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1. 5 4 User s Manual 5 COMMAND STRUCTURE COMMAND SUMMARY COMMANDS IN CHAPTER 5 COMMAND SECTION PAGE NUMBER COMMAND DESCRIPTION GS 5 153 Go and use the home switch to monitor for motor slip GU 5 154 Go and use the AC values to accelerate and the DC values to decelerate 5 94 Report position maintenance deadband 5 93 Hold deadband specify deadband tolerance for position hold 5 52 Encoder home mode set home on encoder logic 5 88 Hold off disable position hold slip detection and tracking modes 5 98 Report position maintenance gain 5 97 Hold gain specify position hold gain parameter 5 50 Home high home switches are active high 5 51 Home low home switches are active low 5 106 Home find home and initialize the position counter 5 87 Hold on enable position correction after move 5 108 Home reverse find home in reverse direction and initialize position counter 5 53 Home switch enable home switch mode 5 96 Report position maintenance velocity 5 95 Hold velocity specify maximum position hold correction velocity 5 166 Interrupt clear clear done interrupt status and error flags 5 162 Interrupt host when done and set done flag 5 163 Interrupt independent 5 164 Interrupt when
2. 5 177 Contour E Dd ir eei RM n cre 5 183 Contour End And Kill ilicet tere ot ce inen Be eu da E ede xa Fete d ed 5 184 Contour ras ete FTH HU eel gee He Ue a IR ge eed eom 5 185 Contour Velocity 5 175 eria 5 132 Cosine RampiPer AXIS itr e redet a t Eee eee e d ee he HR ead ote 5 133 o Em 5 179 v ne e n 5 175 Coi tue e Mte Luo Lem I te Eu ht dem EM a ea 5 199 CX LEID 5 185 D DAB eter reed apta eere PE Ea edere etate dem AD eric ds 5 137 DAE n oce M b a 5 138 DAR LL necdum ene URL tee eA LUAM DU ML LS 5 136 lp 5 74 BD 5 75 pop 5 127 2 PCIx User s Manual INDEX E Define Custom Ramp 5 137 Define Zero Position In Open Loop nennen 5 70 Derivative Gain 5 85 IZ DEC uiu LE e 5 70 E EEA m 5 31 Echo Off e tet lere cti 5 15 eue ep LEM PE 5 14 PE ee uten enne nuUi e 5 15 p MH 5 14 Encoder ptos IE 5 90 Encoder Slip 5 99 Encoder Status irem ett
3. 5 151 MOVE TERMINATION 5 155 MOVE COMPLETION NOTIFICATION COMMANDS 5 162 VELOCITY STAIRCASING 5 168 VELOCITY STREAMING 5 174 CONTOURING COMMANDS x deis ee te eh th se nt 5 175 SYNCHRONIZATION 8 5 186 ii User s Manual TABLE OF CONTENTS 6 HOST SOFTWARE WAITING 5 5 186 EOOPING GOMMANDIS cives ope ue co part erent olet op 5 191 LOOPING COMMANDS i sie tede 5 191 6 HOST SOFTWARE INTRODUCTION TO PCIX SOFTWARE 5 2 42 222 6 1 7 SERVICE USER SERVICE dade tented Md ene ane 7 1 THEORY OF OPERATION 2 50 tede desiderent greet cab eases 7 1 LIMITED WARRANTY B TECHNICAL INFORMATION RETURN FOR REPAIR PROCEDURES C SPECIFICATIONS INDEX User s Manual iii INDEX TABLE OF CONTENTS This page intentionally left blank iv User s Manual 1 GENERAL DESCRIPTION INTRODUCTION 1 GENERAL DESCRIPTIO 1 1 INTRODUCTION The Oregon Micro Systems PCIx family of PCI products comply with the PCI Local Bus specification revision 2 2 for a short card The PCIx controller can manage
4. 5 157 SLOP ADPOSIUOD 5 172 Stop At Position By Ramping From 5 159 Stop Individual rire ee de 5 158 SOV m 5 67 S O 5 68 jl 5 189 Sync Waltz abana desu ERR dein 5 189 T TECHNICAL SUPPORT et tate andi La nasi d da uiua a Fa Dn dede aa B 1 Temporary Macro Define eriseeria eaa aces asavdeees LER AL ev aere 5 32 He 5 104 Aro a AO aid 5 145 E 5 62 Nu c 5 145 INE M ite tue 5 103 Turn Off Slip Kill Mode ee RH ep REMISE 5 104 Turn On Slip Kill Mode ricette cete dece derit ecce 5 103 U BE 5 25 BE 5 65 Unipolas 5 65 User Off romae nA LC n n Due tas E cm m bern 5 25 5 24 5 24 V MB m ient LE M eee 5 122 cte ee ded de e M to TEE A 5 119 Mods 5 122 Velocity Feedforward Rode e hne deinde eed es 5 79 Velocity
5. das 5 139 ira eo 5 35 Proportional Gain 5 81 Pete 5 33 5 27 5 28 GN le M 5 27 Query Interr pt Status bee qe ape ae aranana ond ee nha d Ro REP ere aaea enin dong 5 28 R Dg 5 29 OEE 5 126 E E EEIE 5 11 5 117 5 113 Report Custom Ramp Table 5 141 Report Acceleration Feed Forward sss ennemis 5 78 Report Analog Output nnne tren nnn nien nennen 5 66 Report Axis Base Velocity 5 123 Report Axis User Units Axis 5 26 Report Dac Open Loop Offset e a a 5 71 Report Default Auxiliary Bit State nii
6. Set servo axis X for unipolar operation Enter AX UN QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands 25 SVI SVN DBI DBN User s Manual 5 65 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE 250 REPORT ANALOG OUTPUT MODE d 25 command reports whether the analog output type for the current servo axis is bipolar or unipolar The possible responses are BI and UN the same commands used to set one mode or the other Example The Y axis should be setup with unipolar outputs Use SO to make sure Enter AY 5 Response lt LF gt lt CR gt UN lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands UN BI 5 66 User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS SVI INVERT SERVO VOLTAGE dB The SVI command inverts the voltage output for the current axis After receiving this command the PCIx will produce a negative voltage for positive motion and a positive voltage for negative motion To cancel this command issue an SVN command To make inverted servo outputs the default at powerup or reset use the AP command x Example The Y axis encoder is counting opposite the expected direction Setup the Y axis to produce a negative voltage when moving positive instead of a positive voltage to correct the
7. 400 ver 1 00 S N 000000 from the If you receive nothing double check that the PCIx is fully seated in the chassis and the device drivers are installed properly For technical support refer to Appendix B on page B 1 of this manual for contact information 2 4 2 FOR WINDOWS 95 98 After Installing the PCIx in the chassis apply power to the host PC The system will request a driver for the device Insert the software support disk from OMS and follow the instructions in Windows for adding a new hardware device To begin communicating with the PClx run PCICOMM EXE from the installation disk You can begin interactively sending commands and receiving responses immediately if all has been properly installed If the Board Number select jumper is set to something other than 1 run the communication program with the switch c where is the Board Number For example if Board Number 2 then type PCICOMM C 2 WY and observe the response from the PClx You should receive a reply similar to PCIX 400 ver 1 00 S N 000000 from the PCIx If you receive nothing double check that the is fully seated in the chassis and the device drivers are installed properly For technical support refer to Appendix B on page B 1 of this manual for contact information 2 5 CONNECT TO STEPPER MOTOR SYSTEM The PCIx control signals are located on the J2 connector This section is going to explain how to connect a stepper mot
8. Related commands ES IS RL TN TF PCIx User s Manual 5 99 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE ES REPORT ENCODER EN SLIP TOLERANCE The ES command reports the current setting of the ES command x Example Report the current deadband for encoder slip detection tolerance Enter 5 Response lt LF gt lt CR gt ES15 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands ES 5 100 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS IS INTERRUPT ON SLIP E The IS command enables the to interrupt the host on slip or stall detection if the appropriate bit has been set in the interrupt control register Hold and slip detection are disabled if an LP HM HR SA ST or KL command is entered or if a limit is encountered f a slip occurs slip detection must be re enabled The factory default value is 1 This command is intended to be used with stepper motors and not servo motors A Example see ES command on page 5 99 QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands ES RL TN TF PCIx User s Manual 5 101 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE REPORT SLIP STATUS RL command returns the slip detection status of all axes 5 is returned if slip has occurred for that axis or else an N is returned The results are bou
9. Report the motor positions of a four axes controller Enter PP Response lt LF gt lt CR gt 0 0 0 125 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands RP RE PE User s Manual 5 115 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE REPORT POSITION IN USER UNITS E EN dB The RU command returns the current position in user units see UU command page 5 24 The format of the response is a floating point number with five characters to the right of the decimal point This response is surrounded by line feed and carriage return pairs Example One revolution of a motor is 2000 steps Define user units so moves can be referenced in revolutions Move the Z axis 3 1 2 revolutions Use RU to display the position when the move is complete Enter AZ UU2000 LPO MR3 5 GO Wait until move is complete RU Response lt LF gt lt CR gt 3 50000 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands RP RE UU 5 116 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS RE REPORT ENCODER POSITION i dP The RE command returns the current encoder position of the currently addressed axis or axes in encoder counts The ASCII string response is surrounded by linefeed carriage return pairs x Example Examine the current encoder position of th
10. 5 17 AXIS Tom ce ME E 5 21 Sd PT EM 5 18 PIS M aD tH Ee sat 5 19 AXIS ra 5 20 AYo 2 2 line i inten Gi ts De nen ek Rot ee no eee 5 19 vH 5 20 B Begin Custom Ramp 5 136 i E 5 47 LEE 5 64 lr M 5 64 ida 5 47 dt 5 46 Bit Request InN HeX o saad eee daa b a egere dude i DRE gne av dde KES a Aka ue one cud 5 49 E 5 48 Bla sten e MR e E ess 5 46 BS doncc ld cd M tou oce cmi Ipod Ao EUM 5 48 BWW O 5 190 je 5 49 C Ut Iu EUM cette Meare eer t c CE Ui nM 5 167 e iL one DE E Ed 5 177 CE nebenbei LU ti qune dene dodo ove ete 5 183 Circular Interpolation feed Dette ra dde ru ret a Ded ea ede dU doe de ia nates mete 5 179 o mc 5 184 Clear Axis Rp ted ett ge ede ET RERUM e ERSTE 5 167 Clear While a dL tn et read ee dete dieta etos rcr 5 199 fct fer tut n eode omne Re od Sed ooh Sate r ea a Dn ah Std See desert 5 132 Command Tabler iesea a eet bet hdc teg ett dee meatier 5 3 Gontoureflnes
11. Related commands AA AM AX AZ AT PCIx User s Manual SYSTEM STATUS AND CONTROL COMMANDS AXIS Z 5 COMMAND STRUCTURE The AZ command directs all following commands to the Z axis Commands sent in this mode will be executed in the order in which they are received subject to queued versus immediate execution and are expected to be formatted for single axis use x Example Enter AZ VL500 MR2000 GO Move the Z axis 2 000 steps at a rate of 500 steps second FORMAT QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands AA AM AX AY AT 5 20 User s Manual 5 COMMAND STRUCTURE AT AXIS T SYSTEM STATUS AND CONTROL COMMANDS The AT command directs all following commands to the T axis Commands sent in this mode will be executed in the order in which they are received subject to queued versus immediate execution and are expected to be formatted for single axis use A Example Enter Move the T axis to absolute position 2468 AT MA 2468 GO QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands AA AM AX AY AZ PCIx User s Manual 5 21 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE RQ 5 4 5 QUEUE STATUS COMMANDS Commands sent to the are either queued or immediate As the type names imply queued commands are stored in f
12. 3 4 DONE FLAG REGISTER atten eerie 3 4 INTERRUPT CONTROL REGISTER 3 5 STATUS REGISTER 3 et ne 3 6 4 CONTROL SIGNAL INTERFACE INTRODUCTION cH c Em 4 1 GENERAL PURPOSE I O LIMIT AND HOME 4 1 CONTROL OU TPL T acres chest oir eme rh Ue vec rca rid oca d v rine 4 1 ENCODER FEEDBAQCK 5 m dore eti nin citable aM eu al e debes 4 3 ENCODER SELECTION AND COMPATIBILITY 4 3 HOME PROCEDURES eorom nie ae 4 3 9 erret rien eoo eret 4 6 EXPLANATION OF ADDITIONAL CIRCUITRY ON THE 1068 4 7 PCIx User s Manual i 5 COMMAND STRUCTURE TABLE OF CONTENTS 5 COMMAND STRUCTURE INTRODUCTION um 5 1 COMMAND QUE UE S dena 5 2 COMMAND SUMMARY ihi ieee a ee Meg eens 5 3 SYSTEM STATUS AND CONTROL 5 5 9 IDENTIFICATION COMMANDS eem 5 9 POWER UP DEFAULTS 3 rhe eet he e 5 10 COMMAND EGHO eue aca 5 14 QUEUE SELECTION COMMANDS itr us t Hg rrt ee enc 5 16 QUEUE STATUS COMMANDS semen 5 22 USER UNIT 5 24 AXIS STATUS COMMANDS oai
13. QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands DZ KO HN HF 5 70 PCIx User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS DZ REPORT DAC OPEN LOOP OFFSET d 2027 command reports the current setting of the DZ command DZ command format closed loop offset needs to be set the same as the open loop offset We ve already set the open loop offset but forgot what value we used Send the DZ command to find out Enter DZ Response lt LF gt lt CR gt DZ28 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DZ KO User s Manual 5 71 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE KO OFFSET COEFFICIENT IN 4 CLOSED LOOP MODE The KO command defines the offset coefficient to cause the motor to remain stationary and compensate for additional torque on the motor from loading This command is used in the closed loop mode hold on HN The factory default value is zero See the AP Command on page 5 10 to preserve the KO settings as the Power up Reset values The factory default value is zero Full scale the KO command has a range of 32 667 which corresponds directly to the 16 bit range of the DAC less a few counts as a buffer zone Each increment decrement of the KO value will result in an approximate change in the output voltage o
14. Related commands FL AX AY AZ AT AA AM CD 5 22 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS FL FLUSH E IiE dP The FL command will flush an individual axis command queue This command is similar in operation to the KL and ST commands except that current motion will remain unaffected by the FL command All unexecuted commands remaining in the current axis queue will be flushed upon receipt of this command BN Example Several motion commands have been sent to the X axis but a situation arose and now those commands must be cleared out The currently executing motion must be allowed to complete to avoid damage to the product Enter AX FL QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KL KS RS ST SA PCIx User s Manual 5 23 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE 5 4 6 USER UNIT COMMANDS The following commands allow specification of move parameters in user defined units The OMS controls will automatically convert all move parameters to these units once they have been initialized UU USER UNITS E EN dP The UU command converts all move velocities distances etc to user specified units by multiplying by the specified parameter The UF command is used to terminate this mode Factory default is with this command off See the AP Command on page 5 10 to preserve the UU settings as the
15. Related commands RT PN PF LA CN SC SR PCIx User s Manual 5 131 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE CN COSINE ON E IiE dB The CN command enables cosine velocity ramps i e half sinusoid acceleration profiles for all axes The cosine is not truncated in moves that do not reach full speed This command should not be given while an axis is in motion or the results may be unpredictable This command affects all axes even if issued in the single axis mode The PF command is used to return to linear motion profiles See the AP Command on page 5 10 to preserve the CN setting as the Power up Reset ramp BN Example Set the board to be in cosine mode Enter CN QUEUE REQUIREMENTS FORMAT Max CN 29 CN 29 AA CD Not Valid Related commands RT SC PF LA PN PR SR 5 132 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS SC COSINE RAMP PER AXIS E HN SC command specifies that the standard cosine acceleration ramp is to be used by the selected axis axes This command is similar to the CN command except that only the selected axis or axes are affected The AP command will store the settings of SC as the power up reset defaults x Example Select the cosine ramp for the X axis Enter AX SC x Example Select the cosine ramp for the Y and T axes Enter AA SC 1 1 QUEUE REQUIREMENTS FORMAT Max SC 29 SCb b b b 29
16. Related commands HE HH HL HM HR KM KR User s Manual 5 53 CONTROL COMMANDS 5 COMMAND STRUCTURE 5 5 4 LIMIT CONTROL Limit conditions are treated as critical errors in the PClx When a limit is encountered the axis involved will cease motion and flush any pending motion commands for that axis However since needs vary from application to application the following commands will allow limit behavior customization to fit almost any system LIMITS OFF E iI dP The LF command disables the limit switches for the addressed axis or axes This allows the stage to move beyond the limit switches and should be used with caution The PCIx will still recognize that a limit switch has been closed if the stage runs into one and will report this information via the query commands See the QA command However the limit switch closure will have no effect on motion i e the axis will not be forced to stop as a result NOTE systems not designed to handle motion beyond the limit switch points this can potentially cause damage to the system and or persons operating the system This command should be used with extreme caution Example Set up a board to ignore the Y axis limit switches Enter AY LF or LF 1 QUEUE REQUIREMENTS FORMAT Max LF 1 LFb b b b 1 E AA CD Not Valid Related commands LN LH LL SL SF 5 54 User s Manual 5 COMMAND STRUCTURE CONT
17. mode is active add 1 If an auxiliary output bit settle time has been specified add 3 Related commands ST SA SI SO KL KS PCIx User s Manual 5 157 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE SI STOP INDIVIDUAL E E dB This command can be used to stop only certain axes In a single axis mode the SI command behaves identically to ST In a multiaxis mode however SI can be used to stop any number of axes and can be used in place of SA Like SA SI will ramp those axes to be stopped using the rate previously specified via the AC command This command is useful for stopping a specific axis when the current axis mode is unknown and for stopping several axes without affecting current motion on other axes Each parameter represents an axis from X through T Any non zero value in a parameter will cause the corresponding axis to be stopped x Example Start a motion on all four axes When input bit 1 becomes true stop axes Y and T without affecting X and Z Enter AM MR15000 30000 20000 40000 GO SW1 SI 1 1 QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM PNO amp PRO ramp selections add 4 All other PN amp PR ramp selections add 18 CN amp SC ramp selections add 18 SR Custom ramp selections add 2 number of steps in ramp 1 If PA mode is active add 1 lf an auxiliary output bit settle time has been specified add 3 Related commands ST SA SD SO KL KS 5
18. EM M EP 5 30 REDI Dt DLL eld n eM UA Meter t m 5 102 RM rise ced e e adu er e edad ene a 5 113 bete ait in bee eoe iced du dai ri et 5 114 IQ ciet tete iae e ee m e dotato iced do test si eset oit certet Wate 5 22 RS ci reet bos eset oai us doin Li SE e eL seed 5 13 ULL RM ain Sere egies and Sele MU 5 116 FR cts salsa raat bene n a adrian n ore S Gea Seats 5 121 5 SA eerie a 5 156 io TT EE TERME 5 133 RID E E 5 157 seeds um dote ie ch 5 41 Set Auxiliary Default To High essen nemen 5 43 TO LOW ire tte bee UR 5 44 Set Software Travel 8 5 62 Setting TIME E 5 41 cim E 5 60 Occit certo ta up Kad itus 5 158 5 59 5 159 SOMALI IE Off 5 60 SOM LIMITS eic ID aa as eee 5 59 Le CEE a M UA arn Dee eee 5 172 SPECIFICATIONS heir li ded aang daai vad ay a C 1 ic 5 134 Said 5 155 son AT E 5 155 PCIx User s Manual 7 EY 5 156 Stop And Reset
19. The ST command flushes the queue for the current axis or axes only and causes the axis axes to decelerate to a stop at the rate previously specified via the AC command This command is used to stop one or more motors in a controlled manner from jog mode or an unfinished GO or GD command This command is executed immediately upon receipt All status and position information is retained When executed in a multiaxis mode the ST command is equivalent to the SA command Example Move the Y axis for a while at 1200 steps second then ramp to a stop Enter AY JG1200 wait awhile ST QUEUE REQUIREMENTS FORMAT Max ST 61 ST 61 AA CD Not Valid AX AT AA AM PNO amp PRO ramp selections add 4 All other PN amp PR ramp selections add 18 CN amp SC ramp selections add 18 SR Custom ramp selections add 2 number of steps in 1 If PA mode is active add 1 If an auxiliary output bit settle time has been specified add 3 Related commands SA SD SI SO KL KS PCIx User s Manual 5 155 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE SA STOP ALL E IE dB The SA command flushes all queues and causes all axes to decelerate to a stop at the rate previously specified in an AC command All status and position information is retained Even when executed in a single axis mode this command will cause all axes to stop x Example Send all axes on a move then ramp them to a stop before they fin
20. e imei eite ei qup ie d 5 31 Encoder Trackirigi iiie etie S HE IRE E qp HERE MR 5 105 End Custom Ramp 5 138 dre tuse ise 5 90 EE ER 5 99 EA e 5 105 gp 5 23 EIUS seen eee tetra tem e oe te ates reete 5 23 FORCE POSINON asses eerie dice de NU n I 5 173 giri e PC P EU TRU LCD 5 173 G E D 5 152 Senet ea 5 151 Go And Monitor Slip 5 153 Go And Reset DO ete 5 152 Asymmetrical eee eer reb Hae ib erede 5 154 GS peas M m I 5 153 GU uiis die Lnd ederet adalat A ii ede eu s gud itus e de va odd tv Le edv dae oe 5 154 H np ETT 5 93 HE et e ote ne 5 52 HE sac tih iita uid ntt emissi 5 88 Qc n 5 97 EE 5 50 5 51 MER D 5 106 HN Rer LEE 5 87 Hold Deadband 2 1 eeu er i edu 5 93 P ert tent Et tate e aee Aasi 5 97 ale sho ep 5 88 eso pee 5 87 Hold BAY lee 5 95 PCIx User s Manual 3 goi ER 5 106 Home And Kill nocte cereo one 5 109 Home Encod6er oot trt teneam meii MUT 5 52 kome FION eee 5 50
21. 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS EA ENCODER STATUS BB The EA command returns encoder status of the currently addressed axis or axes in the following format EA COMMAND RESPONSE DESCRIPTION CHAR SENT DESCRIPTION 1 LF Line feed 2 CR Carriage return 3 CR Carriage return 4 Slip detection enabled D Slip detection disabled 5 Position maintenance enabled D Position maintenance disabled 6 5 Slip or stall detected reset execution of EA command N No slip or stall detected 7 P Position Maintenance within deadband N Position not within deadband 8 H Axis is home N Axis is not home 9 Unused reserved 10 LF Line feed 11 CR Carriage return 12 CR Carriage return BN Example Examine the status of the Y axis encoder Enter AY EA Response lt LF gt lt CR gt lt CR gt EENPNN lt LF gt lt CR gt lt CR gt QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands QA QI RA RI PCIx User s Manual SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE 5 4 8 MACROS In applications that must perform frequent repetitive tasks macros can be used to minimize communication bandwidth consumption and speed up initial task execution Macros are storage areas in the PCIx of which 5 are temporary i e not saved at power off and 20 are permanent i e stored in non v
22. AA CD Not Valid Related commands RT CN PF LA PN PR SR PCIx User s Manual 5 133 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE SR SELECT CUSTOM RAMP E IiE dB The SR command selects a previously defined custom ramp profile for use with a specific axis This command will override previous ramp type selection for the given axis such as PN and CN RANGE 0 lt SR lt 9 Select custom ramp number 4 for use with axis ramp number 8 for axis T Enter SR 4 8 QUEUE REQUIREMENTS Max 60 60 AA CD Not Valid 10 2 for each segment in the ramp Related commands RT PF LA PN PR CN SC ED DAR DAB DAE 5 134 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS RT REPORT RAMP TYPE E HN command reports the current acceleration ramp assigned to the active axis Possible responses are LA Default linear ramp PRn Parabolic where n specifies number of segments SC Cosine ramp SRn Custom ramp where n specifies the table number x Example Make sure custom ramp 3 was assigned to the Y axis Enter AY RT Response lt LF gt lt CR gt SR3 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands PF LA PN PR CN SC SR User s Manual 5 135 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE DAR 5 8 4 CUS
23. AY KV35 3 FORMAT QUEUE REQUIREMENTS Not Valid Not Valid Related commands KV KA KP KD HN HF PCIx User s Manual SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE KV REPORT VELOCITY FEEDFORWARD dB The KV command reports the current velocity feed forward setting KV of the current servo axis BN Example Make sure the velocity feed forward setting of axis T is zero Enter AT KV Response lt LF gt lt CR gt KV0 00000 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands KV 5 80 User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS KP PROPORTIONAL GAIN COEFFICIENT KP is the proportional gain coefficient used in the PID filter calculations See Section 2 for detailed information regarding this parameter The factory default value is 10 00 See the AP Command on page 5 10 to preserve the KP settings as the Power up Reset values RANGE 0 lt KP lt 249 99 Example Define KP to be 45 6 on the Z axis Enter AZ KP45 6 FORMAT QUEUE REQUIREMENTS Not Valid Not Valid Related commands KD HN HF PCIx User s Manual SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE REPORT PID PROPORTIONAL GAIN 4 command reports the current setting of the proportional gain constant KP in
24. R Typ FIGURE 2 4 PClx DIAGRAM PCIx User s Manual 2 3 TO PREPARE FOR INSTALLATION 2 GETTING STARTED J3 I O Bit BD SEL 4 10 Factory use only Connection 24 Sper JP6 JP7 1 3 1 9 1 CE CH CE m m E 52 2 7 3 Encoder Bias I O Bit Direction S1 X Y Encoder Bias FIGURE 2 5 PCIx JUMPERS SWITCHES Factory default shown Figure 2 4 illustrates the locations of the jumpers and switches on the PCIx TABLE 2 1 POSSIBLE BOARD NUMBER SELECT SETTINGS JP6 Board ID Jumper 1 2 3 Setting 4 On On On HHH 1 4 Off On On 5 HH 1 4 On Off On H 1 Off Off Factory Default Up to four PCIx boards may be installed in the same computer Note that Jumper 3 in the Board Number Select JP6 must be ON at all times 2 4 User s Manual 2 GETTING STARTED INSTALL THE PCIX INTO A PCI SYSTEM 2 3 INSTALL THE INTO A PCI SYSTEM e Turn off power to the PCI computer and disconnect its power cord from the wall socket Remove the cover of the computer to gain access to the PCI Bus e On the PCIx Board use factory default jumper settings or configure all switches and jumpers as needed Configurable switches are S1 S2 and S3 Configurable jumpers are J3 and JP6 e Align the PCIx in the PCI slot of the computer and insert the PCIx fully into the slot non master slot Double check the board to ensure i
25. command enables echoing commands and parameters sent to the PCIx will be echoed to the host This mode is useful for debugging command strings from a terminal This mode also outputs an English readable error message when an error occurs to the host which may be echoed to the screen to aid in debugging Example Enable echoing from the PCIx so that commands are echoed and error messages are returned to the host as readable ASCII strings This command would probably be the first command executed after turning on the system when this mode is desired Note that the EN command itself is not echoed Enter EN QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands EF 5 14 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS EF ECHO OFF E IiE dP The EF command disables echoing from the PCIx refer to the EN command This is the default mode at power up or reset Stop echoing to the host Note that the EF command will be echoed Enter EF QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands EN User s Manual 5 15 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE 5 4 4 QUEUE SELECTION COMMANDS The following commands set the context to direct the commands which follow to the appropriate axis They remain in effect until superseded by anoth
26. 5 150 5 180 EI HT 5 170 MX cinia oer ortu dett C c ce he a hah ee LE M D S La aa 5 34 N New Contour Velocity E ER tn d He e 5 176 Normalize Direction Bib i i e ed eec tetti ee eee oben ec feces 5 75 Normalize Servo 2 01 2 4 2 2 2 1441 1000 TAa 5 68 26 tenets salle lt oa 5 176 PCIx User s Manual 5 INDEX O Offset Coefficient In Closed Loop Mode ssssssssseseseseeeee eene nennen enne 5 72 P PA n tei de Rd edic ced eere eda 5 36 Parabolic On 2 2 Ned cio en ered die e e dad et edere ots 5 130 Parabolic Ramp Per AXIS ted M arid tee tee a eae fee dern 5 131 DES uestem Deke ee n tan lu ertet uS Liu d ro Meet i eee ml vetu m 5 118 5 128 ETE 5 35 Meno n 5 130 5 36 E E 5 115 tet e eee 5 131 Preserve Temporary ada entra danni 5 33 PrintA Custom
27. 8 00 a m 5 00 p m Pacific Standard Time 503 629 8081 or 800 707 8111 4 Facsimile 24 Hours 503 629 0688 or 877 629 0688 5 USPS Oregon Micro Systems Inc 1800 NW 169th Place Suite C100 Beaverton OR 97006 RETURN FOR REPAIRS Call Oregon Micro Systems Customer Service at 503 629 8081 or 800 707 8111 or E Mail to sales omsmotion com Explain the problem and we may be able to solve it on the phone If not we will give you a Return Materials Authorization RMA number Mark the RMA number on the shipping label packing slip and other paper work accompanying the return We cannot accept returns without an RMA number Please be sure to enclose a packing slip with the RMA number serial number of the equipment reason for return and the name and telephone number of the person we should contact if we have further questions Pack the equipment in a solid cardboard box secured with packing material Ship prepaid and insured to OREGON MICRO SYSTEMS INC Twin Oaks Business Center 1800 NW 169th Place Suite C100 Beaverton OR 97006 User s Manual B 1 RETURN FOR REPAIRS APPENDIX B This page intentionally left blank B 2 User s Manual APPENDIX Velocity 0 to 1 044 000 counts per second simultaneous on each axis Acceleration 0 to 8 000 000 counts per second per second Position range 67 000 000 counts 33 500 000 Accuracy Position accuracy and repeatability 0
28. Archive Parameters command is executed to place the values into Flash Memory From this point forward these defined values will be used after reset or power up The individual parameters can be over written at anytime by using the associated command i e VL AC etc To restore the factory defaults the command RF Restore Factory defaults is executed To restore the User Defined Default Parameters the command RD Restore Defaults is executed Refer to Section 5 Command Structure for more information on these commands The following is a list of parameters that can be defined as part of the User Definable Power Up Default Parameters e Overtravel limit soft limit or hard limit e Overtravel limit enabled or disabled e Overtravel limit polarity active high or active low e Software based overtravel for each axis Direction Bit polarity e Acceleration value for each axis e Trajectory profile for each axis linear parabolic S curve custom e Velocity Peak e Velocity Base e User Unit values for each axis e Auxiliary output settle time for each axis e Automatic auxiliary control axis by axis e Encoder Ratio for each axis e Encoder Slip tolerance for each axis e Position Maintenance Dead Band Hold Gain and Hold Velocity e Servo axis unipolar bipolar output Servo PID values KP KD KO KV KA e Servo zero value DZ PCIx User s Manual 2 17 POWER SUPPLY REQUIREMENTS 2 GETTING STARTED 2 8 POWER SUPP
29. QUEUE REQUIREMENTS Related commands LN LS LF LL SL SF TL 5 56 User s Manual 5 COMMAND STRUCTURE LL LIMITS LOW CONTROL COMMANDS The LL command specifies that overtravel occurs when the limit input signal is low active low This is the factory default mode See the AP Command on page 5 10 to preserve the LL settings as the Power up Reset mode BN Example Enter x Example Enter Select the limit switch low true condition for the X axis AX LL Select a low true limit condition for the Y and T axes AA LL 1 1 QUEUE REQUIREMENTS AA CD Not Valid Related commands LN LS LF LH SL SF TL PCIx User s Manual CONTROL COMMANDS LS REPORT LIMIT ACTIVE STATE The LS command reports the active state of the limits for the current axis 5 COMMAND STRUCTURE The LL and LH commands are used to set this value and are the possible responses of this command 9 Example Enter Response AY LS lt LF gt lt CR gt LL lt LF gt lt CR gt Find out whether the Y axis limits are active high or active low FORMAT QUEUE REQUIREMENTS Not Valid Not Valid Immediate Related commands LH LL 5 58 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS SL SOFT LIMITS ON E EN dP The SL command enables the PCIx to ramp an axis to a stop rather tha
30. TABLE OF CONTENTS 1 GENERAL DESCRIPTION TABLE OF CONTENTS 1 GENERAL DESCRIPTION eccL EET 1 1 SYSTEM OVERVIEW ntt e tech ERR aeann NR KL YR BR CR REA EUREN 1 1 2 GETTING STARTED PREPARE FOR INSTALLATION iet ete txt teda c t eu te en ieu ga 2 1 TO PREPARE FOR INSTALLATION eene 2 1 INSTALL THE PCIx INTO A POI SYSTEM iere e ttem E eter ets 2 5 SOFIWAREINSTAEDEATION e eerte rte rete icr eer 2 5 FOR WINDOWS N P 4 eie emt iod ru IER 2 5 FOR WINDOWS 95 98 terret eme mol Reo i e n PER den dax 2 6 CONNECT TO STEPPER MOTOR 2 6 CONNECT AND CHECKOUT THE SERVO 2 7 CONNECT AND CONFIGURE THE MOTOR AMPLIFIER 2 8 TUNE TIE SYSTEM suit eerie ut Gro 2 9 SETTING THE USER DEFAULT CONFIGURATION 2 16 POWER SUPPLY REQUIREMENTS 3 ec eU e TR 2 18 3 COMMUNICATION INTERFACE INTRODUGCTION cnl bna REPE Rr tun cem ob eet 3 1 FPOLINTEISEAQE Cone aeter sat gina Fes eee spera 3 1 PCI COMMUNICATION THEORY e ere Ee er it ote ege os opt 3 3 POLADDISESS SELEG DON o tton vtr tatit aie 3 4 USING INTERRUPTS a tps 3 4 DATA REGISTER rettet ine
31. The GO command will initiate a move which has been previously programmed with such commands as MA MR MT and ML No operand is required with the GO command If this command is issued without having defined a move the results are undefined Issuing a GO command to execute an already executed move also has undefined results Only one GO command should be issued per defined move A Example In the single axis mode move the X axis to absolute position 12345 Enter AX MA12345 GO BN Example In the AA mode move the X axis 2468 steps in the positive direction and the Y axis 2468 steps in the negative direction Enter AA MR2468 2468 GO QUEUE REQUIREMENTS Not Valid AX AT AA AM f the controller has an encoder or servo axis add 3 If PA mode is active add 2 If an auxiliary output bit settle time has been specified add 3 Related commands MA MR MT ML GD GS GU GN PCIx User s Manual 5 151 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE GD Related 5 152 GO AND RESET DONE E IiE dB The GD command may be substituted for a GO command It will reset the done flags then initiate the move which has been previously programmed with such commands as MA MR MT and ML just as the GO command does In single axis mode only the done flag for the selected axis will be reset AA mode all the done flags will be reset In the AM mode only the axes involved in the move will be re
32. all previous moves have finished This command is not valid in looping LS LE WH WG modes Example Move the Y axis 1 000 steps and wait until the move is complete before asking for the position Enter AY MR1000 GO WO RP QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands WA WT SW BW 5 188 User s Manual 5 COMMAND STRUCTURE SYNCHRONIZATION COMMANDS SW SYNC WAIT E I dB The SW command allows synchronization of multiaxis moves or other tasks on one or more PCIx boards by using one of the general purpose input lines This command causes the PCIx to stop processing new commands until the general purpose input line has been released allowed to go high before proceeding with the next command The SW command can also be used to cause an axis to wait until the others are finished To do this wire OR the auxiliary lines from several axes together and connect them to a general purpose input line Use power automatic PA mode with the SW command on that line All commands after that will wait until all axes release their auxiliary lines i e come to a complete stop Example The following command sequence will cause the X axis move to wait until the Y axis has finished its move and turned off its auxiliary output which has been wired to the general purpose input 0 line Enter AY AN MR2000 GO AF AX SW0 MR10000 GO The SW command provides a way to synchroni
33. will get all of its power from the PCI bus 2 2 TO PREPARE FOR INSTALLATION If you plan on changing any of the factory default jumper or switch settings this should be done before installing the PCIx in the computer The I O Bit Direction switch and Board Number Select jumper must be set BEFORE power up If the PCIx is to be installed with other PCIx boards the Board Number Select jumper must be set to a different value on each board The Board Number Select jumper is located near the top center of the PCIx board and is labeled JP6 see Figure 2 5 on page 2 4 Set the first PCIx to identification number 1 the second PCIx to 2 and so forth according to Table 2 1 Possible Board Number Select Settings JP6 See Section 2 3 Install the PCIx into a PCI System for further installation instructions For instruction on configuring stepper motors for use with the see section 2 5 Connect to Stepper Motor System For instruction on configuring servo motors with the PClx see section 2 6 Connect and Checkout the Servo System PCIx User s Manual 2 1 TO PREPARE FOR INSTALLATION 2 GETTING STARTED Switches 51 and 52 are used for encoder biasing when using single ended encoders For differential encoders leave these switches in the OFF position factory default When using single ended encoders on an axis put the appropriate switch positions for Phase A Phase B and Index of that axis in the ON position See figure Figure 2 1 Definition
34. 044 000 Example see CD command on page 5 177 QUEUE REQUIREMENTS FORMAT Not Valid Immediate Not Valid Related commands NV CD PCIx User s Manual 5 175 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE NV NEW CONTOUR VELOCITY 1 d E The NV command will set a new velocity for a contour currently in execution When the velocity changes the PCIx will switch to the new velocity at the start of the next command in the contour queue without ramping An NV command issued without a contour currently executing will have no effect RANGE 1 lt NV lt 1 044 000 Example The contour is executing at 25 000 counts per second Change the velocity to 30 000 counts per second upon execution of the next command in the contour queue Enter NV30000 QUEUE REQUIREMENTS FORMAT Not Valid Immediate Not Valid Related commands CV CD 5 176 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS CD CONTOUR DEFINE E I dB The CD command enters contour definition mode and defines a constant velocity contour The only way to exit this mode is to issue a CE or CK command Commands following the CD command must be in multiaxis format and be commands valid in CD mode All multiaxis commands entered in CD mode can address only those axes assigned in the CD command No commands entered will be executed until a CX command is received
35. 163 279 RM6000 Current position is now 1 279 QUEUE REQUIREMENTS Not Valid Not Valid Related commands LP LO RP RE RU User s Manual 5 113 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE RP REQUEST POSITION E iI dB The RP command returns the current position of the currently addressed axis in single axis mode or all positions separated by commas in AA or AM mode The position will be returned to the host in ASCII format This command is not queued i e the current position will be returned immediately even if the axis is in motion The response is surrounded by linefeed carriage return pairs Example The current position on the Y axis is 12345 Use the RP command to verify the position Enter AY RP Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt Example Verify the positions of all 4 axes Enter AA RP Response lt LF gt lt CR gt 100 200 300 400 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands RE PP PE 5 114 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS PP REPORT MOTOR POSITIONS E EN adie The PP command reports the motor positions of all axes in ASCII format The response will be delimited by linefeed carriage return pairs All four axes will be reported even in single axis mode This is the same as AA RP
36. 20 of maximum or until the motor begins to move e Using a frequency meter measure the pulse rate of Phase A of the encoder The frequency measured is 1 4 of the actual pulse rate f Adjust the signal command gain of the amplifier until the pulse rate of Phase A 4 is approximately 10 of your desired peak operational velocity If the pulse rate is already greater than 10 of peak your amplifier is not designed for low velocity motion and you will likely have some difficulty tuning your motors g Send the DZ 3277 command to the PCIx and recheck the velocity You may need to readjust your amplifier If so do not reduce the signal command gain only increase the setting as needed Increasing the gain will not impair the forward peak velocity but reduction will h Send the DZ command with the zero value noted at the end of step 3d iv to the PClx Send the same value using the KO command e g KO 175 5 Verify the direction of your servo encoder a Send the LP0 DZ2000 command to the PCIx b Send the RE command to the PCIx and observe the response c Ifthe response is positive no further action need be taken go to step 6 d If the response is negative your encoder must be reversed i If your encoder produces a differential signal swap Phase B with Phase B not and repeat from step a above ii If your encoder produces a single ended or TTL signal swap Phase A with Phase B and repea
37. 5 COMMAND STRUCTURE TF TURN OFF SLIP KILL MODE 1 TF command disables slip kill mode enabled with TN BN Example Slip kill mode is enabled but a move needs to be performed where slip is likely and not important for this move Disable slip kill mode Enter TF QUEUE REQUIREMENTS Not Valid Not Valid Related commands TN ES IS RL 5 104 PCIx User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS 5 7 3 ENCODER SLAVE MODES Encoder tracking modes connect a motor to an axis at a given ratio For each turn of the encoder the motor will move proportionately ET ENCODER TRACKING EN The ET command turns on the encoder tracking mode The axis will track its encoder input thus allowing one axis to follow the activity of another or a thumbwheel for manual positioning or the movement of another device that produces a signal compatible to the encoder inputs No acceleration or deceleration ramps are generated The axis will duplicate the encoder input The ER command allows the user to scale the motors movements relative to the encoder This command is intended to be used with stepper motors with encoders and not with servo motors x Example Set up the X axis so it will follow its encoder input Enter AX ET QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands ER HF PCIx User s Manual 5 105 STEP ENCODER CONTROL COM
38. AX MA100000 GO ID Example Wait until an input line becomes false then notify the host that this occurred Enter SW2 ID Related commands IP II IN 5 162 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS I INTERRUPT INDEPENDENT EN d E Like the ID command the command tells the PCIx to interrupt the host when each axis finishes a move Unlike the ID command only those axes which have been supplied parameters in the most recent move command will get their done flags set and cause interrupts BN Example The following command sequence would cause interrupts when the Y and T axes finish If they do not complete at the same time two seperate interrupts would be generated Enter AM MR 1000 10000 GO II QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands ID IP IN PCIx User s Manual 5 163 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE INTERRUPT NEARLY DONE E HN dB The IN command allows the PCIx to interrupt the host when the axis or combination of axes is nearly complete When used in an application involving probing a part after a move the probes could start accelerating down while the stage is finishing its move improving the overall system throughput This command is valid in all modes The IN command must be entered before the GO or GD command since it is executed before the move is complete
39. KD DERIVATIVE GAIN COEFFICIENT SERVO CONTROL COMMANDS KD is the derivative gain coefficient used in the PID filter calculations See Section 2 for more information regarding this parameter The factory default value is 20 00 See the AP Command on page 5 10 to preserve the KD settings as the Power up Reset values RANGE 0 lt KD lt 249 99 BN Example Set KD to 56 on the Z axis Enter AZ KD56 FORMAT QUEUE REQUIREMENTS Not Valid Not Valid Related commands KD KP HN HF PCIx User s Manual SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE KD REPORT PID DERIVATIVE GAIN dB The KD command reports the current setting of the derivative gain constant KD in the PID of the current servo axis x Example Forgot to write down the KD setting which is working well Report the setting so it can be recorded Enter KD Response lt LF gt lt CR gt KD5 12500 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands KD 5 86 User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS HN HOLD ON i dP The HN command enables position correction after a move and activates the HV HG and HD commands for stepper axes with encoders For servo axes the HN command closes the loop enabling the PID This mode will be canceled as though via an HF command if an LP HM HR SA ST or
40. KL command is entered or if a limit is encountered The following commands could be used to set up the position correction mode on a stepper axis This sequence sets up a move velocity of 100 000 steps per second and an acceleration of 500 000 steps per second per second The position correction velocity is set for 50 000 steps per second a deadband of 10 steps and correction gain of 2 000 The correction is then enabled A 200 000 step move is performed then that position is maintained within the 10 step deadband until commanded to a new position Enter AX 1100000 AC500000 HV50000 HD10 HG2000 HN MR200000 GO QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM If this is a servo axis add 2 Related commands HF PM PCIx User s Manual 5 87 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE HOLD OFF i dP The HF command disables position hold stall detection and tracking modes This is the default mode at power up or reset If the current axis is a stepper with an encoder this command will turn off position maintenance stall detection and encoder tracking mode If the current axis is a servo this command will open the loop and turn off the PID If the current mode is multiaxis all axes will go into open loop mode Example Turn off encoder hold mode on the X axis Enter AX HF QUEUE REQUIREMENTS FORMAT Not Valid Re
41. RR Mr P RHENO 5 135 AOE 5 42 nem 5 61 I EM 5 66 fic RN 5 69 fuge E 5 63 PA Ul O 5 26 M 5 123 far HER 5 120 A 5 16 o 5 124 Acceleration zi on reset caeco Porn A Crate rer ER 5 124 5 77 Bom ETT 5 43 AD rss iin 5 40 5 181 e et b ree CE E 5 17 AN Setia tede uice reat eee te dee de dn Lect v Len deve vo te tub vaut ed ee a ed at 5 39 5 182 Dic LEE 5 10 Assign Current Parameters As Power Up Default 5 10 D MR eT 5 21 Auxiliary Off rrira cC 5 40 5 181 AUXIN Ary oa 5 39 5 182 a a a aR 5 18 PCIx User s Manual 1 Axes Mu ltitaskingi cr ette let
42. Streaming conieci entiende ete ded tede ed ene d eda tede dd tne ded d ede tide 5 174 MB rideau nie t docui e niei b ue aim eer 5 119 atate a t dori ui mer b eta dau ds 5 174 W WA isi oet ore Lit OEIL dat i Liga De edie Ligne 5 187 lE aU 5 186 M 5 187 Wait Fordnput TOGO 20 5 190 Wait For Queue To M P Ep e aee Pas 5 188 oid serui ictu SS dmm m E tH ade 5 195 cae 5 198 MEL setis uiti recie AL 5 196 Wille UI 5 196 While End LL 5 195 8 User s Manual INDEX luem 5 198 While Syrie 5 194 ven sha vedievah 5 9 5 188 A E uM 5 194 WV et IN LL 5 186 bcne 5 9 PCIx User s Manual 9
43. The test is only performed during deceleration If the IN parameter is greater than the ramp down distance the interrupt will be generated when the control starts decelerating RANGE 67 000 000 lt Parameter Distance Before End of Move lt 67 000 000 Example The following sequence would interrupt the host when the X axis is complete and the Z axis is within 10 000 counts of being complete The Y axis completion would be ignored in this example Enter AA 0 10000 MR100000 100000 GO MR 50000 Related commands ID IP H 5 164 QUEUE REQUIREMENTS Not Valid User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS IP INTERRUPT WHEN IN POSITION IP command operates like the ID command except the interrupt is deferred until the stage is within the specified step encoder deadband If the position hold HN is not enabled for an axis the command will behave like an ID command for that axis A Example Set the done flag when axis is within its deadband Enter AX HV1000 HG100 HD10 HN MR1000 GO IP QUEUE REQUIREMENTS Not Valid Related commands ID 11 IN PCIx User s Manual 5 165 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE INTERRUPT CLEAR I dB command or the ASCII character Control Y hex 19 is used to clear the done and error flags in the status register and the d
44. Valid Related commands RT LA PN PR CN SC SR 5 128 User s Manual 5 COMMAND STRUCTURE LA LINEAR RAMP PER AXIS z PROFILE CONTROL COMMANDS The LA command specifies that the linear acceleration ramp is to be used by the selected axes page 5 10 to preserve the LA settings as the Power up Reset values This is the factory default for all axes See the AP Command on This command is similar to the PF command but can be used to switch a single axis rather than all axes at once x Example Enter Example Enter Select a linear ramp for the X axis AX LA Select the linear ramp for the Y and T axes AA LA 1 1 QUEUE REQUIREMENTS FORMAT Max LA 11 LAb b b b 11 AA CD Not Valid Related commands RT PF PN PR CN SC SR PCIx User s Manual 5 129 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE PARABOLIC ON z i i k The PN command sets all axes to truncated parabolic ramps This acceleration profile starts at 100 of the programmed acceleration and decreases in steps of 10 of the initial acceleration down to as low as 10 The parameter supplied selects the number of steps It must be in the range of 3 to 10 corresponding to 70 and 10 acceleration at the peak respectively A parameter out of this range or no parameter supplied defaults to 70 or 3 steps Note that the parameter is the number of steps not the acceleration values The la
45. Voltage mode Following Error for KP 90 360 x counts per revolution It is obvious that the voltage mode allows for much greater following errors than the current mode This value is the following error when the motor is at peak velocity and will be used when determining the proportional gain KP The Following Error for the integral term KI or long term gain value will follow the guidelines below Current Mode following error for KI 0 counts Voltage Mode following error for KI 80 of 360 expressed in motor counts 1 PCIx User s Manual While still in open loop mode hold off HF use the DZ command to zero the motor This variable is used to provide a constant output that will compensate for any torque offset from the load So when the system should be stationary the necessary voltage will be sent to the amplifier to cause the motor to maintain position With the correct DZ value the motor should successfully maintain a zero position KO is the offset coefficient used while in closed loop mode hold on HN KO is essentially the same as DZ but used for closed loop operation Once you have determined the correct value for DZ this same value should be used for the KO variable before beginning to tune the PID filter The values for DZ and KO range from 32640 to 32640 Set the known values for velocity acceleration and the move distance for a trapezoidal profile with at least a 2096 flat spot at peak ve
46. Y Auxiliary 16 Y Phase A 50 Y Direction 17 Y Phase A 51 Y Limit 18 Y Phase B 52 Y Limit 19 Y Phase B 53 Y Home 20 Analog Ground 54 5VDC 21 Z Index 55 Z Servo 22 Z Index 56 Z Step 23 Z Phase A 57 Z Auxiliary 24 Z Phase A 58 Z Direction 25 Z Phase B 59 Z Limit 26 Z Phase B 60 Z Limit 27 T Servo 61 Z Home 28 T Index 62 T Step 29 T Index 63 T Auxiliary 30 T Phase A 64 T Direction 31 T Phase A 65 T Limit 32 T Phase B 66 T Limit 33 T Phase B 67 T Home 34 Digital Ground 68 5VDC 4 7 068 ADAPTER MODULE The optional 068 is adapter module designed to provide easy connection for each signal of the PCIx It incorporates a three row terminal block and some on board filters for the limit inputs A cable is available with the mating connector to fit the PCIx connector J2 The 5VDC on the 068 is supplied by the PCIx and is protected by a resetable fuse on the PCIx This supply voltage is intended to be utilized with accessories used in conjunction with the such as sensors motor driver modules etc and is specified to supply a maximum current of 0 5 amps for these purposes 4 6 PCIx User s Manual 4 CONTROL SIGNAL INTERFACE 1068 M ADAPTER MODULE If the fuse detects an over current situation such as an external short circuit the supply will shut down It can be re activated by powering down the ensuring the over current situation has been
47. and a different motor position value than the encoder position is desired the LO command must be reentered Any valid position within the allowable range may be used RANGE 33 554 431 lt LO lt 33 554 431 Example Set the motor position to 50 000 and the encoder position to 100 000 on the T axis Enter AT LP100000 LO50000 QUEUE REQUIREMENTS Not Valid Not Valid Related commands LP RM RP RE RU 5 112 PCIx User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS RM REMAINDER E am The RM command divides the position counter by the parameter supplied and replaces the position counter with the resulting remainder The parameter must be greater than zero and less than 65 000 This command is used in applications where the controller is managing the of a continuously rotating object It allows the position counter to keep track of the absolute position without regard to the number of revolutions it may have rotated This command has no effect on the encoder position register on boards with the encoder feedback option RANGE 0 RM 65 000 9 Example The current position of a rotating stage with a full revolution count of 6000 is needed Since this stage has been rotated several times without regard for the position the position counter has reached 163 279 Send an RM6000 command to find out what the real position of the axis is Enter Current position is
48. and demonstration code for Oregon Micro Systems PCIx family controllers is supplied with the initial purchase of a controller Refer to the text files on the disk for installation instructions and other information Some programs on the demo disk that include source code may be adapted for use in application programs that use OMS motion controls No license is required PCIx User s Manual 6 1 INTRODUCTION TO PCIX SOFTWARE SUPPORT This page intentionally left blank 6 2 6 HOST SOFTWARE User s Manual 7 TABLE OF CONTENTS f SERVIC 7 1 USER SERVICE The family of controllers contain no user serviceable parts 7 2 THEORY OF OPERATION The 68332 microprocessor on the PCIx controller maintains four concurrent processes The highest priority process calculates the desired velocity 2048 times each second with a proprietary algorithm patent number 4 734 847 This frequency is written to logic on board which generates the pulses for stepper motor control and or the appropriate voltage levels for Servo Control The velocity profile and synchronization of each axis is also handled by the 68332 The commands from the PCI computer are temporarily stored in a 124 character buffer until the 68332 microprocessor can parse them The command is then executed immediately or routed to separate command queues for each axis The command queue contains a list of addresses to execute followed by an
49. commands are valid only for servo axes and should never be executed while the specific axis is in motion 5 6 1 SERVO VOLTAGE CONTROL COMMANDS Different servo amplifiers have different requirements for their control inputs Some simply behave differently despite similar input requirements To enable the use of a wide range of amplifiers the PCIx will accept the following commands for use in configuring servo outputs BIPOLAR 4 The command sets the analog servo output of the current axis to bipolar When bipolar is selected a zero torque reference will result in a OVDC output offset voltage The analog output will range between 10VDC and 10VDC when bipolar is enabled The command is valid only in the single axis mode and is the default mode at power up or reset Example Set up servo axis X for bipolar operation Enter AX BI QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands UN SO SVI SVN DBI DBN 5 64 PCIx User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS UN UNIPOLAR ag The UN command sets the analog torque outputs of servo axes to unipolar The analog output will range between 0 0VDC and 10VDC when unipolar is enabled At maximum positive velocity the board outputs 10VDC At Maximum negative velocity the board output approches 0 0VDC maintain position the board outputs 5VDC This command is valid only in single axis mode
50. counts for point to point moves Velocity accuracy 0 01 for step pulse output Environmental Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing Power 5VDC at 1 amp typical 12VDC at 0 1 amp typical 12VDC at 0 1 amp typical Dimensions Conforms to dimensions for 5V PCI Raw Card Short Card in PCI Specification Rev 2 2 Communication Meets all signal specifications for PCI Specification Rev 2 2 SPECIFICATIONS APPENDIX C SPECIFICATIONS Limit switch inputs Opto isolated TTL input levels with on board 2700 current limiting resistor requires only external switch closure to ground or TTL level input signal Input sense low or high true selectable by command input for each axis Home switch inputs Opto isolated TTL input levels with on board 2700 current limiting resistor requires only external switch closure to ground or TTL level input signal Input sense low or high true selectable by command input for each axis User definable Up to 12 bits of user definable Factory default sets 4 bits as outputs and 4 bits as inputs One auxiliary output per axis is included and these are fixed as outputs General purpose and auxiliary bits are optically isolated Inputs include an on board 2700 current limiting resistor These inputs expect TTL level input signals I O Output bits and auxiliary outputs a
51. default by using the AP command refer to the AP command for details Example see HL command on page 5 51 QUEUE REQUIREMENTS FORMAT AA CD Not Valid Related commands HL HE HS HM HR KM KR 5 50 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS HL HOME LOW E HN dB The HL command sets the sense of the home switch on the current axis to active low This is the power up and reset default true state unless HH has been saved as a user power up default See the AP command This command sets the true state of a home input to a TTL logic low if the current true state is a TTL logic high as it would be had an HH command been entered prior to this command Example The stage is moved through home with the home switch set for active low at low speed to meet the less than 2048 steps per second requirement of the home command Enter AX VL2000 HL HMO QUEUE REQUIREMENTS FORMAT MODE Min HL AX AT 1 HLb b b b 1 AA CD Not Valid Related commands HH HE HS HM HR KM KR User s Manual 5 51 CONTROL COMMANDS 5 COMMAND STRUCTURE HOME ENCODER i dP The HE command enables encoder index to be considered in addition to the home switch input when an HM or HR command is executed This command does not execute the home motion which must be initiated with an HM HR KM or KR command Default h
52. general purpose input bit 4 3 CONTROL OUTPUT The PCIx is configured at the factory for control of servo motors stepper motors or a combination of both The servo output may be either unipolar analog 0 10V or bipolar analog 10 10 V see the UN and BI commands in Section 5 Command Structure page 5 65 and on page 5 64 PCIx User s Manual 4 1 CONTROL OUTPUT 4 CONTROL SIGNAL INTERFACE Step pulse and direction outputs are open collector TTL level signals which will wire directly into most driver inputs Refer to Figure 4 1 below Auxiliary outputs are optically isolated Each auxiliary output has a 2 2KQ pull up resistor on the PCIx board DRIVE J Step Step Clock Direction Direction 5 Supply Opto 5 Input Ground Ground Opto FIGURE 4 1 CONNECTION TO STEP DRIVES Home Switch Input FIGURE 4 2 OPTO ISOLATED INPUT WIRING DIAGRAM 4 2 PCIx User s Manual 4 CONTROL SIGNAL INTERFACE ENCODER FEEDBACK 4 4 ENCODER FEEDBACK Incremental encoder feedback is provided for all servo axes and is optional for the stepper axes PCIx encoder feedback accepts quadrature pulse inputs from high resolution encoders at rates up to 4 MHz after quadrature detection The encoder monitors actual position through the encoder pulse train On servo axes it continuously calculates the position error amplifies it through the PID filter and adjusts the output The stepper axes can monitor the error and correct the posi
53. is active add 1 If an auxiliary output bit settle time has been specified add 3 AA AM mode is active add 1 If an auxiliary output bit settle time has been specified add 3 Related commands KS RS ST SA SD SI SO FL 5 160 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS KS KILL SELECTED AXES E IE dB This command performs the same operation as the KL kill command except that individual axes can be killed without affecting others KS will flush only the selected axes command queues rather than the entire board Refer to the KL command for more details BN Example The Y axis has hit a limit switch and is now executing commands that were waiting in the queue This axis must be reset but the other axes must be allowed to continue operation Enter AY KS or AA KS 1 QUEUE REQUIREMENTS FORMAT Not Valid AX AT If PA mode is active add 1 lf an auxiliary output bit settle time has been specified add 3 AA AM If PA mode is active add 1 lf an auxiliary output bit settle time has been specified add 3 Related commands KL RS ST SA SD SI SO FL PCIx User s Manual 5 161 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE 5 9 5 MOVE COMPLETION NOTIFICATION COMMANDS These commands allow the synchronization of moves with external events or multiple axis sequences If an application needs to know when a move or series of comm
54. it rise to 5 volts or its pull up reference voltage Enter AA 0 1 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS QUEUE REQUIREMENTS AA CD Not Valid AX AT AA AM If an auxiliary output bit settle time has been specified add 3 to the queue requirement Related commands PA AN AF SE ADH ADL User s Manual CONTROL COMMANDS 5 COMMAND STRUCTURE PA REPORT POWER AUTOMATIC STATE HEE dP The PA command reports whether the current axis has power automatic mode enabled The PA command is used to set this value This command will respond PAO if power automatic mode is disabled and PA1 if it is enabled BN Example Power automatic mode should be enabled for axis X Use PA to find out whether this is the case Enter AX Response lt LF gt lt CR gt PA1 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands PA SE 5 38 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS AN AUXILIARY ON E IiE dB The AN command turns on the selected auxiliary output ports That is it allows the signal to be pulled high This is the default mode for the auxiliary line at power up or reset The AN command may be used to change power level on driver modules so equipped trigger another board s input or as a user specified output A parame
55. nearly done 5 165 Interrupt when in position 5 101 Interrupt slip interrupts host on slip or stall detection 5 144 Jog at fractional rates 5 142 Jog command run motor at specified velocity until a new velocity command is sent or it is stopped by a stop or kill command 5 78 Report acceleration feed forward 5 77 Acceleration Feedforward coefficient used in tuning servo systems 5 86 Report PID derivative gain 5 85 Derivative Gain coefficient used for PID filter 5 84 Report PID integral gain 5 83 Integral Gain coefficient used for PID filter 5 160 Kill flush queue and terminate pulse generation immediately on all axes without decelerating 5 109 Home and kill pulse generation 5 73 Report PID closed loop offset 5 72 Offset coefficient used in closed loop mode 5 82 Report PID proportional gain 5 81 Proportional Gain coefficient used for PID filter 5 110 PCIx User s Manual Home in reverse and kill pulse generation 5 5 COMMAND SUMMARY 5 COMMAND STRUCTURE COMMANDS IN CHAPTER 5 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION KS 5 161 Kill selected axes KV 5 80 Report velocity feedforward KV 5 79 Velocity Feedforward coefficient used in tuning servo systems LA 5 129 Linear ramp selection per axis LE 5 193 Loop end terminate most recent LS command LF 5 54 Disable limit switches for selec
56. no more step pulses are delivered due to inertia of the motor and system load This may result in slippage of the motor Therefore the position counter may not accurately reflect the true position of the motor following this command All axes should be rehomed to return the position counters to a known state Servo motors will be forced into open loop when this command is issued This will cause motors to coast possibly resulting in damage to the machine or it s payload To avoid this and other similar problems in vertical axes power automatic PA mode should be used with axis brakes Due to the encoders used in servo systems position will not be lost so rehoming servo axes is unnecessary Control D ASCII 4 sent to the PCIx will perform the same function as the KL command It bypasses the command interpreter and may work when the character buffer is full and the KL command cannot get through the interpreter A Control D should be used instead of KL when the board appears hung up This can occur when its input queue is inadvertently filled by entering a loop sequence that was so long you could not enter the LE command Example Stop all previously defined movement and flush the queue of a partially entered incorrect move command you wanted a negative move not a positive one before GO is entered Enter AX MR5000 oops KL MR 5000 GO QUEUE REQUIREMENTS Not Valid AX AT mode
57. on enable parabolic ramps 5 115 Report motor positions of all axes 5 131 Parabolic ramp selection per axis 5 33 Preserve a temporary macro by copying it to non volatile memory 5 27 Query status of switches and flags for addressed axis without affecting flags 5 28 Query status of switches and flags on all axes without affecting flags 5 29 Return status of switches and flags and reset flags MR 5 148 5 6 User s Manual 5 COMMAND STRUCTURE COMMAND SUMMARY COMMANDS IN CHAPTER 5 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION RC 5 126 Return current acceleration or deceleration of the current axis RD 5 11 Restore the current parameter set to the power up default values RE Request encoder position return current encoder position RF Restore the current parameter set to the factory default values RI Return status of switches and flags for all axes and reset flags RL Return slip status of each axis RM Return remainder of position divided by parameter in position counter RP Request position returns current position RQ Request queue status return number of queue entries available RS Software reset of PCIx RT Report ramp type RU Return current position in user units RV Return current velocity at which the axis is moving SA Stop all flush queue and stops all axes with deceleration SC Cosine ramp
58. one element to be determined Another is the system s maximum velocity Note that a motor should never exceed 90 of the motor s top rom If the system requirement is for a velocity higher than 90 of the motors top rpm then another motor with higher rpm capability is to be used The system s maximum acceleration is determined several different ways The best method is to determine the system time constant which includes hitting or bumping the motor under system load and measure the time from 0 rpm to maximum rpm and divide this value by 5 The maximum acceleration is either 2 5 times this value or is based on the system requirements for handling the load as defined in the operating specifications of the system This value is always lower than the calculated value and if this acceleration value is not high enough then a different motor amplifier with more power or bandwidth should be utilized The PCIx can control either current mode or voltage mode amplifiers The servo update rate of the PCIx is 488us for four axes High Following Error can be compensated for using the feedforward coefficients explained PCIx User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM later in this section There are some general formulas that have been developed to determine acceptable following error for both current and velocity mode systems Current mode Following Error for KP 3 360 x counts per revolution
59. optional parameter A command from the host may be expanded into several commands to the appropriate axis The GO command for example will expand into start ramp up constant velocity and ramp down commands The LS command will save its parameter the loop count on a loop stack along with the address of the LS command to be used by the next LE command as a target for a jump command The LE command will decrement the loop count and jump to the most recent LS command providing the loop count has not reached zero If the loop count has reached zero and it is not nested inside another loop the queue space will be flagged as available and the next instruction in the queue will be executed The communication interface is performed by a dedicated on the PClx It is a specialized IC for PCI communication and controls the passing of the register information and data to and from the PCIx CPU Interrupts from the PCIx to the PCI host are generated by this component Status of the interrupts and error flags may be read by the host in the status register PCIx User s Manual 7 1 7 SERVICE This page intentionally left blank 7 2 User s Manual APPENDIX A LIMITED WARRANTY APPENDIX A LIMITED WARRANTY The Seller warrants that the articles furnished are free from defect in material and workmanship and perform to applicable published Oregon Micro Systems Inc specifications for one year from dat
60. power control is disabled AN Auxiliary output bit power up states are high ADH Software overtravel limits are disabled TLO 0 ENCODER MODELS SERVO MODELS Motor encoder ratio is one to 1 0 DAC output is bipolar Bl Encoder slip tolerance is one ES1 DAC zero offset is zero DZO Position maintenance dead band is zero HDO Servo output voltage is normal SVN Position maintenance velocity limit is zero HVO PID proportional gain is 10 KP 10 00 Position maintenance hold gain is one HG1 PID differential gain is 20 KD20 00 Related commands AP RD 5 12 integrator gain is 0 04 0 04 PID acceleration feed forward is 0 00 PID velocity feed forward is zero KVO 00 PID offset is 0 PCIx User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS RESET IE dP RS command is software reset which causes the local PCIx microprocessor to reset This process forces a reset of all components on the controller and this command should be used sparingly All previously entered data and commands are lost internal parameters are initialized to defaults interrupts are disabled This command is intended for catastrophic failure recovery only The KL command should be used to reset queues or return the system to a known state Any r
61. problem Enter AY SVI QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands SVN SV UN BI DBI DBN User s Manual 5 67 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE SVN NORMALIZE SERVO VOLTAGE 4 The SVN command normalizes the voltage output for the current axis negating the effects of the SVI command After receiving this command the PCIx will produce a positive voltage for positive motion and a negative voltage for negative motion the default behavior To make this the default behavior if it has been changed via SVI AP use the AP command SVN is the factory default setting Example The Y axis encoder was rewired and now counts in the correct direction Return the Y axis servo output to normal i e output positive voltage for positive motion Enter AY SVN QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands SVI SV UN BI DBI DBN 5 68 PCIx User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS SV REPORT SERVO VOLTAGE 4 INVERSION STATE The SV command reports the current logical direction for the current servo axis The state is set with the SVI and SVN commands x Example Enter Response Report whether servo voltage is positive for positive moves on axis X AX SV lt LF gt lt CR gt svn lt LF gt lt CR gt voltage is normal i e positive for positive mov
62. removed and by powering the PCIx back up again after seconds As the fuse is a semiconductor device it never has to be replaced and requires no maintenance 4 7 1 EXPLANATION OF ADDITIONAL CIRCUITRY ON THE 068 The 1068 board is to be used in conjunction with the board The 1068 board contains low pass filtering circuitry for the positive and negative limit signals The default values for the RC constants are 1000 and 1 0uF With these RC constants used the average cutoff frequency is 21 5kHz a worse case scenario where all other signals are left unterminated In addition to the above mentioned circuitry there are also 2 2k pull up resistors that have been added to the step output signals for each axis These resistors have been added to the 1068 to help reduce noise that may occur on the step output signals These resistors and capacitors are packaged as through hole devices Should your particular application require different RC constants these devices can be removed from the board and replaced with the appropriate components When changing these components use appropriate methods to desolder and solder the components to avoid causing damage to the board i e lifting pads from the board There are two switches on the 068 543 and S45 that are used in regards to biasing encoder signals Since the PCIx board has on board switches for encoder signal biasing the switches on the 068 are not nee
63. s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS AF AUXILIARY OFF E IiE dB The AF command may be used within a contour definition allowing control of other devices at any instruction within the contour The AA mode syntax is used Any auxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section The AF command turns the currently active axis auxiliary port bit off Note this command will turn power automatic PA mode off BN Example see CD command on page 5 177 QUEUE REQUIREMENTS FORMAT Related commands CD AN BL BH PCIx User s Manual 5 181 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE AN AUXILIARY ON a a The AN command may be used with a contour by using the AA mode syntax as above Any auxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section x Example see CD command page 5 177 QUEUE REQUIREMENTS Related commands CD AF BL BH 5 182 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS CE CONTOUR END E HN dB The CE command marks the end of the contour sequence It will terminate the CD mode and when executed ramp to a stop and exit to the AA command
64. selection per axis SD Stop all axes and clear any done flags Report settling time SE Set settling time before power is reduced in PA mode SF Soft limit off restore normal overtravel operation SI Stop selected motors Report soft limit status SL Soft limit mode allow pulse train to ramp down on overtravel Report analog output mode Stop at a designated position using a specified ramp down distance Stop at position stop at specified position if possible after all commands have been executed Select a custom acceleration ramp for use by the currently active axis Stop flush queue and decelerate to stop Report servo voltage invert selection Invert servo voltage Normalize servo voltage Sync wait wait for the input bit to be released non active Turn encoder slip kill off Jog at the current velocity for the specified number of milliseconds Report software overtravel ranges PCIx User s Manual 5 7 COMMAND SUMMARY 5 COMMAND STRUCTURE COMMANDS IN CHAPTER 5 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION TL 5 62 Set software travel limits TN 5 103 Turn encoder slip kill on UF 5 25 User units off turn off user unit translation UN 5 65 Unipolar set the analog torque outputs to unipolar 5 26 Report axis user units axis assignment UU 5 24 User units multiply acceleration velocity and distance parameters by specified par
65. speed or stopping The response is surrounded by line feed and carriage return pairs If the JF command is executing the command only reports the integer part of the velocity x Example Jog the Y axis at 12345 steps per second Display the current velocity Enter JG12345 RV Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands VL VL RC PCIx User s Manual 5 121 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE VELOCITY BASE E IiE The VB command allows the acceleration ramp to start off at a specified velocity This allows faster acceleration and the ability to pass through resonance quickly in some applications The velocity jumps instantly to the specified velocity then ramps as usual The deceleration is the same in reverse This mode is active only for linear ramps it is ignored for cosine and parabolic ramps but not flagged as a command error The parameter must be greater than zero and less than the programmed velocity where the factory default is zero steps per second This command is not valid with the JG command nor will it work in conjunction with the DC command See the AP Command on page 5 10 to preserve the VB settings as the power up reset values If the VL command is used after the VB command and the velocity value set with VL is less than the previously set VB value the velocity base will be reset to
66. the PID of the current servo axis BN Example Find out what the X axis proportional gain is set to Enter AX KP Response lt LF gt lt CR gt KP10 00000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KD 5 82 PCIx User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS INTEGRAL GAIN COEFFICIENT dB KI is the integral gain coefficient used in the PID filter calculations See Section 2 for more information regarding this parameter The factory default value is 0 04 See the AP Command on page 5 10 to preserve the KI settings as the Power up Reset values RANGE 0 lt KI lt 249 99 Example Define KI to be 3 42 on the X axis Enter AX KI3 42 QUEUE REQUIREMENTS Not Valid Not Valid Related commands KI KP KD HN HF PCIx User s Manual 5 83 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE REPORT PID INTEGRAL GAIN 4 command reports the current setting of the integral gain constant the PID of the current servo axis BN Example Report the setting of the KI command on the Z axis Enter AZ Response lt LF gt lt CR gt KI0 01000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KD 5 84 PCIx User s Manual 5 COMMAND STRUCTURE
67. the matching loop termination command will not be found by the board s command processor The axis mode may be switched within the loop provided the board is in the same mode when the LE command is sent as when the LS command was sent If you want one axis to wait for another in the loop you must be in the AA mode throughout the loop If you are in the single axis mode in the loop each axis commands will go into their separate queues and execute independently of each other Another important thing to note is that the command queue size is 800 Each queued command takes one or more slots If when entering a looping sequence of commands all 800 queue slots are filled before the LE loop terminator is entered the board will hang This is because there is no space for the LE command or any other commands To clear this hang up send the board a Control D same as KL but shorter to kill all moves and flush all queues When programming a loop of more than four or five moves the queue size should be examined with the RQ command to see if it is nearing zero RANGE 1 lt LS lt 32 000 Example Execute a 100 000 count relative move on the Z axis 5 times Enter AZ LS5 MR100000 GO LE NOTE The first move will occur immediately after entering the GO command The remaining 4 moves will be executed after the loop terminator LE has been entered PCIx User s Manual 5 191 LOOPING COMMANDS 5 COMMAND STRUCTURE Example Execute a
68. to operate in a polled mode if desired In an interrupt mode the host would read this register upon receiving an interrupt The information provided in this register can define the source of the interrupt The functionality of this and the other registers is consistent with other OMS products Future expansions to these registers may be performed to enhance the controllers capabilities See Table 3 3 Status Register Description for details on the status register TABLE 3 3 STATUS REGISTER DESCRIPTION STATUS DESCRIPTION Interrupt request status Transmit buffer empty status This high true bit indicates a character may be written to the transmit buffer Input buffer full status This high true bit indicates a character is available in the input buffer Done or error status This high true bit indicates the command is complete i e an ID command has been detected If bits 0 through 3 are all false it indicates a command completion i e an ID command has been executed The error bits indicate one or more errors have been detected Overtravel An overtravel switch was true indicating attempted travel out of bounds Encoder error This bit flags a slip error on models with the encoder option if the interrupt on slip IS command has been issued Init flag This bit indicates the is being reset or the 68332 microprocessor has not completed initialization Host initialization routines should check this bit for a zero before proceed
69. voltage meter verify that the command signal from the PCIx is less than 500mV If it is not send the command DZO to the PCIx and recheck the voltage If the voltage is still too high contact Oregon Micro Systems Technical Support department for guidance b Turn on power to the amplifier and then to the motor c Adjust the balance setting of your amplifier if equipped until the motor stops moving d If the motor continues to revolve or your amplifier has no balance adjustment i Send the command DZ100 to the ii If the motor spins faster reduce the command parameter and resend the command e g DZ50 iii If the motor spins slower but does not stop increase the command parameter and resend the command e g DZ150 iv Continue adjusting and resending the DZ command until the motor comes to rest Write down the final DZ value for later reference as your zero setting 4 Maximize your system s usage of the PClx s DAC a Connect the servo encoder to the PCIx b Set the signal command gain of your amplifier to its minimum setting c Send the DZ3277 command to the PCIx and observe the velocity of the motor The output of PCIx will be near 1VDC 2 8 PCIx User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM d If the motor does not move at all your amplifier does not work well at a low velocity In this case adjust the signal command gain of the amplifier to approximately
70. which must be issued outside of CD mode The CD command takes up to four parameters Each parameter specifies starting point for each axis to be involved in the contour in absolute coordinates If an axis is not to be involved in the contour it s parameter position should be skipped just as it would be in any other multiaxis command Commands issued within CD mode must be formatted to include only those axes indicated in the CD command Those that are not in the CD command simply do not exist in the formatting of commands entered in CD mode For example if a CD command is issued that uses the X Y and T axes such as CD100 300 400 commands entered within CD mode will only consider the X Y and T axes An MT command that moves X to 200 Y to 600 and T to 200 would take the form MT200 600 200 Note the lack of a placeholder comma for the Z axis Contours that will include circular interpolation CR must be defined for only 2 axes in the CD command Contours involving more than 2 axes may not use the CR command When the contour is executed the PCIx will use the distance between the current position and the contour starting point to linearly ramp up each axis such that all involved axes reach a combined vectored velocity equal to the value set with the CV command If this distance is zero no ramp will be generated resulting in an instantaneous jump to contour velocity Most stepper systems cannot achieve this and servos will tend t
71. 068 TERMINAL BLOCK PIN OUT Row 1 Description Row2 Description Row3 Description 1 X Step 24 X Direction 47 X Auxiliary 2 X Phase A 25 X Phase B 48 X Index 3 X Phase A 26 X Phase B 49 X Index 4 X Limit 27 X Limit 50 X Home 5 5VDC 28 X Servo 51 Digital Ground 6 Y Step 29 Y Direction 52 Y Auxiliary 7 Y Phase A 30 Y Phase B 53 Y Index 8 Y Phase A 31 Y Phase B 54 Y Index 9 Y Limit 32 Y Limit 55 Y Home 10 5VDC 33 Y Servo 56 Digital Ground 11 0 34 3 57 5 12 1 35 No Connect 58 6 13 2 36 4 59 7 14 5VDC 37 Z Servo 60 Analog Ground 15 Z Step 38 Z Direction 61 Z Auxiliary 16 Z Phase A 39 Z Phase B 62 Z Index 17 Z Phase A 40 Z Phase B 63 Z Index 18 Z Limit 41 Z Limit 64 Z Home 19 5VDC 42 T Servo 65 T Auxiliary 20 T Step 43 T Direction 66 T Index 21 T Phase A 44 T Phase B 67 T Index 22 T Phase A 45 T Phase B 68 T Home 23 T Limit 46 T Limit 69 Digital Ground PCIx User s Manual 4 9 068 ADAPTER MODULE 4 10 4 CONTROL SIGNAL INTERFACE This page intentionally left blank User s Manual 5 COMMAND STRUCTURE INTRODUCTION 5 COMMAND STRUCTUR 5 1 INTRODUCTION An extensive command structure is built into the PCIx family of intelligent motor controls It includes a 800 command and parameter buffer for each axis and a command loop
72. 100 000 count move relative on the X axis together with a 100 count move on the T axis followed by a move absolute to 100 counts on the X axis and 200 counts on the T axis four times Enter AA LS4 MR100000 100 GO 100 200 GO LE QUEUE REQUIREMENTS FORMAT Not Valid Related commands LE WH WS 5 192 PCIx User s Manual 5 COMMAND STRUCTURE LOOPING COMMANDS LE LOOP END a The LE command terminates the most recent L8 command axis will loop back and repeat the commands within the loop the number of times specified in the LS command The loop will start repeating as soon as this command is issued x Example Perform a relative move on axis Z 5 times After each Z move wiggle the T axis 20 times Enter AZ LS5 MR5000 GO LS20 MR50 GO MR 50 GO LE terminates the 1520 command AZ LE terminates the 155 command QUEUE REQUIREMENTS FORMAT Not Valid Related commands LS PCIx User s Manual 5 193 LOOPING COMMANDS 5 COMMAND STRUCTURE WS WHILE SYNC E IiE dB The WS command will execute the commands between the WS and WD commands as a loop while the specified general purpose input line is true i e low When the line goes high the PCIx will exit the loop and execute the commands which follow the WD command The test is at the bottom of the loop i e the commands between WS and WD will always be executed at lea
73. 158 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS SO STOP AT POSITION BY RAMPING E IiE dB FROM DISTANCE The SO command instructs the PCIx to continue moving until reaching a specified distance parameter 2 from a specified stop point parameter 1 The axis will then ramp to a stop within the specified distance This allows the user to control the point at which deceleration begins the rate of deceleration and the stop point all with a single command RANGE 33 554 541 lt Parameter 1 Stop Position lt 33 554 541 33 554 541 lt Parameter 2 Distance from Stop Position to Start Decellerating lt 33 554 541 x Example The X axis is jogging at 10 000 steps per second We want the axis to stop at position 50 000 but it must not start ramping until reaching position 46 000 Enter 5050000 4000 Related commands ST SA SD SI KL KS QUEUE REQUIREMENTS Not Valid Not Valid AX AT If the controller has an encoder or servo axis add 1 If PA mode is active add 1 If an AUX bit settling time has been specified add 3 PCIx User s Manual 5 159 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE KILL E I dB The KL command will flush the command queues and terminate pulse generation of all axes immediately It is intended for emergency termination of any program and to reset the input queues to a known state Step motors may not stop immediately even though
74. 2 222 2 22 24 2 2222 0 aS neenon nndis A 5 144 K cia iets chs ila ba it tee fco eso teh hea dace A tad Ma cate M LII AI ELI Le fcc aD 5 77 B ERE RICO T Pads Meine 5 85 dier EE 5 83 Mr EET 5 160 Kill S leCted AXOS EE m 5 161 Gee oe ieee baie ne eee es 5 160 KM niit oti ating tei pe avid ies nine eesti ie 5 109 on 5 72 dcr Eee 5 81 nime HE 5 110 pt ELLE 5 161 m A o ML M LR D NM M EI eL 5 79 4 PCIx User s Manual INDEX L L theca de ca shih irc me 5 129 IET 5 193 IH EE 5 54 DH 5 56 E IMETED WARRANTY 1 ade ctu ee ci Pob cete tede Doa e ee inen Ae A 1 2 eL cha 5 56 Limits oe ete eee eere eet unde ie 5 57 5 54 IEEE NE 5 55 ET at SI MM RT TU E 5 128 Linear Ramp Per AXIS secet aper aeree x 5 129 Hr D RC 5 57 UN Stereo een eM eS Le 5 55 N
75. 3 FEEDBACK LOOP 10 You may want to save the values for KP KI KD etc for future reference These values can be saved in the board s Flash Memory so they can be accessed easily on reset or power up The command AP will store your current parameter assignments such as KP KI KD etc into flash memory These saved parameters will then be used as the power up default set of values Refer to page 5 10 for more detailed information regarding how to use the commands to save and load parameter sets from flash memory 11 To verify that your motor is tuned properly after you have completed the first 10 steps perform the following test to test the holding torque Send IpO HN commands and check the shaft of the motor to make sure it is stiff If there is play in the motor shaft when you turn it then you may have to re adjust your PID filter 12 Once you are satisfied with the static holding torque you could check for position error Send the command ac100000 vl5000 mr64000 go With a 2000 line encoder this move would be equivalent to 8 revolutions of the motor After the move is complete check the position error by sending the RE and RP commands for the specific axis you are moving Compare the difference in the two responses If they are the same then you are on the right track if the error is greater than 32768 than the controller will disable the PID so that you don t have a runaway motor and major changes to the PID parameters may be requi
76. CA 1 1 QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands GD ID IP II IN User s Manual 5 167 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE 5 9 6 VELOCITY STAIRCASING COMMANDS The following commands describe the velocity staircase mode This mode is useful in applications requiring a change in velocity at a prescribed position without stopping Similar to the jogging commands velocity staircasing will move an axis at a specified velocity The difference is that the next staircasing command in the queue will not be processed until a specified position is reached Staircasing also allows the host to specify a position for the motor to stop unlike the jogging commands MOVE POSITIVE E IiE The MP command sets the direction logic to move in the positive direction The direction output for the current axis will change if necessary to reflect the new direction All subsequent non direction specific motion commands will now move in the positive direction x Example see MV command page 5 170 QUEUE REQUIREMENTS Not Valid Not Valid Related commands MM MO MV SP FP 5 168 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS MM MOVE MINUS E HN dP The MM command sets the direction logic to move in the negative direction The direction output for the current axis will change if necessar
77. COMMAND STRUCTURE Ql QUERY INTERRUPT STATUS E EN adie The QI command returns the same information as the QA command but for all axes at once The 4 character fields for each axis are separated by commas and the string has one line feed and two carriage returns at each end Example Check the status of a four axis board Enter AA QI Response lt LF gt lt CR gt lt CR gt PNNN MNNN PDNN MNLN lt LF gt lt CR gt lt CR gt Refer to the table Character Meaning in the RA command on page 5 29 QUEUE REQUIREMENTS FORMAT Not Valid Immediate Not Valid Related commands QA RA RI EA 5 28 User s Manual 5 COMMAND STRUCTURE RA REQUEST AXIS STATUS E IiE dP The RA command returns the state of the limit and home switches and the done and direction flags for the currently addressed axis The limit flag in the hardware status register will be reset by the RA command provided another axis is not in limit The done flag register will also be reset by this command The status is returned in the following format CHARACTER MEANING CHAR SENT DESCRIPTION 1 LF Line feed 2 CR Carriage return 3 CR Carriage return 4 P Moving in positive direction M Moving in negative direction D Done ID Il or IN command has been executed set to N by this command or 5 IC command N No ID executed yet L Axis in overtravel Char 4 tells w
78. Cei dea eroe Eee 5 27 MACROS bt us 5 32 CONTROL COMMANDS ie trot ertet eo tot et treat 5 36 AUXILIARY CONTROL COMMANDS eem 5 36 GENERAL PURPOSE I O CONTROL seem 5 46 HOME CONTROL COMMANDS t depende 5 50 LIMIT CONTROL tera ent Her retenti teer 5 54 SERVO CONTROL COMMANDS obe tnl tt 5 64 SERVO VOLTAGE CONTROL COMMANDS 5 64 PID COMMANDS ctt etna toan n tab den ERI 5 77 STEP ENCODER CONTROL COMMANDS em 5 90 STEP ENCODER CONTROL COMMANDS 5 90 STEP ENCODER SLIP COMMANDS see 5 99 ENCODER SLAVE MODES 5 105 HOMING COMMANDS rather Ro ee helen bx del ici bond 5 106 POSITION COUNTERS 222 2 5 ee ep eb al he p dde 5 111 PROFILE CONTROL COMMANDS inner aii e es 5 119 VELOCITY COMMANDS reete aldara 5 119 ACCELERATION 8 40 5 124 PROFILE COMMANDS oii ned eid Cor a 5 128 CUSTOM PROFILE COMMANDS roto rini reete 5 136 MOTION GENERATION 5 5 142 JOGGING COMMANDS itt etit de cent 5 142 MOVE SPECIFICATION 5 147 MOVE EXECUTION
79. D QUEUES The input characters are placed in a character buffer on input then removed and interpreted The commands are then placed in separate command queues for each axis As they are executed the space is reclaimed allowing the host to pass commands ahead of the moves actually being processed Most of the commands are placed in the appropriate command queue for execution while others are executed immediately allowing return of status information in a timely way rather than when encountered in the command stream This information is provided in a table for each command which shows the queue requirements if any and indicates immediate in those cases where the command is not queued The queue requirements shown in the tables are typical Depending on the circumstances in which the command is issued the actual queue requirement may vary slightly The single axis cases are indicated by the mode reference indicating the appropriate axis The synchronized mode is indicated by the mode identifier AA or AM The contouring case is indicated by AA CD for multiple axes in contour definition mode The RQ command may be used to determine the actual space available at any time The queues operate independently allowing each axis to perform separate processes concurrently The synchronized modes AA insert special wait opcodes which allow the axes to be synchronized in this mode When the commands are nested within loops the queue space is not reclaimed until afte
80. Home EOW T 5 51 Home Reverse enr A aa a i ue a nus a ee De dena ger dae eue a A a a 5 108 Home Reverse And KI eiie HE et beats N 5 110 5 53 ARa a r e aaae et 5 108 AAO E EAS E A EE 5 53 la A Re ERR EE RR P RM 5 95 5 166 Ve asda Tite ta 5 162 5 163 lnc 5 164 ec ee tpa idee ted cena 5 83 Mott UM cue e E 5 166 Interrupt 2 5 eie dc ele d ee eade vss ned 5 162 Interrupt 5 163 Interrupt Nearly Done isin eet Hee ede e eO ep gH an 5 164 laterrupt On Slipcs eet eaten dus ent e 5 101 Interrupt When In 7 5 165 Invert Direction Bit eiaha e e e editae et 5 74 Inivert Servo Voltage EE EE RE M DRE RE ER OR 5 67 ID nne Ae Mut Mei 5 165 NC 5 101 J nl Pecan trend m hi Sn fi LS n S num mim Cette e dad t lt imas 5 144 dcc pM 5 142 Neon EE 5 142 Jog Fractional Velocities
81. IN HEX EN a The BX command returns the states of the general purpose input bits in a two digit hex format surrounded by linefeed carriage return pairs The rightmost character represents the least significant nibble 4 bits and if the nibble is rewritten as bits the rightmost bit is the least significant bit An input set low will be represented as a binary 1 and a high as binary O x Example User input lines 0 and 2 are currently low and lines 1 and 3 are high Use the BX command to verify these states 5 0101 Enter BX Response lt LF gt lt CR gt 05 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands BS BH BL User s Manual 5 49 CONTROL COMMANDS 5 COMMAND STRUCTURE 5 5 3 HOME CONTROL COMMANDS System homing is an essential step in most systems To accommodate a wide range of homing methods the following commands provide the ability to set home inputs active high or low and to enable or disable encoder index signals as part of home detection HOME HIGH E EN dP HH command sets the sense of the home switch on the current axis to active high The default true state of the home input is a TTL logic low This command allows a TTL logic high to be treated as the true state for applications where this is more convenient Once this command has been sent to the PCIx active high homes can be made the power up
82. ION GENERATION COMMANDS 5 COMMAND STRUCTURE Enter AA CV1000 CDO 0 AN 1 CRO 5000 3 1415926 CRO 0 6 2831853 AF 1 MT10000 1000 CE MT 1000 0 GO CX QUEUE REQUIREMENTS FORMAT Not Valid n a 5 number of axes in the contour CDH Related commands CV NV CR MT AN AF BL BH CE CK CX 5 178 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS CR CIRCULAR INTERPOLATION 1 4 CR command defines move circular pattern from the entry position first two parameters are the center of the circle in absolute units and the third parameter is the distance to move in radians Positive radians equal counter clockwise movement Negative radians equal clockwise movement The distance parameter should be supplied to seven significant digits if a full circle 2 pi is to be generated The radius of the circle is the linear distance between the current position and the first two parameters of the CR command The CR command generates a circle by breaking the circle into a series of linear segments The number of segments will be equal to the total distance traveled divided by the contour velocity divided by 2048 or distance velocity 2048 If finer resolution is required the MT command may be used to produce smaller segments but the segments must be calculated by the user RANGE 33 554 431 lt Parameter 1 First Coordinate for Cen
83. IX ver 1 00 004 S N 001234 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Immediate Not Valid PCIx User s Manual 5 9 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE 5 4 2 POWER UP DEFAULTS PCIx can store most user settable parameters and reload them when the board powers up or is reset The following commands can be used to store these parameters return the board to factory default reload the stored parameters and reset the board to reload the stored parameters AP ASSIGN CURRENT PARAMETERS EN LE AS POWER UP DEFAULTS The AP command stores the current parameter set as the power up default set of values This is done by writing the current parameter set to flash memory The following list of parameters will have their values saved to flash memory when the AP command is used SF SL LN LF LH LL AC LA SC PR SC VL VB UU SE 1 ER ES HD HV HG BI UN KP KD KO KV KA and DZ Note This command should not be issued when an axis is in motion and it should be used sparingly because the flash memory has a limited number of write cycles x Example Save the current parameter set to be the power up default set of values Enter AP QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands RD RF 5 10 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS RD RESTORE DEFAULT VALUE
84. LY REQUIREMENTS The PCIx Motion Controller Card plugs into the PCI Bus The PCIx is designed to fit into a standard short card PCI slot and draws 1 2 Amps from the 5 Volt Power Supply of the PC For servo models only 12V at 0 1 amp and 12V at 0 1 amp are also taken from the PC 2 18 PCIx User s Manual 3 COMMUNICATION INTERFACE INTRODUCTION 3 COMMUNICATION INTERFAC 3 1 INTRODUCTION The PCIx is 100 compatible with standard PC s and complies with the PCI standards PCIx can be considered a motion coprocessor in the PCI computer where it can execute the motion process independent of the PCI CPU or continue to be interactive The PCI interface of the PCIx has four consecutive 16 bit I O registers available for control of interrupts status of interrupt requests data transfer as well as done flags The PCIx can generate interrupts for several different conditions and these are covered in detail in the following sections 3 2 PCI INTERFACE The PCI interface to the controller consists of four 16 bit memory mapped registers and 8K bytes words of dual port RAM After the host system BIOS has executed its PCI resource allocation functions the controller s PCI configuration registers will contain the following information PCI Register Offset HEX Register Contents 32 bits 0x000 The Device ID and Vendor ID 9050 1065 This register identifies the vendor that supplies the PCI bridge chip 0x018 The b
85. MANDS BH BIT HIGH E IiE The BH command turns the selected general purpose output off i e logic high The state of general purpose outputs is off at power up or reset Note Output bits should not be used as triggers for applying power to any device A unless master power is applied separately and after the PCIx is fully configured The states of the outputs are unpredictable during power up and reset and can toggle several times before settling at a high level x Example Set general purpose bits 4 and 5 to high Enter BH4 BH5 QUEUE REQUIREMENTS FORMAT Related commands AN AF BX BL BS User s Manual 5 47 CONTROL COMMANDS 5 COMMAND STRUCTURE BIT SET E iE dP Set all of the output bits to a known state at the same time This command will affect all output bits setting their states to the specified mask nearly simultaneously The mask must be in ASCII hex format where the least significant bit bit 0 is on the right To set a line low the corresponding bit in the hex mask must be a 1 A zero 0 in any bit position will set the corresponding bit high Example Set output 0 high 1 4 low and 5 7 high 1E hex 00011110 Enter BS1E QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands AN AF BH BL BX 5 48 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS BX BIT REQUEST
86. MANDS 5 COMMAND STRUCTURE Location Initialization Commands These commands allow the initialization of the physical stage with the controller HM 5 7 4 HOMING COMMANDS Section 5 5 3 Home Control Commands details the commands available for customizing homing operations The commands below initiate the physical homing process HOME E IiE dP The HM command will cause the current axis or specified axes to move in the positive direction at the predefined velocity until the home input line becomes true for each axis The position counters will be initialized to the positions supplied as parameters The velocity should be less than 2048 counts per second to maintain accuracy of the home position loaded A velocity of 2048 or less will provide a homing accuracy of 0 counts A velocity of 2049 to 4096 will be accurate to 1 count Every multiple of 2048 adds 1 count to the error range Each axis will when home is detected reset it s position counter to the parameter specified in the HM command Once the counter is reset the axis will ramp to a stop at the rate specified previously via the AC command This will result in the axes stopping beyond the home switch so care should be taken to ensure adequate stopping distance is available beyond the switches The axes can be easily returned to the precise home switch position by using an MA command after the HM command If no parameter is specified in single axis modes the HM comma
87. MMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS PT PRESERVE A TEMPORARY MACRO BB B Use PT to save a temporary macro permanently by copying it to non volatile memory The temporary macro number which is entered as an argument for this command must be between 0 and 4 The non volatile macro number which is also entered as an argument for this command must be between 5 and 24 RANGE 0 lt Parameter 1 lt 4 5 lt Parameter 2 lt 24 BN Example Copy temporary macro 3 to non volatile macro 19 Enter PT3 19 QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands MD MX PM PCIx User s Manual 5 33 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE MX MACRO EXECUTE E iI dB The MX command will execute the command string stored in the specified macro The macro number that is entered as the argument of the command must be between 0 and 24 RANGE 0 lt MX lt 24 x Example Execute macro number 6 Enter 6 QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands MD PT PM 5 34 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS PM PRINT MACRO E HN dB The PM command will return the command string stored in the specified macro number as a command response The macro number entered as the argument for this command must be between 0 and 24 RANGE 0 lt PM
88. OMMAND STRUCTURE MOTION GENERATION COMMANDS 5 9 8 CONTOURING COMMANDS The PCIx will attempt to generate any profile which it is asked to do It is the responsibility of the host to be sure the acceleration required when generating a circle or any other change in direction is possible within the mechanical constraints of the system All corners must be defined by arcs and tangents to those arcs else the change in direction will be instantaneous and generate very large accelerations The arc radius must be chosen so that the acceleration constraints of the system are met Constant velocity contouring is similar to a series of discrete move commands except that it allows multiple discrete moves to be executed in series without stopping maintaining a constant vector velocity among the involved axes The commands below are those that are available in contouring mode CONTOUR VELOCITY z EB The command allows specification of contouring velocity It is executed from the AA mode before a contour definition A contour defined by a CD command cannot be executed if followed by a CV command Changing this parameter will make any previously defined contours invalid The contour velocity defaults to 1000 at powerup or reset Use WQ between contour definitions to avoid having a CV associated with a second contour definition affect a prior contour still in motion A CV cannot be issued between a CD and CE command RANGE 1 lt CV lt 1
89. Power up Reset values x Example The motor driver and gear ratio you are using requires 10 000 steps to move one inch Set up the X Y and Z axes so you can enter move information in inches Enter AX UU10000 AY UU10000 AZ UU10000 or AA UU10000 10000 10000 QUEUE REQUIREMENTS FORMAT UU UU 1 E Immediate Immediate Not Valid Related commands RU UF 200 5 24 PCIx User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS UF USER OFF E IE dB The UF command turns off user units returning all numeric commands and responses to their factory default raw representations This command is equivalent to and preferred over UU1 since it turns off the mode thus minimizing unnecessary overhead See the AP Command on page 5 10 to make the UF settings as the Power up Reset values Example Turn off user unit conversion on the X Y and Z axes Enter AX UF AY UF AZ UF or AA UF1 1 1 QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands UU UU PCIx User s Manual 5 25 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE 200 REPORT AXIS USER UNITS E i d B AXIS ASSIGNMENT This command returns the current user units multiplier as set via the UU command Example Make sure the UU512 command we sent earlier is still current The command will return the UU value with six digits to the r
90. RATIO EN The ER command allows specification of encoder motor ratio for position maintenance mode This command is not designed for use with servo motors ER takes two arguments encoder counts and motor counts Both parameters must be integers unless user units UU are enabled The ratio need not be per full revolution reduce the fraction as far as possible and use those values If slip detection is enabled this ratio must be 1 1 Any other ratio will disable slip detection Slip detection mode is merely a notification mode where the host is notified whenever the motor and encoder positions vary by more than some specified amount Position maintenance may use any ratio The factory default ratio is 1 1 See the AP Command on page 5 10 to preserve the ER settings as the Power up Reset values Parameter 1 Encoder Counts Parameter 2 Motor Counts Example You have an encoder connected to a stepper motor through a series of gears When the motor steps 25 000 times the encoder produces 10 000 counts Set up an encoder ratio so hold mode will work correctly Enter ER10000 25000 or ER2 5 PCIx User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands User s Manual 5 91 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE REPORT MOTOR ENCODER RATIO ER command reports th
91. RE Synchronized moves may be made by entering the AA or AM command These commands perform context switch which allows entering motion commands in the format MRx y z t Numbers are entered for each axis which is to be commanded to move An axis may be skipped by entering a comma with no parameter The command may be prematurely terminated with a i e a move requiring only the X and Y axes would use the command MRx y followed by the GO command Each axis programmed to move will start together upon executing the GO command The PCIx can be switched back to the unsynchronized mode by entering the desired single axis command such as AX The AM command is provided for complex applications where the host manages multiple motion processes by a multitasking operating system This mode shares the same instructions as the AA mode but allows starting a task while some other task involving one or many axes is active For example the X and Y axes could be doing linear interpolation while the Z axis is making an unrelated move simultaneously Constant velocity contouring provides another mode wherein the move parameters are predefined by entering AA or AM then CD The PCIx will then calculate the move profile in advance and move at constant velocity in the prescribed pattern It can do linear interpolation on as many as 4 axes between the predefined points or it can do circular interpolation mixed with linear on two axes 5 2 COMMAN
92. RIPTION Done Status of X Axis Done Status of Y Axis Done Status of Z Axis Done Status of T Axis 3 8 INTERRUPT CONTROL REGISTER This is a host read write register that provides different interrupt sources from the PCIx to be individually enabled or disabled This may be performed at any time by a write to the associated bit of the register The register may be read back at anytime to verify or determine the state of the interrupts Reference Table 3 2 Control Register Description for a detailed definition of the control register NOTE A PCIx Interrupt Service Routine ISR should clear the IRQ_E bit on entry and set the IRQ_E bit just before it exits TABLE 3 2 CONTROL REGISTER DESCRIPTION NAME CONTROL DESCRIPTION IRQ_E Interrupt enable bit This bit must be on to enable any interrupts Transmit buffer empty interrupt enable bit This bit should be TBE_E checked before writing to the data register to avoid sending a character when the interrupt has been disabled IBF_E Input buffer full interrupt enable bit DON_E Done or error status interrupt enable bit Unused Unused Unused Unused PCIx User s Manual 3 5 STATUS REGISTER 3 COMMUNICATION INTERFACE 3 9 STATUS REGISTER This register is a Master host read only register that provides status information to the host This status is independent of the enable status of the interrupt allowing the board
93. ROL COMMANDS LN LIMITS ON EN ag The LN command restores the operation of the limit switches for the addressed axis or axes This is the default mode at power up or reset With limit switches enabled if the axis encounters a limit switch in the course of executing any motion the axis will be instructed to stop and the host will be notified of the event Limit conditions are treated as critical errors and should not be used as simple positioning inputs to the PCIx x Example Set up the Y and T axes to stop immediately when a limit switch is encountered Enter LN 1 1 or AY LN AT LN QUEUE REQUIREMENTS FORMAT Max LN 1 LNb b b b 1 AA CD Not Valid Related commands LF LH LL SL SF User s Manual 5 55 CONTROL COMMANDS LH LIMITS HIGH 5 COMMAND STRUCTURE The LH command sets the senses of the limit switches on the current axis to active high The default true states of the limits are TTL logic low This command allows a TTL logic high to be treated as the true state for applications where this is more convenient Through the execution of the AP command limits can be made to default to active high on power up or reset see the AP command for details Example Select the limit switch high true condition for the X axis Enter AX LH 9 Select a high true limit condition for 2 axes Enter AA LH 1 1 FORMAT
94. Report the state of the Y axis auxiliary bit Enter AY AD Response lt LF gt lt CR gt ADL lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands ADL ADH User s Manual 5 45 CONTROL COMMANDS 5 COMMAND STRUCTURE 5 5 2 GENERAL PURPOSE I O CONTROL The PCIx has 8 configurable general purpose I O bits From the factory they are configured as 4 inputs and 4 outputs The following commands can be used to set outputs high or low individually or as a group and to read inputs as a group BL BIT LOW E IiE dB The BL command turns the selected general purpose output line on i e logic low The default states of all output bits at power up are logic high off The BS command can be used to set all outputs to a known state at once Note Output bits should not be used as triggers for applying power to any device A unless master power is applied separately and after the PCIx is fully configured The states of the outputs are unpredictable during power up and reset and can toggle several times before settling at a high level Example Turn on output bits 4 and 5 after a move Note that this is only valid for output bits input bits cannot be modified Enter AX MA1000 GO BL4 BL5 QUEUE REQUIREMENTS Related commands AN AF BX BL BS 5 46 PCIx User s Manual 5 COMMAND STRUCTURE CONTROL COM
95. S FORMAT Max SF 1 SFb b b b 1 AA CD Not Valid Related commands SL SL LN LF LH LL TL 5 60 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS 251 REPORT SOFT LIMIT STATUS b The SL command reports whether soft limits are currently enabled for the active axis Possible responses are SL and SF the same commands used to enable and disable soft limits 9 Example Find out whether soft limits are enabled for axis Z Enter AZ SL Response lt LF gt lt CR gt SL lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands SL SF User s Manual 5 61 CONTROL COMMANDS 5 COMMAND STRUCTURE TL SET SOFTWARE TRAVEL LIMITS ia B The TL command sets logical limits on the range of travel for an axis Two parameters must be supplied one for the upper travel limit and the other for the lower travel limit both as absolute positions If the axis reaches either of these logical limits the PCIx will flag a limit condition just as it would using the physical limit switch inputs Move Relative MR type motion is subject to software travel limits because the PCIx checks an internal ablolute position register Set both parameters equal to disable software travel limits RANGE 33 554 000 lt Parameter 1 lt 33 554 000 Upper Position Limit 33 554 000 lt Parameter 2 lt 33 554 000 L
96. S z a 4 The RD command restores the current parameter settings of the to the power up defaults These defaults will be user set parameters if they have been previously archived using the AP command Otherwise the factory defaults will be used BN Example Assign the current parameter set to be the default values Enter RD QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands AP RF PCIx User s Manual 5 11 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE RF RESTORE FACTORY DEFAULT EN d D VALUES RF restores the current parameter set to the factory default values This process does not alter the parameters stored in flash via the AP command To restore the flash memory to factory default the RF command must be issued followed by the AP command x Example Assign the current parameter set to be the factory default values Enter RF QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid FACTORY DEFAULT SETTINGS Axis direction bit output state is normal DBN Overtravel limits are active low LL Soft limits are disabled SF Acceleration is 2000000 AC2000000 Use linear acceleration ramps LA Early deceleration factor is zero EDO Velocity is 200000 VL200000 Base Velocities zero VBO User units are off UF Auxiliary output bits settle times are zero SEO Auxiliary output bits
97. See the AP Command on page 5 10 to preserve the VL settings as the power up reset values RANGE 1 lt VL lt 1 044 000 Example In single axis mode set the X axis velocity to 10 000 counts per second Enter AX VL10000 Example In the AA mode set the peak velocities of the X and T axes to 5 000 and 50 000 respectively Leave the other axes with their previous values Enter AA VL5000 50000 QUEUE REQUIREMENTS Not Valid AX AT AA AM PNO amp PRO ramp selections add 2 All other PN amp PR ramp selections add 9 CN amp SC ramp selections add 9 SR Custom ramp selections add number of steps in ramp 1 Related commands VL VB AC DC PCIx User s Manual 5 119 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE VL REPORT PEAK VELOCITY SETTING E I VL command returns the peak velocity setting for the current axis as set by the VL command Example Make sure our AXVL50000 command worked Enter VL Response lt LF gt lt CR gt v150000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands VL VB 5 120 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS RV REQUEST VELOCITY E HN dB The RV command will return the current velocity at which the axis is moving This may differ from the programmed maximum velocity if the axis is ramping up to
98. TOM PROFILE COMMANDS When linear parabolic and cosine acceleration ramps are insufficient custom ramps can be defined to meet virtually any profiling need The following commands provide the capability to define almost any conceivable profile BEGIN CUSTOM RAMP DEFINITION a 1 The DAR command starts the definition of custom ramp table parameter supplied with this command from 1 to 8 specifies which ramp table to create Ifa ramp table by that number has already been defined it will be overwritten Once the DAR command has been issued only the DAB and DAE commands will be valid A series of ramp table breakpoints may be entered using the DAB command which define the profile breakpoints for this ramp table Up to 25 breakpoints may be defined but a smaller number may be used A ramp table containing no breakpoints is invalid and will result unpredictably if used RANGE 1 lt DAR lt 8 Example Create a ramp table definition resembling a jerk limited linear profile Enter DAR3 Store as table 3 DAB 1 05 Ramp at 10 of AC until 5 of VL DAB 3 1 Ramp at 30 of AC until 10 of VL DAB 9 9 Ramp at 90 of AC until 90 of VL DAB 3 95 Ramp at 30 of AC until 95 of VL DAB 1 1 Ramp at 10 of AC until 100 of VL DAE End table definition QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands DAB DAE ED DA DS DE SR 5 136 PCIx User s Manua
99. TS FORMAT Immediate Not Valid Not Valid Related commands DAR DAB DAE DA DE 5 140 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS DE REPORT A CUSTOM RAMP E iE dP TABLE ENTRY The DE command will return a specific entry from a specific custom ramp table The first parameter specifies the table to examine and the second parameter specifies the entry to return from the table RANGE 1 lt Parameter1 lt 8 1 lt Parameter2 lt 25 x Example We can t remember what the 23rd breakpoint in table 4 was set to Use the DE command to find out Enter 4 23 Response lt LF gt lt CR gt lt LF gt lt CR gt there is no 23rd entry in table 4 QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands DAR DAB DAE DA 205 User s Manual 5 141 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE 5 9 MOTION GENERATION COMMANDS JG 5 9 1 JOGGING COMMANDS When an application requires a motor to move without stopping or perhaps to move until told to stop the jogging commands that follow will be useful These commands will start motion on an axis ramping up to the specified jog velocity and continue indefinitely stopping only when told to stop a limit is reached or a timeout occurs see below JOG E IiE dP The JG command is a velocity mode and will move one or more axes at the veloc
100. TTL high Refer to the SW command for more detail See the examples for the SW command QUEUE REQUIREMENTS FORMAT Not Valid Related commands WT WA WQ SW 5 190 User s Manual 5 COMMAND STRUCTURE LOOPING COMMANDS 5 11 LOOPING COMMANDS 5 11 1 LOOPING COMMANDS Often applications have need of the ability to repeat a sequence of commands until some event occurs The commands in this sections will allow looping over a given series of commands until a timeout or an I O event such as a rising or falling edge occurs or simply to loop a specific number of times It should be noted that only queued commands can be looped immediate commands will be executed immediately and will not stay in the queue to be part of a loop LOOP START E IiE dP The LS command sets the loop counter for the axis being programmed in the single axis mode and all axes in the AA mode The command expects a loop counter operand following the command The commands up to the LE loop terminator will be executed the number of times specified by the operand Loops may be nested up to four levels deep on each axis The parameter must be less than 32 000 The first loop of commands will occur immediately as they are entered The remaining loops will be executed after the loop terminator LE has been entered The axis mode e g AX AY AA must be the same when entering and exiting the loop otherwise
101. U GN PCIx User s Manual 5 153 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE GU GO ASYMMETRICAL E IiE dB The GU command initiates a previously defined move using the AC value for acceleration and the DC value for deceleration This command may be used with only one axis at a time i e it is not valid with the ML and MT commands If this command is issued without having defined a move the results are undefined Issuing a GU command to execute an already executed move also has undefined results Only one GU command should be issued per defined move Example Move the Y axis to position 1 500 using the current acceleration and velocity and a deceleration of 5 000 counts per second per second Enter AY DC5000 MA1500 GU QUEUE REQUIREMENTS FORMAT Not Valid Not Valid AX AT If the controller has an encoder or servo axis add 3 If PA mode is active add 2 If an auxiliary output bit settle time has been specified add 3 Related commands MA MR GO GD GS GN 5 154 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS ST 5 9 4 MOVE TERMINATION COMMANDS The following commands allow termination of move sequences in process When things go wrong or a motion simply needs to be commanded to stop prematurely the commands below will be useful These commands can be used to stop motors gracefully or abruptly depending on the needs of the application STOP E I dP
102. USER S MANUAL INTELLIGENT MOTOR CONTROLLERS For PCI bus PClx FAMILY OREGON MICRO SYSTEMS INC TWIN OAKS BUSINESS CENTER 1800 NW 169 PLACE SUITE C100 BEAVERTON OR 97006 PHONE 503 629 8081 FAX 503 629 0688 EMAIL sales OMSmotion com WEB SITE http www OMSmotion com COPYRIGHT NOTICE 2001 Oregon Micro Systems Inc A Pro Dex Company ALL RIGHTS RESERVED This document is copyrighted by Oregon Micro Systems Inc You may not reproduce transmit transcribe store in a retrieval system or translate into any language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise any part of this publication without the express written permission of Oregon Micro Systems Inc TRADEMARKS IBM IBM PC IBM PC XT IBM PC AT IBM PS 2 and IBM PC DOS are registered trademarks of International Business Machines Corporation CompactPCl PICMG are registered trademarks of the PICMG PCI Industrial Computer Manufacturers Group Inc Windows Win 95 Win 98 and Win NT are registered trademarks of Microsoft Corporation DISCLAIMER Oregon Micro Systems Inc makes no representations or warranties regarding the contents of this document We reserve the right to revise this document or make changes to the specifications of the product described within it at any time without notice and without obligation to notify any person of such revision or change 3301 0800000 Revision B
103. Z DBN AT DBN or AA DBN 1 1 QUEUE REQUIREMENTS FORMAT Max DBN 1 DBNb b b b 1 AA CD Not Valid Related commands DBI DB UN BI SVI SVN User s Manual 5 75 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE DB REPORT DIRECTION BIT LOGIC E IiE dB The DB command returns the command either DBI or DBN that would set the direction bit to its current logical operation If the direction bit is low when moving positive this command will return the DBN command If the direction bit has been inverted this command will return DBI 9 Enter Response Report whether the direction bit for the T axis is low or high when making positive moves AT DB lt LF gt lt CR gt DBI lt LF gt lt CR gt The DBI result indicates the T axis direction bit is high for positive moves FORMAT QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands DBI DBN SV 5 76 User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS 5 6 2 PID COMMANDS The PCIx uses a PID filter for servo position maintenance The following commands provide user control over the filter parameters and feedback of the same See section 2 6 Connect and Checkout the Servo System on page 2 7 for more information regarding the use of these commands for tuning your servo motors KA ACCELERATION FEEDFORWARD a KA is the accelerat
104. acturer s manual for instructions Note that power supply requirements differ from driver to driver Once all wire connections have been made power can be restored to your system It is recommended that you bring the controller board up first so it is in a known state and then apply power to the stepper driver Refer to Figure 2 6 for an example wiring diagram of OMS PCIx 004 connected to the OMS PMD4 m stepper driver PCIx board PMD4m Driver 24Vdc 61 05 Motor J2 J1 Figure 2 6 Example Wiring Diagram of PCIx Controller 2 6 CONNECT AND CHECKOUT THE SERVO SYSTEM Servo systems tend not to respond gracefully to connection errors You can reduce the chance of making connection errors by following a step by step procedure PCIx User s Manual 2 7 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED Caution The servo motor may jump or spin at a very high velocity during connection and configuration The motor should be restrained via fastening to the physical system or by some other means before beginning this procedure Keep hands and clothing clear of the motor and any mechanical assemblies while performing this procedure 2 6 1 CONNECT AND CONFIGURE THE MOTOR AMPLIFIER 1 Connect and configure your amplifier per the manufacturer s instructions for Torque or Open Loop mode 2 With the motor and amplifier power turned off connect the PCIx to the amplifier 3 Balance your motor a Using a
105. ameter 5 123 Report axis base velocity 5 122 Base velocity set base velocity 5 120 Report axis velocity limit 5 119 Set maximum velocity to be used in profile 5 174 Velocity stream slave velocity mode for profiling 5 187 Wait until all moves on all axes are finished 5 195 While end WS loop terminator 5 198 Terminate WH loop 5 196 While execute all commands until WG loop terminator until flag cleared by CW command 5 188 Wait until current axis queue is empty 5 194 While sync execute while sync of input is true 5 186 Wait wait for specified number of milliseconds 5 9 Who are you returns model and software revision 5 8 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS 5 4 SYSTEM STATUS AND CONTROL COMMANDS These commands allow the host to request the status of various move parameters including the status of limit and home switches and or allow control of various system parameters and operating modes to allow the user to optimize the response of the system for the application 5 4 1 IDENTIFICATION COMMANDS WY WHO ARE YOU E iE The WY command returns the model type firmware revision number and number of controlled axes of the board being addressed The response string will be delimited with linefeed carriage return pairs BN Example You want to examine the board identification string Enter WY Response lt LF gt lt CR gt PC
106. and see below initiates the move The axis that will reach it s destination first is used as a gauge to modify the acceleration and velocity values of the other axes This is done to ensure all involved axes arrive at their targets simultaneously At the end of the move any velocity or acceleration value that was modified is restored to its pre move value Example In the AA mode move the X Y and T axes to absolute positions 1000 10000 and 100 counts respectively with each starting and finishing together The unused axis remains in it s previous position Enter AA MT1000 10000 100 GO QUEUE REQUIREMENTS FORMAT Not Valid 60 MTH HHH AA AM If a previous ML or MT command has made adjustments to the axis velocity and acceleration or the velocity and acceleration of this axis must be adjusted to permit the linearly interpolated move Add 6 plus PNO amp PRO ramp selections add 6 All other PN amp PR ramp selections add 20 CN amp SC ramp selections add 20 SR Custom ramp selections add 2 number of steps in ramp Related commands MA MR ML GO GD GN 5 150 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS 5 9 3 MOVE EXECUTION COMMANDS The following commands initiate moves defined by commands in section 5 9 2 Move Specification Commands A number of different commands are available tailored to various application needs GO GO E I dB
107. ands has completed and fully processed the following commands can be used to generate notifications Commands are available to generate a simple notification or perform a somewhat more complex analysis to decide when and how to notify the host INTERRUPT WHEN DONE E B The ID command will set the done flag for the axis or axes to which the command was issued An interrupt to the host will be generated if interrupts have been enabled in the PClx In Windows environments this interrupt is captured by the device driver which will store the flags to pass on to the host application when requested This command allows the PCIx to signal the host when a string of commands has been completed In AA mode the done flag register bits will be set as each axis encounters the ID in its command stream but the done flag in the status register will not be set until all axes have executed the ID command In the AM mode only the axes active in the most recent move will set their done flags Though move commands are most commonly used with the ID command others may be used as well The ID command may be sent to the PCIx to tell it to set done flags whenever the host application could benefit from knowing an event or series of commands has completed Example Interrupt the host CPU after the execution of Move Absolute is finished When the move is finished the ID command will be encountered in the command queue and will set the done flags Enter
108. ary outputs at the beginning of each GO or GD command execution and complement the outputs after the move is executed The auxiliary will be turned on i e pulled high upon the execution of the GO or GD and off at the end of that move if the parameter is zero or not specified in the single axis mode If the parameter is non zero the sense is reversed i e the auxiliary output is turned off driven low upon the execution of the GO or GD command and on at the end of the move The SE command can be used to apply a settling time at the end of each move before complementing the auxiliary bit This is useful for systems that need to retain torque for some specific amount of time before allowing the motor drive to reduce current output This mode need only be set once and can be turned off by using the AN or AF command Axes can be selectively affected in the AA mode The values of the included parameters set the state of the auxiliary line during the move The following queue requirements apply to each GO or GD command in the command stream in the AA and single axis modes This mode is off by factory default See the AP Command on page 5 10 to preserve the PA settings as the Power up Reset values Example Turn on the Y axis auxiliary output at the beginning of a move and turn the T axis output off at the beginning of a move while in the AA command mode note the reversed logic i e 0 on 1 off on pulls the signal line to ground off lets
109. ase address of the controller s dual port RAM 0x020 The base address of the controller s memory mapped registers 0x02C The controller s Subsystem ID and Subsystem Vendor ID 0001 160C This register identifies the PCI card as an Oregon Micro System controller 0x03C Bits 0 through 3 contain the controller s IRQ assignment The dual port RAM is used to pass data from the controller to the host computer The 16 bit word at offset zero in the dual port RAM contains a binary image of the controller s configuration dip switches Bits 0 thru 2 contain the controller number selection The PCIx User s Manual 3 1 PCI INTERFACE 3 COMMUNICATION INTERFACE remainder of the RAM is used to pass velocity profile and servo tuning information to the host The I O registers are mapped into the host memory space with offsets from the base address as follows Address OffsetRegister Function 0 Interrupt Control 2 Status 4 Done flags 6 Data Note bits 8 through 15 of these I O registers are reserved for future expansion 3 2 User s Manual 3 COMMUNICATION INTERFACE COMMUNICATION THEORY 3 3 PCI COMMUNICATION THEORY The process for communicating to the PCIx through the PCI bus at its simplest form consists of the data register and the status register of the PClx Reference Figure 3 1 Data Communication Flow Chart for a flow chart of the communication sequence Read the STATUS Register READ Done Flag Registe
110. ce for the stepper axes or as strictly a position feedback of any axes The encoder input supports either differential or single ended quadrature TTL signals at a rate of up to 4MHz and counts at a 4 times resolution This means a 1000 line encoder will produce 4000 counts per revolution in the PCIx controller The PClx command set employs ASCII character syntax Using virtually any programming language simple ASCII command strings are sent to the PCIx through the PCI bus A typical motion requirement of 1 000 000 counts at 400 000 counts sec and an acceleration of 500 000 counts sec sec the following string would be sent from the host computer to the PCIx VL400000 AC500000 MR1000000 GO For additional command programming examples see Section 5 Command Structure 1 2 SYSTEM OVERVIEW The PCIx is physically a standard PCI module with plug and play capability The communication interface is accessed through the bus PCIx User s Manual 1 1 SYSTEM OVERVIEW 1 GENERAL DESCRIPTION PCIx utilizes the Motorola 68332 32 bit microcontroller and FPGA technology for extensive logic integration and flexibility The firmware which resides in Flash Memory can be upgraded through the communication interface without having to remove the controller from the system All input signals to the PCIx are buffered through differential or opto coupled components and are located on connector J2 The PCIx utilizes the 5VDC supplied by the Ho
111. city of 5 000 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM If PA mode is active add 1 lf the controller has an encoder or servo axis add 1 PNO amp PRO ramp selections add 2 All other PN amp PR ramp selections add 9 CN amp SC ramp selections add 9 SR Custom ramp selections add number of steps in ramp 1 Related commands JF TM ST SA User s Manual 5 143 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE JF JOG FRACTIONAL VELOCITIES z EN dB The JF command will jog one or more axes at the velocities specified like the JG command The parameter may include a fractional part allowing better resolution at low speeds The velocity set by this command will remain the default velocity until altered by a VL JG or another JF command Note that like the JG command direction of motion should not be changed without A first bringing the axis to a stop Issuing a JF command with a positive velocity followed by another with a negative velocity will cause an abrupt change of direction in the motor RANGE 1 044 000 000 lt JF lt 1 044 000 000 x Example Jog the Y axis at 2 2 3 steps per second Enter AY JF2 667 or AM JF 2 667 QUEUE REQUIREMENTS Not Valid AX AT If PA mode is active add 1 If the controller has an encoder or servo a
112. cond for 3 seconds then stop Enter AX JG5000 WT2000 JG10000 WT3000 ST QUEUE REQUIREMENTS FORMAT Not Valid Related commands WA WQ SW BW 5 186 User s Manual 5 COMMAND STRUCTURE SYNCHRONIZATION COMMANDS WA WAIT FOR AXES Ii dB WA command valid only in AA mode allows a command to wait until all moves on all axes are finished before executing any further commands Some commands which can affect a non moving axis such as AN AF and PA may execute before a previous move on other axes has finished especially while in a looping LS LE WH WG mode By preceding these commands with a WA they will not execute until all previously defined moves have finished Example The Z axis auxiliary line controls a laser beam that you only want on while the Z axis moves in a positive direction The X and Y axes position the laser You want to repeat the action 10 times Enter AA VL1000 1000 1000 AC10000 10000 10000 LS10 MR1000 1000 GO WA AN 1 MR 500 GO AF 1 MR 500 GO LE QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands WQ WT SW BW User s Manual 5 187 SYNCHRONIZATION COMMANDS 5 COMMAND STRUCTURE WQ WAIT FOR QUEUE TO EMPTY z EN dB The WQ command is a special command that stops the board from processing any new commands until the queue for the current axis mode is empty i e
113. counter which allows multiple executions of almost any command string The following commands in this section are included in the PCIx family of controllers Most all of the commands consist of two ASCII characters and may be in upper or lower case Some of the commands expect a numerical operand to follow These commands are identified with a after the command The operand must be terminated by a space carriage return or semi colon to indicate the end of the number No terminator is required on the other commands but may be included to improve readability The operand must immediately follow the command with no space or separation character The 4 indicates a signed integer input parameter or a signed fixed point number of the format when user units are enabled With user units enabled distances velocity and acceleration parameters may be entered in units such as inches revolutions etc Most commands are usable in both single axis and multi axis modes Those that require a numeric parameter in single axis modes require multiple numeric parameters of the same type in multi axis modes For example the MR Move Relative command take a distance as a numeric parameter and is formatted as MR in single axis modes Multi axis modes have a parameter position for each axis and must be formatted as MR in a 4 axis system Note use of commas between axes Any parameter may be omitted for any axis which is not to be affecte
114. d 3 If PA mode is active add 2 lf an auxiliary output bit settle time has been specified add 3 commands MA MR MT ML GO GS GU GN PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS GS GO AND MONITOR SLIP TRIGGER ee The GS command works exactly like the GO command except that the home switch will be monitored during the motion If the home switch becomes active the slip flag will be set for the axis The host application can read the slip flag and see that the home switch was encountered during the move This is useful in applications that register slip conditions by means other than encoder position verification in fact this command is not valid in controls with encoder feedback which includes servo motors If this command is issued without having defined a move the results are undefined Issuing a GD command to execute an already executed move also has undefined results Only one GD command should be issued per defined move Example Move the X axis 50 000 counts in the positive direction If the motor slips it will close a switch wired to the home input of the X axis Monitor this switch during the move and set the slip flag for axis X if the switch becomes active Enter AX MR50000 GS QUEUE REQUIREMENTS Not Valid Not Valid AX AT If PA mode is active add 2 lf an auxiliary output bit settle time has been specified add 3 Related commands MA MR GO GD G
115. d by the command and the command may be terminated prematurely with a semicolon For example to move only the Y and Z axes enter the command as MR Z Some commands that are usable in both single axis and multi axis modes do not take a parameter in single axis modes These commands still require numeric parameters in multi axis modes but the parameters take on a Boolean meaning These commands are identified by their formatting as XXb b b b where XX is the command name and the b b b b represents a set of Boolean values A Boolean true is any value greater than zero A Boolean false is any absent or zero value For example the single axis format of LN Limits ON is simply LN without parameters of any kind The multi axis format of LN is LNb b b b for 4 axis systems where each b represents the Boolean value for the corresponding axis Like other multi axis commands a b may be omitted if that axis is to remain unchanged and the command may be prematurely terminated with a semicolon Each b position if used is expected to be any value greater than zero For example to enable the Y and Z axes limit switches and leave X and T unchanged send the command LN 1 100 The 1 and 100 may actually be any value greater than zero If a zero is used as a parameter the effect will be the same as if the value were omitted completely i e LNO0 0 1 is the same as LN 1 PCIx User s Manual 5 1 COMMAND QUEUES 5 COMMAND STRUCTU
116. de Example Perform a coordinated relative move on the X and Y axes while moving the T axis as a separate move at the same time Enter AM 12000 3000 GO 10000 GO QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands AA AX AY AZ AT User s Manual 5 17 SYSTEM STATUS AND CONTROL COMMANDS AXIS X 5 COMMAND STRUCTURE The AX command directs all following commands to the X axis This is the default mode at power up or reset Commands sent in this mode will be executed in the order in which they are received subject to queued versus immediate execution and are expected to be formatted for single axis use Example Enter AX JG5000 Make the X axis step at a rate of 5 000 steps second QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands AA AM AY AZ AT 5 18 User s Manual 5 COMMAND STRUCTURE AY AXIS Y SYSTEM STATUS AND CONTROL COMMANDS The AY command directs all following commands to the Y axis Commands sent in this mode will be executed in the order in which they are received subject to queued versus immediate execution and are expected to be formatted for single axis use A Example Enter Examine the status of the Y axis AY RA QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid
117. de move the Y axis to absolute position 10 000 counts and the T axis to absolute position 1 000 counts The other axes will remain in their current positions Enter 10000 1000 QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM If this axis is using a cosine ramp and the move distance is too short to allow the axis to accelerate to its velocity limit add 11 If a previous ML or MT command has made adjustments to the axis velocity and acceleration then Add 8 plus PNO amp PRO ramp selections add 4 All other PN amp PR ramp selections add 18 CN amp SC ramp selections add 18 SR Custom ramp selections add 2 number of steps in ramp 1 Related commands MR MT ML GO GD GS GU GN PCIx User s Manual 5 147 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE MR MOVE RELATIVE E HN dB The MR command will set up one or more axes to move relative from their current positions at the time the move is executed In the AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually initiated by a GO or GD command or another G series command see below Each axis will use its predefined acceleration and velocity values to move to the new position Each axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations To ensure all axes reach their destina
118. ded So ALWAYS keep switches 1 6 S43 amp S45 of the IO68 M in the OFF position TABLE 4 2 068 SWITCH 543 068 SWITCH 545 Switch Switch Signal Description Number Signal Description Number 1 Leave OFF 1 Leave OFF 2 Leave OFF 2 Leave OFF 3 Leave OFF 3 Leave OFF 4 Leave OFF 4 Leave OFF 5 Leave OFF 5 Leave OFF 6 Leave OFF 6 Leave OFF 7 Leave 7 8 Leave 8 Leave OFF PCIx User s Manual 4 7 068 ADAPTER MODULE 4 CONTROL SIGNAL INTERFACE 87654321 87654321 Terminal Block FIGURE 4 5 1068 DEFAULT SWITCH SETTING Switches 7 amp 8 of S43 amp S45 are used to configure the 068 When the 068 is used with the PCIx the switches should be set as shown in Figure 4 5 For the 068 S43 pins 7 8 are to be ON while S45 pins 7 and 8 are to be OFF All other signals on the 068 are straight through connections with no additional circuitry added Should you need filtering circuitry on any of these other signals it would have to be added external to the 068 Contact Oregon Micro Systems technical support for further instruction 4 8 User s Manual 4 CONTROL SIGNAL INTERFACE Table 4 3 shows the pin definitions on the 068 terminal block connector 1068 ADAPTER MODULE TABLE 4 3
119. e Y axis Enter AY RE Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands PE RP PP User s Manual 5 117 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE PE REPORT ENCODER POSITIONS E E d E The PE command reports the encoder positions of all encoder and or servo axes The response is returned delimited by linefeed carriage return pairs and is in ASCII format All encoder positions will be reported even in single axis mode This is the same as AA RE Example Report the encoder positions of a four axes servo board Enter PE Response lt LF gt lt CR gt 0 50 156 0 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands RE RP PP 5 118 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS 5 8 PROFILE CONTROL COMMANDS VL 5 8 1 VELOCITY COMMANDS Part of configuring any system involves defining velocity limits The commands below provide control over these limits and allow feeding them back to the host VELOCITY E iI dP The VL command sets the maximum velocity register of one or more axes to the operands which follow the command The operands must be greater than zero and less than or equal to 1 044 000 steps per second where the factory default is 200 000 steps per second
120. e ieie ake n aae E een ennemis 5 45 Report Direction Bit 2 a r nenne cles 5 76 Report Encoder POSItIOTS dete te et EL e i bere ca 5 118 Report Encoder Slip 5 100 Report Limit Active 5 58 Report Motor Positions eerie ideas teris qe ee oiu dun oce duc e ee dann dd 5 115 Report Motor Encoder enne nnne renes nnne 5 92 Report Peak Velocity 1 0 11 2 1 4 entes enter aaae dni aa 5 120 Report PID Closed Loop Offset br Lech eo Eel e ente e Eb aei a dera End 5 73 Report PID Derivative 5 86 Report PID Integral Gain 2 2 1 00 0 0106 00 nhan trn sans neni 5 84 6 User s Manual INDEX 5 Report PID Proportional 5 82 Report PID State uo reet agg ce 5 89 Report Position In User 5 116 Report Position Maintenance 5 94 Report Position Maintenance 5 98 Repor
121. e motor to encoder ratio as set with the ER command x Example Enter Response Find out what the last ER command sent was ER lt LF gt lt CR gt er2 000000 lt LF gt lt CR gt The encoder produces 1 count for every 2 steps of the motor QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands ER 5 92 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS HD HOLD DEADBAND HD command specifies deadband counts for position maintenance mode If the encoder count is within this distance of target it is considered in position and no further correction will be made This parameter interacts with the HG and HV commands i e a larger deadband will allow a larger gain parameter in many applications This command is designed to work with stepper motor applications using encoders and is not designed for use with servo motors The factory default value is zero See the AP Command on page 5 10 to preserve the HD settings as the Power up Reset values RANGE 0 lt HD lt 60 000 x Example see HN command page 5 87 QUEUE REQUIREMENTS FORMAT Not Valid Related commands HD HV HG HN HF PCIx User s Manual 5 93 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE HD REPORT POSITION EN MAINTENANCE DEADBAND The HD command reports the current setting of the HD command This command will only work wi
122. e of shipment This warranty is in lieu of any other warranty express or implied In no event will Seller be liable for incidental or consequential damages as a result of an alleged breach of the warranty The liability of Seller hereunder shall be limited to replacing or repairing at its option any defective units which are returned f o b Seller s plant Equipment or parts which have been subject to abuse misuse accident alteration neglect or unauthorized repair are not covered by warranty Seller shall have the right of final determination as to the existence and cause of defect As to items repaired or replaced the warranty shall continue in effect for the remainder of the warranty period or for 90 days following date of shipment by Seller of the repaired or replaced part whichever period is longer No liability is assumed for expendable items such as lamps and fuses No warranty is made with respect to custom equipment or products produced to Buyer s specifications except as specifically stated in writing by Seller and contained in the contract User s Manual A 1 LIMITED WARRANTY A 2 This page intentionally left blank APPENDIX A User s Manual APPENDIX B TECHNICAL SUPPORT APPENDIX TECHNICAL SUPPORT Oregon Micro Systems Inc can be reached for technical support by any of the following methods 1 Internet E Mail support omsmotion com 2 World Wide Web www omsmotion com 3 Telephone
123. e the auxiliary output is complemented when using PA mode The parameter may be any value up to 1000 milliseconds Specification of a parameter of zero disables SE mode The use of this command requires 3 queue slots with the execution of each GO or GD command The factory default settling time is zero See the AP Command on page 5 10 to preserve the SE settings as the Power up Reset values RANGE 0 lt SE lt 1000 Turn on the Z axis auxiliary output upon execution of a move and have it remain on for 500 milliseconds after the move is complete Enter AZ 5 500 QUEUE REQUIREMENTS FORMAT SE Immediate Immediate Not Valid Related commands SE AN AF PA PCIx User s Manual 5 41 CONTROL COMMANDS 5 COMMAND STRUCTURE 25 REPORT SETTLING TIME E IE dB The SE command reports the settling time setting SE used with power automatic mode PA for the current axis Report the current settling time for axis Enter AX SE Response lt LF gt lt CR gt SE250 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands SE 5 42 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS ADH SET AUXILIARY DEFAULT E B TO HIGH The ADH command sets the default powerup or reset state of the auxiliary line for the current axis to high This chan
124. efined it may be executed at any time by executing a CX command until it is replaced by another contour definition The CX command cannot be placed within a loop or while construct x Example see CD command on page 5 177 QUEUE REQUIREMENTS FORMAT Not Valid 16 70 Not Valid AA AM f the controller has an encoder or servo axis add 1 If a contour axis has PNO amp PRO ramp selections add 4 Standard parabolic ramp adds 18 Cosine ramp adds 18 If PA mode is active add 2 If an auxiliary output bit settle time has been specified add 3 Related commands CD CE CK ID PCIx User s Manual 5 185 SYNCHRONIZATION COMMANDS 5 COMMAND STRUCTURE 5 10 SYNCHRONIZATION COMMANDS 5 10 1 WAITING COMMANDS The commands below provide several methods of command and move synchronization By forcing the to wait a specified amount of time or wait until a set of axes has stopped moving before processing the next command in the queue the host gains fine grained control over the motion process WT WAIT E IE dP The WT command will wait for a specified number of milliseconds before proceeding with the next command in the queue In the AA mode all axes will wait Immediate commands will not wait since they are not queued RANGE 1 lt WT lt 32 000 Example You want to produce pulses on the X axis at 5 000 steps second for 2 seconds then 10 000 pulses se
125. enabled With User Units enabled distances velocity and acceleration parameters may be input in inches revolutions etc COMMANDS IN CHAPTER 5 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION AA 5 16 Any following commands are for the AA All Axes mode 5 125 Report AC command AC 5 124 Acceleration set acceleration deceleration register AD 5 45 Report default auxiliary bit state ADH 5 43 Set auxiliary default to high ADL 5 44 Set auxiliary default to low AF 5 40 5 181 Auxiliary off AM 5 17 Axes multitasking mode AN 5 39 5 182 Auxiliary on AP 5 10 Make the current parameter set the power up default values AT 5 21 Any following commands are for the T axis AX 5 18 2 commands for the X axis default on AY 5 19 Any following commands are for the Y axis AZ 5 20 Any following commands are for the Z axis BH 5 47 Set selected I O bit high off Bl 5 64 Bipolar set the analog torque outputs to bipolar PCIx User s Manual 5 3 COMMAND SUMMARY 5 COMMAND STRUCTURE COMMANDS IN CHAPTER 5 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION BL 5 46 Set selected I O bit low on Set all bits of the general purpose output port to the state BS 5 48 ae specified by the hex argument BW 5 190 Wait for input to go low BX 5 49 Return bit status in hex format CA 5 167 Clear done flag of currently addressed axis CD 5 177 Define a contour CE 5 183 End c
126. er command of the same type specifying a different axis ALL AXES I AA command performs a context switch to multi axis mode All commands entered after this one will be treated as all axis commands which must be formatted for multi axis use rather than single axis use Each command will be executed in the order in which it is received This is true even if the second command affects axes other than those affected by the first command For example if AA mode is entered followed by a move of the X axis and then a move of the Y axis the Y axis move will not begin until the X axis move has completed Example Perform an absolute move using the X and Y axes When this move is complete perform a relative move using the Y Z and T axes Enter AA MA12000 14000 GO MR 5000 1500 100000 GO QUEUE REQUIREMENTS FORMAT Max AA 2 AA 2 AA CD Not Valid Related commands AM AX AY AZ AT CD 5 16 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS AM AXES MULTITASKING E IiE dB The AM mode allows several tasks to be managed simultaneously This command changes the mode of all future commands to multi axis mode In this mode a task may be performing coordination motion on 2 axes while a second task is performing unrelated but simultaneous motion on another axis All commands sent in this mode must be formatted for multi axis mode rather than single axis mo
127. errupt capability is provided by the PCIx in accordance with the PCI specification but not required Interrupts provided are input buffer full IBF transmit buffer empty TBE overtravel fault limit command error and operation complete done 3 6 DATA REGISTER The data register is the data communication port between the PCIx and the PCI Master CPU host All data is passed between the PCI Master and the PCIx through this register The register is full duplex i e it passes data in both directions This allows for faster processing of the data between the host and the PCIx 3 7 DONE FLAG REGISTER The done flag register is a PCI Master read only register of the PClx Each bit of this register identifies the done status of each of the axes of the It is a 16 bit register where the low 4 bits are used for the four axes of the PClx When requested by command the will set the appropriate bits of the done flag register to indicate when a process is complete on the associated axes The host can then read the register at any time to determine the done status of any axes The register is cleared at the completion of the host read or by the execution of the RA or RI commands The detail definition of the register is shown in Table 3 1 Done Flag Register Selection 3 4 PCIx User s Manual 3 COMMUNICATION INTERFACE INTERRUPT CONTROL REGISTER TABLE 3 1 DONE FLAG REGISTER SELECTION DONE STATUS REGISTER DESCRIPTION BIT DESC
128. es QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands SVI SVN DB PCIx User s Manual SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE DZ DEFINE ZERO POSITION IN d OPEN LOOP MODE The DZ command defines the offset coefficient needed to produce a zero voltage output or stationary position by the servo motor This command is used in the open loop mode with Hold Off HF This command can be used in combination with or in lieu of the balance adjustment on the servo amplifier This is particularly useful with amplifiers that do not have a balance adjustment The factory default value is zero Full scale the DZ command has a range of 32 667 which corresponds directly to the 16 bit range of the DAC less a few counts as a buffer zone Each increment decrement of the DZ value will result in an approximate change in the output voltage of 0 0003 volts See the AP Command on page 5 10 to preserve the DZ settings as the Power up Reset values This command affects the offset only when in open loop mode The KO command is used to set the offset when the loop is closed Typically the value found that is satisfactory with the DZ command will also be used with the KO command Since this is not always the case DZ and KO are available to set differing offsets RANGE 32 667 lt DZ lt 32 667 Example Define the offset coefficient to be 250 76mV for the X axis Enter AX DZ250
129. etting of HG to be sure it is correct Enter HG Response lt LF gt lt CR gt HG100 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands HG HV HD 5 98 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS ES 5 7 2 STEP ENCODER SLIP COMMANDS In applications that require notification when a stepper motor slips beyond a given tolerance the following commands will be of assistance These commands do nothing to maintain position Instead they tell the PCIx to react to a slip condition by notifying the host or ceasing motion ENCODER SLIP TOLERANCE EN The ES command parameter specifies tolerance before slip or stall is flagged in the status register and in the RL command response The encoder may get off target by as much as this value before the PCIx will consider the axis slipped This mode must be turned on with an IS command and off with an HF command The factory default value is 1 This command is intended to be used with stepper motors and not servo motors See the AP Command on page 5 10 to preserve the ES settings as the Power up Reset values RANGE 1 lt ES lt 65 535 Example Your application can tolerate being up to 5 steps from the desired position before the controlling program should be notified of a slip condition Enter ES5 IS QUEUE REQUIREMENTS FORMAT Not Valid Not Valid
130. f 0 0003 volts See the AP Command on page 5 10 to preserve the KO settings as the Power up Reset values This command affects the offset only when in closed loop mode The DZ command is used to set the offset when the loop is open Typically the value found satisfactory with the KO command will also be used with the DZ command Since this is not always the case KO and DZ are available to set differing offsets RANGE 32 667 lt KO lt 32 667 Example Define the offset coefficient to be 2000 610mV on the Y axis Enter AY KO 2000 QUEUE REQUIREMENTS Not Valid Not Valid Related commands KO DZ HN HF 5 72 PCIx User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS KO REPORT PID CLOSED LOOP 1 OFFSET The command reports the closed loop voltage offset KO setting for the current servo axis See the DZ command for reporting open loop offset x Example The open loop offset is 218 Make sure the closed loop offset is the same Enter Response lt LF gt lt CR gt KO218 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KO DZ User s Manual 5 73 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE DBI INVERT DIRECTION BIT E EN The DBI command inverts the logic of the direction control output of the addressed axis or axes By default the direction outp
131. gative direction at the predefined velocity until the home input line goes true It behaves exactly like the HM command except it travels in the reverse direction x Example In along stage it may be awkward to travel the full distance to home at less than 2048 pulses per second The following will get close to home at higher speed then refine the position at lower speed in the reverse direction Enter AX VL100000 HH HM VL1000 HL HR QUEUE REQUIREMENTS Not Valid AX AT AA AM If the controller has an encoder or servo axis add 2 If PA mode is active add 2 lf an auxiliary output bit settle time has been specified add 3 Related commands HM HE HS HH HL KM KR LP LO 5 108 PCIx User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS KM HOME AND KILL E IiE The KM command will move the current single axis in the positive direction until home is detected and then kill motion immediately i e without using a deceleration ramp The position counter will not be reset or cleared Due to motor and or payload inertia the motor may not stop immediately but slip some distance instead This will result in inaccurate position counters This command s primary purpose is to move an axis out of the way quickly or to get the axis near home rapidly to speed up the homing process Example Move the Y axis in the positive direction to the home sensor and stop movement as quickly a
132. ge is stored in nonvolatile memory automatically and need not be stored via the AP command Since this command writes to non volatile memory it should be used only when necessary and not in repeatedly called functions Set the powerup state of the Z axis auxiliary line to high Enter AZ ADH QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands ADL AD User s Manual 5 43 CONTROL COMMANDS 5 COMMAND STRUCTURE ADL SET AUXILIARY DEFAULT TO LOW z E d B The ADL command sets the default powerup or reset state of the auxiliary line for the current axis to low This change is stored in nonvolatile memory automatically and need not be stored via the AP command Since this command writes to non volatile memory it should be used only when necessary and not in repeatedly called functions Example Set the powerup state of the Y axis auxiliary line to low Enter AY ADL QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands ADH AD 5 44 User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS AD REPORT DEFAULT AUXILIARY E IiE dB BIT STATE This command will reply with the current powerup default state of the current axis auxiliary bit as set by ADH or ADL The response will be either ADH or ADL based on the current powerup state of the auxiliary bit
133. he PCIx If additional current limiting is required it should be done externally to the board Contact Oregon Micro Systems for assistance with this The PClx Home Switch Input can be used to physically home a mechanical stage When this functionality is used the axis position counter will be reset to a select value when the switch is activated At this point the can either ramp the axis to a stop or stop the axis immediately The control of the direction of travel the logic active state and the response to the active switch are controlled through commands The other homing method on the PCIx uses the Home Switch and the encoder signals to home a motor When using the HE mode homing logic is used with these input signals The home position consists of the logical AND of the encoder index pulse the home switch input LOW true only and a single quadrant from the encoder logic The home enable pulse must be true for less than one revolution of the encoder thus allowing only one home for the complete travel of the stage This home input cannot be inverted by the PCIx User s Manual 4 3 HOME PROCEDURES 4 CONTROL SIGNAL INTERFACE HH and HL commands while using HOME in the HE mode The home logic expressed in Boolean terms is home phaseA phaseB index home switch It is necessary that the above quadrant occur within the index pulse as provided by the encoder for this logic to function properly It may be necessary with some enc
134. hich direction Set to N when limit switch is 6 not active N Not in overtravel in this direction 7 H Home switch active Set to N when home switch is not active N Home switch not active 8 LF Line feed 9 CR Carriage return 10 CR Carriage return BN Example The Y axis just encountered a limit verify its status Enter AY RA Response lt LF gt lt CR gt lt CR gt PNLN lt LF gt lt CR gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands QA QI RI EA PCIx User s Manual SYSTEM STATUS AND CONTROL COMMANDS 5 29 SYSTEM STATUS AND CONTROL COMMANDS REQUEST INTERRUPT STATUS 5 COMMAND STRUCTURE The RI command is a multiaxis mode command that returns the same status information for all axes as the RA command does in character fields for each axis are separated by commas feed and two carriage returns on each end command as it would be via the RA command single axis mode The 4 and the string has one line The done flag is reset by this Example Check the status of a 4 axis board Enter AA RI Response lt LF gt lt CR gt lt CR gt MDNN MDNN PNLN PNNN lt LF gt lt CR gt lt CR gt Refer to the table Character Meaning in the RA command on page 5 29 QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Immediate Related commands QA QI RA EA 5 30 User s Manual
135. iate Not Valid Not Valid Related commands AC User s Manual 5 125 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE RC REQUEST ACCELERATION E HE daB The RC command will return the current acceleration rate of the current axis This may differ from the programmed acceleration if a cosine CN or parabolic PN ramp is being generated When the stage is stopped the parameter returned will be zero 0 When the stage is running at programmed speed i e not accelerating the parameter returned will be zero 0 While a contour is executing the value computed to generate the appropriate lead in will be returned The response to the RC command is surrounded by linefeed carriage return pairs Example Display current acceleration values for all axes on a four axis board Enter AA RC Response lt LF gt lt CR gt 2000000 2000000 2000000 2000000 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands AC RV AC 5 126 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS DC DECELERATION E HN dB The DC command sets a deceleration rate overriding the AC parameter when the GU command is used to initiate a move Only the GU command will use the DC value The deceleration rate defaults to 200 000 and will take on whatever value is entered via the AC command Therefore the DC command must be reentered after using AC
136. iated by the DAR command See the DAR command on page 5 136 for complete custom ramp table definition QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands DAR DAB ED DA DS DE SR 5 138 PCIx User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS DA PRINT A CUSTOM RAMP IiE This command will print out a previously defined custom ramp table If undefined table number is specified only linefeed carriage return pairs will be returned x Example Enter Response RANGE 1 lt DA lt 8 Print out custom ramp table 2 DA2 lt LF gt lt CR gt DAR2 lt LF gt lt CR gt DABO 10000 0 20000 lt LF gt lt CR gt DABO 90000 0 80000 lt LF gt lt CR gt DABO 10000 1 00000 lt LF gt lt CR gt DAE lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DAR DAB DAE DS DE User s Manual 5 139 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE 205 REPORT THE SIZE E I dB OF A CUSTOM RAMP TABLE The DS command returns the size of the specified custom ramp table as the number of breakpoint entries in the table RANGE 1 lt DS lt 8 x Example The 3rd custom ramp should be 17 breakpoints long Make sure this is true Enter DS3 Response lt LF gt lt CR gt 17 lt LF gt lt CR gt QUEUE REQUIREMEN
137. if a different deceleration rate is desired RANGE 1 lt DC lt 8000000 Example Send the Y axis on a 100 000 count move that accelerates at 100 000 counts per second per second up to 50 000 counts per second and decelerates at 20 000 counts per second per second Enter AY AC100000 DC20000 VL50000 MR100000 GU QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands AC RC VL VB GU User s Manual 5 127 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE 5 8 3 PROFILE COMMANDS Often the default linear acceleration profile is not optimum for a given system To meet the needs of those systems the PCIx has a number of commands that allow partial or even complete customization of the profile The commands below allow the use of parabolic cosine and even custom ramps See section 5 8 4 Custom Profile Commands for commands to define custom ramps LINEAR ON E iI dB The PF command restores all axes to linear acceleration and deceleration ramps This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single axis mode PF is the factory default setting See the AP Command on page 5 10 to restore the PF setting as the Power up Reset mode Example Turn off cosine or parabolic ramps returning to linear Enter PF QUEUE REQUIREMENTS AA CD Not
138. ight of the decimal point If the UU value exceeds six digits for the fractional value the value will be rounded off to the sixth decimal place Enter UU Response lt CR gt lt LF gt uu512 000000 lt CR gt lt LF gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid If user units are turned off UU returns lt CR gt lt LF gt UF lt CR gt lt LF gt Related commands UU UF 5 26 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS 5 4 7 AXIS STATUS COMMANDS The PCIx monitors the various inputs and conditions that can affect motor movement and system status This information is frequently needed by host applications so that proper motion decisions can be made and appropriate actions taken The following commands provide this status feedback to the host QA QUERY AXIS STATUS E IiE dB The QA command returns the status of the single addressed axis like the RA command except the limit and done flags will not be cleared Refer to the RA command for details x Example Check the status of the X axis Enter AX QA Response lt LF gt lt CR gt lt CRS gt PNNH lt LF gt lt CR gt lt CR gt Refer to the table Character Meaning in the RA command on page 5 29 QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands QI RA RI EA PCIx User s Manual 5 27 SYSTEM STATUS AND CONTROL COMMANDS 5
139. ill immediately load the number supplied as a parameter in the absolute position registers of the axis In models with the encoder option the parameter will be loaded into the encoder position register and the parameter times the encoder ratio will be loaded into the position counter If no parameter is supplied the value of zero is used This command turns off the position hold and interrupt on slip modes when used a with the encoder option The LO command can be used after this command to set the motor position independently of the encoder position RANGE 33 554 431 lt LP lt 33 554 431 Example The following would load the X axis position register with 1000 and the Z axis position register with 2000 Enter AA LP1000 2000 Example The following would load the Y axis position register with 20 000 and the encoder position register with 30 000 counts in encoder models Enter AY ER3 2 LP30000 QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM If the controller has an encoder or servo axis add 2 Related commands LO RM RP RE RU PCIx User s Manual 5 111 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE LO LOAD MOTOR POSITION i d The LO command sets the motor position independently of the encoder position unlike LP which sets both to the same supplied value The LP command will override the LO command and reset the motor position If the LP command is used
140. ince loop will most likely waiting for the Switch at this point the loop ends and the following commands execute 0 0 0 GO move to home position PCIx User s Manual 5 COMMAND STRUCTURE LOOPING COMMANDS FORMAT QUEUE REQUIREMENTS Not Valid Related commands WG CW LS WS User s Manual 5 197 LOOPING COMMANDS 5 COMMAND STRUCTURE WG WHILE FLAG dB The WG command serves as the terminator for the WH command see WH command page 5 196 QUEUE REQUIREMENTS Not Valid Related commands WH CW 5 198 User s Manual 5 COMMAND STRUCTURE LOOPING COMMANDS CW CLEAR WHILE E IiE dB The CW command breaks the WH command upon execution of the remaining commands in the loop i e the current execution of the loop is finished The WH loop is always executed at least one time since the test for the flag is at the bottom see WH command page 5 196 QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands WH WG PCIx User s Manual 5 199 LOOPING COMMANDS 5 COMMAND STRUCTURE This page intentionally left blank 5 200 User s Manual 6 HOST SOFTWARE INTRODUCTION TO PCIX SOFTWARE SUPPORT 6 HOST SOFTWAR 6 1 INTRODUCTION TO PCIX SOFTWARE SUPPORT A disk containing device drivers application software
141. ing Command error An unrecognizable command has been detected or LS and LE commands are not in matched pairs In order to resolve the source of a done or error interrupt the DON_S bit bit 4 of the status register should be read first This bit in the status register is automatically reset upon the termination of the read cycle If the DON_S flag is true the error bits should be checked to determine if the interrupt was caused by an error condition If no error condition is present the done flag register should be read to determine which axis or axes are done The Status Register and Done Flag Register clear when read The transmit buffer empty TBE_S bit of the status register is reset by a host write to the data register and the input buffer full IBF_S bit of the status register is reset by a host read of the data register 3 6 User s Manual 4 CONTROL SIGNAL INTERFACE INTRODUCTION 4 CONTROL SIGNAL INTERFAC 4 1 INTRODUCTION PCIx family of motion controllers are available in several configurations to manage combinations of servo and step motor systems The PCI connector incorporates all the control signals of the The PCIx controller meets the PCI specification fully and plugs directly into a PCI slot in a computer Motherboard 4 2 GENERAL PURPOSE I O LIMIT AND HOME INPUTS To facilitate system implementation limit and home inputs are provided for each axis Lim
142. ion feedforward coefficient used in the PID filter calculations Refer to Section 2 for more information regarding this parameter The factory default value is zero See the AP Command on page 5 10 to preserve the KA settings as the Power up Reset values RANGE 0 lt KA lt 249 99 Define KA to be 2 on the axis Enter AT 2 QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands KV KP KD HN HF PCIx User s Manual 5 77 SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE REPORT ACCELERATION 4 FEED FORWARD The KA command reports the current setting of the acceleration feed forward constant KA for the current servo axis BN Example Find out what the current KA value is for servo axis Y Enter AY Response lt LF gt lt CR gt KA10 50000 lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands KA KV 5 78 PCIx User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS KV VELOCITY FEEDFORWARD KV is the velocity feedforward coefficient used in the PID filter calculations See Section 2 for a more detailed explanation of this parameter The factory default value is zero See the AP Command on page 5 10 to preserve the KV settings as the Power up Reset values x Example Enter RANGE 0 lt KV lt 249 99 Set KV to 35 3 on the Y axis
143. irst in first out buffers to be executed in the order they were sent while immediate commands are executed the moment they are received There are several internal queues in the PCIx corresponding to the various axis and command modes and each of these queues has a limited amount of storage space For example the X axis queue can hold 800 units and the contour queue can hold 7160 units Each command requires some number of storage units the amount of storage required is listed in a table with each command The following commands provide control and monitoring capability for the command queues REPORT QUEUE STATUS EN i The RQ command returns the number of entries available in the queue of the currently addressed axis in single axis mode or all axes separated by commas in multiaxis modes The ASCII string is delimited by linefeed carriage return pairs The maximum available in each command queue is 800 except the contour queue which is 7160 The response is at a fixed length of 3 characters for all modes except contour mode which is fixed at 4 characters For example if the current free queue space is 67 in AM mode the response from the board to the RQ command is lt LF gt lt CR gt 067 lt LF gt lt CR gt Example See the size of the command queue for the T axis Enter AT RQ Response lt LF gt lt CR gt 800 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Immediate Immediate
144. ish Enter VL100 100 100 100 MR1000 2000 3000 4000 GO wait awhile SA QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM PNO amp PRO ramp selections add 4 All other PN amp PR ramp selections add 18 CN amp SC ramp selections add 18 SR Custom ramp selections add 2 number of steps in ramp 1 If PA mode is active add 1 lf an auxiliary output bit settle time has been specified add 3 Related commands ST SD SI SO KL KS 5 156 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS SD STOP AND RESET DONE B SD command be substituted for the SA command It will reset the done flags for all axes stop all axes at the rates previously specified via the AC command then flush all axis command queues This allows the host to be interrupted when all axes have stopped by using the ID command after the SD The SA ID combination may flag the completion early if one of the axes is already done from a previously executed ID Example Stop all axes and reset all done flags When all axes have stopped set all done flags Enter AA SD ID QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM PNO amp PRO ramp selections add 4 All other PN amp PR ramp selections add 18 CN amp SC ramp selections add 18 SR Custom ramp selections add 2 number of steps in ramp 1
145. ities supplied as parameters The JG command will accelerate to the programmed velocity at the current AC rate and run until altered by an ST SA KL HF servo models another JG command or a limit switch is encountered while limits are enabled The jog velocity may be changed by following the command with another JG command of a different velocity A change in direction between two JG commands will not cause an axis to ramp to a stop then back up in the opposite direction rather the axis will switch directions abruptly and ramp up or down to the new velocity An axis should be stopped with an ST command before reversing directions This command modifies the move velocity parameter VL for the affected axis or axes The JG command does not require any other command to start the motion RANGE 1 044 000 lt JG lt 1 044 000 BN Example Jog the motor at 100 000 counts per second then change to 35 000 5 142 counts per second when the second JG is entered stay at that velocity for 5 seconds then stop by decelerating to a stop Next jog the motor at 5 000 counts per second in the negative direction Enter JG100000 JG35000 WT5000 ST JG 5000 Note Output events waiting for completion of JG will begin when JG is up to its requested velocity In this case the motor will ramp from zero to 100 000 ramp back down to 35 000 flatten out at 35 000 for 5 seconds then ramp to a stop before moving in the negative direction at a velo
146. its may be activated by mechanical switches using contact closures or other suitable active switches such as a hall effect switch or opto isolator that connects to ground If the motor travels beyond its allowable limits and trips the switch the limit switch closure removes the excitation from the affected axis You can select the limit switch active signal state with the LH and LL command on an axis by axis basis The behavior of the limit functionality can be controlled with the System Control Commands see page 5 9 System Status and Control Commands The PCIx accepts TTL level limit signal inputs The home switch provides a means to synchronize the motor controller with the load at some home or reference position The home switch when used with the software commands HM or HR causes the motor to decelerate to a stop when the switch closes On finding the home position the position counters are initialized to the parameter supplied with the command You can change the sense of the home switches to TRUE when open by use of the HH command described on page 5 50 The Home switch and general purpose I O signals to the PCIx are optically isolated on the board The PCIx expects TTL level signals for the inputs To insure these inputs operate correctly the switch input must be connected properly to the PClx Refer to Figure 4 2 Opto Isolated Input Wiring Diagram for a home switch wiring example The same connections shown in the diagram apply to a
147. l 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS DAB DEFINE CUSTOM RAMP E IiE dB BREAKPOINT The DAB command sets a breakpoint in a custom ramp table This is the only command that should be used after DAR and before DAE Each custom ramp may contain up to 25 breakpoints each defined by a DAB command The DAB command takes two parameters the first specifies the acceleration level that should be used to achieve the second parameter velocity level Both levels are expressed in terms of percentage in decimal format i e 1 00 is 100 At no time should a DAB command be entered in which the velocity parameter is less than the velocity parameter of the prior DAB The PCIx will not flag this as a command error but the results of such a ramp will be unpredictable Each DAB command sent should be equal to or greater than the DAB command that preceded it It is the user s responsibility to make sure this command is used properly RANGE 0 00000 lt Parameter 1 lt 1 00000 0 00000 lt Parameter 2 lt 1 00000 Example See the DAR command on page 5 136 for a complete example of a custom profile QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DAR DAE ED DA DS DE SR PCIx User s Manual 5 137 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE DAE END CUSTOM RAMP DEFINITION E IiE dB The DAE command terminates a custom ramp table definition init
148. lated commands HN PM 5 88 User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS REPORT PID STATE d command reports whether the PID for the current servo axis is enabled The HN and HF commands are used to enable and disable the PID and are the possible responses from this command BN Example Enter Response A limit switch was hit by servo axis Y See if the PID is still enabled for that axis AY PM lt LF gt lt CR gt HF lt LF gt lt CR gt QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands HN HF User s Manual STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE 5 7 STEP ENCODER CONTROL COMMANDS 5 90 5 7 1 STEP ENCODER CONTROL COMMANDS Stepper systems like servo systems use encoder for position feedback However stepper systems do not use PID filters due to operating constraints in the stepper motors themselves Instead the uses the following commands to perform position maintenance for stepper axes It is important to note that stepper motor position cannot be maintained over the course of a move but rather at the end of the move Once the axis has initially stopped the axis will begin moving again to correct for any error encountered during the course of the full move This process will continue until the encoder position is within the deadband of the motor s target position ENCODER
149. llows the desired constant velocity portion of the motion profile By increasing this term the Following Error of the system s response can be minimized However too large of a value may result in unstable behavior after command velocity changes 2 14 User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM The values for KV range from 0 to 249 99 Desired Step Response Actual Step Response Constant Velocity Following Error FIGURE 2 11 9 The KA variable is used when tuning torque controlled servos current mode servo amplifiers This is the acceleration feedforward coefficient Systems with high inertial loads may require additional torque during acceleration or deceleration to achieve optimum performance KA determines how closely the system follows the desired acceleration and deceleration portions of the motion profile Increasing this term reduces the following error occurring during acceleration and deceleration of the system Although if KA is too large instability may occur The values for KA range from 0 to 249 99 Desired Step Response Actual Step Response Acceleration Deceleration Following Error FIGURE 2 12 PCIx User s Manual 2 15 SETTING THE USER DEFAULT CONFIGURATION 2 GETTING STARTED The block diagram below describes the feedback loop that is taking place in the servo system PID Algorithm Motor and Encoder Amplifier Error i e Position FIGURE 2 1
150. locity Formula Profile distance peak velocity 2 2xacceleration x2 4 Example 50 000 2 2x500 000 x2 4 6 000 Execute the move by sending the move commands to the PCIx Example MR6000 GO Adjust the KP term while repeating step 3 until the following error at the flat spot of the profile is acceptable If the motor becomes unstable prior to obtaining the optimum KP term than increase the KD term until the motor stabilizes Example LPO KP3 HN MR6000 GO LPO KP10 HN MR6000 GO LPO KP25 HN MR6000 GO LPO KD100 HN 2 11 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED LPO KP35 HN MR6000 GO LPO KD125 HN The values in the above example are totally arbitrary and may vary drastically with different systems The LPO command is used to set the position error to 0 The values for KP range from 0 to 249 99 5 Once the KP term has been obtained then continue executing the motion while raising the KI term until the long term following error is acceptable This error can be measured at the two knees of the motion profile By increasing the KI term the response time of your system will increase motion profile should have a steeper slope as increases 2 12 User s Manual 2 GETTING START PCIx User s Manual ED CONNECT AND CHECKOUT THE SERVO SYSTEM However as increases the system can also become unstable When the instability becomes unacceptable increase the KD parameter Thi
151. lt 24 x Example Print the command string contained in macro 19 Enter PM19 QUEUE REQUIREMENTS Immediate Immediate Not Valid A NOTE Macros are stored as ASCII character strings If lt CR gt lt LF gt characters used as command terminators they will be sent back to the host computer by the PM command If the application software stops reading a character string at the first lt CR gt lt LF gt it will appear that the PM command did not return the macro contents To avoid this issue just save macros without lt CR gt lt LF gt delimitors Use semi colons instead Related commands MD PT MX PCIx User s Manual 5 35 CONTROL COMMANDS 5 COMMAND STRUCTURE 5 5 O CONTROL COMMANDS 5 36 5 5 1 AUXILIARY CONTROL COMMANDS Each axis of the has an associated auxiliary output line Though this line can be used as a general purpose output it also has a special purpose Power Automatic Mode In power automatic mode the auxiliary line will invert at the beginning of every motion and return to normal at the end The normal state of this line is user controllable as is the amount of time to delay allowing the motor to settle before returning the line to normal at the end of a move The following commands provide this control as well as feedback regarding the state and function of each auxiliary line POWER AUTOMATIC EN dD The PA command will turn on or off the auxili
152. mode The end of the contour should contain at least a short linear segment just prior to the CE command to initialize the parameters for the deceleration of the stage Example see CD command on page 5 177 QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands CD CK PCIx User s Manual 5 183 MOTION GENERATION COMMANDS CK CONTOUR END AND KILL 5 COMMAND STRUCTURE The CK command will end the contour sequence like the CE command except there is no ramp down i e motion will stop abruptly It is used in place of the CE command NOTE This command should be used with caution to prevent the stage from slipping or losing its correct position BN Example with the minimum ramp down Enter AA CV1000 CD0 0 0 CRO 5000 3 1415926 CR0 0 6 2831853 AF 0 MT10000 1000 CK MT 1000 0 GO CX Same scenario CD command but we want to end the contour FORMAT QUEUE REQUIREMENTS Not Valid Not Valid Related commands CD CE 5 184 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS CX CONTOUR EXECUTE E IE dB The CX command will execute the previously defined contour sequence The stage must be positioned such that it can accelerate to speed by the absolute position specified by the CD command it is executing and must be traveling in the proper direction Once a contour is d
153. n abruptly killing the motion when a limit switch is encountered on that axis The output queue is not flushed except for the current move This mode is effective for point to point and JG moves only Soft limits can be made the power up default via the AP command x Example Set up a board to allow the X axis to ramp to a stop when a limit is encountered Enter AX SL Set up board 1 0 to allow the Y T axes to ramp to a stop when a limit is encountered Enter AA SL 1 1 QUEUE REQUIREMENTS FORMAT Max SL 10 SLb b b b 10 AA CD Not Valid AX AT If the controller has an encoder or servo axis add 1 If PA mode is active add 1 lf an auxiliary output bit settle time has been specified add 3 Related commands SF SL LN LF LH LL TL PCIx User s Manual 5 59 CONTROL COMMANDS 5 COMMAND STRUCTURE SF SOFT LIMITS OFF E I dB The SF command restores the default operation of the limit switches i e causes the affected axis or axes to abruptly halt when a limit switch is encountered If soft limits have been made the power up default the AP command must be used to store hard limit operation as the default Example Set up a board to make the X axis stop immediately when a limit is encountered Enter AX SF Example Set up a board to make the Y and T axes to stop immediately when a limit is encountered Enter AA SF 1 1 QUEUE REQUIREMENT
154. n page 5 170 Related commands MP MM MV FP QUEUE REQUIREMENTS FORMAT Not Valid Not Valid AX AT f the controller has an encoder or servo axis add 1 If PA mode is active add 1 lf an auxiliary output bit settle time has been specified add 3 5 172 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS FP FORCE POSITION E I lt b The FP command will flush the command queue and attempt to stop at the specified position The axis will overshoot if there is insufficient distance left to stop at the programmed acceleration This command should not be given to a servo axis while it is in motion the results may be unpredictable Force the axis to stop at a specified position RANGE 33 554 431 lt FP lt 33 554 431 Force axis to stop at 25 000 Enter FP25000 QUEUE REQUIREMENTS FORMAT 7 Not Valid Not Valid AX AT If PA mode is active add 1 lf an auxiliary output bit settle time has been specified add 3 Related commands MP MM MV SP User s Manual 5 173 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE 5 9 7 VELOCITY STREAMING COMMANDS Velocity streaming is a specialized form of velocity staircasing Streaming simply produces specified velocities without ramping or other processing In effect streaming allows the host to put velocities directly into the PCIx s in
155. nd will use zero as a default value Parameters must be specified in multiaxis modes to inform the PCIx which axes are to be homed x Example Find the physical home position of the X axis of the stage The 5 106 motor runs until the home switch input is activated and then initializes the position counter to the parameter supplied Since the motor decelerates to a stop after reaching home it is necessary to do an MA to the same position as specified in the home command if it is desired to physically position the device at home The following commands will find home initialize it to 1000 counts then return to home In many cases it will not be necessary to return home only find the position and synchronize the controller to it Enter AX VL1000 HM1000 MA1000 GO PCIx User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS QUEUE REQUIREMENTS Not Valid AX AT If the controller has an encoder or servo axis add 2 If PA mode is active add 2 If an auxiliary output bit settle time has been specified add 3 AA AM If the controller has an encoder or servo axis add 2 If PA mode is active add 2 If an auxiliary output bit settle time has been specified add 3 Related commands HR HE HS HH HL KM KR LP LO User s Manual 5 107 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE HR HOME REVERSE E I dB The HR command will cause the current axis to step in the ne
156. nded by a linefeed carriage return pairs as in other status commands The number of characters returned corresponds to the number of axes available on the board This command is intended to be used with stepper motors with encoders and not with servo motors Example On a four axis board see if any axis has slipped Enter RL Response lt LF gt lt CR gt NNSN lt LF gt lt CR gt The Z axis has slipped QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands ES IS TN TF 5 102 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS TURN ON SLIP KILL MODE The command enables slip kill mode In this mode if the motor slips beyond the deadband set by the ES command the PCIx will kill motion on the axis that slipped as though a KL command had been issued to the axis This mode can be disabled default with the TF command x Example X axis is sent on a move Its encoder cable was not connected to the controller oops The controller issues a KL Kill command to the X axis after receiving the slip interrupt The slip interrupt is generated once the difference between the motor position counts and encoder counts exceed 20 Enter AX ES20 TN IS LPO MA30 GO QUEUE REQUIREMENTS Not Valid Not Valid Related commands TF ES IS RL PCIx User s Manual 5 103 STEP ENCODER CONTROL COMMANDS
157. ntergral and D derivative The P term is used as a straight gain factor to get the system response in the ballpark The I term defines how quickly the system will respond to change The D term determines the system s stability This term defines how quickly the system settles at its desired position without oscillating The effects of these parameters can be seen when looking at the system s response to a step change at the input The shape of the step response falls into one of three categories under damped critically damped or over damped Over damped systems are slow to reach their final value and produce little or no oscillation Critically damped systems reach final value quickly without overshoot Under damped systems reach final value quickly but have various degrees of ringing or oscillation that decay to zero over time Ideally a system should be critically damped allowing for the fastest response time with the least amount of oscillation 2 6 2 2 Manual Tuning In most all motion control applications the optimum tuning of the servo system is achieved through a manual tuning process Auto tuning algorithms typically can only get the system parameters close and require manual steps to fine tune the parameters An empirical trial and error approach will be discussed first There are some system parameters that need to be defined before attempting to tune a motor The encoder resolution counts per revolution is
158. o oscillate wildly before settling down if at all Care should be taken to allow sufficient ramping distance between the contour starting position and the current position when the CX command is issued Once the contour is completely executed the will ramp the axes to a stop using the rate defined with the AC command This ramp down will take each axis beyond the final point of the contour Without manually calculating the ramp down distance for each axis there is no way to force the contour to come to a complete stop at a predetermined point RANGES 33 554 431 lt CD lt 33 554 431 x Example The following demonstrates cutting a hole with a 10 000 count radius using constant velocity contouring and circular interpolation The contouring velocity is set to 1000 pulses per second A contour is then defined beginning at coordinates 0 0 on the X and Y axes The auxiliary output of the Z axis is turned on which could turn on the cutting torch or laser starting the cut at the center of the circle A half circle is cut from the center to the outside of the hole positioning the cutting tool at the start of the desired hole The hole is then cut the torch turned off the stage stopped and the definition is complete The stage is then positioned and the hole cut with the CX command The AN and AF commands must have commas for all axes since they can all be addressed from within the contour definition PCIx User s Manual 5 177 MOT
159. oders to shift the phase of this quadrant by inverting one or both of the phases Inverting one phase or swapping phase A for phase B will also reverse the direction The encoder counter read by an RE command must increase for positive moves or the system will oscillate due to positive feedback 4 4 User s Manual 4 CONTROL SIGNAL INTERFACE HOME PROCEDURES Home Switch Phase A Phase B Index Home Encoder gt FIGURE 4 3 ENCODER HOMING STATE DETECTION Encoder Phase A Phase B NOTE The voltage biasing shown above with the resistors is resident on the PCIx board and can be enabled using switches S1 amp S2 as appropriate Refer to section 2 2 for additional information FIGURE 4 4 ENCODER WIRE DIAGRAM FOR SINGLE ENDED INPUT SIGNALS PCIx User s Manual 4 5 068 ADAPTER MODULE 4 CONTROL SIGNAL INTERFACE TABLE 4 1 OUTPUT CONNECTOR PIN LIST J2 SIGNAL CONNECTOR J2 Pin Description Pin Description 1 Digital Ground 35 5VDC 2 1 36 0 3 3 37 2 4 5 38 4 5 7 39 6 6 Digital Ground 40 5VDC 7 X Index 41 X Servo 8 X Index 42 X Step 9 X Phase A 43 X Auxiliary 10 X Phase A 44 X Direction 11 X Phase B 45 X Limit 12 X Phase B 46 X Limit 13 Y Servo 47 X Home 14 Y Index 48 Y Step 15 Y Index 49
160. of Encoder Biasing Switches FIGURE 2 1 DEFINITION OF ENCODER BIASING SWITCHES Note In Figure 2 1 switches S1 and S2 are configured for differential encoder inputs for the Y and Z axes and single ended encoder inputs for the X and T axes Switch S3 is used to determine I O bit direction The factory default setting shown in Figure 2 5 Jumpers Switches sets bits 0 3 as inputs and bits 4 7 as outputs switch in the ON position sets the associated bit as an output A switch in the OFF position sets the associated I O bit as an input See Figure 2 2 S3 Switch Definition FIGURE 2 2 53 SWITCH DEFINITION Note In Figure 2 2 switch S3 is configured for I O bits 0 7 as inputs 2 2 PCIx User s Manual 2 GETTING STARTED TO PREPARE FOR INSTALLATION Jumper J3 is used to route the appropriate I O bit to the output connector J2 The factory default setting routes the input bits 0 3 and the output bits 4 7 to J2 See Figure 2 3 J3 Pin Definition Pin 1 Pin 24 J2 pin 36 Input bit O Output bit 0 Input bit 1 Output bit1 J2 pin 2 J2 pin 37 Input bit 2 Output bit 2 Input bit 3 Output bit 3 J2 pin 3 J2 pin 38 Input bit 4 Output bit 4 Input bit 5 Output bit 5 J2 pin 4 J2 pin 39 Input bit 6 Output bit 6 Input bit 7 Output bit 7 J2 pin 5 Pin 13 FIGURE 2 3 J3 PIN DEFINITION For example if you set all I O bits as inputs J3 would be configured as follows I 0 591 4 1 011
161. olatile flash RAM Macros can be edited stored read back to the host and executed using the following commands TEMPORARY MACRO DEFINE a a dB MD is used to begin defining a temporary macro A macro can contain up to 250 characters Macros 0 through 4 are temporary and they will be erased when the controller is reset or power is turned off Macros 5 through 24 are stored in non volatile memory and will be preserved when the controller is reset or powered off This command cannot be used to define a macro directly into numbers 5 through 24 They must be defined with this command and then moved into the nonvolatile space with the PT command Enter the macro number immediately after the MD command The macro number must be between 0 and 4 Next enter the command string which is made up of up to 250 ASCII characters After entering the command string for the macro enter a control Z to end the macro definition The control Z may be ASCII value 26 or the string 2 carat shift 6 on a US keyboard followed by a Z Be careful not to exceed 250 ASCII characters or the size of the axis queue when working with macros RANGE 0 lt MD lt 4 Example Define macro 2 to set velocities to 20000 on all axes of a two axis board Enter MD2 AA VL20000 20000 Z QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands PT MX PM 5 32 PCIx User s Manual 5 CO
162. om EEUU 5 112 Load Motor POSION 2 Lit tc e ec oie te dote ede de Lo doe ree eve tle aee reet 5 112 LOAD v EE 5 111 cM 5 193 LOOP START miu Lip did te ca 5 191 Ncc 5 111 BM 5 191 M MAG Suction tet 5 147 Macro EXeCute t ties piles eres 5 34 MDa deel toe aks 5 32 MIS ar 5 149 Mum 5 169 teases 5 146 Move Absoltite 2 LER Dette ecce 5 147 neaka nena eruere turi tet 5 149 Me SATIRE NE 5 169 Move One PulS6 iii tete Sethe eee Hase 5 146 gt 4 Bad Acc deere ettet A Sed ae tS dea EE 5 168 Move Relatives oet eet Ae odd A ET 5 148 MIO Ko soso ae Tur 5 180 IIO Pole RAT 5 150 load 5 170 ME 5 168 rem Mm 5 148 cL
163. ome behavior may be reestablished via the HS command In this mode home is defined as the logical AND of the encoder index the external home enable and the encoder quadrant where channel A is positive and channel B is negative The external enable is always low true The HH and HL commands are not valid in this mode The home logic expressed in Boolean terms is home phase A index home switch Example Set up the Y axis so it will use the encoder signals to recognize the home position Enter AY HE or AA HE 1 QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands HS HH HL HM HR KM KR 5 52 PCIx User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS HS HOME SWITCH i dP The HS command disables HE mode and returns the PCIx to the default home behavior Default behavior defines a home state to be active when the home switch input is either low in default or HL mode or high when in HH mode This mode can also be used with encoders which contain internal home logic by connecting their output to the PCIx home input for the appropriate axis The active level of this input may be controlled by the HH and HL commands xy Example Set up the Y axis so it will ignore the encoder signals and only use the home input to recognize the home position Enter AY HS or AM HS 1 QUEUE REQUIREMENTS Immediate Immediate Not Valid
164. ommands All destinations must be in absolute position no position relative moves are allowed due to the nature of these commands Cosine and parabolic acceleration will not apply RANGE 33 554 431 lt Parameter 1 Absolute Position lt 33 554 431 1 lt Parameter 2 Velocity lt 1 044 000 Example Generate a velocity staircase with the breakpoints given in absolute position Default acceleration AC of 200 000 Enter MP MV10000 30000 MV20000 50000 MV30000 10000 SP35000 The move as shown in Figure 5 1 Velocity Staircase Profile VELOCITY MV MV SP POSITION FIGURE 5 1 VELOCITY STAIRCASE PROFILE 5 170 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS QUEUE REQUIREMENTS FORMAT 6 Not Valid Not Valid AX AT mode is active add 1 If this controller has an encoder or servo axis add 1 Related commands MP MM SP FP User s Manual 5 171 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE SP STOP AT POSITION EN d SP command will cause the controller to attempt to stop at the specified destination If there is insufficient distance to stop at the previously specified deceleration when the command is received the controller will stop as soon as possible at that deceleration This command is not compatible with the JG command RANGE 33 554 431 lt SP lt 33 554 431 x Example see MV command o
165. one flag register otherwise the axis would always appear to be done This command will be executed immediately and will usually be placed in the done and error handler interrupt service routine to clear the interrupt and the associated flags The Control Y version of this command is preferred to minimize the latency in its execution The flags may be polled by an RA or RI command which will also reset the flags Note that this command is not necessary in Windows environments using OMS supplied device drivers and DLLs Example Clear the flags after an X axis move relative of 5000 steps was flagged as done when an ID executes Enter AX MR5000 GO ID done flag set Ic done flag cleared QUEUE REQUIREMENTS Immediate Immediate Not Valid Related commands CA GD ID IP H IN 5 166 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS CA CLEAR AXIS DONE FLAG E HN dB The CA command operates like the IC command except it clears the done flag of the addressed axis only In multiaxis modes the CA command clears the flags of all selected axes Unlike the IC command CA will not clear other error flags in the status register such as slip and limit x Example After a multi axis move clear the Z axis done flag only Enter AA MR1000 2000 3000 4000 GO ID AZ CA Example After a multi axis move clear the Y and Z axis done flags only Enter AA MR1000 2000 3000 4000 GO ID
166. ontour definition ramp to a stop CK 5 184 End contour definition immediately stop step pulses CN 5 132 Cosine on enable cosine velocity profiles CR 5 179 Circular interpolation move in a circle CV 5 175 Contouring velocity definition CW 5 199 Clear while flag i e terminate WH WG loop CX 5 185 Contour execute 5 139 Print a custom ramp 5 137 Define custom ramp breakpoint 5 138 End custom ramp definition 5 136 Begin custom ramp definition 5 76 Report direction bit logic 5 141 Report an acceleration ramp definition table entry 5 140 Report the size of a custom acceleration ramp table 5 74 Invert direction bit 5 75 Normalize direction bit 5 127 Set the deceleration rate that will be used by he GU command 5 71 Report DAC open loop offset 5 70 Offset coefficient used in open loop mode Encoder status return encoder status of currently 5 31 addressed axis 5 15 Echo off turn off echo to host default at power up 5 14 Echo on turn on echo to host 5 92 Report motor encoder ratio 5 90 Encoder ratio set encoder count to motor count ratio 5 100 Report encoder slip tolerance 5 99 Encoder slip tolerance set tolerance before slip or stall is flagged 5 105 Encoder tracking set encoder tracking mode 5 23 Flush an axis command queue 5 173 Force position flush queue and attempt to stop at specified position 5 152 Go and reset done flags 5 151 Go command start execution of motion
167. or driver to the controller board Begin this procedure with an OMS controller board installed in your system Be sure that communication to the board has been established This can be checked by issuing a WY command to the board and verifying that the board responds with its model type and revision level i e PCIX 400 ver 1 00 S N 000000 NOTE Reference section 2 4 Software Installation on page 2 5 for software installation instructions Once communication has been established with the controller shut down the system and turn power off to the controller board Connect the motor phase signals from the motor to the stepper driver output signals Use the motor and stepper driver manufacturer s manuals for instructions Now connect the controller signals from J2 on the PCIx SCSI connector to the stepper driver Short cable lengths and shielded cables are recommended for improved signal integrity and reduction in signal noise 2 6 PCIx User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM If you are using the 1068 connect the 068 to the PCIx using a shielded cable with 68 pin connectors on either end From the terminal block on the 068 connect wires to your motor drivers and system I O Attach the STEP outputs from the controller to the STEP inputs on the stepper driver Do the same for DIR signals Next connect an external power supply that is OFF to the stepper driver Again refer to the manuf
168. ower Position Limit Example Set logical position limits for the X axis of 1 000 000 Enter AX TL1000000 1000000 QUEUE REQUIREMENTS Not Valid Related commands TL LL LH LN LF SL SF 5 62 PCIx User s Manual 5 COMMAND STRUCTURE TL REPORT SOFTWARE te TRAVEL LIMITS CONTROL COMMANDS The TL command reports the software travel limits for the current axis assigned via the TL command The first value returned is the upper or positive limit and the second value is the lower or negative limit These are not physical limits but rather positional limits that an axis should not exceed If one of these limits is exceeded the PCIx will set the current axis limit flag and notify the host computer of the condition as though the axis encountered a hard limit x Example Enter Response x Example Enter Response Find out what the software limits of the Y axis are currently set to TL lt LF gt lt CR gt TL101000 1000 lt LF gt lt CR gt Find out what the software limits of the T axis are currently set to AT TL lt LF gt lt CR gt TLO 0 lt LF gt lt CR gt software limits for axis T are currently disabled FORMAT QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands TL PCIx User s Manual SERVO CONTROL COMMANDS 5 COMMAND STRUCTURE 5 6 SERVO CONTROL COMMANDS The following
169. quare from the platform The X and Y axes move a drill into the desired position The Z axis lifts and lowers the drill The operator presses a switch which tells the motion controller that the square is in place and ready to be drilled operator will continuously remove and replace the squares until ready to take a break The following is a description of how to set up an OMS board to perform this task Connect a normally closed momentary switch between user I O input line 0 and ground This will be the Ready to Drill switch AX UU10000 set up user units so we can reference move to inches AY UU10000 10000 steps 1 inch AZ UU10000 AX VL 1 AC10 set up X axis homing velocity and acceleration AY VL 1 AC10 set up Y axis homing velocity and acceleration AZ VL 1 AC10 set up Z axis homing velocity and acceleration AX HR AY HR AZ HR send each axis to home AA VL3 3 5 set normal move velocity for X Y and Z axes WH start of loop to drill squares indefinitely operator removes replaces square into platform SWO wait until operator presses switch MA3 3 GO move to center of square MA 5 GO move the drill through the square a 1 2 inch move on the Z axis drills through the square MA 0 GO lift the drill 0 0 GO move the platform to home position WG loop back to starting WH command CW operator wants a break so he she sends CW from keyboard and presses switch once more s
170. r and RECORD Flags Read Character From Data Register Write next character To Data Register FIGURE 3 1 DATA COMMUNICATION FLOW CHART The PCIx Master host first reads the status register The information provided in the low order 8 bits informs the host whether the PCIx is ready to receive a character if there are any characters in the data register to be read by the host The other information provided in the status registers is not a function of the communication at this point It is required that the TBE 5 bit of the status register is set high before the host can write character to the data register The TBE 5 bit will go low until the PCIx reads the character PCIx User s Manual 3 3 ADDRESS SELECTION 3 COMMUNICATION INTERFACE from the data register The host can either wait for an interrupt generated by a high TBE_S or poll the status register to determine when it can send another character When the PCIx sends a character the IBF_S bit will go high This generates an interrupt to the host At this point the host would read the data register This will cause the IBF_S bit to go low until the PCIx sends another character 3 4 ADDRESS SELECTION The PCIx is operated as a memory mapped device and occupies a block of 8 bytes of memory addresses Refer to Table 3 1 Done Flag Register Selection Table 3 2 Control Register Description Table 3 3 Status Register Description 3 5 USING INTERRUPTS Full int
171. r the loop has been executed the programmed number of times For loops larger than the queue space the loop may never be completed since it cannot reclaim the queue space and cannot accept the loop terminator The RQ command may be used to examine the remaining queue space A CTRL D may clear this condition if the input character queue is not also filled since it bypasses the command interrupter 5 2 User s Manual 5 COMMAND STRUCTURE COMMAND SUMMARY Some commands are valid only for stepper axes others for stepper axes with encoder feedback and still others for servo axes Most are valid for all three types or some combination of types A set of symbols to the right of each command identifies which motor types with which each command may be used The symbols meanings are as follows z Stepper motor with or without an encoder Stepper motor with an encoder BBs Servo motor If a command is usable with one of these motor types the symbol will appear in black If the command is not usable with a motor type that motor symbol will be displayed in gray This command is not usable with servo motors x Indicates an example The following commands are available in firmware revision 1 00 and above 5 3 COMMAND SUMMARY The following commands are included in the family of motor controllers The indicates a signed integer input parameter or a signed fixed point number of the format 4 when user units are
172. re optically isolated TTL signals with 2 2K Q pull up resistors on board opto max 50mA Analog outputs 10V and 0 to 10V Step pulse output Pulse width 5096 duty cycle Open collector TTL level signal 7406 max 48 Direction output Open collector TTL level signal 7406 max 48 OMS PCIx PCI INTELLIGENT MOTION CONTROLS MODEL PClx 002 020 202 200 PClx 004 PClx 040 400 PCIx User s Manual C 1 SPECIFICATIONS APPENDIX C This page intentionally left blank C 2 User s Manual INDEX seit cen t aa te do 5 125 5 45 a 5 139 LAEE 5 76 EPRE PE EE E E 5 141 A DI RP E E E E EE AE E E OET E EEA E E E AE 5 140 APD nene 5 71 PEE c EET 5 92 fcc DLL ARDEN 5 100 P m PME HE 5 94 deer 5 98 dnm V 5 96 reas A at gate etae e ct te T cec ame Ad reg dE 5 78 EM DP 5 86 Fd 5 84 ELE EAT 5 73 dd xp ELTE 5 82 Wd PEPERIT EAE ME 5 80 ficum 5 58 OPA C 5 38 TE P HE E 5 89 MT c e
173. red For minor differences in the encoder and the position reading you can fine tune your PID filter according to the earlier steps NOTE Reference Chapter 5 Command Structure for additional information on servo tuning commands 2 7 SETTING THE USER DEFAULT CONFIGURATION There are several parameters that can be defined by the user as default These parameter values can supersede the factory default values and be stored in Flash Memory for power up configuration Most of these parameters consist of axis specific values i e velocity acceleration limit switch logic sense etc The PCIx comes from the factory with default values for all parameters For instance the default value for the velocity of all axes is 100 000 counts per second A count is equivalent to a step pulse or one count of an encoder In a typical application when the 2 16 PCIx User s Manual 2 GETTING STARTED SETTING THE USER DEFAULT CONFIGURATION system is powered up the main host computer would initialize all of the peripherals such as the PClx sending to each of the axes the peak velocity When the User Definable Default Parameter value is defined for the velocity then the initialization of the system can skip initializing the velocities of the defined axes This feature can greatly simplify the software and initialization process Once the values for all of the associated parameters are defined i e velocity acceleration PID values etc then the AP
174. rger number is a lower acceleration at the peak This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single axis mode The PF command is used to return to the default linear motion profiles See the AP Command on page 5 10 to preserve the PN setting as the Power up Reset ramp RANGE 3 lt PN lt 10 Example Set the board to be in the smoothest parabolic acceleration ramp Enter PN10 QUEUE REQUIREMENTS FORMAT REQUIREMENT PNO PNzO0 0 0 0 0 PNz0 0 0 0 29 AA CD Not Valid Related commands RT PR PF LA CN SC SR 5 130 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS PR PARABOLIC RAMP PER AXIS E HN dB The PR command defines parabolic acceleration deceleration ramps for use with one or more axes This command is similar to the PN command except that only the specified axes are affected The AP command can be used to store the settings of PR as the power up reset defaults RANGE 3 lt lt 10 Select 10 step parabolic ramp for the axis Enter 10 x Example Select a 10 step parabolic ramp for the Y axis and a 8 step parabolic ramp for the T axis Enter AA PR 10 8 QUEUE REQUIREMENTS FORMAT REQUIREMENT PRO PRzO0 PRO 0 0 0 PRz0 0 0 0 Not Valid
175. s possible Enter AY KM QUEUE REQUIREMENTS Not Valid Not Valid AX AT If PA mode is active add 2 lf an auxiliary output bit settle time has been specified add 3 Related commands HM HR HE HS HH HL KR LP LO User s Manual 5 109 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE KR HOME REVERSE AND KILL z E E d B The KR command will find home in reverse and stop generating pulses immediately i e no deceleration ramp will be generated This command is identical to the KM command except that the direction of motion is reversed x Example Move the Y axis in a negative direction to the home sensor and stop movement as quickly as possible Enter AY KR QUEUE REQUIREMENTS FORMAT 7 Not Valid Not Valid AX AT If PA mode is active add 2 lf an auxiliary output bit settle time has been specified add 3 Related commands HM HR HE HS HH HL KM LP LO 5 110 PCIx User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS 5 7 5 POSITION COUNTERS Applications frequently need to know the actual positions of motors and encoders as opposed to the assumed positions the applications keep track of The following commands are available for retrieving that information as well as forcibly setting those positions This can be useful for setting floating zero positions LOAD POSITION E HN dP The LP command w
176. s will increase the dampening on the system s motion profile therefore reducing oscillation or ringing Continue adjusting the and KD terms until the proper response time is obtained The values for KI range from 0 to 249 99 Desired Step Response Too Much KI FIGURE 2 7 Desired Step Response Too Little KI FIGURE 2 8 If you are getting too much ringing in the motion profile then increase KD to help dampen the system s response If instead the system is over damped and is reaching the final velocity too slowly then reduce the KD parameter Optimally the system s motion profile should show the motor reaching the desired velocity as quickly as possible without overshoot and oscillation ringing 2 13 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED The values for KD range from 0 to 249 99 Desired Step Response Too Little KD FIGURE 2 9 Desired Step Response Too Much KD FIGURE 2 10 7 and KD are the primary parameters of concern when tuning a servo system Once the optimum values for these variables have been determined then you can adjust some of the secondary parameters that will help fine tune your system s performance These other variables are described in the subsequent steps 8 The KV variable is used when tuning velocity controlled servos voltage mode servo amplifiers This is the velocity feedforward coefficient KV determines how closely the system fo
177. set This allows the host to reset the interrupts on the axis involved in the next move without affecting other axes which may be still active Note that this command is probably only useful in applications where commands are queued in advance since the interrupt may be reset before the host has the opportunity to service it if the GD command is waiting in the queue If this command is issued without having defined a move the results are undefined Issuing a GD command to execute an already executed move also has undefined results Only one GD command should be issued per defined move Example In the single axis mode move the Y axis 12345 counts in the negative direction and set the done flag when the move is completed Then clear the done flag move the motor 12345 counts in the positive direction and set the done flag again when the move is completed Enter AY MR 12345 GO ID MR12345 GD ID Example In AA mode perform a linear absolute move with the X and Y axes to the position 10000 20000 and set the done flag when the move is completed Then clear the done flag perform a linear relative move on both axes moving the X axis 10000 steps in the negative direction and the Y axis 20000 steps in the negative direction and set the flag once again Enter AA MT10000 20000 GO ID ML 10000 20000 GD ID QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM If the controller has an encoder or servo axis ad
178. st computer through the PCI bus for the logic control and the servo models utilize the additional 12V supply for the analog control The PCIx supports four I O address registers that provide near real time information The data communication is performed by sending and receiving strings of data ASCII characters through the data port register The status register provides handshaking information for writing to the data register as well as some status information including error conditions motion complete etc The can generate an interrupt to the PCI host and the conditions that cause interrupt can be individually selected by writing to the control register More details on each of the communication interfaces as well as the functionality of the controller are included in the following chapters 1 2 PCIx User s Manual 2 GETTING STARTED PREPARE FOR INSTALLATION 2 GETTING STARTE 2 1 PREPARE FOR INSTALLATION The installation of the board is straight forward With power OFF to the computer insert the card in a PCI slot of the computer Power up the computer and install the device driver NOTE The PCIx board may not work well if it is assigned to a shared IRQ in the host system If this is the case disable the shared IRQ in the host system s BIOS before installing the PCIx Though the is a very low power device there should be ventilation including forced air around the circuit board The
179. st once If the input line specified is already high when the WS WD loop is issued to the PClx those commands will be executed only once BN Example Execute a continuous loop moving the X axis 10 000 counts and then move the Y axis 1000 counts until an external device terminates the loop by setting general purpose input 1 high Enter AA WS1 MR10000 GO MR 1000 GO WD QUEUE REQUIREMENTS FORMAT Not Valid Related commands WD LS WH 5 194 PCIx User s Manual 5 COMMAND STRUCTURE WD WHILE END LOOPING COMMANDS The WD command serves as the loop terminator for the WS command ow Example see WS command on page 5 194 FORMAT QUEUE REQUIREMENTS Not Valid Related commands WS PCIx User s Manual 5 195 LOOPING COMMANDS 5 COMMAND STRUCTURE WH WHILE E I dB The WH command will execute all commands between it and the terminating WG command as a loop until terminated by a CW command This allows repeated execution of a command sequence which can be terminated by the host These commands may not be nested but may be executed sequentially BN Example 5 196 Procedure Enter You have a 3 axis platform that you use to drill holes in the center of a inch thick sheet of metal The sheet is 6 inch square The driver motor lead screw pitch provide 10000 steps per inch The operator must manually insert and remove the s
180. t Position Maintenance eene eee 5 96 Report Power Automatic State ert Les Feci M Eo e aa 5 38 Report Servo Voltage Inversion 5 69 Report Settling Tim x conet eterne eorr erede TE En e ep esed epa de rq Eae eru Rare 5 42 Report Soft Limit Status 5 61 Report Software Travel nene rennen nennen nitens 5 63 Report The Size Of A Custom Ramp 0000 nnns 5 140 Report Velocity 002 4 0 1000 1 0016 ii 5 80 Request 5 126 Request Axis Status edi deat eel Re oe aaa us 5 29 Request Encoder Position nina RT ede Diti e egets 5 117 Request Interrupt sni nnns 5 30 REGUeSE POoSILIOF otn hee n e tlt dete e nitate 5 114 Request Queue Status teeth nnn neret erre ninh ne aaa aaa aa eiaa 5 22 Request Velocity DP cued i RU re D Va RE 5 121 Bl 5 13 Restore Default Values rte ee eene 5 11 Restore Factory Default Vale Sr rei aea aaa 5 12 RETURN FOR REPAIRS ig tet bcn idera tabellae 1 Return Slip Status s t caer date doe e 5 102 Ra M Em 5 12 ae I IT
181. t from step a above e Ifthe RE response is still negative contact OMS Technical Support for assistance 6 Repeat from step 1 for the other servo axes 7 Remember to set DZ and KO for each axis at every power up unless you store the values in flash see Section 5 Command Structure NOTE Most encoder problems are caused by lack of power or incorrect connections If the encoder position changes by only 1 count this is an indication that one of the phases is not connected Do not proceed until you perform all the steps in this procedure ensure that the outputs of the as described and ensure that the encoder is operating correctly 2 6 2 TUNE THE SYSTEM 2 6 2 1 Introduction The following is an introduction to tuning a servo motor and the basics of the process of doing it Tuning a servo system is the process of balancing PCIx User s Manual 2 9 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED 2 10 three primary gain values P and D in order to achieve optimum system performance In a closed loop system an error signal is derived amplified then supplied to the motor to correct any error Clearly if a system is to compensate for infinitely small errors the gain of the amplifier needs to be infinite Real world amplifiers do not possess infinite gain therefore there is some minimal error which cannot be corrected The three primary gain values used in servo systems are P proportional i
182. t is properly seated in the connector e Use a screw to fix the bracket on the PCIx to the computer s chassis e Replace the power cord and turn on the computer e Allow the computer to boot up Caution Establish communication with the controller board before wiring external components to the board i e drivers and motors DO NOT make wiring connections to the controller board with power applied to the board 2 4 SOFTWARE INSTALLATION OMS provides drivers for Windows NT and Windows 95 98 for other operating systems please contact Oregon Micro Systems Inc refer to Appendix B on page B 1 24 1 FOR WINDOWS NT After installing the PCIx in the chassis apply power to the host PC and insert the software support disk or CD ROM supplied by OMS or downloaded from the OMS Website Follow the installation instructions found in README TXT in the root directory of the disk To begin communicating with the PClx run PCICOMM EXE from the installation disk You can begin interactively sending commands and receiving responses immediately if all has been properly installed If the Board Number select jumper is set to something other than 1 run the communication program with the switch c where is the Board Number For example if Board Number 2 then type PCICOMM C 2 PCIx User s Manual 2 5 CONNECT TO STEPPER MOTOR SYSTEM 2 GETTING STARTED Type WY and observe the response from the PClx You should receive a reply similar to
183. t move time At the end of the move all involved velocities and accelerations will be restored to their pre move values x Example In the AA mode move the Y Z and T axes 10000 100 and 1000 counts respectively with all axes starting and finishing together The other axes remain in their previous positions Enter AA ML 10000 100 1000 GO QUEUE REQUIREMENTS FORMAT Not Valid 4 60 Not Valid AA AM If a previous ML or MT command has made adjustments to the axis velocity and acceleration or the velocity and acceleration of this axis must be adjusted to permit the linearly interpolated move Add 6 plus PNO amp PRO ramp selections add 6 All other PN amp PR ramp selections add 20 CN amp SC ramp selections add 20 SR Custom ramp selections add 2 number of steps in ramp Related commands MA MR MT GO GD GN PCIx User s Manual 5 149 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE MOVE TO E IE dP The MT command uses linear interpolation to move two or more axes to the specified absolute positions The syntax is similar to the ML command This command is invalid if loops are being used due to the overhead involved The command will become valid again after executing an ST or KL command When used in the contour definition mode only the axes being used in the contour must be provided for in the MT syntax A GO or GD command or another G series comm
184. ted axis LH 5 56 Limit high limit switch is active high LL 5 57 Limit low limit switch is active low LN 5 55 Enable limit switches for selected axis LO 5 112 Set axis motor position but not the encoder position LP 5 111 Load position load position counter with parameter 5 58 Report limit active state Loop start set loop counter from 1 to 32000 loops may LS 5 191 be nested to 4 levels MA 5 147 Move absolute move to absolute position MD 5 32 Define a temporary macro Move linear move specified distance relative from current ae position iat xd i MM 5 169 Move minus set minus direction for MV type move MO 5 146 Move one pulse in current direction MP 5 168 Move plus set positive direction for MV type move Move relative move specified distance from current position MT 5 150 5 180 Move to move to specified position MV 5 170 Move velocity move to first parameter absolute position at second parameter velocity without stopping at end of move MX 5 34 Execute a macro command string 5 176 Set a new contour velocity from with in a contour 5 38 Report power automatic state 5 36 Power automatic turn power on before each move and off after the move 5 118 Report encoder positions of all encoder and servo axes 5 128 Parabolic off disable parabolic ramps i e linear ramps will be generated 5 89 Report PID state 5 35 Print a macro command string 5 130 Parabolic
185. ter AT HV Response lt LF gt lt CR gt HV20000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands HV HG HD 5 96 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS HG HOLD GAIN The HG command allows the user to specify position hold gain parameter This gain parameter is multiplied by the position error in determining the velocity during correction The velocity used will not exceed the value set with the hold velocity HV command This command is designed to work with stepper motor applications using encoders and is not designed for use with servo motors The parameter should be set experimentally by increasing it until the system is unstable then reducing it slightly below the threshold of stability The factory default value is 1 See the AP Command on page 5 10 to preserve the HG settings as the Power up Reset values RANGE 1 lt HG lt 32 000 x Example see HN command page 5 87 QUEUE REQUIREMENTS FORMAT Not Valid Related commands HG HD HV HN HF PCIx User s Manual 5 97 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE HG REPORT POSITION MAINTENANCE GAIN The HG command reports the current setting of the HG command for the current axis This command works only with stepper encoder axes Position corrections seem slow Check the s
186. ter must be supplied for the desired axes when used in the AA mode so that the other axes are not affected No parameter is required in a single axis mode Note this command will turn power automatic PA mode off x Example Turn on the Y axis auxiliary output in the single axis mode Enter AY AN Turn the 7 axes auxiliary outputs when in the command mode The Y axis is unchanged in this example Enter AA AN1 1 QUEUE REQUIREMENTS Related commands AF PA BH BL BS User s Manual 5 39 CONTROL COMMANDS 5 COMMAND STRUCTURE AUXILIARY OFF E IiE command turns off the selected auxiliary outputs That is it causes the signal to be driven low The AF command may be used to change power level on driver modules so equipped or as a user specified output Note that this command will turn power automatic PA mode off Example Turn off the Y axis auxiliary output in the single axis mode Enter AY AF Example Turn off the X and Z axes auxiliary outputs when in the AA command mode The Y axis is unchanged in this example Enter AA AF1 1 QUEUE REQUIREMENTS FORMAT Related commands AN PA BH BL BS 5 40 PCIx User s Manual 5 COMMAND STRUCTURE CONTROL COMMANDS SE SETTLING TIME z f a aB The SE command allows specification of a settling time in milliseconds to be used befor
187. ter of Circle lt 33 554 431 33 554 431 lt Parameter 2 Second Coordinate for Center of Circle lt 33 554 431 6 2831846 lt Parameter 3 Distance in Radians lt 6 2831846 Example see CD command on page 5 177 QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands CD MT PCIx User s Manual 5 179 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE MOVE TO E ENS dP The MT command causes the axes defined by the CD command to move to the specified absolute position using linear interpolation Only the axes being used in a contour can be specified in the contouring mode See the CD command for details RANGE 33 554 541 lt MT lt 33 554 541 Example Make a hexagon in CV mode using the X and Y axes Enter CV5000 CD10000 0 20000 0 25000 10000 20000 20000 10000 20000 5000 10000 MT10000 0 CX QUEUE REQUIREMENTS FORMAT MT 4 AA AM If a previous ML or MT command has made adjustments to the axis velocity and acceleration or the velocity and acceleration of this axis must be adjusted to permit the linearly interpolated move Add 6 plus PNO amp PRO ramp selections add 6 All other PN amp PR ramp selections add 20 CN amp SC ramp selections add 20 SR Custom ramp selections add 2 number of steps in ramp Related commands CD CR 5 180 PCIx User
188. ternal velocity registers for the X and Y axes VELOCITY STREAMING E I dB The VS command will generate a pulse train without acceleration or deceleration at the rates specified using the X and Y axes The parameters are time in 1 1024 second sample intervals X velocity and Y velocity This is a slave mode and cannot be mixed or queued with other commands i e no other motions involving the X and Y axes or AA mode may be currently in execution when this command is issued AX mode is the only valid mode for use with this command The VS command does not require a GO command to start the motion motion begins immediately upon receipt of the complete VS command RANGES 1 lt Parameter 1 Time in 1 1024 of a second lt 200 000 0 lt Parameter 2 X Axis Velocity lt 1 044 000 0 lt Parameter 3 Y Axis Velocity lt 1 044 000 Example Create a stair step profile on the X and Y axes with the X axis moving in the negative direction and the Y axis in the positive direction Make each step last 1 second long and increase velocity by 1 000 steps second until a velocity of 3 000 steps second is reached then step down to 0 steps second Enter AX VS1024 1000 1000 VS1024 2000 2000 VS1024 3000 3000 VS1024 2000 2000 VS1024 1000 1000 VS1 0 0 QUEUE REQUIREMENTS Not Valid Not Valid Related commands See Velocity Staircasing Commands on page 5 168 5 174 User s Manual 5 C
189. th stepper axes with encoders x Example Find out what HD was last set to Enter HD Response lt LF gt lt CR gt HD5 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands HD HG HV 5 94 User s Manual 5 COMMAND STRUCTURE STEP ENCODER CONTROL COMMANDS HV HOLD VELOCITY EN The HV command specifies the maximum velocity to be used when correcting position error The factory default setting is zero some value must be set for position correction to occur at all See the AP Command on page 5 10 to preserve the HV settings as the Power up Reset values This command is not designed for use with servo motors Hold gain HG will be used to scale the HV value based on the total error that must be corrected In most cases the HV value will never be reached unless the position error is very wide or the HG value is set very high RANGE 0 lt HV lt 1 044 000 x Example see HN command page 5 87 QUEUE REQUIREMENTS FORMAT Not Valid Related commands HV HG HD HN HF PCIx User s Manual 5 95 STEP ENCODER CONTROL COMMANDS 5 COMMAND STRUCTURE REPORT POSITION MAINTENANCE VELOCITY The HV command reports the current setting of the HV command for the current axis This command works only with stepper encoder axes Check the peak correction velocity for the axis En
190. the velocity value minus one This will result in a one step acceleration ramp and must be taken into consideration in applications making use of the VB command RANGE 0 lt VB lt VL value Example In the single axis mode set the Y axis velocity base to 200 Enter AY VB200 Example In the AA mode set the X and Y axes velocity bases to 200 Enter AA VB200 200 QUEUE REQUIREMENTS FORMAT Not Valid Related commands VB VL AC DC 5 122 User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS VB REPORT BASE EN dB VELOCITY SETTING The VB command returns the base starting velocity setting for the current axis as set by the VB command x Example The acceleration ramp should start at Opps Make sure we didn t leave it at some other value Enter VB Response lt LF gt lt CR gt vb1500 lt LF gt lt CR gt Oops We forgot to set it back to zero QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands VB VL User s Manual 5 123 PROFILE CONTROL COMMANDS 5 COMMAND STRUCTURE 5 8 2 ACCELERATION COMMANDS Along with velocity limits acceleration limits are also critical to most systems The following commands allow customization of these parameters AC ACCELERATION E EN dP The AC command sets the acceleration deceleration register to the operand which follows the command The parameter m
191. tion after the move is finished The encoder input can also be used as an independent feedback source All modes are capable of slip or stall detection and encoder tracking with electronic gearing These options are selectable by the user through software commands 4 5 ENCODER SELECTION AND COMPATIBILITY The PCIx is compatible with virtually any incremental encoder which provides quadrature outputs Times four quadrature detection is used to increase resolution This means that an encoder rated for 1000 counts or lines per revolution will result in 4000 counts The inputs are compatible with encoders which have single ended or differential TTL outputs The PCIx inputs have built in hysteresis to minimize effects of noise pickup The PCIx has differential line receivers to accommodate encoders with differential line driver outputs When single ended encoders are used the unused negative inputs i e Phase A Phase B etc must be biased at or near 1 5V This is to be done using the appropriate switch settings on switches S1 and S2 Refer to Section 2 2 TO PREPARE FOR INSTALLATION 4 6 HOME PROCEDURES Two logical input functionalities are provided to synchronize the physical hardware with the controller i e put the controlled motor in the home position The home switch input is TTL level input signal that is optically isolated on the 2700 current limiting resistor has been placed in line with the HOME signals on t
192. tions simultaneously use the ML command x Example In the single axis mode move the X axis 2468 steps in the negative direction Enter AX MR 2468 GO BN Example In the AA mode move the X axis 12345 steps in the positive direction and the Y axis 6789 steps in the positive direction Both axes will start at the same time Enter AA MR12345 6789 GO QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM If this axis is using a cosine ramp and the move distance is too short to allow the axis to accelerate to its velocity limit add 11 If a previous ML or MT command has made adjustments to the axis velocity and acceleration then Add 8 plus PNO amp PRO ramp selections add 4 All other PN amp PR ramp selections add 18 CN amp SC ramp selections add 18 SR Custom ramp selections add 2 number of steps in ramp 1 Related commands MA MT ML GO GD GS GU GN 5 148 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS ML MOVE LINEAR E HN dP The ML command uses linear interpolation to perform a straight line relative move Input parameters are relative distances for each axis involved in the move The ML command should be followed by a GO or GD or another G series command see below to start the axes together The velocity and acceleration parameters are scaled to allow the axes to move and finish together All axes are scaled to the axis with the longes
193. unning interrupt service routine should be halted or paused when issuing this command to avoid unwanted interrupt traffic If the application is using drivers supplied by OMS the application should use the reset function in the driver rather than issuing the RS command to avoid unnecessary complications NOTE We recommend limiting the use of this command because of the effect it may have on the PCI interface electronics This command totally resets all of the electronics on the controller and clears out the configuration registers of the PCI bus logic as well as all others on the controller This could potentially cause the computer to crash or have other unexpected results Example Reset the PCIx entirely as though it had been power cycled Enter RS QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands KL SA PCIx User s Manual 5 13 SYSTEM STATUS AND CONTROL COMMANDS 5 COMMAND STRUCTURE 5 4 3 COMMAND ECHO Normally the PCIx will not echo every character written to its data register i e it will not write the same character back to it s own data register for the host to read back PCIx can however echo every single character sent if desired to verify that each character has been received by the board This will consume more communication bandwidth than without echo so this mode should be used only as a debugging mechanism ECHO ON I dP The
194. up to four axes of stepper or servo motion control while incorporating other signals i e limits sensors I O etc into the system It can manage coordinated or independent motion of each or all of the axes simultaneously With high level functionality such as circular and linear interpolation multi tasking custom profiling etc the can satisfy most any motion control application See Appendix C Specifications for specific Family Models The PCIx communicates as a slave only device and functions as a motion coprocessor It utilizes 32 bit microprocessor and patented proprietary technology to control the trajectory profile acceleration velocity deceleration and direction of selected axes In response to commands from the host computer the PCIx controller will calculate the optimum velocity profile to reach the desired destination in the minimum time while conforming to the programmed acceleration and velocity parameters In addition the PCIx can provide motion control information such as axis position the state of overtravel limits and Done interrupts The stepper control of the produces a 50 duty cycle square wave step pulse at velocities of 0 to 1 044 000 pulses per second and an acceleration of 0 to 8 000 000 pulses per second per second The servo control utilizes a 16 bit DAC and outputs either 10V or 0 to 10V The encoder feedback control can be used as feedback for the servo PID position maintenan
195. ust be greater than zero zero is not valid and less than 8 000 000 where 2 000 000 is the factory default and the unit is in steps per second per second All the following move commands for the axis being programmed will accelerate and decelerate at this rate until another AC command is entered See the AP Command on page 5 10 to preserve the AC settings as the power up reset values RANGE 1 lt AC lt 8000000 BN Example In the single axis mode set the Y axis acceleration to 200 000 counts per second per second Enter AY AC200000 x Example In the AA mode set the acceleration of the X axis to 200 000 and the Z axis to 50 000 and leave the other axes with their previous values Enter 200000 50000 QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM PNO amp PRO ramp selections add 2 All other PN amp PR ramp selections add 9 CN amp SC ramp selections add 9 SR Custom ramp selections add number of steps in ramp 1 Related commands AC RC DC VL VB 5 124 PCIx User s Manual 5 COMMAND STRUCTURE PROFILE CONTROL COMMANDS REPORT COMMAND E HN dB This command will reply with the current acceleration value for the current axis in an AC command format see below Report the current value for this axis Enter Response lt LF gt lt CR gt AC200000 lt LF gt lt CR gt QUEUE REQUIREMENTS Immed
196. ut of an axis is a TTL low when traveling in the positive direction and high when traveling negative After using the DBI command the direction bit will be high when traveling positive and low when traveling negative This is useful for inverting the logical direction of a motor when the encoder counts opposite the motor direction This command can be canceled using the DBN command To make this the default at powerup or reset use the AP command Example Set the direction outputs for axes Z and T to output high when traveling positive and low when traveling negative Leave X and Y as they are Enter AZ DBI AT DBI or AA DBI 1 1 QUEUE REQUIREMENTS AA CD Not Valid Related commands DBN DB UN BI SVI SVN 5 74 User s Manual 5 COMMAND STRUCTURE SERVO CONTROL COMMANDS DBN NORMALIZE DIRECTION BIT d DBN command normalizes the logic of the direction control output of the addressed axis or axes returning their output logic to default i e TTL low when traveling in the positive direction and high when traveling negative This command negates the effect of the DBI command To make this the default at powerup or reset when DBI has already been made the default use the AP command Example Set the direction outputs for axes Z and T to default output logic i e output low when traveling positive and high when traveling negative Leave X and Y as they are Enter A
197. val and thus eliminates the latency of generating a ramp with an MR1 GO command sequence x Example Move the Z axis one pulse in the negative direction Enter AZ MM MO QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands MM MP 5 146 User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS MA 5 9 2 MOVE SPECIFICATION COMMANDS The following commands define motions on one or more axes that terminate at specified positions Full profiles are generated that guarantee position achievement either on a per axis basis or in coordinated fashion MOVE ABSOLUTE E IiE dP The MA command will set up one or more axes to move to the absolute positions supplied as parameters In AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually initiated by a GO or GD command or other G series commands see below Each axis will use its predefined acceleration and velocity values to move to the new absolute position Each axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations The MT command will ensure all axes reach their target positions simultaneously Example In the single axis mode move the X axis to absolute position 100 000 counts with the previously entered acceleration and velocity parameters Enter AX MA100000 GO Example In the AA mo
198. xis add 1 AA AM If PA mode is active add 1 If the controller has an encoder or servo axis add 1 Related commands JG TM ST SA 5 144 PCIx User s Manual 5 COMMAND STRUCTURE MOTION GENERATION COMMANDS TM TIMED JOG E IiE dB The TM command performs a jog at the current velocity limits defined for the axis axes for the specified number of milliseconds In multiaxis mode all axes begin moving at the same time and ramp to a stop when their respective jog times have elapsed The overall jog time will be the parameter passed to the TM command plus deceleration time and acceleration time RANGE 0 lt TM lt 200 000 Jog the axis for 1000 milliseconds Enter AX TM1000 x Example Jog the X axis for 1000 milliseconds and the Z axis for 2000 milliseconds starting both at the same time Enter AA TM1000 2000 QUEUE REQUIREMENTS FORMAT Not Valid AX AT AA AM If PA mode is active add 1 If the controller has an encoder or servo axis add 1 Related commands JG JF ST SA User s Manual 5 145 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE MOVE ONE PULSE E IiE dB The MO command will output one count in the current direction do not use the GO command The direction may be reversed directly by use of the MM or MP command or indirectly via a move such as JG or MR This command generates the output signal in one sample inter
199. y to reflect the new direction All non direction specific move commands will now move in the negative direction 9 Set the direction line to move the negative direction the Y axis Enter AY MM QUEUE REQUIREMENTS Not Valid Not Valid Related commands MP MO MV SP FP User s Manual 5 169 MOTION GENERATION COMMANDS 5 COMMAND STRUCTURE MV MOVE VELOCITY E IiE dP The MV command causes the current axis to move to a new absolute position parameter 1 at a new velocity parameter 2 When the destination is reached control will be passed to the next command which should be another MV command or an SP command If the command is not received in time the controller will continue to move at the specified velocity Note that this is a slave mode and it is the responsibility of the user to provide the commands in time They may be queued ahead of time If a new MV command is sent after the controller has already passed the destination specified in the command the controller will continue to move at the old velocity The PCIx will ramp up or down as needed at the rate previously set with the AC command and travel at the new velocity until the new position is reached The controller will not reverse direction if the position has already passed but will behave as explained above Thus the direction of the move must be specified before starting the move with the MP or MM c
200. ze moves on two or more boards The following example shows one way to do this x Example You have 3 four axis boards for a total of 12 axes to move together Call board 1 the master and boards 2 and 3 the slaves Wire board 1 s X axis auxiliary line to the two slave boards general purpose input O line Send to the master the command AX PAO setting the master s X axis auxiliary line low until its move starts This also sets the slaves general purpose input O line low Enter the SWO command to the two slaves followed by the move and GO commands On the master enter the move command followed by the GO command When the master s move starts the PA command will set the auxiliary line high releasing the wait on the slave boards All three boards will start their moves This provides sycronization to within 480us of each board Procedure Wire board 1 s X axis auxiliary line to board 2 s and board 3 s general purpose input 0 line Enter Board 1 Board 2 AA SWO MR200 200 200 200 GO Board 3 AA SWO MR300 300 300 300 GO Board 1 MR100 100 100 100 GO QUEUE REQUIREMENTS FORMAT Not Valid Related commands WA WQ WT BW PCIx User s Manual 5 189 SYNCHRONIZATION COMMANDS 5 COMMAND STRUCTURE BW WAIT FOR INPUT TO GO LOW E FI adie The BW command is just like the SW command except that it waits for the input line to reach a TTL low rather than a

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