manual - Mesa Electronics
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1. Euer C3 qm a IHESA RI R2 ul c4 R4 lt S 2 CRI R6 Je n R7 RB CR2 RII w CC Ua 25 R12 i R14 R17 RiB Jus R20 E R21 ep uM en amp R23 3 c 2 R24 06 C16 U7 2 ei alle IU 4 S ug C13 R31 Un 20 R33 R34 8370 EE R4 3 1 R43U13 z 012 A R45 3 R47b allus 3 UM R56 06 R57 pee WI W2 W3 P1 R60 z sf Wiz e 2 Ut Lo wok ART REV C Page 7 4127 USER S MANUAL HARDWARE CONFIGURATION LM628 CLOCK The LM628 motor controller chip on the 4127A normally uses a 8 MHz clock This clock can be set to 4 MHz if desired The maximum quadrature input rate will be reduced to 500 Khz when the 4 MHz clock option is selected Moving W4 to the LEFT position sets the LM628 clock to 8Mhz Setting W4 to the RIGHT position sets the LM628 clock to 4 MHz DEFAULT MOTOR ENABLE POLARITY The motor enable bits on port A of the parallel port can be set to be pulled up or pulled down on powerup and system reset These bits can then be used to disable an external servo amplifier at startup to prevent unwanted motor motion The parallel port reverts to an input state when reset so the status of these pins is determined entirely by the pull up or pull down resistors Setting W5 to the UP position connects the resistors to VCC so that these signals will be high at system reset This is the default connection Setting W5 in the DOWN position will pull the mot2. 4127A MOTOR CONTROLLER ANALOG VERSION 1 2 Copyright 1997 by MESA ELECTRONICS Richmond CA Printed in the United States of America All rights reserved This document and the data disclosed herein is not to be reproduced used disclosed in whole or in part to anyone without the written permission of MESA ELECTRONICS Mesa Electronics 4175 Lakeside Drive Suite 100 Richmond CA 94806 1950 Tel 510 223 9272 Fax 510 223 9585 E Mail tech mesanet com Website www mesanet com 4127 USER S MANUAL 4127 USER S MANUAL TABLE OF CONTENTS WARNINGS Servo AZ ARGS kesk ua kalla Handling precaulOns 4o bd be Doer p P mee obese Pe ate eed INTRODUCTION Generalis e condotti dcs che ae te olea HARDWARE CONFIGURATION General korrad ecu ideada Default configuration Rr err ka RES POCAS E AA e Boxed edu E aaa es Default motor enable polarity Rer ru Ima vu INTERFACE CONNECTOR Generales dr ooo dea e Le e UD UU RN E VOconnectororientation v vsveeeeeeeeeee eee RS 422 interface connectorpinout evereeeeeeeveneenee INSTALLATION General md a de TS OPERATION ROITMAN AA ParallelipOrtuci ii ba Parallel port Parallel port operation us eter veles IRE dE Intertupt selPCba uus qus Deo ordres sim edu Interrupt modes cari id Int ttu
3. B have predefined functions while port C is available for general purpose use Port C has the feature of being splitable into two 4 bit ports to allow both input and output bits on the same port Port is used as an output port It controls the MOTOROENA and MOTORIENA bits the ISEL bits which determine the IRQ line driven by the 4I27A and the IMODE bits which control the interrupt driver enable and mode Jumper W5 determines whether MOTOROENA and MOTORIENA have pullups or pulldowns Before setting port A to output mode Port A can be read to determine the desired off state ofthese pins as determined by W5 Port B is used as an input port The MOTOROSENSE MOTORISENSE MOTOROTEMP MOTORITEMP MOTOROIDX INTO and INT1 bits are read here The Pascal source code in the 4127LOW PAS has examples of setting up and using the predefined parallel onthe 4I27A INTERRUPT SELECT When the 4127A card uses interrupts the specific IRQ line driven by the 4127A is determined by the ISEL bits of the 82C55 s port A The four ISEL bits form a binary code that corresponds directly with the IRQ line selected Since there are other bits on the 82C55 s port A you should always change the ISEL bits by reading the port modifying the desired bits and then rewriting the port The Pascal source code in the file 4127LOW PAS has examples of setting the IRQ line INTERRUPT MODE The two IMODE bits on the 82C55 s port A determine the 4
4. I27A s interrupt mode The bits function as follows IMODE1 IMODEO FUNCTION 0 0 Interrupt driver disabled 0 1 Normal interrupt mode 1 0 Shared interrupt mode 1 1 Shared interrupt mode pull down The shared interrupt mode uses an active pullup passive pulldown driver to allow the sharing logical or ing of interrupts between cards The interrupt can only be shared with other cards that support this mode of shared interrupts Page 13 4127 USER S MANUAL OPERATION INTERRUPT OPERATION The LM628 interrupt outputs are logically ORed by the 4127A card This means that an interrupt output from either ofthe LM628 s will can cause a system interrupt 4127 s with revision C or greater PC cards can read the interrupt status of both LM628s though port B ofthe parallel interface This can be used by the interrupt service routine to quickly determine which channel caused the interrupt The bus interrupt line is driven by a tri state buffer controlled by the IMODE bits The IMODE bits will be in a low state until the 82C55 is programmed If interrupts are not used the IMODE bits should be low CONNECTING MOTORS After the 4127A has been configured and installed in the system it should be checked for correct operation The supplied programs 4I27READ and 4127TUNE can be used as a quick check of 4127A functionality The first step is to connect the 4127A to the quadrature encoder s and then use 4I27READ to check for functi
5. Y motions with them 4I27POS2 will bail out ifboth motors are not present 4I27VELO and 4I27POS may need to have their default filter parameters and other constants changed to match your motors and card location before being run 4I27TUNE is a manual parameter tuning program that allows you to optimize filter parameters while the selected motor is in operation 4I27TUNE requires an EGA VGA or Hercules compatible video adaptor card for operation All of the demonstration programs are written in Turbo Pascal The source code for the demonstration programs is provided in the source directory ofthe 4127A distribution disk Page 16 4127 USER S MANUAL REFERENCE INFORMATION SPECIFICATIONS POWER SUPPLY Voltage Supply current BUS LOADING Input capacitance Input leakage current Output drive capability Output sink current PORT LOADING Input logic low Input logic high Output low Output high ANALOG OUT Output voltage ENVIRONMENTAL Operating temperature range I version C version Relative humidity 3 2 0 3 0 10 Page 17 5 5 125 10 85 70 90 UNIT NOTES v mA no ext load pF uA pF mA 2 5 mA sink 2 5 mA source lt lt lt V 5K Ohm load Non condensing 4127 USER S MANUAL REFERENCE INFORMATION WARRANTY Mesa Electronics warrants the products it manufactures to be free effects in material and workmanship under normal use and service f
6. ault setting PORT ADDRESS The 4I27A occupies 16 contiguous locations in I O space The base address ofthe 4127A card can be any of eight different locations These locations are selected with shorting jumpers placed on jumper blocks W1 W2 and W3 The following table shows the I O base addresses selected by these jumpers ADDRESS 0200H 0210H 0220H 0230H 0240H 0250H 0260H 0270H wl DOWN DOWN DOWN DOWN UP UP UP UP W2 DOWN DOWN UP UP DOWN DOWN UP UP Page 6 W3 DOWN UP DOWN UP DOWN DOWN UP 4127 USER S MANUAL HARDWARE CONFIGURATION PORT ADDRESS CLOCK AND MOTOR ENABLE JUMPERS
7. et through 1 megohm resistor to ground E Avoid wearing synthetic fabrics particularly Nylon Page 4 4127 USER S MANUAL INTRODUCTION GENERAL The 4127A is a low cost LM628 based 2 axis DC servo motor control system implemented on a stackable PC 104 bus card The 4127A is designed for high performance positioning systems using DC servo motors with quadrature shaft encoders The per axis output of the 4127A is a 10 volt signal that can drive analog input type servo amplifiers directly The 4127A quadrature encoder and index inputs are RS 422 This is desireable where long encoder cables are required Control signals for each axis include 3 auxiliary I O bits These I O bits may be used for over temperature shutdown detect and servo amplifier enable Eight general purpose I O bits are available for any application use The LM628 s used on the 4127A are high performance digital processors specifically designed for motion control The LM628 can execute a ramp up slew and ramp down motion sequence without host processor intervention Host interrupts can be generated at end of motion position breakpoints index pulse or in response to various error conditions Interrupts are or ed on the 4127A card so that only one system interrupt is used The IRQ line used can be software selected from any of the 11 available AT bus interrupts A digital PID filter is usedto set loop feedback parameters for stability and optimum perfo
8. ferential pair the B quadrature encoder input for motor 0 All RS 422 inputs on the 4I27A areterminated at the 4I27A card with 136 Ohmresistors Page 9 4127 USER S MANUAL INSTALLATION GENERAL When the 4127A has been properly configured for its application it can be inserted into a PC 104 stack The standoffs should then be tightened to secure the 4127A in its place When the 4127A is secured in the stack the connector can be plugged in from the side Page 10 4127 USER S MANUAL OPERATION REGISTER MAP The 4127A occupies 16 contiguous I O port locations starting at the user selected base address BASE 00H 82C55 Port A must be output BASE 01H 82C55 Port B must be input 02H 82C55 Port C user defined BASE 03H 82C55 Control port BASE 04H Motor 0 Command Status port BASE 05H Motor 0 Data port BASE 06H Motor 0 Command Status port duplicate BASE 07H Motor 0 Data port duplicate BASE 08H Motor 1 Command Status port BASE 09H Motor 1 Data port BASE 0AH Motor 1 Command Status port duplicate BASE 0BH Motor 1 Data port duplicate BASE 0CH Motor 0 and Motor 1 Command Status port BASE 0DH Motor 0 and Motor 1 Data port BASE 0 Motor 0 and Motor 1 Command Status port duplicate BASE 0FH Motor 0 and Motor 1 Data port duplicate PARALLEL PORT A 82C55 parallel port is supplied to control various bits for motor control and to provide an 8 bit general purpose input o
9. onality and proper count direction to match the coordinates of your positioning system The program 4I27READ simply prints both motor positions relative to their position at program initialization continuously until a key is pressed Ifthe count direction is reversed switch the encoder A and B outputs to the 4127A When RS 422 interface encoders are used make sure not to mix A and B outputs For the next step It is suggested that the motor drive leads be left disconnected and 4I27TUNE be run When 4I27TUNE is run it will check for the presence of the 4127A and enable motor 0 Motor 0 will be configured for position mode with the home position being set to wherever motor 0 happens to be during program initialization The analog outputs of the 4127A can then be monitored while the motor is manually rocked back and forth from its original position Ifthe 4127A is operating correctly the analog outputs should vary with encoder shaft position The motor s should be connected such that the motor drive would tend to oppose the hand generated motor motion Page 14 4127 USER S MANUAL OPERATION SERVO SYSTEM TUNING A simple manual tuning program 4127TUNE is supplied with the 4127A This program allows you to manually adjust the digital filter parameters while the selected motor is in operation In addition 4I27TUNE can record the step response of the servo system with the current set of filter parameters 427TUNE uses the curso
10. or enable bits down at system reset Note that these are 3 3K resistors and will only drive a CMOS input until the parallel port is programmed to output mode Page 8 4127 USER S MANUAL INTERFACE CONNECTOR GENERAL The I O interface connector on the 4127A is a 50 pin header The suggested mating connector is AMP PN 1 746285 0 The 4127A uses RS 422 encoder inputs I O CONNECTOR ORIENTATION The 50 pin connector on the 4127A has the pin one end marked with a white square on the circuit card This corresponds with the red stripe on typical flat cable assemblies If more positive polarization is desired center polarized IDC header connectors should be used These connectors will not fully mate with the pins on the 4127A if installed backwards A suggested center polarized 50 pin IDC header is AMP PN 1 746285 0 INTERFACE CONNECTOR PINOUT PIN SIGNAL PIN SIGNAL 1 MOTORIOB 2 MOTORI OB 3 MOTORIQA 4 MOTORI QA 5 MOTOROQB 6 MOTORO QB 7 MOTOROQA 8 MOTORO QA 9 MOTORI IDX 10 MOTORI IDX 11 MOTOROIDX 12 MOTORO IDX 13 MOTORIAOUT 15 MOTOROAOUT 17 NC 19 NC 21 MOTORIENA 23 MOTOROENA 25 MOTORISENSEI 24 MOTOROSENSEI 29 MOTORISENSEO 31 MOTOROSENSEO 33 BIT7 35 BIT 6 37 BITS 39 BIT4 41 BIT3 43 BIT2 45 BIT 1 47 BITO 49 5 volt power Even numbered pins 14 through 50 are grounded RS 422 differential pairs are on odd and even successive pins for example MOTOROQB and MOTORO QB pins 5 and 6 respectively comprise a RS 422 dif
11. or the period of 2 years from date of purchase This warranty shall not apply to products which have been subject to misuse neglect accident or abnormal conditions ofoperation In the event of failure of a product covered by this warranty Mesa Electronics will repair any product returned to Mesa Electronics within 2 years of original purchase provided the warrantor s examination discloses to its satisfaction that the product was defective The warrantor may at its option replace the product in lieu ofrepair With regard to any product returned within 2 years of purchase said repairs or replacement will be made without charge If the failure has been caused by misuse neglect accident or abnormal conditions of operation repairs will be billed at a nominal cost IUE UE mi THE FOREGOING WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES EXPRESS IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTY OF MERCHANTABILITY FITNESS OR ADEQUACY FOR ANY PARTICULAR PURPOSE OR USE MESA ELECTRONICS SHALL NOT BE LIABLE FOR ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER IN CONTRACT TORT OR OTHERWISE If any failure occurs the following steps should be taken 1 Notify Mesa Electronics giving full details of the difficulty On receipt of this information service data or shipping instructions will be forwarded to you 2 On receipt of the shipping instructions forward the product in its original protec
12. pt operatiOIL 4 1254 or alaalia CONNECTING MOTOS na ServOSystem TUNING aa ii naue e roba hee ees Demonstration programs sus ie E E ue Es REFERENCE INFORMATION Specifications e E eddie te Ue es EUER Scheinatie wine 4127 USER S MANUAL WARNINGS SERVO WARNING Large servo motors are capable of inflicting serious injury both to people and to mechanisms associated with the servo system In addition some motors use potentially lethal supply voltages When a servo control system is first configured unpredictable behavior should be EXPECTED First time checks of basic servo operation such as motor position versus drive should be checked with the motor power leads disconnected Never depend on software commands to the 4127A to disable the motor when you or others would be exposed to a hazard should the motor start unexpectedly Motor power should always be removed when working on mechanical parts of the servo system STATIC ELECTRICITY The CMOS integrated circuits on the 4127A can be damaged by exposure to electrostatic discharges The following precautions should be taken when handling the 4127A to prevent possible damage A Leave the 4127A in its antistatic bag until needed B All work should be performed at an antistatic workstation C Ground equipment into which 4127A will be installed D Ground handling personnel with conductive bracel
13. r keys to select the desired parameter and adjust that parameter The selectable parameters are as follows PARAMETER DESC RANGE UNITS KP gain Oto 32767 drive err KD damping Oto 32767 drive err n error n 1 KI integral 0 to 32767 drive accum error IL integral limit 0 to 32767 KI contribution limit SI sample interval 0to255 SP SI 1 STEP SIZE motor step 100 to 10000 encoder counts VELOCITY velocity Oto 1073741823 encoder counts SP ACCELERATION acceleration Oto 1073741823 encoder counts SP SP MOTOR selects motor 0 and 1 TIME DIV selects graph 10to200 milliseconds division SP SAMPLING PERIOD 256 uSec 14 SI with 8 MHz clock The following table shows the 4I27TUNE key functions KEY FUNCTION UP ARROW select parameter DOWN ARROW select parameter RIGHT ARROW adjust parameter up fast 10 LEFT ARROW adjust parameter down fast 10 PAGEDOWN adjust parameter up slow 1 END adjust parameter down slow 1 PAGEUP draw horizontal timing scale INSERT do step and record response DELETE clear graph CTRLHOME reset parameters to initial values current motor only ALTX exit program Page 15 4127 USER S MANUAL OPERATION DEMONSTRATION PROGRAMS 4127VELO sets motor 0 and motor 1 into the velocity mode and allows you to set their speeds in RPM 4127POS1 sets motor 0 to position mode and does some ramp up ramp down motions 4127POS2 sets motor 0 and 1 to position mode and does set of coordinated X
14. r output port The motor control bits can be used for any purpose The motor control bits are active low and have pullup resistors so that they are inactive on power up All bits not mentioned are not used and should be set high Page 11 4127 USER S MANUAL OPERATION PARALLEL PORT BITS 82C55PORT BIT PIN FUNCTION A 0 23 Motor 0 enable general purpose bit A 1 21 Motor 1 enable general purpose bit A 2 N A ISELO A 3 N A ISEL1 A 4 N A ISEL2 A 5 N A ISEL3 A 6 N A IMODEO A 7 N A IMODE1 B 0 31 Motor 0 sense general purpose bit B 1 27 Motor 0 overtemp general purpose bit B 2 29 Motor 1 sense general purpose bit B 3 25 Motor 1 overtemp general purpose bit B 4 11 Motor 0 index also connected to LM628 B 5 9 Motor 1 index also connected to LM628 B 6 N A Motor 0 INT status Rev Cor cards only B 7 N A Motor 1 INT status Rev C or gt cards only C 0 47 Bit 0 general purpose bit C 1 45 Bit 1 general purpose bit C 2 43 Bit 2 general purpose bit C 3 41 Bit 3 general purpose bit 4 39 Bit 4 general purpose bit C 5 37 Bit 5 general purpose bit C 6 35 Bit 6 general purpose bit C 7 33 Bit 7 general purpose bit Page 12 4127 USER S MANUAL OPERATION PARALLEL PORT OPERATION The parallel ports on the 4I27A use a standard 82C55 PIA The user accessible I O lines have 3 3K pullup resistors to simplify interfacing to contact closure opto detector or open collector outputs Ports A and
15. rmance Velocity target position and filter parameters may be changed during motion The clock speed of the LM623 s can be lowered to accommodate large motors that require longer time constants Demonstration software includes examples of 2 axis position mode operation velocity mode operation and a simple filter tuning program that allows dynamic filter coefficient modification while providing a graphic display of the servo system step response Source code is provided for all demonstration software A PWM output version ofthe 4127 15 available as the 4127 Page 5 4127 USER S MANUAL HARDWARE CONFIGURATION GENERAL The 4127A has only three hardware configurable options the I O port address the LM628 clock speed and the startup motor enable bit states The options are selected with shorting jumpers placed on three pin headers In the following discussions when the words up down right and left are used it is assumed that the 4127A card is oriented with its bus connectors J1 and J2 at the bottom edge ofthe card nearest the person doing the configuration DEFAULT CONFIGURATION The 4127A card is configured in the following manner when shipped from the factory FUNCTION PORT ADDRESS LM628 CLOCK MOTOR ENABLES DEFAULT 0200H 8MHZ PULLED UP JUMPERS W1 W2 W3 WA WS POSITION DOWN DOWN DOWN LEFT UP Demonstration programs shipped with the 4127A depend on the port address being left at the def
16. tive packaging transportation prepaid to Mesa Electronics Repairs will be made at Mesa Electronics and the product returned transportation prepaid Page 18 4127 USER S MANUAL REFERENCE INFORMATION SCHEMATICS Page 19 4127 USER S MANUAL Page 20 4127 USER S MANUAL Page 21 4127 USER S MANUAL Page 22 4127 USER S MANUAL Page 23 4127 USER S MANUAL Page 24
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