, testVar, bitToTest) -o- 383 Pulse & Direction © POSYS Motion Control GmbH & Co.KG, 2013 CompareActivity CompareActivity Syntax C ompareActivity(hPosys#, axis, mask) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys# C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mask 0 - 65535 (0xFFFF) Pulse & Direction Description CompareActivity returns the result of ANDing the bit mask with GetActivityStatus. Result = (GetActivityStatus and mask) Restriction Only available for the MotionScript® language see BitReset, BitTest, BitSet, C ompareEvent, C ompareSignal DLL: Delphi, C++, VB not applicable MotionScript® language calling convention C ompareActivity(hPosys#, axis, mask) -o- 384 © POSYS Motion Control GmbH & Co.KG, 2013 CompareEvent CompareEvent Syntax C ompareEvent(hPosys#, axis, mask) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mask 0 - 65535 (0xFFFF) Pulse & Direction Description CompareActivity returns the result of ANDing the bit mask with GetEventStatus. Result = (GetEventStatus and mask) Restriction Only available for the MotionScript® language see BitReset, BitTest, BitSet, C ompareActivity, C ompareSignal DLL: Delphi, C++, VB not applicable MotionScript® language calling convention C ompareEvent(hPosys#, axis, mask) -o- 385 © POSYS Motion Control GmbH & Co.KG, 2013 CompareSignal CompareSignal Syntax C ompareSignal(hPosys#, axis, mask) stdcall Motor type DC Brush DC Brushless Microstepping Arguments Name Instance Encoding hPosys# C ardHandle value returned by call to OpenDevice axis Axis1 Axis2 Axis3 Axis4 0 1 2 3 mask 0 - 1024 (0x0400) Pulse & Direction Description CompareSignal returns the result of ANDing the bit mask with GetSignalStatus. Result = (GetSignalStatus and mask) Restriction Only available for the MotionScript® language see BitReset, BitTest, BitSet, C ompareActivity, C ompareEvent DLL: Delphi, C++, VB not applicable MotionScript® language calling convention C ompareSignal(hPosys#, axis, mask) -o- 386 © POSYS Motion Control GmbH & Co.KG, 2013 Command Overview - ReadIO/WriteIO ReadIO / WriteIO ReadIO, WriteIO In addition to numerous special-purpose digital signals that are input or output to the card such as AxisIn, AxisOut, Home, Encoder, etc., the POSYS® cards support 8 general-purpose inputs, and 8 general-purpose outputs. These signals provide a convenient way of accessing additional general purpose digital I/O. Although access to these signals occurs through the motion processor’s ReadIO and WriteIO command, the signals present at these various connections do not directly affect the motion processor’s behavior. Thus the motion processor simply passes them through to the host. C ard-specific features are accessed through the POSYS®´s general-purpose I/O addressing scheme. These card-specific functions can be accessed using the ReadIO and WriteIO commands. For further information please refer also to the FAQ section FAQs/Programmer's Info and to the command descriptions in the Programmer's manual (ReadIO/WriteIO). The following table shows the overall address map for the ReadIO and WriteIO functions supported by the POSYS® cards. I/O space address Register offset Description +0 digital I/O Register which allows 8 general purpose digital input and output signals to be read from and written to. +1 Amplifier & DAC enable Register which allows AmpEnable 1-4 output signals (which can also be used as general purpose outputs to be written to and verified, and which allows the DAC enable output function to be written to and verified). +2 Reset monitor Register which allows the reset monitor to be checked and reset. +3 unused - +4 Watchdog Register which allows the watchdog function to activated and updated. +0xff C ard ID Register which allows Card ID word to be read. General purpose digital I/O Control register (I/O space address +0) The following table details the +0 address digital I/O control register. I/O Address Bit location Signals +0 0-7 DigitalOut0-7 8-15 DigitalIn0-7 Amplifier Enable control register (I/O space address +1) The following table details the +1 address amplifier & DAC enable register. I/O Address Bit location Signals +1 0-3 Amplifier enable outputs (0-3) 4-6 unused 7 DAC enable status (1 = enabled; 0 = disabled) 8-11 C hange mask for bits 0-3: amplifier enable outputs (1= change; 0 = don’t change) 12-14 unused 15 C hange mask for DAC enable (1= change; 0 = don’t change) Reset Monitor control register (I/O space address +2) The following table details the +6 address reset monitor register. 387 © POSYS Motion Control GmbH & Co.KG, 2013 I/O Address Bit location Signals +2 0-11 reserved 12 Software command: a 1 value in this bit indicates reset caused by a software command by the user. 13 Under voltage detection: a 1 value in this bit indicates reset caused by under voltage detection. 14 External signal: a 1 value in this bit indicates reset caused by external signal. Such a reset originates from the „GP Con“ connector on the connector „Reset“. When this signal is brought low, a reset condition occurs. 15 Watchdog timeout: a 1 value in this bit indicates reset caused by watchdog timeout. Card ID control register (I/O space address +0xff) The following table details the +0xff address card ID register I/O Address Bit location Signals +0xff 0-3 Major PLD revision: binary coded 4-bit word encoding the major PLD revision. This value can range from 0 to 15. 4-7 Minor PLD revision: binary-coded 4-bit word encoding the minor PLD revision. This value can range from 0 to 15. 8-11 Board revision: binary-coded 4-bit word encoding the board revision. This value can range from 0 to 15. 12-15 Board type: binary-coded 4-bit word encoding the board type. This value can have one of the following values: 0 – ISA-based family card 1 – PCI-based family card 2 - unused 3 - PC/104 family card 4 - 15 unused Watchdog control register (IO space address +4) The following table details the +4 watchdog timeout register. A write to this register activates the watchdog timeout. From then on every 104 millsec. a new write to this register must occur to avoid a reset of the motion control card. I/O Address Bit location Data +4 0-15 0x5562 -o- 388 © POSYS Motion Control GmbH & Co.KG, 2013 Application Notes Extension Port Connector J6 (POSYS® 700, ISA-Bus) Extension Port Connector J6 (POSYS® 700, ISA-Bus) Pin No. Description Pin No. Description 1 GND 2 A0 3 DS0 4 A1 5 DS1 6 A2 7 DS2 8 A3 9 DS3 10 A4 11 DS4 12 A5 13 DS5 14 A6 15 DS6 16 A7 17 DS7 18 A8 19 DS8 20 A9 21 DS9 22 A10 23 DS10 24 A11 25 DS11 26 A12 27 DS12 28 A13 29 DS13 30 A14 31 DS14 32 A15 33 DS15 34 IS- 35 DS- 36 STRB- 37 WE- 38 VCC 39 R/W 40 PS- DS0..DS15: data A0..A15 : addresses IS-, DS-, STRB-, WE-, R/W, PS- : connections to CP Connector J9 The analog inputs to this connector are in parallel to the analog inputs of connector J7. J9 provides also inputs for external voltage references (high and low) selected by jumpers JP13, JP14 and JP15. For example Analog1 from J7 is tied to Analog1 of J9 and Analog8 of J7 is tied to Analog8 of J9. Date: 09/09/03 Servo Halbeck GmbH & Co. KG -o- 389 © POSYS Motion Control GmbH & Co.KG, 2013 Stall Detection Stall Detection Subject: POSYS® Series, Stepping Motor Stall Detection Stepping motor versions of the POSYS® series controllers can be equipped with encoder feedback. This provides means for monitoring the actual position of the axis. It also provides means of detecting a stall condition of the stepping motor. In order to activate this feature following command must be issued to the POSYS®: SetEncoderSource(axis, incremental) //incremental = 0 SetEncoderToStepRatio(axis, counts, steps) //for example 400 encoder counts, 100 motor steps SetPositionErrorLimit(axis, limit) C learPosition Error(axis) //clears any follow error Update(axis) SetAutoStopMode(axis, On) //On = 1, Off = 0; this stops the motor if the limit is exceeded The above settings would stop the motor if the difference between commanded and actual position would exceed 500 steps. The command SetEncoderToStepRatio will not change the value returned by GetActualPosition. In the above example. A move of 500 motor steps would equal 2000 encoder counts. Assuming no counts would be generated but the motor would turn, then it would require 2000 encoder counts (this corresponds to 500 x 4 steps) to deactivate the motion generator, at this point no steps would be output if a start command would be issued. If in the above example GetActualPosition(axis) returns 228, the command C learPositionError(axis) would copy the value 57 (228 / 4) to the Commanded Position register. Date: 26.01.2004 Revised: -o- 390 © POSYS Motion Control GmbH & Co.KG, 2013 Coordinated Motion with POSYS® Contouring Library Coordinated Motion with POSYS® Contouring Library Theme: Generating coordinated motion data The POSYS® series supports on-board RAM. This RAM can be used for trace buffer and/or program buffer. If complex motion is required then we recommend the use of the on-board RAM. Data points, position, velocity and an Update-multiplicator need to be generated and stored in the on-board RAM. The program CONTOUR is a help for simple 2-axes coordinated motion. This document describes the usage of this program. Install the POSYS® main program with the integrated Setup for Windows 9x/ME/NT/2000/XP. After installation change to the new created subdirectory /Driver Installation. Start the program Ksetup.exe. C hange to the new created subdirectory /lib and start the batch-file registerOCX.exe. Decompress this program to a subdirectory of your choice and start the program. Screen with Contour Data Program description 1. C ontrols Box: choose Test Mode. Push Start. 2. The box “TestMode only” opens. 3. Input in the windows “StartPosition1” and “StartPosition2” the start positions of the axes 1 and 2. Defaults are 0. The upper example shows values for the X-axis = 17321 and for the Y-axis = 10000. 4. In the Box “SelectAxes” the X and Y axes are set to default. You can choose any other possible configuration. 5. In the Box “Profile Type and Rate” choose START PROFILE and the desired Up Date Rate. Up Date Rate is a factor with which the Chip Update Time is multiplied and then valid is for each segment. Assumed you have a 4-axes card (servo or stepper), then the Chip Update Time = 0.0004096 seconds. This value is multiplied with the Chip Update Rate, in this example with 10. Each segment will be driven with the calculated speed of increments/Chip Update Time. Each segment in the example has therefore a time frame of 4.096 milliseconds. 391 © POSYS Motion Control GmbH & Co.KG, 2013 6. The Box “Linear” will be used for coordinated linear motion and for the desired velocity (Feed Rate) in Millicounts/(Chip 7. 8. 9. 10. 11. Update Time). The value 10000 Millicounts = 10 counts/(Chip Update Time) = 24 414 pulses/second. Axis 1 Distance and Axis 2 Distance are occupied by defaults, which need to be changed if necessary. For our example we took the value 10000 for FeedRate. The Box C ircle serves for the input of data for circular interpolation. C enter 1 and C enter 2 contain the values for the center of the circle and Arc the value for the circular arc in millidegrees. A CW motion is positive and CC W motion is negative. For a CW circular arc of 15,54 degrees you must input 15540. For the first segment which will be calculated START PROFILE must be chosen first. For all additional segments APPEND PROFILE must be defined. The last segment can be either defined as APPEND PROFILE or LAST PROFILE. Then the button Generate Array for either linear or circular motion calculation must be pushed to calculate the path information. The generated data will be shown in the windows Array Display. To save the data you can click the button Save. To load the data you can click the button Load. The menu point Show Path/Display allows to graphically display a calculated path. The screen shot below shows a typical motion. The center of the circle is at (0,0), the motion will be -120 degrees, the radius is 20000. The starting point for X=17321 and Y=10000. Circular Motion 12. With Zoom ON and using the right button of the mouse you can choose an area of the path which should be shown in a different zoom factor. Reset Zoom or doubleclick of the right mouse button resets the display to the default size. 13. In the Box Rel/Abs. You can choose if the input data is absolute or relative. At the moment only absolute can be chosen. 14. The button C lear Array clears a programmed array, the button C lear List Box clears the content of the output window. Sample programming The values in the above screen shot shall be used for this programming example. All necessary steps will be shown. 1. The two axes are at position: X = 17321 (Start Position 1), Y = 10000 (Start Position 2) which are considered the start positions. Input in Test Mode Box. 2. Velocity (Feed Rate) = 10000 Millicounts. Input in Linear Box. 3. Motion path = -120000 millidegrees (120 degrees CC W), radius 20000, center of circle (0,0), Input as C enter 1 and C enter 2. 4. Linear acceleration and deceleration over 9 degrees each with start at 1000 Millicounts. The acceleration is not implemented in the this version yet and needs to be done manually by deviding the segment into 1 degree motions. 5. Input: 392 © POSYS Motion Control GmbH & Co.KG, 2013 START PROFILE Start Position 1 = 17321 Start Position 2 = 10000 Feed Rate = 1000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle APPEND PROFILE Feed Rate = 2000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 3000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 4000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 5000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 6000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 7000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 8000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 9000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 10000 C enter 1 = 0 C enter 2 = 0 Arc = -102000 (equals 102 degrees with constant velocity) button Generate Array in Box C ircle Feed Rate = 9000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 8000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 7000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 6000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle 393 © POSYS Motion Control GmbH & Co.KG, 2013 Feed Rate = 5000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 4000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 3000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 2000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle Feed Rate = 1000 C enter 1 = 0 C enter 2 = 0 Arc = -1000 (equals 1 degree) button Generate Array in Box C ircle The input and generating of the Array is complete. Now the data needs to be uploaded into the on-board RAM and executed. The motion will be a arc of 120 degrees. Datum: 15.09.2003 Revision: Europe: [email protected] POSYS® is a registered trademark of servo-Halbeck -o- 394 © POSYS Motion Control GmbH & Co.KG, 2013 Coordinated Moves using POSYS® 900 Motion Controller Coordinated Moves using POSYS® 900 Motion Controller There are different ways of programming a coordinated move. This description refers to standard POSYS900.DLL functions. C alculate speed and acceleration values for every axis and do a MultiUpdate(axes) (simultaneous start). Similar calls exists for 3 and 4 axes linear moves like LinearMove3( ) and LinearMove4( ) a. It is possible to preload new speeds, acceleration and distances on the fly and activate (update) these values automatically using the SetBreakpoint and SetBreakpointValue functions, an automatic update will occur. This can now be set to generate an interrupt to alert the host that an interrupt occurred and new data may be loaded for the next update. b. Depending on the speed of the host computer update rates of 2 milliseconds or faster are possible. If the fast MC (version 2.0 and higher) are used update rates of 400 microseconds are possible Using the Master/Slave functions simplifies linear moves. It is possible to have two master and two slaves working independently of each other. Any axis can be master or slave. Assuming a linear move of two axes should take place program the following a. Master = axis 0, Slave1 = axis1 b. Use the following functions: c. SetProfileMode(slaveAxis, electronicgear) //sets the profile for this axis to electronic gear d. SetGearMaster(axis,masterAxis,source) //axis=slave axis, masterAxis=master axis, source=actual position or commanded position e. SetGearRatio(slaveAxis,ratio) //sets the ratio between master and slave. Example: 32768 moves the slave 0.5 counts for every positive master count. f. Update(slaveAxis) //updates the data g. Now any movement of the master axis will result in a proportionate (gear ratio) move of the slave axis or axes. The ratio is scaled by 1/65536 and can be positive or negative. The ratio can be changed anytime on the fly. A gear ratio of 1,000,000 would cause the slave to move 15.295 positive slave counts for every master count. h. The gear ratio is a buffered command and will not take effect until an update is issued. The ratio can be changed anytime on the fly, therefore great caution must be used. 1. Assign Master and Slave axis and program the Ratio Use the on-board RAM to store a motion profile and execute this sequence of commands For simple linear moves vector speed and vector acceleration must be known as well as the destination points for the involved axes. The routines called from the DLL will then calculate the corresponding axis speeds and acceleration. a. LinearMove2(axis1, axis2, vectorspeed, vectoracceleration, distance1, distance2) b. Axis1 = 0 3 c. Axis2 = 0 3 d. vectorspeed = quadrature counts/sec e. vectoracceleration = quadrature counts/sec² f. distance1, distance2 = quadrature counts Using the On-board RAM provides the greatest flexibility. It allows execution of very complex profiles which must be precalculated by the host and then loaded into the RAM. The best way to explain the method is by an example. The files of the example ExternalProfile show how to program this way in Delphi. An example in C is also available. This could easily be translated to Visual Basic since this program makes use of the POSYS700.DLL (for the PCI version it would be the POSYS900.dll). This allows continuous path contouring for linear and circular motion. It also allows linear and S-curve acceleration and deceleration. It also gives the programmer flexibility in assigning update rates which can vary over the length of the program. The program length is practically unlimited since the RAM can be refilled with new data as stored data is being executed. The optional PathFinder development software provides the ultimate in ease of programming using the on-board RAM. It includes functions for complex move programming of linear and circular interpolation for continuous path motion with linear or S-curve acceleration/deceleration. The software also includes a G-code and HPGL interpreter. It is available as a DLL or in complete source (C/C++). The PathFinder user s guide is included for more detailed information. Date: 23 July, 2002 Last Revision: Europe e-mail: [email protected] -o- 395 © POSYS Motion Control GmbH & Co.KG, 2013 Digital IO Specification POSYS® 7xx/8xx/8xx-B/9xx Digital IOs Specifications Subject: POSYS® Series, Digital Input/Output Specifications The POSYS® motion controllers are equipped with programmable digital IO. This TN provides details about the IO specifications for the POSYS® 700, POSYS® 800 and the POSYS® 900 series. Type of IO POSYS® 700 POSYS® 800 POSYS® 800-B/900 Digital Inputs 10k Pullup to 5VDC 10k Pullup to 5VDC 10k Pullup to 5VDC , 74AC T541MTC Limit Switch Inputs 10k Pullup to 5VDC , MC14490DW 10k Pullup to 5VDC , MC14490DW 10k Pullup to 5VDC , MC14490DW AxisIn Inputs 4.7k Pullup to 5VDC 4.7k Pullup to 5VDC 4.7k Pullup to 5VDC , 74AC T541MTC Home Inputs 4.7k Pullup to 5VDC 4.7k Pullup to 5VDC 800-B 900 4.7k Pullup to 5VDC , Encoder Inputs Line Receiver SN75173, 150Line Receiver SN75173, 150 Line Receiver DS26LS32C M, Ohm terminating resistor Ohm terminating resistor 150 Ohm terminating resistor Digital Outputs TTL, 74FC T244, TTL, 74AC T244, sink current: 48 mA, source source/sink current: ±24 current: 12 mA mA TTL, 74AC T541, source/sink current: ±24 mA (max. ±50) Amplifier Enable Outputs TTL, 74FC T244, TTL, 74AC T244, sink current: 48 mA, source source/sink current: ±24 current: 12 mA mA TTL, 74AC T541, source/sink current: ±24 mA (max. ±50) AxisOut Outputs TTL, 74FC T244, TTL, 74AC T244, sink current: 48 mA, source source/sink current: ±24 current: 12 mA mA TTL, 74AC T541, source/sink current: ±24 mA (max. ±50) Date: 24.06.2003 Revision: E-mail: [email protected] POSYS® is a registered trade mark of POSYS Motion Control -o- 396 © POSYS Motion Control GmbH & Co.KG, 2013 Digital Inputs & Outputs Digital Inputs and Outputs Subject: POSYS® Series, Digital Inputs and Outputs The POSYS® motion controllers provide a number of digital inputs and outputs which ma be used in different ways. 1. Inputs: 1. Encoder SignalsA+/A-, B+/B-, I+/I-. The signals A-, B- and I- are used in addition to the + signals if the encoder provides inverted signals (line driver) outputs. A+, B+ and I+ are the only signals used with TTL output encoders. Encoder input signals are dedicated inputs and cannot be used for other purposes. 2. Limit Switchinputs XPLIM1, XNLIM1, XPLIM2, XNLIM2, XPLIM3, XNLIM3, XPLIM4 and XNLIM4 are used to monitor axis movement beyond a certain positive or negative distance. If the limit switch function has been activated by software, motion will stop if the appropriate positive or negative input goes active. It is possible to determine by software if the input should be active on a high or a low input signal. If the limit switches are not used to inhibit motion, it is possible to use these inputs as general purpose inputs. The state of the limit switch inputs (2 per axis) can be interrogated using the GetActivityStatus command. Bits 11 and 12 are set for an active input. 3. AxisIninputs. There is one axis specific input per axis. These inputs can be used as dedicated inputs to trigger automatic events. These events can be a motion change (stop, start, change of velocity, etc.). The event is triggered upon a signal transition using the breakpoint mechanism. The AxisIn inputs can also be used as general purpose inputs. The command GetSignalStatus returns the state of the AxisIn input. 4. Homeinputs are used for high speed position capture. When this input, one per axis, goes active the current actual position will be saved to a register of the motion control processor. The capture source must be defined by software since the encoder index can also be used to capture the position. The command to set the capture source is SetCaptureSource. The command GetCaptureValue returns the position value captured when a Home input went active. When used for high speed position capture, the inputs are axis specific. These 4 inputs can also be used as general purpose inputs. The command GetAxis_In_Out_Home returns the status of the Home inputs, the AxisIn inputs and the AxisOut outputs. The lower 4 bits (0..3) report the status of the 4 Home inputs, bits 4..7 report the status of the AxisIn inputs and bits 8..11 report the status of the AxisOut outputs. 5. Uncommitted Inputs. There are 8 uncommitted digital inputs. Their normal sate is high (5 VDC) with pullup resistors of 10k. These signals are available to signal events to the operating program. 2. Outputs 1. AxisOut, there is one AxisOut output per axis. These outputs can be programmed to track any of the assigned bits in ActivityStatus, EventStatus or SignalStatus register. The tracked bit in one of the three registers may be in the same axis or a different axis as the axis of the AxisOut pin itself. If the AxisOut outputs are not used for the above purpose it can be configured as a user programmable output. To do this select 0 as the register ID code in the SetAxisOutSource command and by adjusting the level of the resulting inactive output state to high or low as desired using the SetSignalSense command. 2. AtRest output signals. These 4 outputs (one per axis) are only available with the stepping motor version (Pulse + Direction). The AtRest signal indicates when the trajectory generator is in motion. This signal is useful for stepper drivers that support different torque output levels for the motor in motion and for the motor at rest. No software setup is required to use these outputs. These are dedicated outputs and cannot be user programmed. 3. AmpEnable outputs are provided to enable or disable attached servo amplifiers or stepping motor drivers. There are 4 outputs, one per axis. The state of these outputs after power-on reset and executing other reset functions like External Reset or a Hard Reset is LOW. These outputs can be set and reset by the software commands SetAmpEnable and SetAmpDisable. The command GetAmpEnable returns the status of all 4 outputs. If a reversed output level for enable and disable is required (HIGH level after power-on) inquire about our firmware upgrade. An in-field upgrade is possible. If these outputs are not required to enable or disable amplifiers or drivers it is possible to use them as user programmable outputs. The 3 commands are: 4. SetAmpEnable(hPosys, mask) turns amplifier outputs on 5. SetAmpDisable(hPosys, mask) turn amplifier outputs off 397 © POSYS Motion Control GmbH & Co.KG, 2013 6. mask = GetAmpEnable(hPosys) returns the amplifier status 7. mask is a bit mask for the 4 outputs (1+2+4+8 for outputs 1,2,3 + 4) 8. hPosys is the card handle returned by OpenDevice(device) 9. User Outputs. There are 8 user programmable outputs. The power-on and after Reset state of these outputs is LOW. 10. PULSE + DIRECTION, these outputs apply to the stepping motor version only. The default behavior is that a step or pulse is considered to have occurred when the signal transitions from a high to a low output value. A high level of the direction signal indicates a positive direction pulse and a low level indicates a negative direction pulse. The logic for the pulse output can be inverted using the command SetSignalSense For additional details about the mentioned commands please refer to the manual. Example for AxisOut pin use Assume the AxisOut pin should signal if the motor axis 0 (X) is in motion: axis = 0 sourceAxis = 0 bit = 10 register = 2 (ActivityStatus) SetAxisOutSource( axis, sourceAxis, register) The AxisOut pin for the X-axis will now follow the status of bit 10 in the ActivityStatus register. The output will be set (high level) while a profile is being executed for the X-Axis. The level will revert to a low state when in position. Using SetMotionCompleteMode will specify if the bit should follow a commanded or actual position profile. Date: 02.05.2003 Revision: 26.05.2004 – AmpEnable description revised E-mail: [email protected] POSYS® is a registered trade mark of servo-Halbeck -o- 398 © POSYS Motion Control GmbH & Co.KG, 2013 Breakpoints Breakpoints Subject: POSYS® Series, DLL BreakPoint Functions All POSYS® series controllers support the DLL breakpoint functions. Breakpoints provide a convenient way of having the motion controller react to certain events. Each POSYS® axis has two distinct breakpoints that may be programmed for it. They are known as breakpoint 1 and breakpoint 2. Therefore it is possible to monitor two separate events for each axis. This note describes how to program the breakpoint functions and uses an example to explain the steps required. The following functions apply to the use of breakpoints: F unction Description SetBreakpointValue(axis, breakpoint_no, trigger_value)This function sets breakpoint 1 or 2 for the selected axis to react to trigger_value GetBreakpointValue(axis,breakpoint_no) This function returns a long integer with the programmed trigger_value SetBreakpoint(axis, breakpoint_no, source_axis, action,This function establishes a breakpoint for the specified trigger) axis to be triggered by an event or condition of the source_axis. The source_axis may be the same or different then axis GetBreakpoint(axis,breakpoint_no) This function returns programmed source_axis, action and trigger SetAxisOutSource(axis, source_axis, bit, register) This function is not directly related to breakpoints but offers a convenient means of setting an out put without host intervention GetAxisOutSource(axis) This function returns the programmed values of source_axis, bit and register For more details of the various commands please refer to the POSYS® manual. Note:Always program SetBreakpointValue() first. This is very important since the motion controller will start to react immediately to a breakpoint event or condition once SetBreakpoint() is issued. The following example demonstrates the steps required for using breakpoints based on an actual requirement. Assume the following requirements: 1. 2. 3. 4. 5. X-motor starts to move towards a target position Solenoid # 1 turns on after X-motor has reached ¼ of the target position Y-motor starts to move to its target position after X-motor has traveled ½ towards the target position Solenoid # 2 turns on when Y-motor is at ¾ of its target position Solenoid # 1 and solenoid # 2 are turned on and off by axis specific outputs OUT1 (X-axis) and OUT2 (Y-axis) Program Sequence, all values are only taken as an example: All axes are assumed to start from absolute position 0. C onst Xaxis = 0 Yaxis = 1 Speed = 01A36E (4000 steps/sec.) Accel = 00DB (20000 steps(sec²) TargetX = 20000 (quadrature counts) TargetY = 34000 (quadrature counts) Breakpoint1 = 0 Breakpoint2 = 1 Begin SetVelocity(Xaxis, Speed) SetVelocity(Yaxis, Speed) SetAcceleration(Xaxis, Accel) 399 © POSYS Motion Control GmbH & Co.KG, 2013 SetAcceleration(Xaxis, Accel) SetPosition(Xaxis, TargetX) SetPosition(Yaxis, TargetY) //values are written to the registers but not yet executed SetBreakpointValue(Xaxis, Breakpoint1, (TargetX / 4)) //the breakpoint value for Breakpoint1 and the X-axis has been set to TargetX = 20000 / 4 =5000 SetBreakpointValue(Yaxis, Breakpoint1, (TargetX /2)) //set the Breakpoint1 of the Y-axis to the position of TargetX //= 20000 / 2= 10000 SetBreakpointValue(Yaxis, Breakpoint2, (TargetY * 0.75) //set the Breakpoint2 of the Y-axis to the position of TargetY //= 34000 * 0.75= 25500 ResetEventStatus(Xaxis, GetEventStatus(Xaxis) and not 04H) ResetEventStatus(Yaxis, GetEventStatus(Yaxis) and not 04004H) //these commands clear the Breakpoint1 bits in the //EventStatusRegister of the X- and Y-axes if they were set, a //zero (0) clears the bit. Breakpoint2 bit of the Y-axis is also //cleared SetAxisOutSource(Xaxis, Xaxis, 2, 1) //source_axis = Xaxis, Output OUT1 will be triggered when Breakpoint1 changes state, bit number = 2, status register = 1 (event). The OUT1 pin will follow the state of Breakpoint1 in the event register SetAxisOutSource(Yaxis, Yaxis, 0E, 1) //source_axis = Yaxis, Output OUT2 will be triggered when Breakpoint2 changes state, bit number = 0E, status register = 1 (event). The OUT2 pin will follow the state of Breakpoint2 in the event register SetBreakpoint(Xaxis, Breakpoint1, Xaxis, 0, 1) //this function activates the X-axis Breakpoint1 mechanism, source_axis = Xaxis, action = 0 (none), trigger = 1 (commanded position) SetBreakpoint(Yaxis, Breakpoint1, Xaxis, 1, 1) //this function activates the Y-axis Breakpoint1 mechanism, source_axis = Xaxis, action = 0, trigger = 1 (commanded position). Note that the source axis is the X-axis! Action = 1 = Update starts the move of the Y-axis, trigger = 1 is the commanded position of the X-axis SetBreakpoint(Yaxis, Breakpoint2, Yaxis, 0, 1) //this function activates the Y-axis Breakpoint2 mechanism, source_axis = Yaxis, action = 0 (none), trigger = 1 (commanded position) Update(Xaxis) //this starts motion of the X-axis End Explanation of the program The POSYS® axis specific outputs (OUT1 and OUT2) and its breakpoint mechanism are used to solve this requirement without the need of host intervention or polling. After initializing the X- and Y-axes with speed, acceleration and target positions, the breakpoints and the source for the axis outputs (OUT1, OUT2) are setup. Two breakpoints are available for each axis. Using the command SetAxisOutSource it is possible to set the event to which the outputs should react. The Breakpoint1 bits of the X and Y-axes in the GetEventStatus register will be set once the event/condition occurs as programmed in SetBreakpointValue and SetBreakpoint. IMPORTANT When programming SetBreakpointValue for conditions of EventStatus, ActivityStatus or SignalStatus, a two word mask has to be sent to the controller. The high word will be the mask for the trigger condition and the low word will be the mask for 400 © POSYS Motion Control GmbH & Co.KG, 2013 the sense (high or low) of the trigger bits. An example will best explain this requirement. Assuming for the EventStatus register breakpoint number 2 should be triggered when the motion complete bit is set to one, bit 14 and bit 0 would be set. The value to be sent would be high_word=0x4001 and low_word=0x4001, so the value to be sent would be value = ((high_word shl 16) or low_word) = 0x40014001. In another example for the EventStatus assume a breakpoint should be recognized if the motion complete bit (bit 0) is set to 1 (motion complete), and the commutation error bit(bit 11) is set to 0. In this case high_word = 0x0801 and the low_word = 0x0001. The command to be sent actually would be the value = ((high_word shl 16) or low_word) = 0x08010001 SetBreakpointValue( axis, breakpointNo, 0x08010001) Explanation: shl = shift left (in C/C++ << ) or = or (in C/C++ | ) In order to reset OUT1 and OUT2 it is necessary to reset the corresponding bits in the EventStatus register. The ResetEventStatus will do just that. To reset OUT1 issue the following command ResetEventStatus(Xaxis, GetEventStatus(Xaxis) and not 04) Any zeros in the bit mask will reset those bits. In the above command, the Event Status register is read in with GetEventStatus(Xaxis) and bit 2 is set to zero and reset. Output OUT1 will revert to its previous state. It is possible to change the sense state of the outputs OUT1 to OUT4 using the command SetSignalSense(axis, mask) A zero for the sense bit, the input/outputs is active low, a one for the sense bit makes the input/output active high. The OUT-bit is number 10, the encoding would be 0400H. For example if the signal sense for the output OUT should be high, do the following SetSignalSense(Xaxis, (GetSignalSense(Xaxis) or 0400H)) This turns on bit 10 in the mask. Another interesting aspect is the use of interrupts with breakpoints. Breakpoint1 and Breakpoint2 can both trigger an interrupt. To activate this condition use the command SetInterruptMask(axis, interruptMask) To generate an interrupt on Breakpoint1 and Breakpoint2 bit 2 and bit 14 must be set to 1. The corresponding Event Status register bit will cause an interrupt when the status register bit goes active. To cause an interrupt on the X-axis’s Breakpoint1 send the following: SetInterruptMask(Xaxis, GetInterruptMask(Xaxis) or 04H) After an interrupt has been serviced it must be cleared using ClearInterrupt and ResetEventStatus(axis, GetEventStatus(axis) and not bit) If interrupts are to be used it will be necessary to call an ISR (interrupt service routine) which will execute the desired routines. In this example it would be possible to have the ISR execute special host commands to a separate user I/O card. If no interrupt handler is installed it would be possible to use polling. The command GetProcessorStatus is a special instruction that returns the motion processor status. It returns 16 bits with the following meaning: Bit number Description 0 – 12 unused, set to 0 13 holds value of HostIOError signal 401 © POSYS Motion Control GmbH & Co.KG, 2013 14 holds value of Host Interrupt Signal, a 1 indicates a high level 15 holds value of Host Ready Signal, a 1 indicates a high level Date: 06.09.2002 Revision: 15.01.2003 E-mail: [email protected] POSYS® is a registered trademark of servo-Halbeck -o- 402 © POSYS Motion Control GmbH & Co.KG, 2013 Error Code Error Code Subject: POSYS® Series, Error Code For more details of the various commands please refer to the POSYS® manual. The POSYS® motion controllers can be interrogated to determine if an error occurred. Two functions are useful for this. They are: GetProcessorStatusand GetHostIOError GetProcessorStatus is a status read function that can be called anytime without a wait time. There is no check of the processors’ ready bit. The table defines the returned signal bits. Bit Number Description 0-12 Unused, set to 0 13 Holds value of HostIOError signal, refer to GetHostIOError function 14 Holds value of HostIntrpt signal, a 1 indicates the signal level is high 15 Holds value of HostRdy signal, a 1 indicates the signal level is high If a call to GetProcessorStatus returns with Bit 13 set (1) it indicates an error condition. If this is the case a call to GetHostIOError would return a code indicating the cause of the error. The following table lists all of the error conditions: Code Indication Cause 0 No error No error condition 1 Motion chip reset Default value of error code on reset or power-up 2 Invalid instruction Instruction is not valid in the current context, or an illegal instruction code has been detected 3 Invalid axis The axis number contained in the upper bits of the instruction word is not supported by the chip set 4 Invalid parameter The parameter value sent to motion processor was out of its acceptable range 5 Trace running An instruction was sent that would change the state of the tracing mechanism while the trace is running. Instruction which can return this error are SetTraceVariable, SetTraceMode and SetTracePeriod 6 Reserved 7 Block bound exceeded 1. The value sent bySetBufferLength, or SetBufferStartwould 2. create a memory block which extends beyond the allowed limits of 400h – 7FFFFFFF Either SetBufferReadIndex , or SetBufferWriteIndexsent an index greater than or equal to the block length 8 Trace zero SetTraceStartImmediate was issued, but the length of trace buffer is currently set to zero 9 Bad checksum Applies to serial port only! The checksum compiled and returned by the motion processor does not match that sent by the host Ah Not primary port A prohibited instruction (one which can be executed only through the primary port) was issued through the diagnostic port Bh Negative velocity An attempt was made to set a negative velocity without the axis being in velocity contouring profile mode Ch S-curve change The axis is currently executing an S-curve profile move and an attempt was made to change the profile parameters. This is not permitted Dh Limit event pending A limit switch event occurred 403 © POSYS Motion Control GmbH & Co.KG, 2013 Code Indication Cause Eh Move into limit An attempt was made to execute a move without first clearing the limit bit(s) in the Event Status register Executing the GetHostIOError command clears both the error code and the I/O error bit in the I/O status read word ( GetProcessorStatus). The GetHostIOError function call takes more time then a call to GetProcessorStatus. The reason is that GetHostIOError checks the motion processor’s ready bit and GetProcessorStatus does not. The suggested approach for error checking is shown in the following example: Section calling Motion Processor Functions SetVelocity(axis, speed) If (GetProcessorStatus and Bit13 = 2000h) then GetErrorRoutine // only if bit 13 is set go to the GetErrorRoutine and call GetHostIOError to determine the error cause Section retrieving the error code and handling of the error GetErrorRoutine Var Errorcode Begin Errorcode = GetHostIOError //a call to this function will reset all error bits if (Errorcode and 2) = 2 then DisplayMessage //display a message or go to an error handling routine HandleError End End Date: 24.10.2002 Revision: E-mail: [email protected] POSYS® is a registered trade mark of POSYS Motion Control -o- 404 © POSYS Motion Control GmbH & Co.KG, 2013 On-Board RAM On-board RAM Subject: POSYS® Series, On-board RAM Al l POSYS® Series controllers are equipped with on-board RAM which in this document will be referred to as on-board RAM. The POSYS® 700 and 800 Series controllers make 256k x 8 available and the POSYS® 900 series makes 512k x 8 available. This RAM serves two purposes, one is to use it as a trace buffer, the other is to use for storing and executing complex motion profiles. Using on-board RAM for the trace buffer makes it possible to collect real time data generated by the motion processor and store it automatically in RAM. Four different variables can be selected from a total of 28. It is possible to trace 4 variable at a time, i.e. data can be captured for each variable per update period (servo cycle). The length of the trace buffer is variable and programmable. It could be up to the full available memory minus 512 words for the system. If memory is needed for program storage and execution, again it could be the full length minus 512 words or it could be setup to have trace buffers and profile buffers. The different buffers are identified by Id's, the trace buffer must always be assigned ID = 0. Relevant On-board RAM Functions Functions which are relevant to the use of the on-board RAM are: Profile Mode GetBufferFunction GetBufferLength GetBufferReadIndex GetBufferStart GetBufferWriteIndex ReadBuffer SetBufferFunction SetBufferFunction SetBufferLength SetBufferReadIndex SetBufferStart SetBufferWriteIndex WriteBuffer The function SetProfileMode(axis, mode) has been expanded to include the on-board RAM mode = 4. All of the above functions and the required parameters are described in detail in the Programmer’s manual. Trace Mode GetTraceCount GetTraceMode GetTracePeriod GetTraceStart GetTraceStatus GetTraceStop GetTraceVariable SetTraceMode SetTracePeriod SetTraceStart 405 © POSYS Motion Control GmbH & Co.KG, 2013 SetTraceStop SetTraceVariable These functions only apply to trace function setup and execution. A detailed description can be found in the Programmer’s manual. Use of On-board RAM for Profile Mode The on-board RAM can be used to store and execute complex motion profiles. Motion data calculated by the host is loaded into RAM and then executed by the motion processor without further host intervention. Up to 4 axes can move on a complex path in continuous fashion. Each axis can be programmed for Position Velocity Acceleration Jerk (S-curve) SegmentTime All data is in 32-bit format. Position data is always absolute and represents the target destination at the end of the segment. Velocity is in quadrature counts/update period (servo cycle) Acceleration is quadrature counts/update period² Jerk is in quadrature counts/update period³ Segment time is a multiplier for the update period (servo cycle) If 4 axes are enabled and the update time is the default of 408 microsecond then this is the fastest available update time for data in the buffers represented by a SegmentTime multiplier of 1. If a SegmentTime multiplier of 0 is encountered in the time buffer the external profile mode for that axis will be exited. The other axes will continue to execute their profile. Motion errors and an abrupt stop will also cause an exit from on-board RAM. The length of the segment time depends on the type of profile and the application. The shorter that time the more memory will be required. Movement along linear segments should use much longer segment times than circular motion. On circular motion segment times of less than 2 milliseconds are hardly ever required. What must be observed When a motion profile in on-board RAM is executed it will eventual get to the end of the buffer with data which had been allocated. If it does not find a SegmentTime of 0 it will wrap around to the starting position and continue with the execution. This could be potentially dangerous. If the final axes positions are different from the profiles starting positions it could cause an instant jump to these positions. To exit the on-board RAM profile mode the last segment must contain a SegmentTime multiplier of 0 for each involved axis. The axes will then remain in a stationary mode. The selected profile mode (SetProfileMode(axis, profile)) is still External (profile = 4) and must be set to the desired mode for further execution. Available Memory (RAM) not sufficient for program The program length exceeds the available memory. This is no problem. Divide the motion sequences into shorter segments. Load these shorter segments and send additional data (segments) to the on-board RAM after memory becomes available. The memory is split in a part that is executing and the other for storing data to be executed. The functions GetBufferReadIndex and SetBufferWriteIndex are the mechanism to determine the momentary read position within the buffer to specify a new write position for new data. Once the original data gets to the end the read pointer wraps automatically to the start position and continues executing the program. Assume the following conditions, the total number of program positions in RAM required is 26,350, but only 10,000 are available. Proceed as follows: Load data into position 0 to 10,000 Start loading new data into RAM starting at the BufferWriteIndex = 0 up to RAM position = 4999 Start external profile mode Set up a breakpoint which corresponds to some event as the BufferReadIndex passes the RAM position 5000 or check the BufferReadIndex for >= 5000 C heck for wrap around until BufferReadIndex <= 10000 Start loading new data into RAM starting at the BufferWriteIndex = 5000 up to RAM position = 10000 C ontinue this method until all data is loaded and executed. Make sure to append one segment with a SegmentTime 406 © POSYS Motion Control GmbH & Co.KG, 2013 multiplier of 0 to exit External Profile mode. -o- 407 © POSYS Motion Control GmbH & Co.KG, 2013 Limit Switches Limit Switches Refers to: all POSYS® Motion Controllers All POSYS® series controllers support travel limit switches. These limit switches, there are two per axis, can be configured to stop motion beyond a certain position of the machine. The switch is activated as the machine tries to move beyond it. This is an important safety feature and should not be by-passed. This note describes how to program the limit switch functions and what to do once a limit switch has been activated and the machine has stopped. The following functions apply to the use of limit switches: Function Action SetLimitSwitchMode enables or disables the limit switch for the specified axis GetLimitSwitchMode returns the programmed mode SetSignalSense set selected limit switch to be active high or active low GetSignalSense returns the programmed or default values GetEventStatus returns the event status including limit switches ResetEventStatus resets selected event bits The following example demonstrates the steps required for using limit switches for the X-axis. C onst axis = 0; // X-Axis on = 1; off = 0; F unction Action SetLimitSwitchMode(axis, on); Turns on limit switch sensing for the desired axis Use SetSignalSense to program limit switch sensing to be active high or active low; the default is active low If during a move a limit switch is activated, the motor will come to an abrupt stop by automatically setting the velocity to zero, no deceleration is used. If the positive limit switch was activated, then no further motion will be possible in the positive direction. Unless this was intended as a normal operation, make sure the cause of the event is investigated and appropriate safety corrections are made. As the next step clear (reset) the limit switch bit(s) in the event status register by issuing the ResetEventStatus for the appropriate axis. For the example issue Function Action ResetEventStatus(axis,0); this command would clear all pending bits in the event status register If only the bit of the positive limit switch should be cleared issue Function Action ResetEventStatus(axis, 0x48DF); this only resets bit 5, ‘In Positive Limit’ 0 in the mask resets the event, a value of 1 has no affect Now a move should be made in a direction opposite to the one that caused the limit switch event, in this case in the negative direction. Trying to move into the positive direction would re-trigger the limit switch event. F unction Action SetProfileMode(axis, trapezoidal); other modes like velocity are also possible only required if a different mode is desired from the active one when the limit switch was activated SetVelocity(axis, speed); a limit switch activation sets the speed to zero, so before a new move 408 © POSYS Motion Control GmbH & Co.KG, 2013 F unction Action is possible a new value must be programmed SetPosition(axis, GetPosition(axis)-5000); this command sequence would get the present absolute position and move the motor–5000 counts away from it. The move distance chosen should be sufficient to get it off the limit switch Update(axis) this starts the actual move If an occasion occurs in which both limit switches (positive and negative) are active at the same time, for example both limit switch bits would be set in the activity status register, motion in either direction would be disabled. In this case use F unction SetLimitSwitchMode(axis, off); To disable limit switch processing temporarily until the motor is moved off the switches.. The limit switch inputs of the POSYS® motion controllers are equipped with digital filtering to avoid false triggering due to electrical noise. When a limit switch event occurs the motor will always stop without a deceleration ramp. This is normally the desired action since the purpose of the limit switch is to prevent further travel. However, due to mechanical characteristics of some equipment (e.g. large inertia loads or heavy weights being moved) a smooth stop may be preferable. This can be achieved using the breakpoint or interrupt system. In both cases the default action of the chip must be disabled. Here is a description of using a breakpoint, interrupts are similar but the SetInterruptMask must be set to SetInterruptMask(axis, bpNo). Programming the BreakPoint system is done as follows: F unction Action SetLimitSwitchMode(axis, off); This prevents the motion controller from setting the positive/negative bits in the Activity- and Event Status registers and from stopping the motors Using a BreakPoint to stop a motor: SetBreakpointValue(axis, bpNo, (NEGLIM+POSLIMIT <<16) | (NEGLIM+POSLIM)) // << = shift left, | = or SetBreakpoint(axis, bpNo, sourceAxis, action, trigger) // bpNo = BreakPoint number 1 or 2 // sourceAxis = axis // action = SmoothStop // trigger = SignalStatus Once a limit switch event occurs the motor will stop using the programmed deceleration for that axis. For more details of the various commands please refer to the POSYS® manual. IMPORTANT NOTE: This note applies to drivers without a handle. If the new POSYSPci drivers are used a handle must be included with every command, the handle is the first parameter to be passed as shown in the following example: SetLimitSwitchMode(hPosys, axis, off) hPosys is the handle (integer) returned that was returned when opening the driver: hPosys = OpenDevice(deviceNo) Date: 06.09.2002 Revision: E-mail: [email protected] POSYS® is a registered trade mark of servo-Halbeck -o- 409 © POSYS Motion Control GmbH & Co.KG, 2013 410 © POSYS Motion Control GmbH & Co.KG, 2013 Microstep Mode Setup Sinusoidal Commutation and Microstep Mode Setup Refers to: POSYS® 84x-B/86x-B/87x-B/88x-B; 94x/96x/97x/98x; 182x; 192x On the main menu select Commutation/Microstep / Setup From the Axis Selection box click on the selected axis. For each axis you need to repeat this procedure From the upper left combo box select the desired motor output mode (DAC, PWM (S/M), etc. The next combo box serves for the selection of number of phases, select 2 Into the next edit field enter the number of microsteps/full step. For example for 64 microsteps enter 64 x 4 = 256, for 256 microsteps enter 256 x 4 = 1024 (this is the maximum) The last edit field is used for limiting the output. You must enter a value larger than 0 or no output will happen. The value 32767 represents the maximum output. No other entries are required for the Microstep (MC240000xx) motion controller. Now click on the button Set Microsteps. This will load the parameters. Repeat the above steps for all axes that you want to use. Now return to the Main Menu and go to the Stop On Motion Error selection box. Select the Radio Button Off. 411 © POSYS Motion Control GmbH & Co.KG, 2013 If you selected for the Motor Output DAC it is very important to select in the ±10 Volt Outputs box the check button On, otherwise there will be no analog outputs. You are now ready to enter move parameters, click on Send Data and Start Motion and your motors should start turning. For general information the source that is executed when clicking on Set Microsteps is included: procedure TForm10.Button7C lick(Sender: Tobject); var ioerror :string[4]; index :integer; //Button Set Microsteps begin Imp900.GetHostIOError(hPosys); index:=C omboBox1.ItemIndex; if index=-1 then index:=0; Imp900.SetOutputMode(hPosys,SelAxis,index); index:=C omboBox2.ItemIndex; if index=-1 then index:=0; Imp900.SetNumberPhases(hPosys,SelAxis,index +2); //number of phases Imp900.SetPhaseC ounts(hPosys,SelAxis,StrToInt(Edit1.Text)); //phase counts Imp900.SetMotorC ommand(hPosys,SelAxis,StrToInt(Edit2.Text)); if (motioncontroller and $28000000)=$28000000 then //max motor output Imp900.SetC ommutationMode(hPosys,SelAxis,2); //this command is only //valid and required for the //MC280000xx chip if (Imp900.GetProcessorStatus(hPosys) and $2000)=$2000 then begin ioerror:=IntToHex(Imp900.GetHostIOError(hPosys),2); ShowMessage('Host IO error: '+ioerror); exit; end; end; Rev. Date: 08.01.2004 added comments for ±10 Volt Outputs box -o- 412 © POSYS Motion Control GmbH & Co.KG, 2013 Mixed Motor Mode Mixed Motor Mode Subject: POSYS® 800-B and POSYS® 900 Series The POSYS® 800-B and the POSYS® 900 Series motion controllers are identical with the exception of the bus system to the host. The POSYS® 800-B is a PC-104 bus based controller, the POSYS® 900 is a PCI bus based controller. Both types can be operated in the so-called mixed motor mode. To use this mode the controllers must be a fully featured POSYS® 972/974 (including Synch POSYS® 982/984) or POSYS® 872-B/874-B (including Synch POSYS® 882-B/884-B). This mode allows the operation of any axis in the brushed servo mode, brushless servo mode, brushless servo mode with on-board sinusoidal commutation or in the microstepping mode. The axes can be mixed in any combination like for example X-axis = brushed, Y- and W-Axis = brushless (sinusoidal) and Z-Axis = microstepping. When the system starts up or after a Reset, all axes wake-up in the brushless servo mode with number of phases set to 3 and the output mode is set to 2. To set an axis to brushed, brushless or microstepping the following commands must be issued: Command Brushed Servo Brushless Servo Microstepping SetNumberPhases(axis(see Note 1, phase)1 2 or 3 (see note 2) 2 SetC ommutationMode(axis,mode) n/a 0, 1 or 2 2 SetOutputMode(axis,mode) 0, 1 or 2 0, 1 or 2 0, 1 or 2 SetPhaseC ounts(axis, counts) n/a see manual (Microsteps/Full Step) x 4 Note 1: Axis refers to the addressed axis 0, 1, 2 or 3 (X, Y, Z or W) Note 2: PWM Sign/Magnitude only possible with number of phases set to 1 or 2. PWM 5050 output mode is possible with number of phases set to 1, 2 or 3. When using the controller in the brushless mode with on-board commutation it is important to observe the programming requirements for Sinusoidal Commutation. An excellent tool to sinusoidal setup is the document PhaseInitialization.pdf with a step by step guide . Date: 04.12.2003 Last Rev.: servo-Halbeck GmbH & Co. KG Tel: +49 (0)9158-1612 Fax: +49 (0)9158-1642 www.servo-halbeck.com -o- 413 © POSYS Motion Control GmbH & Co.KG, 2013 Multiple Cards Multiple Cards (only PCI) Subject: POSYS® Series, PCI bus, multiple cards This TN describes the usage of the new PCI drivers for single and multiple cards installed in the same computer. The new driver requires a handle to identify the addressed card. This also requires the new POSYS900 DLL, version 3.0 and higher. Instructions Install the POSYS® 900 motion control cards in the PC PCI slots. The driver will support a maximum of 16 cards (0 to 15). Now restart the computer. The newly installed POSYS® motion controllers will be detected and you will be asked for the directory of the drivers. Locate the directory containing the drivers and the POSYS900.INF file. It should contain the following files: POSYS900.INF POSYSPCI.DLL POSYSPCI.SYS POSYS900.DLL These files will be automatically installed in the correct directories of Windows 98/ME or 2000/XP. Depending on the operating system you may be asked to restart your computer. It is now possible to communicate with all installed POSYS® cards. Here is a list of the applicable commands (Delphi). Function DetectPosysDevices:word;stdcall; //returns the number of installed cards, 0 if none were found Function OpenDevice(device:byte):Thandle;stdcall; //returns the handle of device, device starts at 0 for first card, 1 for second ,etc. //OpenDevice returns –1 if the driver could not be opened Procedure CloseDevice(hPosys:Thandle);stdcall; //The device should be closed at the end of the program Example: Type Thandle = integer; Var hPosys0, hPosys1 :Thandle if DetectPosysDevices= 0 then begin ShowMessage('No Motion Controller found on PCI-bus!'); C lose; end; hPosy0 := OpenDevice(0); //opens the driver and returns the handle of card 1 if hPosys0 = -1 then begin ShowMessage('Driver could not be started!'); C lose; end; InitializePOSYS(0,0); hPosys1 := OpenDevice(1) //opens the driver and returns the handle of card 2 if hPosys1 = -1 then begin ShowMessage('Driver could not be started!'); 414 © POSYS Motion Control GmbH & Co.KG, 2013 C lose; end; //If there are more cards, then continue with hPosysx := OpenDevice(x) It is now possible to communicate with the cards, the card is chosen by passing the handle to the functions and procedures in addition to the addressed axis and the values. Example: SetPosition(hPosys0, axis, position) //sets the target position of card 1 with the hPosys0 handle SetPosition(hPosys1, axis, position) //sets the target position of card 2 with the hPosys1 handle //all other commands are called in the same manner C loseDevice(hPosys0) //close instance for card 1 C loseDevice(hPosys1) //close instance for card 2 //Before terminating the program all instances of opened drivers should be closed Date: 20.04.2004 Revision: 1.0 E-mail: [email protected] POSYS® is a registered trade mark of POSYS Motion Control GmbH & Co.KG -o- 415 © POSYS Motion Control GmbH & Co.KG, 2013 PCI ScanForPOSYS PCI ScanForPOSYS Subject: POSYS® 900/1900 Series only , PCI Scan This Technical Note applies to the POSYS® 900/1900 series motion controllers only. The addresses and interrupt number of PCI devices are assigned by the computer’s BIOS during start up. The user cannot assign addresses to the card like customary and required for ISA bus cards. The POSYS® 900 PCI bus cards do not provide any DIP-switch or jumpers for address and interrupt setting. As long as the card is not changed to a different slot the address and interrupt number assignment will not change from one power on to the next. The POSYS900.dll library makes available a function that will scan the PCI bus and detect the first POSYS® 900 series motion controller on the bus. var C S0, CS1 : word; success : Boolean; DLL Function: GetAddresses(CS0,CS1,success) Returns: Base Address 1 in CS0 and Base Address2 in CS1 success = true if a POSYS® 900 series motion controller was found success = false if no PSYS 900 series motion controller was located To assign all used addresses a call to InitializePOSYS(CS0, CS1) (actually this call could be skipped since it is already called by GetAddresses if a POSYS® 900 controller was located) is required. After these two calls all POSYS900.dll functions can be used. If no PCI scan is desired after every program start, or if more than one card are installed, it is necessary to run the utility FindPOSYS900 A window will open up and after clicking on the Start PCI Scan button the following information will be displayed. In this example, Card 1, a 4 axes card (POSYS® 914) was located at Base Address 0 =7400H and Base Address 1=7800H and Interrupt No. 05H. C ard2, a 2 axes card (POSYS® 902) was located at Base Address 0=8000H and Base Address 1=8400H and Interrupt No. 0AH 416 © POSYS Motion Control GmbH & Co.KG, 2013 ScanForPosys Window Four options are available. Click on the Close button and exit the program without saving any information. After clicking on Save to File the following dialog box opens up allowing selection of directory and name of the file for saving. The next window displays the information saved in the file Posys900.pci: 417 © POSYS Motion Control GmbH & Co.KG, 2013 The first line reports the number of POSYS900 PCI motion controllers found during the scan, in this case 2. The second line starts with information about Card 1. Information is stored for: BS0: Assigned Base Address 0 BS1: Assigned Base Address 1 Slot No.: Slot Number of the card Function No.: Function Number of the card Interrupt No.: Assigned Interrupt Number of the card MC Version: Motion Control version and revision PLD Version: Version number of the FPGA C ard No2: This line starts information for Card 2 A user program can use this information after a program start to initialize the card of his choice or initialize all cards installed. To do this the user program must open the file and extract base address and interrupt information. C licking on the Save to Registry button will save the same information to the following registry locations: C ard 1: HKEY_LOCAL_MACHINE\System\CurrentControlSet\Services\VxD\IMC\900\Card1 and C ard 2: HKEY_LOCAL_MACHINE\System\CurrentControlSet\Services\VxD\IMC\900\Card2 Additional cards would be located at Card3 and Card4. 418 © POSYS Motion Control GmbH & Co.KG, 2013 The number of cards found is written to the key Cards in location ..\IMC\900. The values for each card are written to the various keys in locations ..\IMC\900\Card1 and to ..\IMC\900\Card2 The user program can extract this information from the registry and initialize the POSYS® 900 series motion controllers using the Base Address 0, Base Address 1 and Interrupt No. data. The fourth option ‘Read Registry’ will return and display data that was stored in the registry. If no information was found the user will be advised and asked to run ‘Start PCI Scan’ first. Important If cards are moved from one slot to another the PC I scan must be repeated and the data saved again to file or registry. The Tech Note ‘Programmers Info’ provides additional information for writing user programs in any language. Date: 07.11.2002 419 © POSYS Motion Control GmbH & Co.KG, 2013 Revision: 19.12.2002 E-mail: [email protected] POSYS® is a registered trade mark of POSYS Motion Control -o- 420 © POSYS Motion Control GmbH & Co.KG, 2013 Programmer's Info Programmer's Info POSYS® 700/800/800-B/1800 Series Please refer to paragraph 2 for POSYS® 900/1900 specific information. This information is provided for programmers who want to write their own motion control program in a language of their choice and operating system of their choice (DOS, Windows, Linux, etc.). Items needed: Motion Processor Programmer’s Reference Motion Processor User’s Guide The newest versions of these manuals can be downloaded from our web site: http://www.POSYS Motion Control.com The base address for the POSYS® 700/800/ is set using dip switches (description in the corresponding hardware manual). The card occupies N+7 address spaces (bytes), where N is the selected base address. Example: Base Address N = 300H, so the card uses 300H to 307H. The address for a second card could start at 308H. Name Address setting 7xx/8xx Address setting 8xx-B Base Address N N Data Address N N C ommand Address N+2 N+2 DAC On N+4 N+4 DAC Off N+5 N+6 HardReset N+6 N + 5 and N + 7 (By te) Name Address setting 7xx/8xx Address setting 8xx-B Base Address 300H 300H Data Address 300H 300H C ommand Address 302H 302H DAC On 304H 304H DAC Off 305H 306H HardReset 306H 305H Example: To communicate with the card these addresses must be assigned before writing or reading data. Example: The example functions are written in Delphi (Pascal) but could easily be translated to C. Procedure InitializePOSYS(BaseAddress:word); begin if (BaseAddress < 512) or (BaseAddress > 1016) then // outside this range not recommended exit; DataAddress:=BaseAddress; C ommandAddress:=BaseAddress+2; ResetAddress:=BaseAddress+6; (for 700/800) :=BaseAddress + 5 (for 800-B); DACOn:=BaseAddress+4; DACOff:=BaseAddress+5; // works only with PLD versions 0392 (700 series) and 3104 (800 series) DACOff:=BaseAddress+6; //works only with PLD versions 3205 (800B series) 421 © POSYS Motion Control GmbH & Co.KG, 2013 end; To read user inputs or write user outputs or amplifier enable outputs the commands ReadIO and WriteIO are used. To address the appropriate devices the correct IDs must be used. Addresses for user IO: Name Address 700/800 Address 8xx-B Description amp_enable 02H 01H WriteIO and ReadIO write_user_output 00H 00H only WriteIO read_user_output 03H 00H only ReadIO user_input 00H 00H only ReadIO axis_in_out 01H 02H only ReadIO serial port n/a 03H Read/Write watchdog n/a 04H only WriteIO watchdog value n/a 5562H Value to write to watchdog For an example let us assume your language command to write a word to the port is OUTPW(PortAddress, Value) and to read a word from the port is INPW(PortAddress). Reading and writing the port are motion processor commands requiring a check on the motion processors busy bit. Only if this bit is set (1) can communication take place. WaitIfBusy is an example for such a routine. C onst readybit = $8000; var timeout : boolean; count : word; Procedure WaitIfBusy; var temp:word; begin count:=0; timeout:=false; repeat inc(count); // increment count by one temp := INPW(CommandAddress); // read one word from command address until (((temp and $8000) = readybit) or (count = 2000)); if count = 2000 then timeout:=true; // make sure the loop ends if a timeout occurs end; Depending on the computer, operating system and programming language used the number of wait loops vary. On the average they will vary between 3 and 12. Example: C oding required to read the user inputs (8 lines) Var InputData : word; WaitIfBusy; OUTPW(CommandAddress,83H); // ReadIO WaitIfBusy; OUTPW(DataAddress,user_input); WaitIfBusy; InputData := INPW(DataAddress); //returns 16 bits (word) This will return the status of the 8 input lines. Example: C oding required to write to the user output (8 lines) OutputData := ffH (turn all 8 outputs on) WaitIfBusy; OUTPW(CommandAddress,82H); // WriteIO WaitIfBusy; 422 © POSYS Motion Control GmbH & Co.KG, 2013 OUTPW(DataAddress,write_user_output); WaitIfBusy; OUTPW(DataAddress,OutputData); // writes 16 bits (word) to DataAddress Here are more examples reading and writing motion control data. The first example shows how to read the encoder position (Command: GetActualPosition). Function GetActualPosition(axis:word):longint; // axis = 0, 1, 2, or 3 for the 4 axes var temp1:word; begin temp1:=(axis shl 8) + $037; // shift axis left by 8 bits and add command code 037h WaitIfBusy; OUTPW(CommandAddress,temp1); GetActualPosition:=GetDoubleWord; // reads the high and low order parts of the long end; Function GetDoubleWord:longint; // returns a 32 bit signed integer var temp:longint; begin WaitIfBusy; with Long2Word(temp) do begin wordHi:=INPW(DataAddress); WaitIfBusy; wordLo:=INPW(DataAddress); end; GetDoubleWord:=temp; end; Type Long2Word = Record wordLo, wordHi:word; End; The next example shows the required steps to turn off servoing and output an analog voltage to the servo amplifier. Var axis, mode : word; axis := 0 ; mode := 0 ; // 0= off, 1 = on SetMotorMode(axis, mode) SetMotorCommand(axis, value) // value range: –32768 to 32767 for full ±10 volts Update(axis) // moves the buffered command to working registers Depending on the magnitude of value an analog voltage will be output to the amplifier. This is in the open loop mode, no servoing, so extreme caution should be used. The processor will capture the encoder position which could be read using GetActualPosition(axis). The POSYS® card provides a safety feature, after power on or an external reset, the torque demand outputs (16 bits analog ±10 volts) are connected to ground using optical switches. They must be connected to the ±10 volt outputs by the software command DACOutputsOn before any voltage can be sent to the amplifier inputs. The coding for this command is: OUTPW(DACOn); // DACOn = N + 4 (BaseAddress + 4) POSYS® 7xx/8xx series only: OUTPW(DacOff); // DacOff = N + 5 (BaseAddress + 5) turns the optical switches OFF // DacOff works only with PLD versions 0392 (700 series) and 3104 (800 series) POSYS® 8xx-B series only: OUTPW(DacOff); // DacOff = N + 6 (BaseAddress + 6) turns the optical switches OFF // DacOff works only with PLD versions 3205 (800B series) Do not use WaitIfBusy with these commands or with the HardReset command. The HardReset command will do just that, it will do an actual hard reset of the hardware. After this command all 423 © POSYS Motion Control GmbH & Co.KG, 2013 parameters must be reloaded just like after a power on. The coding for this command is: POSYS® 7xx/8xx series only: OUTPW(HardReset); // HardReset = N + 6 (BaseAddress + 6); POSYS® 8xx-B series only: OUTPW(HardReset); // HardReset = N + 5 (BaseAddress + 5) or // HardReset = N + 7 (BaseAddress + 7) Do not use WaitIfBusy with this command. Examples for setting and resetting the amplifier enable outputs: 700/800 Series WriteIO(amp_enable, 0x00) WriteIO(amp_enable, 0x0f) WriteIO(amp_enable, 0x03) // sets all 4 outputs to low level // sets all 4 outputs to high level // sets outputs 1 and 2 to high level, 3 and 4 to low level 800B Series, applies also to the POSYS 900 series The 800B series can set and reset each amplifier output individually or any combination. WriteIO(amp_enable, 0xffff) // sets all 4 outputs to high level WriteIO(amp_enable,0x0300) // resets outputs 1 and 2 to low level WriteIO(amp_enable,0xff00 ) // resets outputs 1, 2, 3 and 4 to low level WriteIO(amp_enable,0x0404) // sets output 3 to high level WriteIO(amp_enable,0x0400) // resets output 3 to low level ReadIO(amp_enable) (1 = ON, 0 = OFF) // returns the status of the amplifier enable outputs. Bit 7 reflects the status of the DACOutputs A HardReset command would return all set outputs and amplifier enable outputs and DACOutputs to the OFF state. Please make sure to read the manual’s description referring to the Reset command. This is also the motion processors status after an external reset and power on. The user must then configure the processor using for example a configuration file to his requirements. After assigning the correct addresses for the card the following should be done. This only serves as an example. Command Description InitializePosys(BaseAddress) this assigns the addresses based on BaseAddress WriteIO(write_user_output, 0) set all outputs to 0 or to some other value SetOutputMode(axis,mode) mode: 0=16 bit analog, 1=PWM Sign/Magnitude SetKp(axis, value) value: 0 to 32767, suggested default is 100 SetKd(axis, value) value: 0 to 32767, suggested default is 800 SetKi(axis, value) value: 0 to 32767, suggested default is 40 SetIntegrationLimit(axis, value) value: 0 to 32767, suggested default is 2000 SetPositionErrorLimit(axis, value) value: 0 to 2 147 483 647 counts, suggested value is 2000 SetAutoStopMode(axis, mode) mode: 0 = disable, 1 = enable, suggested value is 1 SetProfileMode(axis, value) value: 0 to 3, suggested 0 = trapezoidal move SetAcceleration(axis, value) value: 0 to 2 147 483 647, suggested value 26214 SetDeceleration(axis, value) value: 0 to 2 147 483 647, suggested value 26214 SetVelocity(axis, value) value: 0 to 2 147 483 647, suggested value 26214 Update(axis) updates all parameters DAC OutputsOn connects analog outputs to amplifiers coding is OUTPW(DAC On), see above for more detail 424 © POSYS Motion Control GmbH & Co.KG, 2013 The motion processor and the card are now initialized and it is possible to send target positions and move to those after issuing an update command for that axis. Be aware that adjustments may have to be made in filter and other parameters. For safety reasons the SetAutoStopMode should be enabled. Interrupts Only the motion processor will generate interrupts. The available interrupt sources are listed for GetEventStatus. The interrupt source is selected using a 16 bit mask and passed to the motion processor using the command. SetInterruptMask(axis, interruptMask) After an interrupt has occurred the host must determine the source by reading GetEventStatus(axis) and process it. The host must then reset the bit that caused the interrupt using the command. ResetEventStatus(axis,mask)// a 0 in the mask clears the corresponding bits The host must then send to the motion processor the command. ClearInterrupt C oding is: WaitIfBusy; OUTPW(command) // command = ACh (decimal = 172) to clear the interrupt line and re-enable interrupt processing. If another interrupt is pending the interrupt line will only be cleared momentarily and then reasserted. There is another very POSYS® specific command, called GetAxis_In_Out_Home. It provides information on the 4 AxisIn inputs, the 4 AxisOut outputs, the 4 Home inputs and the status of the optical switches (16 bit analog voltage outputs). GetAxis_In_Out_Home(axis_in_out) // axis_in_out = 1 The coding is as follows: WaitIfBusy; ReadIO(axis_in_out); // this function returns 16 bits The bits reflect the following: Bits 0 – 3 Status of Home inputs for axes 0– 3 Bits 4 - 7 Status of AxisIn inputs for axes 0– 3 Bits 8 – 11 Status of AxisOut outputs for axes 0– 3 Bit 12 Status of optical output switches (1 = enabled, 0 = disabled) Bits 13 – 15 no meaning POSYS® 900/1900 Series The POSYS® 900/1900 motion controllers are for the PCI-bus and require no port address settings. These cards are Plug&Play compatible and require no DIP switch settings. If the system is used with the supplied drivers and DLL, the card will be automatically detected and addresses assigned. If experienced software engineers want to write programs close to the hardware then attention must be paid to the following: Windows– for Windows 95/98, ME, NT, 2000 and XP use the supplied driver and follow the installation instruction. Run the FindPCI program. It will locate installed POSYS® 900/1900 cards and display a window with information in regard to Card No., Slot, Function, Version, Base Address0, Base Address1 and Interrupt No. Version, Base Address and Interrupt Numbers are displayed in hexadecimal. 425 © POSYS Motion Control GmbH & Co.KG, 2013 Results of a PCI scan In the above example two POSYS® cards were located, a POSYS® 904 (Version 21400022) and a POSYS® 902 (Version 212000022). Programmers can now use this information in writing their own drivers. The following addresses are used. Please note, these addresses deviate from the ones used for the POSYS® 700/800 series. Assignment of addresses: Name Address Base Address Base Adr0 Data Address Base Adr0 C ommand Address Base Adr0 + 2 DAC On Base Adr0 + 4 DAC Off Base Adr0 + 6 HardReset Base Adr1 Example: Name Address Base Address 7400H Data Address 7400H C ommand Address 7402H DAC On 7404H DAC Off 7406H HardReset 7800H Addresses for user IO: Name Address Description amp_enable 01H WriteIO and ReadIO write_user_output 00H only WriteIO 426 © POSYS Motion Control GmbH & Co.KG, 2013 Name Address Description read_user_output 00H only ReadIO user_input 00H only ReadIO axis_in_out 02H only ReadIO serial_port 03H read/write the serial port watchdog_adr 04H write to watchdog register watchdog_value 5562H value to write to watchdog pld_adr FFH address at which to read the PLD To read back the status of user IO and to get the status of the inputs and outputs use ReadIO(user_input) or you may use ReadIO(read_user_output) The return value is 16 bits, the lower 8 bits [0..7] reflect the status of the programmable user outputs, the upper 8 bits [8..15] reflect the status of the 8 input lines. To set the outputs use WriteIO(write_user_output, value) This writes a word to the userIO. The lower 8 bits [0..7] will set the 8 outputs. The upper 8 bits are ‘don’t care’. The amplifier enable outputs are set and reset using the following scheme: WriteIO(amp_enable, value) Sets the 4 amplifier enable outputs bits [0..3], bits [4..6] are ‘don’t care’, bit [7] reflects the DACOn/Off status, bits [8..1] must be set with change mask reflecting the bits [0..3], bits [12..14] are ‘don’t care’ and bit [15] is the change mask for DACOn/Off. To obtain the status of the amplifier enable outputs use ReadIO(amp_enable) This will return the status of the amplifier enable outputs in bits [0..3, bits [4..6] are fixed at 0, bit [7] returns the DACOn/Off status and bits [8..15] are fixed at 0. Example for Amp Enable: Assume you want to enable output 1 and 3 (from low to high) Var amps: integer=0; Begin amps:= amps or $101 // output 1 amps:= amps or $404 // output 3 WriteIO(amp_enable, amps) End Now assume you want to disable output 3 Begin amps:=amps and not $04 or $400 WriteIO(amp_enable, amps) End To obtain the status of the axis specific inputs, outputs and home status use ReadIO(axis_in_out) This returns the status of the 4 Home inputs in bits[0..3], the status of the 4 AxisIn inputs in bits [4..7], the status of the 4 AxisOut outputs in bits [8..11] and the Reset cause in 427 © POSYS Motion Control GmbH & Co.KG, 2013 Bit Bit Bit Bit [12] [13] [14] [15] Reset Reset Reset Reset Cause: Cause: Cause: Cause: Software Under voltage External Watchdog A write to address axis_in_out WriteIO(axis_in_out, 0) will reset the reset cause flags. To activate the watchdog timer write WriteIO(watchdog_adr, watchdog_value) The watchdog times out after 104 milliseconds. It must be re-triggered before timeout. A timeout causes a reset of the board and the watchdog would have to be reactivated. The watchdog can only be deactivated by a reset. The Mode jumper default setting is 1-2 for limited use of the serial port. Only Get instructions and the SetBufferReadIndex are permitted. Setting the Mode Jumper to 2-3 allows the Full instruction set to be executed. In both cases a special serial cable is required from POSYS Motion Control. A read of ReadIO(serial_port) Returns the default data transmission parameters and the slave address in bits [0..15]. Refer to the manual’s SetSerialPortMode/GetSerialPortMode command description for an explanation. New parameters can be written using WriteIO(serial_port, value) Value is the mask for the transmission parameters. Status of out puts after power-on and a HardReset: All outputs are low (0) Amplifier enable outputs are low (0) Axes specific outputs (AxisOut) are high (1) The user’s program must assign addresses to call the POSYS® functions. If the Kithara drivers are used these calls must be made to the POSYS900.dll functions: A function assigning addresses could look like this Delphi example: Procedure InitializePOSYS(BaseAddr0, BaseAddr1:word); begin DataAddress:=BaseAddr0; C ommandAddress:=BaseAddr0 + 2; ResetAddress:=BaseAddr1; DACOn:=BaseAddr0 + 4; DACOff:=BaseAddr0 + 6; end; The next DLL-function calls open the driver and allow access to the port addresses specified: OpenDriver EnableIO( BaseAdr0, 16) EnableIO( BaseAdr1, 16) When shutting down the program call CloseDevice These are the only differences in programming for the POSYS® 700/800, 800-B and the POSYS® 900/1900 series motion controllers. For additional information refer back to paragraph 1 (POSYS® 700/800). Date: 04 May 2001 428 © POSYS Motion Control GmbH & Co.KG, 2013 Revised: Revised: Revised: Revised: 18 12 18 01 June 2001 July 2002 December 2002 March 2005 POSYS Motion Control GmbH & Co. KG E-mail: [email protected] -o- 429 © POSYS Motion Control GmbH & Co.KG, 2013 Resistor Networks for TTL or Inverted Encoder Signals Encoder Line Receiver and Terminating Resistors All of the POSYS motion controllers use line receivers. They are equipped with 150 Ohm terminating resistors for RS 422 operation. The encoder signals are connected to the A+ and A- (B+, B- and I+, I-) inputs. The 150 Ohm network resistors are connected across these inputs. POSYS® 700/800/800-B/1800/900/1900 RS1, RS2, RS3 POSYS® 1800-B RS604, RS608, RS613 If single ended (TTL level) encoders are used, these network resistors should be removed. The resistor networks are socketed and can just be pulled out. If mixed operation is desired with TTL level encoders and others with inverted signals some manual work is required. The 150 Ohm resistors on the TTL level inputs need to be selectively removed by clipping off the terminals. The table shows the resistor to encoder relationship. RS1/RS604 Pins Encoder Signals RS2/RS608 Pins Encoder Signals RS3/RS613 Pins Encoder Signals 1–2 A1 (X axis) 1–2 I1 (X axis) 1–2 B2 (Y axis) 3–4 A3 (Z axis) 3–4 I3 (Z axis) 3–4 B4 (W axis) 5-6 B3 (Z axis) 5–6 A4 (W axis) 5–6 I2 (Y axis) 7–8 B1 (X axis) 7-8 A2 (Y axis) 7-8 I4 (W axis) Date: 30.03.2005 Revised: 29.09.2010 -o- 430 © POSYS Motion Control GmbH & Co.KG, 2013 Serial Interface Serial Interface Subject: POSYS® 800-B/900 Series, Serial Interface The POSYS® 800-B/900 Series motion controllers are equipped with a parallel and serial interface. Since the POSYS® 800-B is a ISA-Bus based card and the 900 is a PCI-bus card it will normally be operated using the parallel bus. The asynchronous serial connection can be used for diagnostics or stand-alone operation of the controller. The default configuration is for parallel operation. For serial communication the only jumper (JP4., marked Mode) on the POSYS® card needs to be changed to pins 2-3. Mode 1 – 2 Parallel 2 – 3 Serial A special serial link cable, available upon request from POSYS Motion C ontrol, needs to be plugged into the connector marked Serial I/F. Two types of cable are available, the standard is a RS232 cable with a 9-pin SUBD male or female connector. If the female connector is used it can connect directly to PC’s serial input without a null modem. The optional cable is for RS422/485 data transmission. The mating connector of the host must match the pinout of the supplied POSYS® connector. RS232, Mode Setting 2-3 With this setting the motion controller powers up in the serial communication mode. At this point default parameters are active: 9600 Baud No Parity One Stop Bit Point-to-Point Mode The following commands apply to the serial communications mode: SetDiagnosticPortMode / GetDiagnosticPortMode SetSerialPort / GetSerialPort Both commands are explained in detail in the manual. This will just outline the purpose of every command. Get commands return programmed values. SetDiagnosticPortMode: When set to LIMITED only limited access is possible like for all Get.. instructions and SetBufferReadIndex When set to FULL, all instructions may be executed. SetSerialPort: Five parameters are passed to this function, they are: Transmission rate: 1200, 2400, 9600, 19200, 57600, 115200, 250000, or 416667 Parity: NONE, ODD or EVEN Stop Bits: 1 or 2 Protocol: Point-to-Point, Multi-drop (address bit), Multi-drop (idle line mode) Multi-drop Address: Address 0, Address 1, …, Address 31 C hecksums are needed for serial communication. A complete and detailed description of the following important subjects can be found in the NAVIGATORTM User’s Guide: C ommand Format Checksums Transmission Protocols Point-to-Point Mode Multi-drop Protocols Idle-line Mode 431 © POSYS Motion Control GmbH & Co.KG, 2013 Address Bit Mode It is important to adhere to these protocols for an error free communication. The power-on default serial port parameter can be changed. In most cases this would be in regard to transmission rate and number of stop bits. Important Note For stand-alone operation without a computer and it’s associated power supply it is possible to supply the POSYS® 800-B/900 series motion controller with external power using either the 2x 50-position cable or the 100-position high density connector. The best way is to use it in conjunction with IO700/800 interconnect module. The POSYS® 800-B motion controller card must be connected to the IO700/800 using the 2x 50-position cable. Screw Terminals 7, 57, 25 and 75: 5VDC Input, any of these inputs can be used Screw Terminals 12, 62: GND, any of these can be used for GND connection As an alternative the card could be used with a PC/104-bus connector and only 5 VDC and GND connected to the ISA-bus connector. The POSYS® 900 motion control card must be connected to the IO700/800 using the shielded cable. Screw Terminals 7, 57, 25 and 75: 5VDC Input, any of these inputs can be used Screw Terminals 12, 62: GND, any of these can be used for GND connection As an alternative the card could be used with a PCI-bus connector and only 5 VDC and GND connected to the PCI-bus connector. Date: 24.03.2003 Revision: E-Mail: [email protected] POSYS® is a registered trademark of POSYS Motion Control GmbH & Co.KG -o- 432 © POSYS Motion Control GmbH & Co.KG, 2013 Status Read Operation Status Read Operation Subject: POSYS® 700/800/800B/900/1800/1900 All above POSYS motion controllers provide a Status Read function. This function returns a status word. The execution of this function can take place anytime and does not require checking of any busy flags which would cause delays. The Status Read function (POSYS function GetProcessorStatus()) returns a word containing the following information: Bit Number Description 0 - 12 Unused, set to 0 13 Holds value of HostIOError signal, this bit will be high if a HostIOError occurred. This bit is reset after reading the actual HostIOError. 14 This bit holds the value of HostInterrupt signal. A high indicates an active host interrupt output. 15 This bit holds the value of the HostReady signal. A high indicates ready. Bit 14 requires some special attention. It can be used in a polling setup to determine if an interrupt condition, as set with SetInterruptMask(), has occurred. It can also be used to check if an interrupt was caused by the POSYS motion controller or another device. No specific additional attention is required for all POSYS® 700/800B/900 motion controllers using the Navigator version 1.x (for example 21400018), where 18 represents version 1.8, and 20, 21, 22, 23 those with version numbers 2.0 to 2.3. All POSYS 700/800B/900 motion controllers using the Navigator with versions 2.4 and up require an additional read or write command to assure an update of the Host Interrupt bit. The following is an example of an interrupt handler implementing such a read: void DLLC ALLCONV POSYS_IntHandlerRoutine(POSYS_HANDLE hPosys, POSYS_INT_RESULT *intResult) { ignore_result=GetEventStatus(hPosys,0); //inserted command for status word update POSYS_Status=GetProcessorStatus(hPosys); if ((POSYS_Status & 0x4000)==0x00) //not a POSYS interrupt return; printf("Status Word: %x\n",POSYS_Status); if ((POSYS_Status & 0x2000)==0x2000) printf("HOST IO Error: %x\n",GetHostIOError(hPosys)); printf ("Got interrupt number %d\n", intResult->dwC ounter); ResetEventStatus(hPosys,0,0); ClearInterrupt(hPosys); ignore_result=GetEventStatus(hPosys,0); POSYS_Status=GetProcessorStatus(hPosys); //inserted command for status word update //Bit 14 should now be reset printf("Status Word: %x\n",POSYS_Status); } POSY_STATUS contains the value of the status read. The POSYS generated the interrupt if Bit 14 is set, if not then the interrupt source is a different one. For the POSYS 1800 and POSYS 1900 motion controllers the same requirements apply as shown in the example of the POSYS_IntHandlerRoutine above. A command must be sent to the POSYS prior to calling GetProcessorStatus() if the present state of bit 14 (interrupt) is to be returned. It is also important to note that prior to calling C learinterrupt() all bits set with SetInterruptMask() must be cleared by calling ResetEventStatus. The relevant interrupt commands are: SetInterruptMask(axis) GetInterruptAxis(axis) 433 © POSYS Motion Control GmbH & Co.KG, 2013 ResetEventStatus(axis) C learInterrupt() GetProcessorStatus() Ignore_result = GetEventStatus(axis) GetProcessorStatus() // dummy routine to assure that // Bit 14 in the status word returned by // (GetProcessorStatus())is updated // returns the updated status POSYS® 900 and 1900 only The PC I motion controllers provide an additional function to check the hardware for an active interrupt line. The command is INT P9050_ReadReg(hPlx, P9050_INTC SR) INT POSYS_ReadReg(hPlx, POSYS_INTC SR) or INT POSYS_ReadReg(hPlx, POSYS_INTC SR) or depending on the software used for the POSYS 900 series depending on the software used These functions address the PLX interface directly and return the status of the Interrupt C ontrol Service Register of the PLX. Bit 2 indicates if the interrupt line 1 is active (1=active, 0=not active). Interrupt line 1 is connected to the interrupt output of the motion control processor. Date: 26.09.2006 Revised: 05.10.2006, 09.10.2006 -o- 434 © POSYS Motion Control GmbH & Co.KG, 2013 Synchronization of Multple Cards (POSYS® 8xx-B/9xx w/ Sync-Feature and 18xx/19xx) Synchronization of Multiple Cards (POSYS® 8xx-B/9xx w/ Sync-Feature and 18xx/19xx) Subject: POSYS® 800-B/9xx/18xx/19xx Series, Synchronization of multiple cards The POSYS® motion controllers 8xx-B/18xx and 9xx/19xx are available with a synchronization feature. Synchronization must be specified with the order (8xx-B and 9xx) since a different motion control processor is required. When this feature is installed and activated by software it will allow a synchronized update between multiple cards to within 10 microseconds. This feature is specified by increasing the second digit in the part number by 1. For example a POSYS® 904 becomes a POSYS® 914 signaling the synch feature. The synch feature includes additional hardware (connectors and cable) and additional firmware with two more commands. Up to 128 axes on the adequate amount of cards (1, 2 and 4 axes cards can be combined) can be synchronized, one card would be the master and the other ones the slaves. The POSYS® 18xx/19xx can combine up to 128 cards/512 axes to be synchronized. Synchronization between 8xx-B/9xx and 18xx/19xx is not possible due to different cycle times of the motion processors The two additional commands are: SetSynchronizationMode (mode) mode = 0 (Disabled) = 1 (Master) = 2 (Slave) mode = GetSynchronizationMode mode will return the synchronization state of the selected card. To allow proper use of this feature the following steps should be observed: Default configuration of all installed cards after power on or reset is DISABLED The sample times of cards used for synchronization must be the same. So assuming one 4 axes and one 2 axes card are installed. The default sampling times would be 400 and 200 microseconds. In this case the sampling time of the 2 axes card has to be adjusted to the same value as the 4 axes card. The command to use is SetSampleTime(time), where time would be in microseconds, in this case 400. Only one card can be the master in a chain. If 3 cards are installed and connected via the synch cable, one card will be the master and the other two will be slaves. The slaves must be set before the master. This ensures that the slave or slaves cycle if more than one starts at precisely the moment that the master assumes its state as master. Assure that all cards are connected using the supplied 2-lead cables. The connectors can only be connected one way. The two synch connectors on each card are in parallel, so it does not matter which one is used for input or output. Example: For example assume two cards are installed, card1 will be the master, card2 will be the slave. The code is for Visual Basic. Dim Dim Dim Dim Dim disabled as integer slave as integer master as integer time1 as long time2 as long disabled = 0 master = 1 slave = 2 C all CardHandle(1) //this is the handle to card1, all data will go to this card C all SetSynchronizationMode(disabled) //make sure the card is not in synchronization mode time1 = GetSampleTime C all CardHandle(2) //handle to card2, all data will go to this card time2 = GetSampleTime if time2 <> time1 then C all SetToEqualTime //this calls a subroutine for adjusting the slave s sample End If //time to the same value as the master s. This routine is not //shown as part of this example 435 © POSYS Motion Control GmbH & Co.KG, 2013 C all C all C all C all CardHandle(2) //switch to card2 SetSynchronizationMode(slave) //set card2 to slave CardHandle(1) //switch to card1 SetSynchronizationMode(master) //set card1 to master The two cards are now synchronized. The following sequence of commands serves as an example for starting a synchronized move across two cards. C all CardHandle(1) //switch to card1 C all SetPosition(axis1, 50000) //buffer a new target position for axis1 of card1 C all CardHandle(2) //switch to card2 C all SetPosition(axis1, 25000) //buffer a new target position for axis1 of card2 C all CardHandle(1) //switch to card1 time1 = GetTime //use the master's node time to set breakpoints for both //boards that will start motion 20 servo cycles from now C all SetBreakpointValue(axis1, Breakpoint1, time + 20) C all SetBreakpoint(axis1, Breakpoint1, axis1, update, breakpointtime) C all CardHandle(2) //switch to card2 C all SetBreakpointValue(axis1, Breakpoint1, time + 20) C all SetBreakpoint(axis1, Breakpoint1, axis1, update, breakpointtime) When the breakpoint triggers 20 servo cycles from now, both axes will start to move. The master node outputs a synchronization pulse once every 50 microseconds. Applications can use this pulse to synchronize external equipment to the internal cycle of the motion processor. Date: 02.05.2003 Revision: E-mail: Europe: [email protected] POSYS® is a registered trade mark of POSYS Motion Control GmbH & Co.KG -o- 436 © POSYS Motion Control GmbH & Co.KG, 2013 Velocity, Acceleration and Jerk Calculation Velocity, Acceleration and Jerk Calculation Subject: POSYS® Series, Programming Velocity and Acceleration DLL Functions All of the POSYS® motion controllers work with a servo cycle (for servo motors) or a cycle time (for stepping motors). These cycle times determine the update rate of the controller. This time is typically 100 µseconds per enabled axis (exact value is 102.4 µseconds). Some versions have a cycle time of 150 µseconds. Please refer to the appropriate data sheet. Programming speed and acceleration as well as jerk must take this into consideration. Let us assume the following: Motion Controller Type POSYS® 852 (2 axes stepping motor) Fastest cycle time 2 x 102.4 µseconds = 204.8 µseconds for 2 enabled axes The rate is 1/204.8 = 4882.81 updates/second To program a velocity of 1000 steps/second we need to convert this to steps/update rate. Steps/sec = (1000/4882.81) * 65536 = 13423.73, rounded this gives 13424 This would be the value sent to the card using the DLL function SetVelocity(axis, 13424) The easiest way to proceed would be to set up a constant like vel_factor = 13.4217728 and write the following SetVelocity(axis, round(1000 * vel_factor)) If the cycle time is changed the value of the constant has to be changed too. Programming acceleration/deceleration follows a similar scheme. Assuming we want to accelerate linearly to 1000 steps/sec in 20 milliseconds. This requires an acceleration of 1000/0.020 = 50000 steps/sec². The value that needs to be loaded is calculated as follows: Steps/sec/sec = (50000/4882.81/4882.81) * 65536 = 137.45, this is rounded to 138 and loaded using the DLL function SetAcceleration(axis, 138) Again we could set up a constant accel_factor = 0.002748779 and write the following SetAcceleration(axis, round(50000 * accel_factor)) If the cycle time is changed the value of the constant has to be changed too. The multiplier 65536 in the above examples is needed to take care of the fractional part. For example velocity (counts/cycle) has a range of –32768 to 32767 with a resolution of 1/65536 counts/cycle. The easiest way to set up the constants for velocity and acceleration is to use the GetSampleTime function It returns the servo cycle time in microseconds. Assuming a servo motor controller with 4 axes enabled would return as the default value 410 microseconds. To obtain the correct multiplier for programming speed and acceleration per second proceed as follows: 437 © POSYS Motion Control GmbH & Co.KG, 2013 Velocity vel_factor = (GetSampleTime/1000000) * 65536 Acceleration/Deceleration accel_factor = (GetSampleTime/1000000)² * 65536 Jerk jerk_factor = (GetSampleTime/1000000)³ * 65536 To program a speed of 10355 counts/sec. send the following command to the controller: SetVelocity(axis, round(vel_factor * 10355) The actual value loaded would be SetVelocity(axis, 278236) This way the speed in counts/sec would be independent of the servo cycle time assuming that the factors would always be recalculated after a change in servo cycle time. Example: Four axes controller with a servo cycle time of 410 µsec (exact 409,6 µsec) C alculate factors to program in units/second. vel_factor = (409.6/1000000) * 216 = 0.268435456 accel_factor = (409.6/1000000)² * 216 = 0.010995116 jerk_factor = (409.6/1000000)³ * 232 = 0.295147905 Now program: SetVelocity(axis, round(speed * vel_factor)) SetAcceleration(axis, round(acceleration * accel_factor)) SetJerk(axis, round(jerk * jerk_factor)) Date: 09.04.2002 Revised: 09.07.2002 Revised: 05.11.2003 -o- 438 © POSYS Motion Control GmbH & Co.KG, 2013 MotionScript® Overview; MotionScript® Overview; MotionScript® MotionScript® for POSYS® is a Basic-like script language. Practically all of the GW-Basic/Quick Basic functionality with certain extensions is available. All mathematical functions can be used and user functions can be written and called from the program. One of the main features is that all of the POSYSxxx.DLL functions can be called from the script. What is the purpose of MotionScript®? MotionScript® allows the user to test the POSYS® motion controller hardware and write some code using POSYSxxx.DLL functions literally in a matter of minutes. Fundamental knowledge of program flow would be helpful but there is no need to be an expert C/C++ or Delphi programmer. Portability The program functions from the POSYSxxx.DLL are used the same way in the MotionScript® as they would be used in C /C++, Delphi or Visual Basic. Simple Setup PCI Bus After the drivers for the POSYS® 9xx/19xx PC I motion controller are installed it is possible to start immediately to communicate with the motion controller. The required code is minimal: if DetectPosysDevices () = 0 then Print "No POSYS® controllers found!" end endif hPosys# = OpenDevice(0) Print "Version: "; Hex$( G etVersion(hPosys#)) C loseDevice(hPosys#) Only valid for POSYS® 900/1900 (PC I-bus) REM program terminates REM REM REM REM REM opens driver instance 1 for controller 1 hPosys is the handle to this controller returns as hex number the motion processor version always close the driver when program terminates program terminated End ISA/PC-104 Bus For the POSYS® 800/800B/1800 and POSYS® 700 motion controllers the installed boards and their addresses are set using the DIP switches, must first be registered. To do this use the supplied utility program called POSYSDriverXSetup. Select the card number to register, pick the address set on this board and click on Store Data. This needs to be done only once since the data is written to the Window's registry. It will be automatically loaded after a restart or boot of the computer. It is now possible to communicate with the motion controllers, provided there are no address conflicts. if RegisteredPosysDevices () = 0 then Print "No POSYS® controllers found!" end endif if OpenDevice() = 0 then Print "Driver could not be opened." Print "END" end endif # hPosys = EnableIO(1, 8) if hPosys# = -1 then Print "IO range could not be enabled." Print "END" end endif Only valid for POSYS® 800/800B (ISA/PC -104 bus) REM program terminates REM open the driver REM if return equals 0 enable ISA bus IO for the first card and get handle; no longer needed with Windriver driv er If return equals -1 IO range could not be enabled REM returns as hex number the motion processor version REM always close the driver when program terminates REM program terminated 439 © POSYS Motion Control GmbH & Co.KG, 2013 Print "Version: "; Hex$( G etVersion(hPosys#)) C loseDevice(hPosys#) End C omments can be added with the keyword REM or the character '. They are valid until the end-of-line. Additional Information The description of POSYS® functions in this help file may refer to hPosys, the handle being returned by a call to OpenDevice(). This is only true for the PCI bus motion controllers. For the ISA/PC-104 bus motion controllers we like to refer to the handle as hPosys, the handle being returned by a call to InitializePOSYS(hPosys, Cardaddress). The actual call to the function does not care it remains the same. Examples: Other POSYSxxx.DLL and specific MotionScript® functions and calculations can follow. That is all there is to it. -oPOSYSDriverXSetup POSYSDriverXSetup Program The utility program POSYSDriverXSetup will enter base address and address range for up to 16 motion control cards into the Window's registry. The utility program can be used to enter or modify setup information or remove it. The program will detect the installed operating system (Windows 98/Me or 2000/XP) and display this. Pick the address (Hex value) from the combo box Base Address that matches the address set on the POSYS® motion control card already installed or to be installed in your computer. Select the card number from the combo box to be associated with your motion control card. Interrupt handling is presently not supported. Address conflicts are not detected. 440 © POSYS Motion Control GmbH & Co.KG, 2013 Pick your cards address from this box. Pick the associated motion control card from this box. If interrupt handling is enabled in your driver you can pick an interrupt number from this box. If this value is defined and set to Yes (1) then the driver will ignore resource conflicts when the device is created. Normally, device creation is aborted on any resource conflict. C licking on Store Data will write the entries to the registry, clicking on Retrieve Data will display the saved data. If no data is available the following message will be displayed: If you click on Remove for a card that had been registered you will be asked to confirm the removal of the data. 441 © POSYS Motion Control GmbH & Co.KG, 2013 C licking on the Exit button will close the program. The data written to the registry is needed by the driver to enable the IO range to communicate with the motion control board. -oProgram Use Program Use After a successful installation the program can be started immediately unless you were instructed by the operating system to shut down and restart the computer first. MotionScript® for the POSYS® is available as a stand-alone program called MotionScript® or as a menu option of the POSYSxxxVx program. The program displays two windows, an input window which is the program editor and an output window to which all program outputs with Print statements will be directed. Program instructions cannot extend over a several lines, they must all fit into a single line. The length of a line is not limited. It is possible to write several instructions on a single line. Instructions must be separated by a colon (:). The following example shows how: hPosys = OpenDevice(0) #hPosys = EnableIO(1, 8) axis = 0 readPos = GetActualPosition(hPosys#,axis) : Print "Actual Position: "; readPos Rem opens driver and returns the handle in hPosys This call is only needed for the ISA bus , it returns the handle in hPosys; no longer needed with Windriver driver Rem defines the addressed axis (0 - 3) Rem returns the actual position of axis 0 Screen shot of MotionScript® 442 © POSYS Motion Control GmbH & Co.KG, 2013 C licking on this button will compile the program displayed in the input window and if there are no errors execute it. Most syntax errors are flagged and the line number with the error will be displayed. The line the cursor is on is shown in the left hand corner of the bottom status bar. Correct any errors and click Run! again. C licking on this button opens a dialog and allows saving the contents (source code) of the input (editor) window. C licking on this button opens a dialog and loads a source file into the input (editor) window. The data will not be appended but replace existing data. The source code may be written in any text editor and then loaded for compilation and execution. C licking on this button displays this Help file. C licking on this button will terminate MotionScript®. Make sure all open drivers are closed and resources are freed. -oExamples 443 © POSYS Motion Control GmbH & Co.KG, 2013 Examples In order to write code that can communicate with the POSYS® motion controller certain steps need to be observed. 1. Proper installation of the hardware. 2. C orrect installation of the POSYS® drivers for Windows 98/ME or 2000/XP It is very easy to initialize the POSYS® motion controller. After power-on or a reset the unit will be initialized with certain defaults. Please refer to the information contained under Reset. The program code follows the information in the Programmer's Manual which details all POSYS® functions of the POSYSx00.DLL (POSYS1x00.DLL). These functions can be called from the programming language of your choice like C /C++, Delphi, VB, C++ Builder or Visual C++ or from the MotionScript® program. MotionScript® also imports POSYS® functions from the POSYSx00.DLL (POSYS1x00.DLL). Write your code in any text editor or use the MotionScript® input (editor) window. The MotionScript® editor supports most of the standard key stroke edit functions. The code written is not case sensitive. The variable AbC is the same as abc or aBc. Any text following Rem or ' is being treated as a comment. If the program must communicate with more than one card then open an instance of the driver for every card. A different handle will be returned for every card which will be used to address just that card. Do the following PCI Bus hPosys1# = OpenDevice(0) Rem returns handle to card 1 hPosys2# = OpenDevice(1) Rem returns handle to card 2 hPosys3# = OpenDevice(2) Rem returns handle to card 3 .. etc. First steps to start driver for communication with a single POSYS® PCI card. C LS found = DetectPosysDevices () if found = 0 then Print "No POSYS® controllers found." Print "Program terminates." end endif hPosys1# = OpenDevice(0) if hPosys1# = -1 then Print "Driver could not be opened." Print "The program terminates." end endif InitializePOSYS(0,0) Print "Version: ";Hex$(GetVersion(hPosys1#)) Rem clears the output window Rem searches the PC I bus for installed POSYS® motion controllers Rem if 0 is returned than no POSYS® motion controllers are installed Rem terminate the program Rem end of if block Rem opens driver instance for card 1, up to 16 instances (boards) can be opened Rem no communication is possible with the card Rem if OpenDevice(x) returns hPosys1 = -1 then the driver could not be opened Rem the program must be aborted! This is a reserved key word of MotionScript® Rem end of if block Rem this instruction could be omitted, it is only included for backward compatibility Rem print the version number of the installed motion processor to the output window Rem Hex$ is a MotionScript® function converting a decimal to hexadecimal presentation All POSYS900.DLL functions can now be added to the program and combined with other MotionScript® commands. It is also possible to write MotionScript® functions and call them as sub routines Example of a user function Function SetMoveParameters(hPosys#, axis, vel, accel, pos) SetVelocity(hPosys#, axis, vel) SetAcceleration(hPosys#, axis, accel) SetPosition(hPosys#, axis, pos) EndFunc Rem no local parameters are required Assuming in your program you want to set move parameters for axis = 0 and axis = 1 444 © POSYS Motion Control GmbH & Co.KG, 2013 SetMoveParameters(hPosys#, 0, 100000, 20000,12345) SetMoveParameters(hPosys#, 1, 200000, 40000,67890) Rem for axis = 0 Rem for axis = 1 hPosys is the handle to the card being addressed. User functions can also contain local variables. They must be declared in the body of the function. FUNCTION intpower(a,b) LOC AL t,r r=1 for t = 1 to b r=r*a next return r ENDFUNC Rem t and r exist only in this function Rem return defines the returned result of the function Loop Instructions Loop instructions can be used to react to status information or waiting for an event to take place. For example the next move should not start until the one being executed has finished. Repeat Until While EndWhile Rem Bit 10 is cleared when In-position or alternatively you may use a While loop Rem Bit 10 is set when motor in motion ISA/PC-104 Bus Please note the differences to the PCI. For the ISA bus you call OpenDevice() only once. It does NOT return a handle. If the call is successful it returns 1 otherwise 0. You must enable the IO range for each card installed and get a handle to those cards. To do this call hPosys[No] = EnableIO(cardNo, portCount). portCount is always 8, cardNo ranges from 1 to 16. hPosys[No] will hold the handles for cards 1 to 16. If hPosys returns -1 the call was not successful. For example if you want to initialize three POSYS® 800 boards you must first call POSYSDriverXSetup, enter the addresses, store the data and go to the MotionScript® program. Enter the following: OpenDevice() hPosys1# = EnableIO(1, 8) hPosys2# = EnableIO(2, 8) hPosys3# = EnableIO(3, 8) No error checking was done in this example. You can now communicate with the three boards using the three handles hPosys1, hPosys2 and hPosys3. Print "Version Card 1: ";Hex$(GetVersion(hPosys1#)) Print "Version Card 2: ";Hex$(GetVersion(hPosys2#)) Print "Version Card 3: ";Hex$(GetVersion(hPosys3#)) These 3 commands will write the version numbers of the three motion control boards to the MotionScript® output window. Any POSYS® function or procedure can now be called. The first parameter passed is always the handle defining which card is addressed. -oVariables Supported Variables Types MotionScript® supports three types: numbers, pointers, and strings. 445 © POSYS Motion Control GmbH & Co.KG, 2013 In Basic there is no need to define variables, they are automatically defined by the compiler. Basic recognizes a variable as a string if its name ends with a dollar ($) and a pointer if its name ends with a # character. See Identifiers Numbers A numeric variable contains a number. The number is internally represented by a floating point value with double precision (64 bit, 15 significant digits). Numeric variables are used with operators to perform numeric expressions and are used as counters in loop instructions. Pointers A pointer variable contains a 32 bit pointer. Strings A string variable contains text. This text may be a single row or a multi-line text. The maximum theoretical size of a string variable is 2 Gbyte. Example: a$ = "Hello" + " World" + "!" The value of the variable "a$" is now "Hello World!" String variables are used with operators to perform string expressions and are used with some functions to Open and Save data from text files. A single row of a multi-line string can be read using square brackets, example: if a$ contains: " This is a text placed on three rows " b$ = a$[2] ; Now b$ contains: "text placed on" Arrays MotionScript® does not support arrays. It is still possible though to store and retrieve array data by using three MotionScript® specific functions to implement Lists, Stacks, Queues, VarArray, Files and standard Arrays as well. v# = alloc#( elements ) elements = number of elements of type double, v# is the pointer to the allocated memory v# = alloc#( 10 ) reserves memory for 10 elements of the type double and returns the pointer to this array in v# To store data into this memory use set( v#, offset, value) will store value at offset in memory pointed to by v# To retrieve data from memory use data = get(v#, offset) will return the data from offset in memory pointed to by v#, data is of the type double -oReserved Words Reserved Words This is a list of reserved MotionScript® key words. They have the same meaning as in traditional Basic. 446 © POSYS Motion Control GmbH & Co.KG, 2013 if, or, to, and, end, mod, cls, rem for, not, else, then, goto, step, break, endif local, while, gosub, until, print, input, repeat return, endfunc, endwhile, continue, function Comments C omments can be added with the keyword REM or the character ' They are valid until the end-of-line. Examples: REM this is a comment ' and this is too ' but shorter -oMotionScript® Utility Functions MotionScript® Utility Functions The following functions serve as an extension of the Basic programming language which serves as the basics for this script language. They are required to support the motion control functions. result = BitTest(TestValue, BitMask) This function is useful for testing the condition of a Repeat or While loop. The following example shows its use: hPosys# is the handle to the POSYS® motion controller returned by OpenDevice( n ) axis = 0 Repeat Print "Actual Position: "; GetActualPosition( hPosys#, axis) Print "Signal Status : "; GetSignalStatus(hPosys#, axis) Until BitTest(GetActivityStatus(hPosys#, axis), 1024)) = 0 Bit 10 (=1024 , 0x400) of the Activity Status register is tested, if it is set the motor is in motion (=1024), if the motor is at rest it is cleared. As the above example demonstrates, the TestValue could be a POSYS900.DLL function returning status information. Two additional functions are used to set and reset selected bits. BitSet(testVar, bitToSet )will set to 1 bitToSet in testVar BitReset(testVar, bitToReset )will set to 0 bitToReset in testVar There are 3 additional functions which kind of duplicate the functionality of BitTest but are limited to the Activity Status, Reset Event and Signal Status registers. result = CompareActivity(hPosys#,axisID,mask) //checks the Activity Status register Example: hPosys# is the handle to the POSYS® motion controller axisID = 0 mask = 1024 (bit 10) Repeat Until CompareActivity(hPosys#,axisID,mask) = 0 Print Axis "; axisID, "in position." result = CompareEvent(hPosys#,axisID,mask) //checks the Event Status register result = CompareSignal(hPosys#,axisID,mask) //checks the Signal Status register -oOther MotionScript® Functions 447 © POSYS Motion Control GmbH & Co.KG, 2013 Other MotionScript® Functions The following functions are integrated in the MotionScript® language. Numeric functions ABS(n) LN(n) LOG10(n) LOG2(n) EXP(n) RND() RND(n) INT(n) FIX(n) ROUND(n) FRAC(n) SQR(n) SGN(n) SIN(n) C OS(n) TAN(n) ASIN(n) ACOS(n) ATAN(n) ATAN2(n,m) SINH(n) C OSH(n) TANH(n) ASINH(n) ACOSH(n) ATANH(n) DEGTORAD(n) RADTODEG(n) ASC($) LEN($) VAL($) Absolute value Natural logarithm, base e Logarithm, base 10 Logarithm, base 2 Exponential Random number in the range 0..1 Random number in the range 0..n Integer part of n Integer part rounded toward zero Rounding of n Fractional part of n Square root Sign of n, +1 0 -1 Sine of number, radians C osine Tangent Inverse sine Inverse cosine Inverse tangent Inverse tangent of n/m with right quadrant Hyperbolic sine Hyperbolic cosine Hyperbolic tangent Inverse hyperbolic sine Inverse hyperbolic cosine Inverse hyperbolic tangent Degrees to radians conversion Radians to degrees conversion Ascii code of char Length of string String to number conversion String functions LCASE$($) UCASE$($) LTRIM$($) RTRIM$($) C HR$(n) STR$(n) HEX$(n) MID$($,n,[n]) LTAB$($) RTAB$($) LEFT$($,n) RIGHT$($,n) Lowercase conversion Uppercase conversion Left blanks deletion Right blanks deletion Ascii to char conversion Number to string conversion Number to hexadecimal Substring extraction Left insertion of a Tab Right insertion of a Tab Left part of a string Right part of a string String functions, multi-rows C OUNT($) OPENTEXT$($) SAVETEXT$($) C OPYTEXT$($) PASTETEXT$($) FINDFILE$($,$) FINDDIR$($,$) C ount rows in a multi-row string Open a text file into a string Save the string as a text file C opy the string to the clipboard Paste text from clipboard into the string Get a list of files in the directory (dir,extension) Get a list of directories Miscellaneous functions NUMBER(#) POINTER(n) PAUSE(n) Pointer to number conversion Number to pointer conversion Suspend execution for n seconds 448 © POSYS Motion Control GmbH & Co.KG, 2013 MESSAGE($) Show a message in a dialog window. -oLoop Instructions Loop Instructions MotionScript® supports three kinds of loop instructions. For, While and Repeat. The easiest way to understand a Loop instruction is to look at an example. The following program prints the numbers 1 to 10, "a" is the control variable: FOR a = 1 to 10 PRINT a NEXT a The BREAK instruction: terminates instantly a cycle, so in this case the cycle stops when "a" becomes greater than 5. FOR a = 1 to 10 PRINT a IF a>5 then BREAK NEXT a The CONTINUE instruction: acts as a NEXT instruction; the variable "a" is incremented and a new iteration is started immediately. FOR a = 1 to 10 PRINT a IF a>5 then CONTINUE PRINT "hello" NEXT a FOR-NEXT instruction: The complete syntax for this command is: FOR = to [step ] ... ... NEXT [ (ignored)] examples: FOR angle = 1+ASIN(0.4) to 1+ASIN(0.75) step 0.1 PRINT angle NEXT FOR y = 1 to 200 FOR x = 1 to 320 s = s + x*y NEXT NEXT REPEAT-UNTIL instruction: This instruction repeats a series of instructions until the condition is True. The block begins with the REPEAT command and ends with the UNTIL command followed by the condition that is evaluated. Example: 449 © POSYS Motion Control GmbH & Co.KG, 2013 a=1 REPEAT PRINT a a = a+1 UNTIL a>10 The Repeat instruction evaluates the condition at the end of the loop, this means that the instructions inside the loop are executed at least once. The Break and C ontinue instructions can be used in REPEAT-UNTIL cycles just like in the FOR-NEXT cycles. WHILE-ENDWHILE instruction: This instruction evaluates a condition at the beginning of the loop. If the condition is false then the cycle stops and execution continues after the EndWhile instruction. Example: a=1 WHILE a <= 10 PRINT a a = a+1 ENDWHILE Since the While command evaluates the condition at the beginning of the loop, the instructions inside the loop may never be also executed. The Break and C ontinue instructions can be used in WHILE-ENDWHILE cycles just like in the FOR-NEXT cycles. -oWriting MotionScript® Functions Writing MotionScript® Functions A function is defined as set of instructions that computes and returns a value. The result can be discarded (like C and Delphi) or simply not returned, making it a procedure. Local variables can be defined to support recursive functions. Syntax: Function ( parameters ) [ Local ] ... [Return ] ... Endfunc Examples: FUNCTION sum(a,b) return a+b ENDFUNC FUNCTION intpower(a,b) LOCAL t,r r=1 for t = 1 to b r=r*a next return r ENDFUNC FUNCTION hello$(a$) return "Hello to you " + a$ ENDFUNC MotionScript® fully supports recursive functions. 450 © POSYS Motion Control GmbH & Co.KG, 2013 Example: FUNCTION factorial(n) if n <= 1 then return 1 return n*factorial(n-1) ENDFUNC -oPOSYS® Functions and Procedures POSYS® Functions and Procedures This is a list of all available POSYS® functions for the MotionScript® language. These functions are imported from the POSYS900.DLL for the POSYS® 900 series and from the POSYS1900.DLL for the POSYS® 1900 series. The listing is from the import file Imp900.pas for Delphi. MotionScript® itself does not require an import file, it is an integral part of the program. Explanation: Procedure is a Function without a return value. Function is a Function with a return value. hPosys refers to the card handle regardless of talking to a PC I bus or ISA/PC-104 bus card. The only difference is in the way of getting the handle. For the PCI bus hPosys = OpenDevice(deviceNo) returns the handles for deviceNo 0-15. For the ISA/PC-104 bus hPosys# = EnableIO(deviceNo, 8) returns the handles for deviceNo 1-16. You may use any name of your choice for the variable hPosys. In C/C++ and Delphi they need to be declared as integers. In MotionScript® no prior declaration to first use is required. Parameters: type Thandle : integer Delphi C/C++ Visual Basic integer = 32 bits INT LONG word = 16 bits SHORT INTEGER byte = 8 bits C HAR BYTE Example for the different calling conventions: hPosys is in all of the examples the handle to the POSYS® motion control card returned by OpenDevice (device) hPosys = OpenDevice(device1) //for example device1 = 0 for the first instance For the ISA/PC-104 bus motion controllers the handle is returned by a call to hPosys = EnableIO(device1, 8) //device range: 1 - 16, for example device1 = 1 In the POSYS® DLLs hPosys was chosen to declare the handle for PC I bus communication. It could also be used for the ISA bus communication but will hold an entire different value (ISA bus address) than in the PCI bus communication. To make the difference clear this manual will always refer to the ISA bus handle as hPosys hPosys = EnableIO(device1, 8) MotionScript® Syntax axis = 1 position = 12345 returnResult = 0 'calling a Procedure without a return value: AdjustActualPosition(hPosys#, axis, position) 'or for the example AdjustActualPosition(hPosys#, 1, 12345) 451 © POSYS Motion Control GmbH & Co.KG, 2013 'calling a Function with a return value: returnResult = GetPositionError(hPosys#, axis) 'or for the example returnResult = GetPositionError(hPosys#, 1) Delphi Var axis :word = 1; position :integer = 12345; returnResult :integer = 0; // calling a Procedure without a return value: AdjustActualPosition(hPosys, axis, position); //or for the example AdjustActualPosition(hPosys, 1, 12345); // calling a Function with a return value: returnResult := GetPositionError(hPosys, axis); //or for the example returnResult := GetPositionError(hPosys, 1); C/C++ SHORT axis = 1; INT position = 12345; INT returnResult = 0; // calling a Procedure without a return value: AdjustActualPosition(hPosys, axis, position); //or for the example AdjustActualPosition(hPosys, 1, 12345); // calling a Function with a return value: returnResult = GetPositionError(hPosys, axis); //or for the example returnResult = GetPositionError(hPosys, 1); Visual Basic Dim Axis as Integer Dim position as Long Dim returnResult as Long axis = 1 position = 12345 returnResult = 0 ' calling a Procedure without a return value: C all AdjustActualPosition(hPosys, axis, position) 'or for the example C all AdjustActualPosition(hPosys, 1, 12345) ' calling a Function with a return value: returnResult = GetPositionError(hPosys, axis); 'or for the example returnResult = GetPositionError(hPosys, 1); POSYS® Functions and Procedures MotionScript® requires for the parameters the type DOUBLE and if a value is returned it is also returned as a DOUBLE. By default all numeric MotionScript® variables are of the type DOUBLE, in fact that is the only numeric type Card Initialization & Addressing Procedure InitializePOSYS(cardAddress0, cardAddress1:word);stdcall; Function OpenDevice(device:byte):Thandle;stdcall; Function OpenDevice:word; Function C loseDevice(hPosys :integer) :integer;stdcall; Function DetectPosysDevices:word;stdcall; Function RegisteredPosysDevices:word;stdcall; 452 © POSYS Motion Control GmbH & Co.KG, 2013 Breakpoints & Interrupts Procedure C learInterrupt(hPosys:Thandle);stdcall; Function GetInterruptAxis(hPosys:Thandle):word;stdcall; Procedure SetBreakpoint(hPosys:Thandle;axis,breakpoint,sourceAxis,action,trigger:word);stdcall; Function GetBreakpoint(hPosys:Thandle;axis,breakpoint:word):word;stdcall; Procedure SetBreakpointValue(hPosys:Thandle;axis,breakpoint:word;value:integer);stdcall; Function GetBreakpointValue(hPosys:Thandle;axis,breakpoint:word):integer;stdcall; Procedure SetInterruptMask(hPosys:Thandle;axis,interruptMask:word);stdcall; Function GetInterruptMask(hPosys:Thandle;axis:word):word;stdcall; Commutation Function GetPhaseCommand(hPosys:Thandle;axis:word):integer;stdcall; Procedure InitializePhase(hPosys:Thandle;axis:word);stdcall; Procedure SetCommutationMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetCommutationMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetNumberPhases(hPosys:Thandle;axis,phases:word);stdcall; Function GetNumberPhases(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseAngle(hPosys:Thandle;axis,angle:word);stdcall; Function GetPhaseAngle(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseCorrectionMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetPhaseCorrectionMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseCounts(hPosys:Thandle;axis,count:word);stdcall; Function GetPhaseCounts(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseInitializeMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetPhaseInitializeMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseInitializeTime(hPosys:Thandle;axis,time:word);stdcall; Function GetPhaseInitializeTime(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhaseOffset(hPosys:Thandle;axis,offset:word);stdcall; Function GetPhaseOffset(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPhasePrescale(hPosys:Thandle;axis,mode:word);stdcall; Function GetPhasePrescale(hPosys:Thandle;axis:word):word;stdcall; Digital Servo Filter Procedure C learPositionError(hPosys:Thandle;axis:word);stdcall; Procedure DACOutputsOff(hPosys:Thandle);stdcall; Procedure DACOutputsOn(hPosys:Thandle);stdcall; Function GetAmpEnable(hPosys:Thandle;ampID:word):word;stdcall; Function GetDerivative(hPosys:Thandle;axis:word):word;stdcall; Function GetIntegral(hPosys:Thandle;axis:word):integer;stdcall; Function GetPositionError(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetAmpDisable(hPosys :integer; disable :word);stdcall; Procedure SetAmpEnable(hPosys :integer; enable :word);stdcall; Procedure SetAutoStopMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetAutoStopMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetBiQuadCoefficient(hPosys:Thandle;axis,coefficientID,filterID,value:word);stdcall; Function GetBiQuadCoefficient(hPosys:Thandle,axis:word);stdcall; Procedure SetDerivativeTime(hPosys:Thandle;axis,time:word);stdcall; Function GetDerivativeTime(hPosys:Thandle;axis:word):word;stdcall; Procedure SetIntegrationLimit(hPosys:Thandle;axis:word;limit:integer);stdcall; Function GetIntegrationLimit(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetKaff(hPosys:Thandle;axis,Kaff:word);stdcall; Function GetKaff(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKd(hPosys:Thandle;axis,Kd:word);stdcall; Function GetKd(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKi(hPosys:Thandle;axis,Ki:word);stdcall; Function GetKi(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKp(hPosys:Thandle;axis,Kp:word);stdcall; Function GetKp(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKout(hPosys:Thandle;axis,Kout:word);stdcall; Function GetKout(hPosys:Thandle;axis:word):word;stdcall; Procedure SetKvff(hPosys:Thandle;axis,Kvff:word);stdcall; Function GetKvff(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorBias(hPosys:Thandle;axis,bias:word);stdcall; Function GetMotorBias(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorLimit(hPosys:Thandle;axis,limit:word);stdcall; Function GetMotorLimit(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPositionErrorLimit(hPosys:Thandle;axis:word;limit:integer);stdcall; Function GetPositionErrorLimit(hPosys:Thandle;axis:word):integer;stdcall; 453 © POSYS Motion Control GmbH & Co.KG, 2013 Piezo (Ceramic) Motor Functions Procedure SetpzOffsetPos(hPosys:Thandle;axis:word;offset:word);stdcall;external DLL; Function GetpzOffsetPos(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzOffsetNeg(hPosys:Thandle;axis:word;offset:word);stdcall;external DLL; Function GetpzOffsetNeg(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzIntLimitStl(hPosys:Thandle;axis:word;limit:longword);stdcall;external DLL; Function GetpzIntLimitStl(hPosys:Thandle;axis:word):longword;stdcall;external DLL; Procedure SetpzWindow(hPosys:Thandle;axis:word;window:word);stdcall;external DLL; Function GetpzWindow(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKp(hPosys:Thandle;axis:word;kp:word);stdcall;external DLL; Function GetpzKp(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKi(hPosys:Thandle;axis:word;ki:word);stdcall;external DLL; Function GetpzKi(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKd(hPosys:Thandle;axis:word;kd:word);stdcall;external DLL; Function GetpzKd(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKvff(hPosys:Thandle;axis:word;kvff:word);stdcall;external DLL; Function GetpzKvff(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKaff(hPosys:Thandle;axis:word;kaff:word);stdcall;external DLL; Function GetpzKaff(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzIntLim(hPosys:Thandle;axis:word;intlim:longword);stdcall;external DLL; Function GetpzIntLim(hPosys:Thandle;axis:word):longword;stdcall;external DLL; Procedure SetpzKdPeriod(hPosys:Thandle;axis:word;kdperiod:word);stdcall;external DLL; Function GetpzKdPeriod(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzWindow2(hPosys:Thandle;axis:word;window2:word);stdcall;external DLL; Function GetpzWindow2(hPosys:Thandle;axis:word):word;stdcall;external DLL; Procedure SetpzKvff2(hPosys:Thandle;axis:word;kvff2:word);stdcall;external DLL; Function GetpzKvff2(hPosys:Thandle;axis:word):word;stdcall;external DLL; Encoder Procedure AdjustActualPosition(hPosys:Thandle;axis:word;position:integer);stdcall; Function GetAbsoluteSSIPosition(hPosys:Thandle;axisID:word):integer;stdcall; Function GetActualVelocity(hPosys:Thandle;axis:word):integer;stdcall; Function GetCaptureValue(hPosys:Thandle;axis:word):integer;stdcall; Function GetSSIVersion(hPosys:Thandle):word;stdcall; Procedure WriteSSIRegister(hPosys:Thandle;axisID:word; resolution, frequency:word);stdcall; Procedure ReadSSIRegister(hPosys:Thandle;axisID:word;var resolution:word;var frequency:word);stdcall; Procedure WriteSSIResolution(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure ReadSSIResolution(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure WriteSSIFrequency(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure ReadSSIFrequency(hPosys:Thandle;axisID:word;var resolution:word);stdcall; Procedure ResetSSI(hPosys:Thandle);stdcall; Procedure SetActualToAbsolutePosition(hPosys:Thandle;axisID:word);stdcall; Procedure SetActualPosition(hPosys:Thandle;axis:word;pos:integer);stdcall; Function GetActualPosition(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetActualPositionUnits(hPosys:Thandle;axis,mode:word);stdcall; Function GetActualPositionUnits(hPosys:Thandle;axis:word):word;stdcall; Procedure SetAuxiliaryEncoderSource(hPosys:Thandle;axis,mode,auxiliaryAxis:word);stdcall; Function GetAuxiliaryEncoderSource(hPosys:Thandle;axis:word);stdcall; Procedure SetCaptureSource(hPosys:Thandle;axis,source:word);stdcall; Function GetCaptureSource(hPosys:Thandle;axis:word):word;stdcall; Procedure SetEncoderModulus(hPosys:Thandle;axis,modulus:word);stdcall; Function GetEncoderModulus(hPosys:Thandle;axis:word):word;stdcall; Procedure SetEncoderSource(hPosys:Thandle;axis,source:word);stdcall; Function GetEncoderSource(hPosys:Thandle;axis:word):word;stdcall; Procedure SetEncoderToStepRatio(hPosys:Thandle;axis,encodercounts,steps:word);stdcall; Function GetEncoderToStepRatio(hPosys:Thandle;axis:word):integer;stdcall; On-Board RAM Procedure EnableDPRam(hPosys:P1800_Handle);stdcall; //only valid for POSYS® 1800 series equipped with Dual Port RAM Procedure DisableDPRam(hPosys:P1800_Handle);stdcall; //only valid for POSYS® 1800 series equipped with Dual Port RAM Function ReadBuffer(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure SetBufferFunction(hPosys:Thandle;axis:word;funct:integer;bufferID:word);stdcall; Function GetBufferFunction(hPosys:Thandle;axis:word;funct:word):word;stdcall; Procedure SetBufferLength(hPosys:Thandle;bufferID:word;length:integer);stdcall; Function GetBufferLength(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure SetBufferReadIndex(hPosys:Thandle;bufferID:word;index:integer);stdcall; Function GetBufferReadIndex(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure SetBufferStart(hPosys:Thandle;bufferID:word;address:integer);stdcall; Function GetBufferStart(hPosys:Thandle;bufferID:word):integer;stdcall; 454 © POSYS Motion Control GmbH & Co.KG, 2013 Procedure SetBufferWriteIndex(hPosys:Thandle;bufferID:word;index:integer);stdcall; Function GetBufferWriteIndex(hPosys:Thandle;bufferID:word):integer;stdcall; Procedure WriteBuffer(hPosys:Thandle;bufferID:word;value:integer);stdcall; Function ReadDPRamLong(hPosys:Thandle;offset:dword):integer;stdcall; Procedure WriteDPRamLong(hPosys:Thandle;offset:dword;value:dword);stdcall; Motor Output Function GetCurrentMotorCommand(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorCommand(hPosys:Thandle;axis,value:word);stdcall; Function GetMotorCommand(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetMotorMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotorType(hPosys:Thandle;axis:word):word;stdcall; Function GetMotorType(hPosys:Thandle;axis:word):word;stdcall; Procedure SetOutputMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetOutputMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetPWMFrequency(hPosys:Thandle;axis,frequency:word);stdcall; Function GetPWMFrequency(hPosys:Thandle;axis:word);stdcall; Procedure SetStepRange(hPosys:Thandle;axis,frequency:word);stdcall; Function GetStepRange(hPosys:Thandle;axis:word):word;stdcall; Profile Generation Function GetCommandedAcceleration(hPosys:Thandle;axis:word):integer;stdcall; Function GetCommandedPosition(hPosys:Thandle;axis:word):integer;stdcall; Function GetCommandedVelocity(hPosys:Thandle;axis:word):integer;stdcall; Procedure MultiUpdate(hPosys:Thandle;mask:word);stdcall; Procedure SetAcceleration(hPosys:Thandle;axis:word;accel:integer);stdcall; Function GetAcceleration(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetDeceleration(hPosys:Thandle;axis:word;deceleration:integer);stdcall; Function GetDeceleration(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetGearMaster(hPosys:Thandle;axis,masterAxis,source:word);stdcall; Function GetGearMaster(hPosys:Thandle;axis:word):word;stdcall; Procedure SetGearRatio(hPosys:Thandle;slaveAxis:word;ratio:integer);stdcall; Function GetGearRatio(hPosys:Thandle;slaveAxis:word):integer;stdcall; Procedure SetJerk(hPosys:Thandle;axis:word;jerk:integer);stdcall; Function GetJerk(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetPosition(hPosys:Thandle;axis:word;position:integer);stdcall; Function GetPosition(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetProfileMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetProfileMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetStartVelocity(hPosys:Thandle;axis:word;velocity:integer);stdcall; Function GetStartVelocity(hPosys:Thandle;axis:word):integer;stdcall; Procedure SetStop(hPosys:Thandle;axis,mode:word);stdcall; Function GetStop(hPosys:Thandle;axis:word):word;stdcall; Procedure SetStopMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetStopMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetVelocity(hPosys:Thandle;axis:word;velocity:integer);stdcall; Function GetVelocity(hPosys:Thandle;axis:word):integer;stdcall; Procedure Up_date(hPosys:Thandle;axis:word);stdcall; Procedure Update(hPosys:Thandle;axis:word);stdcall; Servo Loop Control Function GetTime(hPosys:Thandle):integer;stdcall; Procedure SetAxisMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetAxisMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetLimitSwitchMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetLimitSwitchMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetMotionCompleteMode(hPosys:Thandle;axis,mode:word);stdcall; Function GetMotionCompleteMode(hPosys:Thandle;axis:word):word;stdcall; Procedure SetSampleTime(hPosys:Thandle;time:word);stdcall; Function GetSampleTime(hPosys:Thandle):word;stdcall; Procedure SetSettleTime(hPosys:Thandle;axis,time:word);stdcall; Function GetSettleTime(hPosys:Thandle;axis:word):word;stdcall; Procedure SetSettleWindow(hPosys:Thandle;axis,window:word);stdcall; Function GetSettleWindow(hPosys:Thandle;axis:word):word;stdcall; Procedure SetTrackingWindow(hPosys:Thandle;axis,window:word);stdcall; Function GetTrackingWindow(hPosys:Thandle;axis:word):word;stdcall; Status Registers and AxisOut Indicator 455 © POSYS Motion Control GmbH & Co.KG, 2013 Function GetActivityStatus(hPosys:Thandle;axis:word):word;stdcall; Function GetAxis_In_Out_Home(hPosys:Thandle;statID:word):word;stdcall; Function GetEventStatus(hPosys:Thandle;axis:word):word;stdcall; Function GetSignalStatus(hPosys:Thandle;axis:word):word;stdcall; Procedure ResetEventStatus(hPosys:Thandle;axis,mask:word);stdcall; Procedure SetAxisOutSource(hPosys:Thandle;axis:word;sourceAxis,bit,reg:word);stdcall; Function GetAxisOutSource(hPosys:Thandle;axis:word):word;stdcall; Procedure SetSignalSense(hPosys:Thandle;axis,mask:word);stdcall; Function GetSignalSense(hPosys:Thandle;axis:word):word;stdcall; Traces Function GetTraceCount(hPosys:Thandle):integer;stdcall; Function GetTraceStatus(hPosys:Thandle):word;stdcall; Procedure SetTraceMode(hPosys:Thandle;mode:word);stdcall; Function GetTraceMode(hPosys:Thandle):word;stdcall; Procedure SetTracePeriod(hPosys:Thandle;period:word);stdcall; Function GetTracePeriod(hPosys:Thandle):word;stdcall; Procedure SetTraceStart(hPosys:Thandle;triggerAxis,condition,triggerBit,triggerState:word);stdcall; Function GetTraceStart(hPosys:Thandle):word;stdcall; Procedure SetTraceStop(hPosys:Thandle;triggerAxis,condition,triggerBit,triggerState:word);stdcall; Function GetTraceStop(hPosys:Thandle):word;stdcall; Procedure SetTraceVariable(hPosys:Thandle;variableNumber,traceAxis,variable:word);stdcall; Function GetTraceVariable(hPosys:Thandle;variableNumber:word):word;stdcall; Miscellaneous (Controller Reset, Communication Mode aso) Function EnableIO(deviceNo, portCount:word):word Function GetChecksum(hPosys);stdcall; Function GetHostIOError(hPosys:Thandle):word;stdcall; Function GetProcessorStatus(hPosys:Thandle):word;stdcall; Function Get_Version(hPosys:Thandle):integer;stdcall; Function GetVersion(hPosys:Thandle):integer;stdcall; Procedure HardReset(hPosys:Thandle);stdcall; Procedure MCReset(hPosys:Thandle);stdcall; Procedure NoOperation(hPosys:Thandle);stdcall; Function PortInW(hPosys:Thandle;address:word):word;stdcall; Procedure PortOutW(hPosys:Thandle;address,outword:word);stdcall; Procedure PortOutB(hPosys:Thandle;address:word;value:byte);stdcall; Function ReadAnalog(hPosys:Thandle;portID:word):word;stdcall; Function ReadIO(hPosys:Thandle;ioID:word):word;stdcall; Function ReadPLD(hPosys:Thandle;pld_adr:word):word;stdcall; Procedure SoftReset(hPosys:Thandle);stdcall; Procedure SetCANMode(hPosys:mask);stdcall; Function GetCANMode(hPosys);stdcall; Procedure SetDiagnosticPortMode(hPosys:Thandle;mode:word);stdcall; Function GetDiagnosticPortMode(hPosys:Thandle):word;stdcall; Procedure SetSerialPort(hPosys:Thandle;baudrate,parity,stopbits,protocol,mdaddress:word);stdcall; Function GetSerialPort(hPosys:Thandle):word;stdcall; Procedure SetSerialPortMode(hPosys:Thandle;baudrate,parity,stopbits,protocol,mdaddress:word);stdcall; Function GetSerialPortMode(hPosys:Thandle):word;stdcall; Procedure SetSynchronizationMode(hPosys:Thandle;mode:word);stdcall; Function GetSynchronizationMode(hPosys:Thandle):word;stdcall; Procedure SetWatchDog(hPosys:Thandle;watchdog_adr:word;watchdog_value:word);stdcall; Procedure WriteIO(hPosys:Thandle;ioID,data:word);stdcall; Additional MotionScript® Functions Procedure Procedure Procedure Procedure Procedure Procedure BitReset(hPosys:Thandle;testVar,bitToReset:integer);stdcall; BitSet(hPosys:Thandle;testVar,bitToReset:integer);stdcall; BitTest(hPosys:Thandle;testVar,bitToReset:integer);stdcall; C ompareActivity(hPosys:Thandle;axis:word;mask:integer);stdcall; C ompareEvent(hPosys:Thandle;axis:word;mask:integer);stdcall; C ompareSignal(hPosys:Thandle;axis:word;mask:integer);stdcall; -o- 456 © POSYS Motion Control GmbH & Co.KG, 2013 POSYS® GUI for Windows 98/ME/2000/XP Introduction Introduction The POSYS® program for Windows 98/ME/2000/XP offers many examples what the POSYS® is capable to do. To avoid misunderstanding right at the beginning - the POSYS® GUI ist not designed for use as a standard application software for everydays use, it was actually designed to show the potentials of the POSYS® and offer the possibility to start right off including output to the amplifiers/motors, encoder feedback, setting and resetting IOs aso.... Depending on whether which card and which motor type the software is supposed to be used, can result in slight differences that are pointed out at the corresponding place. An example is the use of servo or stepping motors. Depending on whether which card type is installed, one of the two "Motor Output Mode" Boxes appear: servo motor - stepper motor Further changes that occur, represented as in this example, are the deactivation of the PID filter parameter box and the DACOutputs ON/OFF function if stepping motor cards are recognized. Furthermore the extended PID filter parameter setup is no longer accessible in the main menu 457 © POSYS Motion Control GmbH & Co.KG, 2013 and instead following message appears when trying to access it: On the following pages the individual functions and possibilities of the POSYS® GUI are described nearer and illustrated. -oThe POSYS® GUI Main Window The Main Window of the POSYS® GUI Program 458 © POSYS Motion Control GmbH & Co.KG, 2013 Before this program can be started and used, the program POSYSDriverXSetup (cards based on ISA-bus; POSYS® 700/800/800-B/1800) must be used to have entered the driver in the Windows' registry. PCI-Bus based cards (POSYS® 900/1900) are pnp-compatible and while booting "new hardware is detected" is reported. You are requested to the position of the drivers for the card(s). Select the corresponding driver (either for POSYS® 900 or 1900) and follow the screen messages for installing hardware in Windows. The delivered program PCI ScanforPOSYS helps you to determine the assigned base addresses for the PC I-Bus cards. In addition it is necessary to also execute the batch file "registerOCX.bat", located in the subdirectory /OCX of the CD, which should have been copied to the harddisk before. It contains several components needed for the graphical output for the Windows GUI. Depending on the type of Windows it may be necessary to confirm two pop-up windows. After this it is possible to execute above program. In order to be able to build up a communication with the POSYS®, the driver must now be loaded and the card to be initialized. As already said - this is a Demo program. These steps can be automized in your own application. Our first intention was to offer the programmer a program showing as many functions and potentials as possible, even to visualize those functions which actually run automatically in the background. -oInitialization Initialization In the lower left corner of the main GUI window is a box called "Registered Drivers". Depending on how many cards were registered (ISA-Based) respectively recognized (PC I-based) they will be shown in the list box when clicking on the arrow which opens a list box. Assumeing only one card was registered then two possibilities are available, "None" and "Posys1". The default is always "None", why now "Posys1" should be selected and visuable in the window. A further click on the button "Select Driver" opens the driver and reserves the necessary address area for the chosen card. 459 © POSYS Motion Control GmbH & Co.KG, 2013 After a click on the button "Initialize Card" In the box "Base Addresses" the reserved base address is shown. In this case it is the address 0x300h. C ommunication with the motion controller has now started and can be verified when taking a look at the following box "Version". After the click on the button "Initialize Card" additional commands were sent to the controller and one of the results is shown here. The type of motion controller is presented in the first row (motion processor type = 2140 and software revision = 0024). A further click on the button "Get Version" retreives additional information as for example for the installed PLD. The PLD and the Motion Controller version together allow the identification of type of card installed which is shown in the last window in the "Version" box. If everything run smoothly up to here, then the communication with the POSYS® was built up successfully! -oDescription of further Program Functions Description of further Program Functions In the following the windows and boxes and their importance and use are explained nearer. -oController Status Box Controller Status Box 460 © POSYS Motion Control GmbH & Co.KG, 2013 This box delivers information about the status of the motion processor, about possible HostIOErrors, the number of Counts (should always be 1 with the exception of Navigator based cards with a version below 2.0) and the number of Trace Counts during/after a trace. -oPower-On Defaults Box Power-On Defaults Box Additional information for the POSYS® motion controllers is shown here which are loaded after power-on. These settings can be overwritten. For example the data transfer rate for the C AN-Bus, Motortype and the settings for the serial interface. Depending on the type of card you have the one or other setting may be accessible for change or not. -oMotor Output Mode Box Motor Output Mode Box Depending on the type of card respectively which axis is active, there are certain motor relevant settings possible. For servo motors you can select the type of motor command output mode (16 bit analog output or PWM output). Additional settings for PWM mode are available with the commands Set/GetMotorType and Set/GetPWMFrequency for 2or 3-phase brushless servo motors. Additional settings for stepper motors are the different Step Ranges. Depending on the maximum amount of output pulses the next value above that should be selected. 461 © POSYS Motion Control GmbH & Co.KG, 2013 -oFilter Parameter Box Filter Parameter Box This box is only accessible if a servo motor card is installed or if an axis is set to servo mode and active. It is not accessible with a stepper card or if an active axis is set to stepper mode. At power-on these values are loaded to the motion processor as defaults (other defaults are possible and can even be hardcoded to the motion controller). Other defaults are set up when clicking on the button "Load Defaults" and become valid at once for all axes (as far as they are in servo mode). A click on the button Update loads the values for the active axis only. A click on the button "Get Data" retreives the values for the active axis. The selection of the active axis is done in the box "Select Axis/Card" as shown in the second picture. Further settings can be accessed when choosing "PID -> PID-Filter" in the menu and further information can be found in the programmer's manual in the section Digital Servo Filter. If these values are suitable for your application or motors must be determined by yourself. servo-Halbeck GmbH & Co.KG can not be held responsible for values not fitting your motors or application which may result in unpredictable behaviour of the motors. Therefore we heavily recommend that these values are first proven if they are suitable or not without motors connected to the controller. The PID filter setting menu accessible thru the menu offers more setting options. A click on "PID -> PID Filter" opens following window: 462 © POSYS Motion Control GmbH & Co.KG, 2013 Here all relevant filter parameters can be tuned for every axis individually. -oAmplifier Enable and DACOutputs ON/OFF Amplifier Enable and DACOutputs ON/OFF As at the filter parameter settings the amplifier enable and DACOutput ON/OFF functions are only for servo cards or axes in servo mode. Where hereby another restriction is relevant for the DACOutputs as they are only available for servo axes running with analog motor command output. Servo axes running with PWM motor command output are not affected. The Amplifier Enable Box makes the selective selection possible which ones of the axes are supposed to be enabled. Axes with PWM motor command output are servoing immediately. Axes with 16 bit motor command analog output are internally servoing but the motors are still not being controlled because the DACOutputs are not ON yet. This is an additional safety feature. On stepper motor cards or axes running in stepper mode the amplifier enable output signals can be used as additional custom or application specific outputs. Basically this is also possible with servo cards and axes in servo mode if an external circuitry is being used to enable the amplifier. -o- 463 © POSYS Motion Control GmbH & Co.KG, 2013 Output Torque Box Output Torque Box The output of certain values in this window are again subject and dependant on the type of card you use. These values are only valid for servo motion controllers or for axes running in servo mode. The actual value output by the trajectory generator is shown in this window which is used for servoing the axes. This value is shown in both modes, analog motor command output mode and PWM motor command output mode. -oUpdate Periods Box Update Periods Box This function allows to query the actual cycle time respectively the change of it. The default after power-on is the shortest possible cycle time for the installed type of card. C licking on the arrows allows to change the value in steps allowed by the type of card installed. A click on the button GetTime will show the actual values. -oStatus Activity/Event/Signal Status Activity/Event/Signal In this box continuously specific activity, event and signal status messages are shown. 464 © POSYS Motion Control GmbH & Co.KG, 2013 For example in the area Activity you are informed if an axis is in-motion or not or in the area Signals which status the encoder signals have right now and in the Event area if an axis hit a limit switch or not. Further information can be retreived from the boxes "Status" and "Set Output Bits" (ReadIO/WriteIO), which, when changes occur, show this separately. Depending on certain circumstances further actions may be taken and can be defined in the customer's application software. By defining Breakpoints it is possible to react on almost anykind of event or condition. -oSignal Sense Signal Sense An additional function of the POSYS® is the possibility to define if signals should be interpreted as "active low" or "active high". To change the sense open the menu "Signal Sense -> Set Signal Sense" and a new window opens in which for each signal can be determined how the POSYS® should interpret them. 465 © POSYS Motion Control GmbH & Co.KG, 2013 -oEnter Data Box Enter Data Box In order to program a movement, specific further parameters are necessary next to the filter parameters for servo motors. In this box velocity, negative and positive acceleration, target position and optionally jerk are defined. 466 © POSYS Motion Control GmbH & Co.KG, 2013 Further parameters that can be programmed are the trajectory (Linear, S-curve, Velocity, Electronic Gearing and (not shown) External Profile Mode) and the position error. After input of the desired values these for the respectively active axis can be loaded with a click on "Send Data" (see parameter filter box further above). A click on "Motion Start" is tantamount an update for the respectively active axis and the programmed movement would start. Before further axes with these or other values are supposed to be programmed, first the axis to be programmed must be activated. A click on "Start All Axes" starts all programmed axes. In order to stop an axis, it must be marked as active and a click on "Stop" would stop the axis with ramp. In order to stop all axes a click on "Stop All Axes" would stop all axes with ramp. A click on "Abort Motion" would stop all axes immediately without ramp. In the right box "Type of Profile" can be selected, which kind of trajectory is supposed to be active. When s-curve is selected also the value for "S-Jerk/s³" must be programmed. If "Electronic Gearing" is selected additional settings can be made when selecting in the main menu "Options -> Master/Slave Mode". In this case selection can be made which axis acts as the Master and which axes act as slaves, if the servoing is determined by the actual or commanded position and the ratio (velocity and direction) to follow the master. -oCommanded and Actual Position Box 467 © POSYS Motion Control GmbH & Co.KG, 2013 Commanded and Actual Position Box Of course the display of commanded and actual position at a given time is necessary. For this purpose the two boxes "Commanded Position" and "Actual Position" are used. After input of a motion profile and an update of the parameters a motion is initiated. The controller calculates depending on the actual parameters for each update rate a commanded position and compares it with the actual position returned by the feedback device. Outputting a corresponding torque demand value for servo motors or pulse & direction signals for stepper motors the controllers effort is to keep actual and commanded position together as near as possible during each update period. A restriction for stepper motors is that the controller is not able to control stepper motors but able to detect stall ( Stall Detection; stuck motor or lost pulses). The user has the possibility to take whatever action when stall detection occurs. How far actual and commanded position differ depends on the filter parameters and of course if the selected amplifiers/motors are suitable for the desired application. Note that the stiffer a motor is the more identical become commanded and actual position. The button "Zero Position" allows to zero the position of the active axis. The index can be shown in the output window "Capture" with a click on the button "Get" which is captured each revolution. This functions only for the active axis and when the encoder provides and index signal. -oSSI Feedback SSI Feedback The POSYS® default feedback type are incremental encoders with or without inverted signals. Optionally it is possible to use absolute encoders with SSI interface. Possible input code can be gray code or binary code. In case the SSI-option is being used the POSYS® GUI software allows to make software adjustments which can overwrite hardware jumper settings on the SSI-board. For further information please look-up section SSI800/900 option card. 468 © POSYS Motion Control GmbH & Co.KG, 2013 Each axis can be individually setup for the one or other type of feedback. During operation when motors are at a standstill respectively are turned off it is possible to switch between the two modes of feedback, which actually only makes sense when both types of feedback are being used on the same axis. It is absolutely necessary that before switching from one type to another that the differences between commanded and actual position are cleared with the command C learPositionError. For further information please go to section Motor Interfacing in the User's Guide and to the Programmer's Reference/Encoder. -oAnalog Inputs Analog Inputs The POSYS® supports x8 10 bit analog inputs. The command ReadAnalog allows reading the value. Depending on the type of controller board used different input values are allowed as these are values from 0 to 2.048 VDC, 0 to 2.5 VDC or 0 to 4.096 VDC depending on model. For additional information please look-up the information about the analog inputs in the POSYS® Versions Specifications. 469 © POSYS Motion Control GmbH & Co.KG, 2013 -o- 470 © POSYS Motion Control GmbH & Co.KG, 2013 Single Port RAM / Dual Port RAM Single Port RAM / Dual Port RAM Depending on the model each POSYS® supports different kinds of memory. The POSYS® 700/800 support 256 kb SPRAM, the POSYS® 800-B/900/1800/1900 support 512 kb SPRAM. The POSYS® 1800/1900 also support 16k x 16, 32k x 16 or 64k x 16 DPRAM. The following table shows which boards are equipped with which standard RAM modules and which RAM types and sizes are possible as an alternative. POSYS® model 256 KB SPRAM 512 KB SPRAM 16 KB x 16 DPRAM 32 KB x 16 DPRAM 64 KB x 16 DPRAM standard n/a n/a n/a n/a 800-B/900 option standard n/a n/a n/a 1800 option option standard option option 1900/1950 option option option standard option 1920 option option option standard option 700/800 Depending on the type of RAM the POSYS® GUI allows accordingly the type of access to SPRAM only, DPRAM only or mixed usage of DPRAM in SPRAM-Mode. Note: POSYS® 1800 Due to the restrictions of the ISA-Bus based systems, the usage of Dual Port RAM is difficult to realize. Therefore the POSYS® 1800 has some restrictions and needs some settings before the Dual Port RAM can be accessed after power-on. This is not an issue of addressing the RAM but the way the on-board RAM is accessed (SPRAM-mode or DPRAM-mode). The SPRAM-mode works always, even if the board is equipped with DPRAM and in this case it is also as slow as SPRAM. This is necessary because some PC -systems do not accept the required address area for the memory mapped DPRAM at boot-up and hang-up. To avoid this the DPRAM mode via the ISA-Bus is deactivated. This allows the user to find out available address areas for the DPRAM which can be set by setting the dip-switches on-board the POSYS®. The other reason why the DRPAM is deactivated is because some ISA-Bus based systems would not accept external ISA-devices with activated DPRAM at power-on no matter if the dip-switch settings are correct or not or if the BIOS setting were previously set or not, even if the addressing is correct. But after boot-up all systems were able to run and to recognize the DPRAM with first deactivated and later-on activated DPRAM. To activate the DPRAM mode after power-on the GUI program offers a menu point "Select Ram -> Enable Dual Port Ram" which you must click to activate the DPRAM. Afterwards the menu "Select Ram -> Dual Port Ram" needs to be activated to tell the motion processor how access to the RAM is organized. To deactivate the DPRAM again it is sufficient to click the menu "Select Ram -> Disable Dual Port Ram" and "Select Ram -> Single Port Ram" to activate the SPRAM mode again. These points need to be taken into consideration when programmers are writing their own frontends. More information on this point can be found in the section Usage of the On-Board Dual Port RAM with the POSYS® 1800. -oTrace Mode Trace Mode 471 © POSYS Motion Control GmbH & Co.KG, 2013 The Trace Mode allows the use of the on-board RAM for the intermediate storage of certain collected data respectively can be used to store profile data without host intervention. Both can be done simultaneously. This function is available in the menu when clicking on "Options -> Trace Mode". The upper windows shows a typical application how it may look like for diagnostic purposes. Before the on-board RAM can be accessed it must be initialized. Buffer length, buffer start and the number of samples need to be setup. POSYS® boards with Navigator chip set (POSYS® 700/800/800-B/900) is the lowest value for buffer start 512. The Magellan-based POSYS® 1800/1900 can also have zero as a valid start value. The buffer length must not exceed the maximum amount of physically available RAM. In the window "Set/Up Trace Mode" further adjustments for the data acquisition can be done. Trace Mode and Trace Period need to be specified. The Trace Mode determines if the data should be collected continuously or for a one-time period. When choosing continuous the controller would wrap-around at the end of the buffer and start to store data at the beginning of the specified buffer again. Previously stored data will be overwritten. If this data is needed for further use, it must be read and stored externally before it is overwritten. When set to one-time the trace stops at the end of the buffer or when the maximum number of samples were collected. In the window "Trace Start" can be determined under which conditions a trace should start. In the window "Trace Stop" you can optionally determine under which conditions a trace can be stopped. In the window "Trace Variable" must be determined which data should be traced. If setting up less than four variables the last variable must always be set to "None". 472 © POSYS Motion Control GmbH & Co.KG, 2013 A click on "Close" closes this window again. Opening in the menu "Options -> Display Trace Data" following window appears. In this window stored data can be read from the on-board RAM and displayed (button "Read Buffer"), with "Clear Display" the values in the window are cleared (not from the on-board RAM, here they stay available), and with "Save Buffer" you can optionally save the collected data to a file. After a trace the stored data can be visualized in a new window. For this, click on the button "Graph" and following window opens: 473 © POSYS Motion Control GmbH & Co.KG, 2013 C licking on the button "Zoom On" turns on the zoom function. Subsequently clicking into the area with the right mouse button allows to zoom in to the selected area by pulling up a square which covers the area to enlarge. This will allow to show details which were not visible before. A click on the button "Reset Zoom" returns you back to the previous screen. A click on "Close" closes this window again. In the menu (File - Edit) several additional functions are available to store or printout hardcopies of the graph. -oSetup Menu for Sinusoidal Commutation and Microstepping Mode Setup Menu for Sinus Commutation and Microstepping Mode The menu "Commutation/Microstep" opens the following window. This window will only appear if the appropriate type of card is used or if the active axis is setup for brushless servo motor with internal commutation or for microstepping mode. 474 © POSYS Motion Control GmbH & Co.KG, 2013 On the left side the type of motor command signal, number of phases aso. can be setup. On the lower left side you can determine for which axis these values are valid. For additional information please go to the technical note Sinusoidal C ommutation and Microstepping Motor Mode Setup. -o- 475 © POSYS Motion Control GmbH & Co.KG, 2013 Index -116 Bit DAC Motor Command Output 165 -550/50 PWM Motor Command Output 165 -AAC Induction Motor Control 196 Activity Status Register 135 AdjustActualPosition 271 Adjusting the Commutation Angle 185 Aktual Position Register 154 Amplifier Enable and DACOutputs ON/OFF Analog Input 152 Analog Input Pinout Description; POSYS® Analog Input Pinout Description; POSYS® Analog Input Pinout Description; POSYS® Analog Inputs 469 AtRest Indicator 192 AxisIn Input 151 AxisOut Output 151 463 19xx 66, 78, 55, , , 40 8xx-B 66, 78, 55, , , 40 9xx 66, 78, 55, , , 40 -BBiQuad Output Filter 125 BitReset 381 BitSet 382 BitTest 383 Breakpoint Actions 119 Breakpoint Examples 120 Breakpoint Triggers 118 Breakpoints 118, 399 Brushed Servo Version Pinout Description 72, 48, 63, 37 Brushed Servo Version Pinout Description 72, 48, 63, 37 Brushless Servo and Microstepping Motor Pinout Description 50 Brushless Servo/Microstepping Version Pinout Description , , 73 Brushless Servo/Microstepping Version Pinout Description , , 73 Bürstenlose Servo- und Mikroschrittmotor Pinout Beschreibung 50 -CCAN 2.0B 47, 71 CAN Event Notification 172 Changes to previous manuals 21 ClearInterrupt 211 ClearPositionError 230 Closed Loop and Open Loop Control Modes 129 Command Summary 196 Commanded and Actual Position Box 467 Commutation Error Detection 181 Commutation Parameters 180 Commutation Waveforms 179 CompareActivity 384 CompareEvent 385 CompareSignal 386 476 © POSYS Motion Control GmbH & Co.KG, 2013 Configuring the CAN 2.0B Interface 172 Control Flow Overview 96 Controller Area Network CAN2.0B 171 Controller Status Box 460 Coordinated Motion with POSYS® Contouring Library 391 Coordinated Moves using POSYS® 900 Motion Controller 395 -DDAC & PWM Motor Output (POSYS® Microstepping Mode only) 193 DACOutputs 231 Defining a Breakpoint; Overview 118 Description of Additional Program Functions 460 DetectPosysDevices 209 Digital Filtering 155 Digital Inputs & Outputs 397 Digital IO Specification POSYS® 7xx/8xx/8xx-B/9xx 396 DisableDPRam 288 Disabling and Enabling Position Loop Modules 98 Disclaimer, Safety Notice, Warranty 12 Dual Encoder Support 124 -EElectrical Diagrams for CAN Interface 173 Electronic Gear Profile 110 EnableDPRam 289 Enabling and Disabling Control Modules 97 Encoder Feedback 189 Encoder Pre-Scalar 186 Enter Data Box 466 Error Code 403 Event Status Register 134 Examples 443 Extension Port Connector J6 (POSYS® 700, ISA-Bus) 389 External Memory Commands 176 External Profile Mode 111 -FFilter Parameter Box 462 -GGetAbsoluteSSIPosition 272 GetActiveMotorCommand 300 GetActiveOperatingMode 311 GetActivityStatus 315 GetActivityStatus 341 GetActualVelocity 273 GetAmpEnable 232 GetAxis_In_Out_Home 343 GetCaptureValue 274 GetChecksum 363 GetCommandedAcceleration 319 GetCommandedPosition 320 GetCommandedVelocity 321 GetCurrentMotorCommand 300 GetDerivative 233 GetDriveStatus 344 GetEventStatus 345 GetHostIOError / GetInstructionError 364 477 © POSYS Motion Control GmbH & Co.KG, 2013 GetIntegral 234 GetInterruptAxis 212 GetPhaseCommand 219 GetPositionError 235 GetPositionLoopValue 236 GetProcessorStatus 365 GetSignalStatus 346 GetSSIVersion 275 GetTime 332 GetTraceCount 353 GetTraceStatus 354 GetVersion 366 GP CON Connector 79 -HHardReset/MCReset 367 Hardware & Driver Installation 27 Hardware & Treiber Installation: Rapid Driver 30 Hardware Signals; Overview 150 High Speed Position Capture 155 Host Interrupts 138 How to use this manual 199 -IImpressum 11 In-Motion Indicator 139 Incremental Encoder Input 154 Index Pulse Referencing 180 Initialization 459 InitializePhase 220 InitializePOSYS 206 Instruction Error 135 Introduction 457 Introduction 18xx/19xx 13 Introduction 7xx/8xx-B/9xx 14 IO700/800-1 80 IO700/800-2 83 -LLimit Switches 408 List of available commands 201 Loop Instructions 449 -MMain POSYS® GUI Window 458 Memory Configuration 174 Memory Page Pointer 174 Microstep Mode Setup 411 Microstep Motor Command Output Signals 195 Microstepping Waveform Generation 194 Mixed Motor Mode 413 Models 16 Motion Complete Indicator 140 Motion Error 139 MotionScript® Utility Functions 447 Motor Bias 129 Motor Command Control 195 Motor Command Output 163 478 © POSYS Motion Control GmbH & Co.KG, 2013 Motor Driver Configurations 197 Motor Mode 114 Motor Mode Configuration 47 Motor Output Configuration 186 Motor Output Mode Box 461 Motor Output Signal Interpretation 193 Multi-Turn Systems 156 Multiple Cards 414 MultiUpdate 312 -NNoOperation 370 -OOn-Board Memory Buffer 176 On-Board Memory Read 175 On-Board Memory Signal Decoding 175 On-Board Memory Write 175 On-Board RAM 405 OpenDevice/CloseDevice 207 OPTON CON 86 Other MotionScript® Functions 447 Output Limit 128 Output Torque Box 464 Overview 122, 134, 154, 167, 178, 189, 89 Overview; MotionScript® 439 -PParallel Communication Port 167 Parallel Device I/O 158 Parallel-word Device Interfacing 156 Parallel-word Position Input (option) 155 Parameter Buffering 116 PCI ScanForPOSYS 416 Peripheral Device Read 160 Peripheral Device Write 162 Phase Initialization 181 PID Loop Algorithm 122 Piezo (Ceramic) Motor Functions 131 PMW Decoding 193 PortInOutW 371 POSYSDriverXSetup 440 POSYS® 8xx-B/18xx 89 POSYS® 9xx/19xx 91 POSYS® Functions and Procedures 451 Power-On Defaults Box 461 Program Use 442 Programmer´s Info 421 Programming the Phase Initialization 184 Pulse & Direction Signal Generation 191 Pulse Generation Control 192 -RRead/WriteSSIFrequency 276 Read/WriteSSIRegister 277 Read/WriteSSIResolution 278 ReadAnalog 372 ReadBuffer 289 479 © POSYS Motion Control GmbH & Co.KG, 2013 ReadDPRamLong 291 Reading Position Loop Values 99 ReadIO 373 ReadIO / WriteIO 387 ReadPLD 374 RegisteredPosysDevices 210 Reserved Words 446 ResetEventStatus 347 ResetSSI 279 Resistor Networks for TTL or inverted Encoder Signals 430 RestoreOperatingMode 313 -SS-curve Point-to-Point Profile 107 Selecting Single Phase Output for the POSYS® 178 Serial Communication Port 167 Serial Interface 36, 62, 70, 46 Serial Interface 431 Set/GetAcceleration 322 Set/GetActualPosition 281 Set/GetActualPositionUnits 282 Set/GetAutoStopMode 239 Set/GetAuxiliaryEncoderSource 240 Set/GetAxisMode 333 Set/GetAxisOutMask 348 Set/GetAxisOutSource 350 Set/GetBiQuadCoefficient 241 Set/GetBreakpoint 213 Set/GetBreakpointUpdateMask 215 Set/GetBreakpointValue 216 Set/GetBufferFunction 292 Set/GetBufferLength 293 Set/GetBufferReadIndex 294 Set/GetBufferStart 295 Set/GetBufferWriteIndex 296 Set/GetCANMode 375 Set/GetCaptureSource 283 Set/GetCommutationMode 221 Set/GetDeceleration 323 Set/GetDerivativeTime 243 Set/GetDiagnosticPortMode 376 Set/GetEncoderModulus 284 Set/GetEncoderSource 285 Set/GetEncoderToStepRatio 286 Set/GetEventAction 314 Set/GetGearMaster 324 Set/GetGearRatio 325 Set/GetHoldingCurrent 302 Set/GetIntegrationLimit 244 Set/GetInterruptMask 218 Set/GetJerk 326 Set/GetKaff 245 Set/GetKd 246 Set/GetKi 247 Set/GetKout 248 Set/GetKp 249 Set/GetKvff 250 Set/GetLimitSwitchMode 334 Set/GetMotionCompleteMode 335 Set/GetMotorBias 303 480 © POSYS Motion Control GmbH & Co.KG, 2013 Set/GetMotorCommand 304 Set/GetMotorLimit 251 Set/GetMotorMode 305 Set/GetMotorType 306 Set/GetNumberPhases 222 Set/GetOperatingMode 315 Set/GetOutputMode 307 Set/GetPhaseAngle 223 Set/GetPhaseCorrectionMode 224 Set/GetPhaseCounts 225 Set/GetPhaseInitializeMode 226 Set/GetPhaseInitializeTime 227 Set/GetPhaseOffset 228 Set/GetPhasePrescale 229 Set/GetPosition 327 Set/GetPositionErrorLimit 252 Set/GetPositionLoop 253 Set/GetProfileKp 256 Set/GetProfileMode 328 Set/GetPWMFrequency 308 Set/GetpzIntLim 258 Set/GetpzIntLimStl 259 Set/GetpzKaff 260 Set/GetpzKd 261 Set/GetpzKdPeriod 262 Set/GetpzKi 263 Set/GetpzKp 264 Set/GetpzKvff 265 Set/GetpzKvff2 266 Set/GetpzOffsetNeg 267 Set/GetpzOffsetPos 267 Set/GetpzWindow 269 Set/GetpzWindow2 270 Set/GetSampleTime 336 Set/GetSerialPortMode 377 Set/GetSettleTime 338 Set/GetSettleWindow 339 Set/GetSignalSense 352 Set/GetStartVelocity 329 Set/GetStepRange 309 Set/GetStopMode 330 Set/GetSynchronizationMode 378 Set/GetTraceMode 355 Set/GetTracePeriod 356 Set/GetTraceStart 357 Set/GetTraceStop 359 Set/GetTraceVariable 361 Set/GetTrackingWindow 340 Set/GetUpdateMask 317 Set/GetVelocity 331 SetActualToAbsolutePosition 280 SetAmpDisable 237 SetAmpEnable 238 SetEventAction Processing 148 SetMotionCompleteMode 451 SetStop Command 113 Setting the Cycle Time 114 Settled Indikator 141 Setup Menu for Sinusoidal Commutation and Microstepping Motor Mode 474 SetWatchDog 379 481 © POSYS Motion Control GmbH & Co.KG, 2013 Sign/Magnitude PWM Output 164 Signal Sense 465 Signal Sense Mask 137 Signal Status Register 136 Single Port RAM / Dual Port RAM 471 Smoothing Factor 103 SSI Feedback 468 Stall Detection 190, 390 Status Activity/Event/Signal 464 Status Read Operation 433 Stepper Motor Pinout Description , , 38, 64, 76, 53 SYNC IO , , 70, 46 Synchronization of Multple Cards (POSYS® 8xx-B/9xx w/ Sync-Feature and 18xx/19xx) 435 System Overview 15 -TThe SYNC IO - Multiple Controller Synchronization 152 Trace Capture 142 Trace Mode 471 Tracking Window 147 Trajectories, profiles, and parameters 100 Trajectory Control Units 189 Trajectory Parameter Representation 100 Trajectory Point-to-Point Profile 101 Travel Limit Switches 150 -UUpdate 318 Update Periods Box 464 Usage of the On-Board Dual Port RAM with POSYS® 1800 55 User Settable components , , 33, 60, 68, 41 -VVariables 445 Velocity Contouring Profile 109 Velocity, Acceleration and Jerk Calculation 437 Versions 18xx 41 Versions 19xx 68 Versions 9xx 60 -WWriteBuffer 297 WriteDPRAMLong 298 WriteIO 380 Writing MotionScript® Functions 450 482 © POSYS Motion Control GmbH & Co.KG, 2013 www.halbeck.com
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