User Manual
Contents
1. DESCRI PTION TEXT INDEX A 0 Turn off the AMS PARAMETER DESCRI PTION Digits Minimum Value Maximum Value RETURN DESCRI PTI ON Digits Value 0 2 0 255 5 identifier 1 3 OFF DETAIL By this command you can turn off the AMS by remote connection EXAMPLE a gt OFF cr 0 5 DESCRI PTION TEXT INDEX Temperature threshold to start on the fan PARAMETER DESCRI PTION Digits Minimum Value Maximum Value 1 2 0 99 Temperature in degrees centigrades RETURN DESCRI PTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Set the temperature threshold measured on the inner heatsink in the order to turn on the fan EXAMPLE a gt THS 55cr 0 ACKcr 16 AMS User Manual 2010 Digital Technology Art srl DESCRI PTION TEXT INDEX Return the temperature threshold PARAMETER DESCRI PTION Digits Minimum Value Maximum Value RETURN DESCRI PTI ON Digits Value 0 2 0 255 AMS identifier 1 2 0 99 Heatsink temperature DETAIL Return the temperature threshold above which turns on the fan EXAMPLE a gt 0 55cr EEW COMMAND DESCRI PTION TEXT INDEX Write a byte in the EEPROM at the specified2. DESCRIPTION TEXT INDEX Read the set fractioning PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 3 Program selection RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 1 500 Frazionamento 400 DETAIL Read the fractioning sets for each of the available program EXAMPLE Ocr 0 25cr RES COMMAND DESCRIPTION TEXT INDEX Reset AMS PARAMETER DESCRIPTION Digits Minimum Maximum Value Value RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Reset AMS EXAMPLE a RES 0 ACKcr 24 AMS User Manual 2010 Digital Technology Art srl DESCRIPTION TEXT INDEX Set the maximum positioning frequency 2 DESCRIPTION Digits Minimum Maximum Value Value 0 8 1 500000 Frequency in Hz RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Set the maximum positioning frequency Hz EXAMPLE MPF 50000cr 0 ACKcr SMF COMMAND DESCRIPTION TEXT INDEX Read the maximum positioning frequency Hz PARAMETER DESCRIPTION Digits Minimum Maximum Value Value RETURN DESCRIPTION Digits Value 0 2 0 25
3. on ava a kokenn e 28 n 4o 29 ED OLD 29 ph Ge oa Mim E oca eiue 30 n ane e a dedo cua oe ie al Leet att coal ed ula at shad 30 zip em CAT Ag an pose 31 e RORY e e LE e 31 ren n a Gi dccem n 32 EP 32 SRG a 33 PR TE ens shunned oka abe act k n ok au tae a a ad E ME 33 zie pU 34 D PR 34 Ib 35 Cyclic redundancy Check brote a ean iuste sd 37 1151 48515 o p 37 CRCS and data e CUR DRE VR dee ande e utat 37 Computation Of CRG ett de etudes 38 Makherigtics Of basi etc ot cda a aa 38 Specification 0f C IG De ay tn ata oit 39 Commonly used and standardized 5 39 Designing CRC 6 42 4 AMS III User Manual 2010 Digital Technology Art srl INTRODUCTION AMS is a control system for the management of step motors of little size up to 2 8A a phase It can manage two motors simultaneously both for
4. 19 EEW Write a byte in the EEPROM 17 ELW Write a 32 bit word in the EEPROM 18 EWW Write a 16 bit word in the EEPROM 18 HST Return the temperature of the heatsink 14 MMC Set the max current of the motors 15 OFF Turn off the 16 REV Return the remote management program FOVISION n Sek Aid sh Ses 14 RMC Return the max current of the used MOORS savan asa ete tmc RD HE papa de 15 RTH Return the temperature threshold 17 THS Temperature threshold to start on the Ip MM E 16 AMS III User Manual O 2010 DTA srl 43
5. PARAMETER DESCRI PTI ON Digits Minimum Maximum Value Value RETURN DESCRI PTI ON Digits Value 0 2 0 255 AMS identifier 1 2 0 15 Port status DETAIL Read 4 bit wide the inputs of the amplified port EXAMPLE 0 7 DAC COMMAND DESCRIPTION TEXT INDEX DAC 039 Set a tension on one by two D A converters PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Selezione canale 1 4 0 4095 Tensione di uscita RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL This command allows to set the output tension of the two analogical outputs EXAMPLE a DAC 0 1023cr 0 ACKcr 32 AMS III User Manual 2010 Digital Technology Art srl SRC COMMAND DESCRIPTION TEXT INDEX SRC 040 Set the internal clock PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 4 1900 2050 1 2 1 12 Month 2 2 1 31 Day 3 2 1 7 Day of the week 4 2 0 23 Hour 5 2 0 59 Minute 6 2 0 59 Second RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Set the internal clock EXAMPLE 2010 1 10 2 9 9 20 0 ACKcr RTC COMMAND DESCRI PTI ON TEXT INDEX R 04 Read the internal clock PARAMETER DESCRI PTI ON Digits Minimu
6. 20 FRC Set the fractioning of the motors 23 GTL Read 4 bit wide the inputs of the amplified 32 Read the 14 bit 21 IOP Read the opto isolated inputs of the enCOGGrs austin ier denied 30 JOY Read the status of the joystick 34 MEN Enable or disable the motors 22 MPF Set the maximum positioning frequency dura PME 25 OLP Write the 16 bit 22 PCT Read the number of counts that motors NAVE c emite 28 POS Run a positioning on both axes 28 RES Reset AMS niece ects 24 RTC Read the internal 33 SEC Set the encoder 27 SEF Read the sampling frequency Hz of the enCOQers iR iar itis e a 26 SID Set the AMS identifier number 35 SME Read the enabling of motors 23 SMF Read the maximum positioning frequency Hz 25 SOC ON OFF open collector output 31 SRC Set the internal 33 STO Write 4 bit wide on the TTL amplified PON RR 31 TKS Check the tracking activity 30 TRK Set the tracking on both axes 29 EDW Write a 64 bit floating point number in the 19 EER Read byte of the EEPROM at the specified address
7. ay e a ia e 14 ae se ones n acu Se e 15 RMG em Dr T 15 10 ec M 16 Bes E DOR bM ME 16 dg eres doi pate en 17 ie 17 p 18 zi 18 b m 19 cil Fx CT 19 Ul d 20 aki 20 ab disi p s 21 21 k bk aza pk a ta l 22 ME ES 22 SME O 23 23 CME a e ea n kn a a a n e pano e eee a MM tn aa 24 RES EN 24 PAN o PO n A e oo nd n a ADD e 25 SME tm 25 ES Mu Hr a es eee ete 26 AMS User Manual 6 2010 DTA sri 3 ze T 27 SEG su se en e c c eM E tn 27 Sa e ete eU MM E DEM 28
8. AMS III Advanced Microstepping Controller User Manual Rev 2 0 0 AMS 111 1 0 0 February 2014 Digital Technology Art sri 2014 Rights Reserved Copyright 2014 Digital Technology Art s r l All rights reserved The reproduction of any part of this manual is allowed only with the written authorization by Digital Technology Art s r l The contents of this manual may be subject to changes without any warning Digital Technology Art are not responsible for errors that may occur in this manual 2 AMS III User Manual 2010 Digital Technology Art srl Summary nee tante ee een on ase e aa l aa l INTRODUCTION fesa t k po kek gn AS 5 CONNECTORS ON THE BOARD Prati i 6 VO CONNECTOR cap NEU RI 7 15 don tn da paste l da ba is e ne Vus rep 7 T O ELECTRICAL SCHEME en etan ss asa kab brit a isk ka ta ee pan bk a na e ik pak 8 cia I M ES AMINO ea baye en pa Easy se n pan pan be 9 SERIAL PROTOCOL und onn alin a ee RE 11 COMMAND ao aie ba dear ete e eee aes 13 SERIAL COMMANDS wie testes tua deco det oe eee ees 14 REV Me 14 Ide d a
9. 88888888 88888888 111111 0000077 1000007 8 AMS User Manual 2010 Digital Technology Art srl SERI AL CONNECTION AMS works by a RS232 serial port the default setting is 115200 8 N 1 you can set different values by the configuration program AMS can be connected point point or in cascade in latter way you can control up to 256 devices by just one serial port Personal computers offer one or more serial ports generally of two different types 9PIN or 25PIN look at the image below We need just three of all present signals 1 Receive data 2 Transmit data 3 Signal ground Depending on the type of connector these signals are in different pins look at the table below where the arrangement of the pin is shown Function Data carrier detect Receive data Transmit data Data terminal ready Signal ground Data set ready Request to send Clear to send 1 2 3 4 5 6 7 8 9 Ring indicator AMS III User Manual O 2010 DTA srl 9 10 To identify the numeration of the RS232 connector s pins images below can very useful OI OUO AITTE 3 49 49 47 4909 60 Ged e ese The connector supplied requires the use of the DB9 connector according to the following arrangement 9 9 5 PC Function Receive data Transmit data Signal ground AMS III User Manual 2010 Digital Technology Art srl SERIAL PROTOCOL To communicate with AMS III means sen
10. 0 2 0 255 AMS identifier 1 8 0 22 Number of counts DETAIL Read the encoder counts EXAMPLE a 0 33212cr SEC COMMAND DESCRIPTION TEXT INDEX Set the encoder counts PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Encoder selection 112 0 232 Number of counts RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Set the encoder counts EXAMPLE SEC 0 Ocr 0 ACKcr AMS User Manual 2010 DTA srl 27 5 DESCRI PTION TEXT INDEX POS 030 Run a positioning on both axes PARAMETER DESCRI PTI ON Digits Minimum Value Maximum Value 0 2 0 1 Direction axis 0 0 CCW 1 CW 1 18 0 2 Number of steps to run axis 0 2 2 0 1 Direction axis 1 0 CCW 1 CW 3 8 0 23 Number of steps to axis 1 4 18 0 232 Starting period axis 0 5 8 0 23 Period of max speed axis 0 6 18 0 232 Starting period axis 1 7 8 0 23 Period of max speed axis 1 RETURN DESCRI PTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Run a positioning on both axes Starting and maximum speed periods give the acceleration and deceleration ramp To get the used frequencies in Hz just divide the maximum positioning speed set with the command MPF by the number used plus one EXAMPLE a POS 0 332450 1 1234 20 2 15 2cr 0 ACKcr P
11. address PARAMETER DESCRI PTI ON Digits Minimum Value Maximum Value 0 8 0 131071 EEPROM address 1 2 0 255 Byte RETURN DESCRI PTION Digits Value 0 2 0 255 5 identifier 1 2 CODE Operation result DETAIL Write a byte in the EEPROM at the specified address Attention An area of the EEPROM is reserved to the AMS settings a wrong writing is cause of malfunctioning EXAMPLE a gt 16384 27 AMS User Manual 2010 sri 17 EWW COMMAND DESCRI PTION TEXT INDEX Write a 16 bit word in the EEPROM at the specified address PARAMETER DESCRI PTION Digits Minimum Value Maximum Value 0 8 0 131071 EEPROM address 1 4 0 65535 Word RETURN DESCRI PTI ON Digits Value 0 2 0 255 5 identifier 1 2 CODE Operation result DETAIL Write a 16 bit word in the EEPROM at the specified address Attention An area of the EEPROM is reserved to the AMS settings a wrong writing is cause of malfunctioning EXAMPLE a gt EWW 16384 1957cr 0 ACKcr ELW COMMAND DESCRI PTION TEXT INDEX Write a 32 bit long word in the EEPROM at the specified address PARAMETER DESCRI PTI ON Digits Minimum Value Maximum Value 0 8 0 131071 5 1 8 0 4294967295 RETURN DESCRI PTION Digits Value 0 2 0 255 5 identifie
12. coefficients of a polynomial in some variable x coefficients that are elements of the finite field GF 2 instead of more familiar numbers This polynomial trick allows bit strings to be viewed as elements of a ring A ring is loosely speaking a set of elements somewhat like numbers that can be operated on by an operation that somewhat resembles addition and another operation that somewhat resembles multiplication these operations possessing many of the familiar arithmetic properties of commutativity associativity and distributivity Many 38 AMS III User Manual O 2010 Digital Technology Art srl analytical tools commonly used with numbers also work rings and this is why the polynomial view helps the analysis Specification of CRC The concept of the CRC as an error detecting code gets complicated when an implementer or standards committee turns it into a practical system Here are some of the complications e Sometimes an implementation prefixes a fixed bit pattern to the bitstream to be checked This is useful when clocking errors might insert O bits in front of a message an alteration that would otherwise leave the CRC unchanged e Sometimes an implementation appends n O bits n being the size of the CRC to the bitstream to be checked before the polynomial division occurs This has the convenience that the CRC of the original bitstream with the CRC appended is exactly zero so the CRC can be checked simply by performing the pol
13. power A powerful class of such polynomials which subsumes the two examples described above is that of BCH codes Regardless of the reducibility properties of a generator polynomial of degree r assuming that it includes the 1 term such error detection code will be able to detect all error patterns that are confined to a window of r contiguous bits These patterns are called error bursts 42 AMS III User Manual O 2010 Digital Technology Art srl INDEX Command list ies 13 Connectors on the 6 CONNECTOR Y17 n eher 7 Introduction scene te teni 5 M Motor 78 S Serial commands 2 sss 14 Serial connection 9 Serial protocol sss 11 SP CMF Read the set fractioning sesers 24 DAC Set a tension on one by two D A converters ttt tentes 32 ECT Read the encoder 27 EDE Enable or disable the reading of the efICOGGFS eniro menace tnde 34 EDR Read a real number from 21 ELR Read a 32 bit long word of the EEPROM at the specified 20 ESF Set the sampling frequency Hz of the isi He TERCER RUE 26 ETK Enable the tracking on axis 29 EWR Read a 16 bit word of the EEPROM at the specified
14. 1 0 62 AMS III User Manual O 2010 Digital Technology Art srl x16 x15 1 Modbus USB ANSI X3 28 many CRC 16 IBM others also known as CRC 16 and CRC 16 ANSI e x16 x 1 X 25 HDLC XMODEM Bluetooth SD many 71 CRC 16 CCITT others known as CRC CCITT 0 1021 Ox8408 Ox8810 16 110 a x 4 x x7 x x x 1 SCSI DIF 0x8BB79 OXEDD1 OXCSDB 5 x xil p xl x x8 x x 1 DNP IEC CRC 16 DNP 870 M Bus 0 3065 OxA6BC 9 2 CRC 16 DECT x x1 x8 7 1 655 5 7 0x0589 0x91A0 0x82C4 CRC 16 a Not a CRC see Fletcher s checksum Used in Adler 32 A amp B CRCs Fletcher Sy 24 22 20 19 18 16 14 13 11 10 8 7 CRC 24 A x x x 1 CRC 24 Radix x24 x x19 x1 xt x1 Xx xP xt x3 64 x 1 OpenPGP 0x864CFB OxDF3261 0xC3267D x30 x29 x x x15 XP XU xt 4 x8 4 x7 x OX2030B9C7 0x38E74301 x 1 CDMA 0x30185CE3 CRC 30 CRC 32 Adler gt Not a CRC see Adler 32 See Adler 32 CRC 32 IEEE x x26 x x x16 x1 x x1 4 x8 x7 0x04C11DB7 OxEDB88320 802 3 x x 1 42 MPEG 2 PNG 2 POSIX cksum 0Ox82608EDB 2 CRC 32C 2 2 7 2 4 4 x23 4 2 4 29 4 x19 4 Ox1bED
15. 184 EXAMPLE e gt EER 3184cr 0 206cr AMS User Manual 2010 DTA srl 19 EWR COMMAND DESCRIPTION _ INDEX 1 EWR 014 Read a 16 bit word of the EEPROM at the specified address PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 8 0 131071 address RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 4 0 65535 Contents of the memory DETAI L Read a 16 bit word of the EEPROM at the specified address in the example given it is not said that 21065 is the content of the 33174 EXAMPLE lt E 33174 0 21065 ELR COMMAND DESCRIPTION TEXT INDEX Reada 32 bit long word of the EEPROM at the specified address PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 8 0 131071 EEPROM address RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 4 0 65535 Contents of the memory DETAI L Read a 32 bit long word of the EEPROM at the specified address in the example given it is not said that 65 is the content of the 1024372 EXAMPLE lt 65 0 1024372cr 20 AMS User Manual 2010 Digital Technology Art srl DESCRIPTION TEXT INDEX
16. 5 AMS identifier 1 8 1 500000 Frequency in Hz DETAIL Read the maximum positioning frequency Hz EXAMPLE a SMFc r 0 50000 AMS User Manual 2010 DTA sri 25 ESF COMMAND DESCRIPTION TEXT INDEX Set the sampling frequency Hz of the encoders PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 8 1 500000 Frequency in Hz RETURN DESCRIPTION Digits Value 0 2 0 255 5 identifier 1 2 Operation result DETAI L Set the sampling frequency 2 of the encoders Typically this frequency must be 4 times the maximum positioning frequency EXAMPLE a 5 200000 0 ACKcr SEF COMMAND DESCRIPTION TEXT Read the sampling frequency Hz of the encoders PARAMETER DESCRIPTION Digits Minimum Maximum Value Value RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 8 1 500000 Frequency in Hz DETAIL Read the sampling frequency Hz of the encoders EXAMPLE a SEF cr 0 200000cr 26 AMS User Manual 2010 Digital Technology Art srl DESCRIPTION TEXT INDEX 028 Read the encoder counts PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Encoder selection RETURN DESCRIPTION Digits Value
17. 55 AMS identifier 1 2 0 15 Status of the port DETAI L Generally the 4 opto isolated bits of this port are dedicated to the encoders however if you use an open loop system these inputs can be used for generic purposes EXAMPLE a 0 8cr 30 AMS User Manual 2010 Digital Technology Art srl SOC COMMAND DESCRIPTION TEXT INDEX 036 ON OFF open collector output PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Disable 0 Enable 1 RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL By this command you can control the output of the open collector present on pin 1 of Y17 EXAMPLE a SOC 1 0 ACKcr STO COMMAND DESCRIPTION TEXT INDEX Write 4 bit wide on the TTL amplified port PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 15 Contents of the port RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Write 4 bit wide on the TTL amplified port EXAMPLE a 5 7 0 ACKcr AMS User Manual 2010 DTA srl 31 GTL COMMAND DESCRIPTION TEXT INDEX 1 Read 4 bit wide the inputs of the amplified port
18. C6F41 0x82F63B78 Castagnoli XD xt x19 x x8 1 iSCSI 8 SCTP G hn payload Ox8F6E37A022 CRC 32K x32 x30 x29 x78 x78 Xx 0 x1 x16 4 x15 OX741B8CD7 OxEB31D82E Koopman XO EX FX FEX OxBAODC66B 2 cRC 32Q X9 o3 24 xX x18 x8 x FX xX xX 1 0x814141AB 0xD5828281 aviation 27 OxCOAOAO0D5 0x000000000000001B xt x xX x 1 HDLC ISO 3309 Swiss Prot TrEMBL considered weak for CRC 64 ISO 0xD800000000000000 0x800000000000000D AMS III User Manual O 2010 DTA srl 41 FI KON eNO F FX EX TR KOZE CRC 64 ECMA x2 x38 x37 x35 x33 X9 x3 x29 182 x2 xX x xt xt x xD x x7 x4 x 1 as described in ECMA 182 p 51 OxX42FOE1EBA9EA3693 0xC96C5795D7870F42 0xA17870F5D4F51B49 Known to exist but technologically defunct mainly replaced by cryptographic hash functions CRC 128 IEEE CRC 256 IEEE Designing CRC polynomials The selection of generator polynomial is the most important part of implementing the CRC algorithm The polynomial must be chosen to maximise the error detecting capabilities while minimising overall collision probabilities The most important attribute of the polynomial is its length the number of the highest nonzero coefficient because of its direct influence of the length of the computed checksum
19. CT COMMAND DESCRIPTION TEXT Read the number of counts that motors have to run PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Motor selection 0 1 RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 8 0 232 Number of counts DETAI L Once the positioning is run command POS it can read the countdown of the steps remaining to execute by the motors EXAMPLE e e PCT Ocr 0 39252cn 28 AMS III User Manual O 2010 Digital Technology Art srl TRK COMMAND DESCRI PTI ON TEXT INDEX Set the tracking on both axes PARAMETER DESCRI PTI ON Digits Minimum Maximum Value Value 1 Motor selection 23 Primary period 23 Number of primary periods WIN H O 232 232 Secondary period Number of secondary periods 1 Direction axis 0 0 CCW 1 CW DESCRIPTION m A 2 Digits Value 2 0 255 AMS identifier 2 CODE Operation result DETAI L This command allows you to set an arbitrary tracking on both axes The frequency of steps is established by setting the time to be used which is equal to the maximum frequency of positioning divided the value of the period If the frequency you want has no fractional the primary period is equal to the secondary and the number of periods is the same otherwise the primary will be ru
20. EDR 016 Read real number from the EEPROM at the specified address PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 8 0 131071 EEPROM address RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 4 0 65535 Contents of the memory DETAI L Read real number from the EEPROM at the specified address in the example given it is not said that 1331 is the content of the 3 14159265 EXAMPLE re EDR 1331c 0 3 14159265cr ILP COMMAND DESCRIPTION TEXT INDEX Read the 14 bit port PARAMETER DESCRIPTION Digits Minimum Maximum Value Value RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 4 0 16383 Contents of the memory DETAI L Read the content of the input port at 14 bit following the order ROW 0 7 IN 0 7 EXAMPLE a EDR 1331c 0 3 14159265cr AMS User Manual 6 2010 DTA sri OLP COMMAND DESCRIPTION TEXT INDEX OLP lE write the 16 bit port PARAMETER DESCRI PTI ON Digits Minimum Maximum Value Value 014 0 65535 16 bit word to write on port RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Write the port at 16 bit the involved signals are COL 0 7 OUT 0 7 EXAMPLE a OLP 1cg 0 ACKcr MEN COMMAND DESCRIPTION TEXT INDEX Enable or disable the motors PARAMETER DESCRIPTION Digi
21. RD R36 LE map AE econ ER3 HHR25 R398 R385 econ X14 ERS NI 021 45 0 3 E at TTL OUTPUT OUT O 7 A 20 TTL 7 OUTPUT COL 0 7 SWITCH CF10 moe Y12 13 6 AMS User Manual 2010 Digital Technology Art srl 1 CONNECTOR Y17 Bia af kak SIGNALS SIGNALS OPEN COLLECTOR 5V OUTPUT mouti P427 3 4 2 THL OUT3 P429 5 6 TTILINN1 PL27 7 8 m P129 9 10 _ RO s2 11 12 DTRRXi s4 13 14 ENCODER B 1NOi 15 16 ENCODER 1 B 1INO3 17 18 1 05 19 20 L OPTO INN 1INO7 21 22 L OPTO INLS3 INO9 23 24 GND GND 25 26 COMOPTO Y14 15 MOTOR OUTPUT PIN SI GNAL MOTOR WIRE COLOUR 1 COIL1A Orange 2 COIL2A Blue 3 COIL1B Red 4 COIL2B Yellow Y2 Power control switch Close this contact to turn on AMS or always leave inserted a jumper to automatically turn on with the main power 12 TTL input ROW O0 7 If use the keyboard MK 25 ROW 0 3 are reserved for this use Y13 TTL output COL O0 7 If use the keyboard MK 25 COL 0 5 are reserved for this use Y20 TTL output OUT 0 7 General purpose output AMS III User Manual O 2010 DTA srl 1 ELECTRICAL SCHEME ry ersof s er
22. The most commonly used polynomial lengths are 9 bits CRC 8 17 bits CRC 16 33 bits CRC 32 65 bits CRC 64 The design of the CRC polynomial depends on what is the maximum total length of the block to be protected data CRC bits the desired error protection features and the type resources for implementing the CRC as well as the desired performance A common misconception is that the best CRC polynomials are derived from either an irreducible polynomial or an irreducible polynomial times the factor 1 x tation needed which adds to the code the ability to detect all errors affecting an odd number of bits In reality all the factors described above should enter in the selection of the polynomial The advantage of choosing say a primitive polynomial as the generator for a CRC code is that the resulting code has maximal total block length in here if r is the degree of the primitive generator polynomial then the maximal total blocklength is equal to 2 1 and the associated code is able to detect any single bit or double errors If instead we used as generator polynomial g x p x 1 x where p x is a primitive polynomial of degree r 1 then the maximal total blocklength would be equal to 2 1 but the code would be able to detect single double and triple errors A polynomial g x that admits other factorizations may be chosen then so as to balance the maximal total blocklength with a desired error detection
23. ainder is always less than or equal to the length of the divisor which therefore determines how long the result can be The definition of a particular CRC specifies the divisor to be used among other things Although CRCs can be constructed using any finite field all commonly used CRCs employ the finite field GF 2 This is the field of two elements usually called O and 1 comfortably matching computer architecture The rest of this article will discuss only these binary CRCs but the principles are more general An important reason for the popularity of CRCs for detecting the accidental alteration of data is their efficiency guarantee Typically an n bit CRC applied to a data block of arbitrary length will detect any single error burst not longer than n bits in other words any single alteration that spans no more than n bits of the data and will detect a fraction 1 2 of all longer error bursts Errors in both data transmission channels and magnetic storage media tend to be distributed non randomly i e are bursty making CRCs properties more useful than alternative schemes such as multiple parity checks The simplest error detection system the parity bit is in fact a trivial CRC it uses the two bit long divisor 11 CRCs and data integrity CRCs are specifically designed to protect against common types of errors on communication channels where they can provide quick and reasonable assurance of the integrity of message
24. as hard disk drives A CRC enabled device calculates a short fixed length binary sequence known as the CRC code or just CRC for each block of data and sends or stores them both together When a block is read or received the device repeats the calculation if the new CRC does not match the one calculated earlier then the block contains a data error and the device may take corrective action such as rereading or requesting the block be sent again 5 are so called because the check data verification code is a redundancy it adds zero information and the algorithm is based on cyclic codes The term CRC may refer to the check code or to the function that calculates it which accepts data streams of any length as input but always outputs a fixed length code CRCs are popular because they are simple to implement in binary hardware are easy to analyse mathematically and are particularly good at detecting common errors caused by noise in transmission channels The CRC was invented by W Wesley Peterson and published in his 1961 paper The IEEE recommended 32 bit CRC used in Ethernet and elsewhere appeared at telecommunications conference in 1975 2 I ntroduction A CRC is an error detecting code Its computation resembles a long division operation in which the quotient is discarded and the remainder becomes the result with the important distinction that the arithmetic used is the carry less arithmetic of a finite field The length of the rem
25. ding and receiving messages typically only text messages in ASCII format We said typically since the user can define the protocol so it is possible that he will use not text characters for communication What we are going to describe is the protocol default set during the final testing of the device The serial protocol uses three types of fields 1 Control this type is used for a Identity it indicates the basic address identifying the AMS corresponding to the message destination it generally consists of maximum two digits b Separator it is a character utilized to logically separate the fields between them c End of the message it is a character indicating the end of the message 2 Command it is composed by three ASCII characters and it identify the command the AMS has to run 3 Parameter s Zero a maximum 15 specifics parameters of the command to run Here below a practical example of how a command sent to AMS can be composed COMMAND PARAMETER 1 m PARAMETER N CONTROL CONTROL CONTROL CONTROL CONTROL CONTROL Let s see a real message O REVcr in C language the string is defined as follows O R EV Analyzing it The character 0 is the identifying number of AMS the character is the separator REV is the command r is the character of control of end string If you are using only one AMS by the serial port it is possible to skip the CONTROL IDENTITY so the prev
26. e value 100 it means 1 0 0 EXAMPLE a REV cr 0 100cR HST COMMAND DESCRIPTION TEXT INDEX Return the temperature of the heatsink PARAMETER DESCRIPTION Digits Minimum Value Maximum Value RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 0 255 Heatsink temperature DETAI L Command used to know the operating temperature of the heatsink in degrees centigrades EXAMPLE a gt HSTca 0 27cn 14 AMS II User Manual 2010 Digital Technology Art srl MMC COMMAND DESCRIPTION TEXT INDEX Set the max current of the motors PARAMETER DESCRIPTION Digits Minimum Value Maximum Value 0 2 0 1 Motor selection 1 4 0 2800 Max current of the motor in mA RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Command used to set the maximum current of the motors EXAMPLE a 0 2000 RMC COMMAND DESCRIPTION TEXT INDEX Return the maximum current of the used motors PARAMETER DESCRI PTI ON Digits Minimum Maximum Value Value 0 2 0 1 Motor selection RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 4 0 2800 Current in use in mA DETAIL Command used to know the maximum current in use on the selected motor EXAMPLE a 0 2000 AMS User Manual 2010 DTA sri 15
27. gital Technology Art srl COMMAND LIST In the following pages is a complete list of commands executed by AMS All examples assume that the number of identity of the AMS is 0 the DECIMAL modality is active the separator used is the comma the end character is the CR 13 the CRC control is disabled Differently from above it would change the parameter coding or response coding DIGITS indicates the number of hexadecimal digits when the HEX mode is active For all commands that return a status these are the possible messages TEXT INDEX DESCRIPTION ACK 0 Successfully executed command NAK 1 Not recognized command BPN 2 Wrong number of parameters POR 3 Parameter out of range UNS 4 Not supported mode CRC 5 CRC failure on received string As for the commands the error codes can be text type or numeric index depending on the choice of the user you can switch from one type to the other by the use of VRB command AMS III User Manual 2010 DTA srl 13 SERIAL 5 DESCRIPTION TEXT INDEX Return the remote management program revision PARAMETER DESCRIPTION Digits Minimum Value Maximum Value RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 4 100 1000 Program revision DETAI L Command used to know the program revision If it returns th
28. ious message becomes REV AMS User Manual 2010 DTA sri 11 You can even use this modality when there are many AMS connected by same serial port however you have take into account that only the one directly connected to the serial port of the system is able to receive the commands At the contrary it could be useful to send the same commands to all the AMS connected you can do it indicating the sequence of characters instead of the the NUMBER IDENTITY so the message becomes REV r There is even the possibility to enable a control for the integrity of the messages to do it by a command you can enable the generation and control of a 16 bit CRC This type of control gives a high reliability on the integrity of the received message If we enable the CRC the previous message becomes 0 18149 The characters highlighted in yellow are the ones used for computation of In case the received CRC is different from the one calculated the response is 0 55991 Instead if the CRC is right we receive 0 100 55487 In Appendix A you can find an example on how to calculate the used by 5 More info on CRC at Appendix 2 or the website http en wikipedia org wiki Cyclic redundancy check It s very important to underline the first parameter indicated by AMS in the response message is its identity number 12 AMS User Manual 2010 Di
29. ls usually seen are not the most efficient ones possible Between 1993 and 2004 Koopman Castagnoli and others surveyed the space of polynomials up to 16 bits and of 24 and 32 2120 finding examples that have much better performance in terms of Hamming distance for a given message size than the polynomials of earlier protocols and publishing the best of these with the aim of improving the error detection capacity of future standards In particular iSCSI and SCTP have adopted one of the findings of this research The popular and IEEE recommended CRC 32 polynomial used by Ethernet FDDI and others is the generating polynomial of a Hamming code and far from being arbitrarily chosen was selected for its error detection performance Even so the Castagnoli CRC 32C polynomial used in iSCSI or SCTP matches its performance on messages from 58 5 131 kbits and outperforms it in several size ranges including the two most common sizes of Internet 0 The ITU T G hn standard also uses CRC 32C to detect errors in the payload although it uses CRC 16 CCITT for PHY headers The table below lists only the polynomials of the various algorithms in use Any particular protocol can impose pre inversion post inversion and reversed bit ordering as described above CRCs in proprietary protocols might use a complicated initial value and final XOR for obfuscation but this does not add cryptographic strength to the algorithm Note in thi
30. lue Value 0 2 0 255 Identity number RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL It sets AMS identifier Attention the returned answer will use the new identifier EXAMPLE a SID 1cg 1 ACKcg AMS III User Manual O 2010 DTA srl 35 Appendix Al crc previous value of crc c character to ad to the control short unsigned updcrc short unsigned crc int int i c 8 for i 0 i 8 i if crc 0x8000 crc crc lt lt 1 0 001 else crc 1 lt lt 1 return crc main int argc char argv char filename 1024 short unsigned crcl6 unsigned num 0 if argc 2 printf Usage crc filename if argc 2 strcpy filename argv 1 else printf nEnter filename gets filename if fp fopen filename rb NULL printf Can t open file crci6 0 while ch fgetc fp EOF num 16 16 ch fclose printf NnNumber of bytes lu nCRC16 04X n num crcl16 36 AMS User Manual 2010 Digital Technology Art srl Appendix A2 Cyclic redundancy check From Wikipedia the free enciclopedy A cyclic redundancy check CRC or polynomial code checksum is a non secure hash function designed to detect accidental changes to raw computer data and is commonly used in digital networks and storage devices such
31. m Maximum Value Value RETURN DESCRI PTI ON Digits Value 0 2 0 255 5 identifier 1 4 1900 2050 2 2 1 12 Month 3 2 1 31 Day 4 2 1 7 Day of the week 5 2 0 23 Hour 6 2 0 59 Minute 7 2 0 59 Second DETAIL Read the internal clock EXAMPLE a RTCc r 0 2010 1 10 2 9 9 28 AMS User Manual 2010 DTA sri 33 JOY COMMAND DESCRIPTION TEXT INDEX Read the status of the joystick PARAMETER DESCRIPTION Digits Minimum Maximum Value Value RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 0 15 Status of the port DETAI L The opto isolated inputs OPTO 2 5 are typically used fora 4 switch joystick for manual movements EXAMPLE 2 O lcn EDE COMMAND DESCRIPTION TEXT INDEX D 04 Enable disable the reading of the encoders PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Disable 0 Enable 1 RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAI L Enable or disable the reading of the encoders EXAMPLE a EDE icr 0 34 AMS User Manual 2010 Digital Technology Art srl 510 COMMAND DESCRIPTION TEXT INDEX SID 048 Set the AMS identifier number PARAMETER DESCRI PTION Digits Minimum Maximum Va
32. n for a certain period e g positive deviation and then it will be run the secondary period e g negative deviation so that the average period is centered in an error limit on the value you desire EXAMPLE a TRK 0 100 373 1234 20 Ocr 0 ACKcr ETK COMMAND DESCRIPTION TEXT INDEX Enable the tracking on an axis COMMAND DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Motor selection 1 2 0 1 Disable 0 Enable 1 RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL After sets a tracking by the command TRK it s possible to run it or not by this command EXAMPLE a 0 1 0 ACKcr AMS User Manual 2010 DTA srl 29 TKS COMMAND DESCRIPTION TEXT INDEX Check the tracking activity PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Motor selection 0 1 RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 8 0 1 0 Disabled 1 Enabled DETAIL Check the tracking activity EXAMPLE a TKS Ocr 0 1 DESCRIPTION TEXT INDEX IOP I 035 Read the opto isolated inputs of the encoders PARAMETER DESCRIPTION Digits Minimum Maximum Value Value RETURN DESCRIPTION Digits Value 0 2 0 2
33. positioning and tracking AMS implements two types of architecture 1 open loop the quantization of the movement has done by the step step motor of which is known the angular movement related to an impulse 2 close loop the quantization of the movement has done by the resolution of the encoders The management of the motors is based on the microstepping tecnique This mode allows to set the angular step by software starting from maximum value of 200000 step rev up to minimum of 400 step rev In practice it s as if you have a de multiplication ratio varying electronically Moreover the system allows to vary the power used by the motors from a minimum of 0 OA to maximum 100 2 8 Another characteristic of the system is that it can execute arbitrary trackings on both the controlled axes At last one of the more interesting characteristics offered by this system is the possibility to use it in cascade with other AMS devices up to a maximum of 256 devices In fact each AMS has got a own identity number 00 255 so being possible to control up to 512 motors by just one serial port AMS III User Manual 2010 DTA srl 5 CONNECTORS ON THE BOARD AMS III HEATSINK 7 C16 22 Us 4 GQGooVvo CF2 Y5 m e MOTOR os xi vel CONNECTORS POWER SUPPLY C13 2009 Rights Reserved R24 e D3 dem yi zm a ZEND Y9 HORNET BOA
34. r 1 2 CODE Operation result DETAIL Write a 32 bit long word in the EEPROM at the specified address Attention An area of the EEPROM is reserved to the AMS settings a wrong writing is cause of malfunctioning EXAMPLE a gt ELW 16384 1961957cr 0 ACKcr 18 AMS User Manual 2010 Digital Technology Art srl EDW COMMAND DESCRI PTION TEXT INDEX Write a 64 bit floating point number in the EEPROM at the specified address PARAMETER DESCRI PTION Digits Minimum Maximum Value Value 0 8 0 131071 EEPROM address 1 8 1 37 1 37 Floating point number RETURN DESCRI PTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL malfunctioning Write a 64 bit floating point number in the EEPROM at the specified address Attention An area of the EEPROM is reserved to the AMS settings a wrong writing is cause of EXAMPLE gt EDW 16384 1957 34567cr 0 ACKcr EER COMMAND TEXT INDEX DESCRI PTI ON Read a byte of the EEPROM at the specified address PARAMETER Ban Minimum Maximum DESCRI PTION Digits Value Value 0 8 0 131071 EEPROM address RETURN DESCRI PTI ON Digits Value 0 2 0 255 AMS identifier 1 2 0 255 Contents of the memory DETAIL Read a byte of the EEPROM at the specified address in the example given it is not said that 206 is the content of the cell 3
35. s AMS III User Manual O 2010 srl 37 delivered However they are not suitable for protecting against intentional alteration of data Firstly as there is no authentication an attacker can edit a message and recalculate the CRC herself without the substitution being detected This is even the case when the CRC is encrypted this was one of the design flaws of the WEP protocol Secondly the linear properties of CRC codes allow an attacker to even keep the CRC unchanged while modifying parts of the message this also makes calculating the CRC adjustment for small changes more efficient Nonetheless it is still often falsely assumed that when a message and its CRC are received from an open channel and the CRC matches the message s calculated CRC then the message cannot have been altered in transit If reliable protection against unintentional modification is desired cryptographic hash functions should be used However they are much slower than CRCs and are therefore commonly used to protect off line data such as files on servers or databases Both CRCs and cryptographic hash functions by themselves do not protect against malicious modification of data Any application that requires protection against such attacks must use cryptographic authentication mechanisms such as message authentication codes Computation of CRC Main article Computation of CRC To compute an n bit binary CRC line the bits representing the inpu
36. s table the high order bit is omitted see Specification of CRC above AMS User Manual 2010 DTA srl 39 CRC 1 CRC 4 ITU CRC 5 EPC CRC 5 ITU CRC 5 USB CRC 6 ITU CRC 7 CRC 8 CCITT CRC 8 Dallas Maxim CRC 8 CRC 8 SAE J1850 CRC 8 WCDMA CRC 10 CRC 11 CRC 12 CRC 15 CAN 40 x 1 most hardware also known as parity bit Polynomial x x 1 ITU T G 704 p 12 5 x 1 Gen 2 X x x 1 ITU T G 704 9 5 x 1 USB token packets x x 1 ITU T G 704 p 3 x x MMC SD x x 1 HEC ISDN Header Error Control and Cell 1 telecom systems ITU T G 707 ITU T G 832 Delineation ITU T 1 432 1 02 99 x x 1 1 Wire bus x84 x7 x 1 4x72 41 x84 x7 xt4 x2 4x 122 x x 1 ATM ITU T 1 610 X x8 x7 x 1 FlexRayl XP xH x3 x x 1 telecom systems 465 l erant FX F Representations normal reversed reverse of reciprocal 0x1 0x1 0 1 0x3 0 9 0x09 0x12 Ox14 0x15 0x15 Ox1A 0x05 0x14 0x12 0x03 0x30 0x21 0x09 0x48 Ox44 0x07 OxEO 0x83 0x31 0 8 0x98 OxD5 OxAB OxEA Ox1D 8 Ox9B 0 9 OxCDZ 0x233 0x331 0x319 0x385 OX50E 0x5C2 0 80 01 OXCO7 0 4599 4
37. t in a row and position the n 1 bit pattern representing the CRC s divisor called a polynomial underneath the left hand end of the row Here is the first calculation for computing a 3 bit CRC 11010011101100 lt Input 1011 divisor 4 Bits 01100011101100 lt result If the input bit above the leftmost divisor bit is 0 do nothing and move the divisor to the right by one bit If the input bit above the leftmost divisor bit is 1 the divisor is exclusive ORed into the input in other words the input bit above each 1 bit in the divisor is toggled The divisor is then shifted one bit to the right and the process is repeated until the divisor reaches the right hand end of the input row Here is the last calculation 00000000001110 result of previous step 1011 divisor 00000000000101 lt remainder 3 bits Since the leftmost divisor bit zeroed every input bit it touched when this process ends the only bits in the input row that can be nonzero are the n bits at the right hand end of the row These n bits are the remainder of the division step and will also be the value of the CRC function unless the chosen CRC specification calls for some post processing Mathematics of CRC Main article Mathematics of CRC Mathematical analysis of this division like process reveals how to pick a divisor that guarantees good error detection properties In this analysis the digits of the bit strings are thought of as the
38. ts Minimum Maximum Value Value 0 2 0 1 Motor selection 1 2 0 1 0 disable 1 enable RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL Enable or disable the motors EXAMPLE a 0 1 0 ACKcr 22 AMS User Manual 2010 Digital Technology Art srl 5 DESCRIPTION TEXT INDEX Read the enabling of motors PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 1 Motor selection RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 0 1 0 disable 1 enable DETAIL Read the enabling of motors EXAMPLE a SME 1 O lcn FRC COMMAND DESCRI PTI ON TEXT INDEX kn Set the fractioning of the motors PARAMETER DESCRIPTION Digits Minimum Maximum Value Value 0 2 0 3 Program selection 1 2 1 500 Fractioning N 400 RETURN DESCRIPTION Digits Value 0 2 0 255 AMS identifier 1 2 CODE Operation result DETAIL 1 Tracking 3 Tracking axis 0 2 Positioning axis 1 axis 1 Set the fractioning of the motors Motors can execute tracking and positioning for each operation program it is possible to set a different fractioning 0 Positioning axis 0 EXAMPLE yon FRC 0 25cr 0 ACKcr AMS User Manual 2010 DTA srl 23
39. ynomial division on the expanded bitstream and comparing the remainder with zero e Sometimes an implementation exclusive ORs a fixed bit pattern into the remainder of the polynomial division e Bit order Some schemes view the low order bit of each byte as first which then during polynomial division means leftmost which is contrary to our customary understanding of low order This convention makes sense when serial port transmissions are CRC checked in hardware because some widespread serial port transmission conventions transmit bytes least significant bit first e Byte order With multi byte CRCs there can be confusion over whether the byte transmitted first or stored in the lowest addressed byte of memory is the least significant byte or the most significant byte For example some 16 bit CRC schemes swap the bytes of the CRC e Omission of the high order bit of the divisor polynomial Since the high order bit is always 1 and since an n bit CRC must be defined by an n 1 bit divisor which overflows an n bit register some writers assume that it is unnecessary to mention the divisor s high order bit Commonly used and standardized CRCs While cyclic redundancy checks form part of several standards they are not themselves standardized to the point of adopting one algorithm of each degree worldwide there are three polynomials reported CRC 12Ll thirteen conflicting definitions of CRC 16 and six of CRC 32l The polynomia
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