Joystick - Animatics Corporation
Contents
1. Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 16 162. adjustment The following diagram and explanation will help you understand the joystick s operation and function Call your applications engineer before attempting any adjustments or calibration on your joystick The input and output signal ranges are tied to the PCF8591 s AGND and VREF signal levels The REF and REF potentiometers on the AIO 100 set the signal maximum and minimum The AIN potentiometers are independent channel adjustments for the inputs used to center the input range The input potentiometers are parallel to the AIN wipers When building a proportional joystick start by adjusting the REF and REF to allow the full 0 5V swing Next adjust the joystick center point and the X Y Z and W channel potentiometers such that the neutral stick position reads 128 2 and the full 0 to 255 swing is available to the stick Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 8 16 4 2 AniLink Bus Module Address Peripherals on a AniLink network must have non conflicting addresses to function properly This normally means a unique address for each AniLink peripherals The AniLink peripherals use a three bit address scheme based on the of jumpers 1 2 and 4 Module Address Jumper State X jumper in place O jumper absent 2 Bold values only valid on Series 50000 TAMMPABS xXOxOKOKO xxOOCK KOO xxxKOOCO
3. firmware level joystick commands the target AIO 100 must use address A Command Comments AINilet Upload the value of the corresponding analog input let valid from A through D module address valid from 1 to 4 channel number AOUTilet Set the level of the analog output for the corresponding module let valid from A through D module address valid from 0 though 255 output level JOYVH Set the high speed max deflection velocity for the JOYION mode s units determined by the system s SPU values JOYVL Set the low speed max deflection velocity for the JOYION mode s units determined by the system s SPU values JOYIOFF Disable the controller joystick mode JOYION Enable the controller joystick mode JOY1 Returns the current channel levels of the AIO 100 module A in XYZW format Joystick Programming Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 11 16 Many joystick control systems can be accomplished with programs of the following form XKP2000 XKI300 XKD5000 XIL3000 F XSPU2000 ACC2000 JOY VH2000 JOYVL20 JOY1ON END SET THE PID FILTER PARAMETERS FOR ALL MOTORS F ACTIVATES THE CURRENT FILTER PARAMETERS 2000 COUNTS PER REVOLUTION ACCELERATION 2000 RPM S SET MAX HIGH SPEED VELOCITY TO 2000 RPM SET MAX LOW SPEED VELOCITY TO 20 RPM
4. from the AIO 100 module addressed as A We could address other modules by slightly changing the program oy Replaces from above AINB1 JOY1 AINB2 k AINB3 AINB4 VARA AOUTB VARA AOUTA VARA The Series 5000 language can evaluate the complicated expressions used in some feedback control algorithms VARAO Initialization for first iteration VARNO Initialization for first iteration 100 Label statement VARN VARN 1 VARB AINAI1 255 VARB VARB AINA2 255 VARB VARB AINA3 255 VARB VARB AINA4 255 VARB VARB 4 VARA VARA VARN 1 VARF VARN AOUTA VARAI 255 Output the moving average GOTO 100 Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 14 16 6 2 SmartMotor Command Set The SmartMotor has direct command software support for the AIO 100 module upon which the JOY2 3 is based There are two major differences in firmware support between the SmartMotor and the Series 5000 The SmartMotor uses a different self diagnostic design than the Series 5000 This different makes it possible to address up to eight unique AIO 100 modules on a single SmartMotor AniLink network The SmartMotor does not have firmware level joystick support Since the SmartMotor is by its nature a single axis control system the idea of using a multi axis joystick to control the motor seems unreasonable The f
5. N A joystick must use address A to be addressed by the JOYION firmware support Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 9 16 Maintenance and Repair 5 1 Maintenance There are no user serviceable components on the JOY2 3 units The only periodic maintenance requirement is to keep the clear of dust dirt or contaminant build up by cleaning with a damp cloth when necessary 5 2 Indications The appearance of the power LED back light is a definite indicator of power If power is available and unit is not responding to the controller check the cable 5 3 Trouble Shooting As these units have no user serviceable parts trouble shooting is limited to checking for power and ground and checking for communications signal If your unit is not working 0 Check cabling for unplugged connectors or cable cuts 1 Check for power using a DMM A On connector C1 5 between pins 2 and 3 B On IC 7805 5 between pins 1 and 2 C External power source if applicable If not receiving power locate cause 2 Check for signal on AniLink Clock and Data lines using a logic probe or oscilloscope Logic and Data lines are normally high between data transmissions 3 If power data and clock all show correct signals and your unit is still not working return your unit for inspection and repair Animatics Corporatio
6. OPERATION AND USE OF THE ANIMATICS JOY2 3 JOYSTICK 1 Introduction 1 1 Product Description 1 2 Features 1 3 Part Numbering 1 4 Theory of Operation 1 5 Simplified Schematic 2 Specifications 2 1 Electrical 2 2 Mechanical 2 3 Environmental 3 Installation 3 1 Unpacking and Inspection 3 2 Mounting 3 3 Wiring 3 3 1 Connector Pin Out 3 4 Power up and Checkout 4 Adjustments 4 1 AnilLink Bus Unit Address Jumpers 1 2 4 4 2 Contrast Trimmer Potentiometer 4 3 LED Back Light Jumper 5 Maintenance and Repair 5 1 Maintenance 5 2 Indications 5 3 Trouble Shooting 6 Programming 6 1 Series 5000 Command Set 6 2 SmartMotor Command Set Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 1 16 1 Introduction 1 1 Product Description The JOY2 3 is a potentiometer based two axis joystick designed for use as part of an operator interface for Animatics Motion controllers The joystick relies on the AniLink network to provide controller communications The joystick has a toggle switch provides the option of controlling either the X Y or X Z axes The JOY2 3 relies on a four input eight bit analog input module the AIO 100 The Series 5000 controller provides firmware level support for the joystick by addressing the AIO module several times per second Each return is scaled by a conversion velocity and used t
7. The first program that most designers and technicians want is a test loop This program uses GOTO statements and increments variables to set up a test loop displaying modes Variations of the program are often used in the integration of AIO 100 applications Run the program from TERMS5000 in UNTERM mode VART500 VARAO 100 JOY1 VARA AOUT VARA WAIT VART IF VARA 0 GOTO 105 IF VARA 128 GOTO110 IF VARA 225 GOTO 115 200 GOTO 100 END 105 VARA128 GOTO 200 110 VARA225 GOTO 200 115 VARAO GOTO 200 END Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVIOYSTICK USERMAN UAL 2 5 1996 Page 12 16 This program demonstrates a joystick subroutine Auxiliary input 1 is used as a joystick enable for this application Note that JOYION mode uses Auxiliary inputs 5 and 6 as speed select and joystick enable respectively Auxiliary output 6 is used as an enable confirmation 100 ACC40000 X200Y300F500 WAIT ACC10000 XOYOF200 WAIT IF LON GOSUB 105 GOTO100 END 105 JOY1ON 106 IF LON GOTO106 JOY 1OFF RETURN END Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 13 16 Direct Command Programming The 100 subroutine in the first joystick program relies on the JOY1 Command to format the return
8. ing for more industrial type communications connections often remove the RJ11 jack and solder shielded cable directly to the lower p c board While this is a generally accepted practice understand that poor workmanship will void any warranty on this product Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 6 16 3 3 1 Connector Pin Out ro 1 6 1 6 Connector C1 RJ11 6 connector x 2 in parallel PIN SIGNAL DESCRIPTION Speed Select AniLink Power from controller limited to about 150 Ma To controller Aniline Clock Aniline Data Joy On Off 3 4 Power up and Checkout No particular power up procedure is necessary for the JOY2 3 joystick Be sure to apply common safety practices when working on any motion based system Before you power up your system for the first time make sure that there is no possibility of personal injury or machine damage Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 7 16 4 _ Adjustments 4 1 Adjusting REF REF and the Input Potentiometers REF GND A Y REF 5 VDC AGND REF PCF8591P AIN3 W Your joystick has been calibrated at the factory Under normal use it should never require
9. n 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 10 16 6 Programming The languages and programming techniques for the Series 5000 and the SmartMotor are radically different Consistent between these languages is the direct command support and module addressing scheme Each AIO 100 card on an AniLink network can be addressed by a letter address A D or A H and each module has four channels 1 through 4 Additional information about the command sets and languages demonstrated in this section can be found in the Series 5000 and SmartMotor User s Manuals 6 1 Series 5000 Command Set The Series 5000 command set supports two types of interaction with the Joy2 3 joystick A firmware based method based on the JOYION command allows complete joystick control A firmware based simple interrogation command is also supplied JOY1 Direct address programming is also possible The AniLink bus on a Series 5000 controller runs throughout the controller and is ported to the outside in two locations Addresses E F G and H are used for processes within the controller and are therefore not available to the outside network See the Series 5000 User s manual for details on this feature The Series 5000 command set provides two levels of communication to the AIO 100 firmware level joystick support and direct communications commands To be addressed by the
10. nmental Operating temperature 0 C to 50 C Storage temperature 20 C to 70 C Humidity 0 to 90 non condensing Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 5 16 3 __ Installation 3 1 Unpacking and Inspection Upon receipt of the equipment carefully inspect to ensure that no damage has occurred during shipment If damage is detected notify the carrier immediately Equipment should be stored in its original shipping container until ready for use 3 2 Mounting The joystick should be mounted on a cabinet or suitable enclosure to protect it from physical and environmental damage Keep the joystick free of combustible or flammable material oil vapor steam excessive moisture corrosives and debris The joystick may be mounted in any orientation 3 3 Wiring Wiring the joystick is simple Plug in the supplied phone cable into the RJ11 6 type connector on the bottom PCB of the unit then plug the opposite end of the cable into the controller The second RJ11 6 is wired in parallel Additional AniLink modules can be plugged in and added to the network Longer runs of AniLink cable are possible Maximum tested runs for the phone cable wiring and RJ11 6 type connectors are about 6 feet Use of higher efficiency shielded cable and better connectors will allow greatly expanded performance User look
11. o set a velocity of a Velocity Mode move The JOY2 3 is powered by the 5 V and ground lines on the AniLink The AniLink Network is a proprietary serial based high speed data network shared by the Series 5000 and SmartMotor lines of motion control products 1 2 Features Simple plug in operation 2 3 axis control by selection switch High speed Low speed selection switch Joystick On Off safety switch Convenient size and mounting Firmware level software support under both Series 5000 5 V DC operation powered by AniLink AniLink Network Addressable High speed serial communications 100K bps Multi drop addressing Compatible with other AniLink peripheral modules Four axis unit available 1 3 Part Numbering The model number JOY2 3 identifies the standard 2 3 axis joystick module Certain special products of similar construction are manufactured within the same family of part numbers Please contact your application engineer for specific details about special products Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 2 16 1 4 Theory of Operation The JOY2 3 joystick acts as a slave to a Series 5000 controller The joystick is based on an eight bit analog I O module The I O module has two inputs in series with the precision pots of the joystick The voltage seen by the I O changes as the re
12. ollowing is presented for testing and demonstration purposes An example of a stored user program joystick program can be found in the SmartMotor User s Manual JOY SRC on page 234 Command Comments Port is valid from A through H Input is valid from 1 to 4 Exp expressions must evaluate to an integer AIN port input Fetch analog byte from port input AOUT port exp Output an analog byte on channel port RAIN port input Fetch analog byte from port report ASCII integer value on RS 232 This program demonstrates the use of these commands MV Set mode velocity A 500 Set acceleration to 500 63 13 rev sec V 0 Set velocity to 0 00 Set current position equal to the origin UAI UBO RAINA1 Report channel 1 value RAINA2 Report channel 2 value RAINA3 Report channel 3 value RAINA4 Report channel 4 value WHILE 1 a AINA1 V a b AINA2 Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 15 16 c AINA3 d AINA4 G IF UA 1 GOSUB 0 ENDIF LOOP END CO Subroutine 0 reports on RS 232 in format UB 1 User output B signals you to get your finger off of A WHILE UAI 0 LOOP UB 0 PRINT INPUT A1 Ra 13 Notice the formatting of this statement PRINT INPUT A2 Rb 13 PRINT INPUT A3 Re 13 PRINT INPUT A4 Rd 13 RETURN END
13. sistance of the joystick changes The Series 5000 controller has a firmware level loop which queries the AIO module mounted inside the joystick several times per second about the position of the joystick arm When a return from the AIO module is received by the controller the values corresponding to each axis are scaled by a user controlled value to calculate a velocity for the motors The units of velocity are determined by the axis SPU value Host PC Controller Joy 2 3 System Block Diagram Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRAR Y PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 3 16 2 Specifications Note All listed specifications are believed correct as of the date of printing See errata for latest details Any and all product specifications are subject to change without notice by the manufacturer 2 1 Electrical Bus DC line voltage 5V DC Normal Maximum DC current 65 ma 2 2 Mechanical Dimensions See Figure Case 9 x 5 9 16 x 2 1 2 allow 4 minimum clearance for joystick handle Weight 48 oz i Sr 7 A i iB Be Shit Anke S kia i l T Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 FILE H LIBRARY PRODUCT PERIPHER ALSVOYSTICK USERMAN UAL 2 5 1996 Page 4 16 2 3 Enviro
Download Pdf Manuals
Related Search