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Instruction Manual for Motion Server and Ascii Command Interpreter

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1. BeginMoveBy viaria 25 BMC BESINMOVEAIONBCUIVE vacio allison degen 26 BMT BERNIE VO ei 27 BST BeginStOp EE 28 BUT BesinUserTask ses ads 28 CAP srorst Capture PositiOn ioniene BEE 29 CAT sigis Se Eelere EE 30 Ces Configure OBRAS UU nn rene nr en ee 30 EM SetCoordinatelnversion EE EN CLR Clan air a cn o de eo ce le oo ee oa ld ed 32 COP CommandedPosition ESS eee et nn D the e en Ans 32 DCL Meri dd eae OREO ERT an INT ROTA nA at A 33 DEP DestinatiOnPOSitiOn ui as 34 DSP DISPOSE A O 34 ENA Eed 35 ERL ETA id OT D EE 36 ERP d deg Sie lge asia ER NE tia 36 GAI KE er seb eres oak dedo as dd be de ent OAE 37 INB IPUR 38 INT o A D A nr dr it Punta NTE 38 TE MP te Re ne Res 39 JOG 0 MO Ln Oca Tate 39 LIM geen Ree Me E 40 LINK EE EE Ee 41 MAC eeler Ueleg ege GEREENT 42 MIF MovelsFinished ccecececcceccececececccecceecceuccacccecececeeeccescensceaecececeetceetcceaeeuse 42 MTR MOON EEE RAR Ne satire eee Peto cou seit eta NN EEN 43 MITT O INDE RSS iirin ne e 44 MVB e E 45 MVT MOV ETO EAEE A ne a en a Sone QU ee E ben ne te eine 46 NLT EE rta 47 PIS zoe Postventa Re etc 47 PUT Suspend User TASK ann na aie erat nee ae 48 RSA Reseller ads Bed Le da e rit 49 RSW Ee NEE 49 RUT erii GRESUITIOUISET TAS A nn Atak Cea nr pit
2. tim leration and stop at though they are travelling different distances the group they start at the same tim Chapter 5 5 Cables and Connectors Description Cabling to Motion Server is performed through flat ribbon cables terminated with IDC connectors Axis Group Connectors There are 4 60 pin connectors for axis information called Axis Group connectors Each 60 pin ribbon cable supports 4 axis of signals The 60 pin ribbon cable can be split apart into 4 identical 15 pin axis sub cables The signals have been chosen in a very regular pattern so that all of the 15 pin sub cables are identical in layout I O Connector There is 1 50 pin connector containing 48 bits of configurable I O Signals are configured as input or output in 4 bit groups E Stop Connector There is 1 6 pin header used to configure E Stop with a jumper or to cable to EStop The jumper can be used to disable E Stop connect I O signal 1 to be E Stop or can serve as a cable connector for an external E Stop cable assembly External Bus Connector There is 1 26 pin connector which supports an external 8 bit bus allowing Motion Server to control additional hardware elements 61 Instruction Manual for Motion Server and ASCII Command Interpreter Axis Signal Descriptions Encoder A A B B I l Functional Description Encoder signals provide position feedback from a rotary or linear encoder In
3. Link To Bier Human Assocate curve buffer with axis group JOG A ales eae eebe Move indefintely at constant speed SEP tines SOP este Gently stops any motion that may be in progress BSE isansa E ee ancene Begins to stop but immediately does next instruction ART ADO Suddenly aborts any motion that my be in progress CHT isso CaptureHasTripped 0 Indicate if latch event has occurred MIP MovelsFinished coccion Return true if move has finished User Task Control BUT ss Begin User Task Spawn independent application behavior in controller AUT se AbortUserTask sin Terminate an independent behavior in controller SOT iii ScheduleUserTask Spawns independent period application behavior PUT ous SuspendUser Task Cause task in controller to become inactive RUT ResumeUserTask sssssss1s0000s Cause suspended activity to become active again UTP UserTaskPresent aan Indicates if particular task is currently present in controller User Variable Control USB US tBoclan hs sus Manipulate user boolean in controller US Es Erro Manipulate user longint in controller UIS Sui sermones Manipulate user single in controller Command Reference ABT Abort Syntax lt axis or group gt ABT Description Abort immediately and abruptly stops motion without a controlled decel Abort is generally for emergency use Note that an abort at high speeds will most likely cause a servo tracking
4. Instruction Manual for Motion Server and ASCII Command Interpreter CLR Clear Syntax lt group gt CLR Returns Group dimension Description CLR removes any previous curve information and prepares the TNAxis to receive a new curve description with Append commands Examples C2 CLR C5 CLR SeeAlso Curved Trajectories TNAxis MoveAlongCurve TNAxis AppendMoveBy TNAxis AppendMoveTo TNAxis AppendMoveToVector TNAxis AppendMoveBy TNAxis AppendMoveByVector COP CommandedPosition Syntax lt axis gt COP lt value gt Returns Current commanded position 32 Command Reference Description CommandedPosition returns the theoretical position of the motor 1 e the desired position of the motor During the course of a profiled motion this number will smoothly change to represent the trajectory of the motor Actual motor trajectory will differ from this theoretical expectation due to system dynamics and power limits realized in physical real world machines The commanded position only exists when the motor is servoing If the servo is not active the CommandedPosition is a meaningless number For multidimensional axis groups the commanded position is the vector path length into the move or curve relative to the beginning of the curve This can be used to perform events at particular positions along a multidimensional trajectory Examples A1 COP 300 SAY Al COP SAY C3 COP See Also T1Axis ActualP
5. SetPositiveLimit establishes a positive direction boundary for movement If the axis is asked to attempt a move beyond this boundary a PositionLimitEscapeCode will occur and the axis will stop 47 Instruction Manual for Motion Server and ASCII Command Interpreter Examples Al PLT 20000 See Also SetNegativeLimit PUT SuspendUserTask Syntax PUT lt task number gt Description SuspendUser Task causes a task in the controller to to be placed on hold Stack information and task residency is kept however the task does not perform any operations ResumeUserTask is required to allow the task to run again Examples PUT 1 AUT 10 See Also dms BeginUserTask dms ScheduleUserTask 48 Command Reference RSA ResetAllocation Syntax RSA Description Motion Server is designed to provide motion services to several clients at one time In the course of providing these services resources are allocated through the dms_T2AxisInit dms_T6AxisInit commands and through the dms_LinkToBuffer routine If a client program terminates and does not dispose of these resources with the dms TNAxisDispose command eventually the resources will be consumed and Motion Server will report errors The procedure dms_ResetAllocation is used to provide a clean slate for Motion Server resources In a multiple client situation dms_ResetAllocation should not be used as it would pull the resources out from under another client
6. Instruction Manual for Motion Server and ASCII Command Interpreter
7. 8 Group 7 YO 27 YO 28 Group 8 Group 7 YO 29 YO 30 Group 8 Group 7 YO 31 YO 32 Group 8 Group 9 VO 33 VO 34 Group 10 Group 9 VO 35 VO 36 Group 10 Group 9 VO 37 YO 38 Group 10 Group 9 VO 39 YO 40 Group 10 Group 11 YO 41 YO 42 Group 12 Group 11 VO 43 YO 44 Group 12 Group 11 VO 45 YO 46 Group 12 Group 11 VO 47 YO 48 Group 12 5 Volts Ground 69 70 Instruction Manual for Motion Server and ASCII Command Interpreter EStop Connector Definition The EStop connector has 6 pins defined as follows pin 1 Not Connected pin 1 is closest to the mounting bracket rear of PC pin 2 Ground pin 3 E Stop input pin 4 I O 1 from 50 pin connector pin 5 12 Volt Input for Unlocking Flash Memory pin 6 12 Volt Source from PC Placing a jumper between pins 2 and 3 enables the E Stop which must be maintained at ground against its 4 7k pullup This is not recommended if doing anything besides bench testing free spinning motors Placing the jumper between pins 3 and 4 redirects the EStop to be from the general I O connector where an OPTO 22 module rack may be hooked in or some other IO interconnect that has been chosen for general purpose I O A third option is to put a 6 x 1 plug into this header with a cable for pins 2 and 3 A normally closed switch would serve as an E Stop switch If the switch disconnected or the cable was missing the controller will not enable power to the amplifiers The on board Flash memory chip is used to store applicati
8. INI 1 2 creates 2 axis coordinated group C5 INI 3 4 5 6 7 creates 5 axis coordinated group ITG Integrator Syntax lt axis gt ITG lt value gt Description Motion Server implements PID control This function returns the current value of the control law integrator one of the primary compensation parameters Examples Al ITG 10 sets integrator for axis 1 to value 10 A2 ITG 5 sets integrator for axis 2 to 5 Al ITG returns current value of axis 1 integrator See Also Gain Zero Integrator SetGain SetZero SetIntegrator JOG Jog Syntax lt axis gt JOG lt speed gt Description Jog directs an axis to move at the specified speed indefinitely if the magnitude of aSpeed is smaller than the magnitude of the current speed the axis will slow down at the decel rate If the magnitude is greater it will speed up at the accel rate It is possible to jog in the opposite direction as the current 39 Instruction Manual for Motion Server and ASCII Command Interpreter speed It is possible to jog at 0 speed Jog may supersede a move changing it into a continuous motion Although it is possible to use jog to produce movement when searching for home switches or other input events it is generally a better idea to move a distance which should include the event so that the behavior of the machine if the event is not found is to stop rather than to travel indefinitely Jogging is N
9. SR SR St nee 65 Pin Numbering Conventions te sens aia 65 Axis Group Connector Definitions 2 ROW IDC ss 66 Axis Group Connector Definitions D Style ricino ici 68 l O eier de et E 69 EStop Connector D finitions nent KEE DEN 70 External Bus Connector cccceeecencceccccceccceccccceuccecececceusceceucesecuuecaeceaecesecesesestececcenees 71 1 Introduction Welcome Welcome to Motion Server and Douloi Automation s Motion Control software components tools to simplify and accelerate the creation of motion control applications Douloi Automation wants to encourage your project s success Free techni cal support is available to answer your questions assist you through trouble spots in product use and to recommend strategies and approaches for solving different aspects of a motion control problem Sample code application prototypes and application notes can be provided to respond to specific questions you may have We would much rather have you call and get answers than to be frustrated or slowed in your automation project Please feel free to contact us at voice 408 735 6942 e fax 408 735 6946 e EMail info douloi com Additional information is also available at Douloi s web site www douloi com Objective of Document This document provides information on the use of the ASCII Command Interpreter for directing Motion Server controllers The ASCII command interpreter requires the DMS AUX P1 accessory to supplement Mo
10. a number of ways Certain capabilities are available only in certain development methods The following sections describe resources available Servo Application Workbench Servo Application Workbench is the easiest method for development of real time machine behavior This behavior can be downloaded into the controller and invoked from a control panel also written in SAW from other Windows programs or from binary or ASCII commands 11 Instruction Manual for Motion Server and ASCII Command Interpreter SERVOLIB DLL Library Dynamic Link Libaries are a common and simple method of adding features to any Windows language system SERVOLIB provides procedures and functions to control the Motion Server hardware As well as motion commands it is possible to use SERVOLIB to compile and download independent Motion Server behavior to run concurrently with the Win dows application Examples of direct access and combined access are discussed in the chapter illustrating the use of SERVOLIB in the Instruc tion Manual for Motion Server and Servo Application Workbench The command reference for SERVOLIB is in the SAW help file ASCII Commands ASCII commands provide a simple method of accessing the basic functions of Motion Server including single axis and multiple axis coordinated motion and I O Characters are sent through a FIFO style hardware and responses collected after noting that the information is available through a status register Ex
11. error resulting in the servos shutting down This problem can be solved by increasing the error limit with SetErrorLimit or using the dms Stop command instead The return value for abort is the group dimension Examples Al ABT C4 ABT See Also BeginStop Stop ACL Accel Syntax lt axis or group gt ACL lt value gt Description SetAccel is used to set the acceleration of a profiled move in counts per second squared If the receiver is a T1Axis the acceleration is for the movement of that motor when operating alone If the receiver is an axis group for example a T2Axis or T4Axis the acceleration applies to the coordinated motion profile of the group SetDecel may be used to independently set the deceleration of the TNAxis Accel sets and returns the current setting of the acceleration that will be used by this axis group during trapezoidal moves The units are in counts per second squared 19 20 Instruction Manual for Motion Server and ASCII Command Interpreter Examples A1 ACL 2000 sets acceleration to 2000 counts sec 2 C2 ACL 3000 sets vector acceleration of group A14 ACL returns current accel without assigning See Also TNAxis Decel TNAxis Speed TNAxis SetAccel TNAxis SetDecel TNAxis SetSpeed ACP ActualPosition Syntax lt axis gt ACP lt value gt Description ActualPosition sets and returns the current position coordinate of the T1Axis receiver This is often used when p
12. is no on board pullup resistor for this input If the sensor being used is an open collector style drive a 4 7k pullup resistor to 5 volts available on the axis connector should be used 63 Instruction Manual for Motion Server and ASCII Command Interpreter Position Compare Functional Description Position Compare is an output signal that is set when the encoder hardware detects a specific encoder position The output can also be used as a general purpose output Electrical Description Position Compare is a TTL level output with a 12 ma sink and approximately no source capability This signal is the most exposed signal on the axis connector set coming directly from a FPGA device on the board with no additional buffering or protection Motor Command Functional Description The Motor Command signal is a 10 volt signal most often used to specify requested current from a servo motor amplifier The signal can also represent requested voltage or velocity depending on the amplifier mode selected In most cases torque mode is most suitable Electrical Description The Motor Command signal is 10 volts with 3 ma drive Many amplifiers have differential receivers In this case use the motor command signal on the side of the receiver and ground from the axis cable set on the negative side Providing Motor Command and ground in a twisted pair can improve noise immunity Step Pulse Direction Functional Description Step Pu
13. most convenient to use D connectors by splitting apart the 60 pin IDC cable and then crimping IDC style D connec tors NOTE THAT THE PIN NUMBERING CONVENTION FOR D CONNECTORS ATTACHED TO THE RIBBON CABLE IS DIFFERENT THAN THE IDC 2 ROW CONVEN TION FOR THE CABLE ITSELF Please refer to the proper table when preparing to wire to the controller 65 Instruction Manual for Motion Server and ASCII Command Interpreter Axis Group Connector Definitions 2 Row IDC The following Table defines the connectors for the axis groups These connectors are designated Axis 1 4 Axis 5 8 Axis 9 12 and Axis 13 16 on the printed circuit board silk screen The signal definitions is a regular pattern both along the connector and from one connector to the next For example Pin 3 is always an Encoder B signal with the axis defined by which connector the pin is on Each pin in any particular connector has 3 other counterparts spaced a multiple of 15 away For example pin 18 pin 3 15 is also an Encoder B signal as well as pin 33 pin 3 30 and pin 48 pin 3 45 Pin Number Description Axis 1 4 Axis 5 8 Axis 9 12 Axis 13 16 1 Encoder A Axis 1 Axis 5 Axis 9 Axis 13 2 Encoder A Axis 1 Axis 5 Axis 9 Axis 13 3 Encoder B Axis 1 Axis 5 Axis 9 Axis 13 4 Encoder B Axis 1 Axis 5 Axis 9 Axis 13 5 Encoder I Axis 1 Axis 5 Axis 9 Axis 13 6 Encoder I Axis 1 Axis 5 Axis 9 Axis 13 7 Amp Enable High Axis 1 Axis 5 Axis 9 Axis 13 8 Amp Enable Low
14. reducing the developers learning curve and the operators training time Motion Server can be used with other operating systems through various communication methods available Applications programs for downloading into Motion Server are prepared with Servo Application Workbench or the SERVOLIB DLL under Microsoft Windows Once downloaded and retained in on board FLASH memory these functions can be invoked from other communication methods Long Slot ISA Format Motion Server occupies a single ISA long slot The end of the Motion Server card furthest from the mounting bracket holds the on board 486 processor The heat sink and possible fan assembly for 5x86 models protrudes from the board further than the board to board spacing prevent ing the placement of another long slot card immediately in front of Motion Server however shorter cards can fit if necessary Host performance does not effect Motion Server s real time performance however some opera tions are performed by the host on behalf of Motion Server when Motion Server is interacting with SAW and sends mail requesting that these operations are done on its behalf Performance of these non real time operations is enhanced with a faster host 10 Introduction Servo Application Workbench Servo Application Workbench SAW is a Windows application which greatly simplifies the creation of multithreading motion application pro grams and operator control elements to direct them A
15. to prevent a memory leak If dms TNAxisDispose is not used an axis leak will occur and eventually Motion Server will indicate that there are no more axis groups available for use Example C4 DSP ENA Enable Syntax lt axis or group gt ENA lt on or off gt Description Enable returns true non 0 if all of the axis in the axis group are enabled This should generally follow the state requested by SetServo however servo tracking error can cause one or more axis to automatically shutdown When a servo is turned off it s enabled is also turned off to shutdown the amplifier You can re enable an amplifier without requesting servo activity by using SetEnable Examples Al ENA ON C2 ENA OFF Al ENA C2 ENA See Also Servo States SetEnable SetServo ServolsOn 35 Instruction Manual for Motion Server and ASCII Command Interpreter ERL SetErrorLimit Syntax lt axis gt ELT lt value gt Description SetErrorLimit is used to describe how far a physical axis s actual position can lag behind the commanded position without that lagging being considered an error Ideally the motor s actual position exactly follows the commanded position however system dynamics and transient response of the motion control law means that in general this idealistic case is not achieved for arbitrary profiles although it can be closely achieved for non accelerating profiles Systems which have high acceleration
16. Axis 1 Axis 5 Axis 9 Axis 13 9 Position Capture Axis 1 Axis 5 Axis 9 Axis 13 10 Position Compare Axis 1 Axis 5 Axis 9 Axis 13 11 Motor Command Axis 1 Axis 5 Axis 9 Axis 13 12 Step Pulse Axis 1 Axis 5 Axis 9 Axis 13 13 Direction Axis 1 Axis 5 Axis 9 Axis 13 14 5 Volts Axis 1 Axis 5 Axis 9 Axis 13 15 Ground Axis 1 Axis 5 Axis 9 Axis 13 16 Encoder A Axis 2 Axis 6 Axis 10 Axis 14 17 Encoder A Axis 2 Axis 6 Axis 10 Axis 14 18 Encoder B Axis 2 Axis 6 Axis 10 Axis 14 19 Encoder B Axis 2 Axis 6 Axis 10 Axis 14 20 Encoder I Axis 2 Axis 6 Axis 10 Axis 14 21 Encoder I Axis 2 Axis 6 Axis 10 Axis 14 22 Amp Enable High Axis 2 Axis 6 Axis 10 Axis 14 23 Amp Enable Low Axis2 Axis 6 Axis 10 Axis 14 24 Position Capture Axis 2 Axis 6 Axis 10 Axis 14 25 Position Compare Axis 2 Axis 6 Axis 10 Axis 14 26 Motor Command Axis2 Axis 6 Axis 10 Axis 14 27 Step Pulse Axis 2 Axis 6 Axis 10 Axis 14 28 Direction Axis 2 Axis 6 Axis 10 Axis 14 29 5 Volts Axis 2 Axis 6 Axis 10 Axis 14 30 Ground Axis 2 Axis 6 Axis 10 Axis 14 Cables and Connectors Pin Number Description 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 Encoder A Encoder A Encoder B Encoder B Encoder I Encoder I Amp Enable High Amp Enable Low Position Capture Position Compare Motor Command Step Pulse Direction 5 Volts Ground Encoder A Encoder A Encoder B Encoder B Encoder I Encoder I Amp E
17. CII Command Interpreter BST BeginStop Syntax lt axis or group gt BST Description BeginStop directs the axis group to slow down at the specified decel rate and stop motion TNAxis group will remain coordinated during the stop The calling program will not wait until after the stop has finished before continuing but will immediately execute the next statement The return value contains the group dimension being stopped Examples Al BST C3 BST See Also TNAxis Stop TNAxis Abort BUT BeginUserTask Syntax BUT lt task number gt Description Begin UserTask causes an application task in the controller to begin executing as an independent thread Tasks are saved in controller FLASH memory through the use of the SAVE_APP catalog component It is necessary to connect application tasks to user task numbers through an assignment procedure for access through the binary command interpreter Consult the chapter on Using Flash Memory for more information The return value contains the task number provided Examples BUT 1 BUT 10 Command Reference See Also dms_AbortUser Task dms_ScheduleUserTask dms_UserTaskPresent dms SuspendUserTask dms ResumeUserTask CAP CapturePosition Syntax Description CapturePosition returns the position the axis experienced the capture event either an index pulse of an input which was anticipated using the ArmIndexCapture or ArmInputCapture instructi
18. Define current position coordinate CAP lites Capture EE Return position recorded when latch event occurred COP CommandedPosition Set commanded position for non trapezoidal moves DEP DestinationPosition 0 Return absolute coordinate of end of move ERP ErrorPosition eessen Return discrepency between current and ideal position Alu ArmInputCapture Prepares axis to latch position based on input signal 17 Instruction Manual for Motion Server and ASCII Command Interpreter BRC al ArmindexCaptire s ss Prepares axis to latch position based on index signal TRQ e CommandedTorque 005 Set output voltage when not servoing DEN oei Profile Velocity sms Return current ideal profile velocity Motion MVT M ye TO nr Ts Move to absolute coordinate MVB MOVE a gente Re ib Move to relative coordinate BMT Begin Move F sean Start move to absolute coordinate BMB BeginMoveBy EEN Start move to relative coordinate MAC isis MoveAlongCurve ociccccinicininonoso Perform coordinated multiaxis motion along curve BMC BeginMoveAlongCurve Begin coordinated curved motion AMT ca Append Mee To sin Add absolute vector segment to curve description AMB psico AppendMoveBy An Add vector segment to curve relative to last segment ARCE is PP PCG AEC psico Add circular or helical arc to continuous path curve CLR trae Cl s sn Erase any established motion curve info LNK
19. Instruction Manual for Motion Server amp ASCII Command Interpreter March 1999 Copyright 1997 1998 1999 Douloi Automation Inc AIT Rights Reserved Douloi Automation Inc 3517 Ryder Street Santa Clara CA 95051 0714 Voice 408 735 6942 Fax 408 735 6946 doulci EMail Info douloi com AUTOMATION Table of Contents A Sn nt seed ee teen 7 WEONES O A E T E 7 Opj ctive of Document eebe ee EE ee Z Moti n Server Specifications eege Age nn ant 8 Motion Syste Menteni ite ne AA A Re ie etes 8 Ee ET 8 A O A ean a 9 EP PECAR a 9 SS EE 9 Multiple Motion Application Thread ss ans ee EE 10 Microsoft WINdOWS St O ne os ae 10 LOS EI A Format a St RS iS 10 Servo Application W rkb n hr 68 tes ui annee nettes 11 Methods O A O ee tentures oe AS 11 Servo Application Wo bene de dd sa 11 SERVOLIB A A a as salsa 12 ASCII EE eege eg 12 Binary Comma ids inci AAA AA AAA AAA AS AAA RANA 12 2 ASCII Communication Protocol nn tt set 13 PUL DOSE artnet ad ns nt dE Ses 13 Serial Port Contiene 13 Proc dure Message Format rial A id dic 13 Object Message FORMAL ee ee eege eeh 14 EERSTEN 17 COMMAND AAA TE 17 ART EE neben eher cu idee om le 19 AGE ss A A A Eeer 19 ACP SS A lees 20 AC Armlnp tCapt re ist di dee 21 AMB ADDEREUMOVEBY lucida litio 21 AMT ADDO MOV EO uri iia 22 ARC ele EH 23 AUT AO ELISE TAS on A a batalla Age 24 AN EE eegent Gees ien RM dido 24 BMB
20. OT protected by positive and negative limits Jogging by it s nature is a continuous move To realize jogging velocity to the edge of a machine movement perform a move to the positive or negative limit at the required jog speed Examples Al MIT STE Al MTR ON turn the motor on Al JOG 2000 accelerate and move at continuous speed Al JOG same as Al SPD returns current speed See Also TNAxis Stop LIV LoopInversion Syntax lt axis gt LIV lt on or off gt Description SetLoopInversion is used to add an additional sign change in the feedback loop so as to change the total loop sign This instruction is provided to compensate for encoder wiring or motor wiring which is not providing the correct feedback sense A better response to the problem of unstable loop sign is to change the wiring of the motor leads invert loop sign or encoder A and B channels invert coordinate frame and sign rather than use this instruction since forgetting this instruction in a future application causes the motor to be unstable AxisNumber must be in the range 1 to 16 Group Numbers are not allowed for this routine Examples Al LIV ON A2 LIV OFF Command Reference See Also T1Axis SetErrorLimit T1Axis SetCoordinateInversion LNK LinkToBuffer Syntax lt axis group gt LNK Description Motion Server supports continuous path motion Curves are described by appending vectors and arcs to a list associated with the axis g
21. RWD Reset Watchdog which has no parameters can be typed with the following response gt RWD enter o 1 gt The first 0 indicates no command syntax error was encountered The 1 return value indicates that the command did indeed reset the watchdog Thevalue 1 corresponds to true and 0 corresponds to false An example of acommand which requires parameters would be the output command SetOutputBit SOB The first parameter is the bit number and the second the desired outputvalue gt SOB 27 1 0 1 gt Parameters are separated by spaces or commas Object Message Format Another message form reflects the object oriented nature of the on board software system and has the following form lt receiver gt lt verb gt lt parameters gt The receiver can be eithera single motor axis or acoordinated group of axes Individual axes are presented as the A array numbered 1 to 16 Ais for Axis An example ofan object message to an individual axis would ASCII Communication Protocol bethe MTT command SetMotor Type gt Al MTT SRV 0 0 gt Here the receiver is A1 axis 1 the first element in the 16xis array MTTisthe verb which acts on the receiver SRVisanamed constant The parameter could have beenanumberalso Groups of axes are represented as the C array numbered 1 to 10 C is for Coordinated group Before a group can be directed itmust be de scribed with the INI command The INI command takes as param
22. SeeAlso dms_SetOutputBit dms_SetOutputEnable CIV SetCoordinatelnversion Syntax lt axis gt CIV lt on or off gt Description SetCoordinateInversion is used to change the direction a motor regards as positive Axis direction is influenced by mechanical transmission reversals encoder phase definition and wiring conventions If the motor does not move in the direction regarded as positive this procedure may be used to invert the direction by calling with a parameter value of true Using the predefined booleans On and Off may improve the readability of the code A better design option is to change the wiring most likely of the A and B channels of the encoder so that the axis moves in the correct direction from the default values rather than having to be setup by this procedure call If that wiring is inconvenient this procedure may be the simplest option Changing the encoder wires also requires changing the motor wires so as to preserve the loop sign Note that changing the wires of the motor alone will not have the desired effect but will instead cause the servo loop to go unstable This command operates in an incremental manner by inverting the coordinate frame about the current actual position rather than 0 The best time to use this command is during initial setup before homing has been performed This is not intended to be used during motion Examples Al CIV ON A2 CIV OFF See Also T1Axis SetLoopInversion 31
23. a hit A Maas oe alee 50 SOB Seoul airada 51 SOE S etOutputEnable ss 51 SPD Ej E 52 STi EE EE EE 53 SUT Schedule Wiser EE 53 TRO us Commanded TOPQUe iia ii 54 UHD Wa a de o 54 USB SER E EE 55 USL wo USEC LON BIA ne nd En EES 56 USS wo CUOSERSINIBIE sense ias 56 UTP ser E Sr AA 57 WHT as WatchdogHasTripped a 58 ZER TAE O ER ee tao odio 58 4 Command Examples TR EE TE SN LIT 59 CODEN Gast vas targa a taser AAA De 59 Single Axis Stepper Motor Movement dadas 59 Single Axis Servo Motor MOVE Cain nn nr a ar as 39 TWO Axis Coordinated Bee EE 60 5 Cablesand Connectors SA AA N 61 Descriptio EE 61 AXIS Group COMMGCLORS a 61 I CORUM LOR en E R EREE TEE E E E A AEA 61 E StOp CONNECTOT An Le aie a deele Edel 61 External e 61 Axis Signal DESCANSAR 62 Encoder A Ac BE Bo TE EE 62 Functional DEScriptioN sc es ne le se RS TE tte 62 lee EE 62 Amp Enable eet 63 Etgen 63 Electrical Descriptions ses nt nine AA AAA dt tard 63 POSITION CA EE 63 Func Peso deht aan ie data seta yeh Rene 63 Electrical Descriptio Se ei n Ee nat A es ON 63 POSITION COMPTE iO oo A EEEE E 64 Functional D CORS dl A AA ONO 64 Electrical DEN RE a times 64 Motor Een ue SNA AAA A E 64 SI ter OT EE 64 Electrical Desc ON ra aan mn ans taf 64 Step Pulse DIN ne ie ne eee dal bedava 64 Functional Leet sissi iaei ENEE 64 Electrical D croissant E EE A es 65 45 Volts Ground EE 65 D COR
24. ample programs illustrate how to implement the hand shake protocol in several languages Binary Commands Binary Commands provide low level register access to Motion Server without requiring that position information and command parameters be converted into an ASCII format Binary commands can be sent under any operating system and language system that supports reading and writing the PC I O space Example drivers are provided for C and Pascal The Binary Command Interpreter is itself a Servo Application Workbench application program stored as an auto starting factory default application The interpreter can be altered extended and tailored to meet application specific needs through Servo Application Workbench Consult Douloi for additional details Chapter 2 2 ASCII Communication Protocol Purpose Thefollowingchapter describes details ofhow to communicate to Motion Server using the RS 232 communication channel Command details are provided in chapter3 Serial Port Configuration Motion Server communicates through the an RS 232 serial portat9600 baud no parity 1 stop bit The UART supports a 16bitincomingand outgoing fifo There isno hardware or software handshake protocol Connecting Motion Server toa WINTELPC requires a null modem style cable or adaptor Note that terminal hardware may require loopback or hardware enabling to satsify host hardware protocol Procedure Message Format In general messages involve 3 let
25. dicate more than 360 degrees of rotation Negative delta angles indicate curves to the right Positive delta angles indicates curves to the left Angles are measured with the X pointing in direction 0 and Y pointing in direction 90 Examples The following commands illustrate how to produce a continuous path INI 1 2 1 LNK AMB 1000 OU 1 ARC 1000 O 90 AMB 0 1000 BMC ASA CEO SeeAlso Curved Trajectories TNAxis MoveAlongCurve TNAxis AppendMoveTo TNAxis AppendMoveToVector TNAxis AppendMoveByVector 23 24 Instruction Manual for Motion Server and ASCII Command Interpreter AUT AbortUserTask Syntax AUT lt task number gt Description AbortUserTask causes an application task in the controller to begin cease executing as independent thread Aborting a task which is not currently running is not considered an error AbortUserTask really means insure that this indicated task is not active Not finding the task active indicates it is inactive already Examples AUT 1 AUT 10 See Also dms BeginUserTask dms ScheduleUserTask dms_UserTaskPresent dms_SuspendUserTask dms_ Resume UserTask AXC ArmIndexCapture Syntax lt axis gt AXC Description ArmIndexCapture is used to setup the system to respond to an index pulse that is anticipated ArmIndexCapture resets the capture latches for the axis associated with the TNAxis machine When CaptureHasTripped the CapturePosition inf
26. e motor by 2000 relative counts Single Axis Servo Motor Movement The followingcommands represent whatis required to configure and move an individual servo motor A2 A2 A2 A2 A2 A2 A2 A2 A2 MTT GAI ER CP gt un PD ACL DCL MTR MVB SRV 32 240 OFF 1000 10000 10000 ON 2000 sel sel Set Tu axis 2 to be a servo motor compensator gain compensator zero speed to be 1000 value to be 32 value to 240 rn off loop inversion Set steps per second S 10000 steps per the acceleration to be second squared S Ma the deceleration ke axis 1 active to be 10000 Move motor by 2000 relative counts 59 60 Instruction Manual for Motion Server and ASCII Command Interpreter Two Axis Coordinated Group sional coordinated group CI CT QO QO INI 2 SPD 1000 ACL 10000 DCL 10000 MTR ON MVB 1000 2000 The following commands associate the previous two motors astepper anda servo intoa2dimen Assign group 1 to be composed of motors 1 an d 2 Set vector speed to be 1000 Note that the parameters describing the individual axis speeds do not have any effect on the group when directed to set set move vector decel turn on all the motors in the axis together so move in coordination vector accel leration th even sam
27. eadability of the program These bits will only take effect if SetOutputEnable On has been used since a hardware reset Errors If the bit number is outside of the allowable range for the system configuraiton a ParameterOutOfRangeEscapeCode will occur Examples SOB 1 ON SOB 2 OFF SOE SetOutputEnable Syntax SOE lt ON or OFF gt Description After a hardware reset the general I O is configured as inputs and the output drives are tristated Pullups on the signals will assert a soft high level as the default signal Digital outputs on the axis connector will also be tristated after reset SetOutputEnable activates the outputs on signals configured to be outputs so that SetOutputBit works SetOutputEnable Off tristates the outputs in the same manner that a hardware reset would The DLL call will escape if there are insufficient tasks available to perform the operation Examples SOE ON SOE OFF 51 Instruction Manual for Motion Server and ASCII Command Interpreter See Also SetOutputEnable ConfigurelOBit SPD Speed Syntax lt axis or group gt SPD lt value gt Description SetSpeed establishes the slew speed to be used during axis movement aSpeed is in units of counts second Values in the range of 80 000 are brisk Values in the range of 1000 are slow The speed of a move may be changed on the fly at any point in a move and take immediate effect if the motion is in the s
28. eters the axis numbers that constitute the coordinated group Forexample a two axis coordinated group could be associated with group 1 as follows gt C1 INI 1 2 0 2 gt Ten groupsare available Here the first group is being described as run ning the firstand second axis on the controller board The answer 2 corresponds to the dimension of the group which shouldbe the sameas the number of parameters provided Motion Server supports up to 6 axes ofcoordinated motion Many commands apply to both individual axes as wellas to groups For example turning on the motors for axis 5 and for group 1 would be done with the same command just differentreceivers gt A5 MTR ON O 1 gt C1 MTR ON 0 1 gt Performingmotionrequiresconfiguringthe board for the motors being used setting motion attributes turning motors on and directing their motion Examples at the end of the manual show from start to finish examples of what s required to produce motion and interact with on board IO 15 16 Instruction Manual for Motion Server and ASCII Command Interpreter Chapter 3 3 Command Reference Command Summary IO Operations INB InputBit Return level of specified input CIO vta ConfigurelOBitAsOutput Instructs I O bit to behave as output signal SOE nens SetOutputEnable ss sue Tell output bits to become active SOB eri SetOutputBit ennemie Change state of output bit on hardwa
29. g for the receiving axis This information is returned as an integer and is in the range of MaxTorque to MinTorque This function can be used to determine if the axis is continually applying torque to a load or undergoing saturation ie constantly requesting the maximum or minimum torque Examples Al TRO 500 SAY Al TRO See Also T1Axis SetCommandedTorque UHD UserHasDisabled Syntax Description If the User Disable input is not held low this function returns 1 indicating that the user is attempting to disable the system otherwise it returns a 0 54 Command Reference Example UHD See Also ResetWatchdog WatchdogHasTripped USB User Boolean Syntax USB lt value gt Description UserBoolean writes and reads information from an array of boolean variables Information may be placed into this array and read from on board user tasks allowing data to flow between the host and Motion Server as parameters and return results for user task operations Examples USB 1 USB 1 USB 1 0 sets user boolean 10 to false 0 1 sets user boolean 11 to true 1 retrieve the value of user boolean 10 CO HR See Also USB USB BUT AUT 35 Instruction Manual for Motion Server and ASCII Command Interpreter USL UserLongint Syntax USL lt value gt Description UserLongint writes and reads information from an array of 32 bit longint variables Information
30. general these signals are provided in a quadrature format indicating both position and direction change Encoders are necessary for servo motors and optional for stepper motors Differen tial signals are desirable demonstrating improved noise immunity however single ended encoders may also be used When using a single ended encoders connect the signals to the inputs The inputs have a pull center resistors connecting the inputs to the differential receivers to a 2 volt reference This provides a default signal level in the absence of the actual signal In certain rare cases it may be necessary to change this default reference value This can be done by removing or switching an resistor network which is socketed on the board Consult Douloi Automation before attempting any change no The I signal is the index pulse for an optical encoder This signal can be used for higher speed more repeatable homing or for en coder drift detection Electrical Description Encoder signals go into a 3486 style differential receiver The receiv ers are rated for a maximum differential mode voltage of 25 volts and common mode voltage of 15 volts In most cases the en coder signals are 5 volt signals Cables and Connectors Amp Enable High Amp Enable Low Functional Description The amplifier enable signal is a digital output which allows the motor amplifier to apply power If the amplifier is not enabled the amplifier wi
31. group gt MIF Description MovelsFinished indicates if the TNAxis is currently moving or if the move has completed The DLL function returns 0 to represent false and non 0 to represent true This would normally be used after starting motion with a procedure that had a name starting with BeginMove Because of the multitasking options with Motion Server and SI 3000 it is sometimes more convenient to seperate functions into two parts a motion part which uses synchronous motion commands that start with Move and another part which performs the background activity and to have both functions running at the same time 42 Command Reference Example Imagine you would like to move a fixed distance with the expectation of hitting a switch along the way The following routine would perform this check A1 BMB 20000 A1 MIF SeeAlso BeginMoveTo BeginMoveBy TNAxis BeginMoveToVector TNAxis BeginMoveByVector TNAxis BeginMoveAlongCurve MIR Motor Syntax lt axis gt MTR lt ON or OFF gt Description MTR is used to turn motor activity on and off for all the axis in the TNAxis Called with a parameter value of true enables the amplifier lines The motor servos to the current location if configured for servo When called with a parameter value of false the amplifier lines are disabled the motor command is set to 0 volts if configured for servo and no further motor activity occurs Readability of the program
32. is improved by using the predefined boolean constants On and Off SetMotor is an alias for the outdated SetServo routine retained for backward comaptibility to acknowledge both stepper and servo motor capability Example Al MTR ON sets axis 1 motor on C3 MTR ON sets all motors in group on A2 MTR returns 1 if on O if off 43 Instruction Manual for Motion Server and ASCII Command Interpreter Escapes SetMotor On will generate a WatchdogFailedToResetEscapeCode if the WatchdogHasT ripped See Also Enable MTT Motorlype Syntax lt axis gt MTT lt SRV or STE gt Description SetMotorType is used to configure a particular axis to run a servo motor or a stepper motor The AxisNumber parameter must be in the range 1 to 16 Group Numbers are not allowed for this parameter If the configuration is for stepper it is also possible to indicate whether the step pulse goes high to indicate a step or goes low This information is conveyed through the bit mask parameter The following constants are included to aid in specifying the motor configuration ServoMotor or StepperMotor HighStepPulse or LowStepPulse When setting an axis for use as a servo motor just use ServoMotor as the parameter When specifying a StepperMotor the parameter is StepperMotor with a pulse width contant and a pulse polarity constant added to it Example Al MTT SRV A2 MTT STE Al MTTPFV ProfileVelocity Syntax lt a
33. led for example T2AxisBeginMoveTo for a 2 axis group The method requires as many parameters as the dimension of the receiver axis group ie a 2 axis group requires 2 parameters a 4 axis group requires 4 parameters The motion is performed with a trapezoidal velocity profile based on parameters set with the SetAccel SetDecel and SetSpeed methods These parameters apply to the vector path motion of the coordinated group rather than to any particular axis for multidimensional axis groups BeginMoveTo returns immediatly and does not wait for the motion to finish For cases where it is important to block program execution until the end of the move use MoveTo instead of BeginMoveTo Use MoveHasCompleted to determine when a move started with BeginMoveTo has finished Group numbers required for this routine are provided by the TNInit functions Errors BeginMoveTo will escape if while in motion the destination specified is behind the vector path position or if the destination is so close that the receiver cannot accomplish the move at the specified decel rate In these cases an escape will occur with MotionOverrunEscapeCode and the receiver will stop Examples C4 INI 1 2 C4 MTR ON C4 BMT 100 100 SeeAlso TNAxis SetAccel TNAxis SetDecel TNAxis SetSpeed TNAxis MovelsFinished TNAxis MoveBy TNAxis MoveTo TNAxis BeginMoveTo MotionOverrunEscapeCode 27 28 Instruction Manual for Motion Server and AS
34. lew phase For single axis machines SetSpeed effects the speed of the axis For multiaxis groups SetSpeed effects the vector speeed of the group Examples A1 SPD 1000 C2 SPD 20000 SeeAlso TNAxis SetAccel TNAxis SetDecel TNAxis MoveTo TNAxis MoveBy TNAxis BeginMoveTo TNAxis BeginMoveBy 52 Command Reference STP Stop Syntax lt axis or group gt STP Description Stop directs the axis group to slow down at the specified decel rate and stop motion A TNAxis group will remain coordinated during the stop The calling program will wait until after the stop has finished before continuing Examples Al STP C2 STP SeeAlso BeginStop Abort SUT ScheduleUserTask Syntax AUT lt task number gt lt invocation period gt Description ScheduleUserTask causes an application task in the controller to begin executing as an independent thread on a period basis The first parameter is the user task number The second parameter is how many sample periods should occur between invocations of the task Examples SUT 1 20 SUT 10 100 53 Instruction Manual for Motion Server and ASCII Command Interpreter See Also dms_BeginUserTask dms_ScheduleUserTask TRQ CommandedTorque Syntax lt axis gt TRO lt value gt Returns Current commanded torque value 2047 representing 10 volts Description CommandedTorque returns the current amount of torque the servo controller is requestin
35. ll not produce motor current regardless of the level of the motor command voltage Different amplifiers have different conventions for what enable means Some apply power if the signal is a high logic level Some apply power on a low logic level To accommodate these differences both a high and a low level signal are provided Review amplifier documentation to learn which level is required Douloi Automation recommends setting the amplifier if the option is available to be inactive until a deliberate amp enable signal is provided by the controller Providing both a high and low level signal places the decision of amplifier enable sense into the machine wiring harness not an on controller jumper which could be misconfigured Electrical Description The amplifier enable signals are driven by a 74LS07 with open collector outputs Position Capture Functional Description The Position Capture input can be used for high speed registration applications The position of the encoder is recorded in hardware in response to a position capture signal Most often the signal is used as a homing input Even without an encoder the level of the signal can be monitored in software with the CaptureBit command Electrical Description The Position Capture signal is the side of a 3486 differential receiver The side of the receiver goes to a 2 volt reference Stan dard TTL level can be used and voltage up to 24 volts maximum can be tolerated There
36. lse and Direction signals are used for controlling stepper motors Standard firmware supports narrow 1 microsecond step pulses Alternate firmware for 4 axis controllers is available for supporting wide step pulses 30 microseconds if the stepper driver is unable to respond to narrow pulses 64 Cables and Connectors Electrical Description Step Pulse and Direction signals are open collector outputs driven by a 74LS07 5 Volts Ground Description 5 Volts and Ground are available for providing encoder power sensor power and pull up references These signals come directly from the PC s power supply Pin Numbering Conventions There are two different connector styles most often used with the Motion Server Controller The first is 2 row IDC style connectors which are the style commonly used with computer disk drive ca bling etc In this convention the pin number corresponds to the wire number counting sequentially from the end of the wire This pro duces a back and forth counting pattern on the IDC connector The other connector often used is a D subminiature style This connector has a pin definition which can often be read on the con nector itself Small inscribed numbers next to the pins indicate that the pin numbering is sequential along the length of the connector and then resumes at the beginning of the next row This is quite different from the back and forth convention of the 2 row IDC connector It is
37. mand Interpreter Examples CI INI 2 CI LNK C1 AMB 1000 2000 C1 AMB 2000 2000 C1 MAC C2 INI 5 6 7 8 C2 LNK C2 AMB 1000 1000 1000 1000 C2 AMB 1000 1500 1500 2000 C2 MAC See Also Curved Trajectories TNAxis MoveAlongCurve TNAxis AppendMoveTo TNAxis AppendMoveToVector TNAxis AppendMoveByVector AMT AppendMoveTo Syntax lt group gt AMT lt value gt lt value gt lt value gt Description AppendMoveTo adds an additional descriptive point expressed in absolute coordinates to the end of a curve description The number of parameters corresponds to the dimension of the TNAxis Examples EL ENT 12 C1 LNK C1 AMT 1000 2000 C1 AMT 2000 2000 C1 MAC C2 INI 5 6 7 8 C2 LNK C2 AMT 1000 1000 1000 1000 C2 AMT 1000 1500 1500 2000 C2 MAC 22 Command Reference See Also Curved Trajectories TNAxis MoveAlongCurve TNAxis AppendMoveBy TNAxis AppendMoveToVector TNAxis AppendMoveByVector ARC AppendArc Syntax lt group gt ARC lt radius gt lt initial angle gt lt delta angle gt lt deltaz gt Description AppendArc adds a circular segment to the continuous path being constructed The first parameter is the radius of the arc The InitialAngle indicates in degrees the tangent angle of the beginning of the arc The DeltaAngle indicates how many degrees of rotation should occur Note that DeltaAngle can in
38. may be placed into this array and read from on board user tasks allowing data to flow between the host and Motion Server as parameters and return results for user task operations Examples USL 1 1000 set user longint 1 to have the value 1000 USL 1 retrieve the value of user longint 1 See Also USB USB BUT AUT USS UserSingle Syntax USS lt value gt Description UserSingle writes and reads information from an array of 32 bit floating point variables Information may be placed into this array and read from on board user tasks allowing data to flow between the host and Motion Server as parameters and return results for user task operations Examples USS 1 56 7 set user longint 1 to have the value 56 7 USS 1 retrieve the value of user single 1 56 Command Reference See Also USB USB BUT AUT UTP UserTaskPresent Syntax UTP lt task number gt Description User TaskPresent returns a 1 if the indicated task is currently present on the Motion Server controller and 0 if it is not A task is considered present if it is currently active suspended or scheduled to run even at a low frequency Examples UTP 1 returns 1 if task 1 was present See Also USB USB BUT AUT 57 Instruction Manual for Motion Server and ASCII Command Interpreter WHT WatchdogHasTripped Syntax WHT Definition The watchdog safety system will shut down servo activity if the processor fails
39. nable High Amp Enable Low Position Capture Position Compare Motor Command Step Pulse Direction 5 Volts Ground Axis 1 4 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 3 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 4 Axis 5 8 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 7 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 8 Axis 9 12 Axis 11 Axis 1 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 11 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 12 Axis 13 16 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 15 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 Axis 16 67 68 Instruction Manual for Motion Server and ASCII Command Interpreter Axis Group Connector Definitions D Style If the 60 pin axis cable is split into 4 15 pin groups it is possible to attach 15 pin IDC style connectors for a simple cable assembly However the D connecto
40. on profiler uses a dynamic profiling technique which permits changing profile parameters on the fly including accelera tion deceleration slew speed and in some cases destination and motion type This permits motion mode splicing without stopping For example a positioning move can be changed to a jog at a new speed on the fly Instruction Manual for Motion Server and ASCII Command Interpreter The third timer event function is multitasking Multiple user written motion application programs may be resident in Motion Server The timer event contains a multitasker which activates and manages the operation of these programs Multiple Motion Application Threads As many as 12 separate motion application threads or programs which are distinct from motion profiles can be running concurrently and inde pendently at any particular time These programs are written in Douloi Pascal a dialect of Object Pascal Programs can communicate to each other through shared data structures They can also access the motion control system communicate to I O boards in the PC I O expansion bus commu nicate with Windows applications created by the Servo Application Work bench and to the disk file system if SAW is present Microsoft Windows Microsoft Windows serves as the most common development and target environment for motion control applications using Douloi products The familiar interface aids both developers and users of the resulting applica tions
41. on programs If the board contains a 28F class Flash Memory chip a 12 volt level must be supplied to the chip to unlock the chip and permit alteration of its contents This level can be provided by turning on switch number 4 on the board itself In some applications accessing switch 4 may be inconvenient In this case an external switch can be provided that connects pin 5 and pin 6 allowing the memory device to be programmed Alternately consult with Douloi Automation regarding a newer 29F class memory chip which does not require the 12 volt level Cables and Connectors External Bus Connector The remaining 26 pin connector provides a simplified 8 bit bus that can be used to connect to additional hardware Note that Douloi provides a PC 104 bridge accessory that is driven by this connector The PC 104 format allows the use of many third part cards Power signals from this connector should only be for signal level power If you need any significant current use a disk drive connector Additional details about the use of this bus are available from Douloi Automation on request Pin Description 1 Data 0 2 Data 1 3 Data 2 4 Data 3 5 Data 4 6 Data 5 7 Data 6 8 Data 7 9 Addr 0 10 Addr 1 11 Addr 2 12 Addr 3 13 Addr 4 14 Addr 5 15 Addr 6 16 Select 17 Write Read 18 Comm Capture 1 19 Comm Capture 2 20 Comm Capture 3 21 Comm _ Capture 4 22 Reset 23 12 Volts 24 12 Volts 25 5 Volts 26 Ground 71 72
42. ons The CapturePosition is only valid if Capture HasTripped Examples Al CAP SAY A5 CAP See Also ArmIndexCapture ArmInputCapture Capture Capture Inputs CaptureHas 29 Instruction Manual for Motion Server and ASCII Command Interpreter CAT CaptureHasTripped Syntax lt axis gt CAT Returns 1 Capture has tripped 0 Still waiting for capture to trip Description CaptureHasTripped returns true if the index or input event configure by ArmIndexCapture or ArmInputCapture has occurred If CaptureHasTripped then CapturePosition is valid and contains the position where the event occurred Examples Al CAT A4 CAT See Also TNAxis ArmInputCapture TNAxis ArmIndexCapture Tripped CIO ConfigurelOBitAsOutput Syntax CIO lt bit number gt lt IsOut gt Description Motion Server O can be configured as inputs or outputs in 4 bit nibble sized groups Groups are indicated in the connector diagram later in this document After reset I O defaults to inputs with 4 7k pullups to prevent asserting an active output signal Nibble groups can become outputs by using this command with the Bit parameter being the bit number of any bit in the group and the IsOut parameter being set to true An output group can become an input group by indicating IsOut as false 30 Command Reference Examples CIO LT configure bit 1 and 2 3 4 as output CIO 5 0 configure bit gt and 6 7 8 as input
43. ormation is valid and can be used by the motion application The return value contains the axis number assigned Examples Al AXC A15 AXC Command Reference See Also ArmInputCapture Capture CaptureHasTripped CapturePosition BMB BeginMoveBy Syntax lt axis or group gt BMB lt value gt lt value gt lt value gt Description BeginMoveBy starts relative coordinated move by the specified position deltas but does not wait for the move to finish In actual use the N in TNAxisBeginMoveBy is replaced by the dimension of the controlled group For example a 2 axis call would be T2AxisBeginMoveBy The method requires as many parameters as the dimension of the receiver axis group ie a 2 axis group requires 2 parameters a 4 axis group requires 4 parameters The motion is performed with a trapezoidal velocity profile based on parameters set with the SetAccel SetDecel and SetSpeed methods These parameters apply to the vector path motion of the coordinated group rather than to any particular axis BeginMoveBy returns immediatly and does not wait for the motion to finish For cases where it is important to blocking program execution until the end of the move use MoveBy instead of BeginMoveBy Use MoveHasCompleted to determine when a move started with BeginMoveBy has finished Group Numbers required to perform the call is provided by the TNInit functions Errors BeginMoveBy will escape if while in motion
44. osition TNAxis GetActualPositionVector TNAxis GetCommandedPositionVector DCL Decel Syntax lt axis or group gt DCL lt value gt Description Decel returns the current setting of the deceleration that will be used by this axis group during trapezoidal moves The units are in counts per second squared Examples A1 DCL 10000 C2 DCL 20000 A1 DCL C2 DELE 33 Instruction Manual for Motion Server and ASCII Command Interpreter SeeAlso TNAxis Accel TNAxis Speed TNAxis SetAccel TNAxis SetDecel TNAxis SetSpeed DEP DestinationPosition Syntax lt axis or group gt DEP Description DestinationPosition returns the absolute coordinate of where a move will finish This can be used to calculate the distance remaining in a move move often used to overlap motion and reduce cycle time Examples SAY A2 DE SAY C5 DE Cl El See Also CommandedPosition ActualPosition DSP Dispose Syntax lt group gt DSP Description The Motion Server command set is designed to support multiple client programs Coordinated motion is described by using GroupNumbers provided by TNAxisInit routines When a client program is done and exiting the client needs to tell Motion Server that it is finished with the resources that were allocated so that another program can use them This is done with 34 Command Reference dms_TNAxisDispose dms TNAxisDispose is analagous to releasing memory after use so as
45. pplications may contain conventional Windows controls such as buttons and text items as well as more specialized controls such as components available in the on line software catalog Inside Servo Application Workbench is a high level language compiler The compiler changes the descriptions of the motion applications into native 32 bit 486 object code which executes on Motion Server very quickly The compiler knows about the motion system the multithreading system and Windows This permits the application developer to access different system resources in a consistent way without having to worry about how these resources are being provided Servo Application Workbench allows the developer to construct motion applications in a clip art fashion by pasting pre fabricated parts and assemblies into the application After screen painting the application and filling in the program s behavior Servo Application Workbench compiles the motion application programs and creates the associated Windows application to operate them This ability to create new real time behavior and download into Motion Server is constrained to the Windows environ ment because the language compiler is a Windows DLL However new motion controller capabilities beyond the standard command set can be created in SAW downloaded into Motion Server and remembered in flash memory for use under another operating system Methods Of Use Motion Server can be used in
46. program which may be active If you are developing an application that only involves a single client dms_ResetAllocation can be used in the startup code to insure a full set of resources is available Example RSA See Also dms TNAxisDispose RSW ResetWatchdog Syntax RSW Description The motion system operates under the supervision of a watchdog system If for any reason the processor should be delayed in responding to the motion system s timer event the watchdog system will shutdown the power amplifiers to insure that no undesired motion occurs ResetWatchdog allows servo activity to occur again Errors If ResetWatchdog discovers that the watchdog did not reset a WatchdogFailedToResetEscapeCode will occur 49 Instruction Manual for Motion Server and ASCII Command Interpreter Example RSW See Also WatchdogHasTripped RUT ResumeUserTask Syntax RUT lt task number gt Description ResumeUserTask is used to awaken a task on the Motion Server controller that has been suspended with the PUT command Examples RUT 1 RUT 10 See Also dms BeginUserTask dms ScheduleUserTask 50 Command Reference SOB SetOutputBit Syntax SOB lt bit number gt lt ON or OFF gt Description SetOutputBit is used to set output bits to a prescribed level BitNumber should be in the range of 1 to 48 Value should be a boolean parameter The predefined constants On and Off can help improve r
47. r pin numbering convention does not correspond to the wire number sequentially across When using IDC D connectors please refer to the following table D Pin Number Description 1 Encoder A 2 Encoder B 3 Encoder I 4 Amp Enable High 5 Position Capture 6 Motor Command 7 Direction 8 Ground 9 Encoder A 10 Encoder B 11 Encoder I 12 Amp Enable Low 13 Position Compare 14 Step Pulse 15 5 Volts Cables and Connectors I O Connector Definition The 50 pin connector provides TTL level inputs and outputs Outputs sink 12 ma The pin number is the YO number with the exception of 49 5 and 50 ground Input or output sense is configured in 4 bit groups The groups are defined by splitting the connector into 2 1x50 strips and then slicing those strips into 12 groups of 4 bits each This partitioning was chosen so that the even pin strip could be configured as inputs allowing a standard OPTO 22 cable to plug into the connector without contention between the cable grounds located on all the even pins and signals normally available on those pins Description Pin Pin Description Group 1 YO 1 YO 2 Group 2 Group 1 YO 3 YO 4 Group 2 Group 1 VO 5 VO 6 Group 2 Group 1 VO 7 YO 8 Group 2 Group 3 YO 9 YO 10 Group 4 Group 3 YO 11 YO 12 Group 4 Group 3 YO 13 YO 14 Group 4 Group 3 YO 15 YO 16 Group 4 Group 5 YO 17 YO 18 Group 6 Group 5 YO 19 YO 20 Group 6 Group 5 YO 21 YO 22 Group 6 Group 5 YO 23 YO 24 Group 6 Group 7 YO 25 YO 26 Group
48. r the hardware provides e 4 MHz quadrature inputs with 3 bit filters for 4 axis 1 MHz quadra ture rate for 16 axis high speed position capture high speed position compare e 10 volt command signal with 12 bit resolution Stepper Capabilities Timer Event When configured to run a stepper motor the hardware provides e 2 Mhz step rate for 4 axis 500 kHz step rate for 16 axis e configurable step pulse polarity Motion Server provides motion control functions by responding to a timer which occurs generally at 1 kHz although the frequency is programmable This timer event performs three major functions The first function is control law execution Servo control is accomplished with the familiar zero pole integrator filter used in many motion control systems This PID control law operates at a 1 kHz sample rate providing comfortable closed loop system frequencies of 100 Hz and below Stepper motor control is accomplished by updating pulse generating electronics at a frequency of of 1 kHz providing continuous velocity control of stepper motors The second function of the timer event is motion profiling Motion Server is able to profile motion for up to 16 physical axes These axes can be combined in different arrangements to form various coordinated multi axis groups Any particular axis group can perform coordinated motion along an arbitrary path Multiple axis groups can perform motion concurrently and independently The moti
49. re Safety RWD ResetWatchdog indio naaa Allow tripped safety system to resume servo activity WHT az WatchdogHasTripped Returns status of watchdog system UHD UserHasDisabled oociccoc c Indicates if any disable input is asserted Axis and Coordinated Group Commands Attributes INI is By eta A aaenc Associate axes into coordinated group DSP DISPOSE radar Release axis group relationship RSA eelerer Asor Clear all group relationships MTT uses Motor Peris Configures motor for servo or stepper operation EN Asia Enable oean rte rere rm erry Allow amplifier to power motor MT Rss Motor asus Turns motor operation on and off AS Looplnversionssnini Include an additional sign inversion in control law CIV sur CoordinateInversion Reverse which way is regarded as the positive direction ACL e A eni Set acceleration rate for trapezoidal moves D L IR teanen ree deceleration rate for trapezoidal moves SD EE TE ai Set speed of slew phase of trapezoidal moves GAL A anna Set compensation parameter for servo ZER uge LO ia compensation parameter for servo TG Inte stator ciaci n compensation parameter to eliminate steady state error ERE ErrorLimit pies Set permissible tracking error before disable occurs PL POSE Dead Set boundary for movement in the positive direction NET ss NegativeLimit civics acewauestaetits Set boundary for movement in the negative direction Ol inns ActualPosition oo
50. roducing plots of the dynamic response of the motor Note that this may well be different from the CommandedPosition of the motor ie the theoretical position of where the motor should be In some cases it may be more desirable to use the CommandedPosition rather than the Actual position The value returned is in units of counts Examples A1 ACP 0 Sets axis 1 actual position to 0 Al ACP retreives actual position of axis 1 See Also CommandedPosition Command Reference AIC ArminputCapture Syntax lt axis gt AIC Description ArmInputCapture is used to setup the system to respond to an input pulse that is anticipated ArmInputCapture resets the capture latches for the axis associated with the TNAxis machine When Capture HasTripped the CapturePosition information is valid and can be used by the motion application Each axis has a specific input used for high speed capture The return value contains the axis number armed Examples Al AIC A14 AIC See Also Capture Inputs ArmInputCapture Capture Capture Inputs CaptureHasTripped CapturePosition AMB AppendMoveBy Syntax lt group gt AMB lt value gt lt value gt lt value gt Description AppendMoveBy adds an additional descriptive point expressed in relative coordinates to the end of a curve description The number of parameters corresponds to the dimension of the TNAxis 21 Instruction Manual for Motion Server and ASCII Com
51. roup that will perform the curve To indicate to an axis group that space should be made available for this list use the dms_LinkToBuffer command There are 2 lists in the standard binary command interpreter Each list can support up to 500 elements and up to a T6Axis group If both of these buffers have been used the error code will be set to be_OutOfCurveBuffers If this occurs the most likely explanation is that dms_TNAxisRelease was not used to deallocate the buffers Refer to this command or use the dms_ResetAllocation command to provide a clean slate on startup Example The following commands illustrate how to produce a continuous path C1 INI 1 2 Cl LNK C1 AMB 1000 O C1 ARC 1000 O 90 C1 AMB O 1000 C1 BMC SeeAlso dms_T2AxisAppendArc dms_T3AxisAppendArc dms_T2AxisAppendMoveBy dms_T2AxisAppendMoveTo dms_ReleaseAllocation dms_TNAxisDispose 41 Instruction Manual for Motion Server and ASCII Command Interpreter MAC MoveAlongCurve Syntax lt group gt MAC Description MoveAlongCurve performs continuous path motion over an arbitrary multiaxis curve description which was previously setup This routine is not implemented by a T1Axis single axis Program execution does not continue past MoveAlongCurve until the curve has been completed Examples C2 MAC SeeAlso Curved Trajectories TNAxis BeginMoveAlongCurve TNAxis MovelsFinished MIF MovelsFinished Syntax lt axis or
52. s and decelerations are also likely to incur following error during those times if the power system saturates If the difference between the actual position and commanded positions exceeds the error limit the axis will perform a TNAxis SetServo Off The error limit is always being checked Set the limit to be a large value if the SetServo Off behavior is not desired Example Al A2 ml m ri m mn an ERL 50 ERL 25 See Also TNAxis SetMotor TNAxis MotorlsOn ERP ErrorPosition Syntax lt axis gt ERP Description ErrorPosition returns the difference between where the servo is commanded to be and its actual position This difference is monitored If it is found to be greater than the error limit the servo is turned off 36 Command Reference Examples Al ERP See Also returns axis 1 error position CommandedPosition ActualPosition GAI Gain Syntax lt axis gt GAI Description lt value gt Motion Server implements PID control This function returns the current value of the control law gain one of the primary compensation parameters Examples Al GAI 32 A2 GAI Al GAI 40 See Also Integrator SetGain SetIntegrator SetZero Zero sets axis 1 gain to 32 sets axis 2 gain to 40 returns axis 1 gain value 37 38 Instruction Manual for Motion Server and ASCII Command Interpreter INB InputBit S
53. s apply to the vector path motion of the coordinated group rather than to any particular axis TNAxisMoveTo does not return until the motion has been accomplished Blocking program execution until the end of the move may be helpful for synchronizing the next event ie don t drill the hole until you get to the destination Some appllications need to continue execution even though the destination has not yet been achieved For these cases use TNAxisBeginMoveTo which starts the move and immediately returns to continue with the next instruction Errors MoveTo will escape if while in motion the destination specified is behind the vector path position or if the destination is so close that the axis group cannot accomplish the move at the specified decel rate In these cases the group will emit a MotionOverrunEscapeCode and come to a stop Example C5 INI 1 2 3 C5 MVT 1000 2000 3000 Command Reference SeeAlso TNAxis SetAccel TNAxis SetDecel TNAxis SetSpeed MotionOverrunEscapeCode TNAxis MoveBy NLT SetNegativeLimit Syntax lt axis gt NLT lt value gt Description SetNegativeLimit establishes a negative direction boundary for movement If the axis is asked to attempt a move beyond this boundary a PositionLimitEscapeCode will occur and the axis will stop Examples Al NLT 5000 Al NLT See Also PositiveLimit PLT PositiveLimit Syntax lt axis gt PLT lt value gt Description
54. ter commands Somecommandsare in the form lt procedure gt lt parameters gt lt CR gt There might be no parameters one or several depending on the function Parameters are seperated by spaces The space between the procedure and the first parameter is optional Addinga space improves readability The command is terminated witha carriage return ASCII 13 character After receivingacommand Motion Server will transmit the following information lt CRLF gt lt errornumber gt lt returnvalue gt lt prompt gt The promptis the greater than symbol The error number indicates if the command was completed successfully A 0 indicates a success other numbers representerrors Ifthe first number is not 0 the remaining information in the response is notvalid After the error number isa space 13 Instruction Manual for Motion Server and ASCII Command Interpreter followed bythe return value ofthe command All commands have return values Mostreturn values reflect controller state Some return values confirm information that was sent when no specific return value is associ ated with the command The response terminates with the greater than symbol as the default prompt Hooking upa terminal or usinga terminal program on the PC permits exercising the board and viewing this transaction behavior Typingjust the CR key producesanull command whichreturns0 for errorand 0 for return value gt type enter 0 0 gt The command
55. the hole until you get to the destination Some appllications need to continue execution even though the destination has not yet been achieved For these cases use BeginMoveBy which starts the move and immediately returns to continue with the next instruction Group Numbers are provided by TNAxisInit routines Errors MoveBy will escape if while in motion the new destination specified is behind the vector path position or if the destination is so close that the axis group cannot accomplish the move at the specified decel rate In these cases the group will emit a MotionOverrunEscapeCode and come to a stop Example C2 INI 1 2 3 4 C2 MVB 100 100 200 200 45 Instruction Manual for Motion Server and ASCII Command Interpreter 46 SeeAlso TNAxis SetAccel TNAxis SetDecel TNAxis SetSpeed TNAxis Move To MotionOverrunEscapeCode MVT Movelo Syntax lt axis or group gt MVT lt value gt lt value gt lt value gt Description TNAxisMoveTo performs an absolute coordinated move to the specified destination In actual use the N in TNAxis is replaced by the dimension of the group i e T2AxisMoveTo The number of parameters provided is the same as the dimension of the axis group ie a 2 axis group requires 2 parameters a 4 axis group requires 4 parameters The motion is performed with a trapezoidal velocity profile based on parameters set with the SetAccel SetDecel and SetSpeed methods These parameter
56. the resulting destination specified is behind the vector path position or if the destination is so close that the axis group cannot accomplish the move at the specified decel rate In these cases the group will emit a MotionOverrunEscapeCode and come to a stop Examples C2 INL 1 23 C2 MIR ON C2 BMB 1000 2000 3000 25 Instruction Manual for Motion Server and ASCII Command Interpreter SeeAlso TNAxis SetAccel TNAxis SetDecel TNAxis SetSpeed TNAxis MovelsFinished TNAxis MoveBy TNAxis MoveTo TNAxis BeginMoveTo MotionOverrunEscapeCode BMC BeginMoveAlongCurve Syntax lt axis group gt BMC Description BeginMoveAlongCurve performs continuous path motion over an arbitrary multiaxis curve description which was previously setup This routine is not implemented by a T1Axis single axis Program execution immediately continues after the motion has started The return value contains the dimension of the group being controlled Examples C1 BMC C5 BMC SeeAlso Curved Trajectories TNAxis MoveAlongCurve TNAxis MovelsFinished 26 Command Reference BMT BeginMovelTo Syntax lt axis or group gt BMT lt value gt lt value gt lt value gt Description BeginMoveTo starts an absolute coordinated move to the specified absolute position destinations but does not wait for the move to finish The N in TNAxisBeginMoveTo is replaced by the dimension of the group being control
57. tion Server with a serial port ASCII commands can be used from any language system that allows reading and writing to the serial port of the DMS AUX For instructions on setting up the controller please consult the setup chapter in the Instruction Manual for Motion Server and Servo Application Workbench User Manual for Motion Server and ASCII Command Interpreter Motion Server Specifications Motion System s 486 DX 2 DX4 or 5x86 Processor e 4 8 12 or 16 axes per system e Servo or Stepper on per axis basis e Multiple independent axis groups e Trapezoidal and S Curve profiling e Custom profiling at application level e 32 bit position management e Sample rates from 1 to 4 kHz e Linear circular curve interpolation e Electronic gearing with phase adjust e Electronic camming e Tangent servo e Master slave coordination e High speed registration Kinematics e Motion superposition e Coordination tailoring Servo Specifications e 486 class processor e On board real time operating system supporting 12 seperate activi ties as well as motion control 4 to 16 axis of coordinated motion e Mixed servo and stepper motor control e 32 bit position resolution e 48 general purpose configurable I O e 1 Capture signal per axis e User Disable signal e 2 amp enable signals per axis one active high the other active low e watchdog safety system Introduction Servo Capabilities When configured to run a servo moto
58. to respond to the timer event correctly This function indicates if the watchdog system has shut down activity Example WHT See Also ResetWatchdog ZER Zero Syntax lt axis gt ZER lt value gt Description Motion Server implements PID servo control The zero of a control loop is one of the primary parameters used to set the servo s compensation and primarily relates to the damping of the system This procedure sets the control law zero to be aZeroValue Values in the range of 200 to 255 are not unusual Values greater than 255 are not legal Examples Al ZER 232 A2 ZER 240 See Also Gain Integrator SetGain SetIntegrator Zero 58 Chapter 4 Command Examples Objective These examples illustrate the general pattern of use for Motion Server commands Examples also illustrate particular controller functions Ifthere isan example you would like to see thatis not present please contact Douloifor sample code Single Axis Stepper Motor Movement The followingcommands represent whatis required to configure and move an individual stepper motor Al MTT STE Al SPD 1000 Al ACL 10000 Al DCL 10000 Al MTR ON Al MVB 2000 set se S axis 1 to be a stepper motor speed to be 1000 steps per second the acceleration 10000 steps per S to be second squared the deceleration Ma ke axis 1 active to be 10000 Mov
59. xis or group gt PFV lt value gt Description ProfileVelocity returns the current commanded speed signed magnitude that is being used to generate the trapezoidal motion trajectory During slew the magnitude of ProfileVelocity is the same as Speed During accel and decel the profile velocity varies according to the point in the profile 44 Command Reference Examples A1 PFV 1000 sets the current profile velocity Al PFV returns the current profile velocity See Also TNAxis CommandedPosition T1Axis ActualPosition MVB MoveBy Syntax lt axis or group gt MVB lt value gt lt value gt lt value gt Description TNAxisMoveBy performs a relative coordinated move by the specified position deltas In actual use the N in TNAxis is replaced by the dimension of the group being directed i e T3AxisMoveBy for a 3 axis group The method requires as many parameters as the dimension of the receiver axis group ie a 2 axis group requires 2 parameters a 4 axis group requires 4 parameters The motion is performed with a trapezoidal velocity profile based on parameters set with the SetAccel SetDecel and SetSpeed methods These parameters apply to the vector path motion of the coordinated group rather than to any particular axis MoveBy does not return until the motion has been accomplished Blocking program execution until the end of the move may be helpful for synchronizing the next event ie don t drill
60. yntax NB lt bit number gt Description InputBit returns true if the input level is high and false if the level is low Values for bit number are 1 through 48 Asking for the input value of a bit configured as an output returns the current level of the output Errors If a bit number is requested beyond the range for the system then a ParameterOutOfRangeEscapeCode occurs Examples INB 4 See Also ConfigurelOBit SetOutputBit INI Init Syntax lt group gt INI lt axis number gt lt axis number gt lt axis number gt Description TNAxisInit is used to associate axes into a coordinated group and returns a Group Number to reference the group in the future In actual use the N in TNAxisInit is replaced by the dimension of the group being constructed i e T2AxisInit for a 2 axis group or T6AxisInit for a 6 axis group In coordinated motion commands the group number is the handle that refers to this particular axis association The axis are specified with their axis numbers ranging from 1 to 16 The routine requiers as many axis parameters as dimension of the group being constructed The order the axes are indicated here becomes the order of parameters used to describe coordinated motion The first axis listed here receives the first coordinate number in motion commands Coordinated motion can only be performed on groups that have been initialized Command Reference Example C4

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