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USER`S MANUAL - APO 1m telescope Home Page

1. 5 1 5 4 2 4 5 1 5 4 6 57 ENCODER SLIP TOLERANCE 8 6 61 6 65 Encoder status request 6 65 6 66 ENCODER ERACKING 5 6 63 Encoder tracking 6 63 amp 1 1 2 3 6 57 AE 7 3 EEn 7 3 MTR 7 3 Cal 7 3 6 61 6 63
2. a 5 1 System Control 5 0 6 6 11 6 16 System status request 6 50 6 55 MBE es Rates cata fe 3 5 5 tea tate eer ach comes oe a a 3 6 cates nea 1 nee cet abeded 8 1 8 PC48 User s Manual 5 1 cones niece 3 5 Triangular velocity 1 2 4 1 U 6 56 2 2
3. 6 17 6 21 WISER ORE 6 56 TA san iat 8 1 User unit commandS wise 6 56 USER UNIT 6 56 Using interrupts 3 5 6 56 V voids 6 24 led dees eee 1 1 1 2 6 23 VELOCITY BASE 6 24 1 1 1 6 1 1 1 4 LING AN 1 1 1 3 1 1 1 3 Velocity staircase 6 67 6 69 VELOCITY STREAMING o aa 6 33 eb be cee td en cate vice cae 6 23 VS vedi ba
4. 2 4 we arate Mate il de 6 69 Special Characters 7 3 abe bere 7 3 7 3 SPECIFICATIONS 1 gt 6 34 5 1 airi aa aaan rir ede ned Sine 3 6 SUS Decades 2 4 4 1 6 34 STOP ALD ed eee ee 6 34 STOP AND RESET DONE ed eed ended 6 35 STOPSAT POSITION 2 6 69 6 48 SYNC WAIT 6 48 fen cae a 1 1 6 1
5. a 6 53 56 6 50 REQUEST QUEUE 5 5 6 51 6 76 ee aa tenn de 6 55 1 6 16 ia dota ea 3 2 RESONANCES hei het cade niin 1 1 5 aa ceed eo B 1 PC48 User s Manual 7 INDEX APPENDIX C ate eked ak add dees eevee aes 6 62 Renee ie Re Re eran he cere ere re ees er meray ere revere tree 6 53 6 62 ee 6 29 siti ai ea ei See ee a ee ee eee 6 50 en Sa es See eee Be 6 2 6 51 6 76 6 16
6. E 6 1 6 68 Nested inosus 8 1 O Operation complete isss niert i ee ees 3 5 iena aeaa e ee 5 1 e A T 1 1 a joio iio MAEAEA A NEE EAE 4 1 OSCINAUON 5 4 Output connection A iene deeb ae de ieee 4 1 ee eet ae ee a ie es ee nee 5 1 dashes 3 5 9 22 3 6 6 PC48 User s Manual INDEX P ETE EE EA E wnat 6 19 PARABOLIC OFF a a 6 16 PARABOEIGION 6 15 1 3 POA TTAda e S See
7. 6 37 5 6 36 AAAA AESA 6 24 6 36 PC48 User s Manual 5 INDEX APPENDIX C M MA te 6 25 3 1 ar oh 3 1 Microprocessor sinc 1 1 1 1 a Gentes ea Roca e 6 27 MIME 6 67 ee alate es en nash ae bate 6 28 Motor control aia e Seaia aa badia aa a 2 4 MOtOr COUNT 5 1 eine LG eee ee See aoe ee 6 25 Move execution
8. EA COMMAND RESPONSE DESCRIPTION CHAR SENT DESCRIPTION 1 LF Line feed 2 CR Carriage return 3 CR Carriage return 4 Slip detection enabled D Slip detection disabled 5 E Position maintenance enabled D Position maintenance disabled 6 5 Slip or stall detected reset by execution of EA command N No slip or stall detected 7 P Position Maintenance within deadband N Position not within deadband 8 5 5 Axis is not home 9 N Unused reserved 10 LF Line feed 11 CR Carriage return 12 CR Carriage return QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX Not valid Immediate AU AS Not valid AA AM Not valid AA CD Not valid Example Examine the status of the Y axis encoder Enter AY EA Response lt LF gt lt CR gt lt CR gt EENPNN lt LF gt lt CR gt lt CR gt PC48 User s Manual 6 65 ENCODER STATUS REQUEST COMMANDS RE 6 66 REQUEST ENCODER POSITION 6 COMMAND STRUCTURE The RE command returns current encoder position of the currently addressed axis in encoder counts The ASCII string is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid Immediate AU AS Not valid AA AM Not valid AA CD Not valid Example Examine the current encoder position of the Y axis Enter AY RE Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt PC48 User
9. El 3 1 3 3 6 16 6 15 3 5 POSITION EGITORS 22 5 1 Position Maintenance 6 57 6 60 Positional 5 1 6 19 Power Supply 3 7 3 8 0 66868 25 1 1 6 1 re ECE 6 53 6 54
10. nO eS re 5 4 2 4 FORCE POSITION 5 6 69 6 69 5 1 1 6 31 2 ieee 2 1 2 4 6 1 6 30 RESET DONE 5 6 31 55 hen sade teva dad chen 2 4 4 1 Hardware installati nir eno 2 3 6 58 5 4 6 64 6 59 6 62 6 63 6 58 PC48 User s Manual 3 INDEX APPENDIX C iis trie repro ar meee 4 3 5 4 6 12 5 4 6 12 FM ee St Ga
11. E 6 55 6 55 5 SA ener 6 34 OD 6 35 gt thee la 6 19 eana 8 1 Sadan Manatee ada 6 19 6 14 eer cer pater terror crip err 6 14 Slipa cee ere 5 1 Slip and stall detection 6 61 6 62 SOFT 6 14 eto 6 14 7 1 software installations
12. 6 43 FIONN CS WICH 25 2 4 6 64 5 1 2 Host 7 1 7 6 5 4 6 42 La on 6 64 6 57 Ante ee ei eo nee 1 4 0 enticed 3 3 3 2 VO CRD RD 3 2 VO list ta bade E da usted 3 3 PRAE AE aR 3 5 3 6 2 a 3 4 ae it aa 3 5 DS 3 6 O
13. 6 30 6 33 feeb 6 27 5 6 67 MOVE ONE PULSE ete does 6 28 MOVE 6 67 6 26 Move specification 6 22 6 29 Move synchronization 6 44 6 49 Move termination 6 34 6 35 eden cage ek Wane cats Sea ae Stet Mee att eel 6 28 6 75 MOVE VELOCITY trae ei oe aa 6 68 MOVES scat ates stata ca ei tert ta lies ta head sa aey 6 1 a hee neat a 6 67 sat aac hatte dena taut tian 6 26 6 28 6 75 Multi axis 4 2 4 3 Multita SKIN
14. dau taken 5 1 2 2 2 ia aa 5 1 94 E 6 53 QUERY INTERRUPT STATUS 6 54 QUEUES 8 1 R head aati a 6 52 adi seein 5 1 abana 6 21 PRG ae a Be AD a oS So 6 54 RE end he suite Pieter ithe Miata ried ens he hone he Ais 6 66 gt Maen eens See Re eed 4 3 tena daa cad ed ag tence cd 6 29 REPORT POSITION IN USER 6 55 REQUEST ACCELERATION ie ee eee 6 54 REQUESTPAXIS es ee a eee 6 52 REQUEST BIT DIRECTION 5 shades 6 21 REQUEST ENCODER POSITION 6 66
15. 6 20 6 71 6 75 6 21 6 51 6 46 6 72 ad nity 6 73 2 22 anade 1 2 CIRCULAR INTERPOLATION sie cdi E 6 1 6 74 CK ak 6 73 CLEAR AXIS DONE FLAG eee ie sida een ere edna th 6 46 CLEAR WHILE ivan 6 40 5 1 3 2 3 6 6 15 6 1 2 6 1 6 2 Command 4 3 6 1 6 76 Command SUMMA
16. ete 1 1 1 1 8 2 1 6 18 6 70 yee SECO erp a 6 1 6 6 Shia ae 6 17 6 70 are 6 10 a eat ot ee 6 10 ASG ig ened Meee ee oe ee 1 1 6 1 O tin Peele seca 6 8 E eer ee E eer 6 9 2 4 4 1 AUXILIARY OFF ned 6 18 6 70 AUXILIARY ON 6 17 6 70 ues fica wale POS eae 6 9 te Mest cee teen Agee feat oe 6 1 6 7 AXES AL La anette edie aides edie A esd Sees es ene ed 6 6 AXES MULTI
17. ec eg 3 5 3 6 Deceleration s eed Avene 1 1 Default addresses 3 3 PUNE CUIOM 1 1 2 4 4 1 3 6 Bone tag a eee 3 5 3 6 Done 3 5 Divers 1 1 2 PC48 User s Manual INDEX E a 6 65 tetas cantons 6 11 ECHO OWN 6 11 AO EE 6 11 EIN athe 6 11 ee es Pe oe ee 3 6 Encoder a 5 1 5 1 6 64
18. dae 6 30 MOVE TERMINATION COMMANDS 6 34 LOOP CONTROL COMMANDS 6 36 HOME AND INITIALIZATION CONTROL 6 41 MOVE SYNCHRONIZATION 6 44 SYSTEM STATUS REQUEST 6 50 USER UNIT COMMANDS 6 56 POSITION MAINTENANCE COMMANDS 6 57 SLIP AND STALL DETECTION 6 61 ENCODER TRACKING 8 6 63 ENCODER HOME CONTROL COMMANDS scsi 6 64 ENCODER STATUS REQUEST 6 65 VELOCITY STAIRCASE 5 6 67 CONSTANT VELOCITY 6 70 accra acca aaa aaa 7 1 INTRODUCTION kt TA 7 1 PROGRAM FIL ESk ees cine Coe nantes 7 1 DRIVER SUPPORT SECTION 7 1 7 1 COMMAND 7 2 BOARD STATUS MESSAGE HANDLING
19. QUEUE REQUIREMENTS MODE AS Not valid AA AM Not valid AA CD 8 Example see CD command on page 6 72 CONTOUR VELOCITY The CV command allows specification of contouring velocity It is executed from the AA mode before a contour definition A contour defined by a CD command cannot be executed if followed by a CV command Changing this parameter will make any previously defined contours invalid The contour velocity defaults to 1000 at power up or reset Use WQ between contour definitions to avoid having a CV associated with a second contour definition affect a prior contour still in motion A CV cannot be issued between a CD and CE command Example QUEUE REQUIREMENTS MODE AS Not valid AA AM Immediate AA CD Not valid see CD command on page 6 72 PC48 User s Manual 6 74 6 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING CX CONTOUR EXECUTE The CX command will execute the previously entered contour sequence The stage must be positioned such that it can accelerate to speed by the absolute position specified by the CD command it is executing and must be traveling in the proper direction Once a contour is defined it may be executed at any time by executing a CX command until it is replaced by another contour definition The CX command cannot be placed within a loop or while construct QUEUE REQUIREMENTS MODE
20. cosine ramp requires times longer than a linear ramp to reach same velocity when using the same peak acceleration Since the purpose of the cosine ramp is smooth operation it is desirable to adjust the velocity parameters such that the desired profile is achieved even when the stage does not reach the programmed speed as opposed to truncating the curve as the parabolic modes do The OMS controls look ahead to determine if the stage will be able to reach speed in the programmed move If not the acceleration curve will be adjusted such that the peak acceleration will be the programmed acceleration and the acceleration curve will be 360 degrees of a sine wave see Figure 1 4 Acceleration Velocity FIGURE 1 4 SHORT MOVE COSINE VELOCITY PROFILE 1 6 PC48 User s Manual 2 GETTING STARTED INTRODUCTION 2 GETTING STARTE 2 1 INTRODUCTION The PC48 board requires one half length slot in the PC AT In most cases the jumpers on the PC48 board will not have to be changed assuming there are no conflicts with interrupt and I O address lines The factory default settings for the board have it using I O addresses 300 to 303 hex and the 5 interrupt line If these do not conflict with any previously installed hardware in your computer you will not need to change any jumpers on the PC48 board 2 2 JUMPERS There are six blocks of square pin jumpers on the PC48 board J11 J14 J16 J44 J86 and J96 See Fi
21. 6 33 ere E ere err ere rt 6 47 S 6 49 WAIT FOR AXES bebe 6 47 WAIT FOR 25 6 47 1 6 38 Mts cal 6 40 6 39 WAWE A 6 39 WAIE 6 38 FLAG ance 6 40 WHILE SYN Geien e 6 38 YOU 6 50 6 47 6 38 6 49 A 2 4 6 50 PC48 User s Manual 9
22. 6 45 INTERRUPT ON SOIP i airn dened e ied ata 6 61 4 48 User s Manual dover tahini de aetna 3 1 nc 3 6 INTERRUPT WHEN IN 6 45 6 60 Manigere sale at edt sees ane 1 1 3 1 Dee eae 3 1 A 6 45 6 60 gt 6 61 2 1 2 2 es sehen a 2 1 2 2 2 1 2 1 2 1 2 3 96 2 2 1 2 3 Seated te 6 32 6 32
23. PC48 User s Manual 1 SPECIFICATIONS 1038 ADAPTER MODULE The 1038 is an adapter module for use with the PC48 to provide separate connectors to each driver axis and each encoder input See the I O Accessories table below for available model numbers APPENDIX C The following table defines the 1038 connections to the User Definable 1 The mating connectors are 25 pin subminiature D Amp part 747942 2 or equivalent 1038 SPECIFICATIONS Dimensions 7 5 x 3 0 x 0 78 inches tall Power No power required 1038 CONNECTIONS TO USER DEFINABLE I O FUNCTION PINS FUNCTION Ground 14 Ground Bit 0 15 Bit 1 I O Bit 2 16 Bit 5 Volts 17 5 Volts Bit 4 18 Bit 5 I O Bit 6 19 Bit 7 Ground 20 5 Volts Ground 21 I O Bit 9 Bit 8 22 I O Bit 11 Bit 10 23 5 Volts 5 Volts 24 Bit 13 Bit 12 25 Ground Ground CONNECTIONS TO 1038 The following table defines the 1038 connections to the drivers The mating connectors are 9 pin subminiature D part equivalent CO NI N gt 747944 2 CONNECTIONS TO DRIVER INDIVIDUAL CONNECTOR PER AXIS FUNCTION PINS FUNCTION Ground 6 Ground Step Pulse Output 7 Positive Limit Input Direction Output 8 Negative Limit Input Auxiliary Output 9 Home Input 5 Volts N CON38 CO
24. 5VDC R Auxiliary Output R Step Output R Positive Limit Switch R Home Switch R Negative Limit Switch S Direction Output N 5VDC S Auxiliary Output 5 Step Output S Positive Limit Switch Ground S Home Switch 5 Negative Limit Switch PC48 User s Manual 4 DRIVER INTERFACE MULTI AXIS SYNCHRONIZATION 4 2 MULTI AXIS SYNCHRONIZATION Each PC48 has provision for synchronizing several PC48 boards to drive larger systems Systems requiring more than 8 axes and thus more than one PC48 can be synchronized by connecting an auxiliary or general purpose output on one board to the general purpose input on the other board The boards can signal each other at the appropriate place in the command stream without interrupting the host computer Synchronization can be accomplished with other devices as well DRIVE Step Step Clock Direction Direction 5 Supply 5 Input Ground Ground Opto FIGURE 4 2 CONNECTION TO STEP DRIVES 4 3 LIMIT AND HOME LINES The limit and home lines can be activated using mechanical switches using contact closures or other suitable active switches such as a hall effect switch or opto isolator that connect the line to ground The limit switch closure will stop the associated pulse stream if the motor travels beyond its allowable limits and t
25. ee le eee 3 6 POWER SUPPLY 5 Aedes 3 7 4 DRIVER INTERFACE OUTPUT CONNECTIONS 5 4 1 MULTI AXIS 4 3 LIMIT AND HOME LINES verrier 4 3 FUSED PROTECTION 4 3 IOS6 ADAP TER MODULES 4 6 5 ENCODER OPTION 5 1 MODES OF OPERA TIO N 5 1 PC48 User s Manual TABLE OF CONTENTS 6 COMMAND STRUCTURE ENCODER SELECTION AND 5 1 ENCODER INTERFACE 5 1 HOME PROCEDURES lee ects coalescent calles hia 5 4 6 COMMAND STRUCTURE INTRODUCTION Ss 6 1 COMMAND QUE Sa 6 1 COMMAND SUMMARY areias nansa iyi debian 6 2 AXIS SPECIFICATION 0 6 6 SYSTEM CONTROL COMMANDS 6 11 USER COMMAND 5 6 17 MOVE SPECIFICATION 5 6 22 MOVE EXECUTION 52
26. 6 46 eet ae 6 44 6 44 6 45 1 1 are 5 1 5 1 3 6 Input b ffer tull 3 5 4 1 Interrupt DMA Control 3 6 tad 6 46 INTERRUPT DONE aoda MaDe 6 44 INTERRUPT 9 6 44 2 2 INTERRUPT NEARLY 2 03 7 0000060000000000000404000
27. 6 2 6 5 Constant vel city 1 1 Constant velocity 6 1 6 70 6 76 6 72 CONTOUR END ed tad nah cele 6 73 CONTOUR END and a e a r 6 73 6 75 CONTOUR VE LO O 6 74 Control line descriptions 2 sles abe 3 2 Control register 3 4 6 46 7 3 Coordinated MOVES 1 1 1 2 1 1 aati 1 1 COSINE a 6 15 Cosine velocity pS 1 3 1 4 ae 6 74 CN tence vind Gare 6 74 6 40 6 75
28. REFRESH A12 CLK 11 IRQ7 A10 IRQ6 AQ IRQ5 8 IRQ4 IRQ3 6 DACK2 5 4 ALE A3 5VDC A2 OSC A1 Ground Indicates low true signal 3 2 ADDRESS SELECTION PC48 is operated as an mapped device contiguous addresses AO Each board occupies a block of 4 The factory default addresses are from base address 300 through 303 hex Refer to Figure 3 1 for configuration of jumpers The actual address is chosen by jumpers on J16 Connecting a jumper selects a 0 for that address bit while no jumper selects 1 The address bits are selected by the jumpers as shown in Figure 3 1 1 The jumpers are wire wrap posts on 0 1 inch centers which can be shorted with a shorting plug or by wire wrapping For additional shorting plugs see Molex Corp part number 90050 0007 48 User s Manual 3 3 ADDRESS SELECTION 3 CHANNEL INTERFACE TABLE 3 3 ISA E ISA BUS PIN IDENTIFICATION J13 DESCRIPTION DESCRIPTION 516 SBHE 0 516 IRQ10 IRQ11 IRQ12 IRQ15 IRQ14 DACKO DRQO DACK5 DRQ5 DACK6 DRQ6 DACK7 DRQ7 5VDC MASTER16 GROUND Indicates low true signal TABLE 3 4 I O REGISTER DESCRIPTION ADDRESS FACTORY OFFSET DEFAULT CESCRIPTION 0 300 Hex Data Register 1 301 Hex Done Flag Register
29. X Index X Phase B Ground X Phase B N X Index Y Phase A 5VDC Y Phase A gt Y Index Y Phase B lt gt Y Phase O Y Index X Direction Output N 5VDC X Auxiliary Output Step Output X Positive Limit Switch Ground X Home Switch X Negative Limit Switch Y Direction Output N lt gt 5VDC Y Auxiliary Output N N Y Step Output Y Positive Limit Switch N Ground Y Home Switch N Y Negative Limit Switch Z Direction Output N 5VDC Z Auxiliary Output O Z Step Output Z Positive Limit Switch N N Ground Z Home Switch N 7 Negative Limit Switch T Direction Output N 5VDC T Auxiliary Output Step Output T Positive Limit Switch Ground T Home Switch N T Negative Limit Switch Z Phase A 5VDC Z Phase A Z Index Z Phase B 7 O Z Index T Phase A N 5VDC T Phase A T Index Phase B Index PC48 User s Manual 5 ENCODER OPTION ENCODER INTERF
30. 3 CHANNEL INTERFACE POWER SUPPLY REQUIREMENTS TABLE 3 8 STATUS REGISTER DESCRIPTION STATUS DESCRIPTION Interrupt request status Transmit buffer empty status This high true bit indicates a character may be written to the transmit buffer Input buffer full status This high true bit indicates a character is available in the input buffer Done or error status This high true bit indicates the command is complete i e an ID command has been executed or an error has been detected If bits 0 through 3 are all false it indicates a command completion i e an ID command has been executed The error bits indicate one or more errors have been detected Overtravel An overtravel switch was true indicating attempted travel out of bounds Encoder error This bit flags a slip error on models with the encoder option if the interrupt on slip IS command has been used Init flag This bit indicates the PC48 is being reset or the 68332 microprocessor has not completed initialization Host initialization routines should check this bit for a zero before proceeding Command error An unrecognizable command has been detected or LS and LE commands are not in patched pairs 3 5 POWER SUPPLY REQUIREMENTS The PC48 is designed to operate from the power supplied in the PC AT backplane The host computer must be capable of supplying 1 14 amps typical for operation of the PC48 board CAUTION Under no circu
31. 7 3 OTHER DEVICE DRIVER 7 3 INTERFACING TO THE DEVICE 7 4 MULTIPLE BOARDS IN ONE 7 6 8 SERVICE USER SERVICE waa katie ae ORM Gee Ga katie au ek 8 1 THEORY OF OPERA HON 25 8 1 ii PC48 User s Manual TABLE OF CONTENTS A LIMITED WARRANTY A LIMITED WARRANTY B TECHNICAL INFORMATION RETURN FOR REPAIR PROCEDURES C SPECIFICATIONS INDEX PC48 User s Manual jii TABLE OF CONTENTS INDEX This page intentionally left blank iv PC48 User s Manual 1 GENERAL DESCRIPTION INTRODUCTION 1 GENERAL DESCRIPTIO 1 1 INTRODUCTION The PC48 family of intelligent motion controls can manage as many as 8 axes of motion one I O slot of PC AT or compatible computer They meet the IBM I O channel specifications and can be plugged directly into the backplane of these machines The PC48 4E can for example simultaneously control four axes of step motors while monitor ing their actual position with the built in incremental encoder interface It can manage coordinated or independent motion on each of the four axes simultaneously The PC48 functions as a motion coprocessor within the PC AT or compatible computer It utilizes a 68332 microprocessor and patented proprietary technology to control direction of moti
32. B to the value from Table A to determine total queue usage TABLE A QUEUE REQUIREMENTS NO ENCODER ENCODER Not valid TABLE B ADDITIONAL QUEUE REQUIREMENTS PARABOLIC COSINE Example In the single axis mode move the Y axis 12345 steps in the negative direction and set the done flag when the move is completed Then move it 12345 steps in the positive direction clear the previous done flag and set the done flag again when the move is completed Enter AY MR 12345 GO ID MR12345 GD ID Example In the AA mode perform a linear absolute move with the X and Y axes to the position 10000 20000 and set the done flag when the move is completed Then perform a linear relative move on both axes moving the X axis 10000 steps in the negative direction and the Y axis 20000 steps in the negative direction Enter AA MT10000 20000 GO ID ML 10000 20000 GD ID PC48 User s Manual 6 31 MOVE EXECUTION COMMANDS 6 COMMAND STRUCTURE JG JF 6 32 JOG The JG command is a velocity mode and will step the axis at the velocity supplied as a parameter The JG command will accelerate to the programmed velocity and run until altered by an ST SA KL or another JG command The jog velocity may be changed by following the command with another JG command of a different velocity The axis must be stopped before reversing directions This command modifies the move velocity parameter VL for the affected axis The JG command d
33. Example In the AA mode move the Y axis to absolute position 10 000 counts and the T axis to absolute position 1 000 counts The other axes will remain in their current positions Enter AA MA 10000 1000 GO PC48 User s Manual 6 25 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE MR 6 26 MOVE RELATIVE The MR command will set up the axis to move relative from the current position at the time the move is executed In the AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually initiated by a GO or GD command In the AA mode each axis will use its predefined acceleration and velocity values to move to the new absolute position Each axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations The linear move commands ML and MT and the constant velocity mode may alter predefined acceleration and velocity values These values should be redefined if you go from a linear move to a non linear move such as an MA or MR type in both single axis or all axes modes QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE Example In the single axis mode move the X axis 2468 steps in the negative direction Enter AX MR 2468 GO Example In the AA mode move the X axis 12345 steps in the positive direction and the Y axis 6789 steps in the positive direction Both axes will start at the same time Enter A
34. QUEUE REQUIREMENTS Example Factory default settings have bits 0 through 7 as inputs and 8 through 13 are outputs Verify this with the RB command Enter RB Response lt LF gt lt CR gt 003F00 lt LF gt lt CR gt PC48 User s Manual 6 21 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE 6 7 MOVE SPECIFICATION COMMANDS These commands allow specification of move parameters They allow move parameters to be tailored to the user s system requirements 6 22 ACCELERATION The AC command sets the acceleration deceleration register to the operand which follows the command The parameter must be greater than zero zero is not valid and less than 8 000 000 All the following move commands for the axis being programmed will accelerate or decelerate at this rate until another AC command is entered All acceleration registers default to 1 000 000 steps per second per second upon power up or reset The acceleration register may be automatically modified by the PC48 if an ML or MT instruction is sent in the AA or AM modes The user must then redefine them with an AC command when returning to the single axis mode or when using move commands in the AA or AM modes which do not do interpolation such as the MA or MR commands QUEUE REQUIREMENTS LINEAR PARABOLIC COSINE Example In the single axis mode set the Y axis acceleration to 200 000 counts per second per second Enter AY AC200000 Example In t
35. Set up a board to make the X axis stop immediately when a limit is encountered Enter AX SF PC48 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS CN COSINE ON The CN command enables cosine velocity ramps i e half sinusoid acceleration profiles for all axes The cosine is not truncated in moves that do not reach full speed See Section 1 for an explanation of velocity profiles This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single axis mode Because of the excess processing overhead involved absolute moves such as MA and MT cannot be used within loops LS LE WH WG while the board is in the cosine CN velocity profile mode Relative moves such as MR and ML will work properly within loops when in the cosine mode QUEUE REQUIREMENTS MODE 1 Not valid Not valid Example Set the board to be in cosine mode Enter CN PN PARABOLIC ON The PN command sets all axes to truncated parabolic ramps This acceleration profile starts at 100 of the programmed acceleration and decreases in steps of 10 of the initial acceleration down to as low as 10 The parameter supplied selects the number of steps It must be in the range of 3 to 10 corresponding to 70 and 10 acceleration at the peak respectively A parameter out of this range or no parameter supplied defaults to 70 or 3 steps Note that the parameter is t
36. This port is full duplex and double buffered in both directions allowing data to be written to the port before the previous byte has been read and processed This allows for faster processing of the data between the host and the PC48 3 4 2 DONE FLAG REGISTER The done flag register is a read only register from the PC48 The status bit indicating the done status of each axis is written by the 68332 on the PC48 The host can then read it at any time to determine the status of the motion process This register is cleared automatically after it is read The bit definition is shown in Table 3 6 TABLE 3 6 DONE FLAG REGISTER DESCRIPTION DONE STATUS REGISTER DESCRIPTION BIT DESCRIPTION Done Status of X Axis Done Status of Y Axis Done Status of Z Axis Done Status of T Axis Done Status of U Axis Done Status of V Axis Done Status of R Axis Done Status of S Axis PC48 User s Manual 3 5 REGISTERS 3 CHANNEL INTERFACE 3 4 3 INTERRUPT CONTROL REGISTER This read write register allows different interrupt sources from the PC48 to be individually enabled or disabled This may be performed at any time by a write to this register The register may be read back to verify or determine the state of the interrupts See Table 3 7 NOTE There is no provision for using DMA Mode in the PC48 Family TABLE 3 7 I O REGISTER DESCRIPTION NAME CONTROL DESCRIPTION Interrupt enable bit This bit must be on
37. command Axes can be selectively affected in the AA mode by following the syntax as described for the AN command The values of the included parameters set the state of the auxiliary line during the move The following queue requirements apply to each GO or GD command in the command stream in the AA and single axis modes QUEUE REQUIREMENTS 2 2 Not valid Example Turn on the Y axis auxiliary output at the beginning of a move and turn the T axis output off at the beginning of a move while in the AA command mode Enter AA 0 1 SETTLING TIME The SE command allows specification of a settling time in milliseconds to be used before the power is reduced when using the PA mode The parameter may be any value to 1000 milliseconds Specification of a parameter of zero turns off the mode This command is available in single axis mode only The use of this command requires 3 queue slots with the execution of each GO or GD command QUEUE REQUIREMENTS 3 3 Not valid Example Turn on the Z axis auxiliary output upon execution of a move and have it remain on for 500 milliseconds after the move is complete Enter AZ PA SE500 PC48 User s Manual 6 19 USER I O COMMANDS 6 COMMAND STRUCTURE BL BH 6 20 BIT LOW The BL command sets the selected general purpose output on i e logic low QUEUE REQUIREMENTS 2 2 Not valid Example Turn on output bits 10 and 12 after a move Note that thi
38. s Manual 6 COMMAND STRUCTURE VELOCITY STAIRCASE COMMANDS 6 20 VELOCITY STAIRCASE COMMANDS The following commands describe the velocity staircase mode This mode is useful in applications requiring a change in velocity at a prescribed position without stopping MP MOVE POSITIVE The MP command sets the direction logic to move in the positive direction QUEUE REQUIREMENTS MODE AS Not valid AA AM Immediate AA CD Not valid Example see MV command on page 6 68 MM MOVE MINUS The MM command sets the direction logic to move in the negative direction QUEUE REQUIREMENTS MODE AS Not valid AA AM Immediate AA CD Not valid Example Set the direction line to move in the minus direction on the Y axis Enter AY MM PC48 User s Manual 6 67 VELOCITY STAIRCASE COMMANDS 6 COMMAND STRUCTURE MV MOVE VELOCITY The MV command causes the motor to run to the new absolute position parameter 1 at the new velocity parameter 2 When the destination is reached control will be passed to the next command which should be another MV command SP command If the command is not received in time the controller will continue to move at the specified velocity Note that this is a slave mode and it is the responsibility of the user to provide the commands in time They may be queued ahead of time If a new MV command is sent after the controller
39. 10000 1510 1000 1000 GO WA 1 MR 500 GO AF 1 MR 500 GO LE WAIT FOR QUEUE TO EMPTY The WQ command is a special command that stops the board from processing any new command until the queue for the current axis mode is empty i e all previous moves have finished This command is not valid in looping LS LE WH WG mode QUEUE REQUIREMENTS Immediate Immediate Not valid Example Move the Y axis 1 000 steps and wait until the move is complete before asking for the position Enter AY MR1000 GO WQ RP PC48 User s Manual 6 47 MOVE SYNCHRONIZATION COMMANDS 6 COMMAND STRUCTURE SW SYNC WAIT The SW command allows synchronization of multi axis moves or other tasks on one or more PC48 boards by using one of the general purpose input lines This command causes the axes to wait until the general purpose input line has been released allowed to go high before proceeding with the next command The SW command can be used to cause an axis to wait until the others are finished Wire OR the auxiliary lines from several axes together and connect them to a general purpose input line Use the SW command on that line All commands after that will wait until all axes release their auxiliary lines QUEUE REQUIREMENTS immediate immediate Not valid Example The following command sequence will cause the X axis move to wait until the Y axis has finished its move and turned off its auxiliary output which has been wire
40. 2 302 Hex Control Register 3 303 Hex Status Register TABLE 3 5 INTERRUPT LEVEL SELECTION JUMPERS FUNCTION JUMPER FUNCTION Local IRQ J14 IRQ2 Local IRQ J14 IRQ3 Local IRQ J14 IRQ4 Local IRQ J14 IRQ5 Local IRQ J14 IRQ6 Local IRQ J14 IRQ7 Local IRQ 14 IRQ10 Local IRQ J14 IRQ11 Local IRQ J14 IRQ12 Local IRQ J14 IRQ14 Local IRQ J14 IRQ15 gt gt 3 4 PC48 User s Manual 3 CHANNEL INTERFACE USING INTERRUPTS 3 3 USING INTERRUPTS Full interrupt capability is provided by the PC48 in accordance with the I O channel specification Interrupts for input buffer full IBF transmit buffer empty TBE overtravel fault and operation complete are provided Interrupt levels 2 7 10 12 14 amp 15 are jumper selectable at J14 Polled operation is also supported with separate status bits for each of the above sources Although the preferred method of operation is to run in interrupt mode Table 3 5 shows the detail of the level select jumpers on J14 3 4 O REGISTERS The PC48 occupies 4 contiguous addresses in PC AT I O space The registers associated with each address are described in the following paragraphs 3 4 1 DATA REGISTER The data register is the data communication port between the PC48 and the PC AT or compatible host All data is passed between the host processor and the PC48 68332 processor through this port
41. 2831853 BL10 CE CK Note See Section 2 2 JUMPERS on page 2 1 PC48 User s Manual 6 71 CONSTANT VELOCITY CONTOURING 6 COMMAND STRUCTURE CD CONTOUR DEFINE 6 72 The CD command enters contour definition mode It allows entry of commands for contouring mode Commands are queued for execution by the CX command The parameters define the axes for which the contour is defined and the starting position of the contour in absolute units The contour may be defined on up to 8 axes if circular interpolation is not used or 2 axes with circular mixed with linear interpolation Attempting to do circular interpolation in a contour which is being defined for more than 2 axes will be flagged as a command error This command is executed in the AA mode The contouring axes must be at positions which allow them to reach the specified contouring velocity by the specified position when the contour is executed If the actual position of the stage is equal to the starting position as defined by the CD command the stage will jump to the contouring velocity with no ramp up This could cause the stage to stall if it is not able to accelerate at this high rate It is recommended that some ramp up distance be allowed The distance required may be calculated from the equations in Section 1 There is also some ramp down distance as the stage slows from the constant velocity value to a stop This distance is adjustable using the AC command It can almost be elimin
42. 6 32 JOG FRACTIONAL 7 6 32 2 1 2 3 K sere pee piace rey ne or ERT Tree 6 35 orien eer omer Eee 6 35 6 42 6 43 L a nat te gates 6 37 6 13 Dee erase ede ne tal eke a a atte oe 4 3 ao eee 4 3 2 1 Limits 2 4 E 1 6 13 6 13 Linear 2 1 3 ner 6 13 6 24 6 2 Loop control comMandS 2s 6 41 6 43 LOOP END
43. AA mode syntax is used Any auxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section QUEUE REQUIREMENTS MODE AS 1 1 AA CD Example see CD command on page 6 72 AN AUXILIARY ON The AN command may be used with a contour by using the AA mode syntax as above Any auxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section QUEUE REQUIREMENTS MODE AS 1 1 AA CD Example see CD command page 6 72 6 70 PC48 User s Manual 6 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING BL BIT LOW The BL command sets the selected general purpose output on i e logic low REQUIREMENTS MODE 5 1 AA AM 1 AA CD Example see the following BH command BH BIT HIGH The BH command sets the selected general purpose output off i e logic high The state of general purpose outputs is off at power up or reset QUEUE REQUIREMENTS MODE 5 1 1 AA CD Example Set bit 10 high at the start of a contour and low at the end Enter AA CV2000 CDO 0 BH10 0 10000 6
44. COMMAND STRUCTURE SYSTEM STATUS REQUEST COMMANDS RV REQUEST VELOCITY The RV command will return the current velocity at which the axis is moving This may differ from the programmed velocity if the axis is ramping up to speed or stopping The response is surrounded by line feed and carriage return pairs If the JF command is executing the command only reports the integer part of the velocity QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Jog the Y axis at 12345 steps per second Display the current velocity Enter AY JG 12345 RV Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt RU REPORT POSITION IN USER UNITS The RU command returns the current position in user units see UU command on page 6 56 The format of response is a floating point number with five characters to the right of the decimal point This response is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE AS Immediate AA AM Not valid AA CD Not valid Example One revolution of a motor is 2000 steps Define user units so moves can be referenced in revolutions Move the Z axis 3 1 2 revolutions Use RU to display the position when the move is complete Enter AZ UU2000 LPO MR3 5 GO Wait until move is complete RU Response lt LF gt lt CR gt 3 50000 lt LF gt lt CR gt PC48 User s Manual 6 55
45. GO command to start the motion QUEUE REQUIREMENTS 5 AY AS Not valid Not valid Not valid Example Create a stair step ramp on the X and Y axes with the X axis moving in the negative direction and the Y axis in the positive direction Make each step last 1 second long and increase velocity by 1 000 steps second until a velocity of 3 000 steps second is reached then step down to 0 steps second Enter AX 51024 1000 1000 51024 2000 2000 VS1024 3000 3000 VS1024 2000 2000 VS1024 1000 1000 VS1 0 0 PC48 User s Manual 6 33 MOVE TERMINATION COMMANDS 6 COMMAND STRUCTURE 6 9 MOVE TERMINATION COMMANDS The following commands allow termination of move sequences in process ST SA 6 34 STOP The ST command flushes the queue for the current axis only in the single axis mode and causes the axis to decelerate to a stop at the rate previously specified in an AC command This command is used to stop the motor in a controlled manner from the jog mode or an unfinished GO or GD command This command is executed immediately All status and position information is retained When executed in the AA mode the ST command is equivalent to the SA command QUEUE REQUIREMENTS MODE Flush 2 Flush 2 Not valid Example Move the Y axis for a while at 1200 steps second then ramp to a stop Enter AY JG1200 wait awhile ST STOP ALL The SA command flushes all queues and causes all axes to decelerate to a s
46. KL command should be used to reset queues or return the system to a known state Monitor the INIT flag in the status register for completion of the initialization process see Table 3 8 The Initializing in process bit goes high during the initialization process QUEUE REQUIREMENTS Immediate Immediate Not valid Example Clear everything in the board and stop all movement Reset all hardware registers Enter RS PC48 User s Manual 6 COMMAND STRUCTURE USER COMMANDS 6 6 USER COMMANDS The following commands are for accessing the bit I O functions of the board See also the SW and WS commands AN AUXILIARY ON The AN command turns on the selected auxiliary output ports That is it allows the open collector line to be pulled high by an external pull up resistor The AN command may be used to change power level on driver modules so equipped trigger another board s input or as a user specified output This is the default mode for the auxiliary line at power up or reset A parameter must be supplied for the desired axes when used in the AA mode so that the other axes are not affected The parameter only serves as a place holder to show which axes should be affected the value given does not affect the active state of the auxiliary line No parameter is required in the single axis mode QUEUE REQUIREMENTS 1 1 2 Example Turn on the Y axis auxiliary output in the single axis mode Enter AY AN E
47. P from the buffer and sends it to the board 9 Processor returns from interrupt and computer goes about its business 10 Board recognizes the RP command and processes it 11 Board reads binary position values stored in registers on the board 12 Board formats those values into ASCII character decimal numbers 13 Board sends interrupt to processor 14 Processor jumps to interrupt handling routine 15 Routine sees that board has a response to get 16 Routine gets a character from board and places it into the input buffer 17 Routine repeats step 16 until there are no more characters to get 18 Processor returns from interrupt and computer goes about its business 3 4 5 6 7 8 2 ws as as NS The steps to receive the response are much simpler 1 Program asks DOS for a character 3 Device driver gets next character from input from board buffer 4 Driver sends it to DOS 5 DOS returns it to the program 6 Program puts the characters together to form the position value string 7 Program converts the string into a numeric value The amount of time it takes the board to perform steps 10 through 13 can vary slightly depending on how busy the board is If the program asks to get the response to the command before Step 16 the device driver will say that its buffer is empty and DOS will send an error message telling the program that the device is out of data If the response has been partially received the device driver will
48. USER UNIT COMMANDS 6 COMMAND STRUCTURE 6 14 USER UNIT COMMANDS The following commands allow specification of move parameters in user defined units The OMS controls will automatically convert all move parameters to these units once they have been initialized UU USER UNITS The UU command converts all move velocities distances etc to user specified units by multiplying by the specified parameter This command must be given in the single axis mode but will remain effective in the AA or AM mode The PC48 defaults to user units off at power up or reset QUEUE REQUIREMENTS MODE AS Immediate AA AM Not valid AA CD Not valid Example The motor driver and gear ratio you are using requires 10 000 steps to move one inch Set up the X Y and Z axes so you can enter move information in inches Enter AX UU10000 AY UU10000 AZ UU10000 UF USER OFF The UF command turns off user units This command is equivalent to and preferred over UU1 since it turns off the mode thus minimizing unnecessary overhead QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example Turn off user unit conversion on the X Y and Z axes Enter AX UF AY UF AZ UF 6 56 PC48 User s Manual 6 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS 6 15 POSITION MAINTENANCE COMMANDS ER ENCODER RATIO The ER command allows specification of enco
49. allows faster acceleration and the ability to pass through resonance quickly in some applications The velocity jumps instantly to the specified velocity then ramps as usual The deceleration is the same in reverse This mode is active only for linear ramps It is ignored for cosine and parabolic ramps but not flagged command error The parameter must be greater than zero and less than the programmed velocity This command is not valid with the JG command The base velocity defaults to zero at power up or reset QUEUE REQUIREMENTS AX AS Example In the single axis mode set the Y axis velocity base to 200 Enter AY VB200 Example In the AA mode set the X and Y axes velocity bases to 200 Enter AA VB200 200 LOAD POSITION The LP command will immediately load the position supplied as a parameter in the absolute position register of the axis In models with the encoder option the parameter will be loaded into the encoder position register and the parameter times the encoder ratio will be loaded into the position counter If no parameter is supplied the value of zero is used This command turns off the position hold and interrupt on slip modes when used in a PC48 with the encoder option The range is 33 554 431 lt LP lt 33 554 431 QUEUE REQUIREMENTS ENCODER Example The following would load the X axis position register with 1000 Enter AX LP1000 Example The following would load the Y axis position register wi
50. be used in profile 6 33 Velocity stream slave velocity mode for profiling WA 6 47 Wait until all moves on all axes are finished WD 6 38 While end WS loop terminator WG 6 40 Terminate WH loop WH 6 39 While execute all commands until WG loop terminator until flag cleared by CW command WQ 6 47 Wait until current axis queue is empty WS 6 38 While sync execute while sync is true WT 6 49 Wait wait for specified number of milliseconds WY 6 50 Who are you returns model and software revision PC48 User s Manual 6 5 AXIS SPECIFICATION COMMANDS 6 COMMAND STRUCTURE 6 4 AXIS SPECIFICATION COMMANDS The following commands set the context to direct the commands which follow to the appropriate axis They remain in effect until superseded by another command of the same type specifying a different axis AA AXES ALL The AA command will perform a context switch to coordinated moves QUEUE REQUIREMENTS 050 AAICD Example Perform an absolute move using the X and Y axes Enter AA MA12000 14000 GO AM AXES MULTITASKING The AM mode allows several tasks to be managed simultaneously For instance a task may be performing coordination motion on 2 axes while a second task is performing unrelated but simultaneous motion on another axis QUEUE REQUIREMENTS AA CD Not valid Example Perform a coordinated move on the X and Y axes while moving the T axis as a separate move Enter AM MR2000 300
51. board buffer it stops sending characters to the board until the board produces a DONE interrupt This means that previous to sending the symbol to the board an ID command must be sent When the DONE interrupt occurs after the driver processes the symbol the DONE condition is cleared with a Control Y Characters are then allowed to be passed to the board The character acts in a similar manner except the driver holds off sending characters to the board until a limit interrupt occurs When the board receives a limit signal from the platform it flushes its command queue and any pending commands stored in the board s queue are lost By using the for limit character you can hold off sending commands to the controller until a limit is hit This feature is useful when sending the platform to its home position The character allows the user to place comments into a command file All characters following the up to the next control character lt LF gt lt CR gt PC48 User s Manual 7 3 DRIVER SUPPORT SECTION 7 HOST SOFTWARE lt gt et cetera are ignored by the device driver and not passed to the controller The following example shows a command file using the special characters listed above ax pl lift pen ax jg 5000 force x axis to go into minus limit and wait until it does ay jg 5000 force y axis to go into minus limit and wait until it does 11000 0 id reduce the speed of th
52. command is not compatible with the JG command QUEUE REQUIREMENTS MODE NO ENCODER ENCODER 5 3 4 Not valid AA CD Not valid Example see MV command on page 6 68 FP FORCE POSITION This The FP command will flush the command queue and attempt to stop at the specified position stop at the programmed acceleration Example Enter PC48 User s Manual QUEUE REQUIREMENTS MODE NO ENCODER ENCODER 5 Flush 4 Flush 4 AA AM Not valid AA CD Not valid Force axis to stop at 25 000 FP25000 The axis will overshoot if there is insufficient distance left to 6 69 CONSTANT VELOCITY CONTOURING 6 COMMAND STRUCTURE 6 21 CONSTANT VELOCITY CONTOURING The PC48 will attempt to generate any profile which it is asked to It is the responsibility of the host to be sure the acceleration required when generating a circle or any other change in direction is possible within the mechanical constraints of the system All corners must be defined by arcs and tangents to those arcs else the change in direction will be instantaneous and generate very large accelerations The arc radius must be chosen so that the acceleration constraints of the system are met AF AUXILIARY OFF AF command be used within a contour definition allowing control of other devices at any instruction within the contour The
53. connector to make available the 16 bit data bus and additional address lines Since the PC48 is an 8 bit I O device it uses only the low order 8 bits of the data bus and the first 10 address lines in this family of computers It can thus be used in any computer which meets the IBM I O channel specification It may not fit physically in some XT computers due to conflict of the AT style connector with parts on the mother board The PC48 is 1 2 of a full length board Table 3 1 and Table 3 2 show the I O channel signals which are also the descriptions of the pins on the edge connector of the PC48 board The front or component side of the board is the A side of the connector on the PC48 while the back or solder side is the B side 3 1 1 PC AT DATA BUS The data bus is an 8 bit bi directional 3 state bus Direction of data is controlled by the PC AT host computer The data bus uses high level active logic All data and commands are passed through this data bus 3 1 2 PC AT ADDRESS BUS The address bus is a 20 bit high level active bus This bus is always driven by the PC AT host computer The address bus provides the 20 address lines for decoding by either memory or I O MEMW MEMR IOW and IOR control lines distinguish between memory I O transfers and determine the direction of transfer Since the PC48 is an I O device it uses only AO through 9 and only IOW and IOR to determine the direction of transfer 3 1 3 MEMORY AND I O CONTRO
54. has already passed the destination specified in the command the controller will continue to move at the old velocity Any number of steps can be specified in this manner with both acceleration and deceleration The controller will not reverse direction if the position has already passed but will behave as explained above Thus the direction of the move must be specified before starting the move with the MP or MM commands All destinations must be in absolute position no position relative moves are allowed due to the nature of these commands Cosine and parabolic acceleration will not apply QUEUE REQUIREMENTS MODE NO ENCODER ENCODER 5 4 5 Not valid AA CD Not valid Example Generate a velocity staircase with the breakpoints given in absolute position Default acceleration AC of 200 000 Enter MP MV 10000 30000 MV20000 50000 MV30000 10000 SP35000 The move as shown in Figure 6 1 VELOCITY MV POSITION FIGURE 6 1 VELOCITY STAIRCASE PROFILE 6 68 PC48 User s Manual 6 COMMAND STRUCTURE SP STOP AT POSITION The SP command will cause the axis to stop at the specified position controller will attempt to stop at the specified destination VELOCITY STAIRCASE COMMANDS The If there is insufficient distance to stop at the previously specified deceleration when the command is received the controller will stop as soon as possible at that deceleration
55. information for all axes when in the AA mode as the QA command does in the single axis mode The 4 character fields for each axis are separated by commas and the string has one line feed and two carriage returns on each end QUEUE REQUIREMENTS MODE AS Not valid AA AM Immediate AA CD Not valid Example Check the status of a four axis board Enter AA QI Response lt LF gt lt CR gt lt CR gt PNNN MNNN PDNN MNLN lt LF gt lt CR gt lt CR gt REQUEST ACCELERATION The RC command will return the current acceleration or deceleration of the current axis This may differ from the programmed acceleration if a cosine CN or parabolic PN ramp is being generated When the stage is stopped the parameter returned will be the acceleration at the beginning of a ramp When the stage is running at programmed speed i e not accelerating the parameter returned will be the acceleration at the end of the ramp While a contour is executing the value computed to generate the appropriate lead in will be returned The response to the RC command is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE AS Immediate AA AM Immediate AA CD Not valid Example Display current acceleration values for all axes on a four axis board Enter AA RC Response lt LF gt lt CR gt 2000000 2000000 2000000 2000000 lt LF gt lt CR gt PC48 User s Manual 6
56. mating connector is an AMP Inc part number 747948 2 or equivalent The previous Table 4 2 Table 4 3 Table 4 4 and Table 4 5 show the connections to the 1038 Table 4 5 is a color code for the PC48 and 1038 cable 4 6 PC48 User s Manual 5 ENCODER OPTION INTRODUCTION 5 ENCODER OPTIO 5 1 INTRODUCTION The encoder feedback option is intended primarily for applications where desired positional accuracy exceeds the accuracy of the mechanical drive components such as lead screws or position feedback is required to detect motor slip or stall The encoder option accepts quadrature pulse outputs from high resolution optical encoders Up to 50 000 pulse per revolution encoders may be used while the indexers are generating pulses at their maximum rate This allows position feedback information to match the resolution of the microstepping motor drive The X and Y axes may be configured for encoder feedback on a two axis PC48 equipped with option E or the X Y Z and T axes on four axis boards with option E 5 2 MODES OF OPERATION The PC48 E can monitor the actual position through the encoder pulse train It can then correct for position errors due to system backlash or mechanical tolerances or report slip or stall of the motor to the host A tracking mode is also provided which allows one axis to track the activity of another axis or positioning device These options are selectable through software commands 5 3 ENCODER SELECTION A
57. straight to the board is gt lt gt 0 lt LF gt lt gt This program strips off the LF and CR s and allows the user to define a character to show the end of the string The default value is an LF The response from an RP command using the driver would be 0 lt LF gt Example device omsdrive sys E 0D changes end of string char to a lt CR gt where X is a number from 2 7 10 12 14 or 15 This option sets the IRQ number to which the driver expects the board to be jumpered It is up to the user to insure that there are no IRQ conflicts with any other board in the computer The default value is 5 Example device omsdrive sys 7 device driver expects the board to be jumpered for IRQ7 where is the new NAME you want to use for the device driver The name must be padded on its right with spaces to take up 8 characters It is a good idea to use as the 9th character to insure that all 8 characters are processed by the driver correctly The name becomes the file name you will use to communicate with the board The default name is BOARD1 PC48 User s Manual 7 HOST SOFTWARE DRIVER SUPPORT SECTION Example device omsdrive sys N MYNAME_ the new file device name you will use when talking to the driver is MYNAME 6 This SOUND option causes the device driver to produce sound using the computer s speaker whenever a DONE LIMIT SLIP or COMMAND ERROR interrupt occurs You may
58. the default mode at power up or reset QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid 2 AU AS Not valid AA AM Not valid AA CD Not valid Example Turn off encoder hold mode on the X axis Enter AX HF HN HOLD ON The HN command enables position correction after a move and activates the HV HG and HD commands Hold and slip detection are disabled if an LP HM HR SA ST or KL command is entered or if a limit is encountered QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid 2 AU AS Not valid AA AM Not valid AA CD Not valid Example The following commands could be used to set up the position correction mode This sequence sets up a move velocity of 100 000 steps per second and an acceleration of 500 000 steps per second per second The position correction velocity is set for 50 000 steps per second a deadband of 10 steps and correction gain of 2 000 The correction is then enabled A 200 000 step move is performed then that position is maintained within the 10 step deadband until commanded to a new position Enter VL100000 500000 HV50000 HD10 HG2000 MR200000 GO PC48 User s Manual 6 59 POSITION MAINTENANCE COMMANDS 6 60 INTERRUPT WHEN IN POSITION 6 COMMAND STRUCTURE The IP command operates like the ID command except the interrupt is deferred until the stage is within the speci
59. to enable any interrupts Transmit buffer empty interrupt enable bit This bit should TBE_E be checked before writing to the data register to avoid sending character when the interrupt has been disabled IBF_E Input buffer full interrupt enable bit DON_E Done or error status interrupt enable bit Unused Unused 3 4 4 STATUS REGISTER The status register is a read only register that provides status information to the host CPU This status is independent of the enable status of the interrupt allowing the board to operate in a polled mode if desired NOTE Operation with polled mode is NOT recommended In order to resolve the source of a done or error interrupt the DON_S bit bit 4 should be read first This bit in the status register is automatically reset upon reading the status register If the DON_S flag is true the error bits should be read to determine if the interrupt was caused by an error condition If no error condition is present the done flag register can be read to determine which axes are done The TBE_S bit is reset by writing to the data register and the IBF_S bit is reset by reading the data register The error bits CMD_S ENC_S and OVRT are automatically reset after reading the register The INIT bit only goes high when the board is initializing and cannot communicate It will go low and remain low when initialization is complete See Table 3 8 3 6 PC48 User s Manual
60. want to enable this to help debug some commands that are not acting the way you expect or to let you know when each move is done Example device omsdrive sys S All characters given as command line options are converted to upper case The options can be given in any order and in any combination 7 3 3 BOARD STATUS MESSAGE HANDLING When a DONE LIMIT SLIP or COMMAND ERROR interrupt occur the device driver processes the interrupt and inserts certain characters into the data stream from the board When a command error occurs it places a symbol followed by the E specified end character described above A limit interrupt causes an character followed by the end character to be placed in the data stream and an encoder slip interrupt will place and the end character into the stream DONE interrupt will place an into the data stream followed by the byte read from the done flag register of the board followed by the end character If the board is returning a message when an interrupt occurs the interrupt symbol will be delayed until after the end of the message string 7 3 4 OTHER DEVICE DRIVER FEATURES There are three special characters that are recognized by the device driver These characters affect the way commands are sent to the board They are the WAIT FOR DONE WAIT FOR LIMIT and COMMENT characters When the driver encounters the WAIT FOR DONE symbol as it processes the characters in its input to
61. 0 GO MA 10000 GO 6 6 PC48 User s Manual 6 COMMAND STRUCTURE AXIS SPECIFICATION COMMANDS AY AXIS X The AX command sets the context to direct all the following commands to the X axis This is the default mode at power up or reset QUEUE REQUIREMENTS Not valid Example Make the X axis step at a rate of 5 000 steps second Enter AX JG5000 AXIS Y The AY command sets the context to direct all the following commands to the Y axis QUEUE REQUIREMENTS MODE Immediate Immediate Not valid Example Examine the status of the Y axis Enter AY RA PC48 User s Manual 6 7 AXIS SPECIFICATION COMMANDS 6 COMMAND STRUCTURE AT 6 8 AXIS Z The AZ command sets the context to direct all the following commands to the Z axis QUEUE REQUIREMENTS immediate immediate Not valid Example Move the Z axis 2 000 steps at a rate of 500 steps second Enter AZ VL500 MR2000 GO AXIS T The AT command sets the context to direct all the following commands to the T axis QUEUE REQUIREMENTS immediate immediate Not valid Example Move the T axis to absolute position 2468 Enter AT MA 2468 GO PC48 User s Manual 6 COMMAND STRUCTURE AXIS SPECIFICATION COMMANDS AU AV AXIS U The AU command sets the context to direct all the following commands to the U axis QUEUE REQUIREMENTS MODE Immediate Immediate Not valid Example Set the U axis position register to 5
62. 6789 Enter AU LP 56789 AXIS V The AV command sets the context to direct all the following commands to the V axis QUEUE REQUIREMENTS MODE Immediate Immediate Not valid Example Set the auxiliary line low on the V axis Enter AV AF PC48 User s Manual 6 9 AXIS SPECIFICATION COMMANDS 6 COMMAND STRUCTURE AS AXIS R The AR command sets the context to direct all the following commands to the R axis QUEUE REQUIREMENTS MODE Immediate Immediate Not valid Example Examine the queue size of the R axis Enter AR RQ AXIS S The AS command sets the context to direct all the following commands to the S axis QUEUE REQUIREMENTS MODE Immediate Immediate Not valid Example Stop all movement on the S axis only Enter AS ST 48 User s Manual 6 10 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS 6 5 SYSTEM CONTROL COMMANDS These commands allow control of various system parameters and operating modes to allow the user to optimize the response of the system for his her application needs EN ECHO ON The EN command enables echoing All commands and parameters will be echoed to the host This mode is useful for debugging command strings from a terminal This mode also outputs an English readable error message to the host which may be echoed to the terminal or computer to aid in debugging QUEUE REQUIREMENTS AS Immediate Not valid Not valid Example Enable echoing b
63. A MR12345 6789 GO PC48 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS ML MOVE LINEAR The ML command uses linear interpolation to perform a straight line relative move to the new location Input parameters are relative distance for each axis in the move Velocity and acceleration parameters of each axis may be automatically adjusted by the PC48 controller to perform the linear move If linear and single axis moves are mixed it will be necessary to reset the velocity and acceleration parameters for the single axis move following a linear move The parameters may have been modified by the PC48 depending on the relative distances of the linear move The ML command should be followed by a GO or GD to start the axes together The velocity and acceleration parameters are scaled to allow the axes to move and finish together All axes are scaled to the axis with the longest move time QUEUE REQUIREMENTS LINEAR PARABOLIC COSINE AX AS Not valid 6 390 90 Not valid Example In the AA mode move the Y Z and T axes 10000 100 and 1000 counts respectively with each starting and finishing together The other axes remain in their previous positions Enter AA ML 10000 100 1000 GO PC48 User s Manual 6 27 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE MT MO 6 28 MOVE TO The MT command uses linear interpolation to move to the specified absolute position The syntax i
64. ACE TABLE 5 2 PC48 6E PIN ASSIGNMENT FUNCTION User I O 0 User I O 2 User 4 User I O 6 User I O 8 User I O 10 User I O 12 User I O 13 X Phase X Phase A X Phase B X Phase B Y Phase Y Phase A Y Phase B Y Phase B X Direction Output X Auxiliary Output X Positive Limit Switch X Home Switch Y Direction Output Y Auxiliary Output Y Positive Limit Switch Y Home Switch Z Direction Output Z Auxiliary Output Z Positive Limit Switch Z Home Switch T Direction Output T Auxiliary Output T Positive Limit Switch T Home Switch U Direction Output U Auxiliary Output U Positive Limit Switch U Home Switch V Direction Output V Auxiliary Output V Positive Limit Switch V Home Switch PC48 User s Manual PIN FUNCTION 60 X Negative Limit Switch cm o 4 2 2 2 2 2 2 2 2 2 2 5VDC 1 2 3 5 7 1 1 12 1 14 1 1 1 1 1 2 4 3 3 32 3 34 3 3 3 3 3 0 1 3 5 6 7 8 9 0 1 3 5 6 7 8 9 0 1 3 5 6 7 8 9 5 3 HOME PROCEDURES 5 ENCODER OPTION If single ended encoders are used the unused line receiver inputs must be biased in the middle of the voltage swing of the active output J86 and J96 are provided with a built in bias supply The appropriate unused inputs should be connected to the 1 5VDC supply as needed Reference Figure 3 1 for the pin definition of J86 and J96 Please note that the U and V axes limit select jumpers J47 and done f
65. AS Not valid AA AM 6 AA CD Not valid Example see CD command on page 6 72 MT MOVE TO The MT command causes the axes defined by the CD command to move to the specified absolute position using linear interpolation Only the axes being used in a contour must be specified in the contouring mode QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AS Not valid AA AM 6 30 30 AA CD 4 number of axes Example Make a hexagon in CV mode using the X and Y axes Enter AA CV5000 CD10000 0 MT20000 0 MT25000 10000 MT20000 2 0000 9 10000 20000 5000 10000 9 10000 0 CX PC48 User s Manual 6 75 CONSTANT VELOCITY CONTOURING 6 COMMAND STRUCTURE RQ REQUEST QUEUE STATUS The RQ command returns the number of entries available in the contouring queue QUEUE REQUIREMENTS MODE 5 Not valid AA AM 6 AA CD Not valid Example Examine contour queue size Enter 0 0 RQ Response lt LF gt lt CR gt 1016 lt LF gt lt CR gt 6 76 PC48 User s Manual 7 HOST SOFTWARE INTRODUCTION HOST SOFTWAR 7 1 INTRODUCTION The support software disk for Oregon Micro Systems PC family boards is supplied with the initial purchase of an OMS PC family board This disk contains several programs which allow the user to interact with the OMS PC family of motion control boards so they can become familiar with t
66. CKING COMMANDS ET ENCODER TRACKING The ET command turns on the encoder tracking mode The axis will track its encoder input thus allowing one axis to follow the activity of another or a thumbwheel for manual positioning or the movement of another device that produces a signal compatible to the encoder inputs No acceleration or deceleration ramps are generated The axis will duplicate the encoder input The ER command allows the user to scale the motors movements relative to the encoder QUEUE REQUIREMENTS MODE NOENCODER ENCODER Not valid 2 AU AS Not valid AA AM Not valid AA CD Not valid Example Set up the X axis so it will follow its encoder input Enter AX ET HF HOLD OFF The HF command disables position hold stall detection and tracking modes QUEUE REQUIREMENTS MODE NOENCODER ENCODER AT Not valid 2 AU AS Not valid AA AM Not valid AA CD Not valid Example Turn off encoder tracking on X axis Enter AX HF PC48 User s Manual 6 63 ENCODER HOME CONTROL COMMANDS 6 COMMAND STRUCTURE 6 18 ENCODER HOME CONTROL COMMANDS HE HS HOME ENCODER The HE command enables encoder index mode when an HM or HR command is executed Home is defined as the logical AND of the encoder index the external home enable and the encoder quadrant where channel A is positive and channel B is negative The external en
67. CTURE SYSTEM CONTROL COMMANDS LF LIMITS OFF The LF command turns off the limit switches for the addressed axis This allows the stage to move beyond the limit switch and should be used with caution QUEUE REQUIREMENTS AX AS 1 Not valid Not valid Example Set up a board to ignore the Y axis limit switches Enter AY LF LN LIMITS ON The LN command restores the operation of the limit switches for the addressed axis This is the default mode at power up or reset QUEUE REQUIREMENTS MODE AS 1 Not valid Not valid Example Set up the T axis to stop immediately when a limit switch is encountered Enter AT LN PC48 User s Manual 6 13 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE SL SF 6 14 SOFT LIMIT The SL command changes the operation of the limit inputs causing the output pulse train to ramp down instead of terminating immediately The output queue is not flushed except for the current move This mode is effective for point to point moves only This command is valid in the single axis mode only but affects all axes simultaneously QUEUE REQUIREMENTS AS 1 Not valid Not valid Example Set up a board to allow the X axis to ramp to a stop when a limit is encountered Enter AX SL SOFT LIMIT OFF The SF command restores the normal operation of the limit switches This is the default mode at power up or reset QUEUE REQUIREMENTS AS 1 Not valid Not valid Example
68. E END The WD command serves as the loop terminator for the WS command Example QUEUE REQUIREMENTS 2 2 Not valid see WS command above PC48 User s Manual 6 COMMAND STRUCTURE LOOP CONTROL COMMANDS WH WHILE The WH command will execute all commands between it and the terminating WG command as a loop until terminated by a CW command This allows repeated execution of a command sequence which can be terminated by the host These commands may not be nested but may be executed sequentially QUEUE REQUIREMENTS 2 2 Not valid Example You have a 3 axis platform that you use to drill holes in the center of inch thick sheet of metal The sheet is 6 inch square The driver motor lead screw pitch provide 10000 steps per inch The operator must manually insert and remove the square from the platform The X and Y axis move a drill into the desired position The Z axis lifts and lowers the drill The operator presses a switch which tells the motion controller that the square is in place and ready to be drilled The operator will continuously remove and replace the squares until ready to take a break The following is a description of how to set up an OMS board to perform this task Procedure Connect a normally closed switch between user I O line 0 and ground This will be the Ready to Drill switch Enter UU10000 up user units so we can reference move to inches AY UU10000 10000 steps 1 in
69. EQUIREMENTS MODE AS Immediate AA AM Not valid AA CD Not valid Example The Y axis just encountered a limit verify its status Enter AY RA 6 52 Response lt LF gt lt CR gt lt CR gt PNLN lt LF gt lt CR gt lt CR gt PC48 User s Manual 6 COMMAND STRUCTURE SYSTEM STATUS REQUEST COMMANDS RI REQUEST INTERRUPT STATUS The RI command is an AA mode command that returns the same status information on all axes as the RA command in the single axis mode The 4 character fields for each axis are separated by commas and the string has one line feed and two carriage returns on each end The done flag is reset by this command QUEUE REQUIREMENTS MODE AS Not valid AA AM Immediate AA CD Not valid Example Check the status of a 4 axis board Enter RI Response lt LF gt lt CR gt lt CR gt MDNN MDNN MDNN MDNN lt LF gt lt CR gt lt CR gt QA QUERY AXIS The QA command returns the status of the single addressed axis like the RA command except flags are not affected QUEUE REQUIREMENTS MODE AS Immediate AA AM Not valid AA CD Not valid Example Check the status of the X axis Enter AX QA Response lt LF gt lt CR gt lt CR gt PNNH lt LF gt lt CR gt lt CR gt PC48 User s Manual 6 53 SYSTEM STATUS REQUEST COMMANDS Ql RC 6 54 6 COMMAND STRUCTURE QUERY INTERRUPT STATUS The QI command returns the same
70. FILES 1 3 2 GETTING STARTED reni ndeni n 2 1 JUMPERS 2 1 25022 2 3 SOF PWAREINS FALLATION 55 2 4 MOTOR 2 4 3 CHANNEL INTERFACE VO ee cee 3 1 PC AT DATA BUS 3 1 PC AT ADDRESS BUS 3 1 MEMORY AND I O 3 1 2 Ga 3 1 CLOCK AND OSC LINES Ss 3 2 RESET DRY 3 2 VO CHRD odes 3 2 VAS TI eras 3 2 ADDRESS SELECTHON 3 3 a a 3 5 VO REGISTERS 3 5 REGIS stale rest oes 3 5 DONE FLAG REGISTER arai A 3 5 INTERRUPT CONTROL REGISTER 3 6 STATUS REGISTER
71. L These lines provide the signals for fundamental memory and I O operations 3 1 4 INTERRUPT REQUEST The PC AT supports interrupts to the system bus at levels 2 IRQ2 through 7 IRQ7 10 through 12 14 and 15 These are active high input only signals to the system bus They go directly to the system interrupt controller which generates the vector during an interrupt acknowledge cycle The PC48 supports all 11 interrupt levels which can be selected by a jumper at J14 Refer to Section 3 3 for details of configuration PC48 User s Manual 3 1 CHANNEL 3 CHANNEL INTERFACE 3 2 TABLE 3 1 CONTROL LINE DESCRIPTION SIGNAL DESCRIPTION This is a low level active signal used to write data from MEMW the system bus into memory and is thus not used by the PC48 This is a low level active signal used to read data from memory to system bus and is thus not used by the PC48 This is a low level active signal used to write data into lowe It is driven by the system bus and indicates the address bus contains a valid I O address It is used by the PC48 as an address qualifier for write operations This is a low level active signal used to read data from an I O device onto the system bus It is driven by the system bus indicates the address bus contains a valid I O address It is used by the PC48 as an address qualifier for read operations This output only signal driven by the syst
72. ND COMPATIBILITY The PC48 with option E is compatible with virtually any incremental encoder which provides quadrature outputs Times four quadrature detection is used to increase resolution The inputs are compatible with encoders which have single ended TTL outputs as well as differential line drivers Provisions are also provided for an index pulse differential or single ended and an index enable for systems requiring more than one revolution of travel and thus multiple index pulses from the encoder A biasing network is provided on the board for termination of unused encoder inputs The encoder count motor count ratio can be specified for position maintenance and encoder tracking mode This ratio is handled internally in floating point format and can be virtually any ratio Slip detection requires that the encoder resolution after the 4X quadrature detection match the motor resolution 5 4 ENCODER INTERFACE The encoder connections are as shown in Table 5 1 and Table 5 2 PC48 User s Manual 5 1 ENCODER INTERFACE 5 2 5 ENCODER OPTION TABLE 5 1 J69 ENCODER INPUT AND OUTPUT PIN ASSIGNMENT FUNCTION FUNCTION User I O 0 5VDC User I O 2 User I O 1 User I O 4 User I O User 6 User 5 User I O 8 User I O 7 User I O 10 User I O 9 User I O 12 User I O 11 User I O 13 a gt Ground X Phase A 5VDC X Phase A
73. NNECTOR KIT The CON38 connector kit is a mating connector and hood for connecting the PC48 to driver modules limit switches etc Cables are not included however they are available as an option See the I O Accessories table below The following table defines the 1038 connections to the encoder inputs on those models which include the encoder option The mating connectors are 9 pin subminiature D Amp part 747944 2 or equivalent CBL38 CABLE The CBL38 is an 80 wire shielded cable with a connector and hood on each end It is available separately in various lengths or packaged with an 1038 See the I O Accessories table below CONNECTIONS TO ENCODER INDIVIDUAL CONNECTOR PER AXIS FUNCTION PINS FUNCTION Ground 6 Ground Index 7 Phase Phase A 8 Index Phase A 9 Phase 5 Volts CBL38 3 CBL38 6 CBL38 12 CBL38 25 PC48 User s Manual INDEX INDEX 5 de bed 2 4 ato 6 Ee svar te 1 1 3 5 8 1 eee SEES PROPER 6 1 6 6 E 6 22 ACCELERATION 4 1 1 1 2 6 22
74. P CONTROL COMMANDS LE NOTE The first move will occur immediately after entering the GO command The remaining 4 moves will be executed after the loop terminator LE has been entered Example Execute a 100 000 count move relative on the X axis together with a 100 count move on the T axis followed by a move absolute to 100 counts on the X axis and 200 counts on the T axis four times Enter AA LS4 MR100000 100 GO MA100 200 GO LE LOOP END The LE command terminates the most recent LS command The axis will loop back and repeat the commands within the loop the number of times specified in the LS command The loop will start repeating as soon as this command is terminated QUEUE REQUIREMENTS 2 2 Not valid Example see LS command page 6 36 PC48 User s Manual 6 37 LOOP CONTROL COMMANDS 6 COMMAND STRUCTURE WS WD 6 38 WHILE SYNC The WS command will execute the commands between the WS and WD commands as a loop while the specified general purpose input line is true i e low When the line goes high it will exit the loop and execute the commands which follow The test is at the bottom of the loop i e it will always be executed at least once Example Enter QUEUE REQUIREMENTS AA CD AM Not valid Execute a continuous loop moving the X axis 10 000 counts and then move the Y axis 1000 counts until an external device terminates the loop WS1 10000 GO MR 1000 GO WD WHIL
75. T SOFTWARE of this manual for more information on the software provided by OMS 2 5 MOTOR CONTROL CONNECTOR The motor control connector J69 on the PC48 board consists of two rows of square pins each row has 40 pins for total of 80 pins Fourteen of the pins are general purpose I O lines which can be used for any function the user wishes to define They can also be used to synchronize motor movement with external events or vice versa The other 64 pins can be considered as 8 logical sets of 8 pins Each set is used to control an individual axis If your board is not an 8 axis board or a 4 axis board with encoder feedback some of the sets of pins will not be used The 8 pins of an axis set are Step Output 5VDC Output Auxiliary Output Direction Output Negative Limit Switch Input Ground Home Switch Input and Positive Limit Switch Input See Section 4 DRIVER INTERFACE for a detailed description of the connector Boards with the Encoder Option use two or four sets of 8 pins as encoder input for the X Y Z and T axes The 8 pins of an encoder pin set are Index 5VDC Phase A Phase A Index Ground Phase B Phase B See Section 5 ENCODER OPTION for a detailed description of the connector 2 4 PC48 User s Manual 3 CHANNEL INTERFACE CHANNEL 3 I O CHANNEL INTERFAC 3 1 CHANNEL The PC system bus has available several slots for interfacing I O cards such as the PC48 The AT has an additional
76. TASKING 2 eed new ind 6 6 AXIS ead eas 6 10 AXIS Bates atest esa den di tee a 6 10 Axis Specification 6 6 6 10 rates 6 8 6 9 6 9 AXIS X 6 7 AXIS Nee dea 6 7 AXIS E 6 8 6 7 6 8 B 5 1 EEE TE 6 20 6 71 6 75 preteen erence reece errr rere 6 20 6 71 aa aie aa 6 20 6 71 PC48 User s Manual 1 INDEX APPENDIX C BIT REQUEST IN HEX ss 6 21 6 51
77. TS immediate immediate Not valid Example The current position on the Y axis is 12345 Use the RP command to verify the position Enter AY RP Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt PC48 User s Manual 6 COMMAND STRUCTURE SYSTEM STATUS REQUEST COMMANDS RQ REQUEST QUEUE STATUS The RQ command returns the number of entries available in the queue of the currently addressed axis in the single axis mode or all axes separated by commas in the AA or AM modes The ASCII string is surrounded by line feeds and carriage returns The maximum available in each command queue is 200 The response is at a fixed length of 3 characters For example if the current free queue space is 67 the response from the board to the RQ command is lt LF gt lt CR gt 067 lt LF gt lt CR gt When issuing an RQ command while defining a contour the available space in the contouring queue will be returned The maximum available is 1016 The response is fixed in length at 4 characters QUEUE REQUIREMENTS Immediate Immediate Not valid Example See the size of the command queue for the T axis Enter AT RQ Response lt LF gt lt CR gt 200 lt LF gt lt CR gt BX BIT REQUEST IN HEX The BX command returns the state of the general purpose I O bits in a six digit hex format surrounded by line feed and carriage return pairs The two left hex digits are unused and are always set to 0 A one in any binary position signals that b
78. USER S MANUAL INTELLIGENT MOTOR CONTROLLERS PC48 FAMILY OREGON MICRO SYSTEMS INC TWIN OAKS BUSINESS CENTER 1800 NW 169 PLACE SUITE C100 BEAVERTON OR 97006 PHONE 503 629 8081 FAX 503 629 0688 EMAIL sales OMSmotion com WEB SITE www OMSmotion com COPYRIGHT NOTICE 2001 Oregon Micro Systems Inc A Pro Dex Company ALL RIGHTS RESERVED This document is copyrighted by Oregon Micro Systems Inc You may not reproduce transmit transcribe store in a retrieval system or translate into any language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise any part of this publication without the express written permission of Oregon Micro Systems Inc TRADEMARKS IBM IBM PC IBM PC XT IBM PC AT IBM PS 2 and IBM PC DOS are registered trademarks of International Business Machines Corporation DISCLAIMER Oregon Micro Systems Inc makes no representations or warranties regarding the contents of this document We reserve the right to revise this document or make changes to the specifications of the product described within it at any time without notice and without obligation to notify any person of such revision or change 3301 0400000 Revision D TABLE OF CONTENTS 1 GENERAL DESCRIPTION TABLE OF CONTENTS 1 GENERAL DESCRIPTION INTRODUCTION 1 1 FUNCTIONAL 2 1 1 VELOCITY PRO
79. a loop stack along with the address of the LS command to be used by the next LE command as a target for a jump command The LE command will decrement the loop count and jump to the most recent LS command providing the loop count has not reached zero If the loop count has reached zero and it is not nested inside another loop the queue space will be flagged as available and the next instruction in the queue will be executed Interrupts to the PC AT host are generated by U32 Status of the interrupts and error flags may be read by the host U34 compares the PC48 address to the I O address selected by the host and enables the board decode logic when a match is detected PC48 User s Manual 8 1 8 SERVICE This page intentionally left blank 8 2 PC48 User s Manual APPENDIX A LIMITED WARRANTY APPENDIX A LIMITED WARRANTY The Seller warrants that the articles furnished are free from defect in material and workmanship and perform to applicable published Oregon Micro Systems Inc specifications for one year from date of shipment This warranty is in lieu of any other warranty express or implied In no event will Seller be liable for incidental or consequential damages as a result of an alleged breach of the warranty The liability of Seller hereunder shall be limited to replacing or repairing at its option any defective units which are returned f o b Seller s plant Equipment or parts which have bee
80. able is low true i e the HH and HL commands are not valid in this mode The home logic expressed in Boolean terms is home phase_B index home_switch QUEUE REQUIREMENTS MODE NOENCODER ENCODER AX AT Not valid Immediate AU AS Not valid AA AM Not valid AA CD Not valid Example Set up the Y axis so it will use the encoder signals to recognize the home position Enter AY HE HOME SWITCH The HS command enables PC48 home switch mode to determine where home is when an HM or HR command is executed default at power up or reset This mode can also be used with encoders which contain internal home logic by connecting their output to the PC48 home input for the appropriate axis The active level of this input may be controlled by the HH and HL commands QUEUE REQUIREMENTS MODE NOENCODER ENCODER AX AT Not valid Immediate AU AS Not valid AA AM Not valid AA CD Not valid Example Set up the Y axis so it will ignore the encoder signals and only use the home input to recognize the home position Enter AY HS PC48 User s Manual 6 64 6 COMMAND STRUCTURE ENCODER STATUS REQUEST COMMANDS 6 19 ENCODER STATUS REQUEST COMMANDS EA ENCODER STATUS The EA command returns encoder status of the currently addressed axis in the following format
81. al specifications and definitions Limit switch inputs TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal Input sense low or high true selectable by on board jumper for each axis SPECIFICATIONS APPENDIX C SPECIFICATIONS Home switch inputs TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal Input sense low or high true selectable under software control for each axis User definable I O Up to 22 bits of TTL user definable I O bits Factory default includes 8 open collector auxiliary outputs one per axis 8 general purpose inputs with 2 2k Ohm pull up resistors and 6 general purpose outputs All 14 general purpose I O may be configured as inputs or outputs by a jumper block Step pulse output Pulse width 50 duty cycle Open collector TTL signal Direction output Same as step pulse output ISA AT Bus interrupt The interrupt is user selectable from levels 2 7 10 11 14 amp 15 The interrupt is not required The factory default is level 5 ISA AT Bus register interface The I O address block is user selectable The factory default is 300 hex ke 81316 4 OMS PC48 FAMILY OF INTELLIGENT MOTION CONTROLS STEPPER AXES SERVO USER MODEL Closed Loop Encoder Open Loop AXES gt
82. al digit a 3 PC48 User s Manual 2 1 JUMPERS 2 GETTING STARTED 2 4 5 6 A7 8 9 2 FIGURE 2 2 ADDRESS SELECT JUMPERS DEFAULT SETTING J14 just above the edge connector determines which interrupt level the PC48 board will use when it communicates IRQ5 is the factory default setting FIGURE 2 3 INTERRUPT JUMPERS DEFAULT SETTING J11 located at the bottom left of the board selects the configuration of I O bits 0 through 13 as inputs or outputs No jumpers on pins 1 amp 8 and 2 amp 7 of J11 selects I O bits 0 7 as inputs Jumpers on pins 3 amp 6 and 485 select I O bits 8 through 13 as outputs Figure 2 4 shows the default settings BIT FIGURE 2 4 CONFIGURATION JUMPERS default setting 2 2 PC48 User s Manual 2 GETTING STARTED HARDWARE INSTALLATION J96 in the upper right corner of the board and J86 just below J96 are for biasing unused encoder inputs When a single ended encoder is used the unused inputs can be biased using wire wrap wire or jumpers J86 is for the X and Y axes and J96 is for the Z and T axes See Figure 3 1 for jumper locations NOTE Jumpers J20 J21 and J80 are intended for factory use ONLY and are not to be reconfigured by the user 2 3 HARDWARE INSTALLATION 1 10 11 12 13 Follow the instructions included in your software support Usually these can be found in a file called README TXT Turn off power t
83. ated using the CK command The command cannot be placed within a loop or while construct QUEUE REQUIREMENTS MODE AS Not valid AA AM 0 AA CD Not valid Example The following demonstrates cutting a hole with a 10 000 count radius using constant velocity contouring and circular interpolation The contouring velocity is set to 1000 pulses per second A contour is then defined beginning at coordinates 0 0 on the X and Y axes The auxiliary output of the Z axis is turned on which could turn on the cutting torch or laser starting the cut at the center of the circle A half circle is cut from the center to the outside of the hole positioning the cutting tool at the start of the desired hole The hole is then cut the torch turned off the stage stopped and the definition is complete The stage is then positioned and the hole cut with the CX command The AN and AF commands must have commas for all axes since they can all be addressed from within the contour definition Enter AA CV1000 0 0 0 CRO 5000 3 1415926 CRO 0 6 2831853 AF 0 MT 10 000 1000 CE MT 1000 0 GO CX PC48 User s Manual 6 COMMAND STRUCTURE CE CK CONSTANT VELOCITY CONTOURING CONTOUR END The CE command marks the end of the contour sequence It will terminate the CD mode ramp to a stop and exit to the AA command mode when executed The end of the contour should contain at least a short linear seg
84. ave to direct which commands went to which boards Commands for board number 1 would be directed to device board1 Commands for board number 2 would be directed to device board2 Commands for board number 3 would be directed to device board3 Commands for board number 4 would be directed to device board4 PC48 User s Manual 8 USER SERVICE 8 SERVIC 8 1 USER SERVICE The PC48 family of controllers contain no user serviceable parts 8 2 THEORY OF OPERATION The 68332 microprocessor on the PC48 controllers maintains four concurrent processes The highest priority process calculates the desired pulse frequency 2048 times each second with a proprietary algorithm patent number 4 734 847 This frequency is fed to 082 and 884 which generate the pulse trains The velocity profile and synchronization of each axis is also handled by the 68332 The commands from the PC AT or compatible host computer are temporarily stored in a 124 character buffer until the 68332 microprocessor can parse them The command is then executed immediately or routed to separate command queues for each axis The command queue contains a list of addresses to execute followed by optional parameter A command from the host may be expanded into several commands to the appropriate axis The GO command for example will expand into start ramp up constant velocity and ramp down commands The LS command will save its parameter i e the loop count on
85. can do circular interpolation mixed with linear on two axes 6 2 COMMAND QUEUES The input characters are placed in a character buffer on input then removed and interpreted The commands are then placed in separate command queues for each axis As they are executed the space is reclaimed allowing the host to pass commands ahead of the moves actually being processed Most of the commands are placed in the PC48 User s Manual 6 1 COMMAND SUMMARY 6 COMMAND STRUCTURE appropriate command queue for execution while others are executed immediately allowing return of status information in a timely way rather than when encountered in the command stream This information is provided in a table for each command which shows the queue requirements if any and indicates immediate in those cases where the command is not queued The single axis cases are indicated by the mode reference indicating the appropriate axis The synchronized mode is indicated by the mode identifier AA or AM The contouring case is indicated by AA CD for multiple axes in contour definition mode The RQ command may be used to determine the actual space available at any time The queues operate independently allowing each axis to perform separate processes concurrently The synchronized modes AA insert special wait opcodes that allow the axes to be synchronized in this mode When the commands are nested within loops the queue space is not reclaimed until after the loop has been exe
86. ch AZ UU10000 AX VL 1 AC10 set up X axis homing velocity and acceleration AY VL 1 AC10 set up Y axis homing velocity and acceleration 2 VL 1 AC10 set up Z axis homing velocity and acceleration AX HR AY HR AZ send each axis to home AA VL3 3 5 set normal move velocity for X Y and Z axes WH start of loop to drill squares indefinitely removes replaces square into platform SWO wait until operator presses switch MA3 3 GO move to center of square MA 5 GO move the drill through the square a 1 2 inch move on the Z axis drills through the square MA 0 GO lift the drill 0 0 GO move the platform to home position WG loop back to starting WH command CW operator wants a break so he she sends CW from keyboard and presses switch once more since loop will most likely be waiting for the switch at this point the loop ends and the following commands execute 0 0 0 GO move to home position PC48 User s Manual 6 39 LOOP CONTROL COMMANDS 6 COMMAND STRUCTURE WG CW 6 40 WHILE FLAG The WG command serves as the terminator for the WH command QUEUE REQUIREMENTS MODE 2 2 Not valid Example see WH command on page 6 39 CLEAR WHILE The CW command breaks the WH command upon execution of the remaining commands in the loop i e the current execution of the loop is finished The WH loop is always executed at least one time since the test for the flag is at the bo
87. ct any of the status characters that the driver might produce The characters can then be joined into a string which can be converted into a numeric value for processing The input from board buffer is 256 bytes long It is a circular buffer when it fills up it wraps around to the start The device driver does not check to see if the buffer is getting full If you do not read from it after the board has put 256 characters of responses in it good data will be over written To get accurate responses the user should only send one response producing command to the board at a time before reading the response PC48 User s Manual 7 HOST SOFTWARE DRIVER SUPPORT SECTION When sending response producing commands to the board an RP for example there is a certain amount of lag time before the full response is available from the device driver The faster the computer the more evident the lag time is The lag time can cause an OUT OF DOS error if it is not handled correctly The process of sending the RP command for example is something like this 1 Program tells DOS to send RP string to the device 2 DOS sends RP to device driver Device driver puts characters into the output to board buffer Device driver enables board s interrupt Board sends interrupt to processor Processor jumps to interrupt handling routine Routine gets the R from the buffer and sends it to the board Routine gets the
88. cuted the programmed number of times For loops larger than the queue space the loop may never be completed since it cannot reclaim the queue space and cannot accept the loop terminator The RQ command may be used to examine the remaining queue space Control D may clear this condition if the input character queue is also filled since it bypasses the command interrupter The following commands are available in firmware revision 2 11 and above 6 3 COMMAND SUMMARY The following commands are included PC48 family of motor controllers The indicates a signed integer input parameter or a signed fixed point number of the format when user units are enabled With User Units enabled distances velocity and acceleration parameters may be input in inches revolutions etc COMMANDS IN CHAPTER 6 COMMAND PAGENUMBER COMMAND DESCRIPTION AA 6 6 Any following commands are for the AA All Axes mode AC 6 22 Acceleration set acceleration deceleration register AF 6 18 6 70 Auxiliary off AM 6 6 Axes multitasking mode AN 6 17 Auxiliary on AR 6 10 Any following commands are for the R axis AS 6 10 Any following commands are for the S axis AT 6 8 Any following commands are for the T axis AU 6 9 Any following commands are for the U axis AV 6 9 Any following commands are for the V axis AX 6 7 Any following commands are for the X axis default on reset AY 6 7 Any fol
89. d to the general purpose input 0 line Enter AY AN MR2000 GO AF SWO MR10000 GO The SW command provides a way to synchronize moves on two or more boards The following example shows one way to do this Example You have 3 eight axis boards for a total of 24 axes to move together Call board 1 the master and boards 2 and 3 the slaves Wire board 1 s X axis auxiliary line to the two slave boards general purpose input 0 line Send to the master the command AX PAO setting the master s X axis auxiliary line low until its move starts This also sets the slaves general purpose input 0 line low Enter the 5 0 command to the two slaves followed by the move and GO commands On the master enter the move command followed by the GO command When the master s move starts the PA command will set the auxiliary line high releasing the wait on the slave boards All three boards will start their moves Procedure Wire board 1 s X axis auxiliary line to board 2 s and board 3 s general purpose input 0 line Board 1 Board 2 Board 3 Board 1 Enter AX PAO 5 0 200 200 200 200 200 200 200 200 GO 5 0 MR300 300 300 300 300 300 300 300 100 100 100 100 100 100 100 100 PC48 User s Manual 6 48 6 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS WAIT The WT command will wait for the specified number of milliseconds before proceeding with the n
90. der ratio by entering encoder counts followed by motor counts for position maintenance mode These counts must be integers unless user units are enabled The ratio of encoder counts to motor counts must be equal to one i e encoder counts must match motor counts when slip detection is enabled All distance velocity and acceleration parameters are input in encoder counts when this mode is enabled The correct number of motor counts are generated while the user need only be concerned with encoder counts This mode can be combined with user units allowing units such as inches or revolutions to be specified in encoder counts All parameters are then input in the user units which have been defined The ratio defaults to 1 at power up or reset QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid 1 AU AS Not valid AA AM Not valid AA CD Not valid Example You have an encoder connected through a series of gears to a stepper motor When the motor steps 25 000 times the encoder produces 10 000 counts Set up an encoder ratio so the hold mode will work correctly Enter ER10000 25000 HV HOLD VELOCITY The HV command specifies maximum position hold correction velocity This is the peak velocity which will be used while making position corrections QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid 2 5 Not valid AA AM Not
91. e Enter AY KM 6 42 PC48 User s Manual 6 COMMAND STRUCTURE HOME AND INITIALIZATION CONTROL COMMANDS KR HOME REVERSE AND KILL The KR command will find home in reverse and stop generating pulses immediately i e no deceleration ramp will be generated The position counter is not affected Due to motor and platform inertia the load and board may lose position synchronization QUEUE REQUIREMENTS MODE NOENCODER ENCODER AS 2 Not valid AACD Not valid Example Move the Y axis in a negative direction to the home sensor and stop movement as quickly as possible Enter AY KR PC48 User s Manual 6 43 MOVE SYNCHRONIZATION COMMANDS 6 COMMAND STRUCTURE 6 12 MOVE SYNCHRONIZATION COMMANDS These commands allow the synchronization of moves with external events or multiple axis sequences INTERRUPT DONE The ID command will set the done flag and interrupt the host if the interrupt has been enabled This allows the PC48 to signal the host when a string of commands has been completed In the AA mode the done flag register bits will be set as each axis encounters the ID in its command stream but the done flag the status register will not be set until all axes have executed the ID command In the AM mode only the axes active in the most recent move will set their done flags QUEUE REQUIREMENTS 1 1 Not valid Example Interrupt the host CPU after the execution of Mo
92. e to solve it on the phone If not we will give you a Return Materials Authorization RMA number Mark the RMA number on the shipping label packing slip and other paper work accompanying the return We cannot accept returns without an RMA number 3 Please be sure to enclose a packing slip with the RMA number serial number of the equipment reason for return and the name and telephone number of the person we should contact if we have further questions 4 Pack the equipment in a solid cardboard box secured with packing material 5 Ship prepaid and insured to OREGON MICRO SYSTEMS INC Twin Oaks Business Center 1800 NW 169th Place Suite C100 Beaverton OR 97006 PC48 User s Manual B 1 RETURN FOR REPAIRS APPENDIX B This page intentionally left blank B 2 PC48 User s Manual APPENDIX Velocity 0 to 1 044 000 pulses per second simultaneous on each axis Acceleration 0 to 8 000 000 pulses per second per second Position range 134 000 000 pulses 67 000 000 Accuracy Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 of peak velocity in jog mode Environmental Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing Power 5 volts at 1 14 amps typical from the ISA AT backplane Dimensions 8 13 16 x 4 13 16 x 1 2 inches high ISA EISA interface Meets all IBM I O channel sign
93. e x axis and send it home wait until it gets the DONE after the home vl1000 id reduce the speed of the y axis and send it home wait until it gets the DONE after the home vl10000 10000 ma30000 30000 go increase the speed and send the platform to its center wait until the move is done ax ay call the center 0 0 7 3 5 INTERFACING TO THE DEVICE DRIVER Using the device driver under various programming languages is similar to reading and writing to a disk file It is best to create a separate file number or handle for reading from and writing to the device The device is opened as you would open a disk file The simplest way to send data to the device is to create the command string desired then send it to the device driver as a whole string DOS and the driver take care of the task of splitting the string into characters and sending them to the board Keep in mind that when a file and this device driver are opened DOS creates a small buffer so it will be more efficient when accessing the disk To make sure all commands are processed this buffer should be flushed each time the device is written to otherwise they will remain in the DOS buffer until it is full and not be executed at the desired time An alternative is to eliminate the buffer if your language allows it The best way to receive data from the device driver is one character at a time This allows the program to analyze the data to dete
94. each second providing a very smooth acceleration curve This calculation is used to control a variable frequency pulse train which is derived from a crystal oscillator providing very accurate pulse rates The 68332 microprocessor calculates this velocity profile for each of the axes providing independent but synchronized if desired profiles for each axis The PC48 can perform a smooth coordinated move on up to eight axes using linear parabolic or cosine velocity profiles It can manage as many as eight independent or coordinated processes PC48 User s Manual 1 1 FUNCTIONAL DESCRIPTION 1 GENERAL DESCRIPTION The PC48 will calculate the optimum velocity profile to generate the desired move while conforming to the acceleration and velocity data input by the host computer This move will consist of a smooth acceleration followed by a constant velocity section and a smooth deceleration to the desired distance A graph of a typical linear velocity is shown in Figure 1 1 Velocity Acceleration FIGURE 1 1 TYPICAL VELOCITY PROFILE If the move parameters do not allow the motor to accelerate to the desired velocity in the desired distance the PC48 will automatically generate an optimum triangular velocity profile It can also be commanded to accelerate to a velocity and hold that velocity until told to stop or change to a new velocity It will then smoothly decelerate to a stop or accelerate decelerate to the new velocity Several move
95. ed in the home command if it is desired to physically position the device at home The following commands will find home initialize it to 1000 counts then return to home In many cases it will not be necessary to return home only find the position and synchronize the controller to it Enter AX VL1000 HM1000 MA1000 GO PC48 User s Manual 6 41 HOME AND INITIALIZATION CONTROL COMMANDS 6 COMMAND STRUCTURE HR HOME REVERSE The HR command will cause the current axis to step in the negative direction at the predefined velocity until the home input line goes true It behaves exactly like the HM command except it travels in the reverse direction The parameter defaults to zero if none is supplied QUEUE REQUIREMENTS Example In a long stage it may be awkward to travel the full distance to home at less than 2048 pulses per second The following will get close to home at higher speed then refine the position at lower speed in the reverse direction Enter AX VL100000 HH HM VL1000 HL HR KM HOME AND KILL The KM command will find home and stop generating pulses immediately i e no deceleration ramp will be generated The position counter is not cleared or reset Due to motor and platform inertia the load and board may lose position synchronization QUEUE REQUIREMENTS ENCODER AX AS 2 Not valid Example Move the Y axis in a positive direction to the home sensor and stop movement as quickly as possibl
96. em bus is ALE decoded by the PC48 to indicate a valid address on the system bus 3 1 5 CLOCK AND OSC LINES These are provided on the system bus The PC48 has its own on board clock and does not use either of these signals 3 1 6 RESET DRV This line is a reset driver which is provided on the bus The PC48 has an on board reset timer and uses the RESET DRV signal to initiate this timer at power up during a system reset This bus signal is not active during a warm boot such as the CTL ALT DEL or CTL BREAK and thus the PC48 is not reset under these conditions It can however be reset on computers equipped with a reset push button 3 1 7 VO CH RDY This line is used in conjunction with memory wait state generation It is used by the PC48 since wait states are not required 3 1 8 V O CH CK This signal is used in conjunction with data parity checking It is used since parity is not checked by the PC48 PC48 User s Manual 3 CHANNEL INTERFACE ADDRESS SELECTION TABLE 3 2 I O CHANNEL CONNECTOR PIN LIST DESCRIPTION DESCRIPTION Ground IO CH Reset Drive D7 5VDC D6 IRQ2 D5 5VDC D4 DRQ2 D3 12VDC D2 Unused D1 12VDC DO Ground IO CH RDY MEMW AEN 19 lIOW A18 17 DACK3 A16 DRQ3 A15 DACK1 14 DRQ1 A13
97. er I O 1 User I O 4 User User I O 6 User I O 5 User I O 8 User I O 7 User I O 10 User 9 User I O 12 User I O 11 User I O 13 oy AJOIN gt Ground U Direction Output 5VDC U Auxiliary Output U Step Output U Positive Limit Switch s lt gt U Home Switch N U Negative Limit Switch V Direction Output 5VDC V Auxiliary Output V Step Output V Positive Limit Switch lt gt Ground V Home Switch lt gt O V Negative Limit Switch X Direction Output lt gt N 5VDC X Auxiliary Output Step Output X Positive Limit Switch Home Switch X Negative Limit Switch Y Direction Output N lt gt 5VDC Y Auxiliary Output N N Y Step Output Y Positive Limit Switch N Ground Y Home Switch N Y Negative Limit Switch Z Direction Output N 5VDC Z Auxiliary Output O Z Step Output Z Positive Limit Switch N N Ground Z Home Switch N 2 Negative Limit Switch T Direction Output N 5VDC T Auxiliary Output Step Output T Positive Limit Switch Ground T Home Switch N T Negative Limit Switch R Direction Output
98. ext command in the queue In the AA mode all axes will wait Immediate commands will not wait The parameter must be between 1 and 32 000 QUEUE REQUIREMENTS 3 3 Not valid Example You want to produce pulses on the X axis at 5 000 steps second for 2 seconds then 10 000 pulses second for 3 seconds then stop Enter AX JG5000 WT2000 JG10000 WT3000 JGO PC48 User s Manual 6 49 SYSTEM STATUS REQUEST COMMANDS 6 COMMAND STRUCTURE 6 13 SYSTEM STATUS REQUEST COMMANDS These commands allow the host to request the status of various move parameters including the status of limit and home switches RP 6 50 WHO ARE YOU The WY command returns the model type firmware revision number and number of controlled axes of the board being addressed surrounded by line feeds and carriage returns QUEUE REQUIREMENTS Immediate Immediate Not valid Example You want to examine the board information Enter WY Response lt LF gt lt CR gt PC48 ver 3 00 2 lt LF gt lt CR gt REQUEST POSITION The RP command returns the current position of the currently addressed axis in the single axis mode or all positions separated by commas in the AA or AM modes The position will be returned to the host via the data port in ASCII format This command is not queued i e the current position will be returned immediately even if the axis is in motion The response is surrounded by line feeds and carriage returns QUEUE REQUIREMEN
99. fied deadband The GD command should be used in place of the GO command to reset the done flags before the next move If the position hold HN is not enabled for an axis the command will behave like an ID command for that axis QUEUE REQUIREMENTS MODE AX AT 1 AU AS Not valid AA AM Not valid AA CD Not valid Example Send DONE when axis is within deadband Enter AX HV1000 HG100 HD10 HN MR1000 GO IP DONE will occur after move is complete and in position PC48 User s Manual 6 COMMAND STRUCTURE SLIP AND STALL DETECTION COMMANDS 6 16 SLIP AND STALL DETECTION COMMANDS ES ENCODER SLIP TOLERANCE The ES command parameter specifies tolerance before slip or stall is flagged in the status register and by the RL command The mode must be turned on with an IS command and off with an HF command QUEUE REQUIREMENTS MODE ENCODER AX AT Not valid 2 AU AS Not valid AA AM Not valid AA CD Not valid Example Your application can tolerate being up to 5 steps from the desired position before the controlling program should be notified of a slip condition Enter 55 15 5 INTERRUPT SLIP The IS command enables the PC48 to interrupt the host on slip or stall detection if the appropriate bit has been set in the interrupt control register Hold and slip detection are disabled if an LP HM HR SA ST or KL command is e
100. gure 3 1 for the location of the jumpers J44 which is half way up the board above the edge connector determines whether the limit inputs to an individual axis are active low or active high With the jumper in place the associated axis will stop moving if the limit line for the direction the axis is moving is grounded With the jumper removed the axis will stop if the limit line is at 5VDC These lines are internally pulled up with a 2 2K ohm resistor to 5VDC so that only a switch is required to control the limit lines AXIS X Y ZT UVRS w Seis sae FIGURE 2 1 LIMIT SENSE JUMPERS FOR A FOUR AXIS BOARD J16 just above the edge connector at the bottom of the board determines the I O address range of the board A jumper across a pair of pins sets that bit in the address low With the jumper removed the bit is high The computers I O address ranges from 200 to 3FF hex The AO and A1 address lines are decoded internally by the PC48 board and are assumed to be 0 for base address calculations The jumpers set the base address lines A2 through 9 The factory default address is 300 hex This requires jumpers across 2 making all four of the lowest bits a 0 and the least significant hex digit of the address a 0 Jumpers across 4 5 and A7 make the middle four bits 0 making the middle hex digit of the address a 0 Removing the jumpers from 8 and 9 makes each of these lines a 1 making the most significant hexadecim
101. has been entered Because of the excess processing overhead involved the MA command cannot be used in the loop mode while the board is in the cosine CN velocity profile mode and the MT command cannot be used in the loop mode at any time The axis mode e g AX AY AA must be the same when entering and exiting the loop otherwise the matching loop termination command will not be found by the board s command processor If you want one axis to wait for another in the loop you must be in the AA mode throughout the loop If you are in the single axis mode in the loop each axis commands will go into their separate queues and execute independently of each other Another important thing to note is that the command queue size is 200 Each queued command takes one or more slots If when entering a looping sequence of commands all 200 queue slots are filled before the LE loop terminator is entered the board will hang This is because there is no space for the LE command or any other commands To clear this hang up send the board a Control D same as KL but shorter to kill all moves and flush all queues When programming a loop of more than four or five moves the queue size should be examined with the RQ command to see if it is nearing zero QUEUE REQUIREMENTS 2 2 Not valid Example Execute a 100 000 count relative move on the Z axis 5 times Enter 2 155 MR100000 GO LE PC48 User s Manual 6 COMMAND STRUCTURE LOO
102. he AA mode set the acceleration of the X axis to 200 000 and the Z axis to 50 000 and leave the other axes with their previous values Enter AA 200000 50000 PC48 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS VL VELOCITY The VL command sets the maximum velocity register of the axis being programmed to the operand which follows the command The operand must be greater than zero and less than or equal to 1 044 000 steps per second The velocity defaults to 100 000 at power up or reset This is a write only register and controls the maximum velocity used in relative and absolute position moves except as modified by the linear interpolation instructions If the velocity register is modified by an ML or MT instruction in the AA or AM modes the user must redefine the velocity with a VL command when returning to the single axis mode or using a move command which does not use interpolation in the AA or AM modes QUEUE REQUIREMENTS Example In the single axis mode set the X axis velocity to 10 000 counts per second per second Enter AX VL10000 Example In the AA mode set the peak velocity of the X axis to 5 000 and the T axis to 50 000 and leave the other axes with their previous values Enter AA VL5000 50000 PC48 User s Manual 6 23 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE VB LP VELOCITY BASE The VB command allows the velocity ramp to start at the specified velocity This
103. he number of steps not the acceleration values The larger number is a lower acceleration at the peak See Section 1 for an explanation of velocity profiles This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single axis mode QUEUE REQUIREMENTS MODE Immediate Immediate Not valid Example Set the board to be in the smoothest parabolic acceleration ramp Enter PN10 PC48 User s Manual 6 15 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE PF RS 6 16 PARABOLIC OFF The PF command restores all axes to linear acceleration and deceleration ramps This is the default mode at power up or reset See Section 1 for an explanation of velocity profiles This command should not be given while an axis is in motion or the results may not be predictable This command turns off the PN and CN modes This command affects all axes even if issued in the single axis mode This is the default mode at power up or reset QUEUE REQUIREMENTS Immediate Immediate Not valid Example Turn off cosine or parabolic ramps returning to linear Enter PF RESET The RS command is a software reset which causes the local PC48 microprocessor to reset All previously entered data and commands are lost All internal parameters are initialized to defaults All interrupts are disabled This command is intended for catastrophic failure recovery only The
104. heir instruction sets The disk contains a Programs section and a section with driver and DLL files for particular operating systems After a PC48 board is installed as described in Section 2 Getting Started insert the support disk into the PC Run the communication program PC4XCOMM from the disk You can now type OMS commands on the keyboard and they will be sent to the board Their responses will be shown on the screen Type EN WY and you will enable the board s echo and the board will display its board type and firmware version number 7 2 PROGRAM FILES This section contains example code for different software languages Portions of the programs on the demo disk may be adapted by OMS motion controller users for use in application programs using OMS motion controls No license is required All C language programs in this directory were compiled using Microsoft C 6 00A and were verified to compile correctly using Borland C 3 0 The programs use the factory default I O address of 300 HEX The C versions use the factory default IRQ5 to communicate with the controller 7 3 DRIVER SUPPORT SECTION Each driver support section is organized and identified by the operating system its files are intended for For example driver support for WIN98 may be labeled OMSPC4xWIN9x Note that the communication programs can be found here 7 3 1 DEVICE DRIVER INSTALLATION Reference the appropriate README file associated with the driver you are tr
105. hift the phase of this quadrant by inverting one or both of the phases Inverting one phase or swapping phase A for phase B will also reverse the direction The encoder counter read by an RE command must increase for positive moves or the system will oscillate due to positive feedback 5 4 PC48 User s Manual 6 COMMAND STRUCTURE INTRODUCTION 6 COMMAND STRUCTUR 6 1 INTRODUCTION An extensive command structure is built into the PC48 family of intelligent motor controls It includes a 200 command and parameter buffer for each axis and a command loop counter which allows multiple executions of any command string The following commands in this section are included in the PC48 family of controllers All the commands are two ASCII characters and may be in upper or lower case Some of the commands expect a numerical operand to follow These commands are identified with a after the command The operand must be terminated by a space carriage return or semi colon to indicate the end of the number Semi colons are the recommended terminating character because of their visibility in the command stream No terminator is required on the other commands but may be included to improve readability The operand must immediately follow the command with no space or separation character indicates a signed integer input parameter or a signed fixed point number of the format when user units are enabled With user units enabled distance
106. it as being low QUEUE REQUIREMENTS immediate immediate immediate Example User output bits 10 and 12 were previously turned on i e low ground Input bits 0 and 3 are on i e low ground Check their status with the BX command Enter BX Response lt LF gt lt CR gt 001409 lt LF gt lt CR gt PC48 User s Manual 6 51 SYSTEM STATUS REQUEST COMMANDS 6 COMMAND STRUCTURE RA REQUEST AXIS STATUS The RA command returns the state of the limit and home switches and the done and direction flags for the currently addressed axis The limit flag in the hardware status register will be reset by the RA command providing another axis is not in limit The done flag register will also be reset by this command The status is returned in the following format CHARACTER MEANING CHAR SENT DESCRIPTION 1 LF Line feed 2 Carriage return 3 Carriage return 4 P Moving in positive direction M Moving in negative direction D Done ID Il or IN command has been executed set to N by this command or 5 IC command N No ID executed yet L Axis in overtravel Char 4 tells which direction Set to N when limit switch is 6 not active N Not in overtravel in this direction 7 H Home switch active Set to N when home switch is not active N Home switch not active 8 LF Line feed 9 CR Carriage return 10 CR Carriage return QUEUE R
107. keep hold of the program flow until the response is completed If your programming language normally gets a run time error when is out of data then error detection should be disabled during the time you are reading from the device The BASIC C and Pascal program examples on this disk show examples of routines to read responses from the device driver without getting run time errors Routines that get the response should be loops that will continue to attempt to get a character from the device until the of string character is received ignoring any out of data errors PC48 User s Manual 7 5 DRIVER SUPPORT SECTION 7 HOST SOFTWARE 7 3 6 MULTIPLE BOARDS IN ONE COMPUTER By jumpering the boards correctly and using the command line options listed above it is possible to put more than one board into a computer If the serial and parallel ports of the computer are not using the other IRQ you could put up to FOUR boards into one computer allowing up to 32 axes of interrupt driven motion control in one computer To allow 4 device drivers the config sys command lines could look like this device omsdrive sys using default I O address of 300 hex and IRQ5 device omsdrive sys n board2 a 304 1 7 using I O address 304 hex and IRQ7 device omsdrive sys n board3 a 308 1 4 using I O address 308 hex and IRQ4 device omsdrive sys n board4 a 30c i 3 using I O address 30c hex IRQ3 The controlling program would h
108. lag register bit assignments on the 48 6 version controllers are as defined in the manual for the and 5 axes Table 5 2 shows the pin assignments for the model PC48 6E 5 5 HOME PROCEDURES Two logical inputs are provided to synchronize the physical hardware with the PC48 controller i e put the controlled motor in the home position The PC48 home inputs can be used with encoders which provide one home pulse for the complete travel of the stage This signal can be either a logic high or logic low true by using the HH and HL commands The HM or HR commands are used after reducing the velocity to no more than 2048 pulses per second This limit on velocity is necessary to avoid ambiguity of the home position if more than one pulse occurs per sample interval The index input on J69 uses internal logic to establish the home position when used with the HE command mode This position consists of the logical AND of the encoder index pulse the home enable external input low true only and a single quadrant from the encoder logic The home enable pulse must be true for less than one revolution of the encoder thus allowing only one home for the complete travel of the stage The home logic expressed in Boolean terms is home phase_A phase_B index home_switch Note that it is necessary that the above quadrant occur within the index pulse as provided by the encoder for this logic to function properly It may be necessary with some encoders to s
109. lowing commands are for the Y axis AZ 6 8 Any following commands are for the Z axis BH 6 20 6 71 Set selected I O bit high off BL 6 20 6 71 Set selected I O bit low on BX 6 21 Return bit status in hex format CA 6 46 Clear done flag of currently addressed axis 6 2 PC48 User s Manual 6 COMMAND STRUCTURE COMMAND SUMMARY COMMANDS IN CHAPTER 6 COMMAND COMMAND DESCRIPTION CD 6 72 Define a contour CE 6 73 End contour definition ramp to a stop CK 6 73 End contour definition immediately stop step pulses CN 6 15 Cosine on enable cosine velocity profiles CR 6 74 Circular interpolation move in a circle CV 6 74 Contouring velocity definition CW 6 40 Clear while flag i e terminate WH WG loop CX 6 75 Contour execute EA 6 65 2 return encoder status of currently EF 6 11 Echo off turn off echo to host default at power up EN 6 11 Echo on turn on echo to host 6 57 Encoder ratio set encoder count to motor count ratio 6 61 5 slip tolerance set tolerance before slip or stall is ET 6 63 Encoder tracking set encoder tracking mode FP 6 69 S flush queue and attempt to stop at specified GD 6 31 Go and reset done flags GO 6 30 Go command start execution of motion HD 6 58 deadband specify deadband tolerance for position HE 6 64 Encoder home mode set home
110. ment just prior to the CE command to initialize the parameters for the deceleration of the stage QUEUE REQUIREMENTS MODE Example 5 Not valid AA AM Not valid AA CD 1 see CD command on page 6 72 CONTOUR END AND KILL The CK command will end the contour sequence like the CE command except there is no ramp down i e the pulses will stop abruptly This command should be used with caution to prevent the stage from missing steps or loosing its correct position It is used in place of the CE command QUEUE REQUIREMENTS MODE AS Not valid AA AM Not valid AA CD 1 Example Same scenario as CD command but we want to end the contour with the minimum ramp down Enter AA CV1000 0 0 0 CRO 5000 3 1415926 CRO 0 6 2831853 0 MT 10 000 1000 CK MT 1000 0 GO CX PC48 User s Manual 6 73 CONSTANT VELOCITY CONTOURING 6 COMMAND STRUCTURE CIRCULAR INTERPOLATION The CR command defines a move in a circular pattern from the entry position The first two parameters are the center of the circle in absolute units and the third parameter is the distance to move in radians Positive radians equal counter clockwise movement Negative radians equal clockwise movement The distance parameter should be supplied to seven significant digits if a full circle is to be generated
111. mit Auxiliary Home Input 5VDC TABLE 4 3 1038 ENCODER CONNECTIONS FUNCTION FUNCTION Ground Ground Index Phase B Phase A Index Phase A Phase B 5VDC TABLE 4 4 1038 USER I O CONNECTIONS FUNCTION FUNCTION Ground Ground Bit 0 Bit 1 Bit 2 Bit 3 5VDC 5VDC Bit 4 Bit 5 Bit 6 Bit 7 Ground 5VDC Ground INIO AJOIN gt Bit 9 Bit 8 Bit 11 Bit 10 5VDC 5VDC Bit 13 Bit 12 Ground Ground PC48 User s Manual 4 DRIVER INTERFACE WIRE COLOR FUSED PROTECTION TABLE 4 5 CABL38 COLOR CODES CONTACT CONTACT WIRE COLOR White Tan 41 1 Tan White White Brown 42 Brown White White Pink 43 Pink White White Orange 44 Orange White White Yellow 45 Yellow White White Green 46 Green White White Blue 47 Blue White White Violet 48 Violet White White Gray 49 Gray White Tan Brown 50 Brown Tan Tan Pink 51 Pink Tan Tan Orange 52 Orange Tan Tan Yellow 53 Yellow Tan Tan Green 54 Green Tan Tan Blue 55 Blue Tan Tan Violet 56 Violet Tan Tan Gray 57 Gray Tan Brown Pink 58 Pink Br
112. mstances should the card be installed in the computer with the power on PC48 User s Manual 3 7 3 CHANNEL INTERFACE POWER SUPPLY REQUIREMENTS 72 XJANI X 4 359 9 JSYHd X 2 4 259 2 9 359 2 NOILdO NOILYOO1 89 99 29 5534449 44904 NOT L aNII INOI 9 359 4 359 34 9 1 9 359 1 34 PC48 User s Manual 5 1 4 1 1 0 0 1 2 0 1 9pn 11 8 0 1 0 1 l 01194091 INOI 0 1 15914 3 8 4 DRIVER INTERFACE OUTPUT CONNECTIONS 4 DRIVER INTERFAC 4 1 OUTPUT CONNECTIONS Table 4 1 lists the input and output interface signals available at output connector J69 on each PC48 board The connector uses 0 025 inch square posts on 0 05 by 0 10 inch centers The connector pin assignment is shown as viewed looking into the connector on the board The mating connector is an AMP Inc part number 749111 7 with a 749196 1 hood and strain relief Refer to Section 5 for pin assignments on PC48 boards with the encoder option A separate 4 co
113. n anemone 4 3 5 4 6 41 6 59 HOLD DEADBAND a cae eee genes 6 58 HOLD 6 58 6 59 6 62 6 63 6 59 ROLD VELOCITY 6 57 Sak date 4 3 5 4 6 41 Home initialization control 6 41 6 43 HOME AND KE 5 aah Re ine ad 6 42 HOME ENCODER daca ined nuded caus do bedded 6 64 HOME HIGH edna des 6 12 6 12 meee et ete Moats ct Bee 5 4 ara Pe 6 42 REVERSE
114. n subject to abuse misuse accident alteration neglect or unauthorized repair are not covered by warranty Seller shall have the right of final determination as to the existence and cause of defect As to items repaired or replaced the warranty shall continue in effect for the remainder of the warranty period or for 90 days following date of shipment by Seller of the repaired or replaced part whichever period is longer No liability is assumed for expendable items such as lamps and fuses No warranty is made with respect to custom equipment or products produced to Buyer s specifications except as specifically stated in writing by Seller and contained in the contract PC48 User s Manual A 1 LIMITED WARRANTY A 2 This page intentionally left blank APPENDIX A PC48 User s Manual APPENDIX B TECHNICAL SUPPORT APPENDIX B TECHNICAL SUPPORT Oregon Micro Systems Inc can be reached for technical support by any of the following methods 1 Internet E Mail support omsmotion com 2 World Wide Web www omsmotion com 3 Telephone 8 00 a m 5 00 p m Pacific Standard Time 503 629 8081 or 800 707 8111 4 Facsimile 24 Hours 503 629 0688 or 877 629 0688 5 USPS Oregon Micro Systems Inc 1800 NW 169th Place Suite C100 Beaverton OR 97006 RETURN FOR REPAIRS 1 Call Oregon Micro Systems Customer Service at 503 629 8081 or 800 707 8111 or E mail to sales omsmotion com 2 Explain the problem and we may be abl
115. nductor shielded cable should be used for each axis for connections to its associated driver module and must be limited to 50 feet A connection to the PC AT 5VDC power is provided for each axis to supply power to the emitter diode within an opto isolated motor driver module This allows the use of such drivers without the need for an external power supply CAUTION This power supply connection must not be connected to any other supply or used for any other purpose or damage may result to the host computer or PC48 or both A ground connection is provided for each axis for convenience in connecting up the system The PC48 is supplied with 7406 open collector TTL drivers as standard Each device handles the step direction and auxiliary output for two axes U37 on the board handles the X Y axes U27 handles Z axes U67 is for the U and V axes while U85 handles the R and S axes The cable shields should be connected to the appropriate ground pins as shown in Table 4 1 and left open at the driver end when used with opto isolated loads to avoid ground loops and ensure isolation The pin numbering on J69 is as follows View looking into J69 Pint m 41 27 40 gt 80 FIGURE 4 1 J69 ORIENTATION PC48 User s Manual OUTPUT CONNECTIONS 4 2 4 DRIVER INTERFACE TABLE 4 1 J69 INPUT AND OUTPUT PIN ASSIGNMENTS FUNCTION FUNCTION User I O 0 5VDC User I O 2 Us
116. ntered or if a limit is encountered Ifa slip occurs slip detection must be re enabled QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid 1 AU AS Not valid AA AM Not valid AA CD Not valid Example see ES command above PC48 User s Manual 6 61 SLIP AND STALL DETECTION COMMANDS 6 COMMAND STRUCTURE RL HF RETURN SLIP STATUS The RL command returns the slip detection status of each axis An S is returned if slip has occurred for that axis or else an N is returned The results are bounded by an LF CR pair as in other status commands The number of characters returned corresponds to the number of axes available on the board QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid Immediate AU AS Not valid AA AM Immediate AA CD Not valid Example On a four axes board see if any axis has slipped Enter RL Response lt LF gt lt CR gt NNSN lt LF gt lt CR gt 2 axis has slipped HOLD OFF The HF command disables position hold stall detection and tracking modes QUEUE REQUIREMENTS MODE NO ENCODER ENCODER Not valid 2 AU AS Not valid AA AM Not valid AA CD Not valid Example Disable slip detection on the X axis Enter AX HF PC48 User s Manual 6 62 6 COMMAND STRUCTURE ENCODER TRACKING COMMANDS 6 17 ENCODER TRA
117. o your computer and disconnect its power cord Remove the computer s cover Choose an empty expansion slot in the motherboard and remove its associated metal cover from the back of the computer Be sure to save the screw Check the PC48 board s jumpers for proper configuration Note It is a good practice to operate the PC48 at the default jumper settings for the first time and for trouble shooting your system then proceed with the customizing the jumpers to your specific application Slide the PC48 board down into the edge connector insuring the board is lined up correctly in the card guides and in the connector Double check the board to insure it is properly seated in the connector Use the screw removed from the cover to attach the metal bracket of the PC48 board to the chassis of the computer Replace the cover of the computer Replace the power cord and turn the computer on Do not connect the PC48 to other parts of system until communication is established with the host for ease in trouble shooting Allow the computer to boot up Install the OMS support software disk in the PC after boot up is complete Type PC4XCOMM at the command prompt with the drive letter corresponding to the location of the support software disk This will load the program that will allow the user to enter PC48 control commands at the keyboard or download a file of commands The responses from the PC48 board will be displayed on the computer s
118. oes not require a GO or GD command to start the motion Ramp will be at currently defined acceleration AC QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE Not valid Not valid Example Jog the motor at 100 000 steps per second then change to 35 000 steps per second when the second JG is entered then stop by decelerating to a stop Enter JG100000 JG35000 ST Note Output events waiting for completion of JG will begin when JG is up to its requested velocity JOG FRACTIONAL VELOCITIES The JF command will jog the axis at the velocity specified like the JG command The parameter may include a fractional part allowing better resolution at low speeds The velocity set by this command will remain the default velocity until altered by a VL JG or another JF command QUEUE REQUIREMENTS MODE ENCODER AS Not valid Not valid Example Jog the Y axis at 2 2 3 steps per second Enter AY JF2 667 PC48 User s Manual 6 COMMAND STRUCTURE MOVE EXECUTION COMMANDS VELOCITY STREAMING The VS command will generate a pulse train without acceleration or deceleration at the rates specified The parameters are time in 1 1024 second sample intervals X velocity and Y velocity This is a slave mode and cannot be mixed or queued with other commands You must be in the AX mode since the VS command and all parameters are inserted in the X axis command queue The VS command does not require a
119. on acceleration deceleration and velocity of an associated motor In response to commands from the host computer the PC48 controller will calculate the optimum velocity profile to reach the desired destination in the minimum time while conforming to the programmed velocity and acceleration parameters The PC48 family of controllers use microstepping techniques for increased position resolution and decreased low speed resonance When combined with the appropriate driver and step motor the PC48 can divide the normal step angle into 250 discrete steps of 0 0072 degrees each or 50 000 steps per revolution The Oregon Micro Systems drivers are capable of microstepping and can be controlled by the PC48 family of controllers Commands may be sent to the PC48 by simple I O commands using virtually any language on the PC which has the ability to do I O It is easily programmed using ASCII character strings For a typical motion requirement of 1 000 000 pulses at 400 000 pulses sec and an acceleration of 500 000 pulses sec the following string would be sent from the host computer to the PC48 VL400000 AC500000 MR1000000 GO For additional programming examples see Section 6 1 2 FUNCTIONAL DESCRIPTION The PC48 in response to commands from the host computer provides controlled acceleration to a predefined peak speed followed by a constant velocity and controlled deceleration to a stop This is achieved by calculating the optimum velocity 2048 times
120. on encoder logic HF 6 59 6 62 6 63 disable position hold slip detection and tracking HG 6 58 Hold gain specify position hold gain parameter HH 6 12 Home high home switches are active high HL 6 12 Home low home switches are active low HM 6 41 Home find home and initialize the position counter HN 6 59 Hold on enable position correction after move HR 6 42 home in reverse direction and initialize HS 6 64 Home switch enable home switch mode HV 6 57 2 specify maximum position hold correction IC 6 46 Interrupt clear clear done interrupt status and error flags ID 6 44 Interrupt host when done and set done flag II 6 44 Interrupt independent IN 6 45 Interrupt when nearly done IP 6 45 6 60 Interrupt when in position IS 6 61 Interrupt slip interrupts host on slip or stall detection JF 6 32 Jog the current axis at fractional rates JG 6 32 Jog command run motor at specified velocity until a new 48 User s Manual 6 3 COMMAND SUMMARY 6 COMMAND STRUCTURE COMMANDS IN CHAPTER 6 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION velocity command is sent or it is stopped by a stop or kill command Kill flush queue and terminate pulse generation KL 6 35 immediately on all axes without decelerating KM 6 42 Home and kill pulse generation KR 6 43 Home in reverse and kill pulse gene
121. own Brown Orange 59 Orange Brown Brown Yellow 60 Yellow Brown Brown Green 61 Green Brown Brown Blue 62 Blue Brown Brown Violet 63 Violet Brown Brown Gray 64 Gray Brown Pink Orange 65 Orange Pink Pink Yellow 66 Yellow Pink Pink Green 67 Green Pink Pink Blue 68 Blue Pink Pink Violet 69 Violet Pink Pink Gray 70 Gray Pink Orange Yellow 71 Yellow Orange Orange Green 72 Green Orange Orange Blue 73 Blue Orange Orange Violet 74 Violet Orange Orange Gray 75 Gray Orange Yellow Green 76 Green Yellow Yellow Blue 77 Blue Yellow Yellow Violet 78 Violet Yellow Yellow Gray 79 Gray Yellow Green Blue PC48 User s Manual 80 Blue Green 4 5 1038 ADAPTER MODULE 4 DRIVER INTERFACE 4 5 1038 ADAPTER MODULE The optional 1038 is an adapter module designed to provide separate connectors for each axis and each encoder input when used with the PC48 It includes a 12 foot cable with mating connector to fit the PC48 I O connections Each driver module has its own 9 pin subminiature D connector as does each encoder input when used with the PC48 equipped with encoder feedback The mating connector is an AMP Inc part number 747944 2 or equivalent The user defined I O uses a 25 pin subminiature D connector This
122. ration LE 6 37 Loop end terminate most recent LS command LF 6 13 Disable limit switches for selected axis LN 6 13 Enable limit switches for selected axis LP 6 24 Load position load position counter with parameter Loop start set loop counter from 1 to 32000 loops may LS 6 36 be nested to 4 levels MA 6 25 Move absolute move to absolute position 6 27 linear move specified distance relative from current position MM 6 67 Move minus set minus direction for MV type move MO 6 28 Move one pulse in current direction MP 6 67 Move plus set positive direction for MV type move MR 6 26 Move relative move specified distance from current position MT 6 28 6 75 Move to move to specified position Move velocity move to first parameter absolute position MV 6 68 at second parameter velocity without stopping at end of move 6 19 Power automatic turn power before each move and off after the move Parabolic off disable parabolic ramps i e linear ramps will PF 6 16 be generated PN 6 15 Parabolic on enable parabolic ramps Query status of switches and flags for addressed axis QA 6 53 without affecting flags Query status of switches and flags on all axes without Ql 6 54 affecting flags RA 6 52 Return status of switches and flags and reset flags RB 6 21 Return programmed direction of I O bits in hex format RC 6 54 ee current acceleration or deceleration of the current RE 6 66 Request encoder position return c
123. red acceleration profile This insures that the desired acceleration is always reached at the programmed velocity as long as the move is long enough for the stage to reach the programmed speed If the move is too short to reach the programmed speed the curve is truncated causing the shape of the velocity curve to remain the same up to the velocity reached by the specific move This is consistent with the desired result of compensating for loss of motor torque Since the motor has not reached the programmed speed less compensation is needed The parabolic ramp mode may result in reduced move time at high speeds since a larger acceleration may be used Acceleration Velocity FIGURE 1 2 PARABOLIC VELOCITY PROFILE COSINE RAMPS The cosine ramps are generated in a similar fashion to the parabolic ramps except the acceleration is 2A a Ap sin t m V 1 4 48 User s Manual 1 GENERAL DESCRIPTION VELOCITY PROFILES and the velocity is then V v cos Ym Vp and the distance traveled in the ramp is V 27 V where V is the peak velocity A is the peak acceleration The distance needed to ramp up is then 2 17 4A m T 2 751 2Am Am and the time required to ramp up is and the peak velocity is Acceleration Velocity FIGURE 1 3 COSINE VELOCITY PROFILE PC48 User s Manual 1 5 VELOCITY PROFILES 1 GENERAL DESCRIPTION
124. rips the switch The home switch provides a means to synchronize the motor controller with the load at some home or reference position The home switch when used with the software HM command will cause the motor to stop when the switch closes On finding the home position the internal position counters will be initialized The sense of the home switches may be changed to true when open if desired by use of the HH command The limit switches may be changed to true when open if desired by removing the jumper on J44 Figure 4 2 CONNECTION TO STEP DRIVES shows a typical connection between a PC48 board and a motor using an OMS motor driver 4 4 FUSED PROTECTION The external 5VDC supply available at the connector J69 of the PC48 is protected by a semiconductor type fuse This supply is intended to be utilized with accessories used in conjunction with the PC48 such as the 1038 module motor driver modules etc and is specified to supply a maximum current of 1 amp for these purposes If an over current situation such as an external short circuit is detected by the fuse the supply will shut down It can be re activated by powering the PC48 down ensuring the over current situation has been removed and restoring power to the PC48 PC48 User s Manual 4 3 FUSED PROTECTION 4 4 4 DRIVER INTERFACE TABLE 4 2 1038 DRIVER CONNECTIONS FUNCTION FUNCTION Ground Ground Step Pulse Positive Limit Direction Negative Li
125. rols generate a linear velocity ramp in real time i e while the stage is in motion There is no table building prior to the move and thus minimal latency The controls will accelerate to the specified velocity and hold that speed until just enough move distance is left then decelerate to a stop If the move distance is too short to reach speed a triangular velocity ramp will automatically be generated The acceleration is a constant Am and the velocity is then useful relationship is the distance required to accelerate at acceleration to velocity V is PARABOLIC RAMPS The parabolic ramp is generated in a similar fashion except the acceleration is reduced as the stage accelerates to speed thus reducing the velocity slope as shown in Figure 1 2 The acceleration follows the equation Ao Ao 0 0 the velocity is then t2 2T 48 User s Manual 1 3 VELOCITY PROFILES 1 GENERAL DESCRIPTION and the distance traveled in the ramp is Aot 2 6 where A is the initial acceleration t is time during the ramp and T is total ramp time if the acceleration had reached zero The parameter supplied with the PN command is 10 times the ratio which can take on values from 3 to 10 allowing the final acceleration to 2 range from 70 to 10 respectively of the programmed or initial value When a move is specified the controls will fit the resulting velocity curve to the desi
126. s velocity and acceleration parameters may be input in inches revolutions etc Synchronized moves may be made by entering the AA command This command performs context switch which allows entering the commands in the format MRx y z t u v r s Numbers are entered for each axis which is to commanded to move An axis may be skipped by entering a comma with no parameter The command may be prematurely terminated with a i e a move requiring only the X and Y axes would use the command MRx y followed by the GO command Each axis programmed to move will start together upon executing the GO command The PC48 can be switched back to the unsynchronized mode by entering the desired single axis command such as AX The AM command is provided for complex applications where the host manages multiple motion processes by a multitasking operating system This mode shares the same instructions as the AA mode but allows starting a task while some other task involving one or many axes is active For example the X and Y axes could be doing linear interpolation while the Z axis is making an unrelated move simultaneously Constant velocity contouring provides another mode wherein the move parameters are predefined by entering AA then CD The PC48 will then calculate the move profile in advance and move at constant velocity in the prescribed pattern It can do linear interpolation on as many as 8 axes between the predefined points or it
127. s is only valid for bits which have been configured as outputs See the RB command in this section Enter AX 1000 GO BL10 BL12 BIT HIGH The BH command sets the selected general purpose output off i e logic high The state of general purpose outputs is off at power up or reset Valid bits depend on which bits are programmed as outputs Factory default output bits are 8 through 13 QUEUE REQUIREMENTS 2 2 Not valid Example Set general purpose bits 8 and 11 to high Enter BH8 BH11 PC48 User s Manual 6 COMMAND STRUCTURE USER COMMANDS BX BIT REQUEST IN HEX The BX command returns the state of the general purpose I O bits in a six digit hex format surrounded by line feed and carriage return pairs The two left hex digits are unused and are always set to 0 A one in any binary position signals that bit as being low QUEUE REQUIREMENTS MODE Not valid Example User output bits 10 and 12 were previously turned on i e low ground Input bits 0 and 3 are on i e low ground Check their status with the BX command Enter BX Response lt LF gt lt CR gt 001409 lt LF gt lt CR gt RB REQUEST BIT DIRECTION The RB command returns the direction of the general purpose I O lines as they currently defined in hex format surrounded by line feed and carriage return pairs Output bits return a 1 while input bits return 0 The two left hex digits are unused and are always set to 0
128. s may be polled by an RA or RI command which will also reset the flags QUEUE REQUIREMENTS immediate immediate Not valid Example Clear the flags after an X axis move relative of 5000 steps was flagged as done when an ID executes Enter AX MR5000 GO ID done flag set IC CLEAR AXIS DONE FLAG The CA command operates like the IC command except it clears the done flag of the addressed axis only QUEUE REQUIREMENTS Immediate Not valid Not valid Example After a multi axis move clear the Z axis done status only Enter 1000 2000 3000 4000 GO ID PC48 User s Manual 6 46 6 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS WA WA command only valid the AA mode allows a command to until all moves on all axes are finished before it executes Some commands which can affect a non moving axis such as AN AF and PA may execute before a previous move on other axes has finished especially while in the looping LS LE WH WG mode By preceding these commands with a WA they will not execute until all previously defined moves have finished QUEUE REQUIREMENTS immediate Not valid Not valid Example The Z axis auxiliary line controls a laser beam that you only want on while the Z axis moves in a positive direction The X and Y axes position the laser You want to repeat the action 10 times Enter VL1000 1000 1000 10000 10000
129. s of this type may be chained together to provide a more complex pattern The PC48 is able to store up to 124 characters in an input character buffer plus a separate 200 command and parameter queue for each axis allowing several moves to be made without host intervention A loop counter is provided to repeat desired sections of a complex move pattern Loops may be nested up to four levels deep on all axes 1 2 PC48 User s Manual 1 GENERAL DESCRIPTION VELOCITY PROFILES 1 3 VELOCITY PROFILES The PC48 offers three options for ramping the device to speed The traditional constant acceleration or linear velocity ramp see Figure 1 1 is the default at power up or reset The half sinusoid acceleration or half cosine velocity ramp see Figure 1 3 is selected by the CN command Since the acceleration is zero at the velocity inflection points this offers very smooth operation It is used in sensitive applications such as wafer handling on a vacuum chuck The third option is a reverse ramp of acceleration or parabolic velocity curve see Figure 1 2 which can be selected by the PN command This ramp is commonly used to compensate for loss of motor torque at high speeds i e since the acceleration is reduced at higher speeds the required forces are reduced proportionally The parabola may be truncated to allow the user to select under program control the reduction in acceleration force appropriate for the application LINEAR RAMPS The OMS cont
130. s similar to the ML command This command is invalid while in the CN mode if loops are being used The command will become valid again after executing an ST or KL command The MT command is not valid in loops LS LE WH WG at anytime When used in the contour definition mode only the axes being used in the contour must be provided for in the MT syntax A GO or GD command initiates the move The MT command may alter predefined acceleration and velocity values These values should be redefined if you go from a linear move to a non linear move such as an MA or MR type in both single axis or all axes modes QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE Not valid 6 2 __ 30 Example In the AA mode move the X Y and T axes to absolute positions 1000 10000 and 100 counts respectively with each starting and finishing together The unused axes remain in their previous positions Enter AA MT1000 10000 100 GO MOVE ONE PULSE The MO command will output one step pulse in the current direction do not use the GO command The direction may be reversed by use of the MM or MP command This command generates the output pulse in one sample interval and thus eliminates the latency of generating a ramp with an MR1 GO command sequence This command is not available in models with an encoder option QUEUE REQUIREMENTS MODE AS 1 Not valid Not valid Example Move the Z axis one pulse in the negative direc
131. screen Press lt Enter gt when the program asks for a file name PC48 User s Manual 2 3 SOFTWARE INSTALLATION 2 GETTING STARTED 14 The program will state that you are in the interactive mode Enter the PC48 commands EN WY on the keyboard EN turns echoing on which causes the typed commands to be echoed from the controller to the display WY asks the PC48 board who are you The board responds with its model type and firmware version number i e PC48 ver 3 00 4 15 If a message similar to this is displayed the board was correctly installed and you are communicating with the PC48 16 If no message was displayed double check the boards installation If you are still having a problem contact Oregon Micro Systems for assistance 2 4 SOFTWARE INSTALLATION The support software disk contains several versions of a program which allow the user to interact with an Oregon Micro Systems PC48 motion control board The user may type PC48 commands on the computer s keyboard and they are passed to the PC48 board The PC48 board s responses are displayed on the computer s screen The user may when prompted optionally give the program the name of an ASCII text file that contains PC48 commands The program will send the contents of the file to the PC48 board Example code is included on the disk allowing PC48 users to use the routines in application programs using OMS motion controls No license is required See section 7 HOS
132. th 20 000 and the encoder position register with 30 000 counts in encoder models Enter AY ER3 2 LP30000 PC48 User s Manual 6 24 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS MA MOVE ABSOLUTE The MA command will set up the axis to move to the absolute position supplied as a parameter The default value of zero is used if no parameter is supplied in the single axis mode In the AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually initiated by a GO or GD command In the AA mode each axis will use its predefined acceleration and velocity values to move to the new absolute position Each axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations Because of the excess processing overhead involved the MA command cannot be used within loops LS LE WH WG while the board is in the cosine CN velocity profile mode The linear move commands ML and MT and the constant velocity mode may alter predefined acceleration and velocity values These values should be redefined if you go from a linear move to a non linear move such as an MA or MR type in both single axis or all axes modes QUEUE REQUIREMENTS 2 2 2 In the single axis mode move the X axis to absolute position 100 000 counts with the previously entered acceleration and velocity parameters Enter AX 100000 GO
133. tion Enter AZ MM MO PC48 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS RM REMAINDER The RM command will divide the position counter by the parameter supplied and replace the position counter with the resulting remainder The parameter must be greater than zero and less than 65 000 This command is used in applications where the controller is managing the motion of a continuously rotating object It allows the position counter to keep track of the absolute position without regard to the number of revolutions it may have rotated This command has no effect on the encoder position register on boards with the encoder feedback option QUEUE REQUIREMENTS AS 1 Not valid Not valid Example An RM2000 command with a position counter of 4050 will return a position of 1950 since it is within 50 counts of rolling over at 4000 i e the axis is 1950 counts from the starting point PC48 User s Manual 6 29 MOVE EXECUTION COMMANDS 6 COMMAND STRUCTURE 6 8 MOVE EXECUTION COMMANDS These commands allow execution of the moves which have been previously specified GO GO The GO command will initiate the move which has been previously programmed with such commands as MA MR MT and ML No operand is required with the GO command To find the total queue requirements for a specific application find the appropriate value in Table A If the board is an encoder version add the value found in Table B to the
134. top at the rate previously specified in an AC command All status and position information is retained QUEUE REQUIREMENTS MODE Flush 2 Flush 2 Not valid Example Send all axes on a move then ramp them to a stop before they finish Enter AA VL100 100 100 100 100 100 100 100 MR1000 2000 3000 4000 5000 6000 7000 8000 GO wait awhile SA 48 User s Manual 6 COMMAND STRUCTURE MOVE TERMINATION COMMANDS SD KL STOP AND RESET DONE The SD command may be substituted for the SA command It will reset the done flags then proceed to stop all axes This allows the host to be interrupted when all axes have stopped by using the ID command after the SD The SA ID combination may flag the completion early if one of the axes is already done from a previously executed ID QUEUE REQUIREMENTS Flush 2 Flush 2 Not valid Example Flag a done when all axes have stopped Enter AA SD ID KILL The KL command will flush the command queue and terminate pulse generation of all axes immediately It is intended for emergency termination of any program and to reset the input queues to a known state The motor may not stop immediately even though no more pulses are delivered due to inertia of the motor rotor and load Therefore the position counter may not accurately reflect the true position of the motor following this command The homing sequence should be used to reestablish the position counters A Control D ASCII 4
135. ttom QUEUE REQUIREMENTS 1 1 Not valid Example see WH command on page 6 39 PC48 User s Manual 6 COMMAND STRUCTURE HOME AND INITIALIZATION CONTROL COMMANDS 6 11 HOME AND INITIALIZATION CONTROL COMMANDS These commands allow the initialization of the physical stage with the controller HM HOME The HM command will cause the current axis to step in the positive direction at the predefined velocity until the home input line goes true The position counter will be initialized to the position supplied as a parameter The velocity should be less than 2048 counts per second to maintain accuracy of the home position loaded The axis will not stop at home but will initialize the position counter when the home switch becomes true and decelerates to a stop The axis may be commanded to go home by following this command with a move absolute to the same position as specified in the HM command The parameter defaults to zero if none is supplied QUEUE REQUIREMENTS AX AS 4 4 6 Not valid Example Find the physical home position of the X axis of the stage NOTE The velocity should be less than 2048 pulses per second to minimize position error for this command The motor runs until the home switch input is activated and then initializes the position counter to the parameter supplied Since the motor decelerates to a stop after reaching home it is necessary to do to the same position as specifi
136. urrent encoder position Return status of switches and flags for all axes and reset RI 6 53 flags RL 6 62 Return slip status of each axis RM 6 29 Return remainder of position divided by parameter in position counter RP 6 50 Request position returns current position RQ 6 51 6 76 Request queue status return number of queue entries available 6 4 PC48 User s Manual 6 COMMAND STRUCTURE COMMAND SUMMARY COMMANDS IN CHAPTER 6 COMMAND COMMAND DESCRIPTION RS 6 16 Software reset of PC48 RU 6 55 Return current position in user units RV 6 55 Return current velocity at which the axis is moving SA 6 34 Stop all flush queue and stops all axes with deceleration SD 6 35 Stop all axes and clear any done flags SE 6 19 Set settling time before power is reduced in PA mode SF 6 14 Soft limit off restore normal overtravel operation SL 6 14 allow pulse train to ramp down on SP 6 69 Stop at position stop at specified position if possible after all commands have been executed ST 6 34 Stop flush queue and decelerate to stop Swit 6 48 for the input bit to be released by other UF 6 56 User units off turn off user unit translation UU 6 56 User units multiply acceleration velocity and distance parameters by specified parameter VB 6 24 Base velocity set base velocity VL 6 23 Set maximum velocity to
137. valid AA CD Not valid Example see HN command on page 6 59 PC48 User s Manual 6 57 POSITION MAINTENANCE COMMANDS 6 COMMAND STRUCTURE HG HD 6 58 HOLD GAIN The HG command allows the user to specify position hold gain parameter This gain parameter is multiplied by the position error in determining the velocity during correction The parameter must be between 1 and 32 000 The parameter should be set experimentally by increasing it until the system is unstable then reducing it slightly below the threshold of stability QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid 2 5 Not valid AA AM Not valid AA CD Not valid Example see HN command on page 6 59 HOLD DEADBAND The HD command specifies deadband counts for position hold If the stage is within this limit it is considered in position and no further correction will be made This parameter interacts with the HG command i e a larger deadband will allow a larger gain parameter in many applications A parameter of zero is allowed QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AT Not valid 1 5 Not valid AA AM Not valid AA CD Not valid Example see HN command on page 6 59 PC48 User s Manual 6 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS HF HOLD OFF The HF command disables position hold stall detection and tracking modes This is
138. value from Table A to determine total queue usage TABLE ADDITIONAL QUEUE REQUIREMENTS LINEAR PARABOLIC COSINE 0 70 Example In the single axis mode move the X axis to absolute position 12345 Enter AX MA12345 GO Example In the AA mode move the X axis 2468 steps in the positive direction and the Y axis 2468 steps in the negative direction Enter 2468 2468 GO 6 30 PC48 User s Manual 6 COMMAND STRUCTURE MOVE EXECUTION COMMANDS GD GO AND RESET DONE GD command may be substituted for GO command It will reset the done flags then initiate the move which has been previously programmed with such commands as MA MR MT and ML just as the GO command does In the single axis mode only the done flag for the selected axis will be reset In the AA mode all the done flags will be reset In the AM mode the axes involved in the move will be reset This allows the host to reset the interrupts on the axis involved in the next move without affecting other axes which may be still active Note that this command is probably only useful in applications where commands are queued in advance since the interrupt may be reset before the host has the opportunity to service it if the GD command is waiting in the queue To find the total queue requirements for a specific application find the appropriate value in Table A If the board is an encoder version add the value found in Table
139. ve Absolute is finished When 6 44 the move is finished the ID command will be encountered in the command queue and will set the done flags Enter AX MA100000 GO ID INTERRUPT INDEPENDENT The 1 command allows the control to interrupt the host when each axis finishes move Only those axes which have been supplied a parameter in the most recent move command will cause interrupts QUEUE REQUIREMENTS 1 1 Not valid Example The following command sequence would cause interrupts when the Y and T axes finish If they do not complete at the same time two interrupts would be generated Enter MR 1000 10000 GO II PC48 User s Manual 6 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS IN INTERRUPT NEARLY DONE The IN command allows the control to interrupt the host when the axis or combination of axes is nearly complete When used in an application involving probing a part after a move the probes could start accelerating down while the stage is finishing its move improving the overall system throughput This command is valid in all modes The command must be entered before the GO or GD command since it is executed before the move is complete The test is only performed during deceleration If the IN parameter is greater than the ramp down distance the interrupt will be generated when the control starts decelerating QUEUE REQUIREMENTS 2 2 Not valid Example The following sequence would interrupt the host
140. when the X axis is complete and the Z axis is within 10 000 counts of being complete The Y axis completion would be ignored in this example Enter AA INO 10000 MR100000 100000 GO MR 50000 GO IP INTERRUPT WHEN IN POSITION The IP command operates like the ID command except the interrupt is deferred until the stage is within the specified deadband The GD command should be used in place of the GO command to reset the done flags before the next move If the position hold HN is not enabled for an axis the command will behave like an ID command for that axis This command is available only in models with the encoder option QUEUE REQUIREMENTS MODE 1 Not valid AA AM Not valid AA CD Not valid Example Send DONE when axis is within deadband Enter AX HV1000 HG100 HD10 HN MR1000 GO IP DONE will occur after move is complete and in position PC48 User s Manual 6 45 MOVE SYNCHRONIZATION COMMANDS 6 COMMAND STRUCTURE CA INTERRUPT CLEAR The or the ASCII character Control Y hex 19 command is used to clear the done and error flags in the status register and the done flag register otherwise the axis would always appear to be done This command will be executed immediately and will usually be placed in the done and error handler interrupt service routine to clear the interrupt and the associated flags The Control Y version of this command is preferred to minimize the latency in its execution The flag
141. will perform the same functions as the KL command It bypasses the command interpreter and may work when the character buffer is full and the KL command cannot get through the interpreter A Control D should be used instead of KL when the board appears hung up This can occur when its input queue is inadvertently filled by entering a loop sequence that was so long you could not enter the LE command QUEUE REQUIREMENTS Flush 2 Flush 2 Not valid Example Stop all previously defined movement and flush the queue of a partially entered incorrect move command you wanted a negative move not a positive one before GO is entered Enter AX 5000 oops KL MR 5000 GO PC48 User s Manual 6 35 LOOP CONTROL COMMANDS 6 COMMAND STRUCTURE 6 10 LOOP CONTROL COMMANDS These commands allow move sequences to be repeated within loops Loops can be nested up to four levels deep on each axis LS 6 36 LOOP START The LS command sets the loop counter for the axis being programmed in the single axis mode and all axes in the AA mode The command expects a loop counter operand following the command The commands up to the LE loop terminator will be executed the number of times specified by the operand Loops may be nested up to four levels deep on each axis The parameter must be less than 32 000 The first loop of commands will occur immediately as they are entered The remaining loops will be executed after the loop terminator LE
142. xample Turn on the X and Z axes auxiliary outputs when in the AA command mode The Y axis is unchanged in this example Enter 1 1 PC48 User s Manual 6 17 USER I O COMMANDS 6 COMMAND STRUCTURE 6 18 AUXILIARY OFF The AF command turns off the selected auxiliary outputs That is it causes the open collector line to be driven low The AF command may be used to change power level on driver modules so equipped or as a user specified output Same parameter rules apply as the AN command QUEUE REQUIREMENTS Example Turn off the Y axis auxiliary output in the single axis mode Enter AY AF Example Turn off the X and Z axes auxiliary outputs when in the AA command mode The Y axis is unchanged in this example Enter AA AF1 1 PC48 User s Manual 6 COMMAND STRUCTURE USER COMMANDS PA SE POWER AUTOMATIC The PA command will turn on or off the auxiliary outputs at the beginning of each GO or GD command execution and complement the outputs after the move is executed The auxiliary will be turned on i e pulled high upon the execution of the GO or GD and off at the end of that move if the parameter is zero or not specified in the single axis mode If the parameter is non zero the sense is reversed i e the auxiliary output is turned off driven low upon the execution of the GO or GD command and on at the end of the move This mode need only be set once and can be turned off by using the AN or AF
143. y the PC48 so that commands are echoed and the error message is returned to the host as a readable 5 string This command would probably be the first command executed after turning on the system when this mode is desired Enter EN EF ECHO OFF The EF command disables echoing from the PC48 motion system This is the default mode at power up or reset QUEUE REQUIREMENTS AS Immediate Not valid Not valid Example Stop echoing to the host Enter EF PC48 User s Manual 6 11 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE HH HL 6 12 HOME HIGH The HH command sets the sense of the home switch on the current axis to active high This allows the use of a normally closed switch QUEUE REQUIREMENTS AX AS 1 AAAM Not valid Example see HL command below HOME LOW The HL command sets the sense of the home switch on the current axis to active low This is the default mode at power up or reset QUEUE REQUIREMENTS AX AS 1 __ faster home sequence be used in applications which long distance to travel to reach home The stage is moved through home at high speed with the home switch set for active high then reversed at low speed to meet the 1024 steps per second requirement of the home command Enter AX VL20000 HH HMO VL1000 HL HRO PC48 User s Manual 6 COMMAND STRU
144. ying to install for installation instructions i e README TXT PC48 User s Manual 7 1 DRIVER SUPPORT SECTION 7 HOST SOFTWARE 7 3 2 COMMAND LINE OPTIONS There are several command line options to configure the device driver to the user s needs They are as follows A XXX B XXXX E XX where is hexadecimal I O ADDRESS to which the Oregon Micro System board is jumpered The driver will accept any address up to 3FF hex It is up to the user to insure that there are no conflicts between the OMS board and any other board in the computer The default is 300 hex Example device omsdrive sys A 310 driver expects the board to be set to I O address 310 hex where XXXX is a hexadecimal number from 0010 to 7fff 16 to 32767 decimal This value defines the output to board BUFFER size This value determines how many characters you can send to the device buffer at one time The default value is 0100 hex 256 decimal When specifying a value all 4 digits must be given i e leading zeros must be included Example device omsdrive sys B 0800 buffer size set to 800 hex where XX is the hexadecimal value of the ASCII character you want to use to show the END OF STRING from the board like a response to an RP command If the value is less than 10 the leading 0 must be included Normally an OMS board surrounds each response it returns with an LF CR pair The response to an RP command when talking

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