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DSPpro- Serial - MEI`s Technical Support

1. None None 73 DSPpro Serial P4 Axes 6 and 7 Pin Signal Pin Signal 1 5V 26 5V 2 GND 27 GND 3 Encoder A 6 28 Encoder A 7 4 Encoder A 6 29 Encoder A 7 5 Encoder B 6 30 Encoder B 7 6 Encoder B 6 31 Encoder B 7 7 Encoder Index 6 32 Encoder Index 7 8 Encoder Index 6 33 Encoder Index 7 9 10V Analog Out 6 34 10V Analog Out 7 10 Step Pulse 6 35 Step Pulse 7 11 Step Pulse 6 36 Step Pulse 7 12 Direction 6 37 Direction 7 13 Direction 6 38 Direction 7 14 None 39 None 15 Amp Enable 6 40 Amp Enable 7 16 In Position 6 41 In Position 7 17 Amp Fault 6 42 Amp Fault 7 18 Home Input 6 43 Home Input 7 19 Positive Limit 6 44 Positive Limit 7 20 Negative Limit 6 45 Negative Limit 7 21 Opto Volt 46 Opto Volt 22 Opto Ground 47 Opto Ground 23 None 48 None 24 None 49 None 25 None 50 None 74 Appendix A Connector Pinouts Pin 1 2 3 4 5 6 7 8 9 ai N NN NN NR RRR RR n ABP GA Ara DO O JA Ch NA BW N User I O Analog Inputs Counter Timer Signal 5V ser I O PAO ser I O DAT ser I O PA2 ser I O PA3 ser I O PA4 ser I O PAS ser I O PA6 ser I O PA7 ser I O PBO ser I O PB1 ser I O PB2 ser I O PB3 ser I O PB4 ser I O PB5 ser I O PB6 ser I O PB7 ser I O PCO ser I O DC ser I O PC2 ser I O PC3 ser I O PC4 ser I O PC5 ser I O PC6 ser I O PC7 Ciare GC c GG C eC ve 7 1G Geo Ge QC C
2. 12 bit resolution ie LSB linearity 8 channel multiplexed inputs with track and hold Software configurable for 4 channel differential mode 0 5 V unipolar 2 5 V bipolar 78 Appendix B Specifications 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 12V Icc 10mA max 12V Icc 20mA max Environmental Conditions Operating temperature 0 50 degrees C Humidity 20 95 RH non condensing Appendix B Specifications 79 B 2 DSPpro Serial specifications Specifications marked with a are optional at no cost in volume System Processors e Intel 386EX 25 MHz microprocessor MS DOS 6 22 e 387 math co processor e Analog Devices 40 MHz DSP Communications Interface e RS 232 serial ports 2 e Speed 115 kbps maximum Memory e Mbyte flash memory e Mbytes RAM Motion Control Features Point to point motion Coordinated motion Electronic gearing Electronic camming Sinusoidal commutation Sinusoidal encoder interpolation Feed speed override Dual loop control Tangential following High speed registration Hundreds of other features Software Development Tools e MEI standard C function libraries over 250 C functions available e Compilers Microsoft Borland e Host support softwar
3. gt Applicationin X DSPpro Application into pplication using MEI DSP Series DSPpro Startup Files Flash memory Figure 8 1 DSPpro application development process Chapter 8 Developing Your Application 61 8 1 Write the application program The first step in developing your motion application is to write and compile a program on a host PC using your standard PC development tools This process involves integrating the MEI C function libraries with your compiler of choice developing your motion application and compiling the application along with the appropriate libraries Because the DSPpro executes DOS on board it is important to be sure to compile 16 bit targets from your development environment You can do this by calling your compiler from a DOS prompt or by selecting a 16 bit build from within your Windows development environment Consider the following example which assumes a DOS development environment and the Borland Turbo C compiler If your application is called YOURAPP C you would type the following at the command prompt C TEST gt bcc ml yourapp c medbc451 lib This calls the Borland command line C compiler and supplies it with the source code of the program under development yourapp c along with the appropriate MEI function libraries in this case medbc451 1ib If you are using Microsoft Visual C you would use the following command to compile yourapp c C
4. 00896 KB OK 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 COMI 4 Exit from RCONSOLE or REMSVR by typing ALT X 5 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 Note that if you are connecting to a DSPpro VME or DSPpro Serial using CONZ of your host PC be sure to use ssetup 2 to indicate to the SETUP program to connect through COM2 Mouse and Trackball Support A mouse or trackball makes the SETUP program much easier to use A mouse can be used to click on the hot keys listed across the bottom of the screen or can be used to select which window is active when several are displayed on the screen It can also be used to move windows by positioning the mouse on the title of the window and holding down the left button Be sure to load your mouse driver before running the SETUP program Hot Keys 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 18 Chapter 5 MEI Software Hot Key Description Space Bar or Enter Select the highlighted button F2 Open a Position Status Window F3 Open an Axis Status Window F5 Move the current window with the cursor keys F6 Jump to the next open window F7 Open Tuning Parameters Window
5. F8 Open Axis Configuration Window F9 DSP hardware reset lt ESC gt 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 DSP s data memory and boot memory The buttons have the following functions Button Description Send Same as the lt ENTER gt key Write the values in the window into data volatile memory on the board Set axis Same as the ENTER key Set the axis to display the current values in data memory Save Store the window values into DSPpro boot non volatile memory Read Bring values from boot non volatile memory into data volatile memory Copy all Copy the values in the window to data volatile memory all axes Values displayed in other windows are not affected Save all Store the values in the window to boot non volatile memory for all axes Values displayed in other windows are not affected Saving Default Parameters On Board Many of the configuration windows have Read and Save buttons The Read button loads the default power up or reset configuration parameters from boot memory into data memory The Save button stores the current parameters into boot memory The SETUP program can access the data memory volatile and boot memory n
6. J J is the jerk 10 Chapter 3 DSPpro Controller Design 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 3 2 4 Check for Event Triggers The DSP checks an axis positive limit input negative limit input home input amp fault input and software position limits Also the DSP checks the axis for time limits position triggers and I O triggers to determine if a new frame is to be executed 3 2 5 Perform Event Actions If an event trigger exists for an axis the DSP performs the associated event The possible events are Abort Event highest priority E Stop Event Stop Event or New Frame Event lowest priority 3 2 6 Calculate and Set DAC Output The DSP calculates an axis output analog voltage or pulse rate based on a PID servo control algorithm The input to the PID algorithm is the current position error The current position error equals the difference between the command position and the actual position The actual position is controlled by the feedback device and command position is controlled by the trajectory calculator The PID algorithm is based on the following formula On Kz Kp En Kd En En 1 Ki
7. acceleration feed forward K friction feed forward Mn 0 or 1 based on the command velocity Aq command acceleration 26 The subscripted o represent the sample period The terms are defined Kp overall scale factor Kg derivative gain Ky velocity feed forward Ko static DAC offset En position error Vg command velocity Sn integrated error Smax maximum integrated error Each coefficient can be adjusted using the SETUP program and is explained in the following sections C 2 Tuning Parameters C 2 1 Proportional Gain Kp This term determines the overall response of a system to position errors A low Proportional Gain provides a system which is very stable doesn t oscillate has low stiffness and large position errors under load A high Proportional Gain provides high stiffness and small position errors under load but may oscillate Typical gain values are 100 500 for velocity voltage controlled servos and 500 2000 for torque current controlled servos Closed loop step systems are similar to velocity controlled servos 3 samples per division 48 84 Appendix C Tuning Your System 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 Position Status Command Voltage Output Figure C 2 Excessive Proportional Gain Excessive propor
8. from the board should be connected to the pulse input on the drive If the driver triggers on the rising edge then the Step Pulse from the board should be connected to the pulse input on the drive The Direction line should be connected to the direction input of the drive This will guarantee that the drive will never receive a direction change during a step pulse STC 26 GND Stepper Driver This connection is for 11 era STEP stepper drivers that trigger on the falling edge DIR Stepper GND Driver This connection is for STEP stepper drivers that trigger on the rising edge DIR Figure 6 15 Wiring for Step Drives by Type for DSPpro VME 46 Chapter 6 Motor Wiring 6 5 3 Closed loop Step Motors DSPpro controllers can control step motors with encoder feedback Closed loop steppers are controlled by a PID algorithm running on the DSP in real time The boards accept TTL level 0v to 5v 40mA max encoder input from either differential or single ended encoders Differential encoders are preferred due to their excellent noise immunity The connections for a single ended encoder are identical to a differential encoder except nothing should be connected to channel A and channel B The A and B lines are pulled up internally to 2 5 volts Encoder signals are read in quadrature This means every line on the encoder will produce a rising edge and a falling edge on channels A and B which is interpreted by the DSPpro as four
9. on the DSPpro In addition board level controllers such as the DSPpro VME can communicate with the host system directly over the host bus interface Applications can use the bus interface to access the shared memory regions of the host system using the Dual port Toolkit The dual port toolkit provides a suite of C functions to communicate with the host system using this region of shared memory Both the Serial Toolkit and Dual port Toolkit are explained in detail in the DSPpro Release Notes When DSPpro controllers are shipped from the factory the flash memory is preconfigured to enable communication to the RCONSOLE or REMSVR application as described below Data Chapter 8 Developing Your Application 63 written to the standard output will appear on the host computer s RCONSOLE or REMSVR window No programming is necessary to establish this communication channel DSPpro VME and DSPpro Serial controllers are pre configured to use the serial ports for communication with the host computer DSPpro Serial controllers are pre configured at the factory to use the dual port memory interface for communication with the host computer 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 8 2 2 Using RCONSOLE to Test Your Application DSPpro PC only Before using R
10. 1 3 DSPpro VME Interrupt IRQ Switch Settings sss 15 4 1 4 DSPpro VME Board Installation Procedures sese 15 4 2 Installing the DSPpro Serrial ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeees 16 MEI SOFTWARE 17 Table of Contents i 5 1 The SETUP Program DSETUP EXE amp SSETUP EXE 17 9 51 OVelVIOW x nane eb ivo tu ei penne ees 17 5 1 2 Using SETUP with the DSP 17 9 3 SETUP Screens i tns mu tei beh 21 5 2 The VERSION Program VERSION EXE eeeeeeeeeeeeeee nnn 34 5 3 The CONFIG Program CONFIG EXE essen 35 MOTOR WIRING 37 6 1 Connection Accessories eese nennen nnne nnn nnn nnn nnns 37 6 2 DSPpro VME Motor Signal Header Locations 39 6 2 1 DSPpro VME Motor Signal Pinouts P4 P7 i 39 6 3 Motor Signal Header Locations DSPpro Serial 40 6 3 1 DSPpro Serial Motor Signal Pinouts PPA 40 6 4 Wiring ER Ai 6 4 1 Velocity Torque Mode 41 6 4 2 Encoder Inputs ete pbi b bb oti dob 41 6 4 3 Brush Servo Motors iind thue thi muda ibo e tend iin 41 6 4 4 Brushless Servo Motors iii 43 6 4 5 Step and Direction Controlled Servo Motors 44 6 5 Wiring Step MOtors n 44 6 5 1 Open Loop Step Motors 44 6 5 2 Direction Pulse Sync
11. A 3 Connector Locations DSPpro Serial A 4 DSPpro Serial Connector Pinouts DSPpro Serial P1 Axes 0 and 1 Pin Signal Pin Signal 1 5V 26 5V 2 GND 27 GND 3 Encoder A 0 28 Encoder A 1 4 Encoder A 0 29 Encoder A 1 5 Encoder B 0 30 Encoder B 1 6 Encoder B 0 31 Encoder B 1 7 Encoder Index 0 32 Encoder Index 1 8 Encoder Index 0 33 Encoder Index 1 9 10V Analog Out 0 34 10V Analog Out 1 10 Step Pulse 0 35 Step Pulse 1 11 Step Pulse 0 36 Step Pulse 1 12 Direction 0 37 Direction 1 13 Direction 0 38 Direction 1 14 None 39 None 15 Amp Enable 0 40 Amp Enable 1 16 In Position 0 41 In Position 1 17 Amp Fault 0 42 Amp Fault 1 18 Home Input 0 43 Home Input 1 19 Positive Limit 0 44 Positive Limit 1 20 Negative Limit 0 45 Negative Limit 1 21 Opto Volt 46 Opto Volt 22 Opto Ground 47 Opto Ground 23 None 48 None 24 None 49 None 25 None 50 None Appendix A Connector Pinouts 71 DSPpro Serial P2 Axes 2 and 3 Pin Signal Pin Signal 1 5V 26 5V 2 GND 27 GND 3 Encoder A 2 28 Encoder A 3 4 Encoder A 2 29 Encoder A 3 5 Encoder B 2 30 Encoder B 3 6 Encoder B 2 31 Encoder B 3 7 Encoder Index 2 32 Encoder Index 3 8 Encoder Index 2 33 Encoder Index 3 9 10V Analog Out 2 34 10V Analog Out 3 10 Step Pulse 2 35 Step Pulse 3 11 Step Pulse 2 36 Step Pulse 3 12 Dir
12. Button Description Clear Reset all flags clear stops and E stops Idle Set analog and step direction outputs to zero disables amp enable output and disables PID filter Run Closes the loop enables PID filter Note that loop is closed internally on board for open loop steps when Run mode is selected Amp enable must be manually enabled Stop Decelerate at Stop rate E Stop Decelerate at E Stop rate Dedicated I O Window 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 32 Chapter 5 MEI Software File Configure Status Motion Pos Overtravel Neg Overtravel Home Sensor Dev Fault Amp Enable In Position Figure 5 7 The Configure Axis Dedicated I O Window 5 1 3 4 Motion Menu The Motion menu contains the options Option Description Point to Point Motion Is used to command an axis to move between two points Graphics Mode Displays the command vs actual and analog output for a move Point to Point Motion Window This window is used 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 The jerk field is only used when performing non constant acceleration profiles S curve and parabolic Units are encoder counts steps counts steps per second co
13. GND GND BP pos reset BP sample BP output en GND BP output hold 1C0 BP clock GND GND GND GND Pl 2A PO 2A0 P3 2A3 P2 2A2 GND GND P4 2A4 P6 2A6 P5 2A5 P8 2B0 P7 2A7 P10 2B2 P9 HCH P12 2B4 P11 2B3 P13 2B5 GND GND P15 2B7 P14 2B6 P17 2C1 P16 2C0 Chapter 6 Motor Wiring HP nA d U N Pin Number MEI P1 46 P1 44 P2 41 axis 0 P2 33 axis 1 P2 25 axis 2 P2 17 axis 3 Pins as counted on the H P header Note that the H P manual counts the pins differently Connection of the output enable depends on the number of axes For 1 axis systems connect the output enable to ground P1 40 For multi axis systems connect the pins as follows Axis 0 Axis 1 Axis 2 Axis 3 HP 15 15 15 15 MEI P3 13 P3 11 P3 9 P3 7 Hewlett Packard 10885A Interferometer Axis Board continued Signal Name Pin HP MEI HP MEI P19 2C3 43 P1 09 P18 2C2 44 P1 11 GND GND 45 P1 8 P20 2C4 46 P1 07 as EE P21 2C5 48 P1 05 P24 1A0 49 P3 47 P23 2C7 50 P1 01 De ro eue oce P25 1Al 52 P3 45 P28 1A4 53 P3 39 P27 1A3 54 P3 41 fs gr GND GND 56 P1 04 P31 1A7 57 P3 33 P30 1A6 58 P3 35 GE 60 61 62 s EE GND GND 64 P1 02 52 Chapter 6 Motor Wiring Chapter 7 I O WIRING T 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
14. If the Integral Gain is too large the system may hunt oscillate at low frequency about the desired position Typical integral gain values are between 16 and 64 and depend on the integration limit 86 Appendix C Tuning Your System Position Status 5400 er division mand Voltage Output 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 As the speed of a system increases the position error generally increases and therefore a higher output voltage or pulse rate is needed The Velocity Feed Forward term reduces the following error by increasing the controller output voltage at high speed If the Velocity Feed Forward term is too large the motor will try to travel ahead of the command position Appendix C Tuning Your System 87 Position Status 47000 34000 21000 5000 Command Voltage Output Figure C 6 Insufficient Velocity Feed Forward C 2 5 Acceleration Feed Forward Ka Acceleration feed forward is used with torque current controlled servos Systems with high inertial loads
15. Limit Switch Negative Limit Switch Home Sensor Amplifier Fault Outputs In Position Amplifier Enable The DSPpro VME controllers support 24 or 44 bits of general purpose I O for user defined functions The DSPpro Serial controller supports 24 bits of optically isolated general purpose I O These signals can be configured as inputs or outputs in groups of 8 On DSPpro VME controllers the unused Dedicated I O for axes 4 7 is available for use as User I O except for the Home Sensor Inputs 7 2 O Wiring DSPpro VME Connectors P1 P2 and P3 contain all user and dedicated I O lines These connectors are located at the far left hand side of the controller as shown in Figure 7 1 Each connector is divided into three sections A B and C as illustrated in Figures 7 1 and 7 2 ELI Motor Axes 4 5 so e Hate Analog STE B P8 P1 P2 p3 il COM a A Console e Motor Axes 2 3 Motor Axes 6 7 otor Axes 0 1 User UO Dedicated UO Axes 0 3 Dedicated I O Axes 4 7 or User I O 1 4 axis boards Chapter 7 VO Wiring 53 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 IO PIA PIB PIC P2A P2B P2C P3A P3B P3C 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
16. Option Description Load Defaults from File Loads values from disk into DSP boot memory requests filename Save Defaults to File Saves values in DSP boot memory to disk prompts for filename DOS Shell Shells to DOS About Displays the program version number Exit Terminates the program Load Defaults from File Selecting Load Defaults from File will read a disk file containing the firmware which includes the parameters for the PID filter limit switch configurations software limit configurations etc The filename may be selected when the prompt appears Save Defaults to File Selecting Save Defaults to File will write a disk file containing the firmware PID parameters limit switch configurations software limit configurations etc The filename may be selected when the prompt appears It is recommended that you store your configuration into a file after configuring the board Once stored on disk the parameters can be easily downloaded to the board in the future if necessary DOS Shell This selection allows users to access the DOS command line without exiting the SETUP program Typing EXIT at the DOS prompt will return control to the SETUP program About 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 22 Chapter 5 MEI Software 5 1 3 2 Configure Menu The Configure menu contains the options Option Descrip
17. SERVER program is running on the DSPpro PC s CPU If you haven t modified the contents of the DSPpro PC flash memory since shipment from the factory skip to step 5 below 1 Insert the disk labeled DSPpro Quick Start Disk into the floppy disk drive of your PC Chapter 5 MEI Software 17 2 Ifyou are using the DSPpro Serial or DSPpro VME execute the REMSVR program by typing REMSVR from a DOS prompt of your host PC If the DSPpro console cable is connected to COM2 of your PC execute REMSVR by typing REMSVR 2 You will see the following output in the REMSVR window of your PC Motion Engineering Console Disk Server V1 0 Copyright C 1996 Motion Engineering Inc Press Alt X to exit Connecting Through COM1 Reset the controller by depressing the reset button Use a paper clip to reach the recessed reset button on the DSPpro Serial If you are using the DSPpro PC execute the RCONSOLE program by typing RCONSOLE r from a DOS prompt of your host PC 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 3 The DSPpro will then reboot from the DSPpro Quick Start Disk in the floppy drive of your host PC You will see the following output in the REMSVR or RCONSOLE window of your PC Motion Engineering 80C386EX BIOS V1 0 Copyright C 1992 1995 Motion Engineering Inc Copyright C 1992 1995 General Software Inc
18. Series controller you can simulate motors by configuring the axes as open loop steppers 3 3 2 Communication via three words in I O Space On a hardware level the controller is a small microcomputer unto itself It has its own address and data bus that the DSP its data memory and peripherals dedicated and non dedicated I O analog inputs and outputs encoder inputs and timer use for communication The 386EX has 12 Chapter 3 DSPpro Controller Design 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 External data memory is mostly dedicated to the frame buffer containing information about changes in an axis current trajectory For example a constant velocity move will have an acceleration frame followed by a slowing or constant velocity frame These two frames are downloaded into the buffer for DSP execution The library s job is to simplify this interface While we gain immense flexibility in axis trajectory manipulation most applications only require simple trapezoidal profile or similar motion Rather than being concerned with the low level details of frames the programmer need only be concerned with library functions controlling trapezoidal profi
19. Sn Kv Vn 64 Ka An Kf Mn Ko The subscripted n represents the sample period The terms are defined Sn Sn 1 En if Smax lt Sn lt Smax Smax if Sn gt Smax Smax if Sn lt Smax On DAC output Ke overall scale factor Kp proportional gain Kd derivative gain Ki integral gain Kv velocity feed forward Ka acceleration feed forward Ko static DAC offset Kf friction feed forward En position error Mn 0 or 1 based on the command velocity Vn command velocity An command acceleration Sn integrated error Smax maximum integrated error Chapter 3 DSPpro Controller Design 11 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 3 3 Hardware Features 3 3 1 Step Motor Control via VFCs Step motors are controlled via the analog control voltage The analog control voltage DAC is connected to a voltage to frequency converter VFC The VFC generates a pulse train directly proportional to the input voltage The relationship between the analog control voltage and the pulse output rate 1s constant and linear over the entire frequency range This is a major performance enhancement over timer divider pulse generators that have exponent
20. Tuning Your System Note that multiple 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 This makes it possible to change tuning parameters on the fly and the effect can be seen in real time File Configure Status Motion uning Parameters fixis Proportional Integral Derivative Accel FF Uel FF I Maximum Offset P Axis Output Limit Shift P Proportional Friction FF Integral Derivative Accel Vel FF I Maximum Offset Output Limit Shift Friction FF Alt_X Exit F2 Position F3 Status F4 Graphics F7 Tuning F8 Config F9 Reset Chapter 5 MEI Software 23 Figure 5 1 Configure Tuning Parameter Windows for Axes 0 and 1 The PID algorithm is based on the following formula On KE Kp En Kg En En 1 K Sn Ky Vn 64 Ka An Kp My Ko The subscripted o represents the sample period The terms are defined as follows Sn Sn 1 En if Smax lt Sn lt Smax Smax If Sn gt Smax Smax if Sn lt Smax On DAC output Kg overall scale factor Kp proportional gain Kg derivative gain Kj integral gain Ky velocity feed forward K acceleration feed forward Kg static DAC offset K friction feed forward En position error My 0 or 1 based on the command velocity Vg command velocity Ay command acceleration 2
21. Window This menu 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 The events are Event Description NO EVENT Ignore a condition STOP EVENT 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 Reset This selection will perform a power up reset of the DSP controller The software and hardware configurations are re read from boot memory the command and actual positions are reset the amp enable output is disabled User I O is reconfigured etc A hardware reset causes the DSP to release control of the axes and UO for a few milliseconds which may cause motors to jump 5 1 3 3 Status Menu The Status menu contains the options Option Description 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 30 Chapter 5 MEI Software Position Status Window The Position Status window is a read only window which provides an easy way to monitor the status of each axis The Clear button will immediately zero actual and command positions File Configure Status Motion Position Status fixis Comm
22. and 1 Dedicated Inputs for Axes 2 and 3 Dedicated Outputs for Axes 0 3 Dedicated Inputs for Axes 4 and 5 or User Port 3 6 bits in or 6 bits out Dedicated Inputs for Axes 6 and 7 or User Port 4 6 bits in or 6 bits out Dedicated Outputs for Axes 4 7 or User Port 5 8 bits input or output The function of the signals on P3 depends on the number of axes Boards with 5 or more axes use P3 for Dedicated I O On boards with 4 axes or less P3 is available for user I 0 If P3 is used for User I O User Ports 3 4 or 5 can be configured for inputs or outputs The User I O connections use 50 pin box headers and are Opto 22 Grayhill Gordos compatible Even numbered pins are grounds and pin 49 is 5 volts 54 Chapter 7 VO Wiring User I O available on DSPpro VME all models Bit Port Header Pin Bit Port Header Pin Port Header Pin 0 0 P1 47 2 PI 15 1 0 PI 45 2 PI 13 2 0 PI 43 2 PI 11 3 0 P1 41 2 PI 9 4 0 PI 39 2 PI 7 5 0 PI 37 2 PI 5 6 0 PI 35 2 PI 3 7 0 PI 33 2 PI 1 User I O available on DSPpro VME 2 or 4 axis only Bit Port Header Pin Bit Port Header Pin Bit Port Header Pin 24 3 P3 47 40 5 P3 15 25 3 P3 45 4 5 P3 13 26 3 P3 N A 42 5 P3 11 27 3 P3 41 43 5 P3 9 28 3 P3 39 44 5 P3 7 29 3 P3 37 45 5 P3 5 30 3 P3 N A 46 5 P3 3 31 3 P3 33 47 5 P3 1 bits 26 30 34 and 38 are not available Both Dedicated and User I O signals come directly from 82C55 programmable I O controllers These signals can be progr
23. application code for you but we can save you development time by providing sample code Also take a look at the Sample Applications distribution disk it contains a variety of sample programs that address common questions This disk is constantly being updated with new sample programs and creative solutions The latest sample applications are available on our FTP site and the BBS in a file called APPS ZIP Chapter 1 Introduction 1 Following is a list of our offices should you need to contact us Office Phone Fax E mail BBS West Coast 805 681 3300 805 681 3311 tech motioneng com 805 681 3313 East Coast 508 264 0051 508 264 0057 Midwest 773 631 4992 713 631 4935 Japan 03 5229 7007 03 3235 5655 yamada motioneng co jp 1 2 Quick Start For developers familiar with motion systems who want to get their motors turning as soon as possible we offer the Quick Start section Also to make it easy to test the hardware and tune servo systems a DOS based SETUP program is provided with the DOS Windows 3 x and Windows 95 software support disks The SETUP program is designed to be self explanatory for experienced developers who prefer to explore and learn on the fly 1 3 Software Updates 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 comas well as th
24. ask that you take the time to read the manuals and release notes to make sure that information has not been overlooked Before calling Technical Support make sure you know which product and what version of software you are using The software version is printed on the distribution disks and is displayed in the SETUP program provided in the DOS Windows 3 x and Windows95 software support disks If you FAX or e mail us your program or code fragments be sure to include specific notes about where you are having problems Also don t forget to include your phone and FAX numbers and e mail address The latest releases of software and firmware are available by anonymous FTP at our Internet site at ftp ftp motioneng com and on our 24 hour BBS at 805 681 3313 No special registration is necessary The BBS supports baud rates up to 28 8 kbps No Parity 8 data bits 1 stop bit Files may be uploaded or downloaded If you upload a file to our FTP site or BBS be sure to let us know by phone FAX or e mail In addition product information recent press releases and registration forms for MEI sponsored technical conferences can be found on our Web site at http www motioneng com If you aren t sure about how to begin developing your application write down your questions and or a specification and FAX them to MEI at 805 681 3311 We will answer your questions and or write a small sample program and FAX or e mail them to you We cannot write your
25. c Cc DSPpro Serial P5 Pin 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Appendix A Connector Pinouts Signal GND Clock 0 12 Volt 12 Volt Opto Volt Gate 0 Out 0 Out 1 Out 2 Opto Ground Analog In 0 Analog Ground Analog In 1 Analog Ground Analog In 2 Analog Ground Analog In 3 Analog Ground Analog In 4 Analog Ground Analog In 5 Analog Ground Analog In 6 Analog Ground Analog In 7 75 DSPpro Serial P8 CONSOLE Pin Signal Pin Signal 1 CD 6 DSR 2 RXD 7 RTS 3 TXD 8 CTS 4 DTR 9 RI 5 Ground DSPpro Serial P9 COM Pin Signal Pin Signal 1 None 6 None 2 TxD B 7 None 3 RxD B 8 None 4 None 9 Ground 5 None DSPpro Serial P100 Power Input Pin Signal Pin Signal 1 Ground In 2 24 Volts In 76 Appendix A Connector Pinouts Appendix B SPECIFICATIONS B 1 DSPpro VME specifications Specifications marked with a are optional at no cost in volume System Processors e Intel 386EX 25 MHz microprocessor MS DOS 6 22 e 387 math co processor e Analog Devices 40 MHz DSP Computer Interface e VME compatible A24 D16 D08 EO DTB slave interrupter I 1 I 7 RORA vector D08 0 e 8or 16 bit data transfers e Switch selectable address e Dual port memory interface Communications Interface e RS 232 serial ports 2 e Speed 115 kbps maximum Memory e Mbyte flash memory e Mbyte RAM Motion Control Features Point to po
26. e 8 opto isolated inputs e 16 opto isolated outputs e 5 24 V logic Appendix B Specifications 81 Mechanical Specifications e Dimensions 2 Hx 5 Wx9 L e Weight 3 0 lbs 1 36 kg Power Requirements e 24 V DC 0 7 A typical Environmental Conditions e Operating temperature 0 50 degrees C e Humidity 20 95 RH non condensing 82 Appendix B Specifications Appendix C Tuning Your System C 1 General Description The DSPpro controls servo motors by comparing the desired command and actual positions The difference between the command and actual positions is defined as the position error As the position error increases the motor control signals analog output or step pulse rate are increased to counteract the error The computation of the value of the control output for a given position error is determined by the digital filter coefficients The process of adjusting these coefficients to provide the best control for a particular system of motors and loads is called tuning This section describes each digital filter coefficient and gives guidelines for system tuning There are generally two methods used for tuning closed loop digital control systems calculation and trial and error Calculation involves rather complex mathematics and precise knowledge of all of the system parameters such as motor and amplifier response load inertia and friction Texts on control systems provide methods for calculation of the tuning parameters
27. encoder on the load itself The axis that will be used for the rotary encoder velocity feedback is configurable through software and can be any axis that is not controlling a motor For example if axis 0 is configured for velocity feedback and axis 1 is configured for positional feedback the system would be connected as follows To DSPpro VME Figure 6 17 Typical Dual loop Encoder Wiring for DSPpro VME with Differential Encoders 6 7 Interferometer Input Wiring DSPpro VME only DSPpro VME controllers can accept position feedback information from laser interferometers with 32 bit parallel output User I O lines are used to receive the 32 bit parallel input Wiring diagrams for several popular interferometers are shown in the following sections 48 Chapter 6 Motor Wiring 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 49 6 7 2 Excel 1032B Interferometer Wiring Pin Out Listing Laser Axis MEI Pin 0 Ouput Enable P3 13 0 Laser Error P2 41 0 Laser Reset P2 15 0 Data Hold P3 15 1 Ouput Enable P3 11 1 Laser Error P2 33 1 Laser Reset P2 11 1 Data Hold P3 15 2 Ouput Enable P3 9 2 Laser Error P2 25 2 Laser Reset P2 7 2 Data Hold P3 15 3 Ouput Enable P3 7 3 Laser Erro
28. for a large variety of applications See references The trial and error method has the advantage that no knowledge of the control system parameters is necessary and no calculations are needed A large number of trial parameters may be needed however to tune a system and some combinations of parameters may produce an unstable or runaway system An organized approach to searching for the best combination of tuning parameters helps shorten the tuning time while avoiding an unstable combination which may damage the 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 C 1 1 The Digital Filter The DSP calculates an axis output analog voltage or pulse rate based on a PID servo control algorithm The input to the PID algorithm is the current position error The current position error equals the difference between the command position and the actual position The actual position is controlled by the feedback device and command position is controlled by the trajectory calculator The PID algorithm is based on the following formula On KS Kp En Kg En En 1 Ki Sy Ky Vn 64 Ka An Kf Mn Ko Appendix C Tuning Your System 83 Sn Sn 1 En if Smax lt Sn lt Smax Smax if Sn gt Smax S max if Sn lt Smax Og DAC output Kp proportional gain K integral gain K
29. high index Index Only Index only active high or active low High Home and Index Home input ANDed with index active high home and active high index Note that the home index setting affects the axes in groups of 4 For example on a 4 axis board all the axes must be configured the same with respect to home index For more information see the section on home switch wiring Bipolar Unipolar This selection configures whether the analog output is unipolar 0 to 10 volts or bipolar 10 volts to 10 volts When using analog servo motors the output should be configured for bipolar operation When using steps the output should be configured for unipolar operation MN Trouble Tip Motors Turn Only One Direction Steppers If a step motor turns only one direction check the Configuration Axis Configuration window to be sure the axis is set for UNIPOLAR The voltage to frequency converter only responds to positive voltages unipolar and will not output steps if the voltage is negative bipolar Servos If a servo motor turns only one direction check the Configuration Axis configuration window to be sure the axis is set for BIPOLAR Feedback Device 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 28 Cha
30. mode is more stable than Torque mode 6 4 2 Encoder Input DSPpro motion controllers accept TTL level 0v to 5v 40mA max encoder input from either differential or single ended encoders Differential encoders are preferred due to their excellent noise immunity When used with differential encoders the differential line receiver LM26LS32 on the controller reads the difference between A and A and between B and B By reading the difference 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 channel A and channel B should be left unconnected floating The A and B lines are pulled up internally to 2 5 volts The controller also reads the index pulse either single ended or differential Typically there is one index pulse per revolution of the encoder rotary type which can be used for homing Encoder signals are read in quadrature This means every line on the encoder will produce a rising edge and a falling edge on channels A and B which are interpreted by the DSPpro as four encoder counts The amp enable and amp fault connections are discussed in chapter 7 Dedicated I O Any unused lines should be left unconnected 6 4 3 Brush Servo Motors The minimum required connections for brush type servo motors are Analog signal 10 V Signal Ground Encoder Channel A Encoder Channel B 5 volts Chapte
31. package for information on installing the software distribution 5 1 The SETUP Program DSETUP EXE amp SSETUP EXE 5 1 1 Overview The SETUP program is a powerful tool for installation configuration tuning and debugging for PC based architectures running DOS Windows 3 x and Windows 95 The main screen has pull down menus that are used to access different windows Many windows can be accessed and arranged on the screen at one time Each window will enable you to see and manipulate the command position actual position dedicated I O software limits axis status axis state source of an event etc for each axis We recommend that you use the SETUP program to thoroughly test the hardware Make sure you can perform two point motion using repeat with all of your motors before you write any code If you do not have motors connected to the board you can simulate motors by configuring the axes as open loop steps uni polar The SETUP program executes on the host PC s CPU not the on board 386EX This is an important distinction At the time that the controller is shipped from the factory the flash memory contains a small program called SERVER and an AUTOEXEC BAT file that calls this program at startup SERVER executes on the DSPpro s 386EX and connects to the SETUP program running on the host PC Follow these instructions to execute the SETUP program 5 1 2 Using SETUP with the DSPpro To use SETUP with the DSPpro PC make sure the
32. 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 25 The internal offset is set by the CONFIG EXE program Normal DAC offset after the CONFIG program is run should be under 3 millivolts which will not produce step pulses Temperature drift is approximately 1 millivolt per degree C Also note that only positive values of offset will output steps since the Voltage to Frequency converter can only react to positive voltages The range of values for the offset is 32 767 See appendix C Tuning Your System for more information on the offset Output Limit This parameter is used to limit the controller output analog voltage or pulse rate during system tuning For servo motors this term limits the analog output voltage For step motors this term limits the step pulse output rate The range for the output limit is 0 to 32 767 This range corresponds to 10 volts to 10 volts for servos i e 0 00305 volts unit or 0 to full scale pulse rate for steps Shift Range This parameter is used to shift the range of the tuning parameters The shift factor multiplies or divides all the filter parameters by a user specified power of two For example if the shift factor 3 then all the filter parameters will be divided by 8 2 3 1 8 If the shift factor 2 then all the parameters will be multiplied by 4 This is useful
33. 1 DSPpro VME Motor Signal Pinouts P4 P7 The table below summarizes the pinouts for the 26 pin motor signal headers P4 P7 on the DSPpro VME for each pair of motor axes Pin Signal GND 5V Encoder A Encoder A Encoder B Encoder B Encoder Index Encoder Index 10V Analog Out Step Pulse Step Pulse Step Direction VD GO AJ Ch LP L HA tr a jani ke GA N Step Direction Chapter 6 Motor Wiring Axis Ist Ist Ist Ist Ist Ist Ist Ist Ist Ist Ist Ist Ist Pin 14 15 16 17 18 19 20 21 22 23 24 25 26 Signal GND SV Encoder A Encoder A Encoder B Encoder B Encoder Index Encoder Index 10V Analog Out Step Pulse Step Pulse Step Direction Step Direction Axis 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 39 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 The pinouts for the dedicated I O are shown in chapter 7 I O Wiring Console COM Axes 0 1 Axes 2 3 Axes 4 5 Axes 6 7 Figure 6 6 Motor Signal Header Locations DSPpro Serial 6 3 1 DSPpro Serial Mo
34. 6 Motion Engineering Inc Press Alt X to exit Connecting Through COM1 Reset the controller by depressing the reset button Use a paper clip to reach the recessed reset button on the DSPpro Serial 4 The DSPpro will then reboot booting from the DSPpro Quick Start Disk in the floppy drive of the host PC You will see this output in the REMSVR or RCONSOLE window of the PC 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 35 5 36 Embedded BIOS REMOTE Disk COM1 CONNECTED Starting MS DOS DSPpro gt Execute the CONFIG program by tying config at the DSPpro command prompt You should see output in your REMSVR or RCONSOLE window similar to the following DSPpro config CONFIG version 2 0b PC DSP library version 2 40E Testing data memory Part 1 Testing data memory with sequential values Part 2 Testing data memory with random values Part 3 Testing boot memory with linear values Part 4 Testing boot memory with random values Loaded firmware from 8AXIS ABS O 276 Motion Test 453 1 4 247 Motion Test 456 2 241 CONFIG will continue until all eight axes are tested When you see the DSPpro prompt exit from RCONSOLE or REMSVR by typing ALT X Edit the AUTOEXEC BAT file on the DSPpro Quick Start Disk to remove the REM stat
35. 6 Sn integrated error Smax maximum integrated error Proportional Gain The proportional gain affects the analog command voltage or pulse rate based on the amount of position error The higher the proportional gain the stiffer the response If the proportional gain is set too low the response will be mushy the motor will have trouble following the commanded trajectory If the proportional gain is set too high the motor may oscillate or buzz at rest or during motion 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 24 Chapter 5 MEI Software Integral Gain The integral gain parameter is used to integrate static errors and fine tune the position at rest The motor command analog voltage or pulse rate will increase with increasing error and time The maximum amount of gain due to integration is limited to prevent windup With proper tuning motor sizing and a low friction mechanical system 0 1 encoder count step error is possible The range of values for integral gain is 0 to 32 767 See appendix C Tuning Your System for more information on setting integral gain Derivative Gain The derivative gain affects the analog command voltage or pulse rate based on the amount of position error change occurring in the last two samples The derivative gain term acts as a damping factor The range of values for the der
36. CONSOLE be sure that the DSPpro PC is properly installed and seated firmly in the host PC See chapter 4 Hardware Installation for more information In addition you may want to verify basic installation using the techniques described in chapter 2 Quick Start RCONSOLE may be used to test your application program or to monitor your application running on the DSPpro controller This section describes the process necessary to use RCONSOLE to test your application before committing it to flash memory RCONSOLE uses the DSPpro Boot Disk to provide the DOS shell to the DSPpro controller when testing your application Before using RCONSOLE you will need to copy your application to the DSPpro Boot Disk Be sure to make a backup of the DSPpro Boot Disk before you copy your application Copy your application from the host computer s hard drive to the DSPpro Boot Disk Because the DSPpro uses the floppy disk drive of the host computer as its file system when operating under RCONSOLE you will not have access to your application if you do not copy it to the DSPpro Boot Disk or if it 1s not already committed to the flash memory on the DSPpro Follow these instructions to use RCONSOLE 1 Insert the DSPpro Boot Disk in the floppy drive of the host computer 2 Execute the RCONSOLE application typing the following command at the DOS prompt A rconsole r 3 The r flag tells RCONSOLE to reset the controller which will then attempt to connect t
37. DSPpro s CPU and not on the host PC To execute VERSION on the DSPpro follow these instructions 1 Copy the VERSION program onto the DSPpro Quick Start Disk 2 Editthe AUTOEXEC BAT file on the DSPpro Quick Start Disk and place a REM command at the front of the line which calls SERVER 3 Ifyouare using the DSPpro Serial or DSPpro VME execute the REMSVR program by typing REMSVR from a DOS prompt of your host PC If the DSPpro console cable is connected to COM2 of your PC execute REMSVR by typing REMSVR 2 You will see the following output in the REMSVR window of your PC Motion Engineering Console Disk Server V1 0 Copyright C 1996 Motion Engineering Inc Press Alt X to exit Connecting Through COM1 Reset the controller by depressing the reset button You will have to use a paper clip to reach the recessed reset button on the DSPpro Serial If you are using the DSPpro PC execute the RCONSOLE program by typing RCONSOLE r from a DOS prompt of your host PC 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 4 The DSPpro will then reboot booting from the DSPpro Quick Start Disk in the floppy drive of your host PC You will see the following output in the REMSVR or RCONSOLE window of your PC Motion Engineering 80C386EX BIOS V1 0 34 Chapter 5 MEI Software Copyright C 1992 1995 Motion Engineerin
38. ECTOR PINOUTS A 1 DSPpro VME Connector Layout Motor Axes 4 5 Analog Inputs 8 otor Axes 0 1 User UO Dedicated I O Axes 0 3 Dedicated UO Axes 4 7 or User I O 1 4 axis boards Ke Axes 2 3 Motor Axes 6 7 Figure A 2 Connector Locations DSPpro VME A 2 Connector pinouts DSPpro VME Motor Axes Connections Analog Input P4 P7 Connections 26 pin box header P8 20 pin box header Pin Signal Axis Pin Signal 1 GND Ist 1 GND 2 5V Ist 2 Analog GND 3 Encoder A Ist 3 Clock 0 4 Encoder A Ist 4 Analog in 0 5 Encoder B Ist 5 12 V 6 Encoder B Ist 6 Analog in 1 7 Encoder Index Ist 7 12 V 8 Encoder Index Ist 8 Analog in 2 9 10V Analog Out Ist 9 5 V 68 Appendix A Connector Pinouts 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 Note Two motors of same type can be connected to each Step Pulse Step Pulse Step Direction Step Direction GND 5V Encoder A Encoder A Encoder B Encoder B Encoder Index Encoder Index 10V Analog Out Step Pulse Step Pulse Step Direction Step Direction motor header Appendix A Connector Pinouts Ist Ist Ist Ist 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 10 11 12 13 14 15 16 17 18 19 20 Analog in 3 Gate 0 Analog in 4 Out 0 Analog in 5 Out 1 Analog in 6 Out 2 Analog in 7 GND Analog GND 69 DSPpro VME P1 User I O connections 50 pin Opto 22 co
39. FTE Motion Engineering Inc 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 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 This document contains proprietary and confidential The information contained in this document is subject information of Motion Engineering Inc and is to change without notice No part of this document may protected by Federal copyright law The contents of be reproduced or transmitted in any form or by any this document may not be disclosed to third parties means electronic or mechanical for any purpose translated copied or duplicated in any form in without the express written permission of Motion whole or in part without the express written Engineering Inc ermission of Motion Engineering Inc P 8 8 All product names are trademarks or registered trademarks of their respective owners CONTENTS INTRODUCTION 1 1 1 Troubleshooting amp Technical Support 1 1 2 Quick Start RATA 2 1 3 Software Update ssegerhe ogggokh eege de Reeg 2 1 4
40. ON ON ON 0x00008000 ON ON ON ON ON ON ON ON OFF 0x00010000 ON ON ON ON ON OFF ON OFF ON 0x00018000 ON ON ON ON ON ON ON OFF OFF 0x00020000 ON ON ON ON OFF ON ON ON ON 0x00028000 ON ON ON ON OFF ON ON ON OFF 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 To select an IRQ line turn ON the corresponding switch while leaving the other switches off Be sure to never turn more than one IRQ line ON at any one time as this may result in erratic system behavior IRQ Switch SW2 IRQ 8 7 6 5 4 3 2 None OFF OFF OFF OFF OFF OFF OFF IRQI OFF OFF OFF OFF OFF OFF ON IRQ2 OFF OFF OFF OFF OFF ON OFF IRQ3 OFF OFF OFF OFF ON OFF OFF IRQ4 OFF OFF OFF ON OFF OFF OFF IRQ5 OFF OFF ON OFF OFF OFF OFF IRQ6 OFF ON OFF OFF OFF OFF OFF IRQ7 ON OFF OFF OFF OFF OFF OFF denotes default setting 4 1 4 DSPpro VME Board Installation Procedures Use any available slot to install the controller board as follows 1 Turn off the power to your computer 2 Select an unused slot Chapter 4 Hardware Installation 15 Install all required ribbon cables Note that the non strain relieved end of the MEI supplied cables should be inserted into the board The strain relieved end fits into the locks on the STC modules Refer to Chapters 6 and 7 for more details Insert the card and press firmly unti
41. Processor Inter processor Bus Communications Serial Bus Data Servo Intel 386EX mmm 40 MHz m Outputs L8 uy Microprocessor DSP 16 bit D A RAM i Step 8 387 Math DSP Direction gt Co processor Bus Outputs Flash Memory Encoder Inputs Analog Inputs Dual Port RAM Dedicated I O i 6 lines axis Bus User I O Interface up to 44 lines Figure 3 1 DSPpro architecture dual processor motion control For maximum design flexibility motion control programs can be created on a standard PC using off the shelf C programming tools Microsoft Borland etc Compiled programs can be downloaded to the DSPpro and stored in on board flash memory With embedded DOS running on the Intel 386EX standard programs can execute on the DSPpro completely independent of the host processor The DSP section of the controller uses an Analog Devices 40MHz DSP for real time calculations The DSP handles all servo loop calculations command position trajectory calculations frame buffer execution response to programmable software limits hardware limits plus many other functions A complete function library with source code is provided with the DSPpro controller The library functions manipulate and conceal the internal details of the controller allowing the programmer to concentrate on the application Chapter 3 DSPpro Controll
42. T 24 VOLT el POS 1 OPTO INPUT To DSPpro VME Figure 7 5 Sample Wiring Diagram for Axis 0 Limit Switch Opto Isolated Fail safe limit operation 1s provided for both the optically isolated and non isolated limit circuits If a wire breaks in the limit circuit the associated limit is activated and the motion is stopped until the problem is corrected Since the controller can be configured for either active high or active low inputs other limit and home sensor circuits can be used 7 5 Dedicated and user output wiring User outputs on the DSPpro VME are driven by an Intel 82C55 Programmable Peripheral Interface Controller When power is supplied to the 82C55 these outputs have three possible output states High Impedance High Z 1 micro amp leakage current High gt 3 0V at 2 5 milliamp source current and Low 0 4V at 2 5 milliamperes sink current If there is no power to the 82C55 the output state is held low by input protection diodes The figure below shows the power on and power off timing of the board output states Approximately 3 to 5 seconds after power is supplied to the computer the User outputs will go to the Power On state This state can be any one of the three output states of the 82C55 The Power On state is configured at the factory to be the Low state Low High Z User High Z Low 3 5 sec lt 1 sec Power On Power Off Figure 7 6 Power On Off Timing Cri
43. TEST gt cl AL yourapp c medc1801 lib MEI supplies pre compiled C function libraries for many popular compilers and source code libraries to use with unsupported development environments 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 When you reach the final stages of your development you will want to execute the application directly on the DSPpro CPU MEI has developed utilities that enable the DSPpro to use the keyboard and screen capabilities of the host system to provide a console for the DOS shell running on the DSPpro Using these utilities your program can send diagnostic and other information from the DSPpro to the host computer across the serial connection The utility to communicate with the DSPpro Serial and DSPpro VME is called REMSVR The only difference between the two utilities is that RCONSOLE communicates with the DSPpro directly through the PC s ISA bus while REMSVR communicates with the DSPpro Serial and DSPpro VME using the console port and a null modem cable The following diagram illustrates this connection 62 Chapter 8 Developing Your Application Host PC Host Screen and Keyboard VIE DSPpro Console DSPpro Host Floppy controller Bus or Serial Interface Figu
44. The greater the number of steps or microsteps per encoder count the larger the Proportional Gain Most often the Proportional Gain will be between 20 and 400 Start with the Proportional Gain at 20 and all other gains K Ka Ki K and K at 0 Try some two point motions and increase the Proportional Gain until the motor stalls Then reduce the Proportional Gain to 1 2 the value that caused the motor to stall C 4 2 Step 2 Set Velocity and Acceleration Feed Forward Set the motion parameters in the Motion Two Point Motion window for a move which takes 5 to 10 seconds using a typical desired speed and acceleration Notice the position error during the constant speed portion of the motion Increase the K term until the constant velocity error is reduced to the desired level Use the same method to adjust the K term watching the error during the acceleration and deceleration portions of the motion The Acceleration Feed Forward won t be needed for most systems C 4 3 Step 3 Setting the Integral Gain K The best way to tune the Integral Gain is to observe the static error at the end of a move as the K term is increased Using the two point motion window set the following motion parameters Parameter Setting Delay 2 Position 1 0 Position 2 20000 Velocity 10000 Acceleration 10000 Start the motion and observe the position error between moves Gradually increase K until the final position error is 1 or 2 encoder counts As you increa
45. VR may be used to test your application program or to monitor your application running on the DSPpro controller This section describes the process necessary to use REMSVR to test your application before committing it to flash memory REMSVR uses the DSPpro Boot Disk to provide the DOS shell to the DSPpro controller Because the DSPpro uses the floppy disk drive of the host computer as its file system when operating under REMSVR you will not have access to your application if you do not copy it to the DSPpro Boot Disk Before using REMSVR for the first time you will need to copy your application to the DSPpro Boot Disk Be sure to make a backup of the DSPpro Boot Disk before you copy your application Copy your application from the host computer s hard drive to the DSPpro Boot Disk Follow these instructions to use REMSVR 1 2 Insert the DSPpro Utility Disk in the floppy drive of the host PC Execute the REMSVR application Use the following syntax to execute REMSVR remsvr If the console cable is connected to COMI on the host remsvr 2 If the console cable is connected to COM2 on the host The output on the screen of the host should look similar to the following Motion Engineering Console Disk Server V1 0 Copyright C 1996 Motion Engineering Inc Press Alt X to exit Connecting Through COM1 Chapter 8 Developing Your Application 65 4 Remove the DSPpro Utility Disk from the floppy drive of the host PC and insert the DSPpr
46. WS Dui xol Mec S HR 2 QUICK START 3 2 1 Installing DSPpro Controllers une 3 2 1 1 Hardware Installation sss sssssses enean enn nnns 3 2 1 2 Software Installation eiie dece e LE e ie pho e ete iau 4 2 1 3 Connections amp Wiring EE 4 2 2 Tuning your system and verifying basic operation 5 DSPPRO CONTROLLER DESIGN 9 CBE dg 9 3 1 1 Program Storage a age ie oe LER PH PER rH 10 3 2 Firmware Execution uueeeeeeeeeiiieeeeeseeeeeneenn eene n nnn nnn nnns nnn nnn nn nnn 10 3 2 1 Read AIl Encoders i aee ictal hee III 10 3 2 2 Read Analog and Parallel Input 10 3 2 3 Calculate Next Trajectory Point iii 10 3 2 4 Check for Event Triggers siiis siente a annee aono tad 11 3 2 5 Perform Event Actions iib e e hd o i e ete ed ED 11 3 2 6 Calculate and Set DAC Output 11 3 3 Hardware Features cree cirree ee cete iii rna Seegen deg dENE Revue ke 12 3 3 1 Step Motor Control via VMCL 12 3 3 2 Communication via three words in VO ZGpace sse 12 HARDWARE INSTALLATION 14 4 0 Memory Addressing DSPpro VME 14 4 1 Installing the DSPpro VME nennen nnn nn nnn nnn nnn nn nnn nnn 14 4 1 1 DSPpro VME Dip Switch Locations 14 4 1 2 DSPpro VME Base Memory Address Switch Settings 15 4
47. ammed in groups of 8 as inputs or outputs The input state is a high impedance TTL level input The output state has TTL logic levels with 2 5 mA drive current 4 0 mA max The power up state of all User I O is high impedance Input state Chapter 7 VO Wiring 55 7 3 IO 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 There are two axes of dedicated I O pinouts on each connector just as there are two axes of motor signal pinouts on each connector The pinouts for dedicated I O for each connector are shown below Pin Signal Axis Pin Signal Axis 15 Amp Enable 1 40 Amp Enable 2 16 InPosition 1 41 In Position Een 17 Amp Fault 1 42 Amp Fault 9x 18 Home 1 43 Home 25 44 Positive Limit SCH 45 Negative Limit 2 46 GND User SCH 19 Positive Limit p 20 Negative Limit 1 21 V User p All V User pins are tied together All GND User pins are tied together 7 3 2 User I O Wiring The connections for user I O on the DSPpro Serial are located on the 50 pin DB 50 connector labeled I O as shown in figure 7 3 This connector also contains the pinouts for the analog inputs as described in section 7 7 2 Con
48. and 0 000 Actual 0 000 Error 0 000 Velocity 0 000 Accel 0 000 Delay Position 1 2 Velocity Accel Jerk Alt_X Exit__F2 Position F3 Status _F4 Graphics _F Tunin Figure 5 5 Status Position Status Window Axis Status Window File Configure Status Motion Status In Sequence In Motion In Position Neg Direction Frames Left fixis Done Source State flt E Exit _F2 Position F3 Status _F4 Graphics _F Tuning Figure 5 6 Status Axis Status Window 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 31 Item Description 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 if command velocity is non zero In Position Displays Yes if the position is within the in position window Negative Direction Displays Yes if the command velocity is negative Frames Left Displays Yes if additional unexecuted frames are still in buffer Axis Done Displays Yes if In Motion is No and In Position is Yes Source Displays the source of a current event host CPU position limit etc State Displays current event on an axis Running E Stop etc The buttons on the right of the window perform the following functions
49. ct digitally closing the loop on board Active if Stepper Axis Voltage to L Step _ gt Frequency Output Converter Active if Open Loop Axis Inputs Figure 6 4 Internal Architecture to Control Step Motors Speed This selection sets the maximum pulse rate for the step output in either open loop or closed loop mode Whenever step is selected the step speed range must be set The ranges are Slow Medium Fast 0to23 kHz 0to94kHz 0to375 kHz You must set the tuning parameters as follows for each axis configured for open loop steps Parameter Setting Proportional K 320 Integral K 32 Derivative K 0 Accel FF K 32 Vel FF K 3750 I Maximum 32767 Offset 0 Ouput Limit 32767 Shift 1 Slow 3 Medium 5 Fast Chapter 5 MEI Software 27 We recommend choosing the slowest possible speed range that is adequate for your system If an axis is configured for servo the speed selection should be Disable Output Home This selection configures whether the index pulse is required for the home input to be active Typically a rotary encoder has a single index pulse per revolution The index pulse can be used with the home signal input to produce accurate homing to within one encoder count Standard boards have four possible types of homing Type Description Home Only Home input only active high or active low Low Home and Index Home input ANDed with index active low home and active
50. e serial toolkit Motion Profiles Trapezoidal profile S curve profile Parabolic profile Custom user defined Kinematic Ranges e Position 32 bit 42 15 billion counts e Velocity 32 bit 6 7 million counts sec at 2 kHz sampling e Acceleration 32 bit 13 4 billion counts sec2 at 2 kHz sampling 80 Appendix B Specifications 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 4 axes 1 6 kHz 8 axes Default 1 25 kHz Step Output e Maximum step frequency open or closed loop 375kHz e Single ended or differential outputs e 20 mA current e Step direction e e Clock up clock down Pulse width 50 duty cycle Analog Inputs 12 bit resolution 1 2 LSB linearity 8 channel multiplexed inputs with track and hold Software configurable for 4 channel differential mode 0 5 V unipolar 2 5 V bipolar 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 Dedicated UO per axis e 6 opto isolated per axis e Inputs positive and negative limits home amp fault e Outputs in position amp enable e 5 24 V logic User I O
51. e MEI BBS 1 4 A Note to OEMs MEI always ships DSPpro controllers with the latest firmware When building multiple machines we strongly recommend that you save a configured version of your firmware to a disk Then the next time you build a machine simply load that firmware from disk to the DSPpro controller using the CONFIG program This method will give you the greatest control and ease in building future machines 2 Chapter 1 Introduction 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 Those unfamiliar with wiring controllers should see the Hardware Installation and Motor Wiring sections of this manual for wiring diagrams and a detailed discussion of installation procedures Depending on your operating system and configuration you may be able to use one or more included DOS based utilities to help you tune your system and verify initial operation For more information refer to section 2 2 Tuning your system and verifying basic operation 2 1 Installing DSPpro Controllers 2 1 1 Hardware Installation DSPpro PC The DSPpro PC is a board level controller designed for PC compatible ISA bus computers 1 Open the shipping container and carefully remove its con
52. ection 2 37 Direction 3 13 Direction 2 38 Direction 3 14 None 39 None 15 Amp Enable 2 40 Amp Enable 3 16 In Position 2 41 In Position 3 17 Amp Fault 2 42 Amp Fault 3 18 Home Input 2 43 Home Input 3 19 Positive Limit 2 44 Positive Limit 3 20 Negative Limit 2 45 Negative Limit 3 21 Opto Volt 46 Opto 7 Volt 22 Opto Ground 47 Opto Ground 23 None 48 None 24 None 49 None 25 None 50 None 72 Appendix A Connector Pinouts Pin 1 2 3 4 5 6 7 8 9 ai NO N NN WN NR RRR RF n Un a GA Ara DO JA Ch NA BPW N DSPpro Serial P3 Axes 4 and 5 Signal 5V GND Encoder A 4 Encoder A 4 Encoder B 4 Encoder B 4 Encoder Index 4 Encoder Index 4 10V Analog Out 4 Step Pulse 4 Step Pulse 4 Direction 4 Direction 4 None Amp Enable 4 In Position 4 Amp Fault 4 Home Input 4 Positive Limit 4 Negative Limit 4 Opto Volt Opto Ground None None None Appendix A Connector Pinouts Pin 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Signal 5V GND Encoder A 5 Encoder A 5 Encoder B 5 Encoder B 5 Encoder Index 5 Encoder Index 5 10V Analog Out 5 Step Pulse 5 Step Pulse 5 Direction 5 Direction 5 None Amp Enable 5 In Position 5 Amp Fault 5 Home Input 5 Positive Limit 5 Negative Limit 5 Opto Volt Opto Ground None
53. eloped 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 CPU When you re satisfied with the operation of your program on the DSPpro simply download the application using the flash memory utilities to commit it to the non volatile memory on the DSPpro You can use either the on board dual port memory DSPpro PC only or a serial connection to connect the two systems Because the DSPpro does not have a video output port you should be sure that your application does not to make use of the video display for troubleshooting or other functions Instead communications with the host computer should take place over serial connections using the serial toolkit or across the bus interface using the dual port toolkit Other than these display issues your program should require no changes to execute on the DSPpro s CPU When developing an application on the DSPpro system developers will typically take three steps illustrated below These steps are described in more detail in the following sections 1 Develop the application using a PC and a DSP Series controller 2 Verify the application with the DSPpro 3 Burn the application into flash memory Test Write Application Test Configure Cook Applicati gt
54. ement at the front of the line which calls SERVER Chapter 5 MEI Software Chapter 6 MOTOR WIRING The following sections describe procedures to connect the controller to drives and motors and test the connections CAUTION DO NOT CONNECT THE MOTOR SHAFT TO THE MECHANISM DURING TESTING AND INITIAL TUNING 6 1 Connection Accessories MEI offers screw terminal connection blocks such as the STC 20 STC 26 STC 50 and STC D50 which can be used and are recommended to provide convenient screw terminal connections to the signals 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 The following are suggested accessory configurations For DSPpro VME STC 20 Connection module for analog input lines one required per board STC 26 Connection module for motor axes one required for two motor axes STC 50 Connection module for I O lines one required for each I O header CBL 20 Analog Input ribbon cable one required per board CBL 26 Motor axis ribbon cable one required for every two axes CBL 50 I O ribbon cable one required for each I O header For DSPpro Serial STC D50 Connection module for motor axes and I O lines one for each two axes and one required for I O CBL D50 Cable for motor axes and I O lines one for each two axes and one
55. encoder counts Connecting closed loop step motors to the board is similar to servo motors except that the step and direction lines are connected instead of the analog signal The minimum connections are e Step or Step e Direction or Direction e Signal Ground e Encoder A and B lines e 5 Volts Note that when only Step or Step is used it is often necessary to jumper unused terminals on the step driver Consult the manual on your step drive prior to connection In general use Step for drives with active high logic and use Step for drives with active low logic 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 Motor Encoder i N O To DSPpro VME 4 2 3 4 5 6 7 8 Chapter 6 Motor Wiring 47 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
56. er Design 9 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 1 DSP Timer Interrupt Read All Encoders Read Analog and Parallel Input Calculate Next Trajectory Point Check for Event Triggers Perform Event Action Calculate and Set DAC Output O Exit From Interrupt Figure 3 2 Main Loop 3 2 1 Read All Encoders Immediately after the DSP s timer interrupt time interval is determined by the sample rate the DSP reads all eight encoder inputs and stores them into memory for future use Then the DSP runs a series of events for each axis before the next timer interrupt 3 2 2 Read Analog and Parallel Input If an axis is configured to read an analog input the DSP writes a control word to the A D waits for the conversion reads the 12 bit digital value and stores its value in memory If an axis is configured to read the parallel input the DSP reads the 32 user I O bits and stores its value in memory 3 2 3 Calculate Next Trajectory Point The DSP calculates an axis command position trajectory It maintains a command jerk command acceleration command velocity and command position Tn Tn 1 FS Tn is the time at sample n An An 1 FS
57. for unusual motors such as air bearing motors voice coil actuators and hydraulics or other actuators The default parameter is 5 i e a multiplier of 2 or 1 32 Friction Feed Forward The friction feed forward term is used to add extra output during any commanded velocity to reduce following error caused by friction The range of values for the friction feed forward are 0 to 32 767 See appendix C Tuning Your System for more information on setting friction feed forward Axis Configuration Window Motor Encoder Speed Hone Index Uoltage Feedback I Mode Alt_X Exit F2 Position F3 Status F4 Graphics F 7 Tuning F8 Config F9 Reset Figure 5 2 The Configure Axis Configuration Window 26 Chapter 5 MEI Software Servo or Step Motor This selection is used to enable or 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 When the motor type is changed a set of default tuning parameters will be loaded into SETUP for that axis Open loop or closed loop This selection allows users to indicate 1f the pair of axes is to be open loop or closed loop If closed loop is selected the board will use feedback from an external device to close the loop If step and open loop are selected the board will direct the step output back into the encoder input for the axis in effe
58. g Inc Copyright C 1992 1995 General Software Inc 00896 KB OK Embedded BIOS ROM Disk Enabled Embedded BIOS REMOTE Disk COM1 CONNECTED Starting MS DOS DSPpro Execute the VERSION program by tying version atthe DSPpro command prompt You should see output in your REMSVR or RCONSOLE window similar to the following DSP Firmware Production Version 2 40 Revision El Option 0 Board Type 08 PROPC Rev 1 FPGA Prom Version 1 3 2 Exit from RCONSOLE or REMSVR by typing ALT X 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 5 3 The CONFIG Program CONFIG EXE The CONFIG program is used to download new firmware to the DSPpro The CONFIG program must be executed on the DSPpro s CPU and not on the host PC To execute CONFIG on the DSPpro follow these instructions l Copy the CONFIG program and the firmware file SAXIS ABS onto the DSPpro Quick Start Disk Edit the AUTOEXEC BAT file on the DSPpro Quick Start Disk and place a REM command at the front of the line which calls SERVER If you are using the DSPpro Serial or DSPpro VME execute the REMSVR program by typing REMSVR from a DOS prompt of your host PC If the DSPpro console cable is connected to COM2 of your PC execute REMSVR by typing REMSVR 2 You will see the following output in the REMSVR window of your PC Motion Engineering Console Disk Server V1 0 Copyright C 199
59. he gains and feed forwards to be finely tuned C 2 9 Friction Feed Forward The friction feed forward parameter simply adds a constant value to the DAC output when the command 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 Torque controlled motion systems with constant friction can benefit most from friction feed forward C 3 Tuning Closed Loop Servos The following steps provide a quick method for tuning for 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 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 C 3 1 Step 1 Set Proportional Gain Kp Start with all of the gains except the offset Kp Ka Ki Ky and K at 0 The motor should not turn and the shaft should be free If the shaft turns the amplifier offset should be adjusted to reduce the motor torque to zero Set the Proportional Gain K to 1 Watch the position error on the F2 window as you change the gain The position error should reduce to a few hundred counts If the mot
60. hronization sssssss eene 46 6 5 3 Closed loop Step Motors 47 6 6 Wiring for Dual Loop Control eeeeeeeeeeeeneeeeeeeeeeeeen nennen 48 6 7 Interferometer Input Wiring DSPpro VME only 48 6 7 1 Excel Precision 1000A Interferometer Axis Doard see 49 6 7 2 Excel 1032B Interferometer Wiring Pin Out Listing sss 50 UO WIRING 53 e D E 53 7 2 VO Wiring DSPpro VME ecrire iere acean retenu e tene adora nnde ee Erro pxa ege 53 7 3 VO Wiring DSPpro Serial eeeeeeeeeeeeeeeeeeeee eene nnne nnne 56 7 3 1 Dedicated VO Wiring ei i i gaia 56 Tede USG VO Wirng iniit a iui oie HR ED ELI CERA EU HIRED 56 7 4 Home and limit switch wiring DSPpro VME only 57 7 5 Dedicated and user output wiring eee 58 T 6 Opto isolation m 59 7 7 Analog input wiring iced ciece kun axe nasus nana nun anR nb CHE EO AE XN EEYR RR 59 e Re EE 59 EE DSPpro Serial niani tui n tu ie eise 59 7 8 8254 Counter wiring DSbporo ANME EE 60 ii Table of Contents DEVELOPING YOUR APPLICATION 61 8 0 Over EE 61 8 1 Write the application program 62 8 2 Testing the Application Program i 62 8 2 1 Configuring Commumicaions sehier assesses E E AA a RT 63 8 2 2 Using RCONSOLE to Test Your Application DSPpro PC onl
61. ial or DSPpro VME execute the program by typing REMSVR from a DOS prompt on your host PC If the DSPpro console cable is connected to COM of your PC execute REMSVR by typing REMSVR 2 You will see the following output in the REMSVR window of your PC Motion Engineering Console Disk Server V1 0 Copyright C 1996 Motion Engineering Inc Press Alt X to exit Connecting Through COM1 Reset the controller by depressing the reset button Use a paper clip to reach the recessed reset button on the DSPpro Serial If you are using the DSPpro PC execute the RCONSOLE program by typing RCONSOLE r from a DOS prompt on your host PC 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 4 The DSPpro will then reboot booting from the DSPpro Quick Start Disk in the floppy drive of your host PC You will see the following output in the REMSVR or RCONSOLE window of your PC Motion Engineering 80C386EX BIOS V1 0 Copyright C 1992 1995 Motion Engineering Inc Copyright C 1992 1995 General Software Inc 00896 KB OK Chapter 2 Quick Start 5 10 11 12 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 COMI Exit from RCONSOLE or REMSVR by typing ALT X Execute the SETUP program by typing ssetup from a DOS p
62. ial pulse output rates and will cause large changes in step rate at high frequencies Since a step motor s torque curve is inversely related to its speed it is more susceptible to stalling at high speeds Thus a VFC at high pulse rates is less likely to stall a step motor Another advantage of the VFC is the high pulse output resolution The step pulse output supports the following speed ranges Slow 0 to 23 kHz Medium 0 to 94 kHz Fast 0 to 375 kHz The voltage level at which steps are produced by the VFCs is determined by the internal DAC offset set by the CONFIG program This offset 1s usually required so that the DAC s output zero agrees with the VFC s input zero If the analog zero volt output is above the VFC zero input the VFC will begin to output step pulses The firmware guarantees the VFC will not output steps when command velocity is zero and the position error is zero If the offset is set too high the firmware will automatically shut down the step pulse output at the end of a move If the offset was set too low a small delay would occur between the time the command position changes and the step motor actually starts moving The delay would be minimal rarely exceeding two sample periods and would be based on the acceleration and velocity figures One great design advantage to using VFCs based on servo DAC outputs is the same programming is used to control either step or servo motors If no motors are connected to the DSPpro
63. ic configuration may vary below are general guidelines for wiring your system Before beginning make sure all drives are turned off 1 Connect drives to motors consult your drive documentation for connection details 2 Connect the DSPpro to the drive 4 Chapter 2 Quick Start 3 Connect the encoders to the DSPpro 4 Connect power cable to controller DSPpro Serial only For detailed connections and wiring instructions please see chapter 6 Motor Wiring and chapter 7 I O Wiring 2 2 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 Before following these instructions be sure to properly wire your system as described in chapter 6 Motor Wiring and chapter 7 I O Wiring Verifying Operation Servos Follow these instructions if your application uses SERVO motors 1 From the factory the DSPpro is configured to connect to the SETUP program running on the host PC If you have not modified the DSPpro flash memory skip to step 6 2 Insert the disk labeled DSPpro Quick Start Disk into the floppy disk drive of your PC 3 Ifyou are using the DSPpro Ser
64. int motion Coordinated motion Electronic gearing and camming Sinusoidal commutation Sinusoidal encoder interpolation Feed speed override Dual loop control Tangential following High speed registration Hundreds of other functions Software Development Tools e MEI standard C function libraries over 250 C functions available e Compilers Microsoft Borland e Host support software dual port memory toolkit or serial toolkit Appendix B Specifications 77 Motion Profiles Trapezoidal profile S curve profile Parabolic profile Custom user defined Kinematic Ranges e Position 32 bit 2 15 billion counts e Velocity 32 bit 6 7 million e Acceleration 32 bit 13 4 billion counts sec2 at 2 kHz sampling User I O e 24 44 user I O TTL e Configurable as inputs or outputs Dedicated UO per axis e 6TTL per axis e Inputs positive and negative limits home amp fault e Outputs in position amp enable Servo Loop Update Rate e User programmable rate e Maximum 10 kHz 1 axis 3 kHz 4 axes 1 6 kHz 8 axes e Default 1 25 kHz 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 Step Output Maximum step frequency open or closed loop 375kHz Single ended or differential outputs 20 mA current Step direction Clock up clock down Pulse width 50 duty cycle Analog Inputs
65. ion pulses With this type of motor the position information is communicated by step pulses and the PID loop is handled internally by the drive itself To avoid possible instability caused by conflict between the drive PID loop and the controller s PID loop it is best to operate step and direction servos as open loop step motors The controller will send step pulses and a direction pulse to the drive which will handle the PID servo control internally 6 5 Wiring Step Motors 6 5 1 Open Loop Step Motors DSPpro 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 controller and used to keep track of the actual position Thus the DSP closes the loop internally on a pair of axes when the open loop step configuration is selected Full half and micro stepping drives are compatible with the boards PID Eise gt DIA Analog Output gt Active if Stepper Axis Voltage to Frequency Converter __ Step gt Output Active if Open Loop Axis Inputs Figure 6 11 Internal Architecture to Control Step Motors Most step drives require three wires for operation step direction and ground or 5 volts The board provides a TTL level step pulse output and direction output for each axis In addition the complements of the step and direction signals are a
66. ivative gain is 0 to 32 767 See appendix C Tuning Your System for more information on setting derivative gain Acceleration Feed Forward The acceleration feed forward term is used to add extra output during acceleration to reduce following error The range of values for the acceleration feed forward is 0 to 32 767 See appendix C Tuning Your System for more information on setting acceleration feed forward Velocity Feed Forward The velocity feed forward term is used to add extra output during constant velocity to reduce following error The range of values for the velocity feed forward is 0 to 32 767 See appendix C Tuning Your System for more information on setting velocity feed forward Maximum This parameter sets the maximum voltage output by the integration term of the PID algorithm The limit is used to prevent windup Generally windup occurs in systems where very high friction cannot be overcome without entering an oscillation mode The range of values for the integration limit is 0 to 32767 See appendix C Tuning Your System for more information on setting the integration limit Offset This parameter sets the DAC output level It can be used to compensate for other system offsets The offset parameter should be set at 0 in most cases Note that each axis also has an internal offset which is in series with the digital filter offset described here and visible on the SETUP program tuning
67. l the board is seated in the backplane connector Fasten the mounting screws on both ends 4 2 Installing the DSPpro Serial The DSPpro Serial is a standalone motion controller that communicates with the host computer via an RS 232 interface In order for the host computer to communicate with the controller it must be properly connected to the Console and COM ports on the DSPpro The Console connects to the host for booting etc and the COM is for the application developer to use if desired To install 1 Connect one end of the MEI cable CBL D9 CONSOLE to the CONSOLE port on the DSPpro 2 Connect the other end of the MEI cable CBL D9 CONSOLE to an available serial port on the host computer e g COMI 3 Connect one end of MEI cable CBL D9 COM to the COM port on the DSPpro 4 Connect the other end of the MEI cable CBL D9 COM to an available serial port on the host computer e g COM2 Console COM Host Computer CBL D9 COM COM2 CBL D9 CON Figure 4 2 DSPpro Serial external connections 16 Chapter 4 Hardware Installation Chapter 5 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
68. le or any other type of motion These functions translate trapezoidal or other motion profiles into frames for you Chapter 3 DSPpro Controller Design 13 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 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 4 1 Installing the DSPpro VME The DSPpro VME is a board level controller designed for VME compatible computers running a variety of operating systems It occupies a single GU VME expansion slot Before installing the DSPpro VME you must first set the memory location and the IRQ level 4 1 1 DSPpro VME Dip Switch Locations The DSPpro VME will respond to memory addresses in A24 space Two banks of switches on the DSPpro VME set the memory address of the controller These are located next to the P1 and P2 bus connectors and are labeled SW1 and SW2 _SWI DSPpro VME Figure 4 2 DSPpro VME Dip Switch Locations 14 Chapter 4 Hardware Installation 4 1 2 DSPpro VME Base Memory Address Switch Settings Memory SWI 1 SWI 2 SWL3 SWI4 SW1 5 SWI 6 SWI 7 SWI 8 SW21 Location 0x00000000 ON ON ON ON ON ON
69. lease see section 4 2 DSPpro Serial The DSPpro Serial is a standalone controller that communicates with a host computer using an RS 232 serial port The following instructions describe how to setup the DSPpro Serial for application development After application development the DSPpro Serial can operate independent of the host computer 1 Open the shipping container and carefully remove its contents 2 Turn off the host computer 3 Connect the Console port on the DSPpro Serial to a serial port e g COMI of the host computer using a null modem cable available from MEI as accessory cable CBL D9 CONSOLE 4 Connect your 24 VDC power lines to the screw terminal connector which plugs in to the power port of the DSPpro Serial Be sure to observe proper polarity For detailed hardware installation instructions please see section 4 3 Installing the DSPpro Serial 2 1 2 Software Installation DSPpro motion controllers are available with software support packages for many popular operating systems including DOS Windows 3 x Windows95 and Windows NT Limited support for other development environments is also 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 2 1 3 Connections amp Wiring After installing the controller and software you are ready to wire your system Since your specif
70. loading of your application For example you could have the DSPpro automatically execute your application or series of applications upon boot Because the DSPpro runs MS DOS 6 22 you must be sure to follow the appropriate syntax for your AUTOEXEC BAT and CONFIG SYS files This syntax is described in detail in the Microsoft publication Microsoft MS DOS Concise User s Guide To order a copy of this publication contact the Microsoft Sales Information Center at 800 426 9400 8 3 Committing your application to flash memory Once you have completed developing and debugging your application you are ready to copy the contents of the boot disk to flash memory on the DSPpro After loading the program to flash memory the DSPpro controller can execute it completely independent of the host 66 Chapter 8 Developing Your Application 8 3 1 Committing your application to the DSPpro VME or DSPpro Serial Follow these instructions to commit your program to flash memory on the DSPpro VME or DSPpro Serial 1 Ifyou haven t done so already copy your application files to the DSPpro Boot Disk Be sure that you have a backup of the original DSPpro Boot Disk 2 Ifnecessary create AUTOEXEC BAT and CONFIG SYS files for use on the DSPpro You may want your AUTOEXEC BAT file to automatically invoke your application Save these files on the DSPpro Boot Disk 3 Connect the console cable between the host computer use either COMI or COM2 and the DSP
71. lso provided 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 44 Chapter 6 Motor Wiring 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 Motor To DSPpro VME GND 1 10 12 Figure 6 12 Typical Open loop Step Wiring Axis 0 DSPpro VME For drives that trigger on the falling edge of the pulse input use Step instead of Step STC D50 To Motor DSPpro Serial GND Motor Figure 6 13 Typical Open loop Step Wiring Axis 0 and 1 DSPpro Serial For drives that trigger on the falling edge of the pulse input use Step instead of Step Chapter 6 Motor Wiring 45 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 direction change commanded i Figure 6 14 Direction Pulse Synchronization Most step drives count pulses on either the rising edge or falling edge of the step pulse input If the driver triggers on the falling edge then the Step Pulse
72. mpatible DSPpro VME Dedicated I O Connections 50 pin box headers Pin Signal P2 Axis P3 Axis Pin Signal l In Position Out l PC Interrupt Input 3 Amp Enable Out 3 DSP Interrupt Input 5 In Position Out 5 VO Line C 5 7 Amp Enable Out 7 I O Line C 4 9 In Position Out 9 I O Line C 3 11 Amp Enable Out 11 JO Line C 2 13 TO Line C 1 15 I O Line C 0 17 VO Line B 7 19 I O Line B 6 21 IO Line B 5 23 l O Line BA 25 TO Line B 3 27 I O Line B 2 29 TO Line B 1 3 I O Line B 0 33 VOLine A 7 35 TO Line A 6 37 lO Line A 5 39 HO Line A 4 41 TO Line A 3 43 J O Line A 2 45 NEG Limit Input 45 TO Line A 1 47 POS Limit Input 47 YO Line A 0 49 5V 49 5V Note Each I O port A B C can be defined as inputs or output in groups of eight 3 3 2 2 1 1 13 In Position Out 0 15 Amp Enable Out 0 17 Amp Fault Input 3 19 Home Input 3 21 NEG Limit Input 3 23 POS Limit Input 3 25 Amp Fault Input 2 27 Home Input 2 29 NEG Limit Input 2 3 POS Limit Input 2 33 Amp Fault Input 1 35 Home Input 1 37 NEG Limit Input 1 39 POS Limit Input 1 4 Amp Fault Input 0 43 Home Input 0 0 0 AA Sb E nn Con on Oh Oh Ch Ch JJ JJ PS SS LN UU Ch AN A Note Even numbered pins are grounds and pin 49 is 5V 70 Appendix A Connector Pinouts A 3 DSPpro Serial Connector Layout Console COM2 Motor amp Dedicated I O Connections dec Axes 0 1 s c Axes 2 3 7 Axes 4 5 APR Axes 6 7 User UO and Analog Inputs 8 Figure
73. 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 C 2 6 Integration Limit The integration of position errors is limited to a fixed DAC output This prevents the integrator from windup in the case of high static friction Note that the integration term can be set to active always or active when at rest command velocity 0 only C 2 7 Offset K The offset term compensates for small variations in controller DAC outputs and amplifier offsets An internal calibration transparent to the user is performed at the factory so that when the offset is zero the analog or pulse output is also zero If necessary the CONFIG program can be used to re calibrate the analog and step pulse output C 2 8 Shift The shift parameter is used to calculate the overall scale factor Kg Kp The overall scale factor increases the accuracy of the other tuning parameters Decreasing the shift by 1 will divide the equation for O by 2 In order to get the same voltage output from the PID the gains shi 88 Appendix C Tuning Your System 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 In effect the shift parameter allows t
74. o Boot Disk Make sure it has your application program copied onto it 5 Resetthe 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 6 Upon successful connection the DSPpro controller will attach to the REMSVR program running on the host computer and download DOS from the DSPpro Boot Disk in the host computer s floppy drive The output on the screen of the host should look similar to the following MOTION ENGINEERING 80386EX BIOS V1 0 Copyright 1992 1996 Motion Engineering Inc Copyright 9 1992 1995 General Software Inc Embedded BIOS ROM Disk Enabled Embedded BIOS Remote Disk COM1 CONNECTED Current date is Microsoft MS DOS Version 6 22 Copyright Microsoft Corp 1981 1993 A gt 4 When you see the A gt prompt you are ready to execute your program Enter its name at the prompt and press lt RETURN gt 5 Your program should execute on the DSPpro and you will see the console output if any on the monitor of your host computer 6 To exit REMSVR type Alt X Your program will continue to run on the DSPpro uninterrupted until it terminates 8 2 4Configure DOS startup files The DSPpro Boot Disk can contain standard DOS configuration files to provide additional functionality to your application These files AUTOEXEC BAT and CONFIG SYS can be used to set system variables and to control the
75. o the RCONSOLE application running on the host computer 4 Upon successful connection the DSPpro controller will attach to the RCONSOLE program running on the host computer and download DOS from the DSPpro Boot Disk in the host computer s floppy drive The output on the screen of the host should look similar to the following MOTION ENGINEERING 80386EX BIOS V1 0 Copyright 1992 1996 Motion Engineering Inc Copyright 1992 1995 General Software Inc Embedded BIOS ROM Disk Enabled 64 Chapter 8 Developing Your Application Embedded BIOS Remote Disk COM1 CONNECTED Current date is Microsoft MS DOS Version 6 22 Copyright Microsoft Corp 1981 1993 A gt When you see the A gt prompt you are ready to execute your program Enter its name at the prompt and press lt RETURN gt Your program should execute on the DSPpro and you will see the console output if any on the monitor of your host computer To exit RCONSOLE type Alt X 8 2 3 Using REMSVR to Test Your Application DSPpro VME or DSPpro Serial If you are using the DSPpro VME or DSPpro Serial make sure that the CONSOLE cable is properly connected before using REMSVR If you are using the DSPpro PC make sure that the card is properly installed in the host computer See chapter 4 Hardware Installation for more information In addition you may want to verify basic installation using the techniques described in chapter 2 Quick Start REMS
76. on volatile When a value is entered in any window the value is automatically stored in the DSP data Chapter 5 MEI Software 19 memory The values stored in data memory are lost when the DSPpro is reset F9 key or the power is turned off The reset function F9 loads the firmware and configuration parameters from boot memory into data memory Values stored in boot memory will be read by the SETUP program on initialization Selecting Save Defaults to File saves the current boot memory configuration to a disk file with the extension ABS Selecting Load Defaults From Disk will load the values from a disk file into the boot memory on board Data Memory Screen Values au ar Read Defaults Boot Memory to Data Memory Data ansierred from Save Defaults Data Memory to Boot Memory Boot Memory Save Defaults to File Load Defaults from File Figure 5 1 SETUP Parameter Storage 20 Chapter 5 MEI Software Functional Grouping by Axis Some of the functions and parameters of the board must be the same across groups of axes Function Axes in Group Example Step or Servo 2 A 3 axis board is to be used for two steps and one servo the Motor servo must be axis 2 and the steps axes 0 and 1 When a pair of axes 2 and 3 in this case even though axis 3 1s not present are configured as a servo axes the step pulse output is turned off for both axes 2 and 3 Open Loop or 2 A 3 axis board is to be used for two closed loop s
77. or runs away or the shaft still turns freely verify the wiring using the procedure described in Installation and Setup Manual Increase the gain by factors of 2 until the system begins to hum or oscillate Reduce the Proportional Gain to 1 2 the value that first produces oscillation C 3 2 Step 2 Set the Derivative Gain Start with a Kg of 100 Increase the value of Ka by factors of 2 Set the Ka value to the smallest value which produces no overshoot in the step response Appendix C Tuning Your System 89 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 At this point the Proportional Gain should be reduced to provide the desired motion response Remember that some overshoot is acceptable in systems which are being tuned for maximum speed C 3 4 Step 4 Set Integral Gain K The best way to tune the Integral Gain is to observe the static error at the end of a move as the K term is increased Using the two point motion window set the following motion parameters Parameter Setting Delay 2 Position 1 0 Position 2 20000 Velocity 10000 Acceleration 10000 Start the motion and observe the position error between moves Gradually increase K until the final posi
78. osed Loop Servos eese nnn 89 C 3 1 Step 1 Set Proportional Gain kl 89 C 3 2 Step 2 Set the Derivative Gain 89 C 3 3 Step 3 Iterate Steps 1 and 2 sss esent 90 C 3 4 Step 4 Set Integral Gain Ki sienne danni nnn dn 90 C 3 5 Step 5 Set Velocity and Acceleration Feed Fonvard sss 90 C 4 Tuning Closed Loop Steps ri 90 C 4 1 Step 1 Set Proportional Gain KA 91 C 4 2 Step 2 Set Velocity and Acceleration Feed Fonvard sss 91 Table of Contents lii C 4 3 Step 3 Setting the Integral Gain K INDEX Table of Contents Chapter 1 INTRODUCTION This manual describes how to install wire and use available development tools for MEI DSPpro motion controllers It is intended as a general reference guide for the DSPpro Serial DSPpro PC and DSPpro VME and should be used in conjunction with the MEI DSP Series Motion Controller C Programming Manual which documents the specific motion control functions provided by the MEI standard C function library 1 1 Troubleshooting amp Technical Support MEI takes technical support seriously We want your system to work Our staff of application engineers are knowledgeable and dedicated to answering questions during the development of your system 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
79. osition status window 35 screens 25 software limits window 34 Index status menu 34 tuning parameters window 27 Shift 101 Software amp firmware updates 2 Software limits window 34 Speed 31 Status menu 34 Step motors closed loop 51 control 12 open loop 49 T Technical Support 1 49 Torque mode 46 Trackball support 22 Trajectory 11 Tuning 93 closed loop servos 101 closed loop steps 102 parameters 94 Tuning parameters window 27 Tuning your system 5 29 SETUP program 1 21 tuning parameters 5 7 23 25 27 30 U User I O 57 62 V Velocity feed forward 29 99 102 103 Velocity mode 46 VFC 12 Voltage control 46 Voltage to frequency converter 12 W Wiring your system 4 Amplifier enable wiring 63 Analog input wiring 63 dual loop control 53 Home and limit switch wiring 61 I O Wiring 57 Interferometers 53 motor wiring 41 servo motors 46 step motors 49 93
80. pro Console port Be sure to use a DB 9F to DB 9F null modem cable available from MEI as accessory cable CBL D9 CONSOLE 4 Execute the REMSVR program on the DSPpro Utility Disk using the following options to select the appropriate serial ports remsvr If the console cable is connected to COMI on the host remsvr 2 If the console cable is connected to COM2 on the host 3 Resetthe controller by pressing the reset button or by toggling the power supply The DSPpro will then attempt to connect to the REMSVR application running on the host computer 4 After the DSPpro boots you will see a DOS prompt from the DOS shell running on the DSPpro At the prompt type the following command procook p This executes the PROCOOK utility with the p option which pauses the utility to allow you to insert the DSPpro Boot Disk You should see the following message Paused Insert your boot disk and press any key 5 Remove the DSPpro Utility Disk from the host computer s disk drive replace it with the DSPpro Boot Disk and press any key PROCOOK will read the files on the disk and copy them into the flash memory on the DSPpro 6 When PROCOOK finishes exit REMSVR by typing Alt X 7 Restart the DSPpro by pushing the reset button or power cycling the controller 8 The DSPpro should boot from flash memory and begin execution of your program as specified in the AUTOEXEC BAT file Chapter 8 Developing Your Application 67 Appendix A CONN
81. pro Serial Analog Input Connections 7 8 8254 Counter wiring DSPpro VME There are 3 16 bit counters available for user functions Counter 0 can take an external clock input pin 3 on P8 and Counters 1 and 2 have fixed frequency inputs of 1 25 and 10 MHz respectively The gate signal for Counter 0 used in some modes is on pin 11 of P8 All counter outputs are available on P8 Gate 0 P8 11 Clock 0 e P8 3 Out 0 Channel 0 P8 13 5 Volts 10 0 MHz 5 Volts Out 1 P8 15 Out 2 P8 17 Channel 1 Channel 2 Figure 7 9 Counter Wiring Diagram 60 Chapter 7 I O Wiring Chapter 8 DEVELOPING YOUR APPLICATION 8 0 Overview DSPpro controllers are designed to execute motion programs autonomously using their on board CPU The DSPpro executes these programs from DRAM which boots from a boot disk image stored in flash memory or a boot disk on the host computer via a serial cable connection or directly through dual port memory DSPpro PC only This process is similar to a PC booting from its hard drive During application development we recommend that you test and debug your program using the host computer s processor along with an MEI LC DSP or PCX DSP controller With this method you benefit from the development and debugging tools supplied with your application development environment e g Microsoft Visual C Borland C etc Because all DSP and DSPpro Series controllers share the same C function motion library software dev
82. pter 5 MEI Software Note that each axis can be individually configured with any feedback device but if any axis uses analog inputs the remaining analog inputs cannot be used for any purpose other than analog feedback For example the analog inputs cannot be used for both a joystick and analog feedback on the same board Integration Mode This selection allows the PID integration term for each axis to be configured as Only Standing Only when the command velocity is zero Always During motion and when standing Limit Switch Configuration Window Figure 5 3 Configure Limit Switch Configuration Window This window defines the active state of the home switch limit switches device fault and the amp enable output It also specifies which event is triggered when each sensor becomes active The events are Event Description NO EVENT Ignore a condition STOP EVENT 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 29 Software Limits Window Lowest pos 268435456 counts Highest pos 268435455 counts Error Limit LAA counts In Position 266 counts Stop Decel 50000 counts lt sec sec gt E Stop Decel 500000 counts sec sec gt Max Values flt X Exit F2 Position F3 Status F4 Graphics F Tuning F8 Confiq F9 Rese Figure 5 4 Configure Software Limit Configuration
83. r 6 Motor Wiring 41 Motor Encoder To DSPpro VME Encoder B Encoder B aN Oo dl A OU M Figure 6 7 Typical Brush Servo Wiring with Differential Encoder Axis 0 DSPpro VME Models Motor Encoder STC D50 To 2 DSPpro Serial 1 5 volts 3 Encoder A 4 Encoder A 5 6 7 8 Motor Encoder 27 GND Servo 34 S 27 GND 26 5 volts 28 Encoder A 29 Encoder A 30 Encoder B 31 Encoder B 32 Encoder Index 33 Encoder Index Figure 6 8 Typical Brush Servo Wiring with Differential Encoder Axis 0 and 1 DSPpro Serial 42 Chapter 6 Motor Wiring 6 4 4 Brushless Servo Motors Wiring diagrams for typical brushless servo motors with differential encoders Brushless To DSPpro VME Figure 6 9 Typical Brushless Servo Wiring with Differential Encoder Axis 0 DSPpro PC and DSPpro VME Models STC D50 Brushless To DSPpro Serial Brushless Encoder A Encoder A Encoder B Encoder B Encoder Index Encoder Index Figure 6 10 Typical Brushless Servo Wiring with Differential Encoders Axis 0 and 1 DSPpro Serial Chapter 6 Motor Wiring 43 The amp enable and amp fault connections are discussed in the chapter 7 I O Wiring Any unused lines should be left unconnected 6 4 5 Step and Direction Controlled Servo Motors Some brushless servos are controlled by step and direct
84. r P2 17 3 Laser Reset P2 3 3 Data Hold P3 15 ALL Position Data Bit 0 LSB P1 47 ALL Position Data Bit 1 P1 45 ALL Position Data Bit 2 P1 43 ALL Position Data Bit 3 P1 41 ALL Position Data Bit 4 P1 39 ALL Position Data Bit 5 P1 37 ALL Position Data Bit 6 P1 35 ALL Position Data Bit 7 P1 33 ALL Position Data Bit 8 P1 31 ALL Position Data Bit 9 P1 29 ALL Position Data Bit 10 P1 27 ALL Position Data Bit 11 P1 25 ALL Position Data Bit 12 P1 23 ALL Position Data Bit 13 P1 21 ALL Position Data Bit 14 P1 19 ALL Position Data Bit 15 P1 17 ALL Position Data Bit 16 P1 15 ALL Position Data Bit 17 P1 13 ALL Position Data Bit 18 P1 11 ALL Position Data Bit 19 P1 9 ALL Position Data Bit 20 P1 7 ALL Position Data Bit 21 P1 5 ALL Position Data Bit 22 P1 3 ALL Position Data Bit 23 P1 1 ALL Position Data Bit 24 P3 47 ALL Position Data Bit 25 P3 45 ALL Position Data Bit 26 P3 43 ALL Position Data Bit 27 P3 41 ALL Position Data Bit 28 P3 39 ALL Position Data Bit 29 P3 37 ALL Position Data Bit 30 P3 35 ALL Position Data Bit 31 MSB P3 33 Contact MEI for more information about using DSPpro controllers with Excel Precision laser interferometers 50 Chapter 6 Motor Wiring 6 7 3 Hewlett Packard 10885A Interferometer Axis Board Signal Name HP MEI GND GND GND GND BP error Device Fault BP error Device Fault BP error Device Fault BP error Device Fault GND GND BP meas lol BP ref lol BP_wnd0 BP_overflow BP force zero
85. re 8 2 DSPpro to Host Communications In addition to providing console for the DSPpro these utilities enable the DSPpro to use the host computer s floppy disk drive as its file system Both RCONSOLE and REMSVR use the DSPpro Boot Disk included in your distribution to provide the DOS shell to the DSPpro controller When the controller is reset it first attempts to establish a communications channel with RCONSOLE or REMSVR running on the host computer directly through the CONSOLE port on the DSPpro VME and DSPpro Serial If neither RCONSOLE nor REMSVR is running the card is not installed in the host computer or the CONSOLE connection has not been made then the DSPpro will boot out of its flash memory In order to use RCONSOLE or REMSVR your application must make use of special purpose C functions provided to aid host controller communications These functions are provided in the 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 Applications developed for the DSPpro can make use of these ports using the Serial Toolkit which provides a suite of C functions to communicate via either of the two serial ports
86. re using the DSPpro Serial or DSPpro VME execute the REMSVR program by typing REMSVR from a DOS prompt of you host PC If the DSPpro console cable is connected to COM2 of your PC execute REMSVR by typing REMSVR 2 You will see the following output in the REMSVR window of your PC Motion Engineering Console Disk Server V1 0 Copyright C 1996 Motion Engineering Inc Press Alt X to exit Connecting Through COM1 Reset the controller by depressing the reset button Use a paper clip to reach the recessed reset button on the DSPpro Serial Chapter 2 Quick Start 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 4 The DSPpro will then reboot booting from the DSPpro Quick Start Disk in the floppy drive of your host PC You will see the following output in the REMSVR or RCONSOLE window of your PC 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 Embedded BIOS REMOTE Disk COM1 CONNECTED Starting MS DOS Server 1 00A Oct 11 1996 14 10 40 Listening on COMI 5 Exit from RCONSOLE or REMSVR by typing ALT X 6 Execute the SETUP program by typing ssetup from a DOS prompt on yo
87. required for I O All cables are electrically tested for continuity at the factory and are marked with a blue dot to indicate that they have passed Chapter 6 Motor Wiring 37 Board configurations with connection accessories are shown below Note that all terminal blocks include mounting feet for standard DIN rail Pi Analog Inputs DSPpro VME CBL 20 and Clock Signals STC 20 si CBL 26 Motor and A Encoder Signals STC 26 CBL 50 Dedicated and User I O STC 50 Figure 6 2 DSPpro VME Configuration with Connection Accessories Console COM Axes 0 1 CBL D50 T LE Axes 2 3 Axes 4 5 STC D50_ Axes 6 7 CBL D50 DSPpro Serial STC D50 User UO and Analog Inputs 8 Figure 6 3 DSPpro Serial Configuration with Connection Accessories 38 Chapter 6 Motor Wiring 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 User I O Dedicated I O Axes 0 3 Dedicated I O Axes 4 7 or User I O 1 4 axis boards otor Axes 0 1 le Axes 2 3 Motor Axes 6 7 Figure 6 5 Motor Signal Header Locations DSPpro VME 6 2
88. ring Dedicated I O wiring 60 DSPpro PC and DSPpro VME 57 DSPpro Serial 60 User I O Wiring 60 Installing hardware 3 DSPpro PC 3 DSPpro Serial 4 DSPpro VME 3 Installing software 4 Installing the DSPpro PC 16 Installing the DSPpro Serial 18 Installing the DSPpro VME 17 18 Integral gain 28 98 102 103 Integration limit 100 Integration limit 29 L Limit switch configuration window 33 Limit switch wiring 61 M Memory mapping 15 Motion menu 37 Mouse support 22 O Offset 29 100 Appendix C Tuning Your System Open loop step motors 49 optical isolation 61 63 Opto isolation 63 Output limit 30 P PID parameter ranges 30 Position error 11 93 Position status window 35 Proportional gain 28 94 101 103 Pulse rate 31 Q Quadrature 46 Quick Start 2 3 68 R RCONSOLE 5 7 22 37 40 REMSVR 5 7 21 22 38 40 66 70 72 RS 232 serial ports 4 18 67 83 86 89 S Sample programs 1 Saving default parameters 23 Servo motors brush 46 brushless 48 configuring axes 6 25 27 control algorithm 11 DAC output 12 functions 25 step and direction controlled 49 wiring 46 47 SETUP program 2 5 7 21 23 26 axis configuration window 30 axis status window 35 buttons 23 configure menu 27 dedicated I O window 36 defaults 23 function keys 23 I O base address window 27 limit switch configuration window 33 motion menu 37 mouse and trackball support 22 p
89. rompt 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 Note that if you are connecting to a DSPpro VME or DSPpro Serial using COM of your host PC type ssetup 2 to tell the SETUP program to connect through COM2 Configure Axis 0 of the controller as a servo axis closed loop bipolar with the Configure Axis Configuration window Shortcut key F8 Put the axis in Idle mode using the Status Axis Status F3 window Turn on the amplifier Test the encoder connections with the Status Position Status F2 window turn the motor and verify it gives the correct number of encoder counts Apply an initial constant voltage of 100 using the offset register in the Configuration Tuning Parameters F7 window Check to see that positive offsets produce increasing position value If not swap the A and B encoder leads and swap the A and B encoder leads Clear the position with the Status Position Status F2 window Put the axis in Run mode with the Status Axis Status F3 window The motor should now be servoed Verifying Operation Steppers Follow these instructions if your application uses STEP motors l From the factory the DSPpro is configured to connect to the SETUP program running on the host PC If you have not modified the DSPpro flash memory skip to step 6 Insert the disk labeled DSPpro Quick Start Disk into the floppy disk drive of your PC If you a
90. s can be set with the function libraries Refer to the MEI DSP Series Motion Controller C Programming Manual for detailed information DSPpro Serial controllers have internal opto isolation so no external I O isolation is required 7 7 Analog input wiring 7 7 1 DSPpro VME Analog inputs for the DSPpro VME are connected to the 20 pin connector P8 Pins 2 and 20 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 connected to the bus ground with all of the other GND signals When connecting analog inputs it is often better to use the separated analog grounds to improve noise immunity There are 8 channels each with 12 bit resolution Each channel can be configured as either Unipolar 0 to 5V or Bipolar 2 5V to 2 5V Since there is no buffer between the P8 connector and the A D chip the input voltages must not exceed 5V or fall below 2 5V 7 7 2 DSPpro Serial Analog inputs for the DSPpro Serial are connected to the 50 pin connector P5 marked User I O The MEI accessory STC D50 can be used to simplify wiring The STC D50 includes screw Chapter 7 VO Wiring 59 terminal connectors for the I O wiring and a 50 pin header for connecting to MEI accessory cable CBL D50 The following diagram illustrates these connections Console COM CX User I O and CBL D50 Analog Inputs 8 DSPpro Serial Figure 7 8 DSP
91. se K above this level watch for oscillation at the beginning or end of the motion If oscillation occurs reduce the value of K Appendix C Tuning Your System 91 INDEX A Acceleration feed forward 29 100 102 103 Actual position 11 93 Analog inputs 63 Application development 65 Testing your application program 66 Writing your application 66 Applications disk 1 Axis configuration 30 Axis status 35 B Brush servos wiring 47 Brushless servo wiring 48 C C function library 65 Closed loop servos tuning 93 101 Closed loop steps 51 tuning 93 102 wiring 52 Command position 11 93 Communication host controller 9 Configure menu 27 Current control 46 D Dedicated I O 57 62 Dedicated I O window 36 Derivative gain 29 97 102 Digital filter 93 DSPpro Serial cables 41 connection configuration 43 connector pinouts 76 direction pulse synchronization 51 motor signal headers 45 servo motor wiring 46 DSPpro VME cables 41 connection configuration 42 connector pinouts 74 direction pulse synchronization 51 header locations 44 motor signal headers 73 motor signal pinouts 44 servo motor wiring 46 92 switch locations 17 switch settings 17 18 Dual loop wiring 53 E E mail address 1 Encoder input 46 Errors motors turn only one direction 32 F Frame buffer 13 Friction feed forward 30 101 H Home switch wiring 61 I O base address window 27 I O Wi
92. sole COM 7 STC D50 User I O and CBL D50 Analog Inputs 8 DSPpro Serial Figure 7 3 User I O and Analog Inputs Connector DSPpro Serial 56 Chapter 7 VO Wiring The pinouts for user I O are shown below Outputs Inputs Bit Port Header Pin Bit Port Header Pin Port Header Pin 0 0 P5 2 1 2 P5 18 1 0 P5 3 1 2 P5 19 2 0 P5 4 1 2 P5 20 3 0 P5 5 1 2 P5 21 4 0 P5 6 1 2 P5 22 5 0 P5 7 1 2 P5 23 6 0 P5 8 1 2 P5 24 7 0 P5 9 1 2 P5 25 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 For larger noisier machines optical isolation is recommended The following diagrams show the wiring for both types of machines NEG Limit 45 NEG STC 50 Am Note Limit Switches 46 220 Ohm Normally Closed POS Limit 47T POS ele To 48 i 220 Ohm DSPpro PC Home DSPpro VME 43 44 220 Ohm E Stop 49 5 Volts Figure 7 4 Sample Wiring Diagram for Axis 0 Limit Switch Non Opto Isolated Chapter 7 VO Wiring 57 3M LOGIC Logic Inputs OPTO 22 Note Limit Switches GND LOGIC CAPB24 can be connected Normallv Closed to the STC 26 motor axes OP HOME LIRA ele HOME 5 OPTO GND 4 E STOP NEG LIMIT el ol ne 3 OPTOGND 2 POS LIMI
93. tents Be sure to observe proper ESD handling precautions 2 Turn off the host computer 3 Select an available ISA expansion slot and remove its expansion cover plate 4 The default memory location of the DSPpro PC is 0xD000 0000 If you need to change this refer to section 4 1 Installing the DSPpro PC 5 Remove the anti static protective cover from the DSPpro PC bus connectors 6 Insert the DSPpro PC in the ISA bus connector and secure the card in place with the screw from the cover plate For detailed hardware installation instructions please see section 4 1 DSPpro VME The DSPpro VME is a single 6U slot board level controller designed for VME based computers 1 Open the shipping container and carefully remove its contents Be sure to observe proper ESD handling precautions 2 Turn off the host computer Chapter 2 Quick Start 3 3 Select an available VME expansion slot and remove its expansion cover plate 4 The default memory location of the DSPpro VME is 0xFFFF0300 If you need to change this refer to section 4 2 Installing the DSPpro VME 5 Insert the DSPpro VME in the VME bus and firmly press the card into place until the card 1s properly seated and locked into place 6 Connect the Console port on the DSPpro VME to a serial port e g COMI of the host computer using a null modem cable available from MEI as accessory cable CBL D9 CONSOLE For detailed hardware installation instructions p
94. teps and one Closed Loop open loop step the open loop motor must be axis 2 and the closed loop motors axes 0 and 1 Home and Index 4 On a 4 axis board all axes will be configured to use the Home functions and Index in the same fashion On a 7 axis board axes 0 3 will have a configuration that is independant of the configuration for axes 4 6 5 1 3 SETUP Screens The SETUP screens are organized under four main menu categories File Load default parameters from a disk file Store default parameters to a disk file Shell out to DOS Display version number Move location of selected window Jump to another window Exit program Set I O address Set PID tuning parameters Set auxilliary tuning parameters Set axis configuration Servo or step Open closed loop Stepping speed Home sensor configuration Voltage output Feedback device type Integration active mode e Set limit switch configuration Set software limits Reset controller with boot memory Status e Monitor position status Position Velocity Acceleration and Error e Monitor axis status Idle Run Mode In Motion In Position Source and State e Monitor Dedicated I O Status Enable Disable Amplifier Motion e Two point motion Endpoints Delay Velocity Acceleration and Jerk Motion Profile Trapezoidal Parabolic or S Curve Configure Chapter 5 MEI Software 21 5 1 3 1 File Menu The File menu contains the options described in detail below
95. tical control signals such as amplifier enable disable which must always be in a defined state should be designed so that the default state of the 82C55 output is Low A pull down resistor should be used to insure that the output does not float high when the output is in the High Z state The following figure shows the correct wiring for amplifiers with Low Enable and High Enable inputs 58 Chapter 7 VO Wiring External DV Suppl Amplifier Enable 1Kohm DSPpro DSPpro Amplifier Amplifier Enable Enable Amplifier Enable 1Kohm High Enable Input Amplifier Low Enable Input Amplifier Figure 7 7 Amplifier Enable Wiring 7 6 Opto isolation On the DSPpro VME dedicated and user I O headers conform to Opto 22 Grayhill Gordos standard pin arrangement and may be connected directly Some Opto 22 racks do not use the 5V logic power on pin 49 of the I O connector 5 volts must be provided from an external source Grayhill racks can be configured to take the logic power from pin 49 so that no external source is necessary When power is first applied to the DSPpro boards the User I O signals come up in a high impedance state and the amp enable line in the Dedicated outputs comes up low Most opto isolation modules invert the I O signals which means that I O signals may come up high The active level of the Dedicated I O signals can be configured in the SETUP program and the boot configurations of the User I O signal
96. tion I O Base Address Sets the I O address where SETUP communicates with the board 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 Limit Switch Configuration Sets the active level of limit switches and associated action Software Limits Sets the software limits and associated actions Reset Resets the DSP with parameters stored in battery backed RAM UO Base Address Window This window is used to set the base address for the board If SW1 is set for an address other than 300 hex this window must be used to tell the SETUP program the location of the board The SETUP program also has the ability to read an environment variable called DSP and automatically set the base address The only understood parameter currently is BASE which is used to specify the base I O address of the controller If BASE is specified then the SETUP program will initialize the controller using the BASE address For example if set DSP base 0x280 is executed at the DOS prompt then the SETUP program will use address 280 hex Tuning Parameters Window This window is used to set the control loop tuning parameters for each axis The DSP uses a 2nd order PID algorithm with velocity and acceleration feed forward A more detailed explanation of each parameter is contained in appendix C
97. tion error is 1 or 2 encoder counts As you increase K above this level watch for oscillation at the beginning or end of the motion If oscillation occurs reduce the value of Kj C 3 5 Step 5 Set Velocity and Acceleration Feed Forward Set the motion parameters in the Motion Two Point Motion window for a move which takes 5 to 10 seconds using the highest desired speed and acceleration Notice the position error during the constant speed portion of the motion Increase the K term until the constant velocity error is reduced to the desired level Use the same method to adjust the K term watching the error during the acceleration and deceleration portions of the motion look quickly if the acceleration time is short C 4 Tuning Closed Loop Steps The following steps provide a quick method for tuning for a stable system with minimal position errors Step 1 Set Proportional Gain Step 2 Set Velocity Feed Forward and Acceleration Feed Forward Step 3 Set Integral Gain 90 Appendix C Tuning Your System 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 Kp 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
98. tional gain is characterized by oscillation In some situations damping derivative gain can be increased to help compensate C 2 2 Derivative Gain Ka This term provides damping and stability to the system by preventing overshoot as the error changes A low value for the Derivative Gain causes the system to have very fast response to changes in position error but may have overshoot or ringing after a step change in position Large values of Derivative gain have slower step response but may allow higher Proportional Gain to be used without oscillation Typical values for Derivative Gain are roughly 2 times the proportional gain for velocity voltage controlled servos i e 200 1000 and roughly 4 times the proportional gain for torque current controlled servos 1 e 1000 8000 Appendix C Tuning Your System 85 Position Status 47000 34000 21000 5000 nd Voltage Output 11 ms or 143 es per division 47 Position Status 1600 57 samples per division Command Voltage Output 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 Increasing the Integral Gain can reduce these errors
99. tor Signal Pinouts P1 P4 Pin Signal Axis 1 5V Ist 2 GND Ist 3 Encoder A Ist 4 Encoder A Ist 3 Encoder B Ist 6 Encoder B Ist 7 Encoder Index Ist 8 Encoder Index Ist 9 10V Analog Out Ist 10 Step Pulse Ist 11 Step Pulse Ist 12 Step Direction Ist 13 Step Direction Ist 40 Pin 26 27 28 29 30 31 32 33 34 35 36 37 38 Signal 5V GND Encoder A Encoder A Encoder B Encoder B Encoder Index Encoder Index 10V Analog Out Step Pulse Step Pulse Step Direction Step Direction Axis 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd 2nd Chapter 6 Motor Wiring 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 The DSPpro motion controllers can be used with either Velocity or Torque controlled servo motor amplifier packages When the amplifier is in Velocity mode the velocity of the motor is proportional to the analog input voltage 10 volts to 10 volts When the amplifier is in Torque mode the current applied to the motor is proportional to the analog input voltage 10 volts to 10 volts Generally Velocity
100. unts steps per second and counts steps per second The GO button is used to start the motion The Repeat and End Repeat fields may be used to start or stop repetitive motion The E STOP field is used to trigger an E Stop event Use the cursor to move between fields and buttons and the Space Bar or Enter to push a button Three motion profiles are available trapezoidal parabolic and S curve Generally choose an acceleration that is 10 times the velocity and a jerk that is 100 times the acceleration Remember that the velocity is the rate of change of the position acceleration is the rate of change of the velocity and the jerk is the rate of change of the acceleration Note that increasing the velocity and acceleration of parabolic and S curve moves can actually increase the time to position Chapter 5 MEI Software 33 File Configure Status Motion Position Status Axis SS ess Command Actual rror Velocity Accel nien m Position A 1008 LE 1666 EE SEET Figure 5 8 The Motion Two Point Motion Window shown with Status Position Status window The delay field allows motion to be paused at the endpoints Units of delay are relative time and depend on the CPU speed of the computer 5 2 The VERSION Program VERSION EXE The VERSION program provides information on the current revision level of the firmware that controls the motion functions of the DSP The VERSION program must be executed on the
101. ur host PC if you are connecting to a DSPpro VME or DSPpro Serial or dsetup if you are connecting to a DSPpro PC Note that if you are connecting to a DSPpro VME or DSPpro Serial using CONZ of your host PC type ssetup 2 to tell the SETUP program to connect through COM2 7 Configure Axis 0 as a step axis open loop unipolar with the Configure Axis Configuration F8 window 8 Putthe axis in Idle mode using the Status Axis Status F3 window 9 Apply a constant pulse rate using the offset register in the Configuration Tuning Parameters F7 window Note that only positive offset values will produce rotation 10 Clear the position with the Status Position Status F2 window Chapter 2 Quick Start 7 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 8 Chapter 2 Quick Start Chapter 3 DSPpro CONTROLLER DESIGN 3 1 Architecture The DSPpro design combines an Intel 386EX microprocessor with an Analog Devices DSP 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 RS 232 Serial
102. y 64 8 2 3 Using REMSVR to Test Your Application DSPpro VME or DSPpro Serial 65 8 2 4 Configure DOS startup files sse 66 8 3 Committing your application to flash memon 66 8 3 1 Committing your application to the DSPpro VME or DSPpro Serial 67 APPENDIX A CONNECTOR PINOUTS 68 A 1 DSPpro VME Connector Layout eese 68 A 2 Connector pinouts DSPpro VME eeeeeeeeeeeeeeeeenenennn 68 A 3 DSPpro Serial Connector Layout 71 AA DSPpro Serial Connector Pinouts EE EEEEEE ERR nanna 71 APPENDIX B SPECIFICATIONS TT B 1 DSPpro VME specifications iii 77 B 2 DSPpro Serial Specifications iii 80 APPENDIX C TUNING YOUR SYSTEM 83 Ct General Description ooo eo rcr crx ore xD D onini I Or E d 83 C d 1 The Digital GE 83 6 2 Tuning Parameters eicit e EES 84 C 2 1 Proportional Gain Ko rt tir c oe deer EES 84 G 2 2 Derivaltive Galn Ky 3 n prb etr t perd etd tee b e e et o eH 85 C 2 3 dAntegral Gall Ki or EH e REED e E Le Hee ot iti 86 C 2 4 Velocity Feed Forward Ky sss seinen dann iin dn 87 C 2 5 Acceleration Feed Forward kl 88 C26 Integration TTT 88 2 7 Offset Ks it o tene eil iii Ni 88 2 8 Shifli i neun tlm puc ire bate be DE eee ae 88 C 2 9 Friclion Feed Forward ib et p BERE i ig 89 C 3 Tuning Cl

DSPpro- Serial - MEI`s Technical Support

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