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Page 2 33 South La Patera Lane Santa Barbara, CA 93117 ph (805) 681-3300 fax (805) 681-3311 info@motioneng.com Version 1.5 - 1997 For the following MEI motion controllers: CPCI Bus ISA Bus PC-104 Bus STD Bus CPCI/DSP PCX/DSP 104/DSP SERCOS/STD PCI Bus...
Page 3 DSP Series Motion Controller Installation Guide Mar 2002 Part # M001-0001 rev. B Copyright 2002, Motion Engineering, Inc. Motion Engineering, Inc. 33 South La Patera Lane Santa Barbara, CA 93117-3214 ph 805-681-3300 fax 805-681-3311 e-mail: technical@motioneng.com website: http://www.motioneng.com ftp site: ftp.motioneng.com...
Page 4: Table Of Contents
ONTENTS UICK TART For Servo Motors ..........1-2 For Step Motors .
Page 5 ONTENTS Set Base I/O Address ......... . . 2-19 Set the Interrupts .
Page 6 ONTENTS Brush Servo Motors ........4-11 Brushless Servo Motors .
Page 7 ONTENTS Step 4: Manually Turn the Motor ........6-2 Step 5: Verify Motor/Encoder Phasing .
Page 8 ONTENTS Motion Menu ........... . C-17 Point-to-Point Motion .
Page 9 ONTENTS PCX ............E-19 CPCI .
Page 10: Quick Start
(the Microsoft Win32S extensions are available at no charge from Microsoft). Motion Console provides a powerful means to set-up, configure, test and debug motion control systems that use MEI controllers. If you use only DOS, then see Appendix C, for set-up procedures.
Page 11: For Servo Motors
Install the controller in the computer. Make sure the amplifier is turned off. Connect the encoders to the controller. Install the MEI software as described in the release note included with the distribution. Run Motion Console (located in the Motion Engineering program group under Start).
Page 12: For Step Motors
Install the controller in the computer and connect the step drive. Make sure the step drive is turned off. Install the MEI software as described in the release note included with the distribution. Start Motion Console (located in the Motion Engineering program group under Start).
Page 13: Motion Developer's Support Program
The DSP controller has non-volatile memory space to store the firmware and configuration pa- rameters. All of the DSP Series controllers are compatible with the latest firmware and soft- ware versions. Firmware can be easily downloaded to the controller with CONFIG.EXE.
Page 14: Version.exe
The VERSION program reads the current firmware version number and hardware identity from the DSP Series controller and displays them on the screen. The firmware version and op- tion numbers can be read directly from your application code with the functions dsp_version(...) and dsp_option(...).
Page 15: Configure Install Board
Install the controller in computer. Verify communication using Motion Console. (SERCOS controllers must be initial- ized before verifying communications. See DSP Series C Programming Reference for more information). Detailed instructions for each of these steps are organized by individual controllers.
Page 16: Stcs And Cables
& I ONFIGURE NSTALL OARD STCs and Cables We recommend using STC modules to provide quick and easy screw terminal connections to the controller’s signals. Basically, you connect the controller to the STC modules using ribbon cables, and then you connect the rest of the system to the STC modules (using discrete wires). STC's mount on standard DIN rail.
Page 17: For The Pci
Cable Connectors When installing MEI ribbon cables (ribbon cables are not used with the PCI controller), notice that the connectors (one at each end) are different. The non-strain relieved connectors fit into the headers on the controller. The strain relieved connectors fit into the STC modules.
Page 18: I/O Port Address Space For Pc-Based Architectures
Communication between the host CPU and the DSP Series controller occurs through a memory window. The start of this memory window is set by the address switch SW1 (for all DSP con- trollers except V6U). The DSP Series controllers use 6 addresses on the ISA/104/STD bus (see next table).
Page 19 & I ONFIGURE NSTALL OARD Figure 2-1 Host/DSP Communications over ISA/104/STD Bus I/O S DSP S PACE ERIES ONTROLLER ISA/104/STD Memory Window For DSP DSP Address Low Byte 0x300 Address DSP Address High Byte 0x301 DSP Data Low Byte 0x302 Data DSP Data Low Byte 0x303...
Page 20: Pcx
OFF OFF Set the Interrupts The DSP Series controllers can generate interrupts to the host CPU. SW2 connects the control- ler’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt, (IRQ2, IRQ3, ...) that you want the PCX to use.
Page 21: Connect Cables/Insert Board
& I ONFIGURE NSTALL OARD Table 2-4 IRQ Switch SW2 None Default IRQ2 IRQ3 IRQ4 IRQ5 IRQ10 IRQ11 IRQ12 IRQ13 Connect Cables/Insert Board CBL-20 STC-20 CBL-26 4 STCs 4 Cables STC-26 CBL-50 3 STCs 3 Cables STC-50 Connect PCX to STCs To install the controller: Turn off the power to your computer and remove the cover.
Page 22: Cpci
Accessing the CPCI In order to properly access the controller using any MEI-supplied utility ( Motion Console) or your own application program, you must obtain the address the BIOS gave to the CPCI-bus computer (at start-up). This can be determined by an MEI supplied function, find_pci_dsp(...), or via Motion Console.
Page 23 & I ONFIGURE NSTALL OARD Select an unused 6U expansion slot and remove its blank metal bracket from the com- puter. Orient the controller so that it lines up with the card guides and insert the controller partially into the chasis. Feed cables through the front panel and connect the non-strain relieved connectors to the CPCI.
Page 24: Pci
Accessing the PCI In order to properly access the controller using any MEI-supplied utility (Motion Console) or your own application program, you must obtain the address the BIOS gave to the PCI-bus con- troller (at start-up). This can be determined by an MEI supplied function, find_pci_dsp(...), or via Motion Console.
Page 25: Std
Default Set the Interrupts Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that you want the STD to use.
Page 26: Connect Cables/Insert Board
& I ONFIGURE NSTALL OARD Table 2-6 IRQ Switch SW2 None Default IRQX* *only supported by the STD-32 bus. INTRQ3* off INTRQ INTRQ1 Connect Cables/Insert Board CBL-20 STC-20 CBL-26 4 STCs 4 Cables STC-26 CBL-50 3 STCs 3 Cables STC-50 Connect STD to STCs To install the controller: Turn off the power to the STD card cage.
Page 27: Sercos/Std
Default Set the Interrupts Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that you want the SERCOS/STD to use.
Page 28: Connect Cables/Insert Board
Most drives have an LCD or LED display to indicate when the initialization is complete. Consult the specific drive documentation and chapter 6 of DSP Series C Programming Reference for more information about SERCOS initial- ization procedures. Once the SERCOS/STD has been initialized, you can exercise and tune the system using Mo- tion Console.
Page 29: V6U
& I ONFIGURE NSTALL OARD Locate Switches The base I/O address switch is located in the upper center of the V6U controller and is labeled SW1. SW2 is not currently used and should remain at its default setting (all ON). The IRQ Se- lect and Level switches (SW3 and SW4) are located in the right mid-section of the controller.
Page 30 The logic for the address switches are ON = low and OFF = high. Communication between the host CPU and the DSP Series controller occurs through a memory window. The start of this memory window is set by the address switches SW1 and SW2. The DSP Series controllers use 6 addresses on the VME bus (see next table).
Page 31: Set The Interrupts
& I ONFIGURE NSTALL OARD Set the Interrupts The IRQ Select switch connects the V6U’s interrupt circuitry to a particular IRQ line on the VME bus. To select a VME-bus IRQ line, turn ON the corresponding switch while leaving the other switches off.
Page 32: Connect Cables/Insert Board
& I ONFIGURE NSTALL OARD Connect Cables/Insert Board CBL-20 STC-20 CBL-26 4 STCs 4 Cables STC-26 CBL-50 3 STCs 3 Cables STC-50 Connect V6U to STCs To install the controller: Turn off the power to the VME chassis. Select an unused slot. Install all required ribbon cables.
Page 33: Locate Switches
Default Set the Interrupts Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that you want the 104 to use.
Page 34: Connect Cables/Insert Board
& I ONFIGURE NSTALL OARD Table 2-15 IRQ Switch SW2 None Default IRQ2 IRQ3 IRQ4 IRQ5 IRQ10 IRQ11 IRQ12 IRQ15 Connect Cables/Insert Board Lower Cable STC-50 Motor and Encoder Signals (Axes 2-3) Dedicated I/O (Axes 2-3) User I/O Bits 8-13, 20-23 Upper Cable Motor and Encoder Signals (Axes 0-1)
Page 35: Locate Switches
Default Set the Interrupts Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that you want the 104X to use.
Page 36: Connect Cables/Insert Board
& I ONFIGURE NSTALL OARD Table 2-17 IRQ Switch SW2 None Default IRQ2 IRQ3 IRQ4 IRQ5 IRQ10 IRQ11 IRQ12 IRQ15 Connect Cables/Insert Board CBL-20 STC-20 CBL-26 4 STCs 104X 4 Cables STC-26 CBL-50 3 STCs 3 Cables STC-50 Connect 104X to STCs To install the controller: Turn off the power to your computer.
Page 37: Sercos/104
Default Set the Interrupts Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that you want the SERCOS/104 to use.
Page 38: Connect Cables/Insert Board
(Rx) connector, the connect the first drive’s light gray (Tx) connector to the second drive’s dark gray (Rx) connector, etc. The light-emitting module on the controller can be turned on and off for testing with the functions . (See the DSP Series turn_on_sercos_led(…) turn_off_sercos_led(…) C Programming Reference for more information.) Once the SERCOS/104 has been initialized, you can exercise and tune the system using Motion Console.
Page 39: Locate Switches
Default Set the Interrupts Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that you want the LC to use.
Page 40: Connect Cables/Insert Board
& I ONFIGURE NSTALL OARD Table 2-21 IRQ Switch SW2 None Default IRQ2 IRQ3 IRQ4 IRQ5 IRQ10 IRQ11 IRQ12 IRQ13 Connect Cables/Insert Board Lower Cable STC-50 Motor and Encoder Signals (Axes 2-3) Dedicated I/O (Axes 2-3) User I/O Bits 8-13, 20-23 Upper Cable Motor and Encoder Signals (Axes 0-1)
Page 41: Sercos/Dsp
Default Set the Interrupts Interrupts may be generated from the DSP Series controller to the host CPU. SW2 connects the controller’s interrupt circuitry to one of the host CPU’s IRQ lines. To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the interrupt (IRQ2, IRQ3, ...) that you want the SERCOS/DSP to use.
Page 42: Connect Cables/Insert Board
When all drives are connected, turn on the power to the drives. Each drive begins an initialization sequence. Most drives have an LCD or LED display to indicate when the initialization is complete. Consult the specific drive documentation and DSP Series C Programming Refernce for more information about SERCOS initialization proce- dures.
Page 43: Test Controller
ONTROLLER I/O A DDRESS Now before wiring the STCs to the amplifiers, encoders or motors, test the I/O address of the DSP Series controller. Then use this application If your Operating System is to test the I/O location Windows 95/98...
Page 44: Using Motion Console
ONTROLLER DDRESS Using Motion Console To install MEI’s Motion Console application, follow the instructions in the Release Note included with your software distribution. Locate the Motion Console application, which should be located in the Motion Engi- neering program group ( ).
Page 45: Using Setup.exe
(. files) and the CD-ROM SETUP CONFIG program. On your hard drive (C: or whatever), create the directory C:\MEI\SETUP and copy the files from the “Setup” to that directory. CD-ROM Next run the program by typing at the prompt.
Page 46: Using Config.exe
CONFIG controller is configured at the factory. Before running , disconnect all of the cables from the DSP Series controller CONFIG and turn off the power to any external devices (amplifiers, etc.). ARNING To run , switch to the directory where all the .ABS files and...
Page 47 ONNECT S TO OTOR NCODER HAPTER ONNECT S TO OTOR NCODER PCX, STD, 104X, CPCI, V6U Connections to Servo Motors Brush Servo Motors Brushless Servo Motors Step-and-Direction Servo Motors Connections to Step Motors Open-Loop Step Motors Closed-Loop Motors Connections for Dual-Loop Control V6U only Encoder Interface Encoder Integrity Checking...
Page 48: Connect Stcs To
PCX, STD, 104X, CPCI & V6U Connections to Servo Motors DSP Series controllers can control brush servo motors, brushless servo motors, or linear brush/ brushless motors. Basic connections require an analog output signal (from the controller to the amplifier) and an encoder input (from the motor to the controller).
Page 49: Brushless Servo Motors
ONNECT S TO OTOR NCODER Brushless Servo Motors Typical connections for a brushless servo motor with a differential encoder are: Figure 4-2 Typical Brushless Servo Motor Connections STC-26 Brushless Motor Servo + From CPCI Encoder A+ Encoder A- 104X Encoder B+ Encoder B- Encoder Index+ Encoder Index-...
Page 50: Connections To Step Motors
OTORS Closed-Loop Step Motors DSP Series controllers can control step motors with encoder feedback. Closed-loop steps are controlled by a PID algorithm running on the DSP in real time. The controllers accept TTL- level (0V to 5V, 40mA max) encoder input from either differential or single-ended encoders.
Page 51 ONNECT S TO OTOR NCODER Note that when only Step+ or Step- is used, it may be necessary to jumper unused terminals on the step drive. Before connecting Step+ or Step-, consult your step drive’s manual In general, use Step+ for drives with active high logic, and use Step- for drives with active low logic.
Page 52: Connections For Dual-Loop Control
NCODER Connections for Dual-Loop Control DSP Series controllers can be configured for dual-loop control. In dual-loop control, the veloc- ity information for the PID derivative term (Kd) is derived from a rotary encoder on the motor shaft, and the position information for the PID proportional and integral terms is derived from an encoder on the load itself.
Page 53: V6U
Rev 4 are included here to highlight the wiring changes. Note that twisted-pair shielded cabling provides the best immunity in electrically noisy envi- ronments. For more about Encoder Integrity Checking, please consult the DSP Series C Pro- gramming Reference.
Page 54 ONNECT S TO OTOR NCODER Figure 4-6 Example of Single-Ended Encoder Connection to V6U Rev 4 Note that each signal requires an indepen- dent bias network in this configuration. Put these bias circuits as close to the en- coder as possible. New! 5V_OUT Enc0_A+...
Page 55 ONNECT S TO OTOR NCODER Figure 4-7 Example of Differential Encoder Connection to V6U Rev 4 New! Differential encoders are preferred over single-ended encoders, because Enc0_A+ of their superior immunity to noise. Differential Ohms Enc0_A- Encoder Twisted pair in cables* EIA 422 Line Receivers Enc0_B+...
Page 56: Encoder Integrity Checking
ONNECT S TO OTOR NCODER Encoder Integrity Checking V6U Revision 4 now includes broken wire detection and illegal state detection (using digital filtering on encoder input lines). Linear Tech LTC1519 EIA-422 line receivers (with open and short circuit guaranteed states) are used in a flip-flop structure to provide information to exist- ing Encoder Integrity Checking (EIC) logic on the V6U.
Page 57: Connections To Servo Motors
LC, 104 Connections to Servo Motors DSP Series controllers can control brush servo motors, brushless servo motors, or linear brush- less motors. Basic connections require an analog output signal (from the controller to the am- plifier) and an encoder input (from the motor to the controller).
Page 58: Brushless Servo Motors
ONNECT S TO OTOR NCODER Brushless Servo Motors Typical connections for a brushless servo motor with a differential encoder are: Figure 4-9 Typical Brushless Servo Connections STC-50 Brushless From Motor Servo Encoder A+ Encoder A- Encoder B+ Encoder B- Encoder Index+ Encoder Index- RUSHLESS ERVO...
Page 59: Connections To Step Motors
ONNECT S TO OTOR NCODER Connections to Step Motors Open-Loop Step Motors The controllers can control step motors in both open-loop (no encoder) and closed-loop con- figurations. In the open-loop configuration, the step pulse output (connected to the drive) is fed back into the line receivers and used to keep track of the “actual position.”...
Page 60: Closed-Loop Step Motors
NCODER Closed-loop Step Motors DSP Series controllers can control step motors with encoder feedback. Closed-loop steps are controlled by a PID algorithm running on the DSP in real time. The controllers accept TTL- level (0V to +5V, 40mA max) encoder input from either differential or single-ended encoders.
Page 61: Connections For Dual-Loop Control
NCODER Connections for Dual-Loop Control DSP Series controllers can be configured for dual-loop control. In dual-loop control, the veloc- ity information for the PID derivative term (Kd) is derived from a rotary encoder on the motor shaft, and the position information for the PID proportional and integral terms are derived from an encoder on the load itself.
Page 62: Pci
ONNECT S TO OTOR NCODER Connections to Servo Motors PCI/DSP controllers can control brush servo motors, brushless servo motors, or linear brush- less motors. Basic connections require an analog output signal (from the controller to the am- plifier) and an encoder input (from the motor to the controller). Most amplifiers support either Velocity mode (voltage control), Torque mode (current control) or both.
Page 63: Brushless Servo Motors
ONNECT S TO OTOR NCODER Brushless Servo Motors Typical connections for a brushless servo motor with a differential encoder are: Figure 4-14 Typical Brushless Servo Motor Connections STC-136 Command_0+ Brushless Motor Command_0- Encoder A+ Encoder A- Encoder B+ Axis 0 Encoder B- Encoder Index+ Encoder Index-...
Page 64: Connections To Step Motors
ONNECT S TO OTOR NCODER Connections to Step Motors Open-Loop Step Motors The PCI controllers can control step motors in both open-loop (no encoder) and closed-loop configurations. In the open-loop configuration, the step pulse output (connected to the drive) is fed back internally and used to keep track of the “actual position.” With open-loop step con- figuration selected, the DSP closed the loop internally on a pair of axes.
Page 65: Closed-Loop Step Motors
ONNECT S TO OTOR NCODER Closed-Loop Step Motors PCI controllers can control step motors with encoder feedback. Closed-loop steps are con- trolled by a PID algorithm running on the DSP in real time. The controller’s accept TTL-level (0V to 5V, 40mA max) encoder input from either differential or single-ended encoders. Dif- ferential encoders are preferred due to their excellent noise immunity.
Page 66: Connections For Dual-Loop Control
ONNECT S TO OTOR NCODER Connections for Dual-Loop Control PCI controllers can be configured for dual-loop control. In dual-loop control, the velocity in- formation for the PID derivative term (Kd) is typically derived from a rotary encoder on the motor shaft, and the position information for the PID proportional and integral terms is derived from an encoder on the load itself.
Page 67: Connections For Encoder Signals
ONNECT S TO OTOR NCODER Connections for Encoder Signals Differential encoders are preferred over single-ended encoders, because of their superior im- munity to noise. There is one +5 volt supply and return shared by each pair of encoders, which is available at 2 sets of power pins (5V_OUT, GND) on each connector. Figure 4-18 Typical Differntial Encoder Connections (PCI) *Note:...
Page 68 ONNECT S TO OTOR NCODER Figure 4-19 Typical Single-Ended Encoder Connections (PCI) The bias circuits shown will generate +/- .5V Vdiff at the *Note: Do not connect signal receivers. Also note that each signal requires an indepen- ground to shield ground. dent bias network in this configuration.
Page 69: Connect Stcs To Discrete I/O
HAPTER ONNECT S TO ISCRETE Dedicated and User I/O Notes Opto-Isolation Output Wiring Analog Input Wiring 8245 Counter/Timer Wiring Home & Limit Switch Wiring Wiring Examples PCI/DSP Connections Opto-Isolation Output Wiring Input Wiring 5-10 Bi-Directional User I/O 5-12 Analog Input Wiring 5-13 Now make connections for the desired Dedicated and User I/O signals to the STC modules.
Page 70: Dedicated And User I/O Notes
Grayhill racks can be configured to take the +5V logic power from pin 49, so that no external source is necessary. When the DSP Series controllers are powered up, the User I/O signals and Dedicated outputs come up Low. Most opto-isolation modules invert the I/O signals, which means that I/O signals may come up High.
Page 71: Analog Input Wiring
ONNECT S TO ISCRETE For critical control signals that must always be in a defined state (such as amplifier enable/dis- able), your design should ensure that the default state of the 82C55 output is Low. You should use a pull-down resistor to insure that the output does not float high when the output is in the High Z impedance state.
Page 72: Low Pass Filters On Analog Inputs (V6U Only)
ONNECT S TO ISCRETE Low Pass Filters on Analog Inputs (V6U only) For Revision 4, we added low pass filters to each of the analog inputs, to prevent any unwanted noise from external sources. Figure 5-3 V6U Analog Input Filters A 34 kHz, single pole, low pass 470 ohms Post Filter...
Page 73: Home And Limit Switch Wiring
Logic + OPTO 22 Logic Inputs can be G4PB24* Logic - connected to the STC-26 (motor axes) +24 V Opto GND Opto Input *not a MEI Home product HOME Opto GND NEG Limit E-Stop Opto GND POS Limit From *Note:...
Page 74 ONNECT S TO ISCRETE Figure 5-7 Example Wiring Diagram for 104 & LC Limit Switches - Non Opto-Isolated POS Limit *Note: Limit Switches are Normally Closed STC-50 220 Ohm NEG Limit 220 Ohm From Home HOME 220 Ohm E-Stop +5 V 104 &...
Page 75: Pci/Dsp Connections
ONNECT S TO ISCRETE PCI/DSP Connections Opto-Isolation The PCI controller contains Opto-Isolation for all the Discrete I/O except the In_Position bit. There are four Opto-inputs and one Opto-output per axis. There is an additional 24 lines of optically isolated, bi-directional User I/O. All I/O operates from 5-24 volts. Warning! Dedicated Outputs and User I/O require current limiting resistors Opto-Circuit Specifications...
Page 76: Dedicated I/O - Pci
ONNECT S TO ISCRETE Dedicated I/O - PCI Output Wiring Amplifier Enable Wiring Figure 5-8 Example of Active Low Enable at Amp +5V/24V Amplifier Opto-Isolator Amp_En0_C Amp Enable Input Internal Active LOW) Amp_En0_E Logic +5V: R= 1K Note: Verify that V of the output is less +24V: R= 4.7K...
Page 77: In_Position Output Wiring
ONNECT S TO ISCRETE In_Position Output Wiring In_Position signals are differential EIA 422 outputs from the PCI. External logic that uses In_Pos/V signals should use a differential receiver such as the 26LS32. Figure 5-10 Example In_Position Output Wiring *Note: No opto-isolation. External Logic Twisted pair E1A 422...
Page 78: Input Wiring
ONNECT S TO ISCRETE Input Wiring Amplifier Fault Input Wiring Figure 5-11 Example of Pull-Up Logic Amp Fault +5V/24V Amp_Flt0_IN Normally Axis 0 closed Amp_Flt0_Rtn *Constant Current Diode Pull-Up Logic Figure 5-12 Example of Pull-Down Logic Amp Fault Amp_Flt0_IN Normally Axis 0 closed +5V/24V...
Page 79: Home And Limit Signals
ONNECT S TO ISCRETE Home and Limit Signals Figure 5-13 Example of Common Gnd Logic Limit Sensors 5V/24V Home0_IN Normally closed +5V/24V Axis 0 Pos_Lim0_I +5V/24V Neg_Lim0_I Mech0_Rtn *Constant Current Diode Common Gnd Logic Figure 5-14 Example of Common Vcc Logic Limit Sensors Home0_IN Normally...
Page 80: Bi-Directional User I/O
ONNECT S TO ISCRETE Bi-Directional User I/O Note: To maintain electrical isolation between the PCI and external I/O, the power and ground connections should be from an external power source, and should not be tied to the PCI’s power or ground connections. Figure 5-15 Example of User I/O as Input Pull-Up...
Page 81: Analog Input Wiring
ONNECT S TO ISCRETE Analog Input Wiring Pins 35, 36 and 67, 68 (Analog Gnd) are connected to the logic ground of the A/D chip and to a separate ground plane beneath the A/D chip. The logic ground of the A/D chip is also con- nected to the bus ground (with all of the other GND signals).
Page 82 ONNECT S TO ISCRETE 5-14 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 83: Test System
HAPTER YSTEM Closed-Loop Systems Step 1: Connect Encoder Step 2: Test Encoder Connections Step 3: Connect the Motor Step 4: Manually Turn the Motor Step 5: Verify Motor/Encoder Phasing Step 6: Exercise the System Step 7: Tune the System Open-Loop Systems Step 1: Connect Wires Step 2: Manually Turn the Motor Step 3: Exercise the Motor...
Page 84: Step 1: Connect Encoder
YSTEM Step 1: Connect Encoder Turn off the computer. Attach all encoder leads according to the manufacturer’s wiring dia- gram and the instructions provided in this manual. Do not attach the motor signal wires yet! ARNING Turn on the computer. Note that the controller provides the +5V power (which comes direct- ly from the host computer’s power supply) to the encoder for most brush servo and step motor systems.
Page 85: Step 5: Verify Motor/Encoder Phasing
YSTEM Tip! If the motor will not turn when an offset is applied, check the motor and amplifier connections, and also check that the State field reads Abort Motor Doesn’t Turn Event, to make sure the PID control is disabled. Next, disconnect the amplifier connections to the controller and use a voltmeter to verify that the controller is outputting a motor signal.
Page 86 YSTEM Table 6-2 Tuning Parameters Parameter Servos Closed-Loop Steppers Proportional (Kp) 20 (Depends on step/encoder pulse ratio) Integral (Ki) Derivative (Kd) Accel FF Vel FF 1000 (Depends on step/encoder pulse ratio) Integ. Max 32767 Offset Limit 3500 3500 Scale -1 (slow), -3 (med), -5 (fast), -6 (superfast) Friction FF Note the setting for output limit.
Page 87: Step 7: Tune The System
YSTEM Step 7: Tune the System Use the arrow buttons (← for Position 1 and → for Position 2) in the Movement controls to start motion. If the motor begins to move back-and-forth, proceed to tuning. If the motor fails to turn, recheck each step.
Page 88: Open-Loop Stepper Systems
YSTEM Open-Loop Stepper Systems To test an open-loop stepper system: Step 1: Connect the step drive. Step 2: Manually turn the motor using the Offset field in the Axis Operation window. Step 3: Exercise the motor. Always disconnect the motor shaft from the machine when testing connections or software.
Page 89: Step 3: Exercise The Motor
YSTEM Step 3: Exercise the Motor For each axis configured for open-loop step motors, use the values listed in the next table for the Tuning Parameters controls. The Scale parameter changes accordingly to the speed range selected in the Axis Configuration property page. Table 6-4 Tuning Parameters for Open-Loop Steppers Parameter...
Page 90 YSTEM Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 91: More
(-10V to +10V) Encoder Input DSP Series controllers accept TTL-level (0V to +5V, 40mA max) encoder input from either dif- ferential or single-ended encoders. Differential encoders are preferred due to their excellent noise immunity. When used with differential encoders, the differential line receiver on the con-...
Page 92: Brush/Brushless Servo Motors
BOUT IRING troller reads the difference between A+ and A- and between B+ and B-. By reading the dif- ference between the square wave inputs any significant noise is canceled out. The connections for a single-ended encoder are identical to a differential encoder except that no connections are made to channel A- and channel B-.
Page 93: Wiring Step Motors
BOUT IRING Wiring Step Motors Open-Loop Step Motors The DSP controllers can control step motors in both open-loop (no encoder) and closed-loop configurations. In the open-loop configuration the step pulse output (connected to the driver) is fed back into the line receivers and used to keep track of the “actual position.” With open- loop step configuration selected, the DSP closes the loop internally on a pair of axes.
Page 94: Direction Pulse Synchronization
IRING Direction Pulse Synchronization The DSP Series controllers synchronize the direction pulse with the falling edge of the pos- itive step pulse output. When connected to the step drive properly, it ensures that a step pulse and direction change will never occur at the same time.
Page 95 BOUT IRING Connecting closed-loop step motors to the controller is similar to servo motors, except that the step and direction lines are connected instead of the analog signal. The minimum connections are: Step+ (or Step-) Direction+ (or Direction-) Signal Ground Encoder A+ and B+ lines + 5V Note that when only Step+ or Step- is used, it is often necessary to jumper unused terminals...
Page 96 BOUT IRING Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 97: Motion
Axis Configuration Tab B-10 Graph Tab B-11 Motion Console Supports all MEI DSP Series and SERCOS controllers and enables you to: • Access and configure multiple controllers and their axes • Configure Dedicated and User I/O lines • Read axis status •...
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Page 109: Setup .Exe
PPENDIX ETUP Intro For DOS, Win 3.x & Win 95/98 Only To Load the SETUP Program Saving Default Parameters to the Controller Functional Grouping by Axis SETUP Menus & Screens File Menu Load Defaults from File Save Defaults to File DOS Shell About Exit...
Page 110: Intro
The “Setup” CD-ROM contains the SETUP program, the firmware (.ABS files) and the CON- FIG program. On your hard drive (C: or whatever), create the directory C:\MEI\SETUP and copy the files from the “Setup” CD to that directory. Next run the SETUP program by typing SETUP at the DOS prompt. You should next see the About SETUP window, which shows the date and version of the SETUP pro- gram.
Page 111: Saving Default Parameters To The Controller
ETUP Table E-1 Hot Keys Hot Key DSP hardware reset <ESC> Close the current window Alt/F Select the File menu Alt/C Select the Configure menu Alt/S Select the Status menu Alt/M Select the Motion menu Alt/X Exit the SETUP program Cursor Keys Move between fields and buttons Buttons In each window, there are buttons provided to send, read and save information stored in the...
Page 112: Functional Grouping By Axis
ETUP Figure C-1 SETUP’s Default Parameters Storage DSP Controller Screen Values are Read from Screen Values Data Memory Data Memory Boot Memory to Data Memory Volatile Read Defaults Data Memory to Boot Memory Save Defaults Boot Memory Non-Volatile Boot Memory to File Save Defaults to File File to Boot Memory...
Page 113: Setup Menus & Screens
ETUP SETUP Menus & Screens The SETUP menus and screens are organized under 4 main categories: Table C-4 Menu Windows Parameters in that window Page File Load default parameters from a diskette to file page C-6 Store default parameters to a diskette file Shell out to DOS Display version number Move location of selected window...
Page 114: File Menu
ETUP File Menu The File menu contains these options: Option Load Defaults from File Loads the values from CD into DSP boot memory (requests filename) Save Defaults to File Saves values in DSP boot memory to diskette (prompts for filename) DOS Shell Shells to DOS About...
Page 115: About
ETUP About Selecting About displays the SETUP version number and date. Exit Exits the SETUP program. After exiting, motion will stop, but all configuration parameters will remain active. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 116: Configure Menu
ETUP Configure Menu The Configure menu contains the options Option/Window I/O Base Address Sets the I/O address where SETUP comminicates with the controller Tuning Parameters Sets tuning parameters, DC offset and voltage/pulse rate limit Aux. Tuning Parameters Sets auxilliary tuning parameters: derivative sample rate, etc. Axis Configuration Allows axes to be configured as step/servo, etc.
Page 117: Tuning Parameters
ETUP Tuning Parameters Use the Tuning Parameters window to set the control loop tuning parameters for each axis. The DSP uses a second order PID algorithm with velocity and acceleration feed-forward. Note that multiple types of windows can be open simultaneously. For example, windows can be open for Tuning Parameters and Motion Status for one axis, or windows can be open for Tuning Parameters and Motion Status for both Axes 1 and 4.
Page 118 ETUP (step) error is possible. The range of values for integral gain is 0 to 32,767. Derivative Gain Use the derivative gain term like a damping factor. The derivative gain affects the analog com- mand voltage or pulse rate based on the amount of position error change occurring in the last two samples.
Page 119: Axis Configuration
ETUP Axis Configuration Figure C-5 The Configure/Axis Configuration Window Motor Servo or Stepper This selection is used to enable/disable the step pulse output for a given pair of axes. Selecting “step” will enable the step output for the pair of axes (0 and 1, 2 and 3, etc.). The analog output is available regardless of the selection.
Page 120 ETUP ranges are: Slow Medium Fast 0 to 23 kHz 0 to 94 kHz 0 to 375 kHz You must set the tuning parameters as follows for each axis configured for open-loop steps: Table C-5 Tuning Parameters for Open-loop steps Parameter Setting Proportional (K...
Page 121: Limit Switch Configuration
ETUP Feedback Encoder or Analog or Parallel This selection allows each axis to be configured for the type of feedback device used. The choices are: Selection Device Type Pin Location Encoder Incremental Encoder Motor Signal Header Analog Unipolar LVDT Analog Input Header Parallel Laser Interferometer User I/O Headers...
Page 122: Software Limits
ETUP Software Limits Figure C-8 Configure/Software Limit Configuration Window Lowest Pos. Highest Pos. Error Limit In Position This window is used to set the software limits (lowest position, highest position and error limit) for each axis. The values for each of these limits, and the event to be performed when the limit is exceeded, can be specified.
Page 123: Status Menu
ETUP Status Menu The Status menu contains the options: Option/Window Position Status Displays the position, velocity and acceleration of each axis Axis Status Displays the status of each axis: Motion, E-stop, Run/Idle, etc. Dedicated I/O Display the status of dedicated I/O lines Position Status The Position Status window is a read-only window which provides an easy way to monitor the status of each axis.
Page 124: Dedicated I/O
ETUP description the term “Event” means Stop, E-Stop, or Abort. The status items reported are: Item Status Displays the current condition of an axis in hex. In Sequence? Displays “Yes” if a set of frames describing a move is executing. In Motion? Displays “Yes”...
Page 125: Motion Menu
ETUP Motion Menu The Motion menu contains the options: Option/Window Point-to-Point Motion Commands an axis to move between two points Graphics Analysis Displays the command vs. actual and analog outputs for a move Point-to-Point Motion Use the Point-to-Point Motion window to command motion between two points. Point 1 and Point 2 specify the endpoints of the motion, Velocity specifies the maximum slew speed and Acceleration the acceleration rate.
Page 126: Graphic Analysis
ETUP Graphic Analysis The Graphics Analysis window provides a visual guide to tuning closed-loop systems. Motion is controlled by the parameters set on the Motion/Two-Point window. Trapezoidal, parabolic or S-curve motion may be commanded. Endpoint positions, velocity, acceleration and jerk may also be selected.
Page 127 ETUP Trigger Mode When the graphic screen is displayed, press the “T” key to display the motion in one direction only, triggering on rising or falling position counts (steps). Note that when a rising or falling trigger mode is used, motion in one direction only (every other move) will be displayed. Figure C-14 Trigger Modes OSITION - Trigger...
Page 128 ETUP C-20 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 129: Tuning
PPENDIX UNING Intro The Digital Filter Tuning Parameters Proportional Gain (Kp) Derivative Gain (Kd) Integral Gain (Ki) D-12 Velocity Feed-Forward (Kv) D-13 Acceleration Feed-Forward (Ka ) D-14 Offset (Ko) D-14 Scale D-14 Friction Feed-Forward D-15 Integration Limit D-15 Tuning D-16 Closed-Loop Servos Step 1: Set Proportional Gain (Kp) D-16...
Page 130: Intro
UNING Intro In closed-loop positioning systems, the motion controller compares the command position (trajectory) to the actual position feedback and calculates a motor control signal. The posi- tion error is defined as the difference between the command and actual positions. As the po- sition error increases, the motor control signal (analog output or step pulse rate) is increased to counteract the error.
Page 131: The Digital Filter
UNING The Digital Filter The DSP calculates an axis’ output (analog voltage or pulse rate) based on a PID servo control algorithm. The current position error is the input to the PID algorithm. The current position er- ror is the difference between the command position and the actual position. The actual position is controlled by the feedback device, and the command position is determined by the trajectory calculator.
Page 132 UNING Figure D-2 PID Algorithm PID A LGORITHM Control Velocity Velocity Feedforward (Multiplier) Control Acceleration Acceleration Feedforward shift Control Error Filter shift Position Output 16-bit resolution Actual Limit Position across +/- 10volts Servo Volts Offset Output Converter Internal Offset Friction Feedforward Integration z - 1...
Page 133: Tuning Parameters
UNING Tuning Parameters Table D-1 What do Gains Do? Parameter Proportional Gain increases/decreases the motor control output based on the position error of the current sample Derivative Gain increases/decreases the motor control output based on the rate of change of the position error Integral Gain increases/decreases the motor control output based on the summation of position error over time...
Page 134: Proportional Gain (Kp
UNING Proportional Gain (Kp) The Proportional Gain determines the overall response of a system to position errors. The Proportional Gain increases/decreases the motor control output signal based on the position error. Table D-3 Effects of Proportional Gain with and incurs under Load If Proportional Gain is System tends to be Stiffness...
Page 135 UNING When Proportional Gain is Too Low The motor (Actual Position) is unable to keep up with the command position if the Kp term is too small. At the beginning of the move, the motor falls behind and the voltage output is slow to respond.
Page 136 UNING When Proportional Gain is Too High The motor (Actual Position) is able to keep up with the Command Position, but the motor oscillates and the voltage saturates. Due to the high gain, the output responds very strongly to any position error. As a result, the output signal saturates. Figure D-4 Excessive Proportional Gain ROPORTIONAL Follows the command position well...
Page 137: Derivative Gain (Kd
UNING Derivative Gain (Kd) The Derivative Gain increases/decreases the motor control output signal, based on the rate of change of the position error. The Derivative Gain provides damping and stability to the system, by preventing overshoot. Table D-5 Effects of Derivative Gain If Derivative Gain is System Response very fast,...
Page 138 UNING Figure D-5 Insufficient Derivative Gain ERIVATIVE Follows the command position quickly and well Actual Position Command Position But output oscillates D-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 139 UNING Figure D-6 Excessive Derivative Gain ERIVATIVE Slower response to position error Command Position Actual Position High Proportional Gain (with no ringing) D-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 140: Integral Gain (Ki
UNING Integral Gain (Ki) The Integral Gain increases/decreases the motor control output signal, based on the summa- tion of position error as a function of time. Integral Gain helps the control system overcome static position errors caused by friction or loading. Table D-7 Effects of Integral Gain If Integral Gain is...
Page 141: Velocity Feed-Forward (Kv
UNING Figure D-8 High Integral Gain (only when standing) NTEGRAL Oscillation after Command Position Actual Position Velocity Feed-Forward (Kv) The Velocity Feed-Forward increases/decreases the motor control output signal, based on the command velocity. The Velocity Feed-Forward term is very important when used with veloc- ity-controlled servos or closed-loop step motors.
Page 142: Acceleration Feed-Forward (Ka
UNING Figure D-9 Insufficient Velocity Feed-Forward ELOCITY ORWARD Position-Following Error Command Position Actual Position Acceleration Feed-Forward (Ka ) The Acceleration Feed-Forward Gain (Ka) increases/decreases the motor control output sig- nal, based on the acceleration rate. Acceleration Feed-Forward is used with torque-con- trolled servos (current).
Page 143: Friction Feed-Forward
UNING Friction Feed-Forward The Friction Feed-Forward parameter adds a constant value to the DAC output when the com- mand velocity is non-zero. The sign of the value applied to the DAC is equal to the sign of the command velocity multiplied by the friction feed-forward term. The Friction Feed-Forward term is 16-bits and has a range from -32,768 to 32,767.
Page 144: Tuning Closed-Loop Servos
UNING Tuning Closed-Loop Servos To quickly tune a stable system with minimal position errors: Step 1: Set Proportional Gain Step 2: Set Derivative Gain Step 3: Iterate steps 1 and 2 Step 4: Set Integral Gain Step 5: Set Velocity and Acceleration Feed-Forward For new systems.
Page 145: Step 5: Set Velocity And Acceleration Feed-Forward
UNING Table D-11 Integral Gain (Ki) Values for Tuning Closed-Loop Servos Parameter Value Delay Position 1 Position 2 20000 Velocity 10000 Acceleration 10000 Start the motion and observe the position error between moves. Gradually increase the Integral Gain (Ki) until the final position error is minimized. As you increase the Integral Gain above this level, watch for oscillation at the beginning or end of the motion.
Page 146: Tuning Closed-Loop Steppers
UNING Tuning Closed-Loop Steppers Warning! For best performance, be sure the ratio between the encoder resolution (counts per rev) and the step resolution (steps or microsteps per rev) is 1:4. Lower ratios (1:1, 1:2) will be difficult to tune and will have poor static stability. Higher ratios (1:6, 1:8, etc.) will have poor constant velocity stability.
Page 147: Step 3: Set The Integral Gain (Ki
UNING Step 3: Set the Integral Gain (Ki) Observing the static error at the end of a move as the Integral Gain (Ki) term is increased is the best way to tune the Integral Gain. Using the two-point motion window, set the following motion parameters: Table D-12 Integral Gain (Ki) Values for Tuning Closed-Loop Steppers...
Page 148 UNING D-20 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 149: Connections & Specifications
& PPENDIX ONNECTIONS PECIFICATIONS Motor Signal Header Locations CPCI STD, 104X Dedicated & User I/O PCX, CPCI, STD & V6U 104, LC Pinouts PCX, CPCI, STD, 104X, V6U CPCI/DSP Rear I/O E-11 Notes for CPCI Rear I/O E-14 E-14 104, LC E-16 Specifications Power Consumption Notes...
Page 150: Pcx
Motor Signal Header Locations Figure E-1 Motor Signal Header Locations - PCX User I/O Dedicated I/O Axes 0-3 Motor Axes 4, 5 Dedicated I/O Axes 4-7 Motor Axes 0, 1 or User I/O (1-4 axis controllers) Analog Inputs (8) 26 pins P1 P2 P3 Motor Axes 2, 3 Motor Axes 6, 7...
Page 151: Std, 104X
STD, 104X Figure E-3 Motor Signal Header Locations - STD or 104X Analog Inputs (8) Motor Axes 4, 5 Motor Axes 0, 1 26 pins P2 P3 104X User I/O Motor Axes 2, 3 Dedicated I/O Axes 0-3 Motor Axes 6, 7 Dedicated I/O Axes 4-7 or User I/O (1-4 axis controllers) STD or 104X - Motor Signal Headers...
Page 152 Figure E-5 Motor Signal Header Locations - 104 Motor Axes 0-3 50 pins Dedicated and User I/O 104 - Motor Signal Headers Figure E-6 Motor Signal Header Locations - LC Motor Axes 0-3 50 pins Dedicated and User I/O LC - Motor Signal Headers Artisan Technology Group - Quality Instrumentation ...
Page 153: Dedicated & User I/O
Dedicated & User I/O The DSP Series products have discrete digital I/O lines divided into 2 groups: Dedicated I/O and User I/O. Dedicated I/O There are 6 Dedicated I/O signals for each axis of the controller, 4 inputs and 2 outputs:...
Page 154 If P3 is used for User I/O and is a controller with 4 or less axes, then User Ports 3 and 4 can be configured for 6 inputs or 6 outputs. For PCX, STD,V6U, 104X, and CPCI DSP Series controllers: User I/O connections, 50 pin headers, Opto-22, Grayhill/Gordos-compatible, even-numbered pins are grounds and pin 49 is +5V.
Page 155: Pci
The following table shows the configuration of the 24 User I/O lines for the PCI. Figure E-8 User I/O Availabel on the PCI Bit Description Pin Bit Description Pin Bit Description Pin User Port A User Port B User Port C (8-bits input (8-bits input (8-bits input...
Page 156: 104, Lc
104, LC Figure E-9 User and Dedicated I/O Headers -104 & LC Axes 2-3 Axes 0-1 Motor Signals Motor Signals Dedicated I/O Dedicated I/O User I/O User I/O Port B Port A Upper half of Port C Lower half of Port C 104 &...
Page 157: Pinouts
Pinouts PCX, CPCI, STD, 104X, V6U Table E-5 Pinouts Analog Input Motor Axes Connections Connections 26-pin box header 20-pin box header (P8) Pin Signal Axis Pin Signal Analog GND Encoder A + Clock 0 Encoder A - Analog in 0 Encoder B + -12V Encoder B -...
Page 158 Table E-6 Dedicated and User I/O Connections Dedicated I/O Connections User I/O Connections 50-pin box headers 50-pin Opto-22 compatible header (P1) Pin Signal P2 Axis P3 Axis Pin Signal In-Position Out I/O Line C-7 or PC Interrupt Amp Enable Out I/O Line C-6 or DSP Interrupt In-Position Out I/O Line C-5...
Page 159: Cpci/Dsp Rear I/O
CPCI/DSP Rear I/O Table E-7 J4 Rear I/O Connections Signal Signal User I/O PB4 User I/O PB5 User I/O PB0 User I/O PB1 User I/O PA4 User I/O PA5 User I/O PA0 User I/O PA1 Amp Enable(7) Amp Fault(7) In Position(6) Reserved Amp Enable(6) Amp Fault(6)
Page 160 Table E-9 J4 Rear I/O Connections (Continued) Signal Signal User I/O PC7 or PC Interrupt User I/O PC6 or DSP Interrupt User I/O PC5 User I/O PC4 Negative Limit(7) Reserved Negative Limit(6) Negative Limit(5) Reserved Negative Limit(4) Negative Limit(3) Key location, no pins to E14 Reserved Negative Limit(2)
Page 161 Table E-11 J5 Rear I/O Connections (Continued) Signal Signal Encoder B(3) + Encoder B(3) - Encoder B(2) + Encoder B(2) - Encoder B(1) + Encoder B(1) - Encoder B(0) + Encoder B(0) - Step Pulse(6) + Step Pulse(6) - Step Pulse(5) + Step Pulse(5) - Step Pulse(4) + Step Pulse(4) -...
Page 162: Notes For Cpci Rear I/O Pinouts
25-1). Analog Out Ref (0:7) are recommended as the reference signals for +/-10V Analog Out (0:7). You may instead reference GND, as for previous MEI products. Analog GND is recommended as the signal ground for Analog In 7:0.
Page 163 Table E-14 STC-D50 (User I/O Connector) Signal Signal UserIO_A0 UserIO_A0_Rtn UserIO_A1 UserIO_A1_Rtn UserIO_A2 UserIO_A2_Rtn UserIO_A3 UserIO_A3_Rtn UserIO_A4 UserIO_A4_Rtn UserIO_A5 UserIO_A5_Rtn UserIO_A6 UserIO_A6_Rtn UserIO_A7 UserIO_A7_Rtn UserIO_B0 UserIO_B0_Rtn UserIO_B1 UserIO_B1_Rtn UserIO_B2 UserIO_B2_Rtn UserIO_B3 UserIO_B3_Rtn UserIO_B4 UserIO_B4_Rtn UserIO_B5 UserIO_B5_Rtn UserIO_B6 UserIO_B6_Rtn UserIO_B7 UserIO_B7_Rtn UserIO_C0 UserIO_C0_Rtn UserIO_C1...
Page 164: 104, Lc
104, LC Table E-15 Connector Module 1 (Axes 0, 1) (Upper Cable) Signal Signal Encoder A(0) + Encoder A(1) + Encoder A(0) - Encoder A(1) - Encoder B(0) + Encoder B(1) + Encoder B(0) - Encoder B(1) - Encoder Index(0) + Encoder Index(1) + Encoder Index(0) - Encoder Index(1) -...
Page 165 Table E-16 Connector Module 2 (Axes 2, 3) (Lower Cable) Signal Signal Encoder A(2) + Encoder A(3) + Encoder A(2) - Encoder A(3) - Encoder B(2) + Encoder B(3) + Encoder B(2) - Encoder B(3) - Encoder Index(2) + Encoder Index(3) + Encoder Index(2) - Encoder Index(3) - +/- 10V Analog Out(2)
Page 166: Specifications
Specifications Power Consumption Notes For power consumption specifications of a specific DSP Series model, refer to the tables on subsequent pages. Maximum current requirements (IEEE P996 spec.) for 8-bit PC add-on cards are: +5V..3.0 amp +12V..1.5 amp -12V..0.3 amp The current dissipation for all DSP Series controllers follow:...
Page 167: Pcx
Interface PC/XT/AT-compatible Switch-selectable base address, I/O mapped Switch-selectable interrupts Servo Loop 10.0 kHz (1 axis) Update Rate 3.0 kHz (4-axes simultaneously, maximum) 1.6 kHz (8-axes simultaneously, maximum) 1.25 kHz (default) User-programmable Servo Output ± 10V DC @ 16-bit resolution (from 18-bit conversion) ±...
Page 168: Cpci
CPCI Interface CompactPCI 1.0-compatible Single 6U CompactPCI slot Servo Loop 10.0 kHz (1 axis) Update Rate 3.0 kHz (4-axes simultaneously, maximum) 1.6 kHz (8-axees simultaneously, maximum) 1.25 kHz (default) User-programmable Servo Output ± 10V DC @ 16-bit resolution (from 18-bit conversion) ±...
Page 169: Pci
Interface PCI-compatible Plug and Play addressing and IRQ selection Servo Loop 1.25 kHz (default) Update Rate 2.7 kHz (4-axes simultaneously, maximum) 7.1 kHz (1 axis) User-programmable Servo Output ±10V DC @ 16-bit resolution (from 18-bit conversion) ±18 mA current 100 ppm long-term velocity accuracy Step Output Maximum Step Frequency: 550 kHz RS-422 line driver outputs, ±20 mA current...
Page 170: Std
Interface (STD-32/STD-80)-compatible Switch-selectable base address, I/O mapped Switch-selectable interrupts Servo Loop 10.0 kHz (1 axis) Update Rate 3.0 kHz (4-axes simultaneously, maximum) 1.6 kHz (8-axes simultaneously, maximum) 1.25 kHz (default) User-programmable Servo Output ±10V DC @ 16-bit resolution (from 18-bit conversion) ±18 mA current 100 ppm long-term velocity accuracy Step Output...
Page 171: Sercos/Std
SERCOS/STD Interface (STD-32/STD-80)-compatible Swtich-selectable base address I/O mapped Fiber-Optic SMA-type Connector Connections 1 mm plastic optical fiber Maximum length; 20 meters Drive and I/O SERCOS (IEC 1491) compliant Interface 1 to 8 axes Synchronous network Ring topology SERCOS loop operation: master only Transmission Rate 2 or 4 Mbits/sec Software configurable...
Page 172: V6U
Interface VME compatible Switch-selectable base address, I/O mapped Switch-selectable interrupts and levels Servo Loop 10.0 kHz (1 axis) Update Rate 3.0 kHz (4-axes simultaneously, maximum) 1.6 kHz (8-axes simultaneously, maximum) 1.25 kHz (default) User-programmable Servo Output ±10V DC @ 16-bit resolution (from 18-bit conversion) ±18 mA current 100 ppm long-term velocity accuracy Step Output...
Page 173 Interface PC-104-compatible Switch-selectable base address, I/O mapped Switch-selectable interrupts Servo Loop 10.0 kHz (1 axis) Update Rate 3.0 kHz (4-axes simultaneously, maximum) 1.25 kHz (default) User-programmable Servo Output ±10V DC @ 16-bit resolution (from 18-bit conversion) ±18 mA current 100 ppm long-term velocity accuracy Step Output Maximum Step Frequency: 325 kHz RS-422 line driver outputs, ±20 mA current...
Page 174 104X Interface PC-104-compatible Switch-selectable base address, I/O mapped Switch-selectable interrupts Servo Loop 10.0 kHz (1 axis) Update Rate 3.0 kHz (4-axes simultaneously, maximum) 1.6 kHz (8-axes simultaneously, maximum) 1.25 kHz (default) User-programmable Servo Output ±10V DC @ 16-bit resolution (from 18-bit conversion) ±18 mA current 100 ppm long-term velocity accuracy Step Output...
Page 175: Sercos/104
SERCOS/104 Interface PC-104-compatible Switch-selectable base address, I/O mapped Fiber-Optic SMA type connector Connections 1 mm plastic optical fiber Maximum length: 20 meters Drive and I/O SERCOS (IEC 1491) compliant Interface 1 to 8 axes Synchronous network Ring topology SERCOS loop operation; master only Transmission Rate 2 or 4 Mbits/sec Software configurable...
Page 176 Interface PC/XT/AT-compatible (16-bit slot) Switch-selectable base address, I/O mapped Switch-selectable interrupts Digital Sampling 10.0 kHz (1 axis) Rate 3.0 kHz (4-axes simultaneously, maximum) 1.25 kHz (default) User programmable Servo Output ±10V DC @ 16-bit resolution (from 18-bit conversion) Step Outpur Maximum Step Frequency: 325 kHz 50% Duty Cycle Non-linearity <...
Page 177: Sercos/Dsp
SERCOS/DSP Interface ISA-compatible Switch-selectable base address, I/O mapped Fiber Optic SMA type connector Connections 1 mm plastic optical fiber Maximum length: 20 meters Drive and I/O SERCOS (IEC 1491) compliant Interface 1 to 8 axes Synchronous network Ring topology SERCOS loop operation: master only Transmission Rate 2 or 4 Mbits/sec Software configurble...
Page 178: Led Support
LED Support The controller’s have LEDs to indicate the status of the controller and the axes. There is one LED for each FPGA (one per four axes) and is labled ‘OK’. The FPGA is a programmable component that handles the on-board logic for encoders, step and direction outputs, etc. All versions of the EPROMs and firmware support the FPGA LED: FPGA LED Status...
Page 179: Pto On Eference
EFERENCE PPENDIX EFERENCE Switch Settings Switch S1 Switches S2, S3 Installation Steps Screw Terminal Connectors F-5,F-6 Specifications Schematics Circuit Examples Connect an OptoCon Input to a Switch Connect an OptoCon Input to an Open Collector Driver F-10 Connect an OptoCon Output to an Amplifier Enable Input F-11 Using an Internal Pull-Up Resistor F-11...
Page 180: Switch Settings
If either of the Amp Enable outputs are configured as Active Low, the appropriate pull-down resistor should be disabled (as indicated in the next table). To configure the Amp Enables for Active High or Active Low operation, use the MEI library function set_boot_amp_enable_level(...)
Page 181 To configure the User I/O opto-isolation circuitry as inputs or outputs, use switches S2 and S3. To set the input and output directions, use the settings in the next table. The directions set with the switches should match those set on the controller using the MEI li- brary function , so that the OptoCon and the DSP controller are configured iden- init_boot_io(...)
Page 182: Installation
Other switch settings may cause damage to the OptoCon module and the DSP con- troller. Connect the 100-pin connector on MEI accessory cable CBL-100 to the 100-pin header on the LC/DSP or 104/DSP. Connect either of the two 50-pin connectors on the CBL-100 to the 50-pin header on the OptoCon.
Page 183: Screw Terminal Connectors
EFERENCE Screw Terminal Connectors For Axes 0, 1 Table F-3 Screw Terminal Connector (Axes 0, 1) Signal Signal V_USER Encoder A(0) + Encoder A(1) + Encoder A(0) - Encoder A(1) - Encoder B(0) + Encoder B(1) + Encoder B(0) - Encoder B(1) - Encoder Index(0) + Encoder Index(1) +...
Page 184: For Axes 2, 3
EFERENCE For Axes 2, 3 Table F-4 Screw Terminal Connector (Axes 2, 3) Signal Signal V_USER Encoder A(2) + Encoder A(3) + Encoder A(2) - Encoder A(3) - Encoder B(2) + Encoder B(3) + Encoder B(2) - Encoder B(3) - Encoder Index(2) + Encoder Index(3) + Encoder Index(2) -...
Page 185: Specifications
EFERENCE Specifications All optically isolated outputs (Amp Enables, In Position bits, User I/O) and the V_USER input are protected by automatic fuses. When tripped, these fuses automatically reset themselves within a few seconds. Operating temperature range 0 – 50° C Isolation voltage 2500 V V_USER voltage range...
Page 186: Schematics
All OptoCon input and output circuits are electrically identical. To program the User I/O sig- nals (OptoCon 1: PA0-5, PC0-3; OptoCon 2: PB0-5, PC4-7) as inputs or outputs, use the switches S2 and S3 on the OptoCon and in conjunction with the MEI library function on the motion controller. After using to configure a port’s di-...
Page 187 Home(0) input on the MEI motion controller for either Active High or Active Low event gen- eration logic. The truth table shows the values that the motion controller will read, depending upon the state of the switch and the configuration of the Home event logic. For example, if the switch is open, the Home input will be high (1), and if the Home event logic is configured for Active High, the controller will generate an event.
Page 188: Connect An Optocon Input To An Open Collector Driver
Home(0) input on the MEI motion controller for either Active High or Active Low event gen- eration logic. The truth table shows the values that the motion controller will read, depending upon the state of the driver transistor and the configuration of the Home event logic. For example, if the In = 1 (turning the transistor On), the Home input will be low (0), and if the Home event logic is configured for Active High, the controller will not generate an event.
Page 189: Connect An Optocon Output To An Amplifier Enable Input
Amp Enable (Pull-Up Resistor) Use Motion Console’s Axis Configuration under the Axis Operation window to configure the Amp Enable output on the MEI motion controller for either Active High or Active Low detec- tion. Note The Amp Enable output’s polarity must match the polarity of the amplifier’s Enable input.
Page 190: Using An Internal Pull-Down Resistor
Use the MEI library function set_amp_enable_level(...) set_boot_amp_enable_level(...) configure the Amp Enable output on the MEI motion controller for either Active High or Ac- tive Low detection. Note: The Amp Enable output’s polarity must match the polarity of the amplifier’s En- able input.
Page 191: Connect An Optocon Output To A Relay
EFERENCE Warning! You must set S1 correctly for “Active High” or “Active Low” Amp Enable Operation. (see Switch Settings on F-2) Connect an OptoCon Output to a Relay The next figure shows how to drive a relay using one of the User I/O (PA0) signals from the motion controller via the OptoCon.
Page 192 EFERENCE F-14 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 193 INDEX Numerics to brushless servo motors ....4-3 NDEX to step motors closed-loop ..... 4-4 open-loop .
Page 194 INDEX Step 5 verify motor/encoder phasing ..6-3 Step 6 exercise the system ....6-3 encoders, to verify correct phasing with motor .
Page 195 INDEX base I/O address connect an output to an amp enable input ......2-25 installation (pull-down resistor) .
Page 196 ......4-3 ....... . .2-3 power consumption of DSP Series STC-20 .
Page 197 INDEX with PCX/CPCI/STD/V6U/104X encoder integrity checking ... 4-3 ....4-10 switch settings encoder interface ......4-7 OptoCon home &...
Page 198 INDEX Index-6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 199 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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MEI DSP Series Installation Manual

Table of Contents

Test Controller

I/O Address

Connect Stcs to

Amps /Motor /Encoder

Connect Stcs to Discrete I/O

Test System

More

Motion

Setup .Exe

Tuning

Connections & Specifications

Pto on Eference

O C Rptooneference Circuit Examples

Quick Links

Chapters

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Summary of Contents for MEI DSP Series