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Hardware User`s Manual

1. ADDRESS OFFSET HEX DECIMAL DESCRIPTION FUNCTION F000 0 1 Input Put Index Read F002 2 3 Output Get Index Read F004 F203 4 515 Input Buffer Read F204 FSFF 516 1023 Reserved Read F400 1024 X Encoder Position Read F404 1028 X Command Position Read F408 1032 X Command Velocity Read F40C 1036 X Acceleration Read F410 1040 X Maximum Velocity Read F414 1044 X Base Velocity Read F418 1048 X Proportional Gain Read F41C 1052 X Derivative Gain Read F420 1056 X Integral Gain Read F424 1060 X Accel Feed Forward Read F428 1064 X Velocity Feed Forward Read F42C 1068 X Offset Read F430 F47F 1072 1151 Reserved Read F480 1152 Y Encoder Position Read F484 1156 Y Command Position Read F488 1160 Y Command Velocity Read F48C 1164 Y Acceleration Read F490 1168 Y Maximum Velocity Read F494 1172 Y Base Velocity Read F498 1176 Y Proportional Gain Read F49C 1180 Y Derivative Gain Read F4A0 1184 Y Integral Gain Read F4A4 1188 Y Accel Feed Forward Read F4A8 1192 Y Velocity Feed Forward Read F4AC 1196 Y Offset Read 4 0 4 1200 1279 Reserved Read F500 1280 Z Encoder Position Read F504 1284 Z Command Position Read F508 1288 Z Command Velocity Read F50C 1292 Z Acceleration Read F510 1296 Z Maximum Velocity Read F514 1300 Z Base Velocity Read F518 1304 Z Proportional Gain Read F51C 1308 Z Derivative Gain Read F520 1312 Z Integral Gain Read F524 1316 Z Accel
2. T Phase A 76 T Axis Output T Phase B 77 T Auxiliary Output T Direction 78 T Positive Limit T Home 79 T Negative Limit Analog Ground 80 U Phase A 31 81 Ground U Phase B 32 82 U Index U Direction 33 83 U Axis Output U Auxiliary Output 34 84 U Positive Limit U Home 35 85 U Negative Limit V Phase A 36 86 V Index V Phase B 37 87 V Axis Output V Direction 38 88 V Positive Limit V Auxiliary Output 39 89 Negative Limit V Home 40 90 Analog Ground 41 91 Ground R Phase A 42 92 Index R Phase B 43 93 R Axis Output R Direction 44 94 Positive Limit R Auxiliary Output 45 95 Negative Limit R Home 46 96 S Index S Phase A 47 97 S Axis Output S Phase B 48 98 S Auxiliary Output S Direction 49 99 5 Positive Limit S Home 50 100 8 Negative Limit VME58 User s Manual 4 DRIVER INTERFACE DRIVER OUTPUT Table 4 2 VME58 4S4 OUTPUT CONNECTOR PIN LIST J29 FUNCTION PINS FUNCTION User I O 0 1 51 5VDC User 2 2 52 User I O 1 User I O 4 3 53 User 3 User 6 4 54 User 5 User 8 5 55 User I O 7 User 10 6 56 User I O 9 User 12 7 57 User I O 11 User 1 0 13 8 58 Ground Analog Ground 9 59 X Phase A 10 6
3. QUEUE REQUIREMENTS MODE AX AS Flush 2 AA AM Flush 2 AA CD Not valid Example Move the Y axis for a while at 1200 steps second then ramp to a stop Enter AY JG1200 wait awhile ST STOP ALL The SA command flushes all queues and causes all axes to decelerate to a stop at the rate previously specified in an AC command All status and position information is retained QUEUE REQUIREMENTS MODE AS Flush 2 AA AM Flush 2 AA CD Not valid Example Send all axes on a move then ramp them to a stop before they finish Enter AA VL100 100 100 100 100 100 100 100 MR1000 2000 3000 4000 5000 6000 7000 8000 GO wait awhile SA VME58 User s Manual 5 COMMAND STRUCTURE SD KL STOP AND RESET DONE MOVE TERMINATION COMMANDS The SD command may be substituted for the SA command It will reset the done flags then proceed to stop all axes This allows the host to be interrupted when all axes have stopped by using the ID command after the SD The SA ID combi nation may flag the completion early if one of the axes is already done from a previously executed ID QUEUE REQUIREMENTS Flag a done when all axes have stopped MODE AX AS Flush 2 AA AM Flush 2 AA CD Not valid Example Enter AA SD ID KILL The KL command will flush the command queue and terminate pulse generation of all axes
4. TABLE A QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 4 7 AA AM 5 8 AA CD Not valid TABLE B ADDITIONAL ENCODER QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 0 0 0 AA AM 6 15 15 AA CD Not valid Example In the single axis mode move the X axis to absolute position 12345 Enter AX MA12345 GO Example In the AA mode move the X axis 2468 steps in the positive direction and the Y axis 2468 steps in the negative direction Enter AA MR2468 2468 GO 5 30 VME58 User s Manual 5 COMMAND STRUCTURE MOVE EXECUTION COMMANDS GD GO and RESET DONE The GD command may be substituted for a GO command It will reset the done flags then initiate the move which has been previously programmed with such commands as MA MR MT and ML just as the GO command does In the single axis mode only the done flag for the selected axis will be reset In the AA mode all the done flags will be reset In the AM mode the axes involved in the move will be reset This allows the host to reset the interrupts on the axis involved in the next move without affecting other axes which may be still active Note that this command is probably only useful in applications where commands are queued in advance since the interrupt may be reset before the host has the opportunity to service it if the GD command is waiting in the queue To find the total queue requirements for a specific application find the appr
5. QUEUE REQUIREMENTS MODE AX AT 1 AU AS Not valid AA AM Not valid AA CD Not valid Example Send DONE when stepper axis is within deadband Enter AX HV1000 HG100 HD10 HN MR1000 GO IP DONE will occur after move is complete and in position VME58 User s Manual 5 45 MOVE SYNCHRONIZATION COMMANDS IC CA 5 46 5 COMMAND STRUCTURE INTERRUPT CLEAR The IC command is used to clear the done and error flags in the status register and the done flag register otherwise the axis would always appear to be done This command will be executed immediately and will usually be placed in the done and error handler interrupt service routine to clearthe interrupt and the associated flags The flags may be polled by an RA or RI command which will also reset the flags QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Clear the flags after an X axis move relative of 5000 steps was flagged as done when an ID executes Example Enter AX MR5000 GO ID done flag set IC CLEAR AXIS DONE FLAG The CA command operates like the IC command except it clears the done flag of the addressed axis only QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example After a multi axis move clear the Z axis done status only Enter AA MR1000 2000 3
6. SUMMARY OF COMMANDS IN CHAPTER 5 SECTION COMMANDS PAGE COMMAND DESCRIPTION NUMBER RL 69 Return slip status return slip detection status of each axis Remainder return remainder of position divided by RM 29 parameter in position counter RP 51 Request position return current position RQ 52 83 Request queue status return number of queue entries available RS 15 Reset software reset of VME58 Report position in user units return current position in RU 56 user units RV 56 Request velocity return current velocity at which the axis is moving SA 34 Stop all flush queue and stop all axes with deceleration Stop and reset done stop all axes and clear any done gt D 25 flags Settling time set settling time before power is reduced in PA SE 18 mode SF 11 Soft limit off restore normal overtravel operation SL 11 Soft limit allow pulse train to ramp down on overtravel Stop at position stop at specified position if possible SP 76 after all commands have been executed ST 34 Stop flush queue and decelerate to stop SWE 48 Sync wait wait for the input bit to be released by other controllers TF 68 Slip tolerance kill off disable the TN command Slip tolerance kill on flush the command queue TN 67 terminate motion and disable position maintenance UF 57 User off turn off user unit translation UN 14 Unipolar set the analog and PWM torque outputs to unipolar User units multiply acceleration velocity
7. 6 1 onc pcc 4 10 5 42 a xcv MEET 5 71 one c e dob e E sob a eee ty S e S ots oot td 5 63 dex den irure Bee eu te ded ue 1 1 3 4 m 5 46 IDs sie Rig E Be et BE 5 44 chines 5 44 TIN e Eee Red dye eua REA 5 45 Inputbufter fll ovate 5 ee eee RS Rita Be A ned eg RAE E 3 3 Inputs ic ge eon fee Cn Qi Hee at Me Ge om E S eee e re ie Se e 4 9 INTEGRAL GAIN COEFFICIENT 5 58 Interrupt acknowledge 3 10 INTERRUPT GLEAR Goad tae mm Boe Me i ac es odis 5 46 INTERRUPT DONE i Room we eee a ee Dee Dee 5 44 INTERRUPT INDEPENDENT 5 44 INTERRUPT NEARLY DONE 5 45 INTERRUPT ON SLIB 2 5 em D iom ues Race RU Bw ux UA a ELS 5 68 Interruptrequests 3 6 Interr pt selectior eth ee A Pe ee ee REX 2 2 Interrupt vector register 3 10 INTERRUPT WHEN IN POSITION 5 45 5 66 Intett pts deve m See Km esque v IS de eoi ed 2 2 3 1 3 3 3 5 Introd ctioriz ui ue Se i Ee RP Rd xum oo ds 1 1 IO58 adaptet
8. GNOME 5 2 AXES MULTITASKING 5 3 AXIS Eire ret dee ane d rs ie ta hig a 5 6 AXIS autem xxv e ow gie ex de th ds 5 7 Axis specification commands 5 2 5 7 AXISST Gem ad ease Cd ge Ts Ws ae Rain d REIR m 5 5 AMIS ure Mio acti S 5 5 AXIS sacs ae ed aie durer eos d hac ded CREW OR P d dpa erus 5 6 d cp MT ELLE 5 3 AXIS Ys Se ay tcu eae d ide RUE utat A tas deg cer a cata 5 4 AXIS OA ree Ar ea o dd Mia EE Me erbe 5 4 BY ue Y utum Qs fe i d edat ed te dedere Ih ds Pb 5 4 n fe ero d rc AD cr Li Ret xd E tre tus 5 4 B Bl auus ac rue ae at See oes e ose Fen Arv Gas dev rrt da deaf dio abeo ovde dn 5 19 5 78 I MEME TANDEM ML ME qm 5 14 BIPOLAR Ruben iet Ye bee Qc e duo Gre dace a ded Te aeter T ds 3 8 5 14 VME58 User s Manual 1 INDEX BE HIGEU as de o CEP We dux Reo ES 5 19 5 78 BIRLOW S read cee hay rent ee re hir adu et e rud e pea ROS E PRA 5 19 5 78 BIT REQUEST IN EIEX onem ga Rh Pe e Gea 5 20 5 52 Bl hune
9. X 9IG 4315 A WMd 4315 4 310 2 91 2 4315 2 1 1 4315 1 910 mii 193135 TXXXXXXXXXXXXXXXXXXXXXXXXXXXXXxx XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXxx XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXxx 4315 4315 9IG n n e D 2 t 4X x Xr s S WMd 4X 910 4X Xp a31s i T3 s 910 4318 S N S 3Xxu 1937135 WMd d31S 4 4315 4X Xf 021 11 8 Xxx 193135 1081 02 JOTONY7 7911910 JONAS LIMIT 811 0 1 2 p 0 1 2 071 9 071 1 041 5840151534 S 07I dN 11Nd 0 1 071 v 07I 2 071 0 071 SIXU A 51 9 2 51 9 1 51 9 51 9 SIXU SIXU S XXXXXXXXXXXXXXXXXXXXXXXXX X X X X XK X XK XK XK XK XK XK XKX XK XXX XX XXX X x XXXXXXXXXXXXXXXXXXXXXXXXX XXXXXXXXXXXXXXXXXXXXXXXXX 3 15 VME58 User s Manual MAILBOX FEATURE 3 VME BUS INTERFACE This page intentionally left blank 3 16 VME58 User s Manual 4 DRIVER INTERFACE INTRODUCTION 4 DRIVER INTERFACE 4 1 INTRODUCTION The 58 is available in several configurations to manage combinations of servo and Step motor systems The front panel connector uses 0 025 inch square posts on 0 05 by 0 10 inch centers The mating connector is an AMP Inc part number 749621 9 with a 749081 1 hood and strain
10. Eid ab ed GR Ld deu Ave Re ES d 5 19 5 78 woes NOS RE eue RR Neh mRNA 3 1 BX Id a eer sir e Rope Cup ds 5 20 5 52 C cani ia dues au atio denen YR ong ac eae SR de Kev Bent ane aen 5 46 OD bud e ute quedo bb hoe Ba Pe e mb 5 79 esee ui mud e e ae meh RE eb DM e REX Rare d 5 80 1 5 1 5 81 esd mei Gnd Rea Ret tat wea sah uie senio Rid 5 80 CLEAR AXIS DONE FLAG 5 46 GLEAR WHILE me eme Au ec get le ias d 5 40 dye Ned edu 5 12 Command queues 7 27 iue Rx Rd Ru adve BORRAR do Neu LAS 5 2 Command structure 5 1 5 87 Command summary 5 84 5 87 Communication channel 3 10 3 13 Constant VElOGCIY RR Gee et a em I car C od LATO 1 1 Constant velocity contouring 5 1 5 77 5 83 CONTOUR DEFINE 4 0 o ot Ae a ee he 5 79 GONTOURVEND rh Si qo AS a aie RE ee 5 80 CONTOURENDANDKILL 0 5 80 CONTOUR EXECUTE s ss e ee 5 82 CONTOUR VELOCITY undue Ee A ee Roe X ES 5 81 C
11. et ch Re ae A ee D ee oe eh eG 4 10 d mI CT 5 33 FLUSH QUEUE i ta mex mte ob DR yh GA EY erm dk 5 33 FORCE POSITION art teh ae Bleed esr te PN 5 76 EP tomen aa tee nh at evt ku be cn fhe tla pur 5 76 Functional description amo RE x Rh A RI Re RO Rs RDUM 1 1 Fundamental memory 3 1 Fusediprotectiol b 4 a0 d bue ed RE ae tua ela Ga due Y 4 9 G C WS RE RETE EET lm 5 31 Getting started lt a o Tee DO A 2 1 2 14 corn 5 1 5 30 GOLANBD RESET DONE ERE Ro dale oe RAT eqs 5 31 H Hardware installation 2 7 2 9 ro TT 5 64 cee whe DOR cae n aeta denied ur o ap ENS aye 4 10 5 71 eng dcs mod m QUA ok le eee x dad 4 5 65 5 69 5 70 Sea aie Irc ate lan SE 5 64 eee a Bare Seba ite ai bata ad or 4 10 5 9 VME58 User s Manual 3 Du Else Guar Bee RO UH Wa Ne ob RR eu 4 10 5 9 sedes hag Myce pner gad dey er X eT Eos pt RE eec
12. NIE PME 5 54 esce ee dun ete s eds ed a Nee deua im ede Eu qe EUN d 5 55 Goadri x 2 4 5 Tear bos Oe es ies des Dur ds de a odis f Ae 4 9 4 10 QUERY AXIS x s A oret eve e CE Be tw 5 54 QUERY INTERRUPT STATUS 5 55 R RAS aea dre cup ecu P A eu ru RD Vedi EA Nue ted 5 53 easet ues name tae se Arcs mx 5 20 RG BPS Ae teas ene Wr eR ee Tesch Gade ok 5 55 eM oP er Mer Sm ae oD mn am ly dy Mek De erc 5 73 HegisterS Sree EM Que EU Pe e RO i Be Re bere e BS 3 4 REMAINDER RI Leave redis oh Iv ete 5 29 Repair procedures 2 2 moe bm YO Y om mU OR Um Rm Red B 1 REPORT POSITION IN USER UNITS 2 2 5 56 REQUESTAGCELERATION N PX eheu 5 55 REOQUESTAXIS STATUS gt esu xus nS ee e Boat s Reo tego eA Sok tese tt ef onn 5 53 REQUEST BIT DIRECTION 5 20 REQUEST ENCODER POSITION 5 73 REQUEST INTERRU PT STATUS ue urs es eder apt deu th eine 5 54 REQUEST POSITION A ai ee E aT EUR 5 51 REQUEST QUEUE STATUS 5 52 5 83 REQUEST VELOCITY
13. RO UR BEER Xo 5 1 COMMAND QUEUES 5 2 AXIS SPECIFICATION COMMANDS 5 2 SYSTEM CONTROL COMMANDS 5 8 USERI OCOMMANDS es 5 16 MOVE SPECIFICATION COMMANDS 5 21 MOVE EXECUTION COMMANDS 5 30 MOVE TERMINATION COMMANDS 5 34 LOOP CONTROL COMMANDS 5 36 HOME AND INITIALIZATION CONTROLCOMMANDS 5 41 MOVE SYNCHRONIZATION COMMANDS 5 44 SYSTEM STATUS REQUEST COMMANDS 5 50 USER UNIT COMMANDS 5 57 PID FILTER CONTROL COMMANDS 5 58 POSITION MAINTENANCE COMMANDS 5 63 SLIP AND STALL DETECTION COMMANDS 5 67 ENCODER TRACKING COMMANDS 5 70 ENCODER HOME CONTROLCOMMANDS 5 71 ENCODER STATUS REQUEST COMMANDS 5 72 VELOCITY STAIRCASE COMMANDS 5 74 CONSTANT VELOCITY CONTOURING 5 77 COMMAND SUMMARY 5 84 6 HOST SOFTWARE INTRODUCTION Rs hs 6 1 7 SERVICE USER SERVIGE RU eue uter Re am don eee ay As eek aoe ERI 7 1 THEORY OF OPERATION Bee Eu Te we vu 7 1 ii VME58 User s M
14. 4 5 4 4 1 FUSED PROTECTION The external 5VDC supply available at the connectors J29 and P2 of the VME58 is protected by a semiconductor type fuse This supply is intended to be utilized with accessories used in conjunction with the VME58 such as the 1058 module motor driver modules etc and is specified to supply a maximum current of 1 amp for these purposes If an over current situation such as an external short circuit is detected by the fuse the supply will shut down It can be re activated by powering the VME58 down ensuring the over current situation has been removed and by powering the VME58 back up again As the fuse is a semiconductor device it never has to be replaced and requires no maintenance ENCODER FEEDBACK Incremental encoder feedback is provided for all servo axes and is optional for the stepper axes The encoder option accepts quadrature pulse inputs from high resolution encoders at rates up to 2 MHz after quadrature detection The VME58 monitors actual position through the encoder pulse train It then continuously calculates the position error on the servo axes and adjusts the output based on that error The stepper axes will monitor the error and correct the position after the move is finished All modes are capable of slip or VME58 User s Manual 4 9 ENCODER SELECTION AND COMPATIBILITY 4 DRIVER INTERFACE stall detection and encoder tracking with electronic gearing These options are selectable b
15. See When bit 6 of the control register is enabled I O bits 0 and 1 will generate an interrupt to the host when configured as inputs and triggered with a high to low signal The interrupt is reset by the BX command or by reading the I O register at offset OFE5 Table 3 6 USER I O REGISTER DESCRIPTION 0 7 BIT DESCRIPTION Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 3 4 4 SLIP FLAG REGISTER The slip flag register is a read only register from the VME58 The status bit indicating the slip status of each axis is defined in Tdble 3 7 These bits are written by the CPU on the VME58 when a slip is detected A one indicates a slip The host can then read it at any time to determine its status All bits in the register are reset when the register is read Refer to Secfion 5 16 for slip detection commands Table 3 7 SLIP FLAG REGISTER DESCRIPTION BIT DESCRIPTION Status of X axis Status of Y axis Status of Z axis Status of T axis Status of U axis Status of V axis Status of R axis ci Status of S axis VME58 User s Manual 3 7 VME58 REGISTERS 3 VME BUS INTERFACE 3 4 5 DONE FLAG REGISTER The done flag register is a read only register from the VME58 The status bit indicating the done status of each axis is
16. ze Sedo d Es ud ue dud 5 56 RESET eue ubere d ue er 3 1 5 15 RETURNISLIP STATUS IERI Rb ime due e Rs 5 69 Ri en Sek Ste 5 54 ma m gt ee 5 69 aue ei tert a Ee es Xt Be TR de Bd 5 29 a oh Tex 5 51 eR Boney e a rdum OUT ee ai d 5 2 5 52 5 83 VME58 User s Manual 7 fuck ae QC pu Se awe RU ah HON Se dn BIS dos RO I diea 5 56 FM IN he wy Sacre level ws na Sate EM ay Boh he Eden eye ca es andes NN ER d 5 56 S SAC ud ao quedo d e arduo Fahad Brem ga dt ons d 8 ow wee ee Ae 5 34 SD 2 ve ot yee id ne ee Be eee dee 5 35 S cha dM oe dite Oh Ad he tfe d 5 18 SENICE eee eek on hey eed EE Mu hem ENE EE INO 7 1 SEVO diVer ea ae fects Brand GU Sloot Tatius aoa Be Qed De eR EME DR 4 1 SERVO SYSTEM CONNECTION AND CHECKOUT 2 10 SERVO SY STEM TUNING i 3 RR AS aoe Ee 2 12 SETTEING TI
17. 10V Input Auxiliary Inhibit Analog Gnd Signal Gnd Pose nit ram au Signal Gnd Neg Limit 14 v 1590 Logic Supplu Figure 4 1 ANALOG SERVO CONFIGURATION 4 T shows the system connections for a typical analog servo configuration 1058 Je 5U 1 A8DD Phase At Phase A Index 4 Motor Index 20 to 80VDC N 5 20 to 8 VDC Phase B EO hore Supply Ground Phase B 11 Current Limit Gnd Current Limit Axis Output 3 PWM Input Direction Direction Auxiliary Inhibit Analog Gnd c1e Signal Gnd Pos Limit 5 45U Neg Limit Figure 4 2 SERVO CONFIGURATION 2 2 Shows the system connections for a typical PWM servo configuration VME58 User s Manual 4 7 1058 ADAPTER MODULE 4 DRIVER INTERFACE MOTOR 24V TO 6 DC MH10 NC T NEN SUPPLY CND 24 TO 60 VDC PHASE PHASE B NC PHASE C PHASE D 5 229 NC O CONTROL DIR 12 DIRECTION STEP 62 STEP PULSE aux 13 5VDC POS 2 CURRENT SET pa lt GROUND 50 GND 59 CURRENT SET RESISTOR Re OPTIONAL STANDBY RESISTOR m Figure 4 8 VME58 MH10 INTERCONNECTIONS Figle 4 3 Jows the system connections for a typical stepper configuration 4 4 1058 ADAPTER MODULE The optional 1058 is an adapter module designed to provide separate connectors for each axis It includes a 3 meter cable with the mating connector
18. AX JG5000 WT2000 JG10000 WT3000 WQ ST VME58 User s Manual 5 49 SYSTEM STATUS REQUEST COMMANDS 5 COMMAND STRUCTURE 5 12 SYSTEM STATUS REQUEST COMMANDS These commands allow the host to request the status of various move parameters including the status of limit and home switches The commands identified with an are for backward compatibility with previous generation OMS controllers and should not be used with new designs Other preferred mechanisms such as reading directly from the dual port RAM are available for this data WY WHO ARE YOU The WY command returns the model type firmware revision number and number of controlled axes of the board being addressed surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example You want to examine the board information Enter WY Response lt LF gt lt CR gt VME58 ver 2 00 4S4 lt LF gt lt CR gt 5 50 VME58 User s Manual 5 COMMAND STRUCTURE RP REQUEST POSITION SYSTEM STATUS REQUEST COMMANDS The RP command returns the current position of the currently addressed axis in the single axis mode or all positions separated by commas in the AA or AM modes The position will be returned to the host via the data port in ASCII format This command is not queued i e the current position will be returned immediately even if the axis is in motion The res
19. GENERAL DESCRIPTION INTRODUCTION Xx OR RR Xe Res 1 1 FUNCTIONAL DESCRIPTION 1 1 VELOCITY PROFILES REED eR RR im 1 1 2 GETTING STARTED INTRODUCTION 2 1 JUMPERS a qaot ah ren db PUE Mew euis sog Ee but gue d 2 1 ADDRESS SELECTION EE es Ga ee ME So E CS 2 1 INTERRUPT SELECTION AR eee ee thee YE 2 2 LIMIT POLARITY SELECTION 2 3 MOTOR CONTROL CONNECTORS 2 3 USER VO CONFIGURATION 2 3 OUTPUT SIGNAL OPTIONS 2 2 00000000 2 6 HARDWARE INSTALLATION 2 7 PID FILTER CONTROL COMMANDS 2 10 SERVO SYSTEM CONNECTION AND CHECKOUT 2 10 ENCODER CONNECTION AND CHECKOUT 2 10 MOTOR AMPLIFIER CONNECTION AND CHECKOUT 2 11 SERVO SYSTEM TUNING 2 12 3 VME BUS INTERFACE VME BUS xoa eS NEL Era EN RM 3 1 ur t ue d a tna cu 3 1 ADDRESS BUS RR AUR XL dum E eue e es 3 1 CONTROL EINES eder posteo Rete 3 1 SYSRESET 4x 4 gotten gh dee ee UU ag 3 1 INTERFACE THEORY OF OPERATION 3 3 BOARD ADDRESS SELECTION 3 3 USING INTERRU
20. MODE AX AS Immediate AA AM Not valid AA CD Not valid VME58 User s Manual 5 COMMAND STRUCTURE KD KV PID FILTER CONTROL COMMANDS DERIVATIVE GAIN COEFFICIENT This term is used to provide damping and stability Low values tend to produce systems with fast response but may lack stability as evidenced by ringing or oscillations High values produce systems with excellent stability but slightly slower response High values may also allow the use of higher Proportional Gain for greater accuracy without oscillations The default value is 6 0 the minimum value is 0 0 and the maximum value is 1999 9 One digit to the right of the decimal place is allowed QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid VELOCITY FEEDFORWARD COEFFICIENT This term is used in conjunction with velocity controlled servos voltage mode servo amplifiers This term is used to cancel position errors that are a result of high speed operation since large errors are required to generate the high voltage required for high speed Too large a value of KV may result in erratic operation after command velocity changes The default value is 0 0 the minimum value is 0 0 and the maximum value is 1999 9 One digit to the right of the decimal place is allowed QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid
21. lt LF gt lt CR gt VME58 ver 2 11 8S LF CR which are 0A 0D 56 4D 45 35 38 20 76 65 72 20 32 2E 31 31 2D 38 53 0A OD Areal application would then increment the Input Get Index by the number of words that have been read This last action tells the VME58 this portion of the Input Buffer may now be reused but is not required for installation checkout Connect the motor drivers to P2 or J29 see Section 4 Send motion control commands to the VME58 board and see that the motors move If not double check your wiring ensuring that everything is properly connected VME58 User s Manual 2 9 PID FILTER CONTROL COMMANDS 2 GETTING STARTED 2 10 PID FILTER CONTROL COMMANDS OMS PC58 and 58 series motion control boards with servo control axes use enhanced PID filter algorithm to compute the output signal that drives the servo amplifier The input to the filter algorithm is the position error ER which is computed from the difference between the command position and the encoder position The formula for calculating the output is where OUTPUT KP ER KI ES KD ED KV Vel KA Ac KO ER position error ED difference between current position error and the previous position error ES summation of position error over the interval set by KN Vel command velocity Ac command acceleration The coefficients are defined in the Command Structure section ee 5 T4 2 10 1 SERVO SYSTEM CONNECTION AND CH
22. 18 ENCODER HOME CONTROL COMMANDS HS HOME ENCODER The HE command enables encoder index mode when an HM KM KR or HR command is executed Home is defined as the logical AND of the encoder index the external home enable and the encoder quadrant where channel is positive and channel B is negative The external enable is low true i e the HH and HL commands are not valid in this mode This command is available for encoder axes only The home logic expressed in boolean terms is home phase A phase B index home switch QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid Immediate AA AM Not valid AA CD Not valid Example Set up the Y axis so it will use the encoder signals to recognize the home position Enter AY HE HOME SWITCH The HS command enables VME58 home switch mode to determine where home is when an HM KM KR or HR command is executed default at power up or reset This mode can also be used with encoders which contain internal home logic by connecting their output to the VME58 home input for the appropriate axis The active level of this input may be controlled by the HH and HL commands QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid Immediate AA AM Not valid AA CD Not valid Example Set up the Y axis so it will ignore the encoder signals and only use the home input to recog
23. 5 47 RE eed ig euh e che toes 1 Sees ch ex o Gro Eb Pee AC M RR 5 38 Rosas T 5 40 WA mus opm dr qd ade ey m WB a Re d HD je at ap o SE 5 39 WHEE S direi ea Le Eo ae Dea a 5 39 WALE END scing atia irn xoa Qo t rp t Pet rep Rn EDUC ae ar ids 5 38 WELE FENT 52 255 em pudo Ss Ente MG tie Ae o ais 5 40 WHIEE SYING oto e deer o ipe Rue iude m sera aie MB RC ROS nos 5 38 WHO ARE YOU cr RR C cxt ERR I RR Nul docu dn 4 5 50 sce oet eie hoe biet des tac iN epe a eem Te eti UP caedes ed hes ter epe hy hi 5 47 UR fe te dies a the gaa Mee T 5 38 LETT pep M 5 49 Murus dete asl RE B bs um ote dT 5 50 5 72 VME58 User s Manual 9
24. 99 S Positive Limit S Home 50 100 S Negative Limit VME58 User s Manual 4 DRIVER INTERFACE DRIVER OUTPUT Table 4 4 VME58 4E OUTPUT CONNECTOR PIN LIST J29 FUNCTION PINS FUNCTION User 0 1 51 5VDC User I O 2 2 52 User I O 1 User I O 4 3 53 User User I O 6 4 54 User I O 5 User 8 5 55 User I O 7 User I O 10 6 56 User I O 9 User I O 12 7 57 User I O 11 User 13 8 58 Ground Analog Ground 9 59 10 60 Ground 11 61 X Direction 12 62 X Axis Step Output X Auxiliary Output 13 63 X Positive Limit X Home 14 64 X Negative Limit 15 65 16 66 Y Axis Step Output Y Direction 17 67 Y Positive Limit Y Auxiliary Output 18 68 Y Negative Limit Y Home 19 69 5VDC Analog Ground 20 70 Ground 21 71 22 72 Z Axis Step Output Z Direction 23 73 2 Positive Limit Z Auxiliary Output 24 74 Z Negative Limit Z Home 25 75 26 76 T Axis Step Output 27 77 T Auxiliary Output T Direction 28 78 Positive Limit T Home 29 79 T Negative Limit Analog Ground 30 80 5VDC X Phase A 31 81 Ground X Phase B 32 82 X Index 33 83 34 84 35 85 Y Phase A 36 86 Y Index Y Phase B 37 87 38 88 39 89 40 90 5VDC Analog Ground 41 91 Ground Z Phase A 42 92 Z Index Z Phase B
25. COMMAND STRUCTURE PF VME58 User s Manual SYSTEM CONTROL COMMANDS PARABOLIC OFF The PF command restores all axes to linear acceleration and deceleration ramps This is the default mode at power up or reset See Section T forjan explanation of velocity profiles This command should not be given while an axis is in motion or the results may not be predictable This command turns off the PN and CN modes This command affects all axes even if issued in the single axis mode This is the default mode at power up or reset QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Turn off cosine or parabolic ramps returning to linear Enter PF PWM PERIOD The command sets the period for the PWM output signal The command argument is in microseconds Valid command arguments are greater than 20 us and less than 7812 us The default PWM period is 40 us QUEUE REQUIREMENTS MODE SERVO AX AS 3 AA AM Not valid AA CD Not valid Example Set up servo axis X for unipolar PWM operation with a period of 2000 us Enter AX UN PI2000 HG5 200 100 HN SYSTEM CONTROL COMMANDS UN 5 COMMAND STRUCTURE BIPOLAR The command sets the analog and PWM torque outputs to bipolar When bipolar is selected a zero torque reference will result in a 50 PWM duty cycle A negative torque reference will result in less th
26. D13 BG1IN D05 7 D14 BG1OUT DO6 8 D15 BG2IN 007 9 GROUND BG2OUT GROUND 10 SYSFAIL BG3IN SYSCLK 11 BERR BGS3OUT GROUND 12 SYSRESET BRO DS1 13 LWORD BR1 050 14 5 BR2 WRITE 15 A23 BR3 GROUND 16 A22 AMO DTACK 17 A21 AM1 GROUND 18 A20 AM2 AS 19 19 AM3 GROUND 20 A18 GROUND IACK 21 A17 SERCLK IACKIN 22 A16 SERDAT IACKOUT 23 A15 GROUND AM4 24 A14 IRQ7 A07 25 A13 IRQ6 A06 26 A12 IRQ5 A05 27 A11 IRQ4 A04 28 A10 IRQ3 A03 29 A09 IRQ2 A02 30 A08 IRQ1 A01 31 12VDC 5VDC STDBY 12VDC 32 5VDC 5VDC 5VDC low level active indicator 3 2 VME58 User s Manual 3 VME BUS INTERFACE BOARD ADDRESS SELECTION 3 1 5 INTERFACE THEORY OF OPERATION The VME58 occupies a 4k block of memory designed to exist in the short address space J61 is a jumper block used to select the address modifiers for the short address space and the 4k block within that address space Note that only address bits below A16 are decoded If the VME58 is mapped into an address modifier space other than the short address space the VME58 will alias at the higher address within that block of memory After power is stable and configuration is complete the VME58 writes a one to the INIT bit of the status register The host would read the status register at offset address OFE3 and check this bit before sending any other information to the VME58 The next thing the host should do is send a WY Who are You to
27. In the single axis mode set the X axis velocity to 10 000 counts per second per second Enter AX VL10000 Example In the AA mode set the peak velocity of the X axis to 5 000 and the T axis to 50 000 and leave the other axes with their previous values Enter AA VL5000 50000 VME58 User s Manual 5 COMMAND STRUCTURE VB VELOCITY BASE MOVE SPECIFICATION COMMANDS The VB command allows the velocity ramp to start at the specified velocity This allows faster acceleration and the ability to pass through resonance quickly in some applications The velocity jumps instantly to the specified velocity then ramps as usual The deceleration is the same in reverse This mode is active only for linear ramps It is ignored for cosine and parabolic ramps but not flagged as a command error The parameter must be greater than zero and less than the programmed velocity This command is not valid with the JG command The base velocity defaults to zero at power up or reset QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 2 2 2 AA AM 2 2 2 AA CD Not valid Example In the single axis mode set the Y axis velocity base to 200 Enter AY VB200 Example In the AA mode set the X and Y axes velocity bases to 200 Enter AA VB200 200 VME58 User s Manual 5 23 MOVE SPECIFICATION COMMANDS 5 COMMAND STRUCTURE LP 5 24 LOAD POSITION The LP command will immediately loa
28. LIMIT The SL command changes the operation of the limit inputs causing the output pulse train to ramp down instead of terminating immediately The output queue is not flushed except for the current move This mode is effective for point to point moves only This command is valid in the single axis mode only but affects all axes simultaneously QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example Set up a board to allow each axis to ramp to a stop when a limit is encountered Enter AX SL SF SOFT LIMIT OFF The SF command restores the normal operation of the limit switches This is the default mode at power up or reset QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example Set up a board to make each axis stop immediately when a limit is encountered Enter AX SF VME58 User s Manual 541 SYSTEM CONTROL COMMANDS CN PN 5 COMMAND STRUCTURE COSINE ON The CN command enables cosine velocity ramps i e half sinusoid acceleration profiles for all axes The cosine is not truncated in moves that do not reach full speed See Secfion TforJan explanation of velocity profiles This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single axis mode Because of the excess processing overhead involved
29. VME58 User s Manual 5 59 PID FILTER CONTROL COMMANDS KA KO 5 60 5 COMMAND STRUCTURE ACCELERATION FEEDFORWARD COEFFICIENT This term is used in conjunction with torque controlled servos current mode servo amplifiers Systems with high inertial loads may require additional torque during acceleration deceleration to achieve optimum performance The default value is 0 0 the minimum value is 0 0 and the maximum value is 1999 9 One digit to the right of the decimal place is allowed QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid OFFSET COEFFICIENT This term provides a constant output to compensate for any torque offset in the load The default value is 0 0 the minimum value is 127 9 and the maximum value is 127 9 One digit to the right of the decimal place is allowed QUEUE REQUIREMENTS MODE AS Immediate AA AM Not valid AA CD Not valid VME58 User s Manual 5 COMMAND STRUCTURE PID FILTER CONTROL COMMANDS KK COMBINED COEFFICIENT This term provides a short cut method for setting PID filter parameters The coefficients set by this command are KP KK KD 3 KK 2 KK The default value is 2 0 the minimum value is 0 1 and the maximum value is 1999 9 QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid POS
30. allowing better resolution at low speeds The velocity set by this command will remain the default velocity until altered by a VL JG or another JF command QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 2 3 AA AM Not valid AA CD Not valid Example Jog the Y axis at 22 3 counts per second Enter AY JF2 667 FLUSH QUEUE The FL command will immediately flush the command queue The output will continue to run at the velocity it was traveling when the FL command was issued until another command is executed The FL command is valid only in the single axis mode QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS Unused Immediate AA AM Not valid AA CD Not valid VME58 User s Manual 5 33 MOVE TERMINATION COMMANDS 5 8 5 COMMAND STRUCTURE MOVE TERMINATION COMMANDS The following commands allow termination of move sequences in process ST SA 5 34 STOP The ST command flushes the queue for the current axis only in the single axis mode and causes the axis to decelerate to a stop at the rate previously specified in an AC command This command is used to stop the motor in a controlled manner from the jog mode or an unfinished GO or GD command This command is executed immediately All status and position information is retained When executed in the AA mode the ST command is equivalent to the SA command
31. alter predefined acceleration and velocity values These values should be redefined if you go from an interpolated move to a non interpo lated move such as an MA or MR type in both single axis or all axes modes QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS Not valid AA AM 6 30 30 AA CD 4 number of axes Example Enter Example Enter In the AA mode move the X Y and T axes to absolute positions 1000 10000 and 100 counts respectively with each starting and finishing together The unused axes remain in their previous posi tions AA MT1000 10000 100 GO Define a contour to move the X and Z axes at a constant velocity between three points CD100 200 MT1000 1500 MT2000 3000 MT3000 3300 CE VME58 User s Manual 5 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS MO RM MOVE ONE PULSE The MO command will output one step pulse in the current direction do not use the GO command The direction may be reversed by use of the MM or MP command This command generates the output pulse in one sample interval and thus eliminates the latency of generating a ramp with an MR1 GO command sequence This command is not available in models with an encoder option QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example Move the Z axis one pulse in the negative direction Enter AZ MM MO
32. any other change in direction is possible within the mechanical constraints of the system All corners must be defined by arcs and tangents to those arcs else the change in direction will be instantaneous and generate very large accelerations The arc radius must be chosen so that the acceleration constraints of the system are met AF AUXILIARY OFF The AF command may be used within a contour definition allowing control of other devices at any instruction within the contour The AA mode syntax is used Any auxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD 2 Example see CD command page 5 79 AN AUXILIARY ON The AN command may be used with a contour by using the AA mode syntax as above Any auxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD 2 Example see CD command page 5 79 VME58 User s Manual 5 77 CONSTANT VELOCITY CONTOURING BL The BL command sets the selected general purpose output on i e logic low MODE AX AS 2 AA AM 2 AA CD Not valid Example se
33. backplane The host computer or expansion box must be capable of supplying 1 75 amps typical for operation of the VME58 board CAUTION Under no circumstances should the card be installed in the com puter with the power on 3 6 COMMUNICATION CHANNEL The VME58 uses a 4K byte dual port RAM for communication with the host computer 256 character input buffer and a 256 character output buffer are available The input and output buffers are circular queues The host computer maintains its output pointer to the output buffer which is also in the dual port RAM and the input pointer to the input buffer It can compare the input to the output pointer to determine if there is input data available and space for sending output data Data relevant to the motion process is also available in the dual port RAM to allow the host to monitor the process Data such as position velocity and acceleration are available in real time 3 TZ siows the offset assignments For communication purposes the dual port RAM supports word accesses only Thus any character written to the output buffer is extended to a word i e 2 bytes Thus the 256 character buffer actually occupies 512 bytes 256 words of memory in the dual port RAM 3 6 1 THEORY OF OPERATION To send a command to the VME58 the host would first read the Output Put Index and then the Output Get Index and compare the two to see if there is space available for more characters and the Outp
34. bits 0 2 3 4 and bits 0 or 1 of the I O register when the appropriate bit in the control register is set When an interrupt occurs the host would read the status register to determine what caused the interrupt If bit 6 of the control register is set and an interrupt occurs the status register may indicate that there is no error no bits set then the I O register at offset OFE5 should be read for the status of bits 0 and 1 See 3 6 Table 3 5 STATUS REGISTER DESCRIPTION BIT CONTROL DESCRIPTION Command Error Initialized power up complete Encoder Slip Overtravel Encountered Done Direct Interrupt Request Status to the VME58 Reserved Unused Interrupt Request Status 3 4 3 USER DEFINABLE I O REGISTER 0 7 The first 8 user I O bits logic states are reflected in this read only register It may be read at any time to determine the current states of bits 0 through 7 regardless of whether the bits are configured as inputs or outputs The RB command will return the I O bit s configuration The state of the bits may be changed with the BH and BL commands See Secfion 5 Tor more information Bits O and 1 are latched by an active low state and are cleared by an 3 6 VME58 User s Manual 3 VME BUS INTERFACE VME58 REGISTERS execution of the BX command or by reading the I O register at address offset OFE5 All other user inputs are unlatched
35. by line feed and carriage return pairs Output bits return a 1 while input bits return a O Note I O bits 12 and 13 are dedicated outputs and cannot be configured as inputs Therefore the hex digit third from the left will always be a 3 QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example Factory default settings have bits O through 7 as inputs and 8 through 13 are outputs Verify this with the RB command Enter RB Response lt LF gt lt CR gt 3F00 lt LF gt lt CR gt VME58 User s Manual 5 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS 5 6 MOVE SPECIFICATION COMMANDS These commands allow specification of move parameters They allow move parameters to be tailored to the user s system requirements AC ACCELERATION The AC command sets the acceleration deceleration register to the operand which follows the command The parameter must be greater than zero and less than 1 000 000 000 All the following move commands for the axis being programmed will accelerate or decelerate at this rate until another AC command is entered All acceleration registers default to 200 000 units per second per second upon power up or reset The acceleration register may be automatically modified by the VME58 if an ML or MT instruction is sent in the AA or AM modes The user must then redefine them with an AC command when returning to the single axis mode or when using move c
36. commands for the inactive X and Y axes within the contour definition The AN and AF commands must have commas for all axes since they can all be addressed from within the contour definition Enter AA CV1000 CD 0 0 AN 0 CR0 5000 3 1415926 CRO 0 6 2831853 AF 0 MT 10 10000 CE MT 1000 0 GO CX VME58 User s Manual 5 79 CONSTANT VELOCITY CONTOURING CE CK 5 80 5 COMMAND STRUCTURE CONTOUR END The CE command marks the end of the contour sequence It will terminate the CD mode ramp to a stop and exit to the AA or AM command mode when executed The end of the contour should contain at least a short linear segment just prior to the CE command to initialize the parameters for the deceleration of the stage Example QUEUE REQUIREMENTS MODE AX AS Not valid AA AM Not valid AA CD 1 see CD command on the previous page CONTOUR END and KILL The CK command will end the contour sequence like the CE command except there is no ramp down i e the pulses will stop abruptly This command should be used with caution to prevent the stage from missing steps or loosing its correct position It is used in place of the CE command QUEUE REQUIREMENTS MODE AX AS Not valid AA AM Not valid AA CD 1 Example Same scenario as CD command but we want to end the contour with the minimum ramp down Enter AA CV1000 CD 0 0 AN 0 CR0 5000 3 14
37. contour is executed If the actual position of the stage is equal to the starting position as defined by the CD command the stage will jump to the contouring velocity with no ramp up This could cause the stage to stall if it is not able to accelerate at this high rate t is recommended that some ramp up distance be allowed The distance required may be calculated from the equations in T There is also some ramp down distance as the stage slows from the constant velocity value to a stop This distance is adjustable using the AC command It can almost be eliminated using the CK command QUEUE REQUIREMENTS MODE AX AS Not valid AA AM 0 AA CD Not valid Example The following demonstrates cutting a hole with a 10 000 count radius using constant velocity contouring and circular interpolation The contouring velocity is set to 1000 counts per second A contour is then defined beginning at coordinates 0 0 on the Z and T axes The auxiliary output of the Y axis is turned on which could turn on the cutting torch or laser starting the cut at the center of the circle A half circle is cut from the center to the outside of the hole positioning the cutting tool at the start of the desired hole The hole is then cut the torch turned off the stage stopped and the definition is complete The stage is then positioned and the hole cut with the CX command Note that no commas are provided in the MT and CR
38. e eat er Rei EA 4 10 5 41 hc a ES use erben dar au Rape E rue do vim tides 5 65 HOLD DEADBAND 431mm Abu EE dedu ee 5 64 HOLD FIETER PARAMETERS ix 44044 GORGE EAR EVE ad 5 64 HOLD ace at OE eer Ret A recolere fe tens ve 5 65 5 69 5 70 ROLD ON dye uito eh ad al ieee n pip bd le bd geogr 5 65 HOLD VELOCITY eme Rt ee m ELS US RB XR EROR UE E 5 63 bre IET EqQE EQ RED mais 4 10 5 41 Home and initialization control commands 5 41 5 43 HOME AND KILE a sca RE PAR ded ok Re qoe d ep afd ob oka mobs 5 42 HOME 5 71 HIGEIG 3 ds 2 dod IL o RM rer eed tl oe tu duum 5 9 Home Inputs x ee aie et bdr Eee dn exu e om RR EUR ELE RUE 4 1 EOW dare epe dle bows wh ded adeb e hie ui 5 9 Home procedures ns 4 10 4 14 HOME REVERSE sania aa a aa EE ACE PRESE M Rui doe d 5 42 HOME REVERSE ANDKILL 5 43 SWIECI RE meo TOS rn Ste qusc odo eds oS veu 2 3 5 71 Home switch status register 3 9 HOSL COmputen ws dog OY Gee XD ek IX xo X MUR Ge RUE XC Red x 3 10 Host softWare usw ee ewe wee eee eeu eeu pde re
39. immediately It is intended for emergency termination of any program and to reset the input queues to a known state The motor may not stop immediately even though no more pulses are delivered due to inertia of the motor rotor and load Therefore the position counter may not accurately reflect the true position of the motor following this command The homing sequence should be used to reestab lish the position counters QUEUE REQUIREMENTS MODE AX AS Flush 2 AA AM Flush 2 AA CD Not valid Example Enter Stop all movement and flush all the axes queues because an incor rect movement command was executed AX MR5000 GO oops KL MR 5000 GO VME58 User s Manual 5 35 LOOP CONTROL COMMANDS 5 COMMAND STRUCTURE 5 9 LOOP CONTROL COMMANDS These commands allow move sequences to be repeated within loops Loops can be nested up to four levels deep on each axis LS 5 36 LOOP START The LS command sets the loop counter for the axis being programmed in the single axis mode and all axes in the AA mode The command expects a loop counter operand following the command The commands up to the LE loop terminator will be executed the number of times specified by the operand Loops may be nested up to four levels deep on each axis The parameter must be less than 32 000 The first loop of commands will occur immediately as they are entered The remaining loops will be executed af
40. necessary to reset the velocity and acceleration parameters for the single axis move following a linear move The parameters may have been modified by the VME58 depending on the relative distances of the linear move The ML command should be followed by a GO or GD to start the axes together The velocity and acceleration parameters are scaled to allow the axes to move and finish together All axes are scaled to the axis with the longest move time QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS Not valid AA AM 6 30 30 AA CD Not valid Example In the AA mode move the Y Z and T axes 10000 100 and 1000 counts respectively with each starting and finishing together The other axes remain in their previous positions Enter AA ML 10000 100 1000 GO VME58 User s Manual 5 27 MOVE SPECIFICATION COMMANDS MT 5 28 MOVE TO 5 COMMAND STRUCTURE The MT command uses linear interpolation to move to the specified absolute position The syntax is similar to the ML command This command is invalid while in the CN mode if loops are being used The command will become valid again after executing an ST KL or PF command The MT command is not valid in loops LS LE WH WG WS WD at anytime When used in the contour definition mode only the axes being used in the contour must be provided for in the MT syntax A GO or GD command initiates the move except in a contour The MT command may
41. of the computer Replace the power cord and turn the computer on Do not connect the VME58 to other parts of the system until communication is established with the host for ease in trouble shooting Allow the computer to boot up To ensure that the VME58 is set up for the proper address try to read and write a byte to the VME58 s interrupt vector register at short address FFF1 default See if the value written to it is the same one read back Using your favorite debug utility output the following words to the short address space F804 0057 ASCII W F806 0059 ASCII Y Update the Output Put Index by adding 2 to the existing value at short address F800 This value is 0 after reset This tells the VME58 that 2 new characters have been writen to the buffer No buffer wrap around testing is 2 8 VME58 User s Manual 2 GETTING STARTED HARDWARE INSTALLATION 14 15 required for this installation check out but is required for any real applica tion The VME58 will respond to the WY command by outputting its board name and firmware revision to the input buffer To read the input buffer first read the value of the Input Get Index at short address F802 This value is 0 after reset The Input Get Index is an offset in HEX to the Input Buffer which has its base located at short address F004 If you read sequential words starting at address F004 you should get the hex equivalent to ASCII string
42. position error is computed and applied to a PID filter in the servo models to determine the torque command stepper axes a pulse train is developed to send to the driver module Synchronization of each axis is also handed by the 68332 The commands are written by the host computer into a dual port RAM on the VME58 This memory may be mapped by the host into any desired memory block The command is then parsed and executed immediately or routed to separate command queues for each axis The command queue contains a list of addresses to execute followed by optional parame ters Acommand from the host may be expanded into several commands to the appropriate axis Position velocity and other motion related variables are written to the dual port RAM These variables may be then read by the host at any time providing feedback of the move status VME58 User s Manual 7 1 THEORY OF OPERATION 7 SERVICE This page intentionally left blank 7 2 VME58 User s Manual APPENDIX A LIMITED WARRANTY APPENDIX LIMITED WARRANTY The Seller warrants that the articles furnished are free from defect in material and workmanship and perform to applicable published Oregon Micro Systems Inc specifica tions for one year from date of shipment This warranty is in lieu of any other warranty express or implied In no event will Seller be liable for incidental or consequential damages as a result of an alleged breach of the warranty The liability of Se
43. to a stepper axis and three parameters when applied to a servo axis When applied to a stepper axis with encoder feedback the HG command allows the user to specify position hold gain parameter This gain parameter is multiplied by the position error in determining the velocity during correction The parameter must be between 1 and 32 000 The parameter should be set experimentally by increasing it until the system is unstable then reducing it slightly below the threshold of stability QUEUE REQUIREMENTS STEPPER STEPPER MODE NO ENCODER ENCODER SERVO AX AS Not valid 2 Not valid AA AM Not valid AA CD Not valid Example Set up the Y stepper axis with the encoder feedback option for position correction mode with a gain parameter of 2000 Enter AY HV2000 HD10 HG2000 HN HOLD DEADBAND The HD command specifies deadband counts for position hold If the stage is within this limit it is considered in position and no further correction will be made For servo axes this means that a zero torque output is generated For stepper axes this parameter interacts with the HG command i e a larger deadband will allow a larger gain parameter in many applications A parameter of zero is allowed and is the default QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid 2 AA AM Not valid AA CD Not valid Example see HN command on
44. valid Example nates the loop Enter WD WHILE END The WD command serves as the loop terminator for the WS command Example 5 38 QUEUE REQUIREMENTS MODE AX AS 2 AA AM 2 AA CD Not valid see WS command above VME58 User s Manual 5 COMMAND STRUCTURE LOOP CONTROL COMMANDS WH WHILE The WH command will execute all commands between it and the terminating WG command as a loop until terminated by a CW command This allows repeated execution of a command sequence which can be terminated by the host These commands may not be nested but may be executed sequentially QUEUE REQUIREMENTS MODE AX AS 3 AA AM 3 AA CD Not valid Example You have a 3 axis platform that you use to drill holes in the center of a 1 4 inch thick sheet of metal The sheet is 6 inch square The driver motor lead screw pitch provide 10000 steps per inch The operator must manually insert and remove the square from the platform The X and Y axis move a drill into the desired position The Z axis lifts and lowers the drill The operator presses a switch which tells the motion controller that the square is in place and ready to be drilled The operator will continuously remove and replace the squares until ready to take a break The following is a description of how to set up an OMS board to perform this task Procedure Connect a normally closed switch between user I
45. written by the CPU on the VME58 when a done command is executed refer to Secfion 5 TT The host can then read it at any time to determine the status of the motion process It is cleared by reading the register A one indicates a done The bits are defined in T bJe 3 8 Table 3 8 DONE FLAG REGISTER DESCRIPTION BIT DESCRIPTION Done status of X axis Done status of Y axis Done status of Z axis Done status of T axis Done status of U axis Done status of V axis Done status of R axis Done status of S axis o 3 4 6 USER DEFINABLE I O REGISTER 8 13 The state of the user definable I O may be read at any time This is a read only register The RB command will return the input and output configuration The bits defined as outputs may be changed by sending the BH and BL commands through the command queues Bits 12 and 13 are fixed as outputs See Secfion 5 for more information See 3 9 Table 3 9 USER I O REGISTER DESCRIPTION 8 13 BIT DESCRIPTION Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Unused NOIA no Unused 3 8 VME58 User s Manual 3 VME BUS INTERFACE 3 4 7 LIMIT STATUS REGISTER VME58 REGISTERS The limit status register is a read only register which allows the host to determine whether one or more axes are currently in a limit condition The individu
46. 0 GO BL10 BL12 BIT HIGH The BH command sets the selected general purpose output off i e logic high The state of general purpose outputs is off at power up or reset Valid bits depend on which bits are programmed as outputs Factory default output bits are 8 through 13 QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Example Enter BH8 BH11 Set general purpose bits 8 and 11 to high VME58 User s Manual USER COMMANDS BX RB 5 20 5 COMMAND STRUCTURE BIT REQUEST IN HEX The BX command returns the state of the general purpose I O bits in a four digit hex format surrounded by line feed and carriage return pairs A one in any binary position signals that bit as being low Input bits 0 and 1 are latched by an active low state but are cleared after execution of this command The SW or WS command will reset input bits O or 1 if the respective bit is designated in the command QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example User output bits 10 and 12 were previously turned on i e low ground Input bits O and 3 are on i e low ground Check their status with the BX command Enter BX Response lt LF gt lt CR gt 1409 lt LF gt lt CR gt REQUEST BIT DIRECTION The RB command returns the direction of the general purpose I O lines as they are currently defined in hex format surrounded
47. 0 Ground X Phase B 11 61 X Index X Direction 12 62 Axis Servo Output X Auxiliary Output 13 63 Positive Limit X Home 14 64 X Negative Limit Y Phase A 15 65 Y Index Y Phase B 16 66 Y Axis Servo Output Y Direction 17 67 Y Positive Limit Y Auxiliary Output 18 68 Y Negative Limit Y Home 19 69 5VDC Analog Ground 20 70 Ground Z Phase A 21 71 Z Index Z Phase B 22 72 Z Axis Servo Output Z Direction 23 73 2 Positive Limit Z Auxiliary Output 24 74 2 Negative Limit Z Home 25 75 T Index T Phase A 26 76 T Axis Servo Output T Phase B 27 77 T Auxiliary Output T Direction 28 78 T Positive Limit T Home 29 79 T Negative Limit Analog Ground 30 80 5VDC 31 81 Ground 32 82 U Direction 33 83 U Axis Step Output U Auxiliary Output 34 84 U Positive Limit U Home 35 85 U Negative Limit 36 86 37 87 V Axis Step Output V Direction 38 88 V Positive Limit V Auxiliary Output 39 89 V Negative Limit V Home 40 90 Analog Ground 41 91 Ground 42 92 43 93 R Axis Step Output R Direction 44 94 Positive Limit R Auxiliary Output 45 95 R Negative Limit R Home 46 96 47 97 S Axis Step Output 48 98 5 Auxiliary Output S Direction 49 99 5 Positive Limit S Home 50 100 S Negative Limit VME58 User s Manual 4 3 DRIVER OUTPUT Table 4 3 VME58 8 OUTPUT CONNECTOR PIN LIST 429 4 DRIVER INTERFACE FUNCTION PINS FUNCTI
48. 000 4000 GO ID AZ CA VME58 User s Manual 5 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS WA WAIT FOR AXES The WA command only valid in the AA mode allows a command to wait until all moves on all axes are finished before it executes Some commands which can affect a non moving axis such as AN AF and PA may execute before a previous move on other axes has finished especially while in the looping LS LE WH WG mode By preceding these commands with a WA they will not execute until all previously defined moves have finished QUEUE REQUIREMENTS MODE AX AS Not valid AA AM 2 AA CD Not valid Example The Z axis auxiliary line controls a laser beam that you only want on while the Z axis moves in a positive direction The X and Y axes position the laser You want to repeat the action 10 times Enter AA VL1000 1000 1000 AC10000 10000 10000 1510 MR1000 1000 GO WA 1 MR 500 GO AF 1 MR 500 GO LE The WQ command is a special command that stops the board from processing any new command until the queue for the current axis mode is empty i e all previous moves have finished This command is not valid in looping LS LE WH WG WS WD mode QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Move the Y axis 1 000 counts and wait unt
49. 15926 CR0 0 6 2831853 AF 0 MT 10 10000 CK MT 1000 0 GO CX VME58 User s Manual 5 COMMAND STRUCTURE CR CV VME58 User s Manual CONSTANT VELOCITY CONTOURING CIRCULAR INTERPOLATION The CR command defines a move in a circular pattern from the entry position The first two parameters are the center of the circle in absolute units and the third parameter is the distance to move in radians The distance parameter should be supplied to seven significant digits if a full circle is to be generated QUEUE REQUIREMENTS MODE AX AS Not valid AA AM Not valid AA CD 8 Example see CD command page 5 79 CONTOUR VELOCITY The CV command allows specification of contouring velocity It is executed from the AA or AM mode before a contour definition command cannot be executed if followed by a CV command A contour defined by a CD Changing this parameter will make any previously defined contours invalid The contour velocity defaults to 1000 at power up or reset QUEUE REQUIREMENTS MODE AX AS Not valid AA AM Immediate AA CD Not valid Example see CD command page 5 79 5 81 CONSTANT VELOCITY CONTOURING CX MT 5 82 C 5 COMMAND STRUCTURE ONTOUR EXECUTE The CX command will execute the previously entered contour sequence The stage must be positioned such that it can accelerate to speed by the abs
50. 2 exe a E oux bes Ea S edu egeat es 4 8 lee Tr 5 45 5 66 IS Reo urat dc egt tee iiri e ae e ce ed Mar D ea a a 5 68 4 VME58 User s Manual J LUI 2 1 2 3 fats atom de acis cater 2 1 J26 eis itn ar Phe gate EG ex See cel queue XS REA E Bike A quie 2 1 Daes Fed russe am Yeh Set Beda eh AOR br Resp PR e eU 2 1 3 3 Jd s MES MEAE oie mS Soe aye bna oru Rer ee s bs 2 1 2 2 yc TI doug BG Gi Rule A Atk 2 1 2 2 JE vencido ee Mes qe kgs Rep esc dr 5 33 JO dede tef i ud eal ae vers at iota dead eo dva dritten ta ipee 5 32 ara ea ag Gere 5 32 JOG FRACTIONAL 5 5 33 Jumper settings zd Rem RUE Reo 2 1 JUmpers 4 ue Rex EUR ray Ay at Row E NS EUR hr Re mot de RA UE mous 2 1 K Ge rene ah he wD ac at bed Ge aya dh gy 5 60 PME len 5 59 Alt ETT 5 58 WC 5 35 amp Mave deta uate dene hate boa Mey acd fate Gent Mang 5 61 tuni e abd eedem oue d d hun Oe t
51. 49 93 44 94 45 95 46 96 T Index T Phase A 47 97 T Phase B 48 98 49 99 50 100 VME58 User s Manual 4 5 DRIVER OUTPUT 4 DRIVER INTERFACE Table 4 5 P2 CONNECTOR PIN ASSIGNMENTS ROW C FUNCTION PIN ROW A FUNCTION X Index 1 X Phase B X Phase A 2 X Axis Output X Dir 3 X Pos Limit X Home 4 X Neg Limit Y Index 5 Y Phase B Y Phase A 6 Y Axis Output Y Dir 7 Y Pos Limit Y Home 8 Y Neg Limit Z Index 9 Z Phase B Z Phase A 10 Z Axis Output Z Dir 11 Z Pos Limit Z Home 12 Z Neg Limit T Index 13 T Phase B T Phase A 14 T Axis Output T Dir 15 T Pos Limit T Home 16 T Neg Limit U Index 17 U Phase B U Phase A 18 U Axis Output U Dir 19 U Pos Limit U Home 20 U Neg LImit V Index 21 V Phase B V Phase A 22 V Axis Output V Dir 23 V Pos Limit V Home 24 V Neg Limit R Index 25 R Phase B R Phase A 26 R Axis Output R Dir 27 R Pos Limit R Home 28 R Neg Limit S Index 29 S Phase B S Phase A 30 S Axis Output S Dir 31 S Pos Limit S Home 32 S Neg Limit 4 6 VME58 User s Manual 4 DRIVER INTERFACE DRIVER OUTPUT 1058 Je ENCODER 5V Phase A Analog Amplifier Phase A Index d Motor Index Motor Phase B 20 to 80UDC 7 20 to 80VDC Phase B Supply Ground Gnd Current Limit Axis Output Current Limit Direction 7
52. AND SERVO AX AS Not valid 2 AA AM Not valid AA CD Not valid Example Your application can tolerate being up to 5 counts from the desired position before the controlling program should be notified of a slip condition Enter ES5 IS TN SLIP TOLERANCE KILL ON The TN command enables additional action taken by the encoder slip tolerance system when the position error exceeds that specified by the ES command When this mode is on the controller will flush the command queue terminate motion and disable position maintenance for that particular axis when the slip tolerance is exceeded This is the default mode at power up or reset for the servo axes The IS command must be envolked before this command will have an effect QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid 2 AA AM Not valid AA CD Not valid Example Enable slip tolerance kill on the X axis Enter AX ES IS TN VME58 User s Manual 5 67 SLIP AND STALL DETECTION COMMANDS 5 COMMAND STRUCTURE TF 5 68 SLIP TOLERANCE KILL OFF The TF command disables the TN command The TN mode can not be disabled onaservo axes This is the default mode at power up or reset for the stepper axes QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid 2 AA AM Not valid AA CD Not valid Example Disable slip tolerance kill on the X axis Enter AX TF INT
53. Call Oregon Micro Systems Customer Service at 503 629 8081 Explain the problem and we may be able to solve it on the phone If not we will provide you with a Return Materials Authorization RMA number Mark the RMA number on the shipping label packing slip and other paper work accompanying the return We cannot accept returns without an RMA number Please be sure to enclose a packing slip with the RMA number serial number of the equipment reason for return and the name and telephone number of the person we should contact if we have further questions Pack the equipment in a solid cardboard box secured with packing material Ship prepaid and insured to OREGON MICRO SYSTEMS INC Twin Oaks Business Center 1800 NW 169th Place Suite C100 Beaverton OR 97006 VME58 User s Manual B 1 TECHNICAL SUPPORT APPENDIX B This page intentionally left blank B 2 VME58 User s Manual APPENDIX C SPECIFICATIONS APPENDIX C SPECIFICATIONS VME58 User s Manual C 1 SPECIFICATIONS APPENDIX C This page intentionally left blank C 2 VME58 User s Manual INDEX 32 DIE 22 262 rte ate od dett due Ges roe ma e eter a pr rer ib ties 3 1 68332 ag daea a A nae does d Me dde le et epe es es S 1 1 7 1 A uA uM iue usd ui aee A et we GG ue vede eC T IE a 5 1 5 2 Cre CEP Ev 5 21 Acceleration zu uoo Ee er GS oa ha A eB e 5 21 Contr
54. ECKOUT Servo systems tend not to respond gracefully when connection errors are made By following a step by step procedure connection errors can be reduced The basic elements of the connection and checkout procedure are 1 Encoder connection and checkout 2 Motor Amplifier connection and checkout 3 System tuning CAUTION Do not connect the motor shaft to the mechanical system until all electrical connections have been verified and the control system checked out as outlined below 2 10 2 ENCODER CONNECTION AND CHECKOUT Turn system power off b Connect the encoder outputs as described in the Driver Interface section of the Users Manual Power for the encoder is available from the OMS board c Apply power to the computer system 2 10 VME58 User s Manual 2 GETTING STARTED PID FILTER CONTROL COMMANDS CAUTION Do not apply power to the servo amplifier or motor until this step is complete d Send the command string LPO RE The board should respond with an encoder position of O e Manually turn the motor encoder shaft 1 revolution Send the command RE and verify that the encoder position changes with shaft movement in both directions and that 1 revolution corresponds to 4 times the number of encoder lines f Repeat this process for all axes Most encoder problems are caused by lack of power or incorrect connections If the encoder position only changes by 1 count this is an indication that one of the p
55. ED INPUTS 4 12 VME58 User s Manual 4 DRIVER INTERFACE HOME PROCEDURES Table 4 8 CBL58 CABLE COLOR CODES WIRE COLOR CONTACT CONTACT WIRE COLOR Pink Yellow 51 1 White Tan Yellow Pink 52 2 Tan White Pink Green 53 3 White Brown Green Pink 54 4 Brown White Pink Blue 55 5 White Pink Blue Pink 56 6 Pink White Pink Violet 57 7 White Orange Violet Pink 58 8 Orange White Pink Gray 59 9 White Yellow Gray Pink 60 10 Yellow White Orange Yellow 61 11 White Green Yellow Orange 62 12 Green White Orange Green 63 13 White Blue Green Orange 64 14 Blue White Orange Blue 65 15 White Violet Blue Orange 66 16 Violet White Orange Violet 67 17 White Gray Violet Orange 68 18 Gray White Orange Gray 69 19 Tan Brown Gray Orange 70 20 Brown Tan Yellow Green 71 21 Tan Pink Green Yellow 72 22 Pink Tan Yellow Blue 73 23 Tan Orange Blue Yellow 74 24 Orange Tan Yellow Violet 75 25 Tan Yellow Violet Yellow 76 26 Yellow Tan Yellow Gray 77 27 Tan Green Gray Yellow 78 28 Green Tan Green Blue 79 29 Tan Blue Blue Green 80 30 Blue Tan Green Violet 81 31 Tan Violet Violet Green 82 32 Violet Tan Green Gray 83 33 Tan Gray Gray Green 84 34 Gray Tan Blue Violet 85 35 Brown Pink Violet Blue 86 36 Pink Brown Blue Gray 87 37 Brown Orange Gray Blue 88 38 Orange Brown Violet Gray 89 39 Brown Yellow Gray V
56. ENERAL DESCRIPTION VELOCITY PROFILES The acceleration follows the equation d 0 iT and the velocity is then Aot2 v Aot 272 and the distance traveled in the ramp is Aot Agt3 2 67 where is the initial acceleration tis time during the ramp and T2 is total ramp time if the acceleration had reached zero The parameter supplied with the PN command is 10 times the ratio which can take on values from 3 to 10 allowing the final acceleration to range from 7096 to 1096 respectively of the programmed or initial value When a move is specified the controls will fit the resulting velocity curve to the desired acceleration profile This ensures that the desired acceleration is always reached at the programmed velocity as long as the move is long enough for the stage to reach the programmed speed If the move is too short to reach the programmed speed the curve is truncated causing the shape of the velocity curve to remain the same up to the velocity reached by the specific move This is consistent with the desired result of compensating for loss of motor torque Since the motor has not reached the programmed speed less compensation is needed The Acceleration Velocity Figure 1 2 PARABOLIC VELOCITY PROFILE VME58 User s Manual 1 3 VELOCITY PROFILES 1 GENERAL DESCRIPTION parabolic ramp mode may result in reduced move time at high speeds since a larger acceleration may be used COSINE RAMPS The co
57. ENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example Enter Response One revolution of a motor is 2000 counts Define user units so moves can be referenced in revolutions Move Z axis 312 revolutions Use RU to display the position when the move is complete AZ UU2000 LPO MR3 5 GO Wait until move is complete RU lt LF gt lt CR gt 3 50000 lt LF gt lt CR gt VME58 User s Manual 5 COMMAND STRUCTURE USER UNIT COMMANDS 5 13 USER UNIT COMMANDS The following commands allow specification of move parameters in user defined units The OMS controls will automatically convert all move parameters to these units once they have been initialized UU USER UNITS The UU command converts all move velocities distances etc to user specified units by multiplying by the specified parameter This command must be given in the single axis mode but will remain effective in the AA or AM mode The VME58 defaults to user units off at power up or reset QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example The motor driver and gear ratio you are using requires 10 000 counts to move one inch Set up the X Y and Z axes so you can enter move information in inches Enter AX UU10000 AY UU10000 AZ UU10000 UF USER OFF The UF command turns off user units This command is equivalent to
58. EQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid 2 AA AM Not valid AA CD Not valid Example Disable slip detection on the X axis Enter AX HF VME58 User s Manual The results are 5 69 ENCODER TRACKING COMMANDS 5 17 ENCODER TRACKING COMMANDS ET ENCODER TRACKING The ET command turns on the encoder tracking mode encoder input thus allowing one axis to follow the activity of another or a thumbwheel for manual positioning or the movement of another device that pro duces a signal compatible to the encoder inputs No acceleration or deceleration ramps are generated The axis will duplicate the encoder input The ER command allows the user to scale the motor s movements relative to the encoder 5 COMMAND STRUCTURE command would normally be used only with stepper axes QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid 2 AA AM Not valid AA CD Not valid Example Set up the X axis so it will follow its encoder input Enter AX ET HF HOLD OFF The HF command disables position hold stall detection and tracking modes QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AS Not valid 2 AA AM Not valid AA CD Not valid Example Turn off encoder tracking on X axis Enter AX HF 5 70 VME58 User s Manual The axis will track its 5 COMMAND STRUCTURE ENCODER HOME CONTROL COMMANDS 5
59. ERRUPT ON SLIP The IS command enables the 58 to interrupt the host on slip or stall detection if the appropriate bit has been set in the interrupt control register Hold and slip detection are disabled if an LP HM HR SA ST or KL command is entered or if a limit is encountered If a slip occurs slip detection must be re enabled i e the IS command must be re initialized QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid 1 AA AM Not valid AA CD Not valid Example see ES command page 5 67 VME58 User s Manual 5 COMMAND STRUCTURE RL RETURN SLIP STATUS SLIP AND STALL DETECTION COMMANDS The RL command returns the slip detection status of each axis An S is returned if slip has occurred for that axis or else an N is returned surrounded by line feed and carriage return pairs as in other status commands The number of characters returned corresponds to the number of axes available on the board QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid Immediate AA AM Immediate AA CD Not valid Example On a four axis board see if any axis has slipped Enter RL Response lt LF gt lt CR gt NNSN lt LF gt lt CR gt The Z axis has slipped HF HOLD OFF The HF command disables position hold stall detection and tracking modes QUEUE R
60. ETEN RC CR Rev 5 57 User service ss eos eeu ecu uota d edes ed uer au we 7 1 Useriuniticommands on bee Reeve doy po Rod we Po D x RUE TE e a 5 57 USER UNIES x 4 uus Gola eda ro wo OR ox bos CAD PUR vede e M 5 57 MUD osse br eet dete 30 Ae cde Fa itk Mese taste dx 5 57 V Wc aati Gi as Paar se Monee ME 5 23 255 52 4 utn pac oe fant de sede wed ee ik ahead Ge BOE uberi es OV Bh 5 22 VELOCITY BASE 5 aite Diese ots RR ate Gl c 5 23 VELOCITY FEEDFORWARD COEFFICIENT 5 59 5 60 Velocity profile op US RR BE eee ee ee A 1 4 1 5 COSINE fus eo t d PIE aa ae al eg 1 1 1 4 near Oe Paes wat cae dae TL 1 4 1 2 Parabollez fash tit oS e red sto Ere dud nu 1 1 Velocity staircase commands 2222 5 74 5 76 JP 5 22 VME DUS aio dec enun e P beoe e eom ae XL Ae E vi To e Ae as 2 1 3 1 3 3 W ases are aU ME ed uS orar eh e ce Sie th D dedo n s 5 47 WAIT ey he afe som a x dye ae dro Na ee ae hile a dnas en 5 49 WAM FOR AXES 5 5 e eee ated uod dw lp aaa WO 5 47 WAIT FOR QUEUE TOEMPTY
61. Feed Forward Read F528 1320 Z Velocity Feed Forward Read F52C 1324 Z Offset Read F530 F57F 1328 1407 Reserved Read F580 1408 T Encoder Position Read F584 1412 T Command Position Read F588 1416 T Command Velocity Read F58C 1420 T Acceleration Read F590 1424 T Maximum Velocity Read F594 1428 T Base Velocity Read F598 1432 T Proportional Gain Read F59C 1436 T Derivative Gain Read F5A0 1440 T Integral Gain Read F5A4 1444 T Accel Feed Forward Read F5A8 1448 T Velocity Feed Forward Read F5AC 1452 T Offset Read F5B0 F5FF 1456 1535 Reserved Read 3 12 VME58 User s Manual 3 VME BUS INTERFACE COMMUNICATION CHANNEL ADDRESS OFFSET HEX DECIMAL DESCRIPTION FUNCTION F600 1536 U Encoder Position Read F604 1544 U Command Velocity Read F608 1548 U Acceleration Read F60C 1552 U Maximum Velocity Read F610 1556 U Base Velocity Read F614 1560 U Proportional Gain Read F618 1564 U Derivative Gain Read F61C 1568 U Integral Gain Read F620 1572 U Accel Feed Forward Read F624 1576 U Velocity Feed Forward Read F628 1590 U Offset Read F62C F67F 1584 1663 Reserved Read F680 1664 V Encoder Position Read F684 1668 V Command Position Read F688 1672 V Command Velocity Read F68C 1676 V Acceleration Read F690 1680 V Maximum Velocity Read F694 1684
62. Go to X axis KK1 Set PID Parameters Hold must be turned on for proper servo operation Hold deadband should also be set to the accuracy required Too low of a deadband value may cause continuous seeking by the servo system Set the velocity profile and initial position to the desired values set the deadband and activate servo control with HN Enter AX VL50000 AC500000 LPO HN Execute a step move with the MR command Choose a distance that is appropriate for the mechanical system Enter MR20000 GO The performance of the system may be evaluated by observation and measurement If the response to the step move was not well behaved reduce the gain until smooth response is achieved Measure the position accuracy by looking at the actual position vs the programmed position using the commands Enter RP Returned Programmed Position RE Returned Encoder Actual Position Slowly increase the gain via the filter parameter commands until accuracy tolerances are met or signs of instability appear then reduce it slightly until the system is stable Other system performance attributes may be determined by measuring the analog output signal to the motor drive An oscilloscope with storage capability would be a good choice for this measurement Although this signal represents system error and not position it is useful for stability and saturation measurements First observe the magnitude of the analog signal and verify that it is not pushing
63. ITION ERROR SUMMATION INTERVAL This term sets the error summation interval summation of 256 update intervals Units are in 2 update intervals The default value is 8 the minimum value is 1 and the maximum value is 12 QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid VME58 User s Manual Factory default is KN 8 yielding a 5 61 PID FILTER CONTROL COMMANDS 5 62 PWM PERIOD 5 COMMAND STRUCTURE The default PWM period defaults to 40 us Care must be taken when adjusting the PWM period Motors with very low inductance may be adversely effected by a PWM period that is too long Longer PWM periods may also produce undesirable audio noise in the motor amplifier Shorter PWM periods reduce the resolution of the PWM output The default value is 40 the minimum value is 20 and the maximum value is 7812 QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid VME58 User s Manual 5 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS 5 15 POSITION MAINTENANCE COMMANDS ER ENCODER RATIO The ER command allows specification of encoder ratio by entering encoder counts followed by motor counts for position maintenance mode These counts must be integers unless user units are enabled The ratio of encoder counts to motor counts must be equal to one i e encoder counts must match m
64. ME ru pce aati ele ee gis aa a he Ge 5 18 OP vC E 5 11 Short address 2 1 3 1 Single 4 10 S enge Mus ae dites ertt Bie ee etn qoe ded fabu af ui ed art d 5 11 Slip and stall detection 5 5 67 5 69 Slip flag register s censa emm koe momo c Y 3 7 SLIP TOLERANCE KILLOFF 5 68 SLIP TOLERANCE 5 67 1253 xen neo t Rmi Eat eil dte 2 5 5 11 SOFT EIMIT OEE nues te em cmm emer ve ubt EU Y oae he ee ee adus 5 11 dk D eth tee e er d ode de IT Mo 5 76 Specifications vu xt kde qu No fe Doe A odo Rt eds C 1 tiling terme LR ee dV EU ud ras a beta rinde det afi ens 5 34 Status register sce we Rae oe doe Ba Pedum eu 3 6 Status register 9 5 ded ESI Rx Aue ee PR x5 xe 3 14 Stepper ace kd ERE ed we ge e Dem dud S 4 8 Stepper driVe 5 uox ap SR de ya eee adele bila and do Ras 4 1 STOR Iu RP neue ap dac det ett BED uvis 5 34 STOP ALE d ie ttd te D
65. NIZATION COMMANDS INTERRUPT NEARLY DONE The IN command allows the control to interrupt the host when the axis or combina tion of axes is nearly complete When used in an application involving probing a part after a move the probes could start accelerating down while the stage is finishing its move improving the overall system throughput This command is valid in all modes The IN command must be entered before the GO or GD command since it is executed before the move is complete The test is only performed during deceleration If the IN parameter is greater than the ramp down distance the interrupt will be generated when the control starts decelerating QUEUE REQUIREMENTS MODE AX AS 2 AA AM 2 AA CD Not valid Example The following sequence would interrupt the host when the X axis is complete and the Z axis is within 10 000 counts of being complete The Y axis completion would be ignored in this example Enter AA IN0 10000 MR100000 100000 GO MR 50000 GO INTERRUPT WHEN IN POSITION The IP command operates like the ID command except the interrupt is deferred until the stage is within the specified deadband The GD command should be used in place of the GO command to reset the done flags before the next move If the position hold HN is not enabled for an axis the command will behave like an ID command for that axis This command is available only for encoder axes
66. NOTE The velocity should be less than 1024 pulses per second to minimize position error for this command The motor runs until the home switch input is activated and then initializes the position counter to the parameter supplied Since the motor decelerates to a stop after reaching home it is necessary to do an MA to the same position as specified in the home command if it is desired to physically position the device at home The following commands will find home initialize it to 1000 counts then return to home In many cases it will not be necessary to return home only find the position and synchronize the controller to it AX VL1000 HM1000 MA1000 GO VME58 User s Manual 541 HOME AND INITIALIZATION CONTROL COMMANDS HR KM 5 42 HOME REVERSE 5 COMMAND STRUCTURE The HR command will cause the current axis to step in the negative direction at the predefined velocity until the home input line goes true It behaves exactly like the HM command except it travels in the reverse direction The parameter defaults to zero if none is supplied QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 4 6 AA AM Not valid AA CD Not valid Example In a long stage it may be awkward to travel the full distance to home at less than 1024 pulses per second The following will get close to home at higher speed then refine the position at lower speed in the reverse direction E
67. O line 0 and ground This will be the Ready to Drill switch Enter AX UU10000 set up user units so we can reference move to inches AY UU10000 10000 steps 1 inch AZ UU10000 AX VL 1 AC10 set up X axis homing velocity and acceleration AY VL 1 AC10 set up Y axis homing velocity and acceleration AZ VL 1 AC10 set up Z axis homing velocity and acceleration AX HR AY HR AZ HR send each axis to home AA VL3 3 5 set normal move velocity for X Y and Z axes WH start of loop to drill squares indefinitely operator removes replaces square into platform SWO wait until operator presses switch MA3 3 GO move to center of square 5 move the drill through the square 1 2 inch move on the Z axis drills through the square MA 0 GO lift the drill 0 0 GO move the platform to home position WG loop back to starting WH command CW operator wants a break so he she sends CW from keyboard and presses switch once more since loop will most likely be waiting for the switch at this point loop ends and the following commands exe cute MAO0 0 0 GO move to home position VME58 User s Manual 5 39 LOOP CONTROL COMMANDS 5 COMMAND STRUCTURE WG WHILE FLAG The WG command serves as the terminator for the WH command QUEUE REQUIREMENTS MODE AX AS 2 AA AM 2 AA CD Not valid Example see WH command page 5 39 CW CLEAR WHILE The CW command breaks the WH com
68. OCITY MV MV POSITION Figure 5 1 VELOCITY STAIRCASE PROFILE VME58 User s Manual 5 75 VELOCITY STAIRCASE COMMANDS SP FP 5 76 STOP AT POSITION 5 COMMAND STRUCTURE The SP command will cause the axis to stop at the specified position The controller will attempt to stop at the specified destination If there is insufficient distance to stop at the previously specified deceleration when the command is received the controller will stop as soon as possible at that deceleration This command is not compatible with the JG command QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 3 4 AA AM Not valid AA CD Not valid Example see MV command on the previous page FORCE POSITION The FP command will flush the command queue and attempt to stop at the specified position The axis will overshoot if there is insufficient distance left to stop at the programmed acceleration QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Flush 4 Flush 4 AA AM Not valid AA CD Not valid Example Force axis to stop at 25 000 Enter FP25000 VME58 User s Manual 5 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING 5 21 CONSTANT VELOCITY CONTOURING The VME58 will attempt to generate any profile which it is asked to do It is the responsi bility of the host to be sure the acceleration required when generating a circle or
69. OGLEY foc fo ade EUER Ro e 5 75 MOVES emer t EIS d eee ut en dodi deu eum uiu 5 1 eds aes ah a hl A lg OS Bk es the ge a ae Bed oh ote ed a 5 74 ere Rh Geant teorie de Saati de ees es 5 26 MITIS DAC dL test 5 28 5 82 Multitasking xx RS Dara EUER URN ELA do at Ania eet REE CR CE cR 5 1 xe due wid x d ty erai Hue e Foal aa de ler 5 75 N NoOn privileged 2 2 tao s ame ton doe ee SEEN Ea Egi e us 3 1 OFESET COEFFICIENT base toe RR et a URDU D Rex 5 60 5 61 Operation complete lll sess sonos 3 3 OSCIATION A TM 4 10 Overtravelfa lt RAS we a a ee 3 3 P saat ar ocd Mcd c qe fea coo di rd bee DO AR RAI ere eic 2 8 2 8 3 1 P2 Gonnector oh ee RUBRI ERR n a t Rt A e Re 2 3 DA de Ronda E aed abe dedit he ah en aua UN a pnta ei de Bice 5 18 PARABOLIC OFF 4e oue eus om Ue om oe E ROS a 5 13 PARABOEIC ON 2 oed od bMS eeu oec du esa ee ut 5 12 Paraulo aio bm BAG RR xe de ah qme e Bes 1 2 i
70. ON User 0 1 51 User 2 2 52 User I O 1 User 4 3 53 User 6 4 54 User I O 5 User 8 5 55 User I O 7 User 10 6 56 User I O 9 User 12 7 57 User I O 11 User 13 8 58 Ground Analog Ground 9 59 5VDC 10 60 Ground 11 61 X Direction 12 62 X Axis Step Output X Auxiliary Output 13 63 X Positive Limit X Home 14 64 X Negative Limit 15 65 16 66 Axis Step Output Y Direction 17 67 Y Positive Limit Y Auxiliary Output 18 68 Y Negative Limit Y Home 19 69 5VDC Analog Ground 20 70 Ground 21 71 22 72 7 Axis Step Output Z Direction 23 73 2 Positive Limit Z Auxiliary Output 24 74 Z Negative Limit Z Home 25 75 26 76 T Axis Step Output 27 77 T Auxiliary Output T Direction 28 78 Positive Limit T Home 29 79 T Negative Limit Analog Ground 30 80 45VDC 31 81 Ground 32 82 U Direction 33 83 U Axis Step Output U Auxiliary Output 34 84 U Positive Limit U Home 35 85 U Negative Limit 36 86 37 87 V Axis Step Output V Direction 38 88 V Positive Limit V Auxiliary Output 39 89 V Negative Limit V Home 40 90 5VDC Analog Ground 41 91 Ground 42 92 43 93 R Axis Step Output R Direction 44 94 R Positive Limit R Auxiliary Output 45 95 R Negative Limit R Home 46 96 S Axis Step Output 48 98 S Auxiliary Output S Direction 49
71. PTS 3 3 VME58 REGISTERS 45 fa pend ewe a eld ww aad wale wp oed 3 4 CONTROL REGISTER xu xx iege ate ce ens 3 5 STATUS REGISTER ls Boos Mal X elu ee pu E 3 6 USER DEFINABLE I O REGISTER 0 7 3 6 SLIP FLAG REGISTER x Roach oe ae UE Ox X deem s 3 7 DONE FLAG REGISTER Pe ad ale ER Rode good 3 8 USER DEFINABLE I O REGISTER 8 13 3 8 LIMIT STATUS REGISTER 3 9 HOME SWITCH STATUS 5 3 9 INTERRUPT VECTOR REGISTER 3 10 POWER SUPPLY REQUIREMENTS sss 3 10 VME58 User s Manual i 4 DRIVER INTERFACE TABLE OF CONTENTS COMMUNICATION CHANNEL ess 3 10 THEORY OF 3 10 MAILBOX FEATURE ls 3 14 4 DRIVER INTERFACE INTRODUCTION wie arses RR ere RU Rex xe im Roe ede Ros ES EE 4 1 LIMIT AND HOME INPUTS 4 1 1 vac RR a SR dh OX ee STE e a 4 1 1058 ADAPTER MODULE espn s d an a a a a aa ss 4 8 F SED PROTECTION lpna gos Be ale ede ede 4 9 ENCODER FEEDBACK 5 e a a UE E 4 9 ENCODER SELECTION AND COMPATIBILITY 4 10 HOME PROCEDURES e se as EU Rex UR UE RR Ee qe 4 10 5 COMMAND STRUCTURE INTRODUGTION xe RR pomo EURO
72. R te ER ta ne Ag 5 34 STOP AND RESET DONE ioe oko Ye ea Ee pee 5 35 STOP AT POSITION RU IIS Be bh RIS Oe ee 5 76 SUpetvisory x he None ode ie ee eS ee ee eA 3 1 SW Me ccce ua Doe sud CAA Sud AR eto cue d A on dR uoles M cal 5 48 SYNG WAIT so os Be sue Ru PESE WO 5 48 SVNCHTONIZES RR Lc 1 1 4 10 5 1 SySIeSOl 4 ween mee arb tes ERE 3 1 System control 5 5 8 5 15 System status request 5 5 50 5 56 T TECHNICAL SUPPORT heri Gos 5 RR ea Oe egre ae Ru B 1 fece ram du Gea eh d alas RUEDA a re E etd BAS divis 5 68 Theory vua eU xe uu Ae ERE 7 1 STING iei quur a bue ous kei eure qu fecu fedens ped a det eas 5 67 Transmit buffer mply usu Gob toe ur Oy aus amp Reef Rum ded ur RT eu 3 3 8 VME58 User s Manual INDEX U U 0 rrr 5 57 Ul MEN TUE TC 5 14 UNIPOLARB d e RIE OR wee ELE mus X an s 5 14 User definable register 3 6 3 8 Mecha st aa Beak he es Eo Eee 3 8 User commands 5 16 5 20 USER OFF cese es e OM TR
73. REMAINDER The RM command will divide the position counter by the parameter supplied and replace both the position counter and the encoder position register with the result ing remainder The parameter must be greater than zero and less than 65 000 This command is used in applications where the controller is managing the motion of a continuously rotating object It allows the position counter to keep track of the absolute position without regard to the number of revolutions it may have rotated QUEUE REQUIREMENTS MODE AS 1 AA AM Not valid AA CD Not valid Example An RM2000 command with a position counter of 4050 will return a position of 1950 since it is within 50 counts of rolling over at 4000 i e the axis is 1950 counts from the starting point VME58 User s Manual 5 29 MOVE EXECUTION COMMANDS 5 COMMAND STRUCTURE 5 7 MOVE EXECUTION COMMANDS These commands allow execution of the moves which have been previously specified GO GO The GO command will initiate the move which has been previously programmed with such commands as MA MR MT and ML No operand is required with the GO command To find the total queue requirements for a specific application find the appropriate value in Table A If the board has encoder axes add the value found in Table B to the value from Table A to determine total queue usage of those axes
74. RFACE 3 7 MAILBOX FEATURE A new Mailbox feature has been added to the 58 Series of OMS motion control products The mailbox allows a second mode of communications between the Host and OMS Controller This second communications mode is useful in the event that the Output Buffer has become full preventing further communications Only one Mailbox command is cur rently implemented The command and its associated code is described in 3 Table 3 13 MAILBOX FEATURE CODE COMMAND FUNCTION 0001 H Kill Terminate motion flush command queue The Mailbox resides in the Dual Port RAM at offset OxF88 and is defined as a long word 4 bytes To use the Mailbox the Host first places the desired code in the mailbox The Host then sets bit 5 of the Control Register to interrupt the OMS Controller and signal that a Mailbox message is available The OMS Controller then reads and interprets the code clears the mailbox and resets bit 5 of the Control and Status Registers 3 14 VME58 User s Manual MAILBOX FEATURE 3 VME BUS INTERFACE SHAdWIN NOLLdO JO NOILVOOT 1 6 en r4 x TXXXXXXXXXXXXXXXXXXXXXXXXXXXXXxx XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXx 3831 41401 554801 SS3edau davoa XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXxx 193135 ldaNAXJLNI 193135 80123 1 1 1331356 315 EB 2 vobs 6619 21901 ONI
75. RRUPT DONE The ID command will set the done flag and interrupt the host if the interrupt has been enabled This allows the VME58 to signal the host when string of commands has been completed In the AA mode the done flag register bits will be set as each axis encounters the ID in its command stream but the done flag in the status register will not be set until all axes have executed the ID command In the AM mode only the axes active in the most recent move will set their done flags QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD Not valid Example Enter INTERRUPT INDEPENDENT Interrupt the host CPU after the execution of Move Absolute is finished When the move is finished the ID command will be encoun tered in the command queue and will set the done flags AX MA100000 GO ID The Il command allows the control to interrupt the host when each axis finishes move Only those axes which have been supplied a parameter in the most recent move command will cause interrupts QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD Not valid Example Enter The following command sequence would cause interrupts when the Y and T axes finish If they do not complete at the same time two interrupts would be generated MR 1000 10000 GO II VME58 User s Manual 5 COMMAND STRUCTURE IN MOVE SYNCHRO
76. S Immediate AA AM Immediate AA CD Immediate Enter AA CD0 0 RQ Response lt LF gt lt CR gt 7160 lt LF gt lt CR gt VME58 User s Manual 5 83 COMMAND SUMMARY 5 COMMAND STRUCTURE 5 22 COMMAND SUMMARY The following commands are included in the VME58 family of motor controllers The indicates a signed integer input parameter or a signed fixed point number of the format when user units are enabled With User Units enabled distances velocity and acceleration parameters may be input in inches revolutions etc SUMMARY OF COMMANDS IN CHAPTER 5 SECTION COMMANDS PAGE COMMAND DESCRIPTION NUMBER Axes all any following commands are for the AA All AA 2 Axes mode AC 21 Acceleration set acceleration deceleration register AF 17 77 Auxiliary off turn off selected auxiliary output ports AM 3 Axes multitasking enable multitasking mode AN 16 77 Auxiliary on turn on selected auxiliary output ports AR 6 Axis R any following commands are for the R axis AS 7 Axis S any following commands are for the S axis AT 5 Axis T any following commands are for the T axis AU 5 Axis U any following commands are for the U axis AV 6 Axis V any following commands are for the V axis Axis X any following commands are for the X axis AX 3 default on reset AY 4 Axis Y any following commands are for the Y axis AZ 4 Axis Z any follow
77. SE COMMANDS MV MOVE VELOCITY The MV command causes the motor to run to the new absolute position parameter 1 at the new velocity parameter 2 When the destination is reached control will be passed to the next command which should be another MV command or an SP command If the command is not received in time the controller will continue to move at the specified velocity Note that this is a slave mode and it is the responsibility of the user to provide the commands in time They may be queued ahead of time If anew MV command is sent after the controller has already passed the destination specified in the command the controller will continue to move at the old velocity Any number of counts can be specified in this manner with both acceleration and deceleration The controller will not reverse direction if the position has already passed but will behave as explained above Thus the direc tion of the move must be specified before starting the move with the MP or MM commands All destinations must be in absolute position no position relative moves are allowed due to the nature of these commands QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 4 5 AA AM Not valid AA CD Not valid Example Generate a velocity staircase with the breakpoints given in absolute position Enter MP MV10000 30000 MV20000 50000 MV30000 10000 SP35 000 The move as shown in 5 T T VEL
78. The motor control connector J29 on the front panel of the board consists of a 100 pin connector All motor control signals and I O are available at J29 The motor control connector P2 on the VME58 board consists of three rows of pins labeled A B and C Each row has 32 pins for a total of 96 pins The A and C rows contain the motor control lines signals are not available at P2 The motor control lines can be considered as 8 logical sets of 9 pins Each set is used for an individual axis The 9 pins of an axis set are Axes Output Auxiliary Output Direction Output Negative Limit Switch Input Home Switch Input Positive Limit Switch Input encoder phase A encoder phase B and index Digital ground analog ground and 5VDC are provided for each pair of axes The auxiliary outputs and the analog ground are not available on the P2 connector See Section 4 forja detailed description of the connector 2 7 USER I O CONFIGURATION J16 connects I O bits 0 through 7 to pull up resistors when they are configured as inputs The jumpers should be removed when I O bits 0 through 7 are configured as outputs J26 is near to J16 and selects the configuration of the I O bits as inputs or outputs A jumper on pins 1 and 6 of J26 selects I O bits 0 through 3 as inputs U18 must be a 7402 logic gate Ajumper on pins 2 and 5 of J26 selects I O bits 4 through 7 as inputs U17 must be a 7402 gate when these pins are configured as inputs No jumper on pins 3 an
79. USER S MANUAL INTELLIGENT MOTOR CONTROLLERS VME58 FAMILY OREGON MICRO SYSTEMS INC TWIN OAKS BUSINESS CENTER 1800 NW 169th PLACE SUITE C100 BEAVERTON OR 97006 PHONE 503 629 8081 FAX 503 629 0688 EMAIL sales OMSmotion com WEB SITE http www OMSmotion com COPYRIGHT NOTICE 1993 1996 1997 Oregon Micro Systems Inc A Pro Dex Company ALL RIGHTS RESERVED This document is copyrighted by Oregon Micro Systems Inc You may not reproduce transmit transcribe store in a retrieval system or translate into any language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise any part of this publication without the express written permission of Oregon Micro Systems Inc TRADEMARKS IBM IBM PC IBM PC XT IBM PC AT IBM PS 2 and IBM PC DOS are registered trademarks of International Business Machines Corporation MD DOS and Windows 3 1 are registered trademarks of Microsoft Corporation QEMM and Manifest are registered trademarks of Quarterdeck Office Systems DISCLAIMER Oregon Micro Systems Inc makes no representations or warranties regarding the contents of this document We reserve the right to revise this document or make changes to the specifications of the product described within it at any time without notice and without obligation to notify any person of such revision or change 3301 2300000 Revision C TABLE OF CONTENTS 1 GENERAL DESCRIPTION TABLE OF CONTENTS 1
80. V Base Velocity Read F698 1688 V Proportional Gain Read F69C 1692 V Derivative Gain Read F6AO 1696 V Integral Gain Read F6A4 1700 V Accel Feed Forward Read F6A8 1704 V Velocity Feed Forward Read F6AC 1708 V Offset Read F6B0O F6FF 1712 1791 Reserved Read F700 1792 R Encoder Position Read F704 1796 R Command Position Read F708 1800 R Command Velocity Read F70C 1804 R Acceleration Read F710 1808 R Maximum Velocity Read F714 1812 R Base Velocity Read F718 1816 R Proportional Gain Read F71C 1820 R Derivative Gain Read F720 1824 R Integral Gain Read F724 1828 R Accel Feed Forward Read F728 1832 R Velocity Feed Forward Read F72C 1836 R Offset Read F730 F77F 1840 1919 Reserved Read F780 1920 S Encoder Position Read F784 1924 S Command Position Read F788 1928 S Command Velocity Read F78C 1932 S Acceleration Read F790 1936 S Maximum Velocity Read F794 1940 S Base Velocity Read F798 1944 S Proportional Gain Read F79C 1948 S Derivative Gain Read F7A0 1952 S Integral Gain Read F7A4 1956 S Accel Feed Forward Read F7A8 1960 S Velocity Feed Forward Read F7AC 1964 S Offset Read F7B0O F7FF 1968 2047 Reserved Read F800 2048 2049 Output Put Index Read Write F802 2050 2051 Input Get Index Read Write F804 FA03 2052 2563 Output Buffer Read Write FA04 FF87 2564 2975 Reserved Read Write FF88 3976 Mail Box Read Write FF8C FFDF 3980 4063 Reserved Read Write FFEO FFFF 4064 4095 Registers VME58 User s Manual 3 13 MAILBOX FEATURE 3 VME BUS INTE
81. absolute moves such as MA and MT cannot be used within loops LS LE WH WG while the board is in the cosine CN velocity profile mode Relative moves such as MR and ML will work properly within loops when in the cosine mode QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Set the board to be in cosine mode Enter CN PARABOLIC ON The PN command sets all axes to truncated parabolic ramps This acceleration profile starts at 10096 of the programmed acceleration and decreases in steps of 10 of the initial acceleration down to as low as 10 The parameter supplied selects the number of counts It must be in the range of 3 to 10 corresponding to 7096 and 1096 acceleration at the peak respectively A parameter out of this range or no parameter supplied defaults to 7096 or 3 counts Note that the parameter is the number of counts not the acceleration values The larger number is a lower acceleration at the peak See Secfion 1 forlan explanation of velocity profiles This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single axis mode QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Set the board to be in the smoothest parabolic acceleration ramp Enter PN10 VME58 User s Manual 5
82. al axis limit bits are defined in T ble S TOJ Table 3 10 LIMIT STATUS REGISTER DESCRIPTION BIT DESCRIPTION X axis limit status Y axis limit status Z axis limit status T axis limit status U axis limit status V axis limit status R axis limit status nno S axis limit status 3 4 8 HOME SWITCH STATUS REGISTER The home switch status register is a read only register which allows the host to determine the state of the home switches at any time These bits are latched and are reset by a read of the register See T b e 3 TT Table 3 11 HOME SWITCH STATUS REGISTER DESCRIPTION BIT DESCRIPTION X axis home status Y axis home status Z axis home status T axis home status U axis home status V axis home status R axis home status S axis home status VME58 User s Manual 3 9 POWER SUPPLY REQUIREMENTS 3 VME BUS INTERFACE 3 4 9 INTERRUPT VECTOR REGISTER The interrupt vector register is a byte wide read write register The host may write the desired vector into this register at anytime It will be returned during an interrupt acknowledge when this VME58 board is the highest priority board in the system at the selected priority level 3 5 POWER SUPPLY REQUIREMENTS The 58 is designed to operate from the power supplied in the VME bus
83. amples are shown in Section 5 of his manual 1 2 FUNCTIONAL DESCRIPTION The VME58 in response to commands from the host computer provides controlled acceleration to a predefined peak speed followed by a constant velocity and controlled deceleration to a stop This velocity profile is calculated for each axis providing inde pendent but synchronized if desired profiles The VME58 can perform a smooth coordi nated move on up to eight axes using linear parabolic or cosine velocity profiles It can manage as many as eight independent or coordinated processes Several moves may be chained together to provide a more complex pattern The VME58 is able to store up to 256 input and 256 output characters in the dual port RAM plus 200 commands and parameters in separate command queues for each axis allowing several moves to be made without host intervention 1 3 VELOCITY PROFILES The VME58 offers three options for ramping the device to speed The traditional constant acceleration or linear velocity ramp see FigDrp 1 1 jis the default at power up or reset The half sinusoid acceleration or half cosine velocity ramp see Figurp 7 3 s selected by the CN command Since the acceleration is zero at the velocity inflection points this offers very smooth operation lt is used in sensitive applications such as wafer handling on a vacuum chuck The third option is a reverse ramp of acceleration or parabolic velocity curve see Figurfe 1 2 which can be sel
84. an 5096 PWM duty cycle a positive torque reference will result in greater than 50 PWM duty cycle The analog output will range between 10VDC and 10VDC when bipolar is enabled It is necessary to issue either the UN or the command to enable PWM operation for a particular axis The command is valid only in the single axis mode This is the default mode at power up or reset QUEUE REQUIREMENTS MODE SERVO AX AS Immediate AA AM Not valid AA CD Not valid Example Set up servo axis X for bipolar operation Enter AX BI HG5 200 100 HN UNIPOLAR The UN command sets the analog and PWM torque outputs to unipolar When unipolar is selected a zero torque reference will result in a low DC level or minimum PWM duty cycle and maximum torque reference will result in a high DC level or maximum PWM duty cycle The analog output will range between 0 0VDC and 10 when unipolar is enabled The direction output signal will define the sign of the output It is necessary to issue either the UN or the BI command to enable PWM operation for a particular axis This command is valid only in the single axis mode QUEUE REQUIREMENTS MODE SERVO AX AS Immediate AA AM Not valid AA CD Not valid Example Set up servo axis X for unipolar operation Enter AX UN HG5 200 100 HN VME58 User s Manual 5 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS This page in
85. and distance UU 57 fa parameters by specified parameter VB 23 Velocity base set base velocity VL 22 Velocity set maximum velocity to be used in profile WA 47 Wait for axes wait until all moves on all axes are finished WD 38 While end WS loop terminator WG 40 While flag terminate WH loop WH 39 While execute all commands until WG loop terminator until flag cleared by CW command WQ 47 Wait for queue to empty wait until current axis queue is empty WS 38 While sync execute while sync is true WT 49 Wait wait for specified number of milliseconds WY 50 Who are you returns model and software revision VME58 User s Manual 5 87 COMMAND SUMMARY 5 COMMAND STRUCTURE This page intentionally left blank 5 88 VME58 User s Manual INTRODUCTION 6 HOST SOFTWARE 6 HOST SOFTWARE 6 1 INTRODUCTION Host software support for the VME58 is available Please call Oregon Micro Systems Inc at 503 629 8081 for assistance VME58 User s Manual 6 1 INTRODUCTION 6 2 This page intentionally left blank 6 HOST SOFTWARE VME58 User s Manual 7 SERVICE THEORY OF OPERATION f SERVICE 7 1 USER SERVICE The VME58 family of controllers contain no user serviceable parts 7 2 THEORY OF OPERATION The 68332 microprocessor the VME58 controllers maintains four concurrent processes The highest priority process calculates the desired velocity information at regular intervals which are model dependent The
86. and preferred over UU1 since it turns off the mode thus minimizing unnecessary overhead QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example Turn off user unit conversion on the X Y and Z axes Enter AX UF AY UF AZUF VME58 User s Manual 5 57 PID FILTER CONTROL COMMANDS 5 COMMAND STRUCTURE 5 14 PID FILTER CONTROL COMMANDS The following commands are valid only for servo axes and should never be executed while the specific axis is in motion Reference Section 2 2 TUM KP Kl 5 58 PROPORTIONAL GAIN COEFFICIENT This term tends to govern the overall accuracy performance of the servo loop Low values produce very stable systems with low stiffness High values produce accurate stiff systems that may show signs of instability The default value is 2 0 the minimum value is 0 1 and the maximum value is 1999 9 One digit to the right of the decimal place is allowed QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid INTEGRAL GAIN COEFFICIENT This term is used to reduce position errors due to friction when the system is at rest Excessive KI may result in low frequency oscillation or hunting The default value is 4 0 the minimum value is 0 0 and the maximum value is 1999 9 One digit to the right of the decimal place is allowed QUEUE REQUIREMENTS
87. anual TABLE OF CONTENTS A LIMITED WARRANTY A LIMITED WARRANTY B TECHNICAL SUPPORT C SPECIFICATIONS VME58 User s Manual iii C SPECIFICATIONS TABLE OF CONTENTS This page intentionally left blank iv VME58 User s Manual 1 GENERAL DESCRIPTION INTRODUCTION 1 GENERAL DESCRIPTION 1 1 INTRODUCTION The Oregon Micro Systems Inc OMS VME58 family of intelligent motion controls can manage up to 8 axes of servo or stepper motors in one VME 6U compatible 1 slot Incremental encoder feedback is provided on all servo axes and is available as an option on stepper axes The VME58 functions as a motion coprocessor within the host computer It utilizes a 68332 microprocessor with DSP type instructions and patented proprietary technology to control direction of motion acceleration deceleration and velocity of an associated motor In response to commands from the host computer the VME58 calcu lates the optimum velocity profile to reach the desired destination in the minimum time while conforming to the programmed velocity and acceleration parameters A PID digital filter is provided for all servo axes to allow the system gain and phase shift to be adjusted for system stability Commands may be sent to the VME58 by simple I O commands using virtually any language on the host computer which has the ability to do I O It is easily programmed by writing ASCII character strings to a dual port RAM on the controller Programming ex
88. ar analog 0 10 volt or bipolar analog 10 to 10 volt bipolar PWM or unipolar PWM which are user selectable See Sect on 2 2 more information on the jumper selection of these parameters see also the UN and BI commands in Sectfon 5 4 1 thrpugh 4 4 ghpw the output connections for the standard output configurations VME58 User s Manual 4 1 DRIVER OUTPUT Table 4 1 VME58 8S OUTPUT CONNECTOR PIN LIST J29 4 DRIVER INTERFACE FUNCTION PINS FUNCTION User 0 51 User 2 52 User 1 User 4 53 User l O User 6 54 User 5 User 8 55 User 7 User 10 56 User I O 9 User 12 57 User I O 11 User 1 0 13 58 Ground Analog Ground 59 X Phase A 60 Ground X Phase B 61 X Index X Direction 62 X Axis Output X Auxiliary Output X Positive Limit X Home 64 X Negative Limit Y Phase A 65 Y Index Y Phase B 66 Y Axis Output Y Direction 67 Y Positive Limit Y Auxiliary Output Y Negative Limit Y Home 5VDC Analog Ground 70 Ground Z Phase A 71 Z Index Z Phase B 72 2 Axis Output Z Direction 73 2 Positive Limit Z Auxiliary Output Z Negative Limit Z Home T Index Io gt 1 1 a la a o Nlo lala Joo o Jo JN o or D
89. arriage returns on each end QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example Check the status of the X axis Enter AX QA Response lt LF gt lt CR gt lt CR gt PNNH lt LF gt lt CR gt lt CR gt VME58 User s Manual 5 COMMAND STRUCTURE RC VME58 User s Manual SYSTEM STATUS REQUEST COMMANDS QUERY INTERRUPT STATUS The QI command returns the same information for all axes when in the AA mode as the QA command does in the single axis mode The 4 character fields for each axis are separated by commas and the string has one line feed and two carriage returns on each end QUEUE REQUIREMENTS MODE AX AS Not valid AA AM Immediate AA CD Not valid Example Check the status of a four axis board Enter AA Response lt LF gt lt CR gt lt CR gt PNNN MNNN PDNN MNLN lt LF gt CR gt lt CR gt REQUEST ACCELERATION The RC command will return the current acceleration or deceleration of the current axis This may differ from the programmed acceleration if a cosine CN or parabolic PN ramp is being generated When the stage is stopped the parameter returned will be the acceleration at the beginning of a ramp When the stage is running at programmed speed i e not accelerating the parameter returned will be the acceleration at the end of the ramp While a contour is executing the value computed to g
90. ch axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations Because of the excess processing overhead involved the MA command cannot be used within loops LS LE WH WG while the board is in the cosine CN velocity profile mode The linear move commands ML and MT and the constant velocity mode may alter predefined acceleration and velocity values These values should be redefined if you go from an interpolated move to a non interpolated move such as an MA or MR type in both single axis or all axes modes QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 2 2 2 AA AM 2 2 2 AA CD Not valid Example In the single axis mode move the X axis to absolute position 100 000 counts with the previously entered acceleration and veloc ity parameters Enter AX MA100000 GO Example In the AA mode move the Y axis to absolute position 10 000 counts and the T axis to absolute position 1 000 counts The other axes will remain in their current positions Enter AA MA 10000 1000 GO VME58 User s Manual 5 25 MOVE SPECIFICATION COMMANDS MR 5 26 5 COMMAND STRUCTURE MOVE RELATIVE The MR command will set up the axis to move relative from the current position at the time the move is executed In the AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually init
91. d MIS Eur unns de poU bed ut coe doa Sn 5 37 LOOR z ueste re SEIT RE Ido soe ie t dn ate pk e teuer we Be 5 36 LPS due Re d red mtu 5 24 ES wen Se NUS qb Wt aol Appui A 5 36 VME58 User s Manual 5 M INDEX M MP 5 25 Microprocessor om ewe i Reb GE SUE D RU EGER GS NODE eU 1 1 Mls cafes So Site i ae wb Sat aa at Be a ea ie ae ae eee 5 27 E raise santa ance am Acdece ach GP AOR ne 5 74 cog Mc ap 5 29 Motor control connector 2 3 MOTOR AMPLIFIER CONNECTION AND CHECKOUT 2 11 MOVE ABSOLUTE VR ew aeos pu us 5 25 Move execution commands 5 30 5 33 MOVE LINEAR lom em me ue gym m EUR D Ka A IB C a ae OE SR DU s 5 27 MOVE MINUS ooh ce ee RR e M dens 5 74 MOVE ONE PULSE 5 29 MOVE POSLITIVE cg Bahai Besa borde ale Peale he nex Rue Pus p ode oed 5 74 MOVE RELATIVE eo ete mox me Re DEVO 5 26 Move specification commands 5 21 5 29 Move synchronization commands 5 44 5 49 Move termination commands 5 34 5 35 MOVE TO uiae Each m euro dee AUR E LT woke Pon E des 5 28 5 82 MOVE VEE
92. d 4 of J26 selects I O bits 8 through 11 as outputs and U27 must be 7408 gate I O bits 12 and 13 VME58 User s Manual 2 3 USER I O CONFIGURATION 2 GETTING STARTED BIT 2 5 1 6 3 4 7 0 J16 Figure 2 5 USER I O PULL UP JUMPERS default setting BIT 4 7 0 3 8 11 J26 Figure 2 6 l O CONFIGURATION JUMPERS default setting 2 4 VME58 User s Manual 2 GETTING STARTED USER I O CONFIGURATION 5U Figure 2 8 USER OUTPUT CONFIGURATION VME58 User s Manual 2 5 OUTPUT SIGNAL OPTIONS 2 GETTING STARTED are fixed as outputs therefor U28 will always be a 7408 Figfre 2 7 gnows the required configuration for an input bit while FigDrB 2 8 ghpws the configuration for an output bit The default configuration is I O bits 0 7 set as inputs and I O bits 8 13 set as outputs 2 8 OUTPUT SIGNAL OPTIONS There are three hardware options available for the output signal to the power driver i e analog output pulse width modulated PWM output and step pulse output Jumper block J58 selects the digital output DIG type either PWM or step pulse output for the X Y Z and T axes J21 selects the digital output selected by J58 or the analog output for the X Y 2 T axes 452 selects the digital output for the U V and S axes while J41 selects the digital or analog output for these same axes Not
93. d the position supplied as a parameter in the absolute position register of the axis For encoder axes the parameter will be loaded into the encoder position register and the parameter times the encoder ratio will be loaded into the position counter If no parameter is supplied the value of zero is used For stepper axes this command turns off the position hold and interrupt on slip modes when used with the encoder option Position maintenance is not disabled by the LP command for servo axes QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 2 4 AA AM Not valid AA CD Not valid Example The following would load the X axis position register with 1000 Enter AX LP1000 Example The following would load the Y axis position register with 20 000 and the encoder position register with 30 000 counts in encoder models Enter AY ER3 2 LP30000 VME58 User s Manual 5 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS MOVE ABSOLUTE The MA command will set up the axis to move to the absolute position supplied as a parameter The default value of zero is used if no parameter is supplied in the single axis mode In the AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually initiated by a GO or GD command In the AA mode each axis will use its predefined acceleration and velocity values to move to the new absolute position Ea
94. de When the commands are nested within loops the queue space is not reclaimed until after the loop has been executed the programmed number of times For loops larger than the queue space the loop may never be completed since it cannot reclaim the queue space and cannot accept the loop terminator The RQ command may be used to examine the remaining queue space The following commands are available in firmware revision 2 00 and above 5 3 AXIS SPECIFICATION COMMANDS The following commands set the context to direct the commands which follow to the appropriate axis They remain in effect until superseded by another command of the same type specifying a different axis AA AXES ALL The AA command will perform a context switch to coordinated moves QUEUE REQUIREMENTS MODE AX AS Immediate AA AM 2 AA CD Not valid Example Perform an absolute move using the X and Y axes Enter AA MA12000 14000 GO 5 2 VME58 User s Manual 5 COMMAND STRUCTURE AXIS SPECIFICATION COMMANDS AM AXES MULTITASKING The AM mode allows several tasks to be managed simultaneously For instance a task may be performing coordination motion on 2 axes while a second task is performing unrelated but simultaneous motion on another axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Perform a coordinated move on the X and Y axes while m
95. e m Bt 5 8 JON ie leue tele a ena RU Go RI dx qoa ecd 8 5 8 peas So he tae wt Ree Seno obra Tees Bt AOR tie Hepa 5 8 dM i Eee RNG A eae Seen he Boeke ele Be Sa aah 5 8 ENCODER CONNECTION AND CHECKOUT 2 10 Encoder feedbacks i uc fA doe GV eee eas 4 9 Encoder home 5 5 71 Encoder indexes soa vod eau b Ren ed Page e inu eR D Very ele 4 10 ENCODER RATIO i uomo mo mom Ro Som OR Eom om m MER RS e ES 5 63 Encoder selection 4 10 ENCODER SLIP TOLERANCE ss 5 67 ENCODER STATUS gt doe tas Rue Pas a glace aki Root 5 72 Encoder status request 5 5 72 5 73 ENCODER TRACKING Ge ea a aa WO 5 70 Encoder tracking commands 5 70 ENCOGGIS 2 kage xu np eg ob ey RR ha Ene dL radia die dais 1 1 BRE vut Ba ba vend a Arab Min ef oe 5 63 ES ues d e mul e rit eh eee MA een A a eee ORNA 5 67 utet ata Rtas Gee te ta d Pa aa eae te C 5 70 Extended addressing ic as does Go ee Ro Pek 4 Ce Re Ae ad 3 1 F
96. e pulse output one step pulse in the current direction MP 74 Move positive set positive direction for MV type move MR 26 Move relative move specified distance from current position MT 28 82 Move to move to specified position Move velocity move to first parameter absolute MV 75 position at second parameter velocity without stopping at end of move Power automatic turn power on before each move and 18 off after the move Parabolic off disable parabolic ramps i e linear ramps PF 13 will be generated Pl 13 62 PWM Period set the period for the PWM output signal PN 12 Parabolic on enable parabolic ramps QA 54 Query axis query status of switches and flags for addressed axis without affecting flags Query interrupt status query status of switches and 55 flags on all axes without affecting flags Request axis status return status of switches and flags RA 53 and reset flags Request bit direction return programmed direction of RB 20 bits in hex format Request acceleration return current acceleration or RC 55 deceleration of the current axis Request encoder position return current encoder RE 73 dm position Request interrupt status return status of switches and RI 54 flags for all axes and reset flags 5 86 VME58 User s Manual 5 COMMAND STRUCTURE COMMAND SUMMARY
97. e that the step output is only available on axes that have been factory configured for step motor use while the PWM and analog n gt gt e D um xr ode UE po N N 1 gt n gt m a m a 7 7 gt x Figure 2 9 Digital Output Type Selection 1 X ANG m X DIG Y OUT Y DIG Z OUT m Z ANG T DIG T ANG T OUT Illustrated X and Y analog Z and T PWM Figure 2 10 Digital or Analog Type Selection 2 6 VME58 User s Manual 2 GETTING STARTED HARDWARE INSTALLATION S STEP R PWM R DIG V STEP U PWM U DIG J52 S DIG S PWM R STEP V DIG V PWM U STEP Figure 2 11 Digital Output Type Selection 1 U ANG U OUT V ANG U DIG e V OUT V DIG R OUT R DIG R ANG S DIG S ANG S OUT Illustrated U and V analog R and S digital Figure 2 12 Digital or Analog Type Selection output are available on axes that have been factory configured for servo motor use The default for all servo axes is to be configured as analog outputs unless ordered as a special product J62 allows the user to tie the analog ground to the computer digital ground No jumper leaves the grounds isolated T
98. e the following BH command BH BIT HIGH The BH command sets the selected general purpose output off i e logic high The state of general purpose outputs is off at power up or reset BIT LOW QUEUE REQUIREMENTS QUEUE REQUIREMENTS MODE AX AS 2 AA AM 2 AA CD Not valid 5 COMMAND STRUCTURE Example Set bit 10 high at the start of a contour and low at the end AA CV2000 CD0 0 BH10 CR0 10000 6 2831853 BL10 CE CX Enter 5 78 VME58 User s Manual 5 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING CD CONTOUR DEFINE The CD command enters contour definition mode It allows entry of commands for contouring mode Commands are queued for execution by the CX command The parameters define the axes for which the contour is defined and the starting position of the contour in absolute units The contour may be defined on up to 8 axes if circular interpolation is not used or 2 axes with circular mixed with linear interpo lation Attempting to do circular interpolation in a contour which is being defined for more than 2 axes will be flagged as a command error This command is executed in the AA or AM mode A separate command queue for the contour definition is 7160 commands and parameters The contouring axes must be at positions which allow them to reach the specified contouring velocity by the specified position when the
99. ected by the PN command This ramp is commonly used to compensate for loss of motor torque at high speeds i e since the acceleration is VME58 User s Manual 1 1 VELOCITY PROFILES 1 GENERAL DESCRIPTION Velocity Aceleration Figure 1 1 TYPICAL VELOCITY PROFILE reduced at higher speeds the required forces are reduced proportionally The parabola may be truncated to allow the user to select under program control the reduction in acceleration force appropriate for the application LINEAR RAMPS The OMS controls generate a linear velocity ramp in real time i e while the stage is in motion There is no table building prior to the move and thus minimal latency The controls will accelerate to the specified velocity and hold that speed until just enough move distance is left then decelerate to a stop If the move distance is too short to reach speed a triangular velocity ramp will automatically be generated The acceleration is a constant Am and the velocity is then Amt A useful relationship is the distance required to accelerate at acceleration Am to peak velocity Vp is _ 5 BAT or the acceleration Am required to accelerate to peak velocity Vp distances 5 is M 2s PARABOLIC RAMPS The parabolic ramp is generated in a similar fashion except the acceleration is reduced as the stage accelerates to speed thus reducing the velocity slope as shown in 1 2 1 2 VME58 User s Manual 1 G
100. ed only after reducing the velocity to no more than 2048 pulses per second 1024 pulses per second for 8 axes boards This limit on velocity is necessary to avoid ambiguity of the home position if more than one pulse occurs per sample interval This input is not inverted by the HH and HL commands The home logic expressed in boolean terms is home phase A phase B index home switch Note that it is necessary that the above quadrant occur within the index pulse as provided by the encoder for this logic to function properly It may be necessary with some encoders to shift the phase of this quadrant by inverting one or both of the phases Inverting one phase or swapping phase A for phase B will also reverse the direction The encoder counter read by an RE command must increase for positive moves or the system will oscillate due to positive feedback 4 10 VME58 User s Manual 4 DRIVER INTERFACE HOME PROCEDURES 1993 Oregon Micro Systems Inc J1 Model No Serial Figure 4 4 JUMPERS FOR DIFFERENTIAL INPUTS VME58 User s Manual 4 11 HOME PROCEDURES 4 DRIVER INTERFACE 1993 Oregon Micro Systems Inc Model No Serial No Figure 4 5 JUMPERS FOR SINGLE END
101. ells which direction Set to N when limit 6 switch is not active Not in overtravel in this direction Home switch active Set to N when home switch is not active 7 Home switch not active 8 LF Line feed 9 CR Carriage return 10 CR Carriage return QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example The Y axis just encountered a limit verify its status Enter AY RA Response lt LF gt lt CR gt lt CR gt PNLN lt LF gt lt CR gt lt CR gt VME58 User s Manual 5 53 SYSTEM STATUS REQUEST COMMANDS RI QA 5 54 5 COMMAND STRUCTURE REQUEST INTERRUPT STATUS The RI command is an AA mode command that returns the same status information on all axes as the RA command in the single axis mode The 4 character fields for each axis are separated by commas and the string has one line feed and two carriage returns on each end The done flag is reset by this command QUEUE REQUIREMENTS MODE AX AS Not valid AA AM Immediate AA CD Not valid Example Check the status of a 4 axis board Enter AA RI Response lt LF gt lt CR gt lt CR gt MDNN MDNN MDNN MDNN lt LF gt lt CR gt lt CR gt QUERY AXIS The QA command returns the status of the single addressed axis like the RA command except flags are not affected The string has one line feed and two c
102. enerate the appropriate lead in will be returned The response to the RC command is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE AS Immediate AA AM Immediate AA CD Not valid Example Display current acceleration values for all axes on a four axis board Enter AA RC Response lt LF gt lt CR gt 2000000 2000000 2000000 2000000 lt LF gt lt CR gt 5 55 SYSTEM STATUS REQUEST COMMANDS RV RU 5 56 REQUEST VELOCITY 5 COMMAND STRUCTURE The RV command will return the current velocity at which the axis is moving This may differ from the programmed velocity if the axis is ramping up to speed or stopping The response is surrounded by line feed and carriage return pairs If the JF or UU command is executing the command only reports the integer part of the velocity QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Jog the Y axis at 12345 counts per second Display the current velocity Enter AY JG 12345 RV Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt REPORT POSITION IN USER UNITS The RU command returns the current position in user units see UU command The format of response is a floating point number with five characters to the right of the decimal point This response is surrounded by line feed and carriage return pairs QUEUE REQUIREM
103. errupt place a square pin jumper across the appropriate pin pair on J71 then using the binary equivalent of that interrupt number place jumpers on J73 JO J1 or J2 pin pairs where the desired bit should be a 0 For example the factory default interrupt line is IRQ5 To jumper the board for this place a square pin jumper across pins 5 and 12 of J71 Next figure the binary equivalent of 5 which is 101 This means that pin pair 1 and 6 of J73 should have no jumper since bit 2 of 101 is a 1 pin pair 2 and 5 should have a jumper since bit 1 is a 0 and pin pair 3 and 4 should have no jumper since bit 0 is a 1 2 2 VME58 User s Manual 2 GETTING STARTED LIMIT POLARITY SELECTION 2 5 LIMIT POLARITY SELECTION Figure 2 4 J15 LIMIT POLARITY J15 determines whether the limit inputs to an individual axis are active low or active high With the jumper in place the associated axis will stop moving if the limit line for the direction the axis is moving is switched to ground voltage level With the jumper removed the axis will stop if the limit line is switched to 5VDC These inputs are internally pulled up with a 2 2K Ohm resistor to 5VDC so the opening and closing of a switch to ground can control the limit input signals Factory defaults for J15 set the limit inputs to active low This requires jumpers on all eight pairs of pins 2 6 MOTOR CONTROL CONNECTORS
104. hases is not connected CAUTION Do not proceed until encoder connection is checked out and oper ating correctly 2 10 3 MOTOR AMPLIFIER CONNECTION AND CHECKOUT CAUTION Do not connect the motor shaft to the mechanical system until all connections have been verified and the control system checked out as outlined below This section applies to bipolar analog input servo amplifiers only a Turn system power off b Connect the axis output of the OMS board to the control input of the servoamplifier as described in the Driver Interface section of the OMS Users Manual and the servo amplifier users manual Verify that the OMS board is configured for analog operation VME58 User s Manual 2 11 PID FILTER CONTROL COMMANDS 2 GETTING STARTED c Turn on the computer system Do not apply power to the servo ampli fier motor yet d With a voltmeter verify that there is 0 VDC between control ground and the analog control signal at the servo amplifier e Apply power to the amplifier motor The motor should not turn If it does move turn off the amplifier motor power and check the connections f Select single axis mode for the axis under test AX etc Enter the com mand string KP 1 KD 3 KIO LPO HN The motor should not turn g This step verifies that the motor encoder phasing is correct Repeatedly enter the command string KO 1 RE incrementing the value of KO by 1 until the RE response is not zero If the RE response is
105. he detail of the level select jumpers The jumpers are wire wrap posts on 0 1 inch centers which can be shorted with a shorting plug or by wire wrapping For additional shorting plugs use Molex Corp part number 90050 0007 or Amp 531220 2 VME58 User s Manual 3 3 VME58 REGISTERS 3 VME BUS INTERFACE Table 3 2 REGISTER DESCRIPTION DESCRIPTION SERA FUNCTION OFE1 Control Register FFE1 Read Write Status Register FFE3 Read OFE5 User Definable I O 0 7 FFE5 Read OFE7 Slip Flags FFE7 Read OFE9 Done Flags FFE9 Read OFEB User Definable 1 8 13 FFEB Read OFED Limit Switch Status FFED Read OFEF Home Switch Status FFEF Read OFF1 Interrupt Vector FFF 1 Read Write 3 4 VME58 REGISTERS The VME58 occupies 4K contiguous addresses in memory space The registers associ ated with each address are described in the following sections see also 3 2 dnt 3 12 Table 3 3 INTERRUPT LEVEL SELECTION JUMPERS LEVEL J71 PINS 1 16 IRQ2 2 15 IRQ3 3 14 IRQ4 4 13 IRQ5 5 12 IRQ6 6 11 IRQ7 7 10 3 4 VME58 User s Manual 3 VME BUS INTERFACE VME58 REGISTERS 3 4 1 CONTROL REGISTER The control register is a read write register which allows control of the host interrupt requests such as the done interrupt and VME58 programmable interrupt request These interrupts may be enabled by writ
106. he default is for this jumper to be installed connecting the analog to the digital ground Removal of this jumper is rare 2 9 HARDWARE INSTALLATION 1 Turn off power to your computer and disconnect its power cord 2 Remove the computer s cover VME58 User s Manual 2 7 HARDWARE INSTALLATION 2 GETTING STARTED CAUTION To prevent possible damage to the VME58 and or the system chas sis the VME58 should never be installed into a system utilizing metal or conductive guide rails Though most VME chassis utilize plastic guide rails some have metal guide rails or grounding strips in the guide rails Revision D of the VME58 PCB design has a fil ter capacitor C88 located at the edge of the board where 5VDC is exposed and may be shorted to conductive surfaces when in stalled into the VME chassis Only nonconductive guide rails may be used with the VME58 controller family Contact OMS technical support with any questions on this issue Choose an empty expansion slot in the VME rack and backplane and remove its associated metal cover from the back of the computer Be sure to save the screw Check the VME58 board s jumpers for proper configuration Slide the VME58 board into the rack and connector ensuring the board is lined up correctly in the card guides and in the connector Double check the board to ensure it is properly seated in the connector Screw the front panel of the VME58 board into the card cage Replace the cover
107. he user to optimize the response of the system for his her application needs EN EF ECHO ON The EN command enables echoing All commands and parameters will be echoed to the host This mode is useful for debugging command strings from a terminal This mode also outputs an English readable error message to the host which may be echoed to the terminal or computer to aid in debugging QUEUE REQUIREMENTS Enable echoing by the VME58 so that commands are echoed and the error message is returned to the host as a readable ASCII string This command would probably be the first command executed after turning on the system when this mode is desired MODE AX AS Immediate AA AM Not valid AA CD Not valid Example Enter EN ECHO OFF The EF command disables echoing from the VME58 motion system This is the default mode at power up or reset QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Not valid AA CD Not valid Example Enter Stop echoing to the host EF VME58 User s Manual 5 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS HH HOME HIGH The HH command sets the sense of the home switch on the current axis to active high This allows the use of a normally closed switch QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example see HL command below HL HOME LOW The HL c
108. i a aa Tum date 5 35 NW Tc eked Bee te a Re Oh 5 42 as v E E alee CR HR eC dear E 5 61 KO fos ht dubie dod TRA Ie qr en de lon herbe te edle Ge o 5 60 EP PCT PI 5 58 Tc 5 43 dM 5 59 L a dette ec Gh te TED 5 37 Sum gels ate leg cott du opus lar Alt drach au Eh Be ate diei 5 10 Lirmitinputs ue E LA eM URL Ebeh usi da sas 4 1 Limit polarityselectiOn s iu umb ue xo A eda Rh OX Rok ae se a E GR E 2 3 2 4084 e devo Erw dale oe Be s best s eo WR Rod e quer d 2 3 Limit switch status register 3 9 EIMITS OPE cnt ee ARIES RO RERO ee Beane ROAD 5 10 ONH EPI Batten pele aati ey ta ts Sans arene 5 10 EUR Gis inb a haa 4 10 Linear velocity ramp 0 1 2 EN exch ee ieee ae ala ged ede BA ee aa ee E 5 10 ae WE uer ite ae PET eee 5 24 cum eras hos dc delete Be de cae Ba a dete dos Tte Bade 5 2 Loop control commands 5 36 5 40 EOOP END 7 1 dod Re
109. iated by a GO or GD command In the AA mode each axis will use its predefined acceleration and velocity values to move to the new absolute position Each axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations The linear move commands ML and MT and the constant velocity mode may alter predefined acceleration and velocity values These values should be redefined if you go from an interpolated move to a non interpolated move such as an MA or MR type in both single axis or all axes modes QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 2 2 2 AA AM 2 2 2 AA CD Not valid Example In the single axis mode move the X axis 2468 counts in the negative direction Enter AX MR 2468 GO Example In the AA mode move the X axis 12345 counts in the positive direction and the Y axis 6789 steps in the positive direction Both axes will start at the same time Enter AA MR12345 6789 GO VME58 User s Manual 5 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS ML MOVE LINEAR The ML command uses linear interpolation to perform a straight line relative move to the new location Input parameters are relative distance for each axis in the move Velocity and acceleration parameters of each axis may be automatically adjusted by the VME58 controller to perform the linear move If linear and single axis moves are mixed it will be
110. iately flush the command queue Force position flush queue and attempt to stop at FP 76 e ve specified position 31 Go and reset done reset done flags and then initiate previously programmed move GO 30 Go start execution of motion HD 64 a deadband specify deadband tolerance for position HE 71 Home encoder set home on encoder logic HE 65 69 70 Hold off disable position hold slip detection and tracking modes HG 64 Hold gain specify position maintenance gain parameter HH 9 Home high home switches are active high HL 9 Home low home switches are active low HM 41 Home find home and initialize the position counter HN 65 Hold on enable position correction after move Home reverse find home in reverse direction and HR 42 MORE ue initialize position counter HS 71 Home switch enable home switch mode HV 63 Hold velocity specify maximum position hold correction velocity IC 46 Interrupt clear clear done interrupt status and error flags ID 44 Interrupt done interrupt host when done and set done flag T 44 Interrupt independent interrupt host when each axis finishes a move Interrupt nearly done interrupt host when axis or IN 45 MO combination of axes nearly complete IP 45 66 Interrupt when in position interrupt is deferred until stage is within specified deadband IS 68 Interrupt on slip interrupt host on slip or stall detection JF 33 Jog fractional velocities jog the current axis at fractional rates Jog run motor at s
111. il the move is complete before asking for the position Enter AY MR1000 GO WQ RP VME58 User s Manual 5 47 MOVE SYNCHRONIZATION COMMANDS SW 5 48 SYNC WAIT 5 COMMAND STRUCTURE The SW command allows synchronization of multi axis moves or other tasks on one or more VME58 boards by using one of the general purpose input lines This command causes the axes to wait until the general purpose input line has been released allowed to go high before proceeding with the next command The SW command can be used to cause an axis to wait until the others are finished Wire OR the auxiliary lines from several axes together and connect them to a general purpose input line Use the SW command on that line All commands after that will wait until all axes release their auxiliary lines QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD Not valid Example Enter The following command sequence will cause the X axis move to wait until the Y axis has finished its move and turned off its auxiliary output which has been wired to the general purpose input 0 line AY AN MR2000 GO AF AX SWO MR10000 GO The SW command provides a way to synchronize moves on two or more boards The following example shows one way to do this Example Procedure Enter You have 3 eight axis boards for a total of 24 axes to move together Call board 1 the master and boards 2 and 3 the slaves W
112. ing a 1 to the appropriate bit or disabled by writing a 0 at any time Interrupt levels 1 through 7 are supported and may be selected by J71 See Secfion 2 2 for more information Bit 1 is used to request an update to the registers in the dual port memory starting at address offset 1024 hex 400 through 1952 hex 7A0 Bit 5 is used as part of the mailbox functionality The host would write a 1 to this bit to interrupt the VME58 to have it read its mailbox Currently the only functionality supported by the mailbox is the Kill command The host would write a 1 to bit 5 as an emergency stop situation Reference secfion 3 7 Bit 7 is the enable for the general interrupt signal to the VME bus The other bits selectively enable different interrupt conditions This register is described in Ta bje 3 4 Table 3 4 CONTROL REGISTER DESCRIPTION BIT CONTROL DESCRIPTION Data Area Update Request Unused Encoder Slip Interrupt Enable Limit Register Interrupt Enable Done Register Interrupt Enable Interupt Request to the VME58 bits 0 and 1 interrupt enable Interrupt Request Enable NIO o VME58 User s Manual 3 5 VME58 REGISTERS 3 VME BUS INTERFACE 3 4 2 STATUS REGISTER The status register is a read only register and indicates the status of the interrupt requests such as done or limit These bits may be used as status indicators in a polled software environment or will interru
113. ing commands are for the Z axis BH 19 78 Bit high set selected I O bit high off BI 14 Bipolar set the analog and PWM torque outputs to bipolar BL 19 78 Bit low set selected I O bit low on BX 20 52 Bit request in hex return bit status in hex format CA 46 Clear axis done flag clear done flag of currently addressed axis CD 79 Contour define enter contour definition mode CE 80 Contour end end contour definition and ramp to a stop CK 80 Contour end and kill immediately stop step pulses no ramp down CN 12 Cosine on enable cosine velocity profiles 81 Circular interpolation move in a circle CV 81 Contour velocity allow specification of contouring velocity CW 40 Clear while terminate WH WG loop CX 82 Contour execute execute previously entered contour sequence Encoder status return encoder status of currently EA 72 addressed axis EF 8 Echo off turn off echo to host default at power up EN 8 Echo on turn on echo to host ER 63 Encoder ratio set encoder count to motor count ratio 5 84 VME58 User s Manual 5 COMMAND STRUCTURE COMMAND SUMMARY SUMMARY OF COMMANDS IN CHAPTER 5 SECTION COMMANDS PAGE COMMAND DESCRIPTION NUMBER ES 67 Encoder slip tolerance set tolerance before slip or stall is flagged ET 70 Encoder tracking set encoder tracking mode FL 33 Flush queue immed
114. iolet 90 40 Yellow Brown White 91 41 Brown Green Tan 92 42 Green Brown Gray 93 43 Brown Blue Brown 94 44 Blue Brown Blue 95 45 Brown Violet Pink 96 46 Violet Brown Violet 97 47 Brown Gray Orange 98 48 Gray Brown Green 99 49 Pink Orange Yellow 100 50 Orange Pink VME58 User s Manual 4 13 HOME PROCEDURES This page intentionally left blank 4 DRIVER INTERFACE 4 14 VME58 User s Manual 5 COMMAND STRUCTURE INTRODUCTION 9 COMMAND STRUCTURE 5 1 INTRODUCTION An extensive command structure is built into the VME58 family of intelligent motor controls It includes a 200 command and parameter buffer for each axis and a command loop counter which allows multiple executions of any command string A separate 7160 command and parameter buffer is provided for the contour definition The following commands in this section are included in the VME58 family of controllers All the commands are two ASCII characters and may be in upper or lower case Some of the commands expect a numerical operand to follow These commands are identified with a after the command The operand must be terminated by a space carriage return or semi colon to indicate the end of the number No terminator is required on the other commands but may be included to improve readability The operand must immediately follow the command with no space or separation character The indicates a signed integer input parameter or a sig
115. ire board 1 s X axis auxiliary line to the two slave boards general purpose input 0 line Send to the master the command AX PAO setting the master s X axis auxiliary line low until its move starts This also sets the slaves general purpose input 0 line low Enter the SWO command to the two slaves followed by the move and GO commands On the master enter the move command followed by the GO command When the master s move starts the PA command will set the auxiliary line high releasing the wait on the slave boards All three boards will start their moves Wire board 1 s X axis auxiliary line to board 2 s and board 3 s general purpose input O line Board 1 Board 2 Board 3 Board 1 AX AA 5 0 MR200 200 200 200 200 200 200 200 GO AA 5 0 MR300 300 300 300 300 300 300 300 GO AA MR100 100 100 100 100 100 100 100 GO YH wm VME58 User s Manual 5 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS WT WAIT The WT command will wait for the specified number of milliseconds before proceed ing with the next command in the queue In the AA mode all axes will wait Immediate commands will not wait The parameter must be between 1 and 32 000 QUEUE REQUIREMENTS MODE AX AS 3 AA AM 3 AA CD Not valid Example You want to produce pulses on the X axis at 5 000 steps second for 2 seconds then 10 000 pulses seconds for 3 seconds then stop Enter
116. is ba b ud d acide de Pa bela QU de wr ton TE an del qr p ode el 5 13 PI a tee ere aede Ra Be us iUm dore e uu AE th IN etw eere dod ced RED 5 13 TETTE 5 62 6 VME58 User s Manual INDEX Q PID dut ter a Ne cto e ERG 1 1 PID FILTER CONTROL COMMANDS 2 10 2 14 5 58 5 62 PIN ua ur us aad A AR dio aT Ug dr cata au aed Ns dh Gas ON iae Bde tan 5 12 le Ses 3 3 POSITION COUNTEIS 4 1 POSITION ERROR SUMMATION INTERVAL 5 61 Position maintenance 5 5 63 5 66 POWER AUTOMATIC 5 18 Power supply is eei Eo yon miM ake qr do 3 10 sme ha cher qus wo ee Robe er Rae eeu Bw T dede db 3 1 PIOCESSES ust 1 1 NOG tata he 5 1 PROPORTIONAL GAIN COEFFICIENT 5 58 PAISES e a cee care ep avai n abu we see tech 4 7 cic Gata 8 decane de x og Tech awl dd pend wha eds 5 13 PWM PERIOD 5 19 soU A EU Tex a uev 5 62 Q AN MERECE NE
117. is page intentionally left blank 1 6 VME58 User s Manual 2 GETTING STARTED INTRODUCTION 2 GETTING STARTED 2 1 INTRODUCTION The VME58 board requires one full width slot in the VME card cage In most cases the jumpers on the VME58 board will not have to be changed assuming there are no address or interrupt conflicts with existing boards The factory default settings for the board have it using a block of 4K contiguous address from F000 to FFFF in the short address space If these do not conflict with any previously installed hardware in your computer you will not need to change any jumpers on the VME58 board 2 2 JUMPERS There are twelve blocks of square pin jumpers on the VME58 board These can be thought of as 4 logical groups board address selection jumpers J61 interrupt selection jumpers J71 and J73 limit polarity jumper J15 and I O jumpers 416 8 J26 See 3 T forjthe locations of the jumpers Recommended jumpers are Amp part number 531220 2 or equivalent 2 3 ADDRESS SELECTION AMA AMO A13 A15 AM5 AM1 A12 A14 Figure 2 1 J61 ADDRESS SELECT 1 default setting The VME58 uses a 4K byte block of short address memory The starting address for this block is selected by square pin jumpers on the board A jumper across a pair of pins indicates that the bit is a 0 without the jumper the bit is a 1 To decide on jumper settings choose your star
118. ithin the 10 step deadband until commanded to a new position Enter AX VL100000 AC500000 HV50000 HD10 HG2000 HN MR200000 GO VME58 User s Manual 5 65 POSITION MAINTENANCE COMMANDS 5 COMMAND STRUCTURE IP 5 66 INTERRUPT WHEN IN POSITION The IP command operates like the ID command except the interrupt is deferred until the stage is within the specified deadband The GD command should be used in place of the GO command to reset the done flags before the next move If the position hold HN is not enabled for an axis the command will behave like an ID command for that axis This command is available for encoder axes only QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example Send DONE when the axis is within deadband Enter AX HV1000 HG100 HD10 HN MR1000 GO IP DONE will occur after move is complete and in position VME58 User s Manual 5 COMMAND STRUCTURE SLIP AND STALL DETECTION COMMANDS 5 16 SLIP AND STALL DETECTION COMMANDS ES ENCODER SLIP TOLERANCE The ES command parameter specifies tolerance before slip or stall is flagged in either the status register or by the RL command response or before the TN command activates The mode must be turned on with an IS command and off with an HF command The maximum value for the ES command parameter is 32 767 QUEUE REQUIREMENTS MODE NO ENCODER ENCODER
119. ller hereunder shall be limited to replacing or repairing at its option any defective units which are returned f o b Seller s plant Equipment or parts which have been subject to abuse misuse accident alteration neglect or unauthorized repair are not covered by warranty Seller shall have the right of final determination as to the existence and cause of defect As to items repaired or replaced the warranty shall continue in effect for the remainder of the warranty period or for 90 days following date of shipment by Seller of the repaired or replaced part whichever period is longer No liability is assumed for expendable items such as lamps and fuses No warranty is made with respect to custom equipment or products produced to Buyer s specifications except as specifically stated in writing by Seller and contained in the contract VME58 User s Manual A 1 LIMITED WARRANTY This page intentionally left blank A APPENDIX A 2 VME58 User s Manual APPENDIX B TECHNICAL SUPPORT APPENDIX B TECHNICAL SUPPORT Oregon Micro Systems Inc can be reached for technical support by any of the following methods 1 Internet E Mail support omsmotion com 2 World Wide Web http www omsmotion com 3 Telephone 8 00 a m 5 00 p m Pacific Standard Time 503 629 8081 4 Facsimile 24 Hours 503 629 0688 5 USPS Oregon Micro Systems Inc 1800 NW 169th Place Suite C100 Beaverton OR 97006 RETURN FOR REPAIR PROCEDURES
120. mand returns the state of the general purpose I O bits in a four digit hex format surrounded by line feed and carriage return pairs A one in any binary position signals that bit as being low Input bits O and 1 are latched by an active low state but are cleared after execution of this command QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example User output bits 10 and 12 were previously turned on i e low ground Input bits O and 3 are on i e low ground Check their status with the BX command Enter BX Response lt LF gt lt CR gt 1409 lt LF gt lt CR gt VME58 User s Manual 5 COMMAND STRUCTURE SYSTEM STATUS REQUEST COMMANDS RA REQUEST AXIS STATUS The RA command returns the state of the limit and home switches and the done and direction flags for the currently addressed axis The limit flag in the hardware status register will be reset by the RA command providing another axis is not in limit The done flag register will also be reset by this command The status is returned in the following format CHARACTER MEANING CHAR SENT DESCRIPTION 1 LF Line feed 2 CR Carriage return 3 CR Carriage return 8 Moving in positive direction M Moving in negative direction D Done ID Il or IN command has been executed set to N by this 5 command or IC command N No ID executed yet L Axis in overtravel Char 4 t
121. mand upon execution of the remaining commands in the loop i e the current execution of the loop is finished The WH loop is always executed at least one time since the test for the flag is at the bottom QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD Not valid Example see WH command page 5 39 5 40 VME58 User s Manual 5 COMMAND STRUCTURE HOME AND INITIALIZATION CONTROL COMMANDS 5 10 HOME AND INITIALIZATION CONTROL COMMANDS These commands allow the initialization of the physical stage with the controller HM HOME The HM command will cause the current axis to step in the positive direction at the predefined velocity until the home input line goes true The position counter will be initialized to the position supplied as a parameter The velocity should be less than 1024 counts per second to maintain accuracy of the home position loaded The axis will not stop at home but will initialize the position counter when the home switch becomes true and decelerates to a stop The axis may be commanded to go home by following this command with a move absolute to the same position as specified in the HM command The parameter defaults to zero if none is supplied QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 4 6 AA AM Not valid AA CD Not valid Example Enter Find the physical home position of the X axis of the stage
122. nd may be used to change power level on driver modules so equipped or as a user specified output Same parameter rules apply as for the AN command QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD 2 Example Turn off the Y axis auxiliary output in the single axis mode Enter AY AF Example Turn off the X and Z axes auxiliary outputs when in the AA command mode The Y axis is unchanged in this example Enter AF1 1 VME58 User s Manual 5 17 USER COMMANDS PA SE 5 COMMAND STRUCTURE POWER AUTOMATIC The PA command will turn on or off the auxiliary outputs at the beginning of each GO or GD command execution and complement the outputs after the move is executed The auxiliary will be turned on i e pulled high upon the execution of the GO or GD and off at the end of that move if the parameter is zero or not specified in the single axis mode f the parameter is non zero the sense is reversed i e the auxiliary output is turned off driven low upon the execution of the GO or GD command and on at the end of the move This mode need only be set once and can be turned off by using the AN or AF command Axes can be selectively affected in the AA mode by following the syntax as described for the AN command The values of the included parameters set the state of the auxiliary line during the move The following queue requirements apply to each GO or GD command in the command
123. nd run until altered by an ST SA KL or another JG command The jog velocity may be changed by following the command with another JG command of a different velocity The axis must be stopped before reversing directions This command modifies the move velocity parameter VL for the affected axis The JG command does not require a GO or GD command to start the motion QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 2 Linear ramp AA AM Not valid AA CD Not valid Example Jog the motor at 100 000 steps per second then change to 35 000 steps per second when the second JG is entered then stop by decelerating to a stop The application program may control the time delay between commands to affect the actual distance traveled See also the WT page 49 and WQ page 47 commands Enter JG100000 JG35000 ST Example Turn on user I O bit 8 for 5 second WT500 once the X axis has ramped to its programmed velocity The WQ command following the JG command will pause the command parser until the X axis has ramped to its programmed velocity Turn off bit 8 after 5 second and ramp to a stop Enter AX AC500000 JG100000 WQ BL8 WT500 BH8 ST 5 32 VME58 User s Manual 5 COMMAND STRUCTURE MOVE EXECUTION COMMANDS FL JOG FRACTIONAL VELOCITIES The JF command will jog the axis at the velocity specified like the JG command The parameter may include a fractional part
124. ned fixed point number of the format when user units are enabled With user units enabled distances velocity and acceleration parameters may be input in inches revolutions etc Synchronized moves may be made by entering the AA command This command performs a context switch which allows entering the commands in the format MRx y z t u v r s Numbers are entered for each axis which is to be commanded to move An axis may be skipped by entering a comma with no parameter The command may be prematurely terminated with a i e a move requiring only the X and Y axes would use the command followed by the GO command Each axis programmed to move will start together upon executing the GO command The 58 can be switched back to the unsynchronized mode by entering the desired single axis command such as AX The AM command is provided for complex applications where the host manages multiple motion processes by a multitasking operating system This mode shares the same instructions as the AA mode but allows starting a task while some other task involving one or many axes is active For example the X and Y axes could be doing linear interpolation while the Z axis is making an unrelated move simultaneously Constant velocity contouring provides another mode wherein the move parameters are predefined by entering AA then CD The VME58 will then calculate the move profile in advance and move at constant velocity in the pre
125. nize the home position Enter AY HS VME58 User s Manual 5 71 ENCODER STATUS REQUEST COMMANDS 5 COMMAND STRUCTURE 5 19 ENCODER STATUS REQUEST COMMANDS The commands identified with an are for backward compatibility with previous generation OMS controls and should not be used with new designs Other preferred mechanisms such as reading directly from the dual port RAM are available for this data EA ENCODER STATUS The EA command returns encoder status of the currently addressed axis in the following format EA COMMAND RESPONSE DESCRIPTION CHAR SENT DESCRIPTION 1 LF Line feed 2 CR Carriage return 3 CR Carriage return 4 E Slip detection enabled D Slip detection disabled 5 E Position maintenance enabled D Position maintenance disabled S Slip or stall detected reset by execution of EA 6 command N No slip or stall detected 7 P Position Maintenance within deadband N Position not within deadband 8 Axis is home N Axis is not home 9 N Unused reserved 10 LF Line feed 11 CR Carriage return 12 CR Carriage return QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid Immediate AA AM Not valid AA CD Not valid Example Examine the status of the Y axis encoder Enter AY RE Response lt LF gt lt CR gt lt CR gt EENPNN lt LF gt lt CR gt lt CR gt 5 72 VME58 User s Man
126. nter AX VL100000 HM VL1000 HR HOME AND KILL The KM command will find home and stop generating pulses immediately i e no deceleration ramp will be generated The position counter is not cleared or reset Due to motor and platform inertia the load and board may lose position synchroni zation QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 2 2 AA AM Not valid AA CD Not valid Example Move the Y axis in a positive direction to the home sensor and stop movement as quickly as possible Enter AY KM VME58 User s Manual 5 COMMAND STRUCTURE KR HOME REVERSE AND KILL HOME AND INITIALIZATION CONTROL COMMANDS The KR command will find home in reverse and stop generating pulses immediately i e no deceleration ramp will be generated The position counter is not affected Due to motor and platform inertia the load and board may lose position synchroni zation QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 2 2 AA AM Not valid AA CD Not valid Example Move the Y axis in a negative direction to the home sensor and stop movement as quickly as possible Enter AY KR VME58 User s Manual 5 43 MOVE SYNCHRONIZATION COMMANDS 5 11 MOVE SYNCHRONIZATION COMMANDS 5 COMMAND STRUCTURE These commands allow the synchronization of moves with external events or multiple axis sequences 5 44 INTE
127. olled ass Fe ph Lx th SE eem hee 1 1 Address DUS dE uius arum eene nh See Y a ae ee ds ion eed gs Y ae Yd d de MN 3 1 Address Selection 5s em Re EID Re Re ae deh eee Ro EOS o 2 1 3 1 3 3 Default mut eee ores Pe derepente ee BAD ah edie eode 3 3 Aut Ma espe De er er rte T Em Ds MA Mia hard LaL 5 17 5 77 xxi Teaser th mik Wee xeu uem ded fe duo i en ve s eo a e Te dere 5 1 5 3 AN ener ti eae one oats tote maro eser ated ahs 5 16 5 77 Analog ue cce uum um Ea eder ep Wee eme ue eu ee 4 7 ARa ole CER D E 3 5 6 tA eue d e due ee a ded Ren ie ORCI UP We dpa cde 5 7 ee atte seme sae Sel t ane 1 1 5 1 BUT se o E CE ieee tan ie At Gio Se se 5 5 aa pte Ji he 5 5 AuxXIlIaby EU e weder deest b he 2 3 Ia bed er ori a ate RTL ars 5 17 5 77 AUXILIARY Red od acd oe je ed Be DRAM OR ae Vo d 5 16 5 77 IU METTE 5 6 dece dro ts do da ae e Ue e E P e rude ce a de QR en oe UC Y dri 5 1 5 3 ARES A LS rat ceret fie oes d Eo CRI D Beh rune
128. olute position specified direction by the CD command it is executing and must be traveling in the proper Once a contour is defined it may be executed at any time by executing a CX command until it is replaced by another contour definition The CX command cannot be placed within a loop or while construct QUEUE REQUIREMENTS MODE AX AS Not valid AA AM 6 AA CD Not valid Example see CD command page 5 79 MOVE TO The MT command causes the axes defined by the CD command to move to the specified absolute position using linear interpolation Only the axes being used in a contour must be specified in the contouring mode This means that no comma is required for a place holder for axes not defined in the contour QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS Not valid AA AM 6 30 30 AA CD 4 number of axes Example Make a hexagon in CV mode using the X and Z axes Enter AA CV5000 CD10000 0 MT20000 0 MT25000 10000 MT20000 20000 MT10000 20000 MT5000 10000 MT10000 0 CK CX VME58 User s Manual 5 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING RQ REQUEST QUEUE STATUS The RQ command returns the number of entries available in the contouring queue The response is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE AX A
129. ommand sets the sense of the home switch on the current axis to active low This is the default mode at power up or reset Example Enter VME58 User s Manual QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid A faster home sequence may be used in applications which have a long distance to travel to reach home The stage is moved through home at high speed with the home switch set for active high then reversed at low speed to meet the 1024 steps per second require ment of the home command AX VL20000 HH HMO VL1000 HL HRO SYSTEM CONTROL COMMANDS LF LN LIMITS OFF Example QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid AY LF LIMITS ON QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Example Not valid AT LN 5 COMMAND STRUCTURE The LF command turns off the limit switches for the addressed axis This allows the stage to move beyond the limit switch and should be used with caution Set up a board to ignore the Y axis limit switches The LN command restores the operation of the limit switches for the addressed axis This is the default mode at power up or reset Set up the T axis to stop immediately when a limit switch is encoun tered VME58 User s Manual 5 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS SL SOFT
130. ommands in the AA or AM modes which do not do interpolation such as the MA or MR commands QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 4 15 15 AA AM 4 15 15 AA CD Not valid Example In the single axis mode set the Y axis acceleration to 200 000 counts per second per second Enter AY AC200000 Example In the AA mode set the acceleration of the X axis to 200 000 and the Z axis to 50 000 and leave the other axes with their previous values Enter AA AC200000 50000 VME58 User s Manual 5 21 MOVE SPECIFICATION COMMANDS VL 5 22 5 COMMAND STRUCTURE VELOCITY The VL command sets the maximum velocity register of the axis being programmed to the operand which follows the command The operand must be greater than zero and less than or equal to 1 000 000 counts per second The velocity defaults to 20 000 at power up or reset This controls the maximum velocity used in relative and absolute position moves except as modified by the linear interpolation instruc tions If the velocity register is modified by an ML or MT instruction in the AA or AM modes the user must redefine the velocity with a VL command when returning to the single axis mode or using a move command which does not use interpolation in the AA or AM modes QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 2 13 13 AA AM 2 13 13 AA CD Not valid Example
131. ontrolilin6S tee Rs Be Oe E Wee Pe e 3 1 Control tegister i 2 7 uc Soe ede ya Gear eae due ae 3 5 Control register 3 4 3 14 Coordinated moves 1 1 GODIOCeSSOLr Sd peque ee xu Pe ee Se usas 1 1 GOSINE ON ve Lum and Bae E Bb ROBES Pa te Bie eb EROR Oe a CUIR 5 12 Cosine 5 1 1 1 4 Rit ade A IR Eh DON eed patil 0 5 81 CN os BE BENE d ares dun dp unie edo ae ea dece ooa ean af es Heu ds d 5 81 OW oem andi Pru t Toad oto ces E Du tds 2 5 5 40 TC PLE 5 82 D Data D S 3 1 DERIVATIVE GAIN COEFFICIENT 5 59 Digital Titer 5 553 eet RR eR PR amice Roe IRE 1 1 Direction ee vod om mf a E IURI der ede oq BED vip ems 2 3 Dorie tlagegister uM EUR xL tu d exu RE 3 8 Driver output c aou ote em md Peu Bite de qe demo dede eeu eate os 4 1 4 7 Dual Port RAM xm mo mem RII Eu ecu ARR PANIQUE 1 1 3 10 Dual Port RAM 1 1 39 uoo e E emt ee AD eae ee 3 14 2 VME58 User s Manual INDEX E E I ncm 5 72 lm xps ROME ade Gok
132. opriate value in Table A If the board has encoder axes add the value found in Table B to the value from Table A to determine total queue usage of those axes TABLE A QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS 5 8 AA AM 6 9 AA CD Not valid TABLE B ADDITIONAL ENCODER QUEUE REQUIREMENTS MODE LINEAR PARABOLIC COSINE AX AS 0 0 0 AA AM 6 15 15 AA CD Not valid Example In the single axis mode move the Y axis 12345 steps in the negative direction and set the done flag when the move is completed Then move it 12345 steps in the positive direction clear the previous done flag and set the done flag again when the move is completed Enter AY MR 12345 GO ID MR12345 GD ID Example In the AA mode perform a linear absolute move with the X and Y axes to the position 10000 20000 and set the done flag when the move is completed Then perform a linear relative move on both axes moving the X axis 10000 steps in the negative direction and the Y axis 20000 steps in the negative direction Enter AA MT10000 20000 GO ID ML 10000 20000 GD ID VME58 User s Manual 5 31 MOVE EXECUTION COMMANDS 5 COMMAND STRUCTURE JG JOG The JG command is a velocity mode and will step the axis at the velocity supplied as a parameter after ramping up at the rate specified by the AC command The JG command will accelerate to the programmed velocity a
133. otor counts when slip detection is enabled All distance velocity and acceleration parameters are input in encoder counts when this mode is enabled The correct number of motor counts are generated while the user need only be concerned with encoder counts This mode can be combined with user units allowing units such as inches or revolutions to be specified in encoder counts All parameters are then input in the user units which have been defined The ratio defaults to 1 at power up or reset QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AX AS Not valid 1 AA AM Not valid AA CD Not valid Example You have an encoder connected through a series of gears to a stepper motor When the motor moves 25 000 counts the encoder produces 10 000 counts Set up an encoder ratio so the hold mode will work correctly Enter ER10000 25000 HV HOLD VELOCITY STEPPERS ONLY The HV command specifies maximum position hold correction velocity This is the peak velocity which will be used while making position corrections QUEUE REQUIREMENTS MODE NO ENCODER ENCODER SERVO AX AS Not valid 2 Not Valid AA AM Not valid AA CD Not valid Example see HN command page 5 65 VME58 User s Manual 5 63 POSITION MAINTENANCE COMMANDS 5 COMMAND STRUCTURE HG HD 5 64 HOLD FILTER PARAMETERS STEPPERS ONLY The HG command requires one parameter when applied
134. oving the T axis as a separate move Enter AM MR2000 3000 GO MA 10000 GO AX AXIS X The AX command sets the context to direct all the following commands to the X axis This is the default mode at power up or reset QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Make the X axis step at a rate of 5 000 steps second Enter AX JG5000 VME58 User s Manual 5 3 AXIS SPECIFICATION COMMANDS 5 COMMAND STRUCTURE AY AXIS Y The AY command sets the context to direct all the following commands to the Y axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Examine the status of the Y axis Enter AY RA AZ AXIS Z The AZ command sets the context to direct all the following commands to the Z axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Move the Z axis 2 000 steps at a rate of 500 steps second Enter AZ VL500 MR2000 GO 5 4 VME58 User s Manual 5 COMMAND STRUCTURE AXIS SPECIFICATION COMMANDS AT AXIS T The AT command sets the context to direct all the following commands to the T axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Move the T axis to absolute po
135. pecified velocity until a new velocity JG 32 60 command is sent or it is stopped by a stop or kill command KA 60 Acceleration feed forward coefficient KD 59 Derivative gain coefficient KI 58 Integral gain coefficient KK 61 Combined coefficient Kill flush queue and terminate pulse generation KL 35 j immediately on all axes without decelerating VME58 User s Manual 5 85 COMMAND SUMMARY 5 COMMAND STRUCTURE SUMMARY OF COMMANDS IN CHAPTER 5 SECTION COMMANDS PAGE COMMAND DESCRIPTION NUMBER Home and kill find home and stop pulse generation KM 42 immediately KN 61 Position error summation interval KO 60 Offset coefficient KP 58 Proportional gain coefficient KV 59 Velocity feed forward coefficient Home reverse and kill find home in reverse and stop KR 43 ae pulse generation immediately LE 37 Loop end terminate most recent LS command LF 10 Limits off disable limit switches for selected axis LN 10 Limits on enable limit switches for selected axis LP 24 Load position load position counter with parameter Loop start set loop counter from 1 to 32000 loops may LS 36 be nested to 4 levels MA 25 Move absolute move to absolute position ML s 27 Move linear move specified distance relative from current position MM 74 Move minus set minus direction for MV type move MO 29 Move on
136. ponse is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example The current position on the Y axis is 12345 Use the RP command to verify the position Enter AY RP Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt VME58 User s Manual 5 51 SYSTEM STATUS REQUEST COMMANDS RQ BX 5 52 5 COMMAND STRUCTURE REQUEST QUEUE STATUS The RQ command returns the number of entries available in the queue of the currently addressed axis in the single axis mode or all axes separated by commas in the AA or AM modes The ASCII string is surrounded by line feed and carriage return pairs The maximum available in each command queue is 200 The re sponse is at a fixed length of 3 characters For example if the current free queue space is 67 the response from the board to the RQ command is lt LF gt lt CR gt 067 lt LF gt lt CR gt When issuing an RQ command while defining a contour the available space in the contouring queue will be returned The maximum available is 7016 The response is fixed in length at 4 characters QUEUE REQUIREMENTS MODE AS Immediate AA AM Immediate AA CD Immediate Example See the size of the command queue for the T axis Enter AT RQ Response lt LF gt lt CR gt 200 lt LF gt lt CR gt BIT REQUEST IN HEX The BX com
137. positive motor encoder phasing is correct If the RE response is negative turn the motor amplifier and computer system power off and reverse encoder phase A and phase B After reversing encoder phases repeat the motor encoder phasing test h Send the command string LPO KK1 VL10000 AC50000 HN The motor should not move Verify proper servo control operation by sending the command string MR20000 GO Verify that the motor moves 20000 counts in the positive direction i Exercise the motor using various move commands in both the positive and negative direction and verify correct motion with the RE command j Turn the motor amplifier power off and connect the motor the rest of the mechanical system The system is now ready for tuning 2 10 4 SERVO SYSTEM TUNING Tuning a servo system is the process of balancing conflicting requirements to achieve optimum performance of a real world system The first of these conflicting requirements is that of accuracy In a closed loop system an error signal is derived then amplified then supplied to the motor to correct any error Clearly if a system is to compensate for infinitely small errors the gain of the amplifier needs to be infinite Real world amplifiers do not possess infinite gain therefore there is some minimal error which cannot be corrected In order to have the greatest possible accuracy the gain needs to be as high as possible Unfortunately other real world considerations limit the ma
138. pt the host processor if the interrupts have been enabled in the control register A 1 at bit 0 will indicate a command error has occurred This will generate an interrupt to the host if bit 7 of the control register is enabled A read by the host to this register will reset this bit when the read is complete When the 58 is in a reset configuration mode there will be a 0 at bit 1 Once the VME58 has completed configuration this bit becomes a 1 When encoder slip functionality is used the ES and IS commands bit 2 will be set with a 1 when a slip on any axis has occurred If bit 2 of the control register is set when a slip occurs an interrupt will be generated to the VME Bit 3 indicates the status of the logical OR of all the limit switches unless the LF limits off command is used Bit 3 of the control register will enable this bit to generate an interrupt to the VME Bit 4 is the Done status and is a representation of the logical OR of all the bits in the Done Flag register It will generate an interrupt to the VME if bit 4 in the control register is set and is reset by the completion of the host read Bit 5 of both the status register and the control register are exact mirrors of each other and used in the mailbox functionality The functionality of the mailbox is explained in Seqtion 3 7 Bit 6 currently is not utilized and is reserved for future development Bit 7 is the status of the interrupt signal to the VME and is the logical OR of
139. re supported at any level Table 3 T de cribes the VME bus interface The VME bus P2 connector row B is used to decode additional address bits for 32 bit data transfers and extended addressing in the VME bus specification 3 1 1 DATA BUS The data bus is a 32 bit bidirectional 3 state bus Direction of data is controlled by the VME bus master The data bus uses high level active logic The VME58 supports both 8 bit odd address and 16 bit transfers 3 1 2 ADDRESS BUS The address bus is a 32 bit high level active bus This bus is always driven by the VME bus master The address bus provides the 32 address lines for decoding memory I O is memory mapped on the VME bus The direction of transfer is determined by the state of the write line which is driven by the current bus master 3 1 3 CONTROL LINES The control lines provide the signals for fundamental memory or I O operations They control the size and direction of transfers 3 1 4 SYSRESET The Sysreset is a reset driver which is provided on the bus The VME58 has an on board reset timer and thus uses this signal only to initiate this timer on power up or during a system reset VME58 User s Manual 3 1 VME BUS 3 VME BUS INTERFACE Table 3 1 VME BUS P1 PIN LIST PIN ROW C ROW B ROW A 1 008 BBSY DOO 2 D09 BCLR DO1 3 D10 ACFAIL D02 4 D11 BGOIN 003 5 D12 BGOOUT D04 6
140. relief A connection to the host computer for 5VDC power digital ground and analog ground is provided for each axis pair for convenience in system integration Motor control signals are also available on the P2 connector of the VME bus 4 2 LIMIT AND HOME INPUTS Limit and home inputs are provided for each axis to facilitate system implementation They may be activated by mechanical switches using contact closures or other suitable active switches such as a Hall effect switch or opto isolator that connect the line to ground The limit switch closure will remove the excitation from the affected axis if the motor travels beyond its allowable limits and trips the switch The limit switches may be changed to true when open if desired by removing the jumper J15 See Sect on 2 2 ffor further information The home switch provides a means to synchronize the motor controller with the load at some home or reference position The home switch when used with the software HM or HR command will cause the motor to decelerate to a stop when the switch closes On finding the home position the position counters will be initialized to the parameter supplied with the command The sense of the home switches may be changed to true when open if desired by use of the HH command 4 3 DRIVER OUTPUT The 58 is configured at the factory for a combination of servo drive stepper and digital servo drive capability The servo drive output may be either unipol
141. scribed pattern It can do linear interpo lation on as many as 8 axes between the predefined points or it can do circular interpolation mixed with linear on two axes VME58 User s Manual 5 1 COMMAND QUEUES 5 COMMAND STRUCTURE 5 2 COMMAND QUEUES The input characters are placed in a character buffer on input then removed and inter preted The commands are then placed in separate command queues for each axis As they are executed the space is reclaimed allowing the host to pass commands ahead of the moves actually being processed Most of the commands are placed in the appropriate command queue for execution while others are executed immediately allowing return of status information in a timely way rather than when encountered in the command stream This information is provided in a table for each command which shows the queue require ments if any and indicates immediate in those cases where the command is not queued The single axis cases are indicated by the mode reference indicating the appropriate axis The synchronized mode is indicated by the mode identifier AA or AM The contouring case is indicated by AA CD for multiple axes in contour definition mode The RQ command may be used to determine the actual space available at any time The queues operate independently allowing each axis to perform separate processes simultaneously The synchronized modes AA insert special wait opcodes which allow the axes to be synchro nized in this mo
142. sine ramps are generated in a similar fashion to the parabolic ramps except the acceleration is 2A a Agsin t Vp and the velocity is then 2Am Vp V 72 1008 D and the distance traveled in the ramp is 2 s t E sin ss t 2 4 Vo where Vp is the peak velocity Amis the peak acceleration The distance needed to ramp up is then 2 S P 4Am and the time required to ramp up is and the peak velocity is m 2 when using the same peak acceleration The cosine ramp requires times longer than a linear ramp to reach the same velocity Since the purpose of the cosine ramp is smooth operation it is desirable to adjust the velocity parameters such that the desired profile is achieved even when the stage does not reach the programmed speed as opposed to truncating the curve as the parabolic modes do The OMS controls look ahead to determine if the stage will be able to reach speed in the programmed move If not the acceleration curve will be adjusted such that the peak acceleration will be the programmed acceleration and the acceleration curve will be 360 degrees of a sine wave see 1 4 1 4 VME58 User s Manual 1 GENERAL DESCRIPTION VELOCITY PROFILES Acceleration Velocity Figure 1 8 COSINE VELOCITY PROFILE Acceleration Velocity Figure 1 4 SHORT MOVE COSINE VELOCITY PROFILE VME58 User s Manual 1 5 VELOCITY PROFILES 1 GENERAL DESCRIPTION Th
143. sition 2468 Enter AT MA 2468 GO AU AXIS U The AU command sets the context to direct all the following commands to the U axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Set the U axis position register to 56789 Enter AU LP 56789 VME58 User s Manual 5 5 AXIS SPECIFICATION COMMANDS 5 COMMAND STRUCTURE AV AXIS V The AV command sets the context to direct all the following commands to the V axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Set the auxiliary line low on the V axis Enter AV AF AR AXIS R The AR command sets the context to direct all the following commands to the R axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Examine the queue size of the R axis Enter AR RQ VME58 User s Manual 5 COMMAND STRUCTURE AXIS SPECIFICATION COMMANDS AS AXIS S The AS command sets the context to direct all the following commands to the S axis QUEUE REQUIREMENTS MODE AX AS Immediate AA AM Immediate AA CD Not valid Example Stop all movement on the S axis only Enter AS ST VME58 User s Manual SYSTEM CONTROL COMMANDS 5 4 SYSTEM CONTROL COMMANDS 5 COMMAND STRUCTURE These commands allow control of various system parameters and operating modes to allow t
144. stream in the AA and single axis modes QUEUE REQUIREMENTS MODE AX AS 2 AA AM 2 AA CD Not valid Example Turn on the Y axis auxiliary output at the beginning of a move and turn the T axis output off at the beginning of a move while in the AA command mode Enter PA O 1 SETTLING TIME The SE command allows specification of a settling time in milliseconds to be used before the power is reduced when using the PA mode The parameter may be any value to 1000 milliseconds Specification of a parameter of zero turns off the mode This command is available in single axis mode only The use of this command requires 3 queue slots with the execution of each GO or GD command QUEUE REQUIREMENTS MODE AX AS 3 AA AM 3 AA CD Not valid Example Turn on the Z axis auxiliary output upon execution of a move and have it remain on for 500 milliseconds after the move is complete Enter AZ PA SE500 VME58 User s Manual 5 COMMAND STRUCTURE BL BH BIT LOW USER COMMANDS The BL command sets the selected general purpose output on i e logic low QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Example Enter Turn on output bits 10 and 12 after a move Note that this is only valid for bits which have been configured as outputs See the RB command in this section AX MA100
145. tentionally left blank VME58 User s Manual 5 15 USER COMMANDS 5 COMMAND STRUCTURE 5 5 USER I O COMMANDS The following commands are for accessing the bit I O functions of the board See also the SW and WS commands AN AUXILIARY ON The AN command turns on the selected auxiliary output Thatis it allows the open collector line to be pulled high by an external pull up resistor The AN command may be used to change power level on driver modules so equipped trigger another board s input or as a user specified output This is the default mode for the auxiliary line at power up or reset A parameter must be supplied for the desired axes when used in the AA mode so that the other axes are not affected The parameter only serves as a place holder to show which axes should be affected the value given does not affect the active state of the auxiliary line No parameter is required in the single axis mode QUEUE REQUIREMENTS MODE AX AS 1 AA AM 1 AA CD 2 Example Turn on the Y axis auxiliary output in the single axis mode Enter AY AN Example Turn on the X and Z axes auxiliary outputs when in the AA command mode The Y axis is unchanged in this example Enter AA AN1 1 5 16 VME58 User s Manual 5 COMMAND STRUCTURE USER COMMANDS AF AUXILIARY OFF The AF command turns off the selected auxiliary outputs That is it causes the open collector line to be driven low The AF comma
146. ter the loop terminator LE has been entered Because of the excess processing overhead involved the MA command cannot be used in the loop mode while the board is in the cosine CN velocity profile mode and the MT command cannot be used in the loop mode at any time The axis mode e g AX AY AA must be the same when entering and exiting the loop otherwise the matching loop termination command will not be found by the board s command processor If you want one axis to wait for another in the loop you must be in the AA mode throughout the loop If you are in the single axis mode in the loop each axis commands will go into their separate queues and execute independently of each other It is important to note that the command queue size is 200 Each queued command takes one or more slots If when entering a looping sequence of commands all 200 queue slots are filled before the LE loop terminator is entered the board will hang This is because there is no space for the LE command or any other commands When programming a loop of more than four or five moves the queue size should be examined with the RQ command to see if it is near zero QUEUE REQUIREMENTS MODE AX AS 2 AA AM 2 AA CD Not valid Example Execute a 100 000 count relative move on the Z axis 5 times Enter AZ LS5 MR100000 GOLE VME58 User s Manual 5 COMMAND STRUCTURE LOOP CONTROL COMMANDS NOTE The first move will occ
147. the 58 through the data port to confirm proper configuration and that the communication link is established This procedure is explained in Sedtion 3 6 The VME58 will respond to the WY by placing an identification string of ASCII characters into the Input Buffer starting at offset 0004 and updating the Input Put Index at offset 0000 The string should look something like this lt LF gt lt CR VME58 ver2 20 4S4 lt LF gt lt CR lt LF gt Line Feed hex 0A lt CR gt Carriage Return hex 0D There are nine 8 bit registers outside the Dual Port memory that are identified in T b e 3 2 T and explained in Sedfion 3 4 3 2 BOARD ADDRESS SELECTION The VME58 occupies a block of 4K contiguous addresses The factory default address is F000 through FFFF hex in the short address space Refer FigBrB 3 1 fpr configuration 1 of jumpers The actual address is chosen by jumpers on J61 Connecting a jumper selects a binary 0 for that address bit while no jumper selects a binary 1 The factory default base address of F000 hex is shown in Secifon 2Z 3 3 USING INTERRUPTS Full interrupt capability is provided in accordance with the VME specification Interrupts for input buffer full transmit buffer empty overtravel fault and operation complete are provided Interrupt levels 1 through 7 are jumper selectable Polled operation is also supported with separate status bits for each of the above sources 3 3 ghbws t
148. the motor driver into current limit or saturation Either increasing the available motor driver current or reducing the acceleration in the velocity profile will correct saturation problems The shape ofthe step response indicates the stability of the system Gain can be increased to improve system stiffness but is limited by stability As gain is increased ringing will begin to appear on the step response Gain should be kept below values that produce unacceptable ringing and overshoot Additional perform ance may be achieved by fine tuning the filter parameters In general stability will be VME58 User s Manual 2 13 PID FILTER CONTROL COMMANDS 2 GETTING STARTED improved with higher values of KD at the expense of rise time For velocity controlled servos voltage mode servo amplifiers KV may be added to reduce velocity following errors For torque controlled servos KA may be added to speed up the step response 2 14 VME58 User s Manual 3 VME BUS INTERFACE VME BUS 3 VME BUS INTERFACE 3 1 VME BUS The VME bus specification allows for a number of different interface complexity options The 58 supports the D08 O and D16 short address in either supervisory or non privi leged mode as specified by the VME specification C 1 Refer to the VME Bus specifications for signal descriptions The base address is jumper selectable to allow positioning the board on 4K boundaries in the short address space VME interrupts a
149. the next page VME58 User s Manual 5 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS HF HOLD OFF The HF command disables position hold stall detection and tracking modes This is the default mode at power up or reset QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid 2 AA AM Not valid AA CD Not valid Example Turn off encoder hold mode on the X axis Enter AX HF HN HOLD ON The HN command enables the HG parameters for servo axes The HN command enables position correction after a move and activates the HV HG and HD com mands for stepper axes with encoders For stepper axes hold and slip detection are disabled if an LP HM HR SA HF ST or KL command is entered or if a limit is encountered For servo axes hold and slip detection are disabled if an HF command is entered QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AS Not valid 2 AA AM Not valid AA CD Not valid Example The following commands could be used to set up the position correction mode This sequence sets up a move velocity of 100 000 steps per second and an acceleration of 500 000 steps per second per second The position correction velocity is set for 50 000 steps per second a deadband of 10 steps and correction gain of 2 000 The correction is then enabled A 200 000 step move is performed then that position is maintained w
150. ting address Address lines AO through A11 are decoded by the VME58 board and for base address selection are assumed to be 0 To set the board for the factory default address of F000 jumpers for address lines A15 A14 A13 and A12 on J61 selecting a 1 for those lines The VME58 allows selection from several address modifier values Lines AMO AM1 AM4 and AM5 are user selectable by square pin jumpers on J61 is always selected as low and is always selected as high The hex code for the default address modifier setting is 29 hex This allows Short Non Privileged Access to the VME58 board VME58 User s Manual 2 1 INTERRUPT SELECTION 2 GETTING STARTED To select this default value a jumper must be placed on lines AM1 and AM4 to decode them when they are low no jumper should be on AMO and 5 so they will be decoded when high 2 4 INTERRUPT SELECTION 8 8 m E NH NE NH EH E NH 6 NC IRQ6 IROQ4 IRQ2 IRQ7 1805 Figure 2 2 J71 INTERRUPT SELECT 1 default setting J73 3 1 4 m 6 JO J1 J2 Figure 2 8 J73 INTERRUPT SELECT 2 default setting Two sets of jumpers are used to select which VME bus interrupt signal is used by the VME58 board J71 and J73 J71 selects to which interrupt request line the VME58 board is wired and J73 selects on board logic to properly decode the interrupt acknowledge To jumper the board to a given int
151. to fit the VME58 I O connec tions Each axis has its own 15 pin subminiature D connector Takes 4 6 fingi 4 7 4 Table 4 6 1058 INDIVIDUAL CONNECTOR PER AXIS FUNCTION PINS FUNCTION 5VDC 1 9 Output Phase A 2 10 Direction Phase A 3 11 Auxiliary Index 4 12 Analog Ground Index 5 13 Positive Limit Phase B 6 14 Negative Limit Phase B 7 15 Home Ground 8 NOTE Encoder inputs for step motor configurations are not on the same connectors as their respective motor outputs They are offset by 4 axes i e Axis X motor signals are found on J2 and encoder signals for axis X should connect at J6 Servo axis feedback signals belong on their respective motor s output connector i e all axis X signals on J2 4 8 VME58 User s Manual 4 DRIVER INTERFACE ENCODER FEEDBACK Table 4 7 1058 CONNECTIONS TO USER DEFINABLE I O FUNCTION PINS FUNCTION Ground 1 14 Ground Bit 0 2 15 1 O Bit 1 I O Bit 2 3 16 Bit 3 5VDC 4 17 I O Bit 4 5 18 1 O Bit 5 Bit 6 6 19 1 O Bit 7 Ground 7 20 5VDC Ground 8 21 Bit 9 I O Bit 8 9 22 1 O Bit 11 I O Bit 10 10 23 5VDC 5VDC 11 24 1 O Bit 13 Bit 12 12 25 Ground Ground 13 the connections to the 1058 Note The encoder inputs are on separate connectors on models See the VME58 connector pin lists
152. ual 5 COMMAND STRUCTURE ENCODER STATUS REQUEST COMMANDS RE REQUEST ENCODER POSITION The RE command returns current encoder position of the currently addressed axis in encoder counts The ASCII string is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS MODE NO ENCODER ENCODER AND SERVO AX AS Not valid Immediate AA AM Not valid AA CD Not valid Example Examine the current encoder position of the Y axis Enter AY RE Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt VME58 User s Manual 5 73 VELOCITY STAIRCASE COMMANDS 5 COMMAND STRUCTURE 5 20 VELOCITY STAIRCASE COMMANDS The following commands describe the velocity staircase mode This mode is useful in applications requiring a change in velocity at a prescribed position without stopping MP MOVE POSITIVE The MP command sets the direction logic to move in the positive direction QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example see MV command on the next page MM MOVE MINUS The MM command sets the direction logic to move in the negative direction QUEUE REQUIREMENTS MODE AX AS 1 AA AM Not valid AA CD Not valid Example Set the direction line to move in the minus direction on the Y axis Enter AY MM 5 74 VME58 User s Manual 5 COMMAND STRUCTURE VELOCITY STAIRCA
153. ur immediately after entering the GO command The remaining 4 moves will be executed after the loop terminator LE has been entered Example Execute a 100 000 count move relative on the X axis together with a 100 count move on the T axis followed by a move absolute to 100 counts on the X axis and 200 counts on the T axis four times Enter AA LS4 MR100000 100 GO MA100 200 GO LE LE LOOP END The LE command terminates the most recent LS command The axis will loop back and repeat the commands within the loop the number of times specified in the LS command The loop will start repeating as soon as this command is terminated QUEUE REQUIREMENTS MODE AX AS 2 AA AM 2 AA CD Not valid Example see LS command page 5 36 VME58 User s Manual 5 37 LOOP CONTROL COMMANDS WS WHILE SYNC 5 COMMAND STRUCTURE The WS command will execute the commands between the WS and WD commands as a loop while the specified general purpose input line is true i e low When the line goes high it will exit the loop and execute the commands which follow The test is at the bottom of the loop i e it will always be executed at least once QUEUE REQUIREMENTS Execute a continuous loop moving the X axis 10 000 counts and then move the Y axis 1000 counts until an external device termi AA WS1 MR10000 GO MR 1000 GO WD MODE AX AS 2 AA AM 2 AA CD Not
154. ut Put index will indicate the offset to the Output Buffer where to start sending the characters The characters are written to consecutive word addresses and then the Output Put Index is updated by the host by writing the sum of the number of characters added to the number that is currently in that index location If a response is expected from the VME58 such as a WY command the host would then read the Input Put Index and the Input Get Index and compare the results to see if there are 3 10 VME58 User s Manual 3 VME BUS INTERFACE COMMUNICATION CHANNEL characters to be read The difference between the two indexes is the number of characters to be read The host would read the characters and then write to the Input Get Index the number of characters it has read The axis information referred to as data area starting at address offset 1024 can be read at anytime The host must request an update of this information by writing a 1 to bit 0 of the control register Then the host must read the control register and wait until that bit is reset to 0 The VME58 will reset the bit in the control register once it has completed updating the dual port memory Typically this happens at a very fast rate and provides near real time information VME58 User s Manual 3 11 COMMUNICATION CHANNEL 3 VME BUS INTERFACE Table 3 12 DUAL PORT RAM MEMORY OFFSET ASSIGNMENTS
155. ximum gain of the system The second of the conflicting requirements is that of stability The system must not be unstable e g oscillate The degree to which a system is stable affects its performance The effects can be seen when looking at the system s response to a step change at the input The step response falls into one of three categories under damped critically damped over damped Over damped systems are slow to reach their final value Critically damped Systems reach final value quickly without overshoot Under damped systems reach final value quickly but have various degrees of ringing that decay to zero VME58 User s Manual 2 GETTING STARTED PID FILTER CONTROL COMMANDS The third conflicting requirement is that of bandwidth The system should respond to the highest input frequency possible The motor load combination is the predominant feature of the open loop bandwidth In the closed loop situation the amplifier attempts to compen sate for the limited response characteristics of the motor load Increasing gain extends the closed loop bandwidth at the expense of stability An empirical trial and error approach will be discussed first A good place to begin is with a low proportional gain value KP In most systems very good performance can be achieved with the derivative gain KD set at 3 times KP The use of the KK command sets both KP and KD at this ratio The command string for the X axis would look like Enter AX
156. y the user through software commands 4 6 ENCODER SELECTION AND COMPATIBILITY The VMES58 is compatible with virtually any incremental encoder which provides quadrature outputs Times four quadrature detection is used to increase resolution The inputs are compatible with encoders which have single ended TTL outputs The VME58 inputs have built in hysteresis to minimize effects of noise pickup The 1058 has additional line receivers to accommodate encoders with differential line driver outputs These line receivers may be disabled for systems with single ended encoders when used with the 1058 see FigBirP 4 5 T 4 7 HOME PROCEDURES Two logical inputs are provided to synchronize the physical hardware with the VME58 controller i e put the controlled motor in the home position See Figuf s 4 4 251 The VME58 home inputs can be used with switches which provide one home pulse for the complete travel of the stage This signal can be either a logic high or logic low true by using the HH and HL commands The index input uses internal logic to establish the home position when used with the HE command mode This position consists of the logical AND of the encoder index pulse the home switch external input low true only and a single quadrant from the encoder logic The home switch pulse must be true for less than one revolution of the encoder thus allowing only one home for the complete travel of the stage The HM and HR commands should be us

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