@MAJOR HEAD = FEATURES - Pro-Dex
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1. 40 5VDC X Index 41 Reserved RS 232 CONNECTOR J4 Description i Pin Description CNA NA A WIN X Index 42 X Step Ground N C X Phase A 43 X Auxiliary DTR CTS X Phase A 44 X Direction TxD N C X Phase B 45 X Limit RxD N C X Phase B 46 X Limit Reserved 47 X Home Y Index 48 Y Step ORDERING INFORMATION Y Index 49 Y Auxiliary Y Phase A 50 Y Direction Y Phase A 51 Y Limit Y Phase B 52 Y Limit Y Phase B 53 Y Home Analog Ground 54 5VDC Z Index 55 Reserved Pro Dex Inc PC78 Intelligent Motion Controls STEPPER INTERFACE AXES PC 104 RS 232 CONTROL FEEDBACK PC78 25 PC78 26 PC78 46 Z Index 56 Z Step Z Phase A 57 Z Auxiliary Z Phase A 58 Z Direction Z Phase B 59 Z Limit Z Phase B 60 Z Limit Reserved 61 Z Home T Index 62 T Step T Index 63 T Auxiliary T Phase A 64 T Direction T Phase A 65 T Limit T Phase B 66 T Limit T Phase B 67 T Home Digital Ground 68 5VDC PRO DEX INC OREGON MICRO SYSTEMS INC ACCESSORIES MODEL DESCRIPTION 10682. Software supplied at no additional cost Flash Memory Field upgradeable firmware within Windows operating systems Non volatile program storage and parameter storage Flexible and Expandable Conforms 100 to all PC 104 specifications Customizable solutions available for your requirements Factory Direct Technical Support Person to person toll free tech support call 800 707 8111 Application notes and Documentation on the Web Example programs and application code provided All Pro Dex Inc controls are 100 tested and quality inspected ISO 9001 Tel 503 629 8081 or 800 707 8111 Fax 503 629 0688 or 877 629 0688 WEB SITE www pro dex com PRO DEX INC OREGON MICRO SYSTEMS INC Beaverton Oregon DESCRIPTION The PC78 is both a PC 104 controller that supports the PC 104 ISA bus standard as well as a stand alone controller via a RS 232 communication port and is compatible with the PC68 family with 2 4 axes control The PC78 supports up to 12 general purpose TTL I O bits 8 of which are user definable The step pulse is a TTL level 50 duty cycle square wave that supports velocities of 0 through 1 044 000 pulses per second The encoder feedback functionality supports quadrature encoders up to 12 MHz at a 4 times the encoder line resolution and is used as closed loop feedback for the stepper axes or as independent position feedback The encoder feedback can provide slip and or stall detection Each axis includes
3. The RB command returns the direction of the general purpose I O lines as they are currently defined in hex format CONSTANT VELOCITY CONTOURING COMMANDS The contouring command set allows the building of a command sequence which can later be executed at constant velocity for machine tool and other similar applications AF AUXILIARY OFF The AF command turns off any combination of auxiliary ports when encountered in the command stream allowing control of other peripherals such as a laser beam for machining AN AUXILIARY ON The AN commands turns on any combination of auxiliary output ports when encountered in the contouring command stream CD CONTOUR DEFINE The CD command allows entry of a contour definition which will start at the position specified Any combination of axes may be used in the contour mode CE CONTOUR END The CE command ends the definition of the contour sequence i e terminate the CD mode or ramp to a stop and exit when the contour is executed CK CONTOUR END AND KILL The CK command ends the definition of the contour sequence and stops output generation immediately when executed Beaverton Oregon CR CIRCULAR INTERPOLATION The CR command causes the axes defined by the CD command to move in a circular pattern from the entry position The parameters specify the center of the circle and distance to travel in radians The CR command is only valid with contours of 2 axes CV CONTOUR VELOCI
4. position maintenance mode for digital output only PRO DEX INC OREGON MICRO SYSTEMS INC HD HOLD DEADBAND The HD command specifies deadband counts for position hold The PC78 will consider the control in position when the stage is within the specified parameter counts during position correction HF HOLD OFF The HF command disables position hold stall detection and tracking modes HG HOLD FILTER PARAMETERS The HG command specifies the gain for stepper applications with feedback HN HOLD ON The HN command enables position correction 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 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 following commands control the slip or stall detection mode for stepper with encoder models of the PC78 ES ENCODER SLIP TOLERANCE The ES command parameter specifies tolerance before slip or stall is flagged in the status register IS INTERRUPT ON SLIP The IS command will enable interrupts to the host when the position error during a move exceeds the parameter specified by an ES command The interrupt will occur if the done interrupt has been enabled in the control register A bit in the status register is also set to flag the source of the interrupt TF S
5. axis only IC INTERRUPT CLEAR The IC command will clear the done and error flags ID INTERRUPT DONE The ID command will return the done flag to the host and interrupt the host if the interrupt has been enabled I INTERRUPT INDEPENDENT The II command allows each axis to interrupt the host when it completes its move independent of the status of the other axes IN INTERRUPT NEARLY DONE The IN command will interrupt the host when the move is nearly complete The parameter specifies the number of counts left in the move when the interrupt request is generated SW SYNC WAIT The SW command can be used to synchronize to external events by commanding the PC78 to wait for the input line to go false WA WAIT FOR AXES The WA command only valid in the AA mode allows a command to wait until all moves on all axes are finished before it executes WQ 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 WT WAIT TIME The WT command will wait for the specified number of milliseconds before proceeding with the next command 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 QA QUERY AXIS The QA command returns the status of the single addressed axis like the RA command except the status register and flags are not a
6. dedicated overtravel inputs a home input and an auxiliary output PROGRAMMING PC78 motion controllers are easily programmed with double character ASCII commands through an extensive command structure The commands are combined into character strings to create sophisticated motion profiles and are passed to the PC78 data I O register A separate FIFO command queue for each axis is used to store the parsed commands by the PC78 until they are executed allowing the host to send a complex command sequence and attend to other tasks while the PC78 manages the motion process These command queues store 200 command and parameter words and include a command loop counter which allows multiple executions of any command string The following commands are available in the PC78 family of motion controllers All commands are sent to the controller as ASCII character strings Some commands expect one or more numerical operands to follow These commands are identified with a after the command The indicates a signed integer input parameter or a signed fixed point number of the format when user units are enabled With user units defined distances velocity and acceleration parameters may be input in inches revolutions etc Synchronized moves may be made by entering the AA or AM command This command performs a context switch which allows entering commands of the format MRx y z t Numbers are entered for each axis which
7. is to be commanded to move An axis may be skipped by entering the 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 PC78 can be switched back to the unsynchronized mode by entering the desired axis command such as AX The user manual has all commands listed and should be used to program the Motion Controller PRO DEX INC OREGON MICRO SYSTEMS INC COMMAND SUMMARY This section contains a sampling of some of the commands available on the PC78 AXIS SPECIFIC COMMANDS AA AXIS ALL Commands following the AA are directed to all axis queues for synchronized mode AM AXIS MULTITASKING Commands following the AM will go into the specified axis queues for independent synchronized mode AX AXIS X The AX command directs all the following commands to the X axis AY AXIS Y The AY command directs all the following commands to the Y axis AZ AXIS Z The AZ command directs all the following commands to the Z axis AT AXIS T The AT command directs all the following commands to the T axis 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 BI BIPOLAR The BI
8. position of the currently addressed axis in encoder counts 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 FP FORCE POSITION The FP command will flush the command queue and attempt to stop at the specified position MM MOVE MINUS The MM command sets the direction logic to move in the negative direction MP MOVE POSITIVE The MP command sets the direction logic to move in the positive direction MV MOVE VELOCITY The MV command causes the motor to run to the new absolute position at the specified velocity A velocity staircase may be generated by queuing a sequence of MV commands SP STOP AT POSITION The SP command will cause the axis to stop at the specified position MACRO CONTROL COMMANDS MD MACRO DEFINITION The MD command allows the user to combine several SRX commands into one of 20 macros MX MACRO EXECUTE The MS command allows the user to execute a specified macro PRO DEX INC OREGON MICRO SYSTEMS INC PROGRAMMING EXAMPLES In a typical move requirement where it is desired to home the stage then move to a specified position the following will demonstrate the programming Initialize the velocity and acceleration parameters to a low value suitable for homing Set a PID filter proportional gain of 2 and a derivative gain of 6 Perform the home opera
9. LIP TOLERANCE KILL OFF The TF command disables the TN command TN SLIP TOLERANCE KILL ON The TN command enables additional action taken by the encoder slip tolerance system when the position error exceeds that specified by the ES command When this mode is on the controller will flush the command queue terminate the motion set the slip flag and disable position maintenance for that particular axis RL 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 following command controls the tracking mode of the controls ET ENCODER TRACKING The ET command turns on tracking mode The axis will track its encoder input allowing one axis to be manually positioned by any device that produces a signal compatible to the encoder inputs Beaverton Oregon The following commands control the home sequence when used with an encoder EA ENCODER STATUS The EA command returns the encoder status of the currently addressed axis HE HOME ENCODER The HE command enables the encoder index mode i e home is defined as the logical AND of the encoder index the external home enable and the encoder quadrant HS HOME SWITCH The HS command enables non encoder switch only home mode The following commands return status information about the encoder to the host RE REQUEST ENCODER POSITION The RE command returns the current encoder
10. M I O Breakout board for standard or expansion PC78 motion control boards CBL68 10 10 ft cable w mating connector 68 pin I068 PC78 CDSWSUPP Pea and drivers for Windows NT 95 98 2000 and Electronic Manual 1 per shipment provided unless CDMAN otherwise requested 3701 1400000 Revision A Beaverton Oregon Actual Size Depiction below 0 125 Diameter Typical 300 FACTORY lt USE ONLY 0 125 Diameter Typical 0 200 PRO DEX INC OREGON MICRO SYSTEMS INC Beaverton Oregon
11. Oregon Micro Systems PC78 Intelligent Motion Controller for PC 104 or RS 232 FEATURES Controller capabilities Four axes of stepper control with encoder feedback or servo Encoder feedback to 12MHz Communications PC 104 bus Stand alone with RS 232 port Interrupt or polling communication 4T O registers for control amp status Sophisticated Control Functionality 16 bit DAC analog resolution Independent and coordinated motion of all axes at the same time Slip amp Stall detection with encoder feedback Crystal controlled step pulse from 0 to 1 044 000 steps per second Circular interpolation Constant velocity linear interpolation all axes Electronic gearing 32 bit Processor for Extensive Co Processing Does not burden the host with overhead Custom parabolic cosine linear trajectory profiles Patented technology to minimize torque ripple and velocity modulation Internal watchdog timer for safety Control signals Single high density shielded SCSI3 connector Up to 12 user I O Motion Control Output is 10V or 0 10V Servo or Step amp Direction Dedicated home and plus minus over travel inputs for each axis OMS EZ Software programming High level programming expertise not required Over 150 commands universal to all Pro Dex Inc controllers Commands are ASCII characters Capable of conversion to user defined units i e inches revolutions Software for WIN95 98 NT 200 and XP
12. TY The CV command allows the specification of the contouring velocity Cx CONTOUR EXECUTE The CX command causes the PC78 controller to execute the previously defined contour sequence MT MOVE TO The MT command causes the axes defined by the CD command to move to the specified absolute position using linear interpolation at constant velocity RQ REQUEST QUEUE STATUS The RQ command returns the number of entries available in the contouring queue PID FILTER CONTROL COMMANDS The following commands set the PID filter parameters KA ACCELERATION FEEDFORWARD COEFFICIENT The KA command sets the acceleration feedforward coefficient on servo axes KD DIFFERENTIAL GAIN COEFFICIENT The KD command sets the differential gain coefficient on servo axes KI INTEGRAL GAIN COEFFICIENT The KI command sets the integral gain coefficient on servo axes KO OFFSET COEFFICIENT The KO command sets a DC offset to compensate for torque offset in the load KP PROPORTIONAL GAIN COEFFICIENT The KP command sets the proportional gain coefficient on servo axes KV VELOCITY FEEDFORWARD COEFFICIENT The KV command sets the velocity feedforward coefficient on servo axes ENCODER COMMANDS The following are encoder support commands for use with the PC78 The following are position maintenance control commands ER ENCODER RATIO The ER command allows specification of encoder ratio by entering encoder counts followed by motor counts for
13. command sets the servo analog torque outputs to bipolar CN COSINE ON The CN command enables cosine velocity ramps i e half sinusoid acceleration profiles for all axes EN ECHO ON The EN command enables echoing from the PC78 EF ECHO OFF The EF command disables echoing from the PC78 HH HOME HIGH The HH command sets the sense of the home switch on the current axis to active high HL HOME LOW The HL command sets the sense of the home switch on the current axis to active low 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 LH LIMIT HIGH The LH command sets the logic sense of the overtravel limit inputs to active high Beaverton Oregon LL LIMIT LOW The LL command sets the logic sense of the overtravel limit inputs to active low LN LIMITS ON The LN command restores the operation of the limit switches for the addressed axis PF PARABOLIC OFF The PF command restores linear acceleration and deceleration ramps PN PARABOLIC ON The PN command enables parabolic ramps The parameter selects the point of truncation SB SET BAUD The SB command sets the baud rate to the parameter supplied SF SOFT LIMIT OFF The SF command restores the normal operation of the limit switches SL SOFT LIMIT The SL command changes the operation of the limit inputs causing the output pulse train to ramp down ins
14. er and the encoder position register with the resulting remainder This command is useful in continuously rotating axis applications VB VELOCITY BASE The VB command allows the velocity ramp to start at the specified velocity This allows faster acceleration and the ability to pass through resonance quickly in some applications VL VELOCITY The VL command sets the maximum velocity value of the axis being programmed The value is used to establish the maximum velocity when one of the move execution commands is invoked MOVE EXECUTION COMMANDS These commands allow execution of the moves which have been previously specified GD GO AND RESET DONE FLAG The GD command resets the done flags on the active axes then proceeds with the move identical to the GO command GO GO The GO command will initiate the move which has been previously programmed with such commands as MA MR MT and ML FL FLUSH QUEUE The FL command will immediately flush the command queue If the stage is moving it continues to move at the current velocity JF JOG FRACTIONAL VELOCITIES The JF command will jog the current axis at fractional rates for applications requiring very slow velocities JG JOG The JG command is a velocity command and will jog the axis at the velocity supplied as a parameter The velocity may be changed without stopping by entering another JG command MOVE TERMINATION COMMANDS The following commands allow termination of move sequenc
15. es in process KL KILL The KL command will flush the command queue and terminate pulse generation of all axes immediately SA STOP ALL The SA command flushes all queues and causes all axes to decelerate to a stop at the rate previously specified in an AC command SD STOP AND RESET DONE The SD command will stop all axes and clear any done flags ST STOP The ST command flushes the queue for the currently addressed axis only and causes the axis to decelerate to a stop at the rate previously specified in an AC command Beaverton Oregon 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 LE LOOP END The LE command terminates the most recent LS command LS LOOP START The LS command sets the loop counter for the axis being programmed The parameter specifies the number of times the loop will be executed Loops may be nested up to 4 levels deep The following commands can be used to synchronize multiple PC78 boards or synchronize them to external events CW CLEAR WHILE The CW command terminates the WH command sequence upon execution of the next WG instruction This loop is always executed at least once WD WHILE END The WD command serves as the loop terminator for the WS command WG WHILE FLAG END The WG command serves as the terminator for the WH command WH WHILE The WH command will execute all commands until the
16. fault units UU USER UNITS The UU command converts all move velocities distances etc to user specified units by multiplying by the parameter given in this command USER I O COMMANDS The following commands allow manipulation and testing of the user definable I O AF AUXILIARY OFF The AF command sets the auxiliary output to the low level The open collector driver is on causing the line to be near ground It may be used to change power level on driver modules so equipped or as a user specified output PRO DEX INC OREGON MICRO SYSTEMS INC AN AUXILIARY ON The AN command sets the auxiliary output to the high level The open collector driver is off allowing the output to be pulled high by a pull up resistor It may be used to change power level on driver modules so equipped or as a user specified output BH BIT HIGH The BH command sets the selected general purpose output off i e logic high BL BIT LOW The BL command sets the selected general purpose output on i e logic low BX REPORT I O BIT STATE The BX command returns the state of the general purpose I O bits in hex format PA POWER AUTOMATIC The PA command will perform an AN command at the beginning of each move and an AF command after the move See AN and AF commands SE 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 RB REPORT I O BIT DIRECTION
17. ffected QI QUERY INTERRUPT STATUS The QI command returns the status of all axes like the RI command except the status register and flags are not affected Beaverton Oregon RA REPORT AXIS INTERRUPT 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 done flag is reset RC REPORT ACCELERATION The RC command will return the current programmed acceleration or deceleration of the current axis RP REPORT POSITION The RP command requests the current position RI REPORT INTERRUPT STATUS The RI command returns the state of the limit and home switches and the done and direction flags for all axes The done flags are reset RQ REPORT QUEUE STATUS The RQ command returns the number of entries available in the command queue RU REPORT POSITION IN USER UNITS The RU command returns the current position in user units RV REPORT VELOCITY The RV command will return the current velocity at which the axis is moving WY WHO ARE YOU The WY command returns the model and firmware revision of the board or system being addressed USER UNIT COMMANDS The following commands allow specification of move parameters in user defined units The Pro Dex Inc controls will automatically convert all move parameters to these units once they have been initialized UF USER UNITS OFF The UF command turns off user units and causes the PC78 board to use its de
18. n positioned and the contour definition executed The following would be input from the host computer CV1000 CD 0 0 ANO CRO 5000 3 1415926 CRO 0 6 283 1853 AFO MT 10 10000 CE MT 1000 0 GO CX SPECIFICATIONS Velocity 0 to 1 044 000 counts per second simultaneous on each axis Acceleration 0 to 8 000 000 counts per second per second Position range 67 000 000 counts 33 500 000 Accuracy Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 for step pulse output Environmental Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing Power SVDC at 1 amp typical Dimensions 3 550x3 775x0 5 inches high Communication PC 104 Meets all signal specifications for PC 104 ISA bus specifications IEEE P996 1 RS 232 Baud rates of 300 to 38 4K 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 command input for each axis 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 by command input for each axis PRO DEX INC OREGON MICRO SYSTEMS INC User definable I O 12 bits of user definable I O 8 bits a
19. re user configurable as inputs or outputs One auxiliary output per axis and are fixed as outputs Factory default is 4 inputs 4 outputs and 1 auxiliary per axis For PC78 models with more than 4 axes up to twice this number of I O in the same as described above TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal The auxiliary outputs are TTL open collector outputs 7406 max 48mA The other outputs are TTL totem pole outputs 74LS243 max 24mA Step pulse output Pulse width 50 duty cycle Open collector TTL level signal 7406 max 48mA Direction output Open collector TTL level signal 7406 max 48mA Encoder Feedback Maximum 12 MHz after 4x quadrature detection Differential TTL level signal MC26G32 max 150mA PC 104 interrupt Interrupts are user selectable 2 through 7 The factory default is level 5 PC 104 bus I O address The I O address block utilizes 4 consecutive addresses and is user selectable The factory default is 300 303 hex Beaverton Oregon SIGNAL CONNECTOR J5 POWER SUPPLY CONNECTOR J3 A Description Pin Description Description Pin Pin Description Digital Ground 35 5VDC SVDC Digital Ground I O 1 36 1 0 0 12VDC N C I O 3 37 I O 2 12VDC Analog Ground I O 5 38 I O 4 I O 7 39 I O 6 Digital Ground
20. tead of terminating immediately The output queue is not flushed except for the current move UN UNIPOLAR The UN command sets the servo analog torque outputs to unipolar MOVE SPECIFICATION COMMANDS These commands allow specification of move parameters They allow move parameters to be tailored to the user s system requirements AC ACCELERATION The AC command sets the acceleration deceleration value This value is used to establish the rate of acceleration and deceleration when a move command is invoked LP LOAD POSITION The LP command will immediately load the position supplied as a parameter into the absolute position register of the axis MA MOVE ABSOLUTE The MA command will set up the axis to move to the absolute position supplied as a parameter ML MOVE LINEAR The ML command uses linear interpolation to perform a straight line relative move to the new location Up to eight axes may be moved together in the AA or AM modes MR MOVE RELATIVE The MR command will set up the axis to move relative from the current position at the time the move is executed MT MOVE TO The MT command uses linear interpolation to perform a straight line move to the specified absolute position Up to eight axes may be moved together in the AA or AM modes PRO DEX INC OREGON MICRO SYSTEMS INC RM REMAINDER MODULO The RM command will divide the position counter by the parameter supplied and replace both the position count
21. terminating WG command as a loop until terminated by a CW command This allows indefinite loops to be terminated by the host computer WS WHILE SYNC TRUE The WS command will execute the commands between the WS and WD commands as a loop while the general purpose input line is true i e low The test is at the bottom of the loop and thus will always be executed at least once HOME AND INITIALIZATION CONTROL COMMANDS These commands allow the coordination of the physical stage home position with the PC78 position register HM HOME The HM command will find home and initialize the position counter to the position supplied as a parameter HR HOME REVERSE The HR command will find home in the reverse direction and initialize the position counter to the position supplied as a parameter 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 affected PRO DEX INC OREGON MICRO SYSTEMS INC 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 MOVE SYNCHRONIZATION COMMANDS These commands allow the synchronization of moves with external events or multiple axis sequences CA CLEAR AXIS DONE FLAG The CA command operates like the IC command except it clears the done flag of the addressed
22. tion initializing the position counter to zero Initialize the velocity and acceleration parameters to perform a faster motion and move to an absolute position of 10 000 counts from home in the positive direction and set the done flag when finished The following would be input from the host computer AX VL1000 AC10000 KP2 KD6 HN HMO VL5000 AC50000 MA10000 GO ID In a move requiring a three axis coordinated move to a position in free space the following could be used AX KP2 KD6 HN AY KP2 KD6 HN AZ KP2 KD6 HN AM VL5000 5000 5000 AC50000 50000 50000 MT1000 2000 3000 GO ID The controller would calculate the relative velocities required to perform a straight line move from the current position to the desired position 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 counts per second A contour is defined beginning at coordinates 0 0 on the Z and T axes Auxiliary output on the X 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 hole Beaverton Oregon The hole is then cut the torch turned off the stage stopped and the contour definition completed The stage is the
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