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MEI DSPpro Series User Manual

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Summary of Contents for MEI DSPpro Series

  • Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Click HERE Find the Danaher / Kollmorgen / Motion Engineering DSPro-VME at our website:...
  • Page 2 33 South La Patera Lane Santa Barbara, CA 93117 ph (805) 681-3300 fax (805) 681-3311 info@motioneng.com www.motioneng.com DSPpro Series Motion Developer’s User Manual March 2002 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 DSPpro Series Motion Developer’s Manual Mar 2002 Part # M001-0024 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: www.motioneng.com ftp site: ftp.motioneng.com...

  • Page 4: Table Of Contents

    4.1.2 DSPpro-VME Base Memory Address Switch Settings ........... 15 4.1.3 DSPpro-VME Interrupt (IRQ) Switch Settings............15 4.1.4 DSPpro-VME Board Installation Procedures ............15 4.2 Installing the DSPpro-Serial................16 MEI SOFTWARE Table of Contents Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 5 5.1 The SETUP Program (DSETUP.EXE & SSETUP.EXE)........17 5.1.1 Overview........................ 17 5.1.2 Using SETUP with the DSPpro................17 5.1.3 SETUP Screens..................... 21 5.2 The VERSION Program (VERSION.EXE) ............34 5.3 The CONFIG Program (CONFIG.EXE).............35 MOTOR WIRING 6.1 Connection Accessories .................37 6.2 DSPpro-VME Motor Signal Header Locations ..........39 6.2.1 DSPpro-VME Motor Signal Pinouts (P4-P7)............
  • Page 6 DEVELOPING YOUR APPLICATION Overview ......................61 Write the application program..............62 Testing the Application Program ...............62 8.2.1 Configuring Communications.................. 63 8.2.2 Using RCONSOLE to Test Your Application (DSPpro-PC only) ......64 8.2.3 Using REMSVR to Test Your Application (DSPpro-VME or DSPpro-Serial) ..65 8.2.4 Configure DOS startup files ................
  • Page 7 C.4.3 Step 3: Setting the Integral Gain (K ) ..............91 INDEX Table of Contents Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 8: Introduction

    MEI provides technical support 24 hours a day free of charge for 5 years from the date of your last purchase. Please feel free to call, fax, or e-mail us. We only ask that you take the time to read the manuals and release notes to make sure that information has not been overlooked.

  • Page 9: Quick Start

    MEI periodically releases new software/firmware versions. New features are implemented, performance enhanced and new applications developed. The latest firmware and software releases are available on our FTP site at ftp://ftp.motioneng.com as well as the MEI BBS. 1.4 A Note to OEMs MEI always ships DSPpro controllers with the latest firmware.

  • Page 10: Quick Start

    Chapter 2 QUICK START This chapter offers a fast and easy installation procedure for those already familiar with MEI controllers, software libraries, and motion controller connections. For more information on MEI software libraries, please refer to the MEI DSP-Series Motion Controller C Programming Manual.

  • Page 11: Software Installation

    Connect the Console port on the DSPpro-VME to a serial port (e.g. COM1) of the host computer using a null modem cable (available from MEI as accessory cable CBL-D9 CONSOLE). For detailed hardware installation instructions, please see section 4.2.

  • Page 12: Tuning Your System And Verifying Basic Operation

    If you are using a PC running DOS, Windows 3.x, or Windows 95 or can run DOS applications using another type of computer, you can use MEI’s SETUP program to tune your motion system and to verify basic controller operation. From within this application, you can modify tuning, generate point to point motion, and test various other aspects of the controller.
  • Page 13 Embedded BIOS ROM Disk Enabled Embedded BIOS REMOTE Disk [COM1] [CONNECTED] Starting MS-DOS… Server 1.00A Oct 11 1996 14:10:40 Listening on COM1. 5. Exit from RCONSOLE or REMSVR by typing ALT-X. 6. Execute the SETUP program by typing ssetup from a DOS prompt on your host PC if you are connecting to a DSPpro-VME or DSPpro-Serial, or dsetup if you are connecting to a DSPpro-PC.
  • Page 14 If you are using the DSPpro-PC, execute the RCONSOLE program by typing RCONSOLE /r at a DOS prompt. The /r switch reboots the controller before starting RCONSOLE. You will see the following output in the RCONSOLE window of your PC: RCONSOLE v1.0 (c) 1996 Motion Engineering, Inc.
  • Page 15 11. Put the axis in Run mode with the Status/Axis Status (F3) window. 12. Command a trapezoidal motion using the Motion/Two-Point Motion Window. 13. Verify that the motor turns one rotation when the appropriate number of steps are commanded. Chapter 2: Quick Start Artisan Technology Group - Quality Instrumentation ...

  • Page 16: Dsppro Controller Design

    High-level decisions and communications with the host processor occur on the 386EX, while the DSP is responsible for numerically intensive calculations. Board-level DSPpro series controllers are mapped into the memory space of the host CPU, which allows fast, direct binary communication across the data bus.

  • Page 17: Program Storage

    3.1.1 Program Storage DSPpro controllers offer 1 Mbyte of DRAM and 1 Mbyte of non-volatile flash memory to store multiple motion control programs for execution as needed. 3.2 Firmware Execution After the firmware is loaded, the DSP constantly executes the following series: DSP Timer Interrupt Read All Encoders Read Analog...

  • Page 18: Check For Event Triggers

    Vn = Vn-1 + FS * An An is the acceleration at sample n Xn = Xn-1 + FS * Vn Vn is the velocity at sample n Xn is the command position at sample n FS is the feed speed The command velocity is the rate of change of the command position, acceleration is the rate of change of the command velocity, and jerk is the rate of change of the command acceleration.

  • Page 19: Hardware Features

    The error (En) is the basis for changes in control voltage (On). To review how each element of the PID algorithm affects motion, refer to appendix C, “Tuning Your System.” The same PID algorithm is used for open-loop and closed-loop servo and step motor control. This feature makes the programming the same for both motor types.
  • Page 20 access to the address and data busses of the DSP controller through three words in its I/O space. The 386EX and the DSP do not communicate directly. Instead, messages are passed through the DSP's external data memory. It is like a chalkboard, where we communicate by reading or writing messages, instead of directly modifying DSP registers.

  • Page 21: Hardware Installation

    Chapter 4 HARDWARE INSTALLATION 4.0 Memory Addressing (DSPpro-VME) Board-level DSPpro controllers communicate with applications running on the host by sharing certain memory locations in the host computer’s memory. This technique is known as memory- mapping. A designated window of memory is set aside for this purpose. This window is set using on-board dip switches, which are described in detail in the following sections.

  • Page 22: Dsppro-Vme Base Memory Address Switch Settings

    4.1.2 DSPpro-VME Base Memory Address Switch Settings Memory SW1-1 SW1-2 SW1-3 SW1-4 SW1-5 SW1-6 SW1-7 SW1-8 SW2-1 Location 0x00000000 0x00008000 0x00010000 0x00018000 0x00020000 0x00028000 * default setting 4.1.3 DSPpro-VME Interrupt (IRQ) Switch Settings. Interrupts may be generated from the DSPpro-VME controller to the host CPU. To use one of the IRQ lines, interrupt switch SW2 must be configured.

  • Page 23: Installing The Dsppro-Serial

    (e.g. COM1). Connect one end of MEI cable CBL-D9 COM to the COM port on the DSPpro. Connect the other end of the MEI cable CBL-D9 COM to an available serial port on the host computer (e.g. COM2).

  • Page 24: Mei Software

    DSPpro motion controllers are available with software support packages for many popular operating systems including DOS, Windows 3.x, Windows95, and Windows NT. In addition, limited support for other development environments is available. Contact your MEI representative for more information. Refer to the release notes which accompany your software support package for information on installing the software distribution.
  • Page 25 If you do not have a mouse or trackball, the keyboard can be used to perform the same tasks. The function keys are listed below. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 26 The SETUP program can access the data memory (volatile) and boot memory (non-volatile). When a value is entered in any window, the value is automatically stored in the DSP data Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 27 Boot Memory to Disk Disk File Data Transferred from Load Defaults from File Disk File to Boot Memory Figure 5-1. SETUP Parameter Storage Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 28: Setup Screens

    Monitor Dedicated I/O Status - Enable/Disable Amplifier Motion • Two-point motion - Endpoints, Delay, Velocity, Acceleration and Jerk - Motion Profile: Trapezoidal, Parabolic or S-Curve Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 29 Displays the SETUP version number and date. Exit Exits the SETUP program. Note that on exit, motion will stop, but all configuration parameters remain active. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 30 Parameters and Motion Status for both Axes 1 and 4. This makes it possible to change tuning parameters on-the-fly and the effect can be seen in real-time. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 31 The range of values for proportional gain is 0 to 32,767. See appendix C, “Tuning Your System,” for more information on setting proportional gain. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 32 SETUP program tuning screen. The offset is used to zero the DAC and Voltage-to-Frequency converter outputs to prevent motion when the axis is placed in idle mode. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 33 See appendix C, “Tuning Your System,” for more information on setting friction feed forward Axis Configuration Window Figure 5-2. The Configure/Axis Configuration Window Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 34 Derivative (K Accel FF (K Vel FF (K 3750 I Maximum 32767 Offset Ouput Limit 32767 Shift- -1 (Slow), -3 (Medium), -5 (Fast) Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 35 Selection Device Type Pin Location Encoder Incremental Encoder Motor Signal Header Analog Unipolar LVDT Analog Input Header Parallel Laser Interferometer User I/O Headers Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 36 Decelerate to a stop (at specified stop rate). E_STOP_EVENT Decelerate to a stop (at specified E-stop rate). ABORT_EVENT Disable PID control and the amplifier for this axis. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 37 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 Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 38 This window displays the real-time status of the flags for the axis displayed. In the following description the term "Event" means Stop, E-Stop, or Abort. The status items reported are: Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 39 The dedicated I/O displays the status of the dedicated inputs for limits, home, device fault and in- position. The window also contains buttons to set the amp enable output to a high or low state. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 40 Note that increasing the velocity and acceleration of parabolic and S-curve moves can actually increase the time to position. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 41: The Version Program (Version.exe)

    PC. You will see the following output in the REMSVR or RCONSOLE window of your PC: Motion Engineering 80C386EX BIOS V1.0 Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 42: The Config Program (Config.exe)

    Motion Engineering 80C386EX BIOS V1.0 Copyright (C) 1992-1995 Motion Engineering, Inc. Copyright (C) 1992-1995 General Software, Inc. 00896 KB OK Embedded BIOS ROM Disk Enabled Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 43 7. Edit the AUTOEXEC.BAT file on the DSPpro Quick Start Disk to remove the REM statement at the front of the line which calls SERVER. Chapter 5: MEI Software Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 44: Motor Wiring

    The STC modules convert the ribbon cable signals into screw terminal connections for quick and easy connections. STC's mount on a standard DIN rail. In addition, MEI cables are available to provide a clean and reliable interface to the STC modules.
  • Page 45 Board configurations with connection accessories are shown below. Note that all terminal blocks include mounting feet for standard DIN rail. A n a lo g In p u ts C B L - 2 0 D S P p r o - V M E a n d C lo c k S ig n a ls S T C - 2 0 C B L - 2 6...

  • Page 46: Dsppro-Vme Motor Signal Header Locations

    6.2 DSPpro-VME Motor Signal Header Locations The motor signals for the DSPpro-VME are brought out through 26-pin box headers. There is one 26-pin box header for each pair of motor axes. The header locations and pin-outs are shown below and in appendix A at the end of this manual. Motor Axes 4-5 Analog Inputs(8) Motor Axes 0-1...

  • Page 47: Motor Signal Header Locations - Dsppro-Serial

    6.3 Motor Signal Header Locations - DSPpro- Serial The motor signals for the DSPpro-Serial are brought out through four 50-pin DB-50 connectors. There is one DB-50 connector for each pair of motor axes. These DB-50 connectors contain both motor signal pinouts as well as dedicated I/O for each pair of axes. The header locations and motor signal pin-outs are shown below.

  • Page 48: Wiring Servo Motors

    6.4 Wiring Servo Motors DSPpro controllers can control brush servo motors, brushless servo motors, or linear brushless motors. Basic connections require an analog output signal (from the board to the amplifier) and an encoder input (from the motor to the board). 6.4.1 Velocity/Torque Mode Most amplifiers support either Velocity mode (voltage control), Torque mode (current control), or both.
  • Page 49 Motor Encoder Servo STC-26 Servo Drive DSPpro-VME +5 volts Encoder A+ Encoder A- Encoder B+ Encoder B- Encoder Index+ Encoder Index- Figure 6-7. Typical Brush Servo Wiring with Differential Encoder Axis 0 - DSPpro-VME Models Motor Encoder Servo STC-D50 Servo Drive DSPpro-Serial +5 volts...

  • Page 50: Brushless Servo Motors

    6.4.4 Brushless Servo Motors Wiring diagrams for typical brushless servo motors with differential encoders: Brushless STC-26 Motor Servo Drive Encoder A+ DSPpro-VME Encoder A- Encoder B+ Encoder B- Encoder Index+ Encoder Index- Figure 6-9. Typical Brushless Servo Wiring with Differential Encoder Axis 0 - DSPpro-PC and DSPpro-VME Models Brushless STC-D50...

  • Page 51: Step-And-Direction Controlled Servo Motors

    (step(-) and dir(-)). Some drives allow differential inputs in which both step + and step - lines are connected for higher noise immunity. If in doubt, fax the driver data sheets or driver pin-outs to MEI Technical Support along with any questions.
  • Page 52 Note that when only step + or step - is used, it may be necessary to jumper unused terminals on the step drive. Consult the manual on your step driver prior to connection. STC-26 Motor DSPpro-VME Stepper Step + Drive Direction + Figure 6-12.

  • Page 53: Direction Pulse Synchronization

    6.5.2 Direction Pulse Synchronization DSPpro controllers synchronize the direction pulse with the falling edge of the positive step pulse output. When connected to the step drive properly, this ensures that a step pulse and direction change will never occur at the same time. STEP + direction change commanded...

  • Page 54: Closed-Loop Step Motors

    Also, note that both Step+ and Step- lines can be connected to drives with differential inputs. If in doubt, fax the drive pin-outs to MEI along with any questions. A sample wiring diagram for a step motor with differential encoder follows:...

  • Page 55: Wiring For Dual-Loop Control

    Figure 6-16. Typical Closed-loop Step Wiring with Differential Encoder, Axis 0 - DSPpro-VME Note: For drives that trigger on the falling edge of the pulse input use Step- instead of Step+. 6.6 Wiring for Dual-Loop Control DSPpro controllers can be configured for dual-loop control. In dual-loop control, the velocity information for the PID derivative term (Kd) is derived from a rotary encoder on the motor shaft, and the position information for the PID proportional and integral terms (Kp and Ki) are derived from an encoder on the load itself.

  • Page 56: Excel Precision 1000A Interferometer/Axis Board

    6.7.1 Excel Precision 1000A Interferometer/Axis Board Connection to the Excel Precision 1000A interferometer is done through an optional MEI interface board (bus buffer board). Standard CBL-50 ribbon cables are used to connect to the buffer board. Chapter 6: Motor Wiring...

  • Page 57: Excel 1032B Interferometer Wiring Pin-Out Listing

    Position Data Bit 30 P3-35 Position Data Bit 31 (MSB) P3-33 Contact MEI for more information about using DSPpro controllers with Excel Precision laser interferometers. Chapter 6: Motor Wiring Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 58 6.7.3 Hewlett-Packard 10885A Interferometer/Axis Board Signal Name Pin Number P1-46 P1-44 ~BP_error Device Fault P2-41(axis 0) *Pins as counted on the H-P header. ~BP_error Device Fault P2-33(axis 1) Note that the H-P manual counts the ~BP_error Device Fault P2-25(axis 2) pins differently.
  • Page 59 Hewlett-Packard 10885A Interferometer/Axis Board, continued Signal Name Pin # P1-09 P1-11 P1-8 P1-07 P1-03 P1-05 P3-47 P1-01 P3-43 P3-45 P3-39 P3-41 P3-37 P1-04 P3-33 P3-35 P1-48 P1-02 Chapter 6: Motor Wiring Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 60: I/O Wiring

    Chapter 7 I/O WIRING 7.1 General DSPpro controllers have I/O lines divided into two groups: Dedicated I/O and User I/O. There are six Dedicated I/O signals for each axis of the controller -- four inputs and two outputs: Inputs Positive Limit Switch Negative Limit Switch Home Sensor Amplifier Fault...
  • Page 61 Figure 7-2. User and Dedicated I/O Headers - DSPpro-VME The following table illustrates the pinouts for the headers P1 P2, and P3. These pinouts are identical for the DSPpro-VME. Description User Port 0 (8 bits input or output) User Port 1 (8 bits input or output) User Port 2 (8 bits input or output) Dedicated Inputs for Axes 0 and 1 Dedicated Inputs for Axes 2 and 3...
  • Page 62 User I/O available on DSPpro-VME (all models): Port Header Port Header Port Header User I/O available on +DSPpro-VME (2 or 4-axis only): Port Header Port Header Port Header N/A* N/A* N/A* N/A* * bits 26, 30, 34, and 38 are not available Both Dedicated and User I/O signals come directly from 82C55 programmable I/O controllers.

  • Page 63: I/O Wiring - Dsppro-Serial

    7.3 I/O Wiring - DSPpro-Serial All connections for I/O on the DSPpro-Serial are optically isolated to provide electrical isolation between the controller and the equipment to which it is connected. 7.3.1 Dedicated I/O Wiring The connections for dedicated I/O on the DSPpro-Serial are located on the same 50-pin DB-50 connectors which contain the motor signal pinouts.

  • Page 64: Home And Limit Switch Wiring (Dsppro-Vme Only)

    The pinouts for user I/O are shown below: Outputs Inputs Inputs Port Header Port Header Port Header 7.4 Home and limit switch wiring (DSPpro-VME only) For small, electrically quiet machines the home and limit switches can be wired directly to the dedicated inputs.

  • Page 65: Dedicated And User Output Wiring

    Logic Inputs LO G IC + OPTO 22 can be connected G ND Note: Lim it Switches LO G IC - G4PB24 to the STC -26 Norm ally Closed (m otor axes) O PTO G ND HO ME HO M E O PTO G ND E-STOP...

  • Page 66: Opto-Isolation

    Dedicated I/O signals can be configured in the SETUP program and the boot configurations of the User I/O signals can be set with the function libraries. Refer to the MEI DSP-Series Motion Controller C Programming Manual for detailed information.

  • Page 67: 8254 Counter Wiring

    I/O wiring, and a 50-pin header for connecting to MEI accessory cable CBL-D50. The following diagram illustrates these connections. Console STC-D50 24 VDC User I/O and CBL-D50 Analog Inputs (8) DSPpro-Serial Figure 7-8 DSPpro-Serial Analog Input Connections 7.8 8254 Counter wiring -...

  • Page 68: Developing Your Application

    DSPpro Series controllers share the same C function motion library, software developed with a DSP Series controller can be executed on a DSPpro Series controller with little or no changes. After you are finished debugging and testing your program on the host with a PCX/DSP or other DSP Series controller, you can use the supplied utilities to test your application on the DSPpro’s...

  • Page 69: Write The Application Program

    8.2 Testing the Application Program If you have access to a computer with a standard MEI bus-based DSP Series motion controller (e.g. PCX/DSP, LC/DSP, etc.), we strongly recommend using it as an application development platform—the software should require no changes to run in the DSPpro.

  • Page 70: Configuring Communications

    Serial and Dual-port toolkits. The following sections describe these tools. 8.2.1 Configuring Communications All DSPpro Series controllers have the capability to communicate with the host system using two RS-232 serial ports. The two ports, CONSOLE and COM, are used to communicate with the host for debugging and testing purposes and for input and output communications of application programs.

  • Page 71: Using Rconsole To Test Your Application (Dsppro-Pc Only)

    The DSPpro-VME also has a dual-port memory interface, but comes configured for serial port support only. Contact MEI’s Application Engineering department for more information on using the dual-port memory interface with the DSPpro-VME.

  • Page 72: Using Remsvr To Test Your Application (Dsppro-Vme Or Dsppro-Serial)

    Embedded BIOS Remote Disk [COM1] [CONNECTED] Current date is … Microsoft® MS-DOS® Version 6.22 Copyright Microsoft Corp 1981-1993 A:\> 4. When you see the A:\> prompt, you are ready to execute your program. Enter its name at the prompt and press <RETURN>. 5.

  • Page 73: Configure Dos Startup Files

    4. Remove the DSPpro Utility Disk from the floppy drive of the host PC and insert the DSPpro Boot Disk. Make sure it has your application program copied onto it. 5. Reset the controller using the reset button or by toggling power to the controller. The DSPpro will then attempt to connect to the REMSVR application running on the host computer.

  • Page 74: Committing Your Application To The Dsppro-Vme Or Dsppro-Serial

    Connect the console cable between the host computer (use either COM1 or COM2) and the DSPpro Console port. Be sure to use a DB-9F to DB-9F null-modem cable, available from MEI as accessory cable CBL-D9 CONSOLE. Execute the REMSVR program on the DSPpro Utility Disk, using the following options to...

  • Page 75: Appendix A: Connector Pinouts

    Appendix A: CONNECTOR PINOUTS A.1 DSPpro-VME Connector Layout Motor Axes 4-5 Analog Motor Axes 0-1 Inputs(8) P2 P3 P4 P6 Console P5 P7 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 boards) Figure A-2.
  • Page 76 Step Pulse + Analog in 3 Step Pulse - Gate 0 Step Direction + Analog in 4 Step Direction - Out 0 Analog in 5 Out 1 Encoder A + Analog in 6 Encoder A - Out 2 Encoder B + Analog in 7 Encoder B - Encoder Index +...
  • Page 77 DSPpro-VME P1 User I/O DSPpro-VME connections Dedicated I/O Connections 50-pin Opto-22 compatible 50-pin box headers Signal P2 Axis P3 Axis Pin Signal In-Position Out PC Interrupt Input Amp Enable Out DSP Interrupt Input In-Position Out I/O Line C-5 Amp Enable Out I/O Line C-4 In-Position Out I/O Line C-3...

  • Page 78: Dsppro-Serial Connector Layout

    A.3 DSPpro-Serial Connector Layout Console COM2 Motor & Dedicated I/O Connections Axes 0-1 Axes 2-3 Axes 4-5 Axes 6-7 User I/O and Analog Inputs (8) Figure A-3. Connector Locations -DSPpro-Serial A.4 DSPpro-Serial Connector Pinouts DSPpro-Serial P1 (Axes 0 and 1) Signal Signal Encoder A(0) +...
  • Page 79 DSPpro-Serial P2 (Axes 2 and 3) 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) +/- 10V Analog Out(3)
  • Page 80 DSPpro-Serial P3 (Axes 4 and 5) Signal Signal Encoder A(4) + Encoder A(5) + Encoder A(4) - Encoder A(5) - Encoder B(4) + Encoder B(5) + Encoder B(4) - Encoder B(5) - Encoder Index(4) + Encoder Index(5) + Encoder Index(4) - Encoder Index(5) - +/- 10V Analog Out(4) +/- 10V Analog Out(5)
  • Page 81 DSPpro-Serial P4 (Axes 6 and 7) Signal Signal Encoder A(6) + Encoder A(7) + Encoder A(6) - Encoder A(7) - Encoder B(6) + Encoder B(7) + Encoder B(6) - Encoder B(7) - Encoder Index(6) + Encoder Index(7) + Encoder Index(6) - Encoder Index(7) - +/- 10V Analog Out(6) +/- 10V Analog Out(7)
  • Page 82 DSPpro-Serial P5 (User I/O, Analog Inputs, Counter/Timer ) Signal Signal User I/O PA0 Clock 0 User I/O PA1 -12 Volt User I/O PA2 +12 Volt User I/O PA3 Opto +Volt User I/O PA4 Gate 0 User I/O PA5 Out 0 User I/O PA6 Out 1 User I/O PA7...
  • Page 83 DSPpro-Serial P8 (CONSOLE) Signal Signal Ground DSPpro-Serial P9 (COM) Signal Signal None None TxD B None RxD B None None Ground None DSPpro-Serial P100 (Power Input) Signal Signal Ground In +24 Volts In Appendix A: Connector Pinouts Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 84: Appendix B: Specifications

    • High-speed registration • Hundreds of other functions Software Development Tools • MEI standard C-function libraries (over 250 C-functions available) • Compilers: Microsoft, Borland • Host support software: dual-port memory toolkit or serial toolkit Appendix B: Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 85 Motion Profiles • Trapezoidal profile • S-curve profile • Parabolic profile • Custom (user-defined) Kinematic Ranges • Position: 32-bit (±2.15 billion counts) • Velocity: 32-bit (±6.7 million • Acceleration: 32-bit (±13.4 billion counts/sec2 at 2 kHz sampling) User I/O • 24-44 user I/O TTL •...
  • Page 86 Position Feedback • Incremental encoder: 5.0 MHz, single-ended or differential • Encoder illegal state checking and broken wire detection RS-422 line receivers/digital filtering • • Analog position • Temposonics direct connection * Power Requirements • +5 V Icc = 1A max •...

  • Page 87: Dsppro-Serial Specifications

    • Tangential following * • High-speed registration • Hundreds of other features Software Development Tools • MEI standard C-function libraries (over 250 C-functions available) • Compilers: Microsoft, Borland • Host support software: serial toolkit Motion Profiles • Trapezoidal profile •...
  • Page 88 Servo Output • ±10V DC at 16-bit resolution • ±18 mA current • Wide range dynamic PID control with VFF and AFF • Friction compensation • High inertia compensation Servo Loop Update Rate • User-programmable rate • Maximum: 10 kHz (1 axis), 3 kHz •...
  • Page 89 Mechanical Specifications • Dimensions: 2" H x 5" W x 9" L • Weight: 3.0 lbs (1.36 kg) Power Requirements • +24 V DC, 0.7 A (typical) Environmental Conditions • Operating temperature: 0-50 degrees C • Humidity: 20-95% RH, non-condensing Appendix B: Specifications Artisan Technology Group - Quality Instrumentation ...

  • Page 90: Appendix C: Tuning Your System

    The methods of tuning described in this section rely upon the SETUP program, described in detail in chapter 5, “MEI Software.” Please be sure to review this section before tuning your system.

  • Page 91: Tuning Parameters

    The subscripted n represent the sample period. The terms are defined: S n = S n-1 + E n if -S max < S n < S max S max if S n > S max -S max if Sn < -S max O n = DAC output K R = overall scale factor K p = proportional gain...

  • Page 92: Derivative Gain (K D )

    Figure C-1. Insufficient Proportional Gain In the above plot, the motor (actual position) is not keeping up with the command position, yet the output voltage is not saturated. Clearly, more gain is required. Figure C-2. Excessive Proportional Gain Excessive proportional gain is characterized by oscillation. In some situations, damping (derivative gain) can be increased to help compensate.

  • Page 93: Integral Gain (K )

    Figure C-3. Insufficient Derivative Gain Figure C-4. Excessive Derivative Gain C.2.3 Integral Gain (K Integral Gain helps the control system overcome static position errors caused by friction or loading by increasing the output value until the error goes to zero. A low or zero value for Integral Gain may have position errors at rest which depend on the static or frictional loads and the Proportional Gain.

  • Page 94: Velocity Feed Forward (K )

    Figure C-5. Insufficient Integral Gain Note that the integral gain may be inactive during motion is the axis is configured for an Integral mode of "Only Standing". To close the following error during motion, use the feed-forward filter terms. Also note that the integration limit affects the performance of the integral gain. C.2.4 Velocity Feed Forward (K The velocity feed-forward term is very important when used with velocity controlled servos or closed-loop step motors.

  • Page 95: Acceleration Feed-Forward

    Figure C-6. Insufficient Velocity Feed-Forward C.2.5 Acceleration Feed-Forward (K Acceleration feed-forward is used with torque (current) controlled servos. Systems with high inertial loads need more motor current to accelerate or decelerate than systems with light loads. The Acceleration Feed-Forward term causes the controller to increase the motor control signals during periods of acceleration and deceleration.

  • Page 96: Friction Feed Forward

    and feed forward terms must be doubled. This means that a gain of 10 must be changed to a gain of 20. This also means that a gain of 9.5 which before could not have been entered can now be entered as 19.

  • Page 97: Step 3: Iterate Steps 1 And 2

    C.3.3 Step 3: Iterate Steps 1 and 2 With a derivative Gain high enough to eliminate overshoot, increased the Proportional Gain until the system becomes unstable. Then increase the Derivative Gain again and try to reduce overshoot and ringing. Eventually it will be impossible to eliminate the overshoot by raising derivative gain.

  • Page 98: Step 1: Set Proportional Gain (K )

    For new systems this sequence of steps should be performed twice; once with no motor load to provide a stable set of starting terms, and once with the motor loaded to fine-tune the initial parameters. The Derivative term should be set to zero. C.4.1 Step 1: Set Proportional Gain (K The Proportional Gain is dependent upon the ratio between the number of encoder counts and the number of steps (or microsteps) per revolution of the motor.
  • Page 99 INDEX switch locations, 17 switch settings, 17, 18 Dual-loop wiring, 53 Acceleration feed forward, 29, 100, 102, 103 Actual position, 11, 93 Analog inputs, 63 Application development, 65 Testing your application program, 66 E-mail address, 1 Writing your application, 66 Encoder input, 46 Applications disk, 1 Errors...
  • Page 100 Open-loop step motors, 49 status menu, 34 optical isolation, 61, 63 tuning parameters window, 27 Opto-isolation, 63 Shift, 101 Output limit, 30 Software & firmware updates, 2 Software limits window, 34 Speed, 31 Status menu, 34 Step motors PID parameter ranges, 30 closed-loop, 51 Position error, 11, 93 control, 12...

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