ICP DAS SERVO-300 servo motor control card User Manual
Below you will find brief information for servo motor control card SERVO-300. The SERVO-300 is a 3-axis, command-type, servo motor control board. The embedded CPU of SERVO-300 performs the motion command transferred from host-PC via a 2K bytes FIFO. It also sends the position and status to host-PC via another 2K bytes FIFO. This buffer provides time buffer and it is very suitable for windows operating system. SERVO-300 can be used for machine control applications that require precise positioning.
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SERVO-300 User Manual Version 2.0 02/2001
SERVO-300
3-axis servo motor control card
User Manual
Version 2.0 02/2001 Edition
Driver update : http://www.icpdas.com
Warranty: All products manufactured by ICP DAS are warranted against defective materials for one year from the date of delivery to the original purchaser
Warning: ICP DAS assumes no liability for damage consequent to the use of this product. ICP DAS reserves the right to change this manual at any time without notice. The information furnished by ICP DAS is believed to be accurate and reliable. However, no responsibility is assumed by ICP DAS for it’s use, nor for any infringements of patents or other rights of third parties resulting from it’s use.
Copyright
Copyright 1998 by ICP DAS. All right are reserved
Trademark
The names used for identification only maybe registered trademarks of their respective companies.
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
SERVO-300 --- 3-Axis Servo Motor Control Board
Servo-300 is a 3-axis, command-type, servo motor control board. The embedded CPU of servo-300 performs the motion command transferred from host-PC via a 2K bytes FIFO. It also sends the position and status to host-PC via another 2K bytes FIFO. This buffer provides time buffer and it is very suitable for windows operating system. This board provides DOS, windows 95 and windows NT drivers.
Features
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3-axis V-command servo motor board
Simulation / open loop / close loop mode.
Command-type execution, 49 commands
Embedded CPU
Linear interpolation, circular interpolation
Programmable trapezoidal speed profile.
Programmable DDA cycle.
Programmable direction configuration.
Programmable 2 speed home return, home preset.
2500 points per axis pitch error compensation
Home, forward, backward limit switches per axis.
Limit switch auto-protection
Hardware failure detection
8 digital input, 7 digital output
Software / hardware emergency stop
2500Vrms optical couple
DOS, Windows 95, Windows NT driver
BCB, VB, Delphi, LabView driver
Programmable limit switch normal state: N.O. (normal open) or N.C.
(normal close).
Option
•
•
DB-8R Daughter board --- 8 relay output, limit switch input board
DB-200 Daughter board --- 3-axis encoder, analog output board.
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ICPDAS
SERVO-300 User Manual
Contents
Version 2.0 02/2001
1. Introduction
1.1 System Block Diagram
1.2 The control system
1.3 The operating mode
2. Hardware
2.1 Address selection
2.2 Registers of SERVO-300 Board
2.3 Hardware configuration
2.3.1 Limit switch configuration
2.3.2 Direction configuration
2.3.3 Turn Servo ON/OFF
2.4 Auto-protection
2.5 Hardware failure detection
2.6 Connection
3. Software
3.1 The required software skeleton
3.2 Functions
3.2.1 Loading and unloading driver commands (only for windows)
3.2.2 Setting commands
3.2.3 Stop commands
3.2.4 Motion commands
3.2.5 Get information
3.2.6 Others
3.2.7 New Interpolation command
4. Driver
DOS Driver(C, C++), Windows 95 Driver, Windows NT Driver
5. Example
5.1 DOS example
5.2 Windows example
6. Application notes
6.1 functional testing http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual
1. Introduction
Version 2.0 02/2001
1.1 System Block Diagram
SERVO-300 is a microprocessor based and 3- axis V-command type Servo motor control board. It contains a 2K bytes-FIFO to receive motion command from host PC, and it also sends the position and status to host-
PC via the other 2K bytes FIFO. The motion profile is generated by microprocessor. This microprocessor also handles auto-protection function.
Each digital I/O supports 2500Vrms optical isolation.
2K FIFO
Interface Buffer
ISA
BUS
2K FIFO
Interface Buffer
CPU Status
CPU
Profile Generation
Protection
Limit Switch
Input Port
Limit Switch
Input Port
8 digital input
3 D/A converter
3 encoder counter
7 digital output
Figure(1) block diagram of SERVO-300
Optical
Isolation
Connector
Connector http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
1.2 The Control System
The sampling time is 3ms for 3-axis control system. The control loop includes a PD controller and a pitch error compensator. The gain parameter, Kp and Kd, of PD controller can be set from host PC. The pitch errors are recorded in a size 2500 table which can be set by user. The compensated pitch is 256 pulse, so the compensation range is
2500*256=640000 pulse. (The total length 800mm, if the screw pitch=5mm, encoder=4000pulse/rev.).
Command
+
-
PD controller
D/A converter
Driver
Position
+
-
Pitch Error compensator
Decoder
A
B
Figure(2) SERVO-300 control loop
Software DDA
For precise control and adjustable speed, the Software DDA will divide the command into several equal delta commands. The maximum command is 2040 pulse, so the maximum speed is
2040 / (0.003*DDA) * 60 / ENCODER.
For example, DDA=4, ENCODER=4000 pulse/rev.
delta command = 2040/4 = 508 pulse speed = 2040/(0.003*4)*60/4000 = 2550 rpm
Therefore the maximum speed will be 2550 rpm while select DDA=4. In case of the user want to increase the maximum speed that the servo driver is available, the DDA value should be reduced. The maximum speed will be
5100 rpm if DDA=2. So, it is very important to select a proper DDA value for your system http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
1.3 The Operating Mode
For easily developing your system, SERVO-300 board provides three operating mode: simulation mode / open loop mode / close loop mode.
Please refer to MSERVO3_SET_CONTROL_MODE() command.
Simulation mode
In simulation mode, the SERVO-300 control board will simulate the motion profile according to the motion command that received from host
PC, and then the SERVO-300 will send the 3-axis positions back to host
PC. The SERVO-300 control board will not output V-command to motor driver.
This mode is very easily used and efficient in the design phase. The simulation mode can be operated off machine. The user can debug and develop the software previously or at home. And if the user has the daughter board DB-8R, it can also simulate the digital input/output like as a machine.
Open loop mode
In open loop mode, user can directly output a constant voltage to servo driver, to let the motor rotate at constant speed. The constant value can be set by MSERVO3_CALV() command. This mode can be used to tune the velocity loop gain or to drive the inverter.
To tune velocity loop gain, user can set a small voltage for a short time.
The position and velocity can be received from MSERVO3_GET_CARD
(cardNo) command in a timer interrupt(~10ms).
Close loop mode
In close loop mode, the SERVO-300 performs the PD controller. It also executes the following function.
1. Pitch error compensation
.
2. Limit switch auto-protection
3.Hardware failure detection
The related information of the servo board can be received from
MSERVO3_GET_CARD (cardNo) command using timer interrupt, please refer to chapter 3 software.
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
Software emergency stop
The servo command can be terminated from host-PC using software control. The user can use MSERVO3_STOP_ALL() command to terminate the servo commands being executed in SERVO-300 board. This command can clear all the commands pending in FIFO buffer.
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ICPDAS
SERVO-300 User Manual
2 Hardware
Version 2.0 02/2001
2.1 Address selection
The address is selected by A3~A9. There is a DIP switch on SERVO-300 board for address selection. The address can be selected as the following figures.
This address can be selected using MSERVO3_REGISTRATION( ) command. The MSERVO3_REGISTRATION( ) command has been described in chapter 3.
300H =
0
ON
1
1 2 3 4 5 6 7 8
A3 A4 A5 A6 A7 A8 A9
240H =
0
ON
1
1 2 3 4 5 6 7 8
A3 A4 A5 A6 A7 A8 A9
ON
0
280H =
1
1 2 3 4 5 6 7 8
A3 A4 A5 A6 A7 A8 A9
Figure(3) Address selection http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
2.2 Registers of SERVO-300 board
SERVO-300 has 6 registers, such as FIFO1 register, FIFO2 register,
RSTFIFO1 register, DI register, DO register, MSC register.
(1) FIFO1 register (base + 0) (write only)
SERVO-300 driver will send motion command via this register. Please do not use this register to write anything, otherwise the SERVO-300 will not operate properly.
(2) DO register (base + 1) (write only)
MSB 7 6 don't use
5 4 3 2 1 0 LSB
DO6 DO5 DO4 DO3 DO2 DO1 DO0
MSB7 bit is reserved for special signal, please don't use it.
(3) RSTFIFO1 register (base + 2) (write only)
This register is used to reset FIFO1 for clear all of commands pending in the FIFO1 buffer.
(4) FIFO2 register (base + 0) (read only)
This register is used to receive the message coming from SERVO-300 board. This message includes SERVO-300 status, command position, actual position. Please refer to chapter 3 for more detail of message.
Please don’t read this register, otherwise the message will lost.
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SERVO-300 User Manual Version 2.0 02/2001
(5) MSC register (base + 1) (read only)
MSB 7 6 5 4 3 2 1 0 LSB
/EMG /Zstop /Ystop /Xstop /F2HF /F2FF /F1FF /F1EF
/Xstop, /Ystop, /Zstop:indicate which axis is stop, low active
/EMG : emergency switch, low active.
/F1EF: indicate FIFO1 is empty.
/F1FF: indicate FIFO1 is fully full.
/F2FF: indicate FIFO2 is fully full.
/F2HF: indicate FIFO2 is half full.
(6) DI register (base + 2) (read only)
MSB 7 6 5 4 di7 di6 di5 di4
3
Di3
2 di2
1 di1
0 LSB di0 http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
2.3 Hardware Configuration
2.3.1 Limit switch configuration
The profile generation and protection is executed by the CPU of
SERVO-300 board, The limit switches must be configured as the following figure, otherwise the motion command won’t work properly,.
CCW/BW CW/FW
Motor ccm
XLS- XI
/XLS-
/XI
/XLS+
EXT_GND
/EMG
X axis
Emergency
Figure(4) Limit switch configuration of X axis
XLS+ http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
CCW/BW CW/FW
Motor ccm
YLS- YI
/YLS-
/YI
/YLS+
EXT_GND
Y axis
Figure(5) Limit switch configuration of Y axis
YLS+
CCW/BW CW/FW
Motor ccm
ZLS- ZI
/ZLS-
/ZI
/ZLS+
EXT_GND
Z axis
Figure(6) Limit switch configuration of Z axis
ZLS+ http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
2.3.2 Direction configuration
Sometimes, the output direction of X-axis, Y-axis, Z-axis is not in desired direction due to motor connection or gear train. It is recommended to unify the output direction as shown in Figure(4)(5)(6).
The CW/FW direction is defined as toward outside from motor and the
CCW/BW direction is defined as toward inside to motor. The
MSERVO3_SET_DEFDIR(cardNo, defdirX, defdirY, defdirZ) command provides parameters NORMAL_DIR (0) and REVERSE_DIR (1) to define the rotating direction of motor.
2.3.3 Turn Servo ON/OFF (Hold ON/OFF)
The MSERVO3_SET_SERVO_ON(cardNo, sonX, sonY, sonZ) command provides parameters ON (1) and OFF (0) to turn Servo ON or
OFF. The internal circuitry of Servo-ON is sink-type connection as the following figure.
SONX
SONY
SONZ
EXT_GND
Figure(7) internal circuitry of Servo-ON signal http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
2.4 Auto-protection
SERVO-300 board supports a automatic protection system.
(a) When X(Y)(Z)-axis command is executed and the motor moves toward CW/FW direction, X(Y)(Z)-axis will immediately stop when
XLS+(YLS+)(ZLS+) is touched. To release this protection, the
X(Y)(Z)-axis must move toward CCW/BW direction.
(b) When X(Y)(Z)-aixs command is executed and the motor moves toward CCW/BW direction, X-axis will immediately stop when XLS-
(YLS-)(ZLS-) is touched. To release this protection, the X(Y)(Z)-axis must move toward CW/FW direction.
(c) When any of the /EMG switches is touched, all motion command will be terminated and all motors will stop immediately. Meanwhile, the servo ON signal will be automatical turn off for rotating the shaft by manual. The servo ON signal will recover after released the /EMG switches.
2.5 Hardware failure detection
When any of the motor driver, encoder, connection or wire fail, SERVO-
300 board will detect it and immediately terminate the motion command of each axis. The error status will be sent to host-PC (refer to chapter 3). And then, user must stop all the commands by MSERVO3_STOP_ALL(cardNo) and reset the system by MSERVO3_RESET_SYSTEM(cardNo) . After this procedure, the hardware error can be cleared. The parameter “error_range” can be used to adjust the failure condition. The “error_range” can set by
MSTEP_SET_CONFIG() command.
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
2.6 Connection
(1) Pin assignment
Table(1) CN1 connector pin name
VOUT1
AGND
VOUT2
AGND
SON1
EXT_GND
SON2
EXT_GND
6
7
4
5
8
9 pin number
1
2
3 description analog outputof X axis analog ground of X axis analog output of Y axis analog ground of Y axis
Reserved servo on signal of X axis external ground servo on signal of Y axis external ground pin name
VOUT3
AGND
SON3
VEXT
EXT_GND
/ZI
/ZLS+
/ZLSpin number
7
8
5
6
3
4
1
2
9
Table(2) CN2 connector description analog output of Z axis analog ground of Z axis servo on signal of Z axis external voltage (apply 12~24V) external ground home index switch of Z axis, low active forward limit switch of Z axis, low active backward limit switch of Z axis, low active
Reserved http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
/IP5
/IP6
/IP7
/IP8
VEXT
/OP1
/OP2
/OP3
/OP4
/OP5
/OP6
/OP7
/XLS+
/XLS-
/YLS+
/YLS-
/XI
/YI
/EMG
/IP1
/IP2
/IP3
/IP4 pin name
EXT_GND pin number
1
2
3
Table(3) CN3 connector description forward limit switch of X axis, low active backward limit switch of X axis, low active forward limit switch of Y axis, low active
6
7
4
5 backward limit switch of Y axis, low active home index switch of X axis, low active home index switch of Y axis, low active emergency input, low active
8
9 digital input, low active digital input, low active
10 digital input, low active
11 digital input, low active
12 digital input, low active
13 digital input, low active
14 digital input, low active
15 digital input, low active
16 external voltage (apply 12~24V)
17 digital output, low active
18 digital output, low active
19 digital output, low active
20 digital output, low active
21 digital output, low active
22 digital output, low active
23 digital output, low active
24 Reserved
25 external ground http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual pin name
1A+
1A-
1B+
1B-
5V
GND
1C+
1C-
5V
3A+
3B+
3C+
2A-
2A+
GND
3A-
3B-
3C-
2C-
2C+
GND
5V
2B-
2B+ pin number
1
2
3
Table(4) CN4 connector description
A+ input of X axis encoder
A- input of X axis encoder
B+ input of X axis encoder
6
7
4
5
B- input of X axis encoder encoder source (<50mA) encoder ground
C+ input of X axis encoder
8
9
C- input of X axis encoder encoder source (<50mA)
10 A+ input of Z axis encoder
11 B+ input of Z axis encoder
12 C+ input of Z axis encoder
13 no used
14 C- input of Y axis encoder
15 C+ input of Y axis encoder
16 encoder ground
17 encoder source (<50mA)
18 B- input of Y axis encoder
19 B+ input of Y axis encoder
20 A- input of Y axis encoder
21 A+ input of Y axis encoder
22 encoder ground
23 A- input of Z axis encoder
24 B- input of Z axis encoder
25 C- input of Z axis encoder
Version 2.0 02/2001 http://www.icpdas.com
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SERVO-300 User Manual
(2) The connection of limit switches and digital inputs
Version 2.0 02/2001
SERVO-300 card
VEXT(12~24V) limit switches or digital input
Figure(8)
(3) The connection of digital outputs
SERVO-300 card digital output
OP1~OP7
Loading
VEXT(12~24V)
Figure(9)
EXT_GND http://www.icpdas.com
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SERVO-300 User Manual
(4) The connection of encoder
Version 2.0 02/2001
CN4
Encoder
A+
A-
B+
B-
C+
C-
5V
GND
1A+
1A-
1B+
1B-
1C+
1C-
5V
GND
Figure (10) Connection between encoder and SERVO-300 card
CN4
Encoder
A+
B+
C+
5V
GND open collector type encoder
1A+
1A-
1B+
1B-
1C+
1C-
5V
GND
Figure (11) Connection of open-collector type encoder http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual
3. Software
Directories
Version 2.0 02/2001
The software includes libraries and demonstrations of DOS(C,C++), windows 95 and windows NT.
3.1 The required software skeleton
To operate SERVO-300 board properly, the software require some process and a timer interrupt (10ms) to get the information transferred from
SERVO-300 board.
The minimum software requirements:
(1) load VXD file (if windows application)
(2) SERVO-300 registration
(3) parameter setting
(4) motion command
(5) release VXD file (if windows application)
(6) 10ms timer interrupt http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
MSERVO3_INITIAL(); exist=MSERVO3_REGISTRATION(CARD1,address);
(1). load VXD file
(2). registration
Select address and check it existed or not.
MSERVO3_RESET_SYSTEM(CARD1);
MSERVO3_SET_CONTROL_MODE(CARD1,x_mode, y_mode, z_mode);
MSERVO3_SET_VAR(CARD1, DDA, AD, LSP, HSP, arc_speed);
MSERVO3_SET_DEFDIR(CARD1, x_dir, y_dir, z_dir);
MSERVO3_SET_SERVO_ON(CARD1, x_son, y_son, z_son);
MSERVO3_SET_CONFIG(CARD1, config, in_position, lag_error);
MSERVO3_SET_X_CONTROLLER(CARD1, x_kp, x_kd);
MSERVO3_SET_Y_CONTROLLER(CARD1, y_kp, y_kd);
MSERVO3_SET_Z_CONTROLLER(CARD1, z_kp, z_kd);
(3) parameter setting
reset SERVO-300 board set control mode set parameters of motion profile set direction set servo on set configuration and parameters set X axis controller set Y axis controller set Z axis controller
(4) motion commands
MSERVO3_BACK_HOME(CARD1, X_axis, home_speed,
search_speed);
MSERVO3_PULSE_MOVE(CARD1, X_axis, 50000, 1000);
...
MSERVO3_RESET_SYSTEM(CARD1);
MSERVO3_END(); reset SERVO-300 board
(5) release VXD file
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001 void __fastcall TMSERVO::Timer1Timer(TObject *Sender)
{ char str[20];
Timer1->Interval = 10; //10ms
(6) 10ms timer interrupt
(demonstration for BCB) if (exist==YES)
{
card1.ip = MSERVO3_DI(CARD1);
card1.msc= MSERVO3_MSC(CARD1);
MSERVO3_GET_CARD(CARD1);
card1.sys =MSERVO3_GET_SYS(CARD1);
card1.ls =MSERVO3_GET_LIMIT(CARD1);
card1.p1 =MSERVO3_GET_P1(CARD1);
card1.XC =MSERVO3_GET_XC(CARD1);
card1.XP =MSERVO3_GET_XP(CARD1);
card1.YC =MSERVO3_GET_YC(CARD1);
card1.YP =MSERVO3_GET_YP(CARD1);
card1.ZC =MSERVO3_GET_ZC(CARD1);
card1.ZP =MSERVO3_GET_ZP(CARD1);
}
} get digital input get limit switches get information from
SERVO-300 board get X axis command get X axis position get Y axis command get Y axis position get Z axis command get Z axis position http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual
3.2 Functions
Constants
#define YES 1
#define NO 0
#define ON 1
#define OFF 0
#define NORMAL_DIR 0
#define REVERSE_DIR 1
#define FW 0
#define BW 1
#define CW 0
#define CCW 1
#define X_axis 1
#define Y_axis 2
#define Z_axis 3
#define XY_plane 1
#define XZ_plane 2
#define YZ_plane 3
#define ENABLE_X 0x01
#define ENABLE_Y 0x02
#define ENABLE_Z 0x04
#define SIMU_MODE 0
#define TEST_MODE 1
#define CLOSE_MODE 2
#define READY 0
#define BUSY 1
Version 2.0 02/2001 http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
3.2.1 Loading and unloading driver commands (only for windows)
(1) MSERVO3_INITIAL( )
To load VxD driver.
(2) MSERVO3_END( )
To release VxD driver.
3.2.2 Setting commands
(3) unsigned char MSERVO3_REGISTRATION(unsigned char cardNo, unsigned int address);
To select the address of board and check it exist or not. Ten SERVO-
300 boards can be added in one system.
cardNo : board number 0~9.
address : select the address as well as hardware selected in chapter 2.
return NO : board not exist
YES : board exist
(4) MSERVO3_RESET_SYSTEM(unsigned char cardNo);
To reset SERVO-300 board.
cardNo : board number 0~9.
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SERVO-300 User Manual Version 2.0 02/2001
(5) MSERVO3_SET_VAR( unsigned char cardNo, unsigned char set_DDA_cycle, unsigned char set_Acc_Dec, unsigned int set_Low_Speed, unsigned int set_High_Speed, unsigned int set_arc_speed);
cardNo : board number 0~9.
set_DDA_cycle : software DDA cycle.
set_Acc_Dec : accelerating/decelerating speed.
set_Low_speed : set end speed.
set_High_speed : set maximum speed.
set_arc_speed : set curve speed.
Acc_Dec
High_Speed
Acc_Dec
Low_Speed
Restriction:
1
≤
1
≤
1
≤
≤
254
≤
200
≤
200
_
≤
_
≤
2047 default value
DDA_cycle = 8
Acc_Dec = 3
Low_Speed = 10
High_Speed = 500
Arc_Speed = 100
≤
2047 http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(6) MSERVO3_SET_DEFDIR( unsigned char cardNo, unsigned char defdirX, unsigned char defdirY, unsigned char defdirZ);
Sometimes, the output direction of X-axis, Y-axis, Z-axis is not in desired direction due to motor connection or gear train. It is recommended to unify the output direction as shown in Figure(4)(5)(6).
The CW/FW direction is defined as toward outside from motor and the
CCW/BW direction is defined as toward inside to motor.
MSERVO3_SET_DEFDIR( ) command provide parameters to define the rotating direction of motor.
cardNo : board number 0~9.
defdirX : X axis direction definition defdirY : Y axis direction definition defdirZ : Z axis direction definition
0 : NORMAL_DIR
1 : REVERSE_DIR
(7) MSERVO3_SET_CONTROL_MODE( unsigned char cardNo, unsigned char x_mode, unsigned char y_mode, unsigned char z_mode);
To configure axis as simulation or open loop or close loop mode that described in chapter 2.
cardNo : board number 0~9.
x_mode : x axis control mode y_mode : y axis control mode z_mode : z axis control mode where control mode 0 :SIMU_MODE (simulation mode)
1 :TEST_MODE (open loop mode)
2 :CLOSE_MODE (close loop mode) http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(8) MSERVO3_SET_CONFIG( unsigned char cardNo, unsigned char config, unsigned char in_position, unsigned int lag_error,
unsigned int error_range)
cardNo : board number 0~9.
config : set axis as enable or disable.
MSB 7 6 xx xx
5 xx
4 xx
3 xx
2
Z
1
Y
0 LSB
X enable Enable enable where X_enable, Y_enable, Z_enable
1 : enable
0 : disable in_position (default 10) : define the maximum steady state error. When the position error is below this value and the motion command is completely executed, the SERVO-300 board will execute the next command.
lag_error (default 500) : define the maximum position error. When the position error is over this value, the SERVO-300 board will treat it as hardware failure.
error_range (default 500) : define the hardware failure detection range which means if the position error (command-position) > error_range and the speed is zero, it might be hardware failure, sleep or disconnect. In this case, the X_ERR(Y_ERR, Z_ERR) and Error in sys register will indicate error.
(9) MSERVO3_SET_X_CONTROLLER( unsigned char cardNo, unsigned int Kp, unsigned int Kd);
cardNo : board number 0~9.
Kp : proportional control gain 0 < Kp < 65536
Kd : differential control gain 0<= Kd < 65536 http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(10) MSERVO3_SET_Y_CONTROLLER( unsigned char cardNo, unsigned int Kp, unsigned int Kd);
cardNo : board number 0~9.
Kp : proportional control gain 0 < Kp < 65536
Kd : differential control gain 0<= Kd < 65536
(11) MSERVO3_SET_Z_CONTROLLER( unsigned char cardNo, unsigned int Kp, unsigned int Kd);
cardNo : board number 0~9.
Kp : proportional control gain 0 < Kp < 65536
Kd : differential control gain 0<= Kd < 65536
(12) MSERVO3_SET_SERVO_ON( unsigned char cardNo, unsigned char sonX, unsigned char sonY, unsigned char sonZ);
cardNo : board number 0~9.
sonX, sonY, sonZ : to turn servo signal ON/OFF
0 : servo off
1 : servo on
(13) MSERVO3_SET_ZERO(unsigned char cardNo, unsigned char axis);
to force set-position as zero.
cardNo : board number 0~9.
axis : can be X_axis, Y_axis or Z_axis.
(14) MSERVO3_PRESET_POSITION(unsigned char cardNo, unsigned char axis, long preset_position);
to pre-set the position in the SERVO-300 card.
cardNo : board number 0~9.
axis : can be X_axis, Y_axis or Z_axis.
preset_position : the desired pre-set position.
http://www.icpdas.com
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SERVO-300 User Manual
(15) MSERVO3_SET_PE( unsigned char cardNo, unsigned char axis, unsigned int index, char p1, char p2, char p3, char p4, char p5);
Version 2.0 02/2001
The pitch error compensater of Servo-300 has a pitch error table. This table contains 2500 values, where the pitch is 256 pulse. So the maximum compensation range is
2500*256= 640000pulse.
cardNo : board number 0~9.
axis : selected axis.
index : the target offset of pitch error table.
p1,p2,p3,p4,p5 : to be filled value (-128~127) http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
3.2.3 Stop Commands
(16) MSERVO3_STOP(unsigned char cardNo, unsigned char axis);
To stop the motion command of selected axis cardNo : board number 0~9.
axis : selected axis
(17) MSERVO3_DEC_STOP(unsigned char cardNo, unsigned char axis);
Decelerating to stop the selected axis’s motor.
cardNo : board number 0~9.
axis : selected axis
(18) MSERVO3_STOP_ALL(unsigned char cardNo);
To stop motion command immediately, its function is the same as emergency stop by hardware.
cardNo : board number 0~9.
This command will clear the pending commands of the buffer, and terminate immediately all commands being executed in SERVO-300 board.
(19) MSERVO3_EMG_STOP(unsigned char cardNo);
This function is the same as MSERVO3_STOP_ALL(), but MSERVO3_
EMG_STOP() only can be used in timer interrupt routine.
cardNo : card number 0~15.
This command will clear all of pending commands in the buffer, and immediately terminate all commands which is executing in SERVO-300 board.
http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
3.2.4 Motion commands
(20) MSERVO3_BACK_HOME( unsigned char cardNo, unsigned char axis, unsigned char set_home_speed, unsigned char set_search_speed);
This command is used to move the motor toward CCW/BW direction at home speed at the beginning and then stop when home index switch /XI
(/YI) (/ZI) is touched. Secondly, the motor will move toward CW/FW direction at search speed to find absolute zero. When /XI=1 and C=0, the motor stop and set position to zero. In general, the search speed should be set to 2~5. If the search speed is too large, the absolute point might be lost or lost accuracy. If search speed is set too small, it spends lots time.
cardNo : board number 0~9.
axis : selected axis.
0 < set_home_speed < 50
0 < set_search speed < 10
Speed home index
/XI (/YI) (/ZI) home speed
"+"
CCW/BW direction
"-" search speed encoder index C http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(21) MSERVO3_PULSE_MOVE(unsigned char cardNo, unsigned char axis, long pulseN, unsigned int move_speed);
cardNo : board number 0~9.
axis : selected axis.
pulseN : the distance to be moved.
when pulseN>0, move toward CW/FW direction when pulseN<0, move toward CCW/BW direction
0 < move_speed <= 2040 move speed
Acc_Dec Acc_Dec pulseN http://www.icpdas.com
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(22) MSERVO3_INTP_PULSE( unsigned char cardNo, int Xpulse, int Ypulse, int Zpulse);
This command will move a short distance (interpolation short line) in X-
Y-Z space. This command supports user to generate an arbitrary space curve in X-Y-Z space.
cardNo : board number 0~9.
-2040 <= Xpulse, Ypulse, Zpulse <= 2040
Y
10
1
2
3 4
5
6 7
8
9
(Xpulse,Ypulse,Zpulse)
X
Z
Example:
#define CARD1 1
MSERVO3_INTP_PULSE(CARD1,20,20,2);
MSERVO3_INTP_PULSE(CARD1,20,13,10);
MSERVO3_INTP_PULSE(CARD1,20,7,10);
MSERVO3_INTP_PULSE(CARD1,20,0,5);
MSERVO3_INTP_PULSE(CARD1,15,-5,5); http://www.icpdas.com
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(23)MSERVO3_CONSTANT_SPEED(unsigned char cardNo,
unsigned char axis,
unsigned char dir,
unsigned int move_speed);
This command will accelerate/decelerate the selected axis’s motor to the
“move_speed”. This command can be continuously send to SERVO-300 to dynamicly change speed. The rotating motor can be stop by the command MSERVO3_STOP() or MSERVO3_DEC_STOP().
cardNo : board number 0~9.
axis : selected axis.
1 : X axis
2 : Y axis
3 : Z axis dir : moving direction.
0 : CW
1 : CCW
0 < move_speed <= 2040
Acc_Dec move speed http://www.icpdas.com
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SERVO-300 User Manual
(24) MSERVO3_INTP_XYZ(unsigned char cardNo, long x, long y, long z, unsigned int speed);
Version 2.0 02/2001
This command will move a long distance interpolation line in X-Y-Z plane.
cardNo : board number 0~9.
−
2
31
+ ≤
# x
≤
2
31
−
1
−
2
31
+ ≤
# y
≤
2
31
−
1
−
2
31
+ ≤
# z
≤
2
31
−
1
0 < speed <= 2040
Y
(x,y,z)
(0,0,0)
X
Z
Example:
MSERVO3_INTP_XYZ(CARD1,2000,-3000,3333,1000);
MSERVO3_INTP_XYZ(CARD1,-500,200,200,500); http://www.icpdas.com
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SERVO-300 User Manual
(25) MSERVO3_INTP_LINE(unsigned char cardNo, long x, long y, unsigned int speed);
Version 2.0 02/2001
This command will move a long distance interpolation line in X-Y plane.
cardNo : board number 0~9.
−
2
31
+ ≤
# x
≤
2
31
−
1
−
2
31
+ ≤
# y
≤
2
31
−
1
0 < speed <= 2040
Y
(X,Y)
(0,0)
X
Example:
MSERVO3_INTP_LINE(CARD1,2000,-3000,1000);
MSERVO3_INTP_LINE(CARD1,-500,200,1000);
(26) MSERVO3_INTP_LINE01(unsigned char cardNo,
unsigned char plane,
long x,
long y, unsigned int speed);
This command will move a long distance interpolation line in X-Y or
X-Z or Y-Z plane.
plane :
1 : X-Y plane
2 : X-Z plane
3 : Y-Z plane http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(27) MSERVO3_INTP_CIRCLE( unsigned char cardNo, long x, long y, unsigned char dir, unsigned int speed);
This command will generate an interpolation circle in X-Y plane. PC will automatically generate a trapezoidal speed profile of X-axis and Y-axis, and send these profile via of MSERVO3_INTP_PULSE( ) command.
cardNo : board number 0~9.
x, y : center point of circle related to present position.
dir : moving direction.
0 : CW
1 : CCW
−
2
31
+ ≤
# x
≤
2
31
−
1
−
2
31
+ ≤
# y
≤
2
31
−
1
0 < speed <= 2040
Y
(X,Y)
CW
X
CCW where radius = sqrt(X^2 + Y^2)
Example:
MSERVO3_INTP_CIRCLE(CARD1, 2000,-2000,CW,500);
(28) MSERVO3_INTP_CIRCLE01(unsigned char cardNo, unsigned char plane, long x, long y, unsigned char dir, unsigned int speed);
This command will generate an interpolation circle in X-Y or
X-Z or Y-Z plane.
plane :
1 : X-Y plane
2 : X-Z plane
3 : Y-Z plane http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(29) MSERVO3_INTP_ARC(unsigned char cardNo, long x, long y, long R, unsigned char dir, unsigned int speed);
This command will generate an interpolation arc in X-Y plane. PC will automatically generate a trapezoidal speed profile of X-axis and Y-axis, and send these profile via MSERVO3_INTP_PULSE( ) command.
cardNo : board number 0~9.
x, y : end point of arc related to present position.
R : radius of arc.
if R>0 , the arc < 180 degree if R<0 , the arc > 180 degree dir : moving direction.
0 : CW
1 : CCW
R
R>0
R>0
R<0
R<0
0 < speed <= 2040
'A'
CW dir
CW
CCW
CW
CCW path of curve
'B'
'C'
'A'
'D'
Y
'B'
CW
CCW
'C'
(X,Y)
CCW
'D'
X http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
Restriction:
−
2
31
+ ≤
# x
≤
2
31
−
1
−
2
31
+ ≤
# y
≤
2
31
−
1
−
2
31
+ ≤
# R
≤
2
31
−
1
R
≥
x
2
+
y
2
2
Example:
MSERVO3_INTP_ARC(CARD1,2000,-2000,2000,CW,500);
(30) MSERVO3_INTP_ARC01(unsigned char cardNo, unsigned char plane, long x, long y, long R, unsigned char dir, unsigned int speed);
This command will generate an interpolation arc in X-Y or X-Z or Y-Z plane.
plane :
1 : X-Y plane
2 : X-Z plane
3 : Y-Z plane http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
3.2.5 Get information
To get the information transferred from SERVO-300 board, the user should construct a timer interrupt to poll information. The software skeleton has been described in chapter 3.1.
The MSERVO3_GET_CARD() command should be executed at the beginning and then to get information you need.
example: void __fastcall TMSERVO::Timer1Timer(TObject *Sender)
{ char str[20];
Timer1->Interval = 10; //10ms if (exist==YES)
{
card1.ip = MSERVO3_DI(CARD1);
card1.msc= MSERVO3_MSC(CARD1);
MSERVO3_GET_CARD(CARD1);
}
card1.sys =MSERVO3_GET_SYS(CARD1);
card1.ls =MSERVO3_GET_LIMIT(CARD1);
card1.p1 =MSERVO3_GET_P1(CARD1);
card1.XC =MSERVO3_GET_XC(CARD1);
card1.XP =MSERVO3_GET_XP(CARD1);
card1.YC =MSERVO3_GET_YC(CARD1);
card1.YP =MSERVO3_GET_YP(CARD1);
card1.ZC =MSERVO3_GET_ZC(CARD1);
card1.ZP =MSERVO3_GET_ZP(CARD1);
} http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(31) MSERVO3_GET_CARD(unsigned char cardNo)
This command uses timer interrupt to poll the information transferred from SERVO-300 board.
CardNo : board number 0~9.
(32) unsigned char MSERVO3_GET_SYS(unsigned char cardNo)
The sys register contains
MSB 7 6
Error xx
5 xx
4 xx
3 2 1 0 LSB xx Z_ERR Y_ER
R
X_ER
R
Error : indicate hardware failure error
X_ERR : indicate X axis hardware failure error
Y_ERR : indicate Y axis hardware failure error
Z_ERR : indicate Z axis hardware failure error
(33) unsigned char MSERVO3_GET_LIMIT(unsigned char cardNo)
The limit register contains
MSB 7 6 xx xx
5
/ZLS-
4
/ZLS+
3 2 1 0 LSB
/YLS- /YLS+ /XLS- /XLS+
(34) unsigned char MSERVO3_GET_P1(unsigned char cardNo)
The P1 register contains
MSB 7 6 xx C3
5
C2
4
C1
3
/ZI
2
/YI
1
/XI
0 LSB
/EMG
/EMG : emergency input, low active.
/XI, /YI, /ZI : indicate home index switch, low active.
C1, C2, C3 indicate the encoder index of X, Y, Z axis, respectively.
high active
(35) long MSERVO3_GET_XC(unsigned char cardNo)
Get the command position of X axis.
CardNo : board number 0~9.
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(36) long MSERVO3_GET_XP(unsigned char cardNo)
Get the actual position of X axis.
CardNo : board number 0~9.
(37) long MSERVO3_GET_YC(unsigned char cardNo)
Get the command position of Y axis .
CardNo : board number 0~9.
(38) long MSERVO3_GET_YP(unsigned char cardNo)
Get the actual position of Y axis .
CardNo : board number 0~9.
(39) long MSERVO3_GET_ZC(unsigned char cardNo)
Get the command position of Z axis.
CardNo : board number 0~9.
(40) long MSERVO3_GET_ZP(unsigned char cardNo)
Get the actual position of Z axis
CardNo : board number 0~9.
http://www.icpdas.com
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SERVO-300 User Manual
3.2.6 Others
Version 2.0 02/2001
(41) unsigned char MSERVO3_DI(unsigned char cardNo)
To get the DI register
MSB 7 6 di7 di6
5 di5
4 di4
3 di3
2 di2
1 di1
0 LSB di0
(42) MSERVO3_DO(unsigned char cardNo, unsigned char value)
To output DO port
MSB 7 6 don't use
5 4 3 2 1 0 LSB
DO6 DO5 DO4 DO3 DO2 DO1 DO0
(43) unsigned char MSERVO3_MSC(unsigned char cardNo)
To get the status of limit switch
MSB 7 6 5 4 3
/EMG /Zstop /Ystop /Xstop xx
2 xx
1 xx
0 LSB xx
/Xstop, /Ystop, /Zstop : indicates which axis is stop, low active
/EMG : emergency switch, low active.
http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
(44) MSERVO3_CALV(unsigned char cardNo,
unsigned char axis,
int value);
When this command is executed, the related axis goes to the open loop mode(TEST_MODE). The SERVO-300 board will directly output a constant voltage by D/A converter.
cardNo : board number 0~9.
axis : selected axis.
-2047(-10V) <= value <= 2047(10V)
(45) MSERVO3_WAIT_X(unsigned char cardNo)
To wait X-axis goes to the STOP state.
(46) MSERVO3_WAIT_Y(unsigned char cardNo)
To wait Y-axis goes to the STOP state.
(47) MSERVO3_WAIT_Z(unsigned char cardNo)
To wait Z-axis goes to the STOP state.
(48) unsigned char MSERVO3_IS_X_STOP(unsigned char cardNo)
To check whether X axis is STOP or not.
Return value
0 (NO) : not yet stop
1 (YES) : stop
(49) unsigned char MSERVO3_IS_Y_STOP(unsigned char cardNo)
To check whether Y axis is STOP or not.
Return value
0 (NO) : not yet stop
1 (YES) : stop
(50) unsigned char MSERVO3_IS_Z_STOP(unsigned char cardNo)
To check whether Z axis is STOP or not.
Return value
0 (NO) : not yet stop
1 (YES) : stop
(51) MSERVO3_SET_NC(unsigned char cardNo, unsigned char sw);
To set all of the following limit switches as N.C.(normal close) or
N.O.(normal open). If set as N.O., those limit switches are active low. If http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001 set as N.C., those limit switches are active high. The auto-protection will automatically change the judgement whatever it is N.O. or N.C..
Limit switches: XLS+, XLS-, YLS+, YLS-, ZLS+, ZLS-, EMG, XI, YI and
ZI.
cardNo : card number 0~15.
sw: 0(NO) normal open (default).
1(YES) normal close.
http://www.icpdas.com
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3.2.7 New Interpolation command
The new driver provide a set of state-machine-type interpolation command including:
(52) MSERVO3_INTP_XYZ02(unsigned char cardNo,
long x, long y, long z,
unsigned int speed,
unsigned char acc_mode);
(53) MSERVO3_INTP_LINE02(unsigned char cardNo, unsigned char plane, long x, long y, unsigned int speed,
unsigned char acc_mode);
(54) MSERVO3_INTP_CIRCLE02( unsigned char cardNo, unsigned char plane,
long x, long y, unsigned char dir,
unsigned int speed,
unsigned char acc_mode);
(55) MSERVO3_INTP_ARC02(unsigned char cardNo, unsigned char plane,
long x, long y, long R, unsigned char dir,
unsigned int speed,
unsigned char acc_mode);
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile
These command can be set acc_mode=1 to disable the acceleration and deceleration profile.
(56) unsigned char MSERVO3_INTP_STOP()
These command is to compute the interpolation service. It will return
READY(0) for interpolation command completed. And retrun BUSY(1) for not yet complete.
These 4 commands are state machine type command, they are only set parameters into the driver. The computing entity is in
MSERVO3_GET_CARD()
(only for windows) and
MSERVO3_INTP_STOP().
In windows application, when The MSERVO3_GET_CARD() command is http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual running in the timer interrupt routine by 10ms, it will help to calculate the interpolation service.
Both of DOS and windows application, User can directly call the do {} while
(MSERVO3_INTP_STOP()!=READY) to execute the computing entity. The user can monitor something or waiting for keyboard input in the do loop.
Therefore, The user has chance to do the software stop or monitor something.
DOS application example1
MSERVO3_INTP_XYZ02(CARD1,1000,1000,0,20,1); do
{
show_panel();
if (kbhit()) chkey=bioskey(0); //F7=0x4100
} while ( (chkey!= 0x4100) && (MSERVO3_INTP_STOP()!=READY) );
if (chkey==0x4100) MSERVO3_STOP_ALL(CARD1);
DOS application example2
void TimerInterrupt(void)
{
MSERVO3_GET_CARD(CARD1);
show_panel();
if (kbhit()) chkey=bioskey(0); //F7=0x4100
}
void test_intp(void)
{
MSERVO3_INTP_XYZ02(CARD1,1000,1000,0,20,1); do
{ } while ( (chkey!= 0x4100) && (MSERVO3_INTP_STOP()!=READY) );
if (chkey==0x4100) MSERVO3_STOP_ALL(CARD1);
}
Windows application example1
{
void __fastcall TMSERVO::Timer1Timer(TObject *Sender)
Timer1->Interval = 10; //10ms
MSERVO3_GET_CARD(CARD1);
}
show_panel(); http://www.icpdas.com
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Version 2.0 02/2001
ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
{
void __fastcall TMSERVO::IntpLineClick(TObject *Sender)
char str[20];
if ( (MSERVO3_IS_X_STOP(CARD1)==NO)
|| (MSERVO3_IS_Y_STOP(CARD1)==NO)
|| (MSERVO3_IS_Z_STOP(CARD1)==NO))
{
Application->MessageBox(
"Motor's rotating, can't execute this command",
"Message Box",
MB_DEFBUTTON1);
return;
};
ltoa(x, str, 10);
IntpLineDialog->Xpulse->Text = AnsiString(str);
ltoa(y, str, 10);
IntpLineDialog->Ypulse->Text = AnsiString(str);
ltoa(speed, str, 10);
IntpLineDialog->speed->Text = AnsiString(str);
IntpLineDialog->SelectPlane->ItemIndex = plane-1;
if (IntpLineDialog->ShowModal()==mrOk)
{
x= (long)IntpLineDialog->Xpulse->Text.ToInt();
y= (long)IntpLineDialog->Ypulse->Text.ToInt();
speed= (unsigned int)IntpLineDialog->speed->Text.ToInt();
plane= (unsigned char)(IntpLineDialog->SelectPlane->ItemIndex + 1);
//MSERVO3_INTP_LINE01(CARD1,plane,x,y,speed);
MSERVO3_INTP_LINE02(CARD1,plane,x,y,speed,0);
do {Application->ProcessMessages();}
while (MSERVO3_INTP_STOP()!=READY);
}
} http://www.icpdas.com
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SERVO-300 User Manual
The example for wait stop command (DOS):
Version 2.0 02/2001
//test XYZ01, no acceleration
MSERVO3_INTP_XYZ02(CARD1,1000,1000,0,20,1); do {} while (MSERVO3_INTP_STOP()!=READY);
MSERVO3_INTP_XYZ02(CARD1,2000,1000,0,22,1); do {} while (MSERVO3_INTP_STOP()!=READY);
MSERVO3_INTP_XYZ02(CARD1,2000,2000,0,24,1); do {} while (MSERVO3_INTP_STOP()!=READY);
MSERVO3_INTP_XYZ02(CARD1,1000,2000,0,26,1);
do {} while (MSERVO3_INTP_STOP()!=READY); do {} while (MSERVO3_IS_X_STOP(CARD1)==NO); delay(10000);
//test WAIT_X, WAIT_Y, WAIT_Z
MSERVO3_INTP_LINE02(CARD1, XY_plane, 10000,-10000,200,0); do {} while (MSERVO3_INTP_STOP()!=READY);
MSERVO3_INTP_LINE02(CARD1, XY_plane, -10000, 10000,200,0); do {} while (MSERVO3_INTP_STOP()!=READY);
MSERVO3_INTP_XYZ02(CARD1, 5000, -10000, -40000, 200, 0); do {} while (MSERVO3_INTP_STOP()!=READY); do {} while (MSERVO3_IS_X_STOP(CARD1)==NO); do {} while (MSERVO3_IS_Y_STOP(CARD1)==NO); do {} while (MSERVO3_IS_Z_STOP(CARD1)==NO);
MSERVO3_STOP_ALL(CARD1); delay(10000);
0);
MSERVO3_INTP_CIRCLE02(CARD1, XY_plane, 5000,-5000, CW, 200, do {} while (MSERVO3_INTP_STOP()!=READY); do {} while (MSERVO3_IS_X_STOP(CARD1)==NO); do {} while (MSERVO3_IS_Y_STOP(CARD1)==NO);
MSERVO3_STOP_ALL(CARD1); http://www.icpdas.com
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SERVO-300 User Manual
4. Driver
DOS Driver (C, C++)
Item
Header file
Library file
Example file
Windows 95 Driver
File mservo3.h
mservo3.lib
sv3tcc.prj(turbo C++)
Version 2.0 02/2001
Item
Header file
ImportLibrary file
File servo32.h
servo32.lib
bcservo.lib (only for Borland C++)
Dynamic Link Library servo32.dll(copy to c:\windows)
VxD file napdio.vxd(copy to c:\windows)
Example file bcservo1.bpr(Borland C++ Builder) bcservo1.cpp
main.cpp
Windows NT Driver
Item
Header file
ImportLibrary file
File servo32.h
servo32.lib
bcservo.lib (only for Borland C++)
Dynamic Link Library servo32.dll
Driver regdrv.bat
napwnt.ini
napwnt.sys
regini.exe
Example file bcservo1.bpr(Borland C++ Builder) bcservo1.cpp
main.cpp
http://www.icpdas.com
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5. Example
5.1 DOS example
The execution file, SV3TCC.EXE/SV3BCC.EXE, is a testing program. It can let you fully understand the action of every command. The source files include SV3TCC.PRJ(SV3BCC.IDE), MAIN.CPP, MSERVO3.H and
MSERVO3.LIB. The MAIN.CPP file provides several examples of
MSERVO3 command set. If you have any questions about the command set, you can trace the MAIN.CPP source file.
The panel of SV3TCC.EXE has three areas :
(1) I/O information area
It indicates the status of limit switch, digital input/output and SERVO-300 board.
(2) motion parameter area
It shows the variables of motion parameter. It also shows the command position and actual position of each axis.
(3) Command area
You can select any command and execute it.
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The panel of DOS example
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SERVO-300 User Manual Version 2.0 02/2001
5.2 Windows example
The bcservo1.exe (source file included) is an example of SERVO-300 board. It has windows95 and NT edition. If you have any question about
SERVO-300 command set, you can trace the source file.
The panel of bcservo1.exe has three areas :
(1) I/O information area
It indicates the status of limit switches, digital inputs/outputs and
SERVO-300 board.
(2) Motion parameter area
It shows the variables of motion parameter. It also shows the command position and actual position of each axis. All parameters can be modified and updated by pressing the lower-right menu bar.
(3) Command area
You can select any command and execute it.
The panel of windows example http://www.icpdas.com
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
6. Application
The SERVO-300 can be applied in X-Y table control, robot, CNC PCB driller, CNC PCB router, CNC wire cutter, lathe and semiconductor equipment.
For easily set up a machine, there are two daughter boards DB-8R and
DB-200 can be adopted. The DB-8R board is the connection board for limit switches, digital inputs/outputs. The DB-200 board is the connection board for servo driver that includes encoder signal A+,A-,B+,B-,C+,C- and voltage command. The following two figure is the outlook of DB-8R and DB-200.
IP8 IP7 IP6 IP5 IP4 IP3 IP2 IP1 EMG YI XI YLS-YLS+XLS-XLS+
DIP switch for test limit switch and inputs
ACOM VCOM VI DP8 DP7 DP6 DP5 DP4 DP3 DP2 DP1
The DB-8R daughter board
DB-25
VOUT1 SON1 VOUT2 SON2
AGND VCOM AGND VCOM
EGND +5V 1C- 1C+ 1B- 1B+ 1A- 1A+
EGND +5V 2C- 2C+ 2B- 2B+ 2A- 2A+
AGND +24V ZI ZLS-
VOUT3 SON3 VCOM ZLS+
EGND +5V 3C- 3C+ 3B- 3B+ 3A- 3A+
The DB-200 daughter board
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ICPDAS
SERVO-300 User Manual Version 2.0 02/2001
6.1 Functional testing
If the user wants to verify the hardware and the function of SERVO-300, it can run the bcservo1.exe in windows95/98 or windows NT. The control panel will show in the screen as following.
For easily test, the hardware connect as the following diagram.
DB-8R
SERVO-300
DIP switch
24V
DIO connection
X,Y axis connection
Z axis connection
Encoder connection
DB-200 http://www.icpdas.com
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SERVO-300 User Manual Version 2.0 02/2001
•
Check the SERVO-300 card is existed or not
The indicator “EXIST” will show the SERVO-300 card is existed or not. In case of card is not existed, all of the function will not able to be performed.
•
Test digital inputs and limit switches
First of all, the external power +24V shall be applied. While turn on the DIP switch on DB-8R daughter board, the corresponding LED on DB-8R and indicator in the control will light.
•
Test outputs
First of all, the external power +24V shall be applied. The user can press the button MSERVO3_DO, and turn on the DO then press OK button, the corresponding DO LED on DB-8R will light.
•
Test encoder input
The user can use a encoder or servo motor to test this item. It just connect the A+,A-,B+,B-,C+,C-,5V and GND to the daughter board DB-200, and then rotate the encoder or motor’s shaft by manual. The position will be shown on the panel. The index C also will be shown on panel when rotate slowly.
•
Test analog output
The test mode is open loop control that means output a constant voltage.
The button MSERVO3_CALV provides test mode output function. The user can output the value between –2040(-9.96V) to 2040(+9.96V). The analog offset also can be calibrated by this mode when set the value as 0, then to tune the variable resister on the SERVO-300 board.
•
Test servo on signal
The servo ON/OFF switch right in the parameter area on the panel. The user can select ON or OFF, and press the update parameter button, the corresponding SON1-3 will act.
•
Test motion command in simulation mode
First of all, select the SIMU mode and then press the update parameter button. The user can execute the motion command such as
MSERVO3_PULSE_MOVE. The simulated position will show on the control panel.
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ICPDAS
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Key features
- 3-axis servo motor control
- Command-type execution
- Embedded CPU
- Linear and circular interpolation
- Programmable speed profile
- 2500 points per axis pitch error compensation
- Limit switch auto-protection
- Hardware failure detection
- Digital input/output
- Emergency stop
