manual - Mesa Electronics
Contents
1. Hoe cum 2 C3 a Y RI R2 ul C4 R4 lt RS CRI R6 5 S 5 R7 R8 CR2 RII yj 9 Ua 25 R12 RIS R14 RU RIB Jus cio R20 R21 ent amp gi 10 e R24 06 C16 U7 5 ua 017 ug C13 Uno R31 R33 R34 ES R35 ri R41 3 545 ute E R45 S R47p Alus 3 UM R56 016 E R57 054 222 WIW2W3 a P1 R60 5 sf 1017 e 2 021 J O E E U22 ART REV Page 7 4127 USER S MANUAL HARDWARE CONFIGURATION LM629 CLOCK The LM629 motor controller chip on the 4127 normally use a 8 MHz clock This clock can be set to 4 MHz if desired This can be useful when driving larger motors that require slower PWM chopping frequencies Lowering the LM629 clock to 4 MHz lowers the PWM chopping frequency to 7 8 KHz instead of the standard 15 6 KHz The maximum quadrature input rate will be reduced to 500 Khz when the 4 MHz clock option is selected Page 8 4127 USER S MANUAL INTERFACE CONNECTOR GENERAL The I O interface connector on the 4127 is 50 pin header The suggested mating connector is AMP PN 1 746285 0 There are two 4127 models with different connector pinouts A model with TTL encoder inputs and a model with RS 422 encoder inputs The TTL encoder input model pinout matches the MESA 7125 dual H b2. 14 Intertupt vx Uae Codes i atu ot 14 Interrupt Mod DEC EE 14 INTA PEOPLE A ag eeu P anu V EE cede puse 15 CONNECTING MOTOTS ke ak 15 Ree A 16 Demonstration programs 17 REFERENCE INFORMATION Specifications EE AS DE A 19 TEUER 20 Scheinatie diagrams aata a 21 4127 USER S MANUAL WARNINGS SERVO WARNING Large servo motors are capable of inflicting serious injury both to people and to mechanisms associated with the servo system In addition some motors use potentially lethal supply voltages When a servo control system is first configured unpredictable behavior should be EXPECTED First time checks of basic servo operation such as motor position versus drive should be checked with the motor power leads disconnected Never depend on software commands to the 4127 to disable the motor when you or others would be exposed to a hazard should the motor start unexpectedly Motor power should always be removed when working on mechanical parts of the servo system STATIC ELECTRICITY The CMOS integrated circuits on the 4127 can be damaged by exposure to electrostatic discharges The following precautions should be taken when handling the 4127 to prevent possible damage A Leave the 4127 in its antistatic bag until needed B All
3. PAGE DOWN adjust parameter up slow 1 END adjust parameter down slow 1 PAGE UP draw horizontal timing scale INSERT do step and record response DELETE clear graph CTRL HOME reset parameters to initial values current motor only ALTX exit program Page 16 4127 USER S MANUAL OPERATION DEMONSTRATION PROGRAMS 4127VELO sets motor 0 and motor 1 into the velocity mode and allows you to set their speeds in RPM 4127POS1 sets motor 0 to position mode and does some ramp up ramp down motions 4127 52 sets motor 0 and 1 to position mode and does set of coordinated XY motions with them 4I27POS2 will bail out ifboth motors are not present 4I27VELO and 4I27POS may need to have their default filter parameters and other constants changed to match your motors and card location before being run 4I27TUNE is a manual parameter tuning program that allows you to optimize filter parameters while the selected motor is in operation 4I27TUNE requires an or Hercules compatible video adaptor card for operation of the demonstration programs are written in Turbo Pascal The source code for the demonstration programs is provided in the source directory ofthe 4I27 distribution disk Page 17 4127 USER S MANUAL Page 18 4127 USER S MANUAL REFERENCE INFORMATION SPECIFICATIONS MIN MAX UNIT NOTES POWER SUPPLY Voltage 4 5 5 5 Supply current 125 no ext load BUS LOADING Input capacita
4. B 2 27 Motor 0 overtemp B 3 25 1 overtemp 4 11 Motor 0 index also connected to LM629 B 5 9 Motor 1 index also connected to LM629 C 0 47 Bit 0 general purpose bit E 1 45 Bit 1 general purpose bit 2 43 Bit 2 general purpose bit 3 41 Bit 3 general purpose bit 4 39 Bit 4 general purpose bit 5 37 Bit 5 general purpose bit 6 35 Bit 6 general purpose bit 2 33 Bit 7 general purpose bit Page 13 4127 USER S MANUAL OPERATION PARALLEL PORT OPERATION The parallel ports on the 4127 use a standard 82C55 PIA The user accessible I O lines have 3 3K pullup resistors to simplify interfacing to contact closure opto detector or open collector outputs Ports A and have predefined functions while port 1 available for general purpose use Port has the feature of being splitable into two 4 bit ports to allow both input and output bits on the same port Port 15 used as an output port It controls the and MOTORIENA bits used by the 7125 H Bridge the ISEL bits which determine the IRQ line driven by the 4127 and the IMODE bits which control the interrupt driver enable and mode Port is used as an input port The MOTOROSENSE MOTORISENSE MOTOROTEMP MOTORITEMP MOTOROIDX and MOTORIIDX bits are read here The Pascal source code in the file 427LOW PAS has examples of setting up and using the predefined parallel I O on the 4127 INTERRUPT SELECT When the 412
5. drive terminal strip In this way it is possibleto determine the correct motor drive polarity The motor s should be connected such that the motor drive would tend to oppose the hand generated motor motion Page 15 4127 USER S MANUAL OPERATION SERVO SYSTEM TUNING A simple manual tuning program 4127TUNE is supplied with the 4127 This program allows you to manually adjust the digital filter parameters while the selected motor is in operation In addition 4I27TUNE can record the step response of the servo system with the current set of filter parameters 4I27TUNE uses the cursor keys to select the desired parameter and adjust that parameter The selectable parameters are as follows PARAMETER DESC RANGE UNITS KP gain 010 32767 drive err KD damping Oto 32767 drive err n error n 1 KI integral 0 to 32767 drive accum error IL integral limit 0 to 32767 KI contribution limit SI sample interval 010255 SP SI 1 STEP SIZE motor step 100 to 10000 encoder counts VELOCITY velocity Oto 1073741823 encoder counts SP ACCELERATION acceleration Oto 1073741823 encoder counts SP SP MOTOR selects motor 0 and 1 TIME DIV selects graph 10to200 milliseconds division SP SAMPLING PERIOD 256 uSec 1 SI with 8 MHz clock The following table shows the 4I27TUNE key functions KEY FUNCTION UP ARROW select parameter DOWN ARROW select parameter RIGHT ARROW adjust parameter up fast 10 LEFT ARROW adjust parameter down fast 10
6. nearest the person doing the configuration DEFAULT CONFIGURATION The 4127 card is configured in the following manner when shipped from the factory FUNCTION DEFAULT JUMPERS POSITION PORT ADDRESS 0200H W1 W2 W3 DOWN DOWN DOWN LM629 CLOCK 8 MHZ W4 LEFT Demonstration programs shipped with the 4127 depend on the port address being left at the default setting PORT ADDRESS The 4127 occupies 16 contiguous locations in I O space The base address of the 4127 card can be any of eight different locations These locations are selected with shorting jumpers placed on jumper blocks W1 W2 and W3 The following table shows the I O base addresses selected by these jumpers ADDRESS wil W2 W3 0200H DOWN DOWN DOWN 0210H DOWN DOWN UP 0220H DOWN UP DOWN 0230H DOWN UP UP 0240H UP DOWN DOWN 0250H UP DOWN UP 0260H UP UP DOWN 0270H UP UP UP Page 6 4127 USER S MANUAL HARDWARE CONFIGURATION PORT ADDRESS AND CLOCK SPEED JUMPERS
7. shut down due to a 2145 C temperature in the bridge driver chip Page 9 4127 USER S MANUAL INTERFACE CONNECTOR RS 422 INTERFACE CONNECTOR PINOUT PIN SIGNAL PIN SIGNAL 1 MOTORIQB 2 MOTORI QB 3 MOTORIQA 4 MOTORI QA 5 MOTOROQB 6 MOTORO QB 7 MOTOROQA 8 MOTORO QA 9 MOTORI IDX 10 MOTORI IDX 11 MOTOROIDX 12 MOTORO IDX 13 MOTORIPWM 15 MOTOROPWM 17 MOTORIDIR 19 MOTORODIR 21 MOTORIENA 23 25 MOTORISENSEI 27 MOTOROSENSEI 29 MOTORISENSEO 3l MOTOROSENSEO 33 BIT7 35 6 37 5 39 4 41 BIT3 43 BIT2 45 BIT 1 47 BITO 49 5 volt power Even numbered pins 14 through 50 are grounded RS 422 differential pairs are on odd and even successive pins for example MOTOROQB and MOTORO QB pins 5 and 6 respectively comprise RS 422 differential pair the B quadrature encoder input for motor 0 All RS 422 inputs on the 4127 are terminated at the 4I27 card with 136 Ohmresistors Page 10 4127 USER S MANUAL INSTALLATION GENERAL When the 4127 has been properly configured for its application it can be inserted into a PC 104 stack The standoffs should then be tightened to secure the 4127 in its place When the 4127 is secured in the stack the connector can be plugged in from the side Page 11 4127 USER S MANUAL OPERATION REGISTER MAP The 4127 occupies 16 contiguous port locations starting at the user selected base address 00H 82655 Port A mus
8. work should be performed at an antistatic workstation C Ground equipment into which 4127 will be installed D Ground handling personnel with conductive bracelet through 1 megohm resistor to ground E Avoid wearing synthetic fabrics particularly Nylon Page 4 4127 USER S MANUAL INTRODUCTION GENERAL The 4127 1 a low cost LM629 based 2 axis DC servo motor control system implemented on a stackable PC 104 bus card The 4127 is designed for high performance positioning systems using DC servo motors with quadrature shaft encoders The per axis output of the 4127 is an 8 bit sign magnitude PWM signal that can drive H bridge type servo amplifiers directly There are different models of the 4127 with different encoder and index inputs Quadrature encoder and index inputs can be either for short distances and smaller motor or RS 422 where long encoder cables are required TTL inputs are conditioned with RC filters and Schmitt triggers for noise immunity Control signals for each axis include 3 auxiliary I O bits These I O bits are used for over temperature shutdown detect and H bridge enable when the 4I27 is used with the 7125 H bridge The enable bits are used by the 7I27 H Bridge Eight general purpose I O bits are available for any application use The LM629 s used on the 4127 are high performance digital processors specifically designed for motion control The LM629 can execute a ramp up slew and ramp down moti
9. 4127 MOTOR CONTROLLER PWM VERSION 1 1 Copyright 1997 by MESA ELECTRONICS Richmond CA Printed in the United States of America All rights reserved This document and the data disclosed herein is not to be reproduced used disclosed in whole or in part to anyone without the written permission of MESA ELECTRONICS Mesa Electronics 4175 Lakeside Drive Suite 100 Richmond CA 94806 1950 Tel 510 223 9272 Fax 510 223 9585 E Mail tech mesanet com Website www mesanet com 4127 USER S MANUAL 4127 USER S MANUAL TABLE OF CONTENTS WARNINGS Servo MAZA NER A A O A 4 Handling Precautions di ta Pests 4 INTRODUCTION Ends a dre 5 HARDWARE CONFIGURATION General a id 6 Default configuration dds Re PEE E Eee E be RC TE ola av 6 P ft ddress PEE 6 seas ualde praes ale 8 INTERFACE CONNECTOR Genetal na A IA Rex site ave a ax 9 contiector Orientation oh A o UE 9 TTL interface connector pinout ssc eiii 9 RS 422 interface connector pinout p a 9 INSTALLATION General pacts el eee yok ea ta 11 OPERATION Register hip eod AAA oars ean mew ene 12 kad ac 12 Parallel 13 Parallelp ftaperatlomuss
10. 7 card uses interrupts the specific IRQ line driven by the 4127 is determined by the ISEL bits ofthe 82C55 s port A The four ISEL bits forma binary code that corresponds directly with the IRQ line selected Since there are other bits on the 82C55 s port A you should always change the ISEL bits by reading the port modifying the desired bits and then rewriting the port The Pascal source code in the file 4127LOW PAS has examples of setting the IRQ line INTERRUPT MODE The two IMODE bits on the 82C55 s port A determine the 4127 s interrupt mode The IMODE bits function as follows IMODE1 IMODEO FUNCTION 0 0 Interrupt driver disabled 0 1 Normal interrupt mode 1 0 Shared interrupt mode 1 1 Shared interrupt mode pull down The shared interrupt mode uses an active pullup passive pulldown driver to allow the sharing logical or ing of interrupts between cards The interrupt can only be shared with other cards that support this mode of shared interrupts Page 14 4127 USER S MANUAL OPERATION INTERRUPT OPERATION The LM629 interrupt outputs are logically ORed by the 4127 card This means that an interrupt output from either ofthe LM629 s will can cause a system interrupt The bus interrupt line is driven by a tri state buffer controlled by the IMODE bits The IMODE bits will be in a low state until the 82655 is programmed If interrupts are not used the IMODE bits should be low CONNECTING MOTORS After the 4I27 has been c
11. RESS IMPLIED INCLUDING NOT LIMITED IMPLIED WARRANTY MERCHANTABILITY FITNESS ADEQUACY FOR ANY PARTICULAR PURPOSE OR USE MESA ELECTRONICS SHALL NOT BE LIABLE FOR ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER IN CONTRACT TORT OR OTHERWISE If any failure occurs the following steps should be taken 1 Notify Mesa Electronics giving full details of the difficulty On receipt of this information service data or shipping instructions will be forwarded to you 2 On receipt of the shipping instructions forward the product in its original protective packaging transportation prepaid to Mesa Electronics Repairs will be made at Mesa Electronics and the product returned transportation prepaid Page 20 4127 USER S MANUAL REFERENCE INFORMATION SCHEMATICS Page 21 4127 USER S MANUAL Page 22 4127 USER S MANUAL Page 23 4127 USER S MANUAL Page 24
12. nce 15 Input leakage current 5 uA Output drive capability 150 Output sink current 12 I O PORTLOADING Inputlogiclow 3 8 Input logic high 2 0 5 5 Output low 4 2 5 sink Output high 3 0 2 5 mA source ENVIRONMENTAL Operating temperature range I version 40 85 C C version 0 70 C Relative humidity 0 90 Percent Non condensing Page 19 4127 USER S MANUAL REFERENCE INFORMATION WARRANTY Mesa Electronics warrants the products it manufactures to be free effects in material and workmanship under normal use and service for the period of 2 years from date of purchase This warranty shall not apply to products which have been subject to misuse neglect accident or abnormal conditions ofoperation In the event of failure of a product covered by this warranty Mesa Electronics will repair any product returned to Mesa Electronics within 2 years of original purchase provided the warrantor s examination discloses to its satisfaction that the product was defective warrantor may at its option replace the product in lieu ofrepair With regard to any product returned within 2 years of purchase said repairs or replacement will be made without charge If the failure has been caused by misuse neglect accident or abnormal conditions of operation repairs will be billed at a nominal cost IUE UE mi THE FOREGOING WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES EXP
13. on sequence without host processor intervention Host interrupts can be generated at end of motion position breakpoints index pulse or in response to various error conditions Interrupts are or ed on the 4127 card so that only one system interrupt is used The IRQ line used can be software selected from any of the 11 available AT bus interrupts A digital PID filter is usedto set loop feedback parameters for stability and optimum performance Velocity target position and filter parameters may be changed during motion The clock speed of the LM629 s can be lowered to accommodate large motors that require lower PWM chopping frequencies Demonstration software includes examples of 2 axis position mode operation velocity mode operation and a simple filter tuning program that allows dynamic filter coefficient modification while providing a graphic display of the servo system step response Source code is provided for all demonstration software Ananalog output version ofthe 4127 is available as the 4I27A Page 5 4127 USER S MANUAL HARDWARE CONFIGURATION GENERAL The 4127 has only two hardware configurable options the port address and the LM629 clock speed The options are selected with shorting jumpers placed on three pin headers In the following discussions whenthe words up down right and left are used it is assumed that the 4I27 card is oriented with its bus connectors and J2 at the bottom edge of the card
14. onfigured and installed in the system it should be checked for correct operation The supplied programs 4I27READ and 4I27TUNE can be used as a quick check of 4127 functionality The first step is to connect the 4I27 to the quadrature encoder s and then use 4I27READ to check for functionality and proper count direction to match the coordinates of your positioning system The program 4I27READ simply prints both motor positions relative to their position at program initialization continuously until a key is pressed Ifthe count direction is reversed switch the encoder A and B outputs to the 4127 When RS 422 interface encoders are used make sure not to mix and B outputs For the next step It is suggested that the motor drive leads be left disconnected and 4127TUNE be run When 4127TUNE is run it will check for the presence of the 4127 and enable motor 0 Motor 0 will be configured for position mode with the home position being set to wherever motor 0 happens to be during program initialization The PWM outputs ofthe 4127 or the H Bridge can then be monitored while the motor is manually rocked back and forth from its original position If the 4127 is operating correctly the DIR and PWM outputs should vary with encoder shaft position Ifthe 4127 is used with a 7125 H Bridge the 7125 output LEDs can be used as indicators of power drive direction and magnitude A green LED color on a 7125 indicates a positive polarity on pin 1 of the motor
15. ridge motor driver allowing a single 50 conductor flat cable to connect between the two The RS 422 input model is intended for applications where electrical noise is a problem or long encoder cables gt 10 ft need to be accommodated I O CONNECTOR ORIENTATION The 50 pin connector on the 4127 has the pin one end marked with a white square on the circuit card This corresponds with the red stripe on typical flat cable assemblies If more positive polarization is desired center polarized IDC header connectors should be used These connectors will not fully mate with the pins on the 4127 if installed backwards A suggested center polarized 50 pin IDC header is AMP PN 1 746285 0 TTL INTERFACE CONNECTOR PINOUT PIN SIGNAL PIN SIGNAL 1 MOTORIQA 25 MOTORI OVERTEMP 3 MOTORIQB 27 MOTORO OVERTEMP 5 MOTOROQB 29 MOTORISENSE 7 31 MOTOROSENSE 9 MOTORIIDX 33 BIT7 11 MOTOROIDX 35 6 13 MOTORIPWM 27 BIT 5 15 MOTOROPWM 39 BIT4 17 MOTORIDIR 41 BIT3 19 MOTORODIR 43 BIT2 21 MOTORIENA 45 BIT 1 25 MOTOROENA 47 BITO Even numbered pins 14 through 50 are grounded Even numbered pins 2 through 12 are open Even pins 2 12 can be grounded at the source end of the interface cable if interleaved grounds are desired for the encoder inputs They are grounded at the 7125 end ofthe interface cable when 7125 is used The bits apply to the 7125 H bridge driver and indicate that the H bridge driver has
16. t be output 01 82655 Port B must be input BASE 02H 82655 Port C user defined BASE 03H 82C55 Control port BASE 04H Motor 0 Command Status port BASE 05H Motor 0 Data port BASE 06H Motor 0 Command Status port duplicate BASE 07H Motor 0 Data port duplicate BASE 08H Motor 1 Command Status port BASE 09H Motor 1 Data port BASE 0 Motor 1 Command Status port duplicate BASE 0BH Motor 1 Data port duplicate BASE 0CH Motor 0 and Motor 1 Command Status port BASE 0DH Motor 0 and Motor 1 Data port 0EH Motor 0 and Motor 1 Command Status port duplicate BASE 0FH Motor 0 and Motor 1 Data port duplicate PARALLEL PORT A 82 55 parallel port is supplied to control various bits for motor control and to provide an 8 bit general purpose input or output port The motor control bits are designed to interface with the Mesa 7125 H Bridge driver and the supplied software otherwise these bits can be used for any purpose The motor control bits are active low and have pullup resistors so that they are inactive on power up All bits not mentioned are not used and should be set high Page 12 4127 USER S MANUAL OPERATION PARALLEL PORT BITS 82C55PORT BIT PIN FUNCTION A 0 23 Motor 0 enable A 1 21 1 enable A 2 ISELO A 3 N A ISEL1 A 4 N A ISEL2 A 5 N A ISEL3 A 6 N A IMODEO A 7 N A IMODE1 B 0 31 Motor 0 sense general purpose bit B 1 29 Motor 1 sense general purpose bit
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