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Summary of Contents for FiveCo FMod-IPAXESCTRL
- Page 1 1 / 71 3 Axes Ethernet Control Board FMod-IPAXESCTRL H:1.1 / F:1.11 User’s Manual Version 1.1 FMod-IPAXESCTRL User Manual v.1.1...
- Page 2 The user agrees that protection against consequences resulting from device system failure is the user's responsibility. Changes or modifications to this device not explicitly approved by FiveCo will void the user's authority to operate the device. FMod-IPAXESCTRL User Manual v.1.1...
- Page 3 - First revision history Since 1.8 21.04.05 - Add IP SUBNETMASK register (0x13) Since 1.11 - Add TCPCONNECTIONSOPENED register (0x1A) - Easy change IP with broadcast - Add relative coordinate with relative zero - Add AXISxPOSITIONOFFSET registers (relative offset) FMod-IPAXESCTRL User Manual v.1.1...
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Page 4: Table Of Contents
Java Applet......................24 Overview ........................24 Main Panel ........................25 Board’s communication settings Panel...............26 Keyboard settings panel ....................27 LCD text Panel ......................29 Modes & Axes settings Panel ..................30 Reference zero absolute/relative................31 Registers management ..................32 Memory Organization....................32 Full Register Description ...................33 FMod-IPAXESCTRL User Manual v.1.1... -
Page 5: Package And Operating Conditions
5 / 71 1. Package and operating conditions Package contents 1 Axes Ethernet Control board : FMod-IPAXESCTRL This manual (optional) Power Supply : Power over Ethernet IEEE802.3af Hub-injector (110-240 VAC, 50/60Hz -> +48v, 350 mA) FMod-IPAXESCTRL User Manual v.1.1... -
Page 6: Operating Conditions
25mA when idle @ Vcc 24 V 15mA when idle @ Vcc 48 V Power consumption (~1.2W) 150mA when idle @ Vcc 7 V With LCD & Trackball 45mA when idle @ Vcc 24 V 25mA when idle @ Vcc 48 V FMod-IPAXESCTRL User Manual v.1.1... -
Page 7: Overview
Ethernet network. In addition, the board follows the IEEE 802.3af standard which allows it to be powered through the Ethernet cable (PoE-Powered Device). The FMod-IPAXESCTRL board works without the use of a computer (PC or Mac). It communicates independently with the selected FMod-IPxxMOT devices (motor control cards) through the Ethernet network. -
Page 8: Connection Architecture (Ethernet)
Router) and therefore the system will become accessible from everywhere (remote). Note : It is also possible to connect directly the FMod-IPAXESCTRL to one FMod- IPDCMOT48/1.5 motor control card through a simple Ethernet Cross Cable (not using the switch). In this case the system will only be able to control one (1) motor/axis. -
Page 9: Board Layout
9 / 71 Board Layout SOS button Power Power Ethernet RJ45 Keyboard 2x4 Keyboard 4x4 Trackball LEDs indicator LCD display 75.7 69.5 64.3 ∅3.2 70.5 Height max: 20mm FMod-IPAXESCTRL User Manual v.1.1... -
Page 10: Quick Start
The user agrees that protection against consequences resulting from device system failure is the user's responsibility. motion@fiveco.com / www.fiveco.com The MAC Address is the 48bits unique identifier on Ethernet networks. -
Page 11: Power And Network
(direct-link), or with a straight cable to a Ethernet-switch. Connect the cable to the card and to the PC Connection with an Ethernet crosscable Connect power (7-48V) to the module. Or with a POE injector. Discrete power supply PoE with a Power injector FMod-IPAXESCTRL User Manual v.1.1... -
Page 12: Changing Ip Address
6. If you have more than one network adapter on your PC, the software ask you to select the one which is connected to the same network as the FMod-IPAXESCTRL. 7. The software suggests you a new IP address without the last byte. -
Page 13: Hardware
• FMod-IPAXESCTRL + Keyboard • FMod-IPAXESCTRL + Keyboard + trackball • FMod-IPAXESCTRL + Keyboard + LCD • FMod-IPAXESCTRL + Keyboard + LCD + trackball An independent connector for each peripheral is present on the card. No particular configuration is needed to enable/disable each of them. -
Page 14: Lcd Display
IPAXESCTRL, and always ON. Different LCD colors are available, FiveCo recommend the LCD’s from Crystalfontz (www.crystalfontz.com) The LCD used by FiveCo is the Crystalfontz model CFAH2004A-TMI-JP (with LSI HD44780 driver inside), blue-backlit with white characters (pictured on the left). The connector on the FMod-IPAXESCTRL... -
Page 15: Keyboard
Column 0 Column 1 Column 2 Column 3 Line 2 Line 3 Line 1 Line 0 The next scheme shows the position of each key on the Keyboard (useful for the configuration). Column: 0 Connector Connector FMod-IPAXESCTRL User Manual v.1.1... -
Page 16: Trackball
(ex: Megatron model 816TC). Board J5 connector pinout: - (not connected) - (nc) - (nc) - (nc) Trackball connector pinout and axes: Axe 1 FMod-IPAXESCTRL User Manual v.1.1... -
Page 17: Leds
17 / 71 LEDs The FMod-IPAXESCTRL is provided with a connector for 4 LED (J3). They give information about the mode (1, 2, 3) of the board and the state (activity or not) of the axes. Here is the LED’s layout:... -
Page 18: Sos Button
Do not use the “SOS IP address” as the normal IP for your module (during normal board operation), because if you plug another module on the same network, they will have the same IP and therefore it will be impossible to configure both of them. FMod-IPAXESCTRL User Manual v.1.1... -
Page 19: Tcp/Udp Server
4 users can be connected to the #8010 port and control the I/Os, or even that two see the page and two control the I/Os, etc. In UDP protocol there is no limitation on the number of users connected. FMod-IPAXESCTRL User Manual v.1.1... -
Page 20: Tcp-Http Port (# 80)
If you don’t use a browser software, you can write your own software that can access to the HTTP port and ask for a specific webpage, and then retrieve the page content in the html code. FMod-IPAXESCTRL User Manual v.1.1... -
Page 21: Tcp & Udp Control Port (# 8010)
(communication request) should have a different ID (even if this is not mandatory). When the FMod-IPAXESCTRL receives a command/packet, it sends back an answer (at each request). This answer contains the same Transaction ID than the corresponding command previously sent. In that way the user is able to check the execution of each command. - Page 22 The module answers with the following sequence: Byte# Number of bits Example 0x00 16 bits 0x0024 Write Answer (0x0024) 0x02 TransactionID (same as 16 bits 0x1B34 demand) 0x04 0x0000 16 bits 0x0000 0x06 Checksum 16 bits 0xnnnn FMod-IPAXESCTRL User Manual v.1.1...
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Page 23: Checksum Calculation
This checksum calculation is the same as the checksum used in the IP protocol. Definition: sum of 1’s complement of all 16 bits words of whole message (fiveco’s packet) except checksum bytes. Code structure: (all values are unsigned) Clear accumulator... -
Page 24: Java Applet
Note that the “Back” and “Forward” commands of the browser will not be useful to navigate through the applet’s panels. FMod-IPAXESCTRL User Manual v.1.1... -
Page 25: Main Panel
• “Restore user settings”: is used to restore the USER’s configuration from EEPROM • “Restore factory settings”: To restore the FACTORY’s default settings. Note: You will find more details about user/factory parameters management with the corresponding chapter. FMod-IPAXESCTRL User Manual v.1.1... -
Page 26: Board's Communication Settings Panel
26 / 71 Board’s communication settings Panel This panel is used to change the FMod-IPAXESCTRL board’s communication parameters: • IP address: Press the “Change” button and the new one will be valid only when all connected users will have closed their connection (begun with the previous IPaddress). -
Page 27: Keyboard Settings Panel
Each key of the keypad is represented by a character: from A (line0, column0) to P (line3, column3) and the corresponding list of available functions. Just press the corresponding scrollmenu and choose the function your want to program for this specific button. FMod-IPAXESCTRL User Manual v.1.1... - Page 28 Warning: Some functions could be different depending on the time the button is pressed. The table above follows the rule: >> press the button fast press the button more than 3[s] >> Funct 1 Funct 2 >> ex: Save position 1 FMod-IPAXESCTRL User Manual v.1.1...
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Page 29: Lcd Text Panel
(also between) with the # values. Note: The first line is reserved for text, the second shows the values of the axis1, the third the values of the axis2 and the last line the values of axis 3. FMod-IPAXESCTRL User Manual v.1.1... -
Page 30: Modes & Axes Settings Panel
Modes & Axes settings Panel This panel manages the parameters of the 3 motor control boards [FMod-IPxxMOT] (IP address of each Axis) that can be controlled through the FMod-IPAXESCTRL card. For each axis, the user can define 3 DIFFERENT MODES that... -
Page 31: Reference Zero Absolute/Relative
31 / 71 7. Reference zero absolute/relative FMod-IPAXESCTRL is able to work with the exact position coming from each FMod-IPxxMOT. In that case we speak about zero absolute, because the “0” displayed on FMod-IPAXESCTRL means that the corresponding axis POSITION register is really at position 0. -
Page 32: Registers Management
Action Number and description: SaveUserParameters (0x03) function During standard power-up or calling RestoreUserParameters (0x04) function RestoreFactoryParameters (0x05) function SaveFactoryParameters (0x06) function [For integrators engineers only] By pressing “SOS Button” after power-up By pressing “SOS Button” during power-up FMod-IPAXESCTRL User Manual v.1.1... -
Page 33: Full Register Description
0x29 (41) LCDMODE1TEXT 0x2A (42) LCDMODE2TEXT 0x2B (43) LCDMODE3TEXT Axis1 0x30 (48) AXIS1POSITIONOFFSET 0x31 (49) AXIS1MACADDRESS 0x32 (50) AXIS1IPADDRESS 0x33 (51) AXIS1MODE1DISPLAYRATIO 0x34 (52) AXIS1MODE1HIDRATIO 0x35 (53) AXIS1MODE2DISPLAYRATIO 0x36 (54) AXIS1MODE2HIDRATIO 0x37 (55) AXIS1MODE3DISPLAYRATIO 0x38 (56) AXIS1MODE3HIDRATIO FMod-IPAXESCTRL User Manual v.1.1... - Page 34 0x46 (70) AXIS2MODE2HIDRATIO 0x47 (71) AXIS2MODE3DISPLAYRATIO 0x48 (72) AXIS2MODE3HIDRATIO Axis3 0x50 (80) AXIS3POSITIONOFFSET 0x51 (81) AXIS3MACADDRESS 0x52 (82) AXIS3IPADDRESS 0x53 (83) AXIS3MODE1DISPLAYRATIO 0x54 (84) AXIS3MODE1HIDRATIO 0x55 (85) AXIS3MODE2DISPLAYRATIO 0x56 (86) AXIS3MODE2HIDRATIO 0x57 (87) AXIS3MODE3DISPLAYRATIO 0x58 (88) AXIS3MODE3HIDRATIO FMod-IPAXESCTRL User Manual v.1.1...
- Page 35 It defines which kind of module it is. Normally different TYPE modules are not software compatible. Example: Module with TYPE = 0x00040000 means Type=4 (4= IP axes controller), Model = 0. Limits: None Active: Each time the processor is running FMod-IPAXESCTRL User Manual v.1.1...
- Page 36 Firmware 0x00010007 = Version 1, Revision 7 is compatible with all earlier revisions of the same version (ver 1.0 to 1.6). But it has new functionalities (which are deactivated by default) or code optimizations. Limits: None Active: Each time the processor is running FMod-IPAXESCTRL User Manual v.1.1...
- Page 37 Read/Write Control 0x02 RESETCPU Restart processor Write only Register Size Register structure Unit 0 Bytes none none Description: Restart the CPU of the board. The communication will be lost. Active: Each time the processor is running FMod-IPAXESCTRL User Manual v.1.1...
- Page 38 0x50 AXIS3POSITIONOFFSET 0x52 AXIS3IPADDRESS 0x53 AXIS3MODE1DISPLAYRATIO 0x54 AXIS3MODE1HIDRATIO 0x55 AXIS3MODE2DISPLAYRATIO 0x56 AXIS3MODE2HIDRATIO 0x57 AXIS3MODE3DISPLAYRATIO 0x58 AXIS3MODE3HIDRATIO Active: Each time the processor is running. Do not change any of these parameters during 1 sec while saving ! FMod-IPAXESCTRL User Manual v.1.1...
- Page 39 Read/Write Control 0x04 RESTOREUSERPARAMETERS Restores saved values Write only Register Size Register structure Unit 0 Bytes none none Restore the user parameters from EEPROM. See SAVEUSERPARAMETERS (0x03) register list. Active: Each time the processor is running. FMod-IPAXESCTRL User Manual v.1.1...
- Page 40 Register structure Unit 0 Bytes none none Description: Restore factory parameters. See SAVEUSERPARAMETERS (0x03) register list. Active: Each time the processor is running SAVEUSERPARAMETERS must be done after this function for next reboot with these parameters. FMod-IPAXESCTRL User Manual v.1.1...
- Page 41 Warning: This function also executes the SAVEUSERPARAMETERS function. See SAVEUSERPARAMETERS (0x03) saved register’s list. Active: Each time the processor is running. Do not change any of these parameters during 1 sec while saving! FMod-IPAXESCTRL User Manual v.1.1...
- Page 42 0x000000xx = 0.0 Step 0x000001xx = 0.004 Example: When read 0x00234567 = 2311527 , Voltage = 35.27 (2311527/65536) Information: Below effective 6.5 V (0x00068000), this value has no meaning. Active: Each time the processor is running. FMod-IPAXESCTRL User Manual v.1.1...
- Page 43 Only the bits that show the states in the past can be cleared by writing 0x00000000 to WARNING register. Bits when set Warnings.0-31 Reserved for future use. Default: bits 31 -> 0 0x00000000 Active: Each time the processor is running, FMod-IPAXESCTRL User Manual v.1.1...
- Page 44 Unsigned Int 32 bits , each bit independent none Description: Settings for ethernet communication. Bits 0-31 Reserved for future use. Limits: None Default: bits 31 -> 0 0x00, 0x00, 0x00, b’00000000’ Active: Each time the processor is running FMod-IPAXESCTRL User Manual v.1.1...
- Page 45 6 x Unsigned Byte none Description: Standard hardware unique identifier (world) for each device on an ethernet network. Information: If user writes into this register, the address won't be modified. This register is available only for informational purpose. FMod-IPAXESCTRL User Manual v.1.1...
- Page 46 The module will change for a new IP address only when all of its communications ports are closed. Do not forget to execute the SAVEUSERPARAMETERS function in order to save the IPaddress. Example: For the IP=192.168.16.14 (0xC0, 0xA8, 0x10, 0x0E) , write 0xC0A8100E to IPADDRESS. FMod-IPAXESCTRL User Manual v.1.1...
- Page 47 If you do not want to use subnets, use the following subnet mask when IP address is: IP address (range) Subnet mask 1.x.x.x … 127.x.x.x : 255.0.0.0 (Class A addresses) 128.x.x.x … 191.x.x.x : 255.255.0.0 (Class B addresses) 192.x.x.x … 223.x.x.x : 255.255.255.0 (Class C addresses) FMod-IPAXESCTRL User Manual v.1.1...
- Page 48 4 communication will be blocked and the module will have to be reset ! Limits: Max: Default: Active: The timeout for each TCP/IP connection is reloaded when there is traffic through the port. Each time the processor is running. FMod-IPAXESCTRL User Manual v.1.1...
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Page 49: Module Name
16 (only) x Unsigned Byte (CHAR) none Description: Name and description of the module. Example: For the name “Hello Module”; extend to 16 byte the name: “Hello Module”+5x space=16 Byte. So write 0x48656C6C 6F204D6F 64756C65 20202020. FMod-IPAXESCTRL User Manual v.1.1... - Page 50 0x1A TCPCONNECTIONSOPENED connections that are Read Only opened Register Size Register structure Unit 1 Byte Unsigned Int 8 bits none Description: Number of users connected to the card using TCP. Value can be 0 to 4. FMod-IPAXESCTRL User Manual v.1.1...
- Page 51 Register structure Unit 4 Byte Unsigned Int 32 bits , each bit independent none Description: Bits when set DISPLAYOPTIONS.0-31 Reserved for future use. Default: bits 31 -> 0 0x00000000 Active: Each time the processor is running, FMod-IPAXESCTRL User Manual v.1.1...
- Page 52 Register structure Unit 4 Byte Unsigned Int 32 bits , each bit independent none Description: Bits when set TRACKBALLOPTIONS.0-31 Reserved for future use. Default: bits 31 -> 0 0x00000000 Active: Each time the processor is running, FMod-IPAXESCTRL User Manual v.1.1...
- Page 53 Register structure Unit 4 Byte Unsigned Int 32 bits , each bit independent none Description: Bits when set KEYBOARDOPTIONS.0-31 Reserved for future use. Default: bits 31 -> 0 0x00000000 Active: Each time the processor is running, FMod-IPAXESCTRL User Manual v.1.1...
- Page 54 Max: 0x35 (53) Default: 0x00 Example: With a 1 line and 4 columns Keyboard, with “Set all axes to Position mode” (0x01), increment (0x06), decrement Axis 1 (0x07) and “Go/Save position 1” (0x17) , write: 0x00000000000000000000000017070601 FMod-IPAXESCTRL User Manual v.1.1...
- Page 55 Each mode has a specific LCD display and a specific input/output ratio (input=HID/output=Display). Here is the list of registers selected with MODE=1: 0x29 LCDMODE1TEXT 0x33 AXIS1MODE1DISPLAYRATIO 0x34 AXIS1MODE1HIDRATIO 0x43 AXIS2MODE1DISPLAYRATIO 0x44 AXIS2MODE1HIDRATIO 0x43 AXIS3MODE1DISPLAYRATIO 0x44 AXIS3MODE1HIDRATIO Limits: Min: Max: Default: (at power up) FMod-IPAXESCTRL User Manual v.1.1...
- Page 56 Typically at 25°C Vo is ~0.5V (Vdd-Vo=4.5v). Example of LCDCONTRAST: 0-127 T°>25°C 128-255 T<25°C Limits: Min: ~2V (for 50°… 70°) Max: ~0V (for 0 … -20°C) Default: 127 ~0.5V for 25° Active: Each time the processor is running. FMod-IPAXESCTRL User Manual v.1.1...
- Page 57 “2 ###’###’### pls __“ 40 … 59 “3####mm ###um (#) __“ 60 … 79 WARNING: Be sure to send always 20 characters for each line (4x), for a total of 80 characters (bytes) to this register. FMod-IPAXESCTRL User Manual v.1.1...
- Page 58 Mode’s 2 display text Write (Read) Register Size Register structure Unit 80 Byte 80 x Char (Unsigned Byte) none Description: When register MODE=2, the text defined with LCDMODE2TEXT is displayed on the LCD. See LCDMODE1TEXT (0x29) for more details. FMod-IPAXESCTRL User Manual v.1.1...
- Page 59 Mode’s 3 display text Write (Read) Register Size Register structure Unit 80 Byte 80 x Char (Unsigned Byte) none Description: When register MODE=3, the text defined with LCDMODE3TEXT is displayed on the LCD. See LCDMODE1TEXT (0x29) for more details. FMod-IPAXESCTRL User Manual v.1.1...
- Page 60 When this register is updated with Key function “Set zero absolute” or “Set zero relative”, its value is automatically saved in User-EEPROM. Limits: 0x7FFFFFFFF = 2’147’483’647 0x80000000 = -2’147’483’648 Default: Active: Each time the processor is running, to disable relative reference, write 0 or press Key with function “Set zero absolute”. FMod-IPAXESCTRL User Manual v.1.1...
- Page 61 6 Byte 6 x Unsigned Byte none Description: Standard ethernet network’s hardware unique identifier for axis number 1. Information: This register is available only for informational purpose. Default: 0xFFFFFFFFFFFF while a connection has not already been made. FMod-IPAXESCTRL User Manual v.1.1...
- Page 62 The values 255 (0xFF) are reserved for broadcast and network address and should not be used in this register. Default: 169.254.5.5 (Axis 1)= default IP address of module FMod-IPDCMOT or FMod-IPECMOT. 169.254.5.6 (Axis 2) 169.254.5.7 (Axis 3) Example: For the IP=192.168.16.14 (0xC0, 0xA8, 0x10, 0x0E) , write 0xC0A8100E to AXIS1IPADDRESS. FMod-IPAXESCTRL User Manual v.1.1...
- Page 63 LCD. Default: Example: If you want to display micrometers (while MODE=1), and 1000 increments of axis 1 correspond to 1um, set AXIS1MODE1DISPLAYRATIO to 0.001 (1/1000). Active: Each time the processor is running, FMod-IPAXESCTRL User Manual v.1.1...
- Page 64 AXIS1MODE1HIDRATIO > 1. For small motor movement, multiple HID increments (a key pressed repetitively or several trackball pulses) can result to 1 position increment on the motor side. AXIS1MODE1HIDRATIO < 1. Active: Each time the processor is running, FMod-IPAXESCTRL User Manual v.1.1...
- Page 65 Function Read/Write Control Convert the display 0x35 (53) AXIS1MODE2DISPLAYRATIO Write (Read) value Register Size Register structure Unit 4 Byte Float 32 bits none Description: While MODE=2 only. For axis 1 only. See AXIS1MODE1DISPLAYRATIO (0x33) for details. FMod-IPAXESCTRL User Manual v.1.1...
- Page 66 Read/Write Control Convert human input 0x36 (54) AXIS1MODE2HIDRATIO Write (Read) to motor goal Register Size Register structure Unit 4 Byte Float 32 bits none Description: While MODE=1 only. For axis 1 only. See AXIS1MODE1HIDRATIO (0x34) for details. FMod-IPAXESCTRL User Manual v.1.1...
- Page 67 Function Read/Write Control Convert the display 0x37 (55) AXIS1MODE3DISPLAYRATIO Write (Read) value Register Size Register structure Unit 4 Byte Float 32 bits none Description: While MODE=3 only. For axis 1 only. See AXIS1MODE1DISPLAYRATIO (0x33) for details. FMod-IPAXESCTRL User Manual v.1.1...
- Page 68 Read/Write Control Convert human input 0x38 (56) AXIS1MODE3HIDRATIO Write (Read) to motor goal Register Size Register structure Unit 4 Byte Float 32 bits none Description: While MODE=3 only. For axis 1 only. See AXIS1MODE1HIDRATIO (0x34) for details. FMod-IPAXESCTRL User Manual v.1.1...
- Page 69 0x40 — 0x48 All Axis 2 registers 0x30 — 0x38 The use of these registers (0x40-0x48) is the same as described for AXIS 1, but applied to AXIS 2. Please refer to the corresponding pages in this manual. FMod-IPAXESCTRL User Manual v.1.1...
- Page 70 0x50 — 0x58 All Axis 3 registers 0x30 — 0x38 The use of these registers (0x50-0x58) is the same as described for AXIS 1, but applied to AXIS 3. Please refer to the corresponding pages in this manual. FMod-IPAXESCTRL User Manual v.1.1...
- Page 71 71 / 71 Contact address: FiveCo - Innovative Engineering PSE-C CH-1015 Lausanne Switzerland Tel: +41 21 693 86 71 Fax: +41 21 693 86 70 www.fiveco.com info@fiveco.com FMod-IPAXESCTRL User Manual v.1.1...