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1. us alalle leE calls 1 wo u WA Re 9 au us lead au on Wa i 5 Kju fad fd u ku 04 i i J2 le L Ep w pp uo kadha Ja Jasi N PL PI z afs u p2 2 m u us eaea Gy c B Bebe lt ug ule ure u21 Ea Ears IA Ia AcQuisition Technology bv P O Box 627 5340 AP Page 52 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 7 3 TECHNICAL DATA Slots on the base board Requires one 16 bit M module slot Connection To base board via 40 pole M module interface To peripheral via 25 pole D sub connector Power supply 5VDC 10 typical 250mA Temperature range Operating 0 60 C Storage 20 70 C Humidity Class F non condensing EMC rules Emission EN55022 Level B Immunity EN50082 2 Provided that for cabling shielded multi cable is used with metal DSUB 25 connector caps The shield must be coaxial terminated to the metal cap 7 4
2. GND PWRCD D ed E A m SENSEC GND m SENSED OUTIC OUT2C MOTOR R OUTID OUT2D Figure 10 Connecting two 2 phase stepper motors Although the M321 features bipolar driving circuitry it is possible to connect unipolar stepper motors Therefore the winding pairs of the unipolar motor must be connected to one power stage either in parallel or in serial Parallel connection is recommended because constant current driving mode requires a low winding resistance For details on driving a unipolar stepper motor with the bipolar driving circuit of the M321 refer to the product documentation of the connected stepper motor AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 17 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 4 5 2 4 PHASE STEPPER MOTOR In this mode jumper J3 must be closed The figure below shows how a 4 phase bipolar stepper motor is driven by the M321 OUTIA SENSEA OUT2A SENSEB OUTIB Poe E PWRAB SEE CQ 12 55 V M321 GND e PWRCD 4 phase Stepper Motor SENSEC SENSED OUTIC OUT2C OUTID OUT2D Figure 11 Connecting a 4 phase stepper motor Depending on the stepper motor it is possible to connect
3. Acceleration Regular Speed Deceleration Figure 13 Trapezoidal Motion Profile On the fly changing of the end point position is allowed with this command When the new position is in the current direction the end point is changed the other profile parameters are discarded and remain as they were If the new position is in the reverse direction the current motion is aborted and a new motion profile in the reverse direction is started The length of the acceleration trajectory is limited to 5000 pulses and is internally calculated using the following formula fs A f 2 miza S length of acceleration trajectory in pls a acceleration in Hz s f rise up frequency in Hz f drive frequency in Hz If the requested motion parameters result in an acceleration trajectory longer then 5000 pulses the code PROFERR is returned AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 29 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 EXAMPLE A motion profile of 200 steps rise up frequency of 100 Hz and a drive frequency of 1000 Hz The acceleration should be 100 kHz sec The motion profile would look like this profile gt rise_freq 100 profile gt drive_freq 1000 profile gt acceleration 100000 profile gt position 200 The parameter field of the command structure would look like this cmd gt p 0 0x0064 rise up
4. Leave the board only on surfaces with controlled static characteristics i e specially designed anti static table covers If handling the board over to another person first touch this persons hand wrist etc to discharge any static potential IMPORTANT Never put the hardware on top of the conductive plastic bag in which the hardware is shipped The external surface of this bag is highly conductive and may cause rapid static discharge causing damage The internal surface of the bag is isolating Inspect the hardware to verify that no mechanical damage appears to have occurred Please report any discrepancies or damage to your distributor or to AcQuisition Technology immediately and do not install the hardware 3 2 BOOT ROM The M321 features a 32 pin JEDEC socket that can fit a FLASH EPROM containing the firmware The use of Flash EPROM s type AM29F010 from AMD is recommended The MC68332 CPU boots from either dual ported RAM or local ROM When booting from ROM the local CPU will start running after a system reset When booting from RAM firmware must be downloaded and started by the host The boot method is configurable with jumper J2 for details please refer to section 3 3 1 and 4 3 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 7 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 3 3 JUMPER SETTINGS In the following paragraphs the
5. Signal Name External power for phase A and B Output 1 phase A Output 2 phase A Current sense output A Output 1 phase B Output 2 phase B Current sense output B Home sensor input A anode of opto coupler input Home sensor input A cathode of opto couple input External power for phase C and D Output 1 phase C Output 2 phase C Current sense output C Output 1 phase D Output 2 phase D Current sense output D Home sensor input B anode of opto coupler input Home sensor input B cathode of opto coupler input 7 16 18 21 23 Power ground The picture below shows the connector lay out 25 pole D sub PWRAB 1 gt OUT1A 2 e 14 PWRAB OUT2A 3 19 SENSEA OUTiB 4 16 GND ouT2B 5 e E SENSER e GND i 6 19 HOMEA HOMEB 8 e a GND OUTIC 9 gt SENSEC OUT2C 10 e GND OUT1D 11 ja SENSED OUT2D 12 s21 PWRCD 13 0 e 25 PWRCD Figure 6 M321 Connector Layout AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 9 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 For cabling shielded multi cable must be used with metal DSUB 25 connector shells The shield must be coaxial terminated to the metal shell For details on connecting stepper motors and home sensors refer to chapter 4 5 and 4 6 The figure below shows the position of TRIGA and TRIGB on the M module connector P1 p TRIGB 0000000000000000 0000
6. A table of available commands you can find in chapter 5 2 M321_HANDLE handle Pointer to m321 handle UINT16 command firmware command void pArgList Pointer to the parameter list int ni Number of input parameters int no Number of output parameters Command result code from firmware A table of possible result codes you can find on page 22 result m321_cmd amp handle SYNC UINT16 amp params 0 0 AcQuisition Technology bv P O Box 627 5340 AP AQ Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 m321_clistat Set m321 interrupt status Syntax int m321_clistat M321 HANDLE m321 handle int mask Description Clear bits in the m321 interrupt status word A table of available interrupt resources and their position in the status word you can find in chapter 5 4 Arguments M321_HANDLE m321_handle Pointer to the m321 handle int mask Bits to clear Returns 0 when successful APIS error code when unsuccessful Example m321_setstat Shandle IRO HOME A m321 waitforirg Wait for an interrupt Syntax int m321_waitforirq void Description Wait for an APIS originated interrupt or non APIS signal E g an APIS service routine is successfully handled or an external process signal is received Arguments None Returns APIS_NOERR when there was an APIS interrupt signal APIS_ESIG when another signal was received e g CTRL C
7. AcQuisition Technology bv Headquarters Raadhuislaan 27a 5341 GLOSS THE NETHERLANDS Postal address P O Box 627 5340 AP OSS THE NETHERLANDS Phone 31 412 651055 Fax 31 412 651050 Email info acq nl WEB fittp Awww acg nl M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 Copyright statement Copyright 2000 by AcQuisition Technology bv OSS The Netherlands All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language in any form or by any means without the written permission of AcQuisition Technology bv Disclaimer The information in this document has been carefully checked and is believed to be entirely reliable However no responsibility is assumed for inaccuracies AcQuisition Technology does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others AcQuisition Technology products are not designed intended or authorized for use as components in systems intended to support or sustain life or for any other application in which the failure of an AcQuisition Technology product could create a situation where personal injury or death may occur
8. Calling one of these commands on a M321 will result in the error code INVREQ The following sections give a detailed description of the commands arranged by functionality Page 24 of 58 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 3 GENERAL COMMANDS This section describes general commands that are provided for obtaining firmware information SYNC Sign Of Live Command Ox5a5a Inputs None Outputs None Function This function is intended to check whether or not the MC68332 is running The local software takes no special action and terminates the execution normally set the result field to NOERR set the POLL bit in the control register clear the cmd field and generate a host interrupt if not masked VE RSION Get Module Information Command 0x0001 Inputs None Outputs VERINFO structure Function This function returns information about the hardware configuration and the firmware The return information is defined with the following structure typedef struct UINT16 firm_rev firmware revision UINT16 mod_type module type UINT16 ctrl mode controller mode VERINFO The firmware revision is a decimal between 0 and 99 e g 10 means revision 1 0 The module type must be 1 which indicates that the firmware is running on an M321 The controller mode is the jumper con
9. FIRMWARE DOWNLOAD nsansanaansan 15 4 4 POWER STAGES a0 c5 E g aida aueea gare aorraa denen a hann acre ganas 15 4 5 STEPPER MOTORS sintita triin a kii miko vg AE ha daca dela davis Aa fascia Ka wahi faa ia Mkaa kaa 17 4 5 1 2 PHASE STEPPER MOTOR 0 0 00 ma hama nana ee ee ee eee ees 17 4 5 2 4 PHASE STEPPER MOTOR 0 0 cc cece ee ee eee eee ees 18 4 6 HOME SENSORS INPUTS 00 00 eee eee ee eee eee eee 18 5 THE LOCAL FIRMWARE nnaanan 20 5 1 HOST INTERFACE anaanzia amii aa eee eee eee eee 20 5 2 COMMANDSET annanaandanzanannaanan 23 5 3 GENERAL COMMANDS annansanzanzanaanaanan 25 5 4 FOS TINTERRUPTS mete he eed eee cee en cee cee tn alae UD PE PE aan end oa heeds N 26 5 5 MOTION CONTROL COMMANDS 00 ccc ce eee ete ee eee 28 5 6 POSITION MAINTENANCE COMMANDS 0000 cece eee ee eee eee eee ee 31 5 7 BREAKPOINTS dia iia aa donde tt a ti team diated edn tine de Aan Aes Aa Ge eae 33 5 8 ABORT BRAKE COMMANDS 000 cece eee eee nee eee ees 34 5 9 HOME DETE MON sanaaa ini aana an E AE E ARE ama E E akauti aoa ati Baada aua Aa EA 36 5 10 SYNCHRONIZED MOTION nnnnan 38 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 1 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User
10. Page 36 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 R DH OM EB Read Home Sensor B Command 0x0c01 Inputs None Outputs Home sensor status Function This command returns the status of the home sensor input B in parameter 0 zero means input low and one means input high SIG_HOM EA Signal Home Detection A Command 0x0d00 Inputs Detection edge Outputs None Function This command causes the firmware to signal a transition on the corresponding home input The transition edge is programmable parm 0 and must be either 0 for falling edge or 1 for rising edge detection Signalling is done by setting the IRQ_HOME_A flag in the interrupt status register of the command structure When the corresponding interrupt is enabled a host interrupt request is generated After a home signal has been detected the host must clear the related interrupt flag and this function is terminated For a next home detection the command must be given again SIG_H OM E B Signal Home Detection B Command 0x0d01 Inputs Detection edge Outputs None Function Signal home detection for channel B The corresponding interrupt flag is IRQ_HOME_B See Also SIG_HOME_A AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 37 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 10 SYNCHRONIZ
11. apis_1i40000s9 h Platform specific definitions apis_i40000s9 c Platform support library SM MSIWE FINE DOC M321 documentation SOM INARI morire 5 te Release notes version info to PIB M321 support libraries t E XAMP LE M321 example software qr MMODTD 2 Hel WARE LIB modideep c M module ID EEPROM library Code generation is platform dependent for information on building the software please refer to the release notes of the target platform and the APIS Programmer s Manual AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 51 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 7 ANNEX 7 1 BIBLIOGRAPHY Specification for M module interface and physical dimensions M module specification manual April 1996 MUMM Simon Schdffel Strasse 21 D 90427 Nurnberg Germany APIS Programmer s Manual AcQuisition Technology P O Box 627 5340 AP Oss The Netherlands Data Sheet of the NM93C46 Memory Databook 1992 edition 400069 National Semiconductor Corporation 1111 West Bardin Road Arlington TX76017 United States Data Sheet of the LMD18254 DMOS Full Bridge Motor Driver National Power ICs Databook National Semiconductor Corporation 1111 West Bardin Road Arlington TX76017 United States 7 2 COMPONENT IMAGE M321 Top View
12. including but not limited to AcQuisition Technology products used in defence transportation medical or nuclear applications Should the buyer purchase or use AcQuisition Technology products for any such unintended or unauthorized application the buyer shall indemnify and hold AcQuisition Technology and its officers employees subsidiaries affiliates and distributors harmless against all claims costs damages and expenses and reasonable attorney fees arising out of directly or indirectly any claim of personal injury or death associated with such unintended or unauthorized use even if such claim alleges that AcQuisition Technology was negligent regarding the design or manufacture of the part Printed in The Netherlands AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 CONTENTS 1 INTRODUCTION occ ccdaccavucdave dae eeaSenacenodaeedaaaeeaeeeoaee nae eaawala 3 1 1 VALIDITY OF THE MANUAL ansanaanaanzanannn 3 1 2 PURPOSE ui ARE NI NANA A A A E A A E a 3 1 3 SCOPES aaraa a gr gee E cereal E E E 3 1 4 DEFINITIONS ACRONYMS AND ABBREVIATIONS 3 1 5 NOTES CONCERNING THE NOMENCLATURE n 4 1 6 OVERVIEW a ioa ania aa eee a A E E AAE E eee eee aa 4 2 PRODUCT OVERVIEW 0 00 0 ee eee eens 5 2 1 INTRODUCTION raices aeaaeae ea a
13. Technology bv P O Box 627 5340 AP Page 26 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 IACK Acknowledge Interrupts Command 0x0030 Inputs Interrupt status Outputs None Function The M321 uses one interrupt line for all interrupt sources Whenever an interrupt request is generated the pending interrupt must be cleared via the control register see section 4 2 4 The nature of the event s responsible for generating the interrupt must be obtained from the interrupt status field in the command register A bit set means the interrupt request is active The IACK command must be executed to acknowledge pending interrupts Parameter 0 must contain the interrupt status A bit set in the interrupt status will acknowledge the corresponding interrupt Every interrupt source has a corresponding bit defined in the interrupt status The status is defined as follows Hex IRQ_BLANK 0x0000 nothing to report IRQ_CMDDONE 0x0001 command executed IRQ_BRKPT_A 0x0002 breakpoint motor A IRQ_BRKPT_B 0x0004 breakpoint motor B IRQ_TRAJ_A 0x0008 trajectory complete motor A IRQ_TRAJ_B 0x0010 trajectory complete motor B IRO HOME A 00020 home detected motor A IRQ_HOME_B 0x0040 home detected motor B IRQ_EXCEPTION 0x0080 internal exception error IRQ_ALL OxOOff all interrupts It is allowed to clear more than one pending interrupt simultaneously with the I
14. The table below gives an overview of the commands available to the host CPU Hex DONE 0x0000 SYNC Ox5a5a VERSION 0x0001 MSKI 0x0020 IACK 0x0030 SET_MODE_A 0x0200 SET_MODE_B 0x0201 PROF_ABS_A 0x0300 PROF_ABS_B 0x0301 PROF_REL_A 0x0400 PROF_REL_B 0x0401 GET_POS_A 0x0500 GET_POS_B 0x0501 SET_POS_A 0x0600 SET_POS_B 0x0601 SET_BPA_A 0x0700 SET_BPA_B 0x0701 SET_BPR_A 0x0800 SET_BPR_B 0x0801 BRAKE_A 0x0900 BRAKE_B 0x0901 SET_HC_A 0x0a00 SET_HC_B 0x0a01 SK_HOME_A 0x0b00 SK_HOME_B 0x0b01 RD HOME A 0x0c00 RD_HOME_B 0x0c01 SIG_HOME_A 0x0d00 SIG_HOME_B Ox0d01 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands command completed synchronize firmware sign of live returns version information mask un mask interrupts acknowledge interrupts set driving mode full half or micro stepping motor A set driving mode full half or micro stepping motor B absolute trapezoidal movement motor A absolute trapezoidal movement motor B relative trapezoidal movement motor A relative trapezoidal movement motor B get current position of motor A get current position of motor B set home position of motor A set home position of motor B set absolute breakpoint motor A set absolute breakpoint motor B set relative breakpoint motor A set relative breakpoint motor B shorten motor A windings phase A and B shorten motor B windings phase C and D set hold current reduction factor motor A set hold current
15. a aa A IIIA 5 2 2 TECHNICAL OVERVIEWS angnin g aung cate cases st eek Ce tee ia E EE aly de cast EE i E EE UTATA MDA MA MATA AYA 5 3 INSTALLATION AND SETUP nnn 7 3 1 UNPACKING THE HARDWARE 0000 cece eee eee 7 3 2 BOOT ROM UE ned ty ge aa r neat egy aed Gees ech Seeded ee Segcheds S 7 3 3 JUMPER SETTINGS 2 0 00 ee eee eee eee eee eee 8 3 3 1 BOOT SELECTION JUMPER J2 8 3 3 2 TWO OR FOUR PHASE SELECTIONJUMPERJ3 8 3 3 3 JUMPER4 nnnsanannannn 9 3 4 CONNECTING THE MODULE 0 ee eee ees 9 4 FUNCTIONAL DESCRIPTION 11 4 1 BLOCK DIAGRAM ccc cae cca cena cae en ebaa WI 11 4 2 M MODULE INTERFACE 0 00 ccc ec ee ee eee eee 11 4 2 1 MEMORY MAP 0 00 ce ee nee eee eens 11 4 2 2 DuAL PORTED MEMORY 000 cece ee ee ee eee eens 12 423 PAGE FEGIS Ia 12 4 2 4 CONTROL REGISTER 00 0c ce ee ee eee eens 13 4 2 5 IDENTIFICATION EEPROM 13 4 2 6 INTERRUPTHANDLING 0 0 0000 cece ee eee eee ees 14 4 2 7 TRIGGERLINES 14 4 3 BOOTING THE M321 14 4 3 1 BOOTING FROM ROM 0000 eee eee eens 14 4 3 2 BOOTING FROM RAM wwa mawa mwaa waa aaa waa casa a 14 4 3 3
16. a unipolar stepper motor in bipolar mode to the M321 Refer to the stepper motor documentation for details 4 6 HOME SENSORS INPUTS The M321 features two sensor inputs HOMEA and HOMEB In 2 phase control mode HOMEA corresponds to stepper motor A phase A and phase B and HOMEB corresponds to motor B phase C and phase D In 4 phase mode only one stepper motor can be driven the corresponding home sensor input is HOMEA HOMEB is not used in this mode A home sensor input consists of an opto coupler input which is protected for reverse connection and has a leakage current protection Default the home inputs are rated at 5V 10mA AcQuisition Technology bv P O Box 627 5340 AP Page 18 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 The figure below shows the input circuitry of home sensor A home sensor B input is similar Local CPU I O interface vec 316e 3k3 O HOMEA HOMEA AN VAN e o Soe 1k47 5V 10mA AA O HOMEA SZ Figure 12 Home sensor input When the opto coupler LED is on the logical HOME signal is low when the opto coupler LED is off the logical level is high To adapt the home sensor input for supply ranges greater then 5V the current must be reduced to approximately 10mA by a serial resistor Rs The table below shows the serial resistors for some supply ranges AcQuisition Technology bv P O Box 627 5340
17. enabled Parameter 0 must contain a signature that must be obtained from AcQuisition Technology bv This function is provided for in system firmware updates details will be provided with any firmware update For normal operation do not use this function 5 14 M322 COMMANDS The commands in this section are only available to the M322 and are not explained in detail Calling these commands will return the result code INVREQ GPOUTO A Set Clear GP Output 0 Motor A Command 0x1000 Inputs Output state Outputs None Function M322 only GPOUTO B Set Clear GP Output 0 Motor B Command 0x1001 Inputs Output state Outputs None Function M322 only AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 43 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 GPOUT1 A Set Clear GP Output 1 Motor A Command 0x2000 Inputs Output state Outputs None Function M322 only GPOUT1 B Set Clear GP Output 1 Motor B Command 0x2001 Inputs Output state Outputs None Function M322 only GPOUT2 A Set Clear GP Output 2 Motor A Command 0x3000 Inputs Output state Outputs None Function M322 only GPOUT2 B Set Clear GP Output 2 Motor B Command 0x3001 Inputs Output state Outputs None Function M322 only 5 15 EMERGENCY BRAKE The firmware provides an emergency brake function This function cannot be called through the command stru
18. hold current reduction User configurable maximum current Brake support Full half and micro stepping capability Micro stepping up to 16 micro steps per full step Two optical isolated industrial home sensor inputs Step rates of up to 50 kHz Programmable acceleration of 50Hz s to 5000 kHz s l l l l l l l l l l l l l l l l l l l l l l l l l Synchronous motion via TRIGA and TRIGB signals of the M module interface AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 5 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 Intentionally left blank AcQuisition Technology bv P O Box 627 5340 AP Page 6 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 3 INSTALLATION AND SETUP 3 1 UNPACKING THE HARDWARE The hardware is shipped in an ESD protective container Before unpacking the hardware make sure that this takes place in an environment with controlled static electricity The following recommendations should be followed Make sure your body is discharged to the static voltage level on the floor table and system chassis by wearing a conductive wrist chain connected to a common reference point If a conductive wrist chain is not available touch the surface where the board is to be put like a table a chassis etc before unpacking the board
19. of motors with low winding resistance is recommended By default stepper motors are driven in full step mode However the M321 is software programmable for driving phases in half step mode or micro step mode up to 16 micro steps per full step Micro stepping is accomplished by gradually increasing and decreasing the phase current on the M321 this is done by alternating the output current limit dynamically External Power Supply The external power supply for the drivers is connected to the modules front connector The power supply consists of two independent circuits one for the drivers 7A and B and one for the drivers C and D The external power supply must be able to drive the motor windings with the configured maximum current rax The power supply must be in the range of 12 V to 55 V For a detailed description please refer to the LMD18254 Data Sheet from National Semiconductor AcQuisition Technology bv P O Box 627 5340 AP Page 16 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 4 5 STEPPER MOTORS This section shows how stepper motors can be connected to the M321 4 5 1 2 PHASE STEPPER MOTOR In this mode jumper J3 must be open The figure below shows how two 2 phase bipolar stepper motors are driven by the M321 OUTIA OUT2A SENSEA OUTIB MOTOR A SENSER OUT2B PWRAB 12 55 V M321 OD
20. phase pair C D are similar PWRAB P N SWA SWB YA N SWA h SWB OUTIA OUT2A OUT2B Phase A SWA SWB Phase B SWA p m SWB N F N yA SENSEA SENSEB External Sense External Sense Resistor Resistor GND Figure 9 Power stage pair AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 15 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 Output Current Limitation The load current limit is resistor programmable according to the following formula R Q sense Tmax In this formula I max is the current limit and R sense the sense resistor The sense resistor must be connected between the sense output of the power stage and the ground Every power stage has a corresponding sense output stage A SENSEA stage D SENSED NOTE The current through the sense resistor has a 1 4000 ratio with respect to the winding current Therefore the maximum dissipation of the sense resistor is less then 50mW 3A 55V Driving Mode The power stages are driven in constant current driving mode with an off time of 50us With this method the motor voltage applied to the motor windings must be fairly higher than the rated voltage to keep the current constant The power stages can drive bipolar stepper motors Unipolar motors can be used but must be connected in bipolar mode The use
21. takes the appropriate action When the command is handled the local CPU writes the return parameters and sets the result finally the POLL bit will be set which indicates that the command handling is completed ANSI C example of polling based host interface int m321_poll APIS_HANDLE handle UINT16 data ant Abe for i 0 i lt 1000 i Time out mechanism read control register word apis_read handle sizeof UINT16 CTRLREG amp data j if data amp POLL return 0 if poll bit is in ready state apis_delay 1 return 1 time out AcQuisition Technology bv P O Box 627 5340 AP Page 20 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 Host Interrupt This method is software selectable using the MSKI command and causes the local CPU to generate a host interrupt request on completion of the command handling The interrupt service routine of the host must clear the pending interrupt by writing a logic 1 to the HIRQ bit in the control register In firmware revision R4 0 and up the host must acknowledge interrupts with the IACK command For details on the ACK and MSKI commands refer to section 5 4 An ANSI C example of an interrupt driven host interface define IMASK 0 interrupt mask define P_EDGE 0 programmable home detection edge define EDGERISE 1
22. user interrupt Example if m321_waitforirq 0 break m321 gtistat Get m321 interrupt status Syntax UINT16 m321_gtistat M321_HANDLE m321_handle int mask Description Get bits of the m321 interrupt status word A table of available interrupt resources and their position in the status word you can find in chapter 5 4 Arguments M321_HANDLE m321 handle Pointer to m321 handle Returns interrupt status word Example result m321_gtistat amp handle AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 49 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 m321_int_install Install interrupt routine Syntax Description Arguments Returns Example int m321_int_install M321 HANDLE m321_ handle Installs the interrupt service routine for the specified m321 M321 HANDLE m321_ handle Pointer to m321 handle 0 APIS_NOERR when successful or APIS error code when unsuccessful result m321_int_install amp handle m321_int_deinstall De install interrupt routine Syntax Description Arguments Returns Example Page 50 of 58 int m321_int_deinstall M321 _HANDLE m321_ handle De installs the interrupt service routine for the specified m321 M321 HANDLE m321_ handle Pointer to m321 handle 0 APIS_NOERR when successful or APIS error code when unsuccessful result m321_in
23. 21 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 CS Chip Select This bit corresponds to the chip select input of the EEPROM CLK Clock This bit corresponds to the clock input of the EEPROM DI O Data input output This bit corresponds to the data input of the EEPROM when writing and data output of the EEPROM when reading For information on controlling the EEPROM refer to the NM93C46 data sheets A software example can be found in the file ideeprom c that is part of the software distribution For information on the memory organization refer to the M module Specification 4 2 6 INTERRUPT HANDLING The M321 is capable of generating interrupts of type A software end of interrupt In the interrupt service routine the host must acknowledge the interrupt by writing a one to the host interrupt request bit in the control register Because the M321 is not capable of delivering an interrupt vector this must be handled by the carrier board 4 2 7 TRIGGER LINES The two trigger lines on the row C of the M module connector are used to provide a synchronization mechanism between stepper motor controllers For details refer to section 5 10 4 3 BOOTING THE M321 The MC68332 micro controller of the M321 executes firmware from local memory The module can be configured for booting from ROM or booting from RAM 4 3 1 BOOTING FROM ROM For this option an EPROM or FLASH containing valid firmware must
24. 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 7 BREAKPOINTS The following commands are provided to specify breakpoints in a motion profile On a breakpoint detected the interrupt status is updated and depending on the interrupt mask a host interrupt request will be generated or not SET B PA_A Set Absolute Breakpoint Motor A Command 0x0700 Inputs 32 bit position Outputs None Function Set an absolute breakpoint for motor A The input parameter is a 32 bit signed value The breakpoint is recognized when the motor s current position becomes equal to the breakpoint This is signalled with the IRQ_BRKPT_A interrupt flag in the interrupt status field of the command structure When the motor stops on a breakpoint the breakpoint is signalled only once The interrupt status flag must be cleared by the host CPU using the IACK command SET B PA B Set Absolute Breakpoint Motor B Command 0x0701 Inputs 32 bit position Outputs None Function Set an absolute breakpoint for motor B The corresponding interrupt flag is IRQ_BRKPT_B See Also SET_BPA_A SET_BPR_A Set Relative Breakpoint Motor A Command 0x0800 Inputs 32 bit position Outputs None Function Set breakpoint for motor A relative to the current position The input parameter is a 32 bit signed value Internally the absolute breakpoint is calculated as the current position increase
25. ACK command As a result of the IACK command not acknowledged pending interrupts will cause a new host interrupt request The IACK command is a special command because on completion no host interrupt is generated regardless wether or not the CMDDONE interrupt is enabled Also the result field is not affected and the polling bit is not set AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 27 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 5 MOTION CONTROL COMMANDS The commands in this section are provided to request a motion profile PROF_ABS A Absolute Motion Motor A Command 0x0300 Inputs Motion profile structure PROFILE Outputs Undefined Function This command is provided to request a trapezoidal movement with an absolute end position for motor A The PROFILE structure is defined as follows typedef struct UINT32 rise freg rise up frequency UINT32 drive freg drive frequency UINT32 acceleration acceleration INT32 position signed absolute position PROFILE rise up frequency The rise up frequency must have a value between 15 Hz and the requested drive frequency drive frequency The drive frequency must have a value between the rise up frequency and the maximum of 50 000 Hz acceleration The acceleration must be between 50 Hz and 5 000 000 Hz s ae position Position is a signe
26. AP Oss The Netherlands Page 19 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 THE LOCAL FIRMWARE This chapter is valid for the local firmware of revision R4 x The M321 is compatible with the M322 stepper motor controller for external power amplifiers The local firmware for the M321 is the same as for the M322 and is called m321 firm 5 1 HOST INTERFACE Communication between the host and the local CPU takes place through the command structure and the mailbox The command structure resides at page 4 of the dual ported memory and the mailbox can be accessed via the control register on the M321 The offsets in this command structure are defined in the C source file m321defs h that can be found in the annex The command structure is defined as follows typedef struct command structure at local address CMDSTRUCT UINT16 cmd command offset C_CMD UINT16 result execution result offset C_RES UINT16 p 32 parameter list offset C_PRF UINT16 irqstat interrupt request status offset C_IRQ CMD Communication must take place in one of the following two methods Polling This method uses the POLL bit in the control register First the host CPU must clear the POLL bit by writing a logic 1 then the host must write the parameters if any followed by the command always last in the cmd field The local CPU checks the command and
27. DOCUMENT HISTORY Version R1 0 First release Version R1 1 Nyquist industrial control references added Software routine and filename references changed Jumper orientation explained Stepper motor algorithm described in anex Version R1 2 Firmware updated to R4 0 Commands ABORT_X and BREAK_X explained in more detail RESET bit in control register explained in more detail Adapted for firmware revision R4 0 IACK command added Command interrupt service routine example changed Interrupt service routine example provided Result code PROFCORR removed Description of motion profile changed PROF_ABS_A command Motion profile restrictions removed Maximum length of acceleration trajectory added FLASHEN FLASHCLR commands added SWSYNC_X and GO_X commands added Version R1 3 New layout APIS support added AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 53 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 7 5 EXAMPLE CODE This section contains a programming example written in ANSI C and uses APIS and M321 functions provided by m321lib c The program configures the m321 after this it sets a breakpoint and starts a trajectory file m321demo c revision 1 1 date 15 02 00 author TL M321 APIS based demo application This application is part of the M321 ANSI C library and demonstrates the usage of a M321 or M322 on an APIS supported platfo
28. ED MOTION The M321 features a trigger I O line for each motor on row C of the M module connector TRIGA and TRIGB These lines are provided for synchronizing motion between motors controlled by M321 or M322 modules All stepper motor channels that have to be synchronized must be connected via their corresponding trigger line When this function is enabled for a motor channel the corresponding trigger line is pulled low When a motion profile is started the trigger line is switched as an input and the movement begins when every module connected to the trigger line and with synchronous motion enabled has released the line by switching over to input SYNC A Enable Synchronized Motion A Command 0x0e00 Inputs Mode Outputs None Function This command is provided to enable parm 0 is 1 or disable parm 0 is 0 synchronized motion for motor A SYNC B Enable Synchronized Motion B Command 0x0e01 Inputs Mode Outputs None Function This command is provided to enable parm 0 is 1 or disable parm 0 is 0 synchronized motion for motor B AcQuisition Technology bv P O Box 627 5340 AP AQ Page 38 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 11 SOFTWARE SYNCHRONIZATION The M321 provides a set of commands for software synchronization With this mechanism it is possible to setup a motion profile that becomes pending With an additional com
29. Manual Version 1 3 5 11 SOFTWARE SYNCHRONIZATION anzanaanaanann 39 5 12 POWER STAGE CONTROL 2 0 00 eee eee eee eee 40 5 13 SERVICE COMMANDS lt acrererer eea n UA 42 5 14 M322 COMMANDS nnannandanzanaanaanann 43 5 15 EMERGENCY BRAKE nnsanaanaanaan 44 6 SOKI WA BE ia a a Aa A E a E E A aa 45 6 1 ARIS SUPPORT iii AA AA A ENEN 45 SA GONCEPT ii en a AT Ar A ae a 45 de ARI maa E Sra dete a eaten aid ap gd ere ea 45 6 1 38 CODE GENERATION 1 0 0 0 00 ccc eee eee eee eee 46 6 2 TYPE DEFINITIONS AND STRUCTURES 46 6 3 FUNCTION REFERENCE 0 000 cece eee eee eee eee eee 47 6 4 SOFTWARE DISTRIBUTION 00 00 cc cece eee eee eee eee nee 51 7 ANNEX AA KU WA MAA Pre 52 7 1 BIBUOGRAPHY see aa eek eae et aoe ae ca a ete a ca aceasta ae ee ake 52 7 2 COMPONENT IMAGE 0 ee eee eee eee nee 52 7 3 TECHNICAL DATA 2 0 cc AA 53 7 4 DOCUMENT HISTORY 0 0 0 cc eee eee eee 53 7 5 EXAMPLE GODE iii HA aa 54 Page 2 of 58 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 1 INTRODUCTION 1 1 VALIDITY OF THE MANUAL This user manual is of revision 1 3 The manual is valid for the M321 R1 x from AcQuisition Technology bv running firmware version R4 x 1 2 PURPO
30. PIS offers a way to program platform independent applications example and test software for controlling hardware Application software written for APIS only needs re compiling for a particular platform and is operational with little effort provided that the application is operating system independent 6 1 1 CONCEPT Hardware accesses to registers and memory are handled by APIS Some minor operating system dependent functions frequently used in hardware related software such as interrupts handling and a delay function are also provided by APIS APIS platform support consists of an Application Programming Interface in the form of definition files coded in ANSI C and platform dependent modules e g source files libraries and or drivers In the most simple outline a platform dependent APIS module consist of nothing more then macro definitions in which APIS calls are substituted by direct hardware accesses But in most cases an APIS module will consist of a library with interface routines and in some implementations a device driver is needed for interaction with the operating system 6 1 2 API The Application Programming Interface for APIS is implemented in two ANSI C coded definition files apis h which contains general definitions and platform_apis h which contains platform specific definitions and references to the APIS function calls The application source file must include the APIS header file apis h Porting of the application to a pl
31. Rising edge detection define EDGEFALL 0 Falling edge detection define IRQ HOME A 0x0020 home detected motor A define IRQ ALL Ox00ff all interrupts Interrupt test for a command executed interrupt printf Test IRQ for HOME input n Set Mask to HOME A IRQ Give mask interrupt command args IMASK IRQ_HOME_A result m321_cmd amp handle MSKI args 1 0 if result 0 printf ERROR MSKI command failed 0x 04x n result exit 1 Failure Clear all interrupt bits in the status word m321 clistat amp handle IRQ ALL Interrupt on falling edge send SIG HOME A command await its interrupt EJ args P_EDGE EDGEFALL result m321_cmd amp handle SIG_HOME_A args 1 0 if result 0 printf ERROR Command failed 0x 04x n result exit 1 Failure do if m321_waitforirg 0 break interupt received but not from module while m321_gtistat amp handle amp IRQ_HOME_A IRQ received AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 21 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 The table below lists the possible errors and warnings of the result field Result Code Hex NOERR 0x0000 VIOLATION UNKCMD PRANGE EXCPERR LOCBERR LOCAERR LOCILL SPURINT IN
32. SE This manual serves as instruction for the operation of the M321 Intelligent Stepper Motor Controller the connection of stepper motors and the integration on an M module carrier Furthermore it gives the user additional information for special applications and configurations of the product The APIS based example software and library are also discussed Detailed information concerning the individual assemblies data sheets etc are not part of this manual In the annex you will find a bibliography 1 3 SCOPE The scope of this manual is the usage of the M321 Stepper Motor Controller M module with on board Power Amplifiers 1 4 DEFINITIONS ACRONYMS AND ABBREVIATIONS AcQ AcQuisition Technology bv APIS AcQ Platform Interface Software M module Mezzanine O concept according to the M module specification Platform Combination of hardware and operating system AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 3 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 1 5 NOTES CONCERNING THE NOMENCLATURE Hex numbers are indicated with a leading Ox sign for example 0x20 or Oxff File names are represented in italic filename txt A code example is printed in courier The jumpers are designated by a J and a serial number When specifying whether a jumper should be connected or removed it is referred to solely by this designation if it has only one posit
33. User Manual Version 1 3 GO B Start Pending Motion B Command 0x0e21 Inputs Mode Outputs None Function When software synchronization is enabled with SWSYNC Banda motion is requested using PROF ABS Bor PROF_REL_B the motion becomes pending With the command GO B the motion must be started See Also SWSYNC_B PROF_ABS_B PROF_REL_B 5 12 POWER STAGE CONTROL The functions in this section are only available on the M321 If the M321 is configured for 4 phase control then the functions for controlling Motor B are not available SET MODE A Set Drive Mode Motor A Command 0x0200 Inputs Drive mode Outputs None Function Select a drive mode for motor A The table below gives an overview of the driving modes usteps step FULLSTEP 0x0001 full step HALFSTEP 0x0002 half step QUARTSTEP 0x0004 quart step QUADSTEP 0x0008 quad step HEXSTEP 0x0010 hex step MICROSTEP 0x0020 micro step ONEPHASE 0x0040 one phase excitation i Only in 2 phase mode hex step with torque compensation i One phase excitation means that only one phase is powered at a time only available in 2 phase mode AcQuisition Technology bv P O Box 627 5340 AP Page 40 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 SET MODE B Set Drive Mode Motor B Command 0x0201 Inputs Drive mode Outputs None Function Select a drive mode for motor B Se
34. VREQ BUSY PROFERR FLASHERR 0x8888 0x8001 0x8002 0x8003 0x8004 0x8005 0x8006 0x8007 0x8008 0x8009 Ox800A 0x800B no error ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR protocol violation unknown command parameter out of range general exception error local bus error local address error illegal instruction spurious interrupt invalid request waiting for external triggering error in motion profile flash program error The table below lists the interrupt status bits of the irqstat field Nothing to report Interrupt Status Hex IRQ_BLANK 0x0000 IRQ_CMDDONE IRQ_BRKPT_A 0x0001 0x0002 IRQ_BRKPT_B 0x0004 IRQ_TRAJ_A 0x0008 IRQ_TRAJ_B IRQ_HOME_A 0x0010 0x0020 IRQ_HOME_B IRQ_EXCEPTION 0x0040 0x0080 Command executed Breakpoint motor A Breakpoint motor B Trajectory complete motor A Trajectory complete motor B Home detected motor A Home detected motor B Internal exception error An interrupt flag in the interrupt status field set means that the corresponding event has occurred the flag must be cleared by the host CPU Interrupt flags are updated regardless whether or not the corresponding interrupt is enabled Page 22 of 58 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual 5 2 COMMAND SET Version 1 3
35. a ODODDOODOCOCOO0OO0O0C0O000 ODOODDOOCOCOO0OO00O0C0O000 Top View Figure 7 M321 M module connector orientation TRIGA and TRIGB are bi directional and TTL compatible The signal direction is controlled by the local firmware For a description of the usage refer to section 5 10 Connections of TRIGA and TRIGB must be made on the M module carrier board For a full description of the M module P1 connector please refer to the M module specification AcQuisition Technology bv P O Box 627 5340 AP Page 10 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 4 FUNCTIONAL DESCRIPTION This chapter gives a detailed description of the M321 The M module interface is described as well as the power stages and the home sensor inputs 4 1 BLOCK DIAGRAM o Home A o Home B O Ext Power AB Optical Isolation 68332 TrigB CPU TPU M module interface Timing amp Control Mailport IDENT Figure 8 M321 block diagram Ext Power CD 4 2 M MODULE INTERFACE 4 2 1 MEMORY MAP The following table shows the address map of the M321 module All addresses are relative to the base address of the module ooo Dual ported memory window AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 11 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Ve
36. are standard ANSI C types are not listed char 8 bit signed data unsigned char 8 bit unsigned data short 16 bi unsigned short 16 bi long 32 bi unsigned long 32 bi signed data unsigned data signed data unsigned data W N HZHZHZ 2 H BHH ct ct ct ct volatile unsigned char 8 bit physical access volatile unsigned short 16 bit physical access volatile unsigned long 32 bit physical access unsigned long APIS physical path ID void APIS physical path handle int APIS access size in bytes union ID EEPROM contents struct short synccode Sync code 0x5346 modnum Module number binary coded revision revision number modchar Module characteristics res 4 reserved manstr 16 manufacturer string ID data reg 16 raw data AcQuisition Technology bv P O Box 627 5340 AP Page 46 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 6 3 FUNCTION REFERENCE This section contains the reference of the functions provided by the M321 APIS based software library m321_open Open APIS path Syntax int m321_open APIS_PATH apis_pathid M321_HANDLE handle Description Opens a path to the module specified with its hardware address or ID Arguments APIS PATH apis_pathid Hardware address or ID of the module M321_HANDLE handle Pointer to m321 handle Returns handle a
37. argc char argv M321_HANDLE handle APIS Handle UINT16 args M321 argument list UINT32 pathid 0 M321 base address or id int 2 J General idici int result Command result int repeat 0 Repeat flag IDCODE idcode ID EEPROM structure printf nM321 M322 Demo n printf by AcQuisition Technology B V 1999 n n for i 1 i lt argc i if argv i 0 for j 1 argvfil j l j switch tolower argv i j 1 case b if argv i j j sscanf argv i j 1x amp pathid while argv i j j J break case r repeat 1 break default usage argv 0 exit 1 Allocate memory for the M321 command argument list if args UINT16 malloc 32 0 printf Not enough memory n exit 1 Open a hardware path to the M321 7 result m321 open pathid amp handle AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 55 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 if result 0 printf Could not open path 0x 04x n result exit 1 Read and verify contents of the Identification EEPROM y if get_modid handle apis_handle void amp idcode 0 printf ID EEPROM error n m321 close amp handle exit 1 if i
38. atform consists of re compiling the source code with a defined pre processor macro for selection of the used platform The APIS header file contains generic APIS definitions and includes a platform specific header file according to the platform selection macro APIS calls are translated to the platform specific calls in the APIS header file and the platform specific definition file platform_apis h platform is a name that identifies a hardware and operating system combination e g i40000s9 The macro PLATFORM must be defined either via a pre processor definition provided at compile time or via a macro definition in the application source AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 45 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 6 1 3 CODE GENERATION APIS based example software is available in ANSI C source code Source code files must be compiled with the pre processor definition PLATFORM set to a valid value conforming the target platform Building of the example software for the M321 is platform dependent for details refer to the release notes of the APIS support package of the target platform and the APIS Programmer s Manual Examples of APIS supported platforms are i40000s9 i2000dos i3000win etc 6 2 TYPE DEFINITIONS AND STRUCTURES The table below contains a list and description of all types and structures used in the M321 example softw
39. be inserted in the JEDEC socket U14 and Jumper J2 must be set in the 2 3 position After power up the module will boot from ROM without host interaction When the PBIT in the control register is set the module is ready for accepting control commands Communication with the M321 takes place via a command structure that resides in the dual ported memory at page 4 CAUTION Write accesses to the dual ported memory at pages other than page 4 may result in erroneous behaviour 4 3 2 BOOTING FROM RAM When the module is configured for booting from RAM jumper J2 in 1 2 position at power up the M321 is kept in reset state Before any control operations are available firmware has to be downloaded to the dual ported memory by the host Firmware must copied to the dual ported memory starting at offset 0 in page 0 using 16 bit wide write accesses AcQuisition Technology bv P O Box 627 5340 AP Page 14 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 The M321 local CPU must be started by clearing the RESET bit in the control register When the PBIT in the control register is set the module is ready for accepting control commands Communication with the M321 takes place via a command structure in the dual ported memory at page 4 CAUTION Once the firmware is started any write accesses to the dual ported memory at pages other than page 4 may result in erroneous beha
40. cture but by generating a mailbox interrupt to the module A mailbox interrupt can be generated by writing a logic one 1 to bit 2 of the control register As a result of the mailbox interrupt the M321 will immediately abort all motion profiles and shorten the motor windings AcQuisition Technology bv P O Box 627 5340 AP Page 44 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 6 SOFTWARE This chapter describes the example software which is available for the M321 Stepper Motor Controller M module with on board Power Amplifiers The example software is available in ANSI C source code and consists mainly of an M321 function library which provides functions for easy access to the M321 and a demo program which illustrate the usage of the software library The M321 library functions are APIS based physical accesses and interrupt support are handled by APIS AcQ Platform Independent Interface Software The next section contains general information on APIS for detailed information please refer to the APIS Programmer s Manual 6 1 APIS SUPPORT AcQ produces and supports a large number of standard M modules varying from networking and process I O to motion control applications Physically the M modules are supported by a large number of hardware platforms VMEbus PCI CompactPCI as well as a wide variety of operating systems OS 9 Windows NT Linux etc A
41. d 32 bit value The stepper motor algorithm maintains a motor 31 position between 2 and 2 D At reset the absolute position is 0 If a profile parameter does not comply with the requirements as mentioned above the command returns PRANGE The motion direction depends on the current position Internally a relative movement is calculated by subtracting the current position from the required absolute position The rise up and drive frequency are defined in pulses per second The rotation speed depends on the stepper motor s number of steps per revolution and the driving mode full step half step etc For instance a stepper motor with 200 steps rev in half step mode driven at drive_freq has a drive freg 200 2 regular speed of rev sec AcQuisition Technology bv P O Box 627 5340 AP Page 28 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 The command will return as soon as the motion profile is started then the channel is ready to accept new commands When a profile is completed the IRQ_TRAWJ_A flag of the interrupt status in the command structure is set make sure to clear the flag before the motion command is given The figure below shows the trapezoidal drive as a result of a requested motion profile Driving frequency 7 Rise up frequency YAA AAA OO DA SO gt JO Ay PpNP9 TAR AAA
42. d or decreased depending on the sign with the relative breakpoint The breakpoint is reached when the motor s current position becomes equal to the breakpoint This is signalled with the IRQ_BRKPT_A interrupt flag in the interrupt status field of the command structure The interrupt status flag must be cleared by the host CPU using the IACK command AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 33 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 SET _BPR_B Set Relative Breakpoint Motor B Command 0x0801 Inputs 32 bit position Outputs None Function Set a relative breakpoint for motor B The corresponding interrupt flag is IRQ_BRKPT_B See Also SET_BPR_A 5 8 ABORT BRAKE COMMANDS The following commands are provided to abort motion profiles or to make emergency stops ABORT A Abort Profile A Command Ox0f00 Inputs None Outputs None Function Abort motion profile motor A This command is provided to abort an active motion of a stepper motor As a result of this command the motion profile goes directly to the deceleration trajectory AcQuisition Technology bv P O Box 627 5340 AP AQ Page 34 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 ABORT_B Abort Profile B Command Ox0f01 Inputs None Outputs None Function Abort motion profile moto
43. dcode id synccode IDSYNC printf Invalid identification code n m321 close amp handle exit 1 printf Module ID M d n idcode id modnum if idcode id modnum 321 amp amp idcode id modnum 322 printf Error wrong module n m321 close amp handle exit 1 Booting the module mA printf Booting the module n if m321 boot handle 0 printf Failed n n m321 close amp handle exit 1 printf Done n Get firmware version result m321_cmd amp handle VERSION args 0 1 if result 0 printf VERSION command failed 0x 04x n result m321 close amp handle exit 1 printf Firmware version d d n args FWVER 10 args FWVER 10 Set up interrupts with default interrupt vector level and mode result m321_int_install amp handle if result 0 printf IRQ install error d n result m321 close amp handle exit 1 AcQuisition Technology bv P O Box 627 5340 AP Page 56 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 Unmask interrupts y args IMASK IRQ_TRAJ_A IRQ_BRKPT_A result m321_cmd amp handle MSKI args 1 0 if result 0 printf MSKI command failed 0x 04x n result m321 close amp handle exit 1 Clear interrupt status bit
44. e Also SET MODE A SET HC A Set Hold Current Factor A Command 0x0a00 Inputs Hold current reduction factor Outputs None Function Set the hold current reduction factor for motor A When set the hold current is reduced automatically with a programmable reduction factor after the motor is positioned Make sure to leave enough current to hold the motor in the same position The hold current factor can be any integer value between 0 and 7 The table below shows the relationship between the reduction factor and hold current Hold Current Imax Imax 2 Imax 3 Imax 4 Imax 5 Imax 6 Imax 7 Imax 8 Imax is resistor configurable refer to section 4 4 for details SET HC B Set Hold Current Factor B Command 0x0a01 Inputs Hold current reduction factor Outputs None Function Set the hold current reduction factor for motor B See Also SET_HC_A AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 41 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 13 SERVICE COMMANDS The commands in this section are provided for service purposes The commands are only listed and not explained in detail DEBUG Undocumented Command 0x8001 Inputs Undocumented Outputs Undocumented Function This function is provided for service and developing purposes For normal operation do not use this function FLASHPRG Program Byte In FLASH C
45. e and provides a polling mechanism CTRL Offset 0x82 15 4 3 2 1 0 _notusea_ pair reser una Hra reset 0 1 0 0 Read Write PBIT Poll Bit When read this bit reflects the state of the Poll Bit either 0 or 1 This bit can be cleared by the host by writing a one 1 and set by the local CPU Writing a zero 0 has no effect RESET Local reset When asserted the M321 will be kept in reset state and pending interrupt requests will be cleared After power up the reset bit is set however when the module is configured for booting from ROM J2 in 2 3 position the reset bit is cleared automatically LIRQ Local Interrupt request When asserted an interrupt request to the local CPU MC68332 will be made HIRO Host Interrupt Request This bit reflects the state of the host interrupt line one 1 means asserted Writing a one 1 to this location clears the pending interrupt 4 2 5 IDENTIFICATION EEPROM The identification of an M module is implemented using a serial EEPROM with a 64 16 word organisation The industry standard component 93C46 is used in order to make the identification compatible throughout the complete range of available modules Access to the identification EEPROM takes place through the following register EEPROM Offset OxFE 15 OOOO 4 3 2 1 0 __notused__ unusea cs cix reset 0 0 0 x Read Write AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 13 of 58 M3
46. figured mode of operation zero means 2 phase mode and non zero means 4 phase mode AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 25 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 4 HOST INTERRUPTS The M321 can generate host interrupts There are various interrupt sources that use the host interrupt request Commands are provided to un mask and acknowledge interrupts individually This section gives a description of the interrupt related commands An example of an interrupt service routine can be found in m321lib c as static int m321l_irgh APIS_HANDLE volatile UINT16 int handler MS KI Un Mask Interrupts Command 0x0020 Inputs Interrupt mask Outputs None Function A bit set in the interrupt mask will enable the corresponding interrupt a bit cleared will disable the interrupt Every interrupt source has a corresponding bit defined in the interrupt mask The mask is defined as follows Fa Hex IRQ_BLANK 0x0000 nothing to report IRQ_CMDDONE 0x0001 command executed IRQ_BRKPT_A 0x0002 breakpoint motor A IRQ_BRKPT_B 0x0004 breakpoint motor B IRQ_TRAJ_A 0x0008 trajectory complete motor A IRQ_TRAJ_B 0x0010 trajectory complete motor B IRO HOME A 00020 home detected motor A IRQ_HOME_B 0x0040 home detected motor B IRQ_EXCEPTION 0x0080 internal exception error IRQ_ALL OxOOff all interrupts AcQuisition
47. freq MSB cmd gt p 1 0x0000 rise up freq LSB cmd gt p 2 0x0000 drive freq MSB cmd gt p 3 0x03e8 drive freq LSB cmd gt p 4 0x0001 acceleration MSB cmd gt p 5 0x86a0 acceleration LSB cmd gt p 6 0x0000 position MSB emd gt p 7 0x0200 position LSB NOTE It is the responsibility of the programmer to request a motion profile that suits the RESTRICTION One stepper motor can be driven at the full speed of 50kHz Two motors can run up to 20kHz simultaneously PROF_ABS B Absolute Motion Motor B Command 0x0301 Inputs Motion profile structure PROFILE Outputs Undefined Function This command is provided to request a trapezoidal movement for motor B with an absolute end point See Also PROF_ABS A AcQuisition Technology bv P O Box 627 5340 AP Page 30 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 PROF REL A Relative Motion Motor A Command 00400 Inputs Motion profile structure PROFILE Outputs Undefined Function This command is provided to reguest a trapezoidal movement for motor A with a relative end position This command is comparable with PROF ABS A But now the position parameter is defined relative to the current position The motion direction depends on the sign of the position parameter See Also PROF_ABS A PROF REL B Relative Motion Motor B Comma
48. ion e g J5 connected However if the jumper has more than one position it is also indicated which pins are connected to each other e g J8 1 2 Pin 1 of a jumper is always marked in the configuration diagram J1 1 2 J1 2 3 Connected eee o jumper J1 Shown e a a jumper eee Figure 1 Example jumper nomenclature In some illustrations jumpers are shown merely for purposes of orientation In this case they are indicated with a dotted line Their correct setting is described in another chapter Active low signals are represented by a trailing asterisks i e IACK 1 6 OVERVIEW In chapter 2 a description of the M321 hardware can be found The next chapter covers the installation and setup of the module as well as the connection of the peripherals Chapter 4 decribes the operation and usage of the M321 in detail Commands for the local firmware are explained in chapter 5 AcQ provides APIS based example software for the M321 which is described in chapter 6 The last chapter contains bibliography component image technical data document history and a programming example AcQuisition Technology bv P O Box 627 5340 AP Page 4 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 2 PRODUCT OVERVIEW 2 1 INTRODUCTION The M321 module is an Intelligent stepper motor controller M module based on an MC68332 micro controlle
49. jumper setting of the M321 is described The figure below shows the location and orientation of the jumpers M321 M821 R1 Figure 2 M321 Jumpers 3 3 1 BOOT SELECTION JUMPER J2 With jumper J2 the M321 can be configured for booting from ROM or booting from RAM The figure below shows jumper J2 positions for both configurations JSfyviipotithg J2 2 3 Boot from RAM Boot from ROM Figure 3 Boot device selection 3 3 2 TWO OR FOUR PHASE SELECTION JUMPER J3 The M321 can be configured for driving either two 2 phase stepper motors or one 4 phase stepper motor The figure below shows the jumper settings for both controller operation modes J3 closed J3 open 4 phase mode 2 phase mode Figure 4 Controller Mode Selection AcQuisition Technology bv P O Box 627 5340 AP Page 8 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 3 3 3 JUMPER 4 Jumper J4 is not user configurable and must be left open J4 closed J4 open ee ee No function Default Figure 5 Jumper 4 3 4 CONNECTING THE MODULE This section gives an overview of the I O pins of the M321 which are available on the DSUB 25 P3 connector at the front of the module TRIGA and TRIGB on the M module connector P1 are also shown
50. mand the pending motion must be triggered as a result the previously processed motion profile is started immediately SWSYN CA Setup Software Synchronization A Command 0x0e10 Inputs Mode Outputs None Function This command is provided to enable parm 0 is 1 or disable parm 0 is 0 software synchronization for motor A When a motion is requested using PROF_ABS_A or PROF_REL_A with software synchronization enabled the motion becomes pending With the command GO_A the motion must be started See Also GO_A PROF_ABS_A PROF_REL_A SWSYNC B Setup Software Synchronization B Command 0x0e11 Inputs Mode Outputs None Function This command is provided to enable parm 0 is 1 or disable parm 0 is 0 software synchronization for motor B When a motion is requested using PROF ABS Bor PROF_REL_B with software synchronization enabled the motion becomes pending With the command GO_B the motion must be started See Also GO_B PROF_ABS_B PROF_REL_B GOA Start Pending Motion A Command 0x0e20 Inputs Mode Outputs None Function When software synchronization is enabled with SWSYNC_A and a motion is requested using PROF_ABS_A or PROF_REL_A the motion becomes pending With the command GO_A the motion must be started See Also SWSYNC_A PROF_ABS_A PROF_REL_A AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 39 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers
51. nd 0x0401 Inputs Motion profile structure PROFILE Outputs Undefined Function This command is provided to request a trapezoidal movement with a relative end position for motor B This command is comparable with PROF ABS _B But now the position parameter is defined relative to the current position The motion direction depends on the sign of the position parameter See Also PROF_ABS A 5 6 POSITION MAINTENANCE COMMANDS The following commands are provided for reading and manipulating the current motor positions GET POS A Get Current Position Motor A Command 0x0500 Inputs None Outputs 32 bit position Function Get the current position of Motor A 32 bit signed value AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 31 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 GET POS B Get Current Position Motor B Command 0x0501 Inputs None Outputs 32 bit position Function Get the current position of Motor B 32 bit signed value SET POS A Set Current Position Motor A Command 0x0600 Inputs 32 bit position Outputs None Function Set the current position of Motor A 32 bit signed value SET POS B Set Current Position Motor B Command 0x0601 Inputs 32 bit position Outputs None Function Set the current position of Motor B 32 bit signed value AcQuisition Technology bv P O Box 627 5340 AP AQ Page 32 of
52. ommand 0x8002 Inputs Offset and byte value Outputs None Function With this command a byte parm 1 is programmed into the on board FLASH memory at the specified offset parm 0 Flash programming must be enabled with the command FLASHEN This function is provided for in system firmware updates details will be provided with any firmware update For normal operation do not use this function FLASHVER Read Byte From FLASH Command 0x8003 Inputs Offset Outputs Byte value Function With this command the content of offset parm 0 in the on board FLASH memory is returned in parm 1 This function is provided for in system firmware updates details will be provided with any firmware update For normal operation do not use this function AcQuisition Technology bv P O Box 627 5340 AP AQ Page 42 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 FLASHCLR Clear Flash Command 0x8004 Inputs None Outputs None Function This command will erase the on board flash device provided that programming is enabled with the FLASHEN command This function is provided for in system firmware updates details will be provided with any firmware update For normal operation do not use this function FLASHEN Enable Flash Programming Command 0x8005 Inputs Signature Outputs None Function With this command programming of the on board FLASH memory is
53. pis_path filled if successful handle irqstat unchanged 0 APIS_NOERR when successful or another APIS error code when unsuccessful Example result m321_open module_id amp handle m321_close Close APIS path Syntax int m321_close M321_HANDLE handle Description Closes the APIS path to the module Arguments M321_HANDLE handle Pointer to m321 handle Returns 0 APIS_NOERR when successful or another APIS error code when unsuccessful Example result m321_close amp handle AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 47 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 m321 boot Boot the m321 Syntax Description Arguments Returns Example int m321_ boot M321 HANDLE handle Boot the m321 from RAM or ROM according to jumper configuration M321 HANDLE handle Pointer to m321 handle 0 when successful 1 in case of hardware failure timeout result m321_boot amp handle m321_cmd Execute command Syntax Description Arguments Returns Example Page 48 of 58 int m321 cmd M321 HANDLE handle UINT16 command void pArgList int ni int no Copy command parameters to the parameter field in shared RAM of the m module Execute command and wait for the command to be completed Copy the result parameters and return with the result code obtained from the firmware
54. pper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 Mask all interrupts EJ args IMASK IRQ_BLANK result m321_cmd amp handle MSKI args 1 0 if result 0 printf MSKI command failed 0x 04x n result m321 close amp handle and close path free args return 0 Function usage i Description The program usage is displayed and the program is terminated Parameters pointer to the program name Returns nothing void usage char pname printf Syntax s lt opts gt n pname printf Options default n printf b lt base gt module APIS path ID in hex n printf r repeat n n AcQuisition Technology bv P O Box 627 5340 AP Page 58 of 58 Oss The Netherlands
55. puts Motion profile PROFILE and detection edge Outputs Undefined Function As a result of this command motor A starts moving as with the PROF_REL_A command But when a transition on the corresponding home input is detected the motion profile is aborted the current position is set to zero and the interrupt flag IRQ_HOME_A is set If the corresponding interrupt is enabled a host interrupt is generated The detection edge is programmable parm 8 and must be either 0 for falling edge or 1 for rising edge detection See Also PROF_REL_A S KH OM E B Seek Home B Command 0x0b01 Inputs Motion profile PROFILE and detection edge Outputs Undefined Function As a result of this command motor B starts moving as with the PROF_REL_B command But when a transition on the corresponding home input is detected the motion profile is aborted the current position is set to zero the current position is set to zero and the interrupt flag IRO HOME Bis set If the corresponding interrupt is enabled a host interrupt is generated The detection edge is programmable parm 8 and must be either 0 for falling edge or 1 for rising edge detection See Also PROF REL B RD HOM E A Read Home Sensor A Command 0x0c00 Inputs None Outputs Home sensor status Function This command returns the status of the home sensor input A in parameter 0 zero means input low and one means input high AcQuisition Technology bv P O Box 627 5340 AP AQ
56. r The M321 has four on board power amplifiers which can drive four phases The module can drive two 2 phase motors independently or one 4 phase motor Each controller channel has an associated home sensor input up front and a trigger line TRIGA TRIGB on row C of the M module connector The MC68332 executes local firmware downloaded by the host through the M module interface or booted from ROM Interaction with the host is done via a command structure in dual ported memory and a mailbox which provides a polling and interrupt mechanism 2 2 TECHNICAL OVERVIEW MC68332 local 32 bit micro controller 64kByte RAM shared with the M module bus Up to 1MBit local EPROM or FLASH memory in socket A08 D16 M module interface Mailbox with polling host interrupt and local interrupt mechanism Identification EEPROM Executes local stepper motor firmware Firmware bootable from local ROM or downloadable via the M module bus Firmware compatible with M322 controller for external amplifiers Controls two 2 phase motors or one 4 phase motor jumper selectable The two axis in 2 phase controller mode are independent Interrupts on position breakpoint trajectory complete etc Four on board power amplifiers deliver up to 3A 55VDC per phase Motor power up to 300W with forced cooling Motor power up to 50W without additional cooling Amplifiers are bi polar driving circuits in constant current driving mode Over current protection and thermal shutdown Programmable
57. r B This command is provided to abort an active motion of a stepper motor As a result of this command the motion profile goes directly to the deceleration trajectory BRAKE A Assert Brakes Motor A Command 0x0900 Inputs None Outputs None Function This command will assert brakes of motor A by shorten the phase windings Any active motion profile will be terminated immediately This function is only available on an M321 WARNING This brake command shortens the motor windings depending on the stepper motor and its load it is possible that the torque is not enough to hold the motor in the same position BRAKE B Assert Brakes Motor B Command 0x0901 Inputs None Outputs None Function This command will assert brakes of motor B by shorten the phase windings Any active motion profile will be terminated immediately This function is only available on a M321 configured for two 2 phase motors WARNING This brake command shortens the motor windings depending on the stepper motor and its load it is possible that the torque is not enough to hold the motor in the same position AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 35 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 5 9 HOME DETECTION The M321 has two home detection inputs This section describes the home input related commands S K_H OM EA Seek Home A Command 0x0b00 In
58. reduction factor motor B seek home motor A seek home motor B read home sensor A status read home sensor B status signal transition on home input A signal transition on home input B Page 23 of 58 M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Hex SYNC_A SYNC_B SWSYNC_A SWSYNC_B GO_A GO_B ABORT_A ABORT_B GPOUTO_A GPOUTO_B GPOUT1_A GPOUT1_B GPOUT2_A GPOUT2_B DEBUG FLASHPRG FLASHVER FLASHCLR FLASHEN Ox0e00 Ox0e01 0x0e10 0x0e11 0x0e20 0x0e21 0x0f00 Ox0f01 0x1000 0x1001 0x2000 0x2001 0x3000 0x3001 0x8001 0x8002 0x8003 0x8004 0x8005 Version 1 3 enable synchronized motion A enable synchronized motion B enable software synchronization motor A enable software synchronization motor B start pending motion A start pending motion B abort profile A abort profile B set clear general purpose output 0 A set clear general purpose output 0 B set clear general purpose output 1 A set clear general purpose output 1 B set clear general purpose output 2 A set clear general purpose output 2 B service command debug service command program byte in flash service command read byte from flash service command clear flash service command enable flash programming These commands are only available on the M321 Calling one of these commands on a M322 will result in the error code INVREQ These commands are not available on the M321
59. rm This demo application uses APIS functions and M321 functions provided by m321lib c Copyright 2000 by AcQuisition Technology B V c All Rights Reserved Reproduced Under Licens This source code is the proprietary confidential property of AcQuisition Technology B V and is provided to the licensee for documentation and educational purposes only Reproduction publication or any form of distribution to any party other than the licensee is strictly prohibited Edition History FF FF A FF FF FF FF FFF HF F FF FF HF FF OF date Comments by 1 0 20 07 99 derived from ms21ldemo c sp 1 1 15 02 00 APIS structure update tl include lt stdio h gt include lt stdlib h gt include lt ctype h gt include LIB m32ldefs h include APIS SOFTWARE COMMON DEFS apis h include MMODID SOFTWARE LIB ideeprom h Globals volatile int term 0 program termination flag Forward declarations void usage char display usage AcQuisition Technology bv P O Box 627 5340 AP Page 54 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 Function main Description M321 APIS Demo program entry Parameters int argc number of program arguments char argv gt pointer to program argument list Returns 0 int main int
60. rsion 1 3 4 2 2 DUAL PORTED MEMORY The M321 features 64kByte dual ported memory The dual ported memory on the M321 is divided in 512 pages of 128 bytes The memory can be accessed by the host via a 128 byte memory window and a page register The dual ported memory window resides at offset 0x00 to 0x7e of the M module memory map CAUTION The dual ported memory is 16 data bit wide and should only be written using 16 bit write accesses Byte writes to the dual ported memory are NOT supported and will result in undefined behaviour 4 2 3 PAGE REGISTER The dual ported memory of the M321 is accessed using a page register for the upper address bits The first 128 bytes of the address space of the M321 M module is used as a window into the dual ported memory as described in the previous section PAGEREG Offset 0x80 15 410 9 8 7 6 5 4 3 2 1 0 not used reset xX xX X xX xX X xX X X xX Write only A16 A7 Dual ported memory address bits These bits determine the current dual ported memory page selected A page has a length of 128 bytes A6 A0 AcQuisition Technology bv P O Box 627 5340 AP Page 12 of 58 Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 4 2 4 CONTROL REGISTER With the control register the local reset of the M321 M module can be controlled Furthermore the control register provides a mailbox The mailbox controls interrupts to and from the modul
61. s in m32listat m321_clistat amp handle IRQ_TRAJ_A IRQ_BRKPT_A do printf Set Relative Breakpoint to 1000 n args BRKPT_H 0 args BRKPT_L 0x3e8 result m321_cmd amp handle SET_BPR_A args 2 0 if result 0 printf SET_BPR_A command failed 0x 04x n result term 1 printf Moving 5000 steps n n args RISE_H 0 vise frequency 300 Hz args RISE_L 0x12c args DRIVE_H 0 drive frequency 1000 Hz args DRIVE L 0x3e8 args ACC_H 0 acceleration 10000 Hz sec args ACC_L 0x2710 args POS_H 0 end position 5000 steps args POS_L 0x1388 result m321_cmd amp handle PROF_REL_A args 8 0 if result 0 printf PROF_REL_A command failed 0x 04x n result term 1 do if m321_waitforirg 0 term 1 Verify interrupt flags Unmasked interrupt sources IRQ_BRKPT_A x IRQ TRAJ_A if m321_gtistat amp handle amp IRQ _BRKPT_A printf Breakpoint detected n n m321 clistat amp handle IRQ _BRKPT_A while m321_gtistat amp handle amp IRQ_TRAJ_A amp amp term if m321_gtistat amp handle amp IRQ_TRAJ_A printf Traject A completed n n m321 clistat amp handle IRQ _TRAJ_A while repeat amp amp term AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 57 of 58 M321 Ste
62. t_deinstall amp handle AcQuisition Technology bv P O Box 627 5340 AP AQ Oss The Netherlands M321 Stepper Motor Controller M module with on board Power Amplifiers User Manual Version 1 3 6 4 SOFTWARE DISTRIBUTION This section gives an overview of the software distribution ie id in M321 SOFTWARE m32 1 rel txt Release notes M321 SOFTWAREILIB m321lib c ANSI C M321 APIS software library M321 SOFTWAREILIB m321defs h Definitions for the M321 library M321 SOFTWARE LIB m32 1 firm c Downloadable firmware image for the M321 M321 SOFTWARE EXAMPLE m321demo c Demo program for M321 M321 SOFTWARE EXAMPL E makefile bor Borland C makefile for M321 on i2000 M321 SOFTWARE EXAMPLE makefile os9 OS9 makefile for M321 on i4000 MMODID SOFTWAREILIB modideep c ANSI C ID EEPROM APIS software library MMODID SOFTWARE LIB ideeprom h Definitions for the ID EEPROM library M321 example software is APIS based therefore APIS support for the target platform is required for code generation The following figure is an example of the M321 software integrated in the APIS environment on an i4000 OS 9 target platform PROJEC AcQ s dis inalo EON APIS APIS basis distribution DOC APIS documentation to SOUT IWAN readme txt Distribution overview m COMMON DEI apis h General definitions P SINA m MDS apistrap OS 9 trap handler me OOWO So i14000 0S 9 support CEILMOLSS 5 TAE Release notes version info
63. viour 4 3 3 FIRMWARE DOWNLOAD The M321 software distribution contains an example for downloading the firmware m321lib c This is an ANSI C APIS based library that contains host interface functions one of the functions is m321_boot which loads the firmware image stored in memory For disk less applications the firmware image can be supplied as an array of constants declared in ANSI C source code m321firm c 4 4 POWER STAGES The M321 has four LMD18254 full bridge power amplifiers Every power stage drives one phase of a bipolar stepper motor The H bridge power stages deliver continuous output currents up to 3A at supply voltages between 12 and 55 V The M321 can be configured for driving two 2 phase stepper motors independently two power stages combined jumper J3 open or one 4 phase stepper motor four power stages combined jumper J3 closed NOTE The maximum power dissipation of the M321 power circuit is 300W with forced cooling The maximum power without additional cooling is 50W A thermal protection circuit shuts down the driver when the junction temperature reaches 155 C The output current is sensed and controlled independently in each bridge with external sense resistors internal comparator and monostable multivibrator The output current limit can be configured with the external sense resistors The figure below shows the power stage circuitry of phase pair A B with external sense resistors the power stages of

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