DSPMC User Guide
Contents
1. 0 A On JA Pin 24 B On J4 Pin 12 SoftEncoder 1 A On JA Pin 25 B On JA Pin 13 SoftEncoder 2 A On J5 Pin 18 B On J5 Pin 6 SoftEncoders are normally used as MPG source See Section 7 11 7 Manual Pulse Generation MPG for more information In addition SoftEncoders are designed to avoid Jerks when MPG scale is changed by the PC software To accomplish this these encoder counters are implemented using floating point numbers instead of whole integer numbers They can be assigned decimal values eg 3 092 5 001 64000 5 etc which the hardware encoder counters are not capable of they can only take whole integers Step and Direction Outputs and Encoder Channels on J11 and J12 The DSPMC supports 8 Step and Direction Channels on ports J3 J11 and J12 NOTE Although ports J11 and J12 are used for Digital I O they can be configured to output Step and Direction signals using the VSI Device Manager application The 7737 board lets you connect encoder and Step Dir signals to J11 and J12 via RJ45 style plugs Encoder channels 8 15 are always active along with the digital inputs on J11 and J12 Encoders and digital inputs share the same pins The 7737 Encoder Stepper Board is designed to be plugged directly into J11 and J12 for 24V optical isolation and RJ45 connectors for differential encoders and differential step and direction signals 2016 Vital Systems Inc 18 www vitalsystem com DSPMC v2 Controller User Guide N2. VSI Device Manager v5 14 DEBUG Network Devices IP Address Firmware Serial Number 192 166 0 206 2 37 000443868346 197 168 0202 8 17 0004 A3B0949D Scan Network Boot Loader Activation DSPMC Firmware Pins Firmware Variables IN EStopi IN EStop2 IN KeyLock 112 StepGen amp ENC OUT _AuxCPULED OUT _AuxErrorLED Pin E Active Low Value Enabled FPGA Boot Loader Hardware Adapter IP BACE 2 25 752 192 168 0 213 E104 0 06 1762 192 168 0 213 Description Enable StepGen 4 7 and Encoders 12 15 on J12 Changes the Step Dir outputs on 13 from single ended to differe J11 Pin Assignments for Single Ended Encoders and Step Dir Output Channels Step Signal Channel 4 3 Direction Signal Channel4 4 E Digital Output 21 Digital Output 23 1 1 1 1 1 WE Single ended Encoder Ch 10 Z 2 25 Drive Error Input 47 2 O 2016 Vital Systems Inc Single ended Encoder Ch 7B EN Single ended Encoder Ch 8 A 1 ingle 12 3 ingle 14 1 ingle 2 3 ingle 4 5 6 19 6 Drive Enable Output20 8 Digital Output22 12 Single ended EncoderCh7Z 14 Single ended Encoder Ch8B Single ended Encoder Ch11A Single ended Encoder Ch 11 B Single ended Encoder Ch 11 Z www vitalsystem com DSPMC v2 Controller User Guide J12 Pin Assignments for Single Ended Encoders and Step Dir Output Channels Direction Signal Channel 6 Direction Signal Channel 7 Digital Output 29 S
3. in UDP mode is used for PC communications Analog 1 0 Port J2 J2 Pin Assignments mn Somme e IS Analog Outputo In mme a Analog Outputs 23 1 eenz TT 6 Analog outputs 25 Sanel 7 CS AS ES Analog Inputs Available on 7762 M Models Only Input voltage Range 10 to 10 Volts Input impedance 10M Ohm Binary Resolution 16 bits Conversion Rate up to 20KHz O O O O 8 Analog Outputs Analog Output range 10 Volts Analog Output Resolution 16 Bits Maximum Output Current Per Output 20mA O O O 2016 Vital Systems Inc 10 www vitalsystem com DSPMC v2 Controller User Guide Step and Direction Outputs Encoder Channel 6 on J3 and J14 J3 provides 6 channels Step and Direction Signals and one differential encoder input The Step Dir output signals are 0 5V Range J3 Pin Assignments VJ oder Ge SL Encoder charnels Bt SS SS Direction 2 Encoder Channel 6 A Encoder Channel 6 A Sept ES A EN Channel 6B Direction EE D EE II eet ES O 2016 Vital Systems Inc 11 vvvvvv vitalsystem com DSPMC v2 Controller User Guide To enable differential step and direction outputs on J3 use the VSI Device Manager software and configure the firmware variable as follows i VW u E p Se e 4 Ze Hy le GZ anader ty 3 L b H TP Gei 8 e A Ve q be Network Devices IP Address Firmware Serial Number FPGA Boot Loader Hardware Adapter IP 192 168 0 229 3 15 0
4. to install the VSI Device Manager application For instructions on using the program see the provided manual VSI Device Manager Extended Features e Macro Programming Unlocks the use of dspMacro Programs for standalone operation See VSI Macro Loader for more information e Scan and Trigger Unlocks the dspMacro and the Scan and Trigger function which allows toggling the state of a Digital Output when a certain Analog Input Voltage threshold is reached Must be set using a dspMacro program VSI Macro Loader VSI Macro Loader is an application that is used to install and debug dspMacro Programs on the Pal DSPMC controller The user can select the dspMacro file bas file and download it to the gt Macro controller PRINT statements in the code can be viewed in the output window after launching Loar the dspMacro program Custom Software Application with DSPMC x 590 7437 an Custom Windows applications can be created using the VSI Motion y 00001 se seseeeeeeeeeenee CCE P 0 0005 mung Control API library The Library is an API designed to allow LS 14 00001 su BBSRSSSRROBSOODS communication via Ethernet using commands to arm disarm as B 0 0001 E control and read 1 0 and command motion among others Sample pes E TT EK applications and a user guide may be found here I M fo ce ke d 5 i save tue ve Hera me LLLLLLL gp ve dere Al O 2016 Vital Systems Inc 4 vvvvvv vital
5. 0 A Encoder Channel 0 A Encoder Channel O B Encoder Channel 0 B Encoder Channel 2 B Sp 3 Ca svs00ma eegend es ae _ SS RS EE 22 23 11 Encoder Channel 0 Z Encoder Channel 0 Z Encoder Channel 1 A Ground Return Encoder Channel 1 Z Encoder Channel 1 Z J7 Pin Assignments Encoder Channel 5 A e Encoder Channel3z 23 Encocerchamess a svs n Encoder chomes reegt 13 JResenes 19 ncoder annee reegen QO ncoger Grannela O O 2016 Vital Systems Inc 16 vvvvvv vitalsystem com DSPMC v2 Controller User Guide J3 Pin Assignments pot seo RE Pres O DE or 28 Encoder Channel ex Ce oree o a Ground Return BC PE D D EN D AE id J8 Pin Assignments J8 is a 10 pin header which is accessible by opening the top cover Aa Encoder Channel 7 A 3 Encoder Channel 7 A 6 Encoder Channel 7 B a Encoder Channel 7 B Encoder channel 7 1 ae IT Co A o 2016 Vital Systems Inc 17 www vitalsystem com DSPMC v2 Controller User Guide Single Ended Encoder Inputs In addition to dedicated hardyvare encoder inputs DSPMC board also provide three Single Ended encoder inputs in Digital Input J4 and J5 connector These are simulated encoder inputs therefore called SoftEncoder and are used for low speed applications like MPG The following table lists the Digital I O pins assigned to SoftEncoders Requires Firmware Rev 63 or nevver SoftEncoder
6. 004A38BA15E 7E7B 2 00 7766 192 168 0 200 192 168 2 54 835 0004A3B08CEA E901 0 06 192 168 2 10 Scan Network Boot Loader Activation DSPMC Firmware Pins Firmware Variables Name Description IN EStopi ADC Sample Count Number of Analog Input Samples to obtain before calculatin IN_EStop2 Ji1 StepGen amp ENC Enable StepGen 0 3 and Encoders 8 11 on J11 IN_KeyLock onGen BLED nable StenGen J and Encode OUT_AuxCPULED OUT_AuxErrorLED Pin F Active Low Value Enabled J14 is a 6 pin header which is only accessible by opening the top cover It provides two extra channels of Step Direction signals These Stepper channels use the 3 3V standard Stepper Channels 0 5 are available on J3 outside connector and use 5 Volts standard J14 Pin Assignments 3 3V 100mA a Heger Se ooo e irean 2016 Vital Systems Inc 12 www vitalsystem com DSPMC v2 Controller User Guide Digital 1 0 Ports J4 J5 J11 J12 On the DSPMC 7762 board there are Four Digital I O connectors each providing sixteen inputs and eight outputs Total there are 64 digital inputs and 32 digital outputs These Digital I O plugs are not optically isolated and use low voltage 3 3Volt standard For 24 Volts operation you can use the digital UO breakout board pn7535 with DSPMC board These boards connect directly to J4 J5 J11 and J12 and provide detachable screw terminals for easy wiring and maintenance Please visit this we
7. 2 Controller User Guide License Agreement Before using the DSPMC and accompanying software tools please take a moment to go thru this License agreement Any use of this hardware and software indicate your acceptance to this agreement It is the nature of all machine tools that they are dangerous devices In order to be permitted to use DSPMC on any machine you must agree to the follovving license agree that no one other than the owner of this machine will under any circumstances be responsible for the operation safety and use of this machine agree there is no situation under which would consider Vital Systems or any of its distributors to be responsible for any losses damages or other misfortunes suffered through the use of the DSPMC board and its software I understand that the DSPMC board is very complex and though the engineers make every effort to achieve a bug free environment that will hold no one other than myself responsible for mistakes errors material loss personal damages secondary damages faults or errors of any kind caused by any circumstance any bugs or any undesired response by the board and its software while running my machine or device fully accept all responsibility for the operation of this machine while under the control of DSPMC and for its operation by others who may use the machine It is my responsibility to vvarn any others who may operate any device under the control of DSPMC board of the li
8. DSPMC v2 pn 7762S 7762M Ethernet Motion Controller Data Acquisition System PID Controller User Guide Document Revision 1 2 Update October 29 2015 2016 Vital Systems Inc Phoenix AZ USA For more information please visit the product web page www vitalsystem com dspmc DSPMC v2 Controller User Guide Contents Blasen NEE e 2 AE 2 OR UARE ON DET arr 4 EE Ee 4 Val Macro KORE eo E a ee a a te one 4 Custom Software Application With DSPMC aaa aaa nana aaa aaaa aa nana ase e enes eren ne eren neteve eee even e teve tete mente reve te teve eee ee vese 4 NEN ONE CONNECTIONSETDP named 5 Setup IP address using a Router with DHCP Server ss 5 Manually assigning an IP Address to the PC ss 6 HARDWARE INTERFACE DESCRIPTION sement mmanhoae 9 Ethernet POF SJL ssssrsenerenessenscsssnmuerarssretanesnebasercamassrenn messe euncenerareroemnecas esp esrosenerencenine 10 AO PO PO aa a a ts de na de bee donne done 10 Step and Direction Outputs Encoder Channel 6 on J3 and IL4 nana anen ena anen eee sere vese e eve ae eseves 11 Digitally Pore Ja SITI e e 13 Differential Quadrature Encoders on J6 17 J3 and l8 er rave neve mee ee reve meve ves ee re vemeses 16 Si fated Ended Encoder ee 18 Step and Direction Outputs and Encoder Channels on J11 and JULI 18 INSTALLATION OVERVIEW gypin 21 E oe e ae Up A A E ee ee A E V T D 21 Step ind Decon Se EE 22 ENO SUP EE 23 2016 Vital Systems Inc 1 www vitalsystem com DSPMC v
9. bpage for more info on 7535 The digital inputs are also used for emulated quadrature encoder for low speed applications e g MPG wheel for CNC control For more details see section 4 6 Single Ended Encoder Inputs For connecting 24 Volts I O on J4 J5 J11 and J12 the 7535 Por N I O breakout board should be used OPTO22 style modules e g G4ODC5 and GAIDC5 can also be used with these ports Connecting 24 Volts directly on these plugs may damage the unit O 2016 Vital Systems Inc 13 vvvvvv vitalsystem com DSPMC v2 Controller User Guide JA Pin Assignments Sound eur nee E STI mei f o ES BC oms RRC ET SE J5 Pin Assignments Ground Return AT 5 18 19 1 OT LS TI a8 nea p OJ muar OT eas SESCH ST SS O 2016 Vital Systems Inc 14 vvvvvv vitalsystem com DSPMC v2 Controller User Guide J11 Pin Assignments Digital Outputa7 4 I eou Digital Outputs 6 otloupu TT egen 8 vtt f 5 17 S 23 En u p15 EU 19 2 2 oy J12 Pin Assignments 3 Distal output 25 a ouialoup LS Digital output 27 6 ig ourput 28 TT 7 Ier s Jigjarourpurso LS gar Gutput sr 10 gien IT Digital Input 63 5V O 2016 Vital Systems Inc 15 vvvvvv vitalsystem com DSPMC v2 Controller User Guide Differential Quadrature Encoders on J6 J7 J3 and J8 J6 Pin Assignments 5V 500mA Ground Return Encoder Channel 2 A Encoder Channel 2 A Encoder Channel
10. cable Connected to J1 Drive Error Drive Enable Drive Interface Board EPx DIB External power source from DSPMC J8 D cr de General Purpose Output Board EPx DIB NPN Sinking 24V 2A Port13 Out6 gt gt GPO A Drive Interface Board EPx DIB O 2016 Vital Systems Inc 22 vvvvvv vitalsystem com DSPMC v2 Controller User Guide EtherCAT Setup The EtherCAT Setup requires the 7729 EtherCAT Adapter Board to connect the DSPMC with an EtherCAT network This effectively turns the DSPMC into an EtherCAT master capable of controlling multiple networked EtherCAT drives i Servo Motor SS Servo Motor Servo Motor Digital Inputs e Limit Switches e Home Switches e Controller Estop Ethercat Adapter Board Digital Outputs Power Input 12 30V If Ethercat drivers DO NOT support digital 1 0 Digital Inputs 7535 Opto Isolated Limit Switches Digital 170 Board Home Switches Estop Required for Motion Controller DSPMC Ethernet Motion Controller Ethernet Connection to PC 2016 Vital Systems Inc 23 www vitalsystem com
11. ed to PC J2 Provides analog input and DAC output J3 Stepper Motor outputs Differential Encoder Input Index 6 J4 Digital I Os provide 16 inputs 0 to 15 and 8 outputs 0 to 7 J5 Digital I Os provide 16 inputs 16 to 31 and 8 outputs 8 to 15 J6 Differential Encoder inputs Index 0 1 and 2 J7 Differential Encoder inputs Index 3 4 and 5 PWR Power Connector PWR LED Green colored LED for Power indication it glows steadily when Power is on PID LED Orange colored LED for PIDs in control it glows steadily when PID is armed ERR LED Red colored LED for error indication DSP LED Green colored LED indicating DSP processor operation blinks constantly during normal operation There are a few connectors available on the internal circuit board which are accessible by opening the top cover or the ribbon cable slot DSPMC vi intemal Circuit Board J11 Digital I Os provide 16 inputs 32 to 47 and 8 outputs 16 to 23 J12 Digital I Os provide 16 inputs 48 to 63 and 8 outputs 24 to 31 J8 Differential Encoder Channel Input Index 7 J14 Stepper Step and Direction Output Channels 6 and 7 3 3Volts signals 2016 Vital Systems Inc 9 www vitalsystem com DSPMC v2 Controller User Guide Ethernet Port J1 Connect to PC directly or via an Ethernet Hub or a switch The DSPMC board supports both 10 MBit and 100 Mbit network speeds TCP IP network protocol
12. mitations so imposed fully accept the above statements and will comply at all times with standard operating procedures and safety requirements pertinent to my area or country and will endeavor to ensure the safety of all operators as well as anyone near or in the area of my machine WARNING Machines in motion can be extremely dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the system VITAL Systems shall not be liable or responsible for any incidental or consequential damages By Using the DSPMCv2 motion controller you agree to the license agreement 2016 Vital Systems Inc 2 www vitalsystem com DSPMC v2 Controller User Guide Overvievv The DSPMC is an Ethernet based controller for motion control data acauisition and general PID control system applications Utilizing the latest DSP technology the DSPMC offers a comprehensive set of features for your demanding applications DSPMC controller can be applied in a variety of applications involving PC based Motion Control Storage and Retrieval Systems and CNC Milling Lathe Machines Equipped with a rich set of hardware interfaces it can also be used for vvide variety of applications involving PID control e g speed oven temperature control and so on Following in the key features of DSPMC v2 e 8 Channels Servo Drive Analog Outputs Range 10V 16 Bit Resolution e 8 Step and Direction Channels up
13. ou will need to manually assign an IP address to your PC The DSPMC board will use its firmware pre assigned IP address i e 192 168 0 50 The Ethernet cable is connected from the J1 ethernet port of the DSPMC board to the PC as shown below One to one connection using Straight Thru Ethernet Cable Ethernet N Host PC Work Station The PC IP Address can be configured manually in windows XP as follows For other operating systems please consult the respective user guides for changing the IP address NOTE Instructions for configuring Windows 7 PCs can be found here Skip to STEP 4 afterwards 1 Double click on the My Network Places icon in Windows XP and open the available network connections 2016 Vital Systems Inc 6 www vitalsystem com DSPMC v2 Controller User Guide 2 Double click on the corresponding LAN Connection over which the device will be setup The following window appears Local Area Connection Status General E upport Connection Status Connected Duration 04 21 45 Speed 100 0 Mbps Activity Received 7475 3 Click on the Properties and select the Internet Protocol TCP IP Connection in General Tab i Local Area Connection Properties ES General Authentication Advanced Connect using BW Realtek RTLS139 Family PCI Fast Et This connection uses the following thems File and Printer Sharing for Microsoft Networks QoS Packet Scheduler
14. system com DSPMC v2 Controller User Guide Netvvork Connection Setup You can connect the DSPMC board directly to your PC or connect via an Ethernet svvitch or router The DSPMC board can use the firmware pre assigned IP address ie 192 168 0 50 or it can get a unique IP address from an external DHCP server on your network In the latter case the firmware pre assigned IP address is ignored There are two ways to setup the IP addresses of your PC and the DSPMC board 1 Using a Router with DHCP Server 2 Manually assigning an IP Address to your PC Setup IP address using a Router with DHCP Server Host PC Work Station DHCP Server To Internet The figure above shows a basic setup using a router on your network Connect the Ethernet cable from the J1 Ethernet port of the DSPMC board to the DHCP server Router Connect another Ethernet cable from the DHCP Server Router to the PC The DHCP server dynamically assigns IP address both to the PC as well as to the DSPMC board and therefore completes the network setup without requiring any intervention from the user Note If your network device does not support Auto MDIX feature a crossover Ethernet cable may be required 2016 Vital Systems Inc 5 www vitalsystem com DSPMC v2 Controller User Guide Manually assigning an IP Address to the PC With TCP IP networking the PC and the DSPMC both need their own unique IP address When connecting the PC directly to the DSPMC board y
15. tep Signal Channel 6 Step Signal Channel 7 e Drive Enable Output 28 Digital Output 30 A 5 1 9 DigitalOutput31 10 Singleended EncoderCh124 Digital Input 60 O 2016 Vital Systems Inc 20 vvvvvv vitalsystem com DSPMC v2 Controller User Guide Installation Overview The figure below shows a typical axis setup using Analog Servo amplifiers and quadrature encoder feedback The 7711 and 7535 breakout boards may be connected on the DB25 connectors J3 J7 as shown in the figure NOTE Encoder cables must have adequate shielding and be properly grounded Analog Voltage Setup nn E Stop 3 to PC a i 7535 1 0 Board ON Optional Servo ep Driver Spindle E Handwheel Pendant Servo Driver Lathe Threading Feedback Power Input 12 30V 7535 Opto Isolated Digital 1 0 Board Limit Home Switches Inputs Up to 8 motors Drive Enable Outputs Encoder Feedback DB25 Connector Cable O 2016 Vital Systems Inc 21 www vitalsystem com DSPMC v2 Controller User Guide Step and Direction Setup The Step and Direction Setup vvith the DSPMC requires the use of the 7737 breakout board to access the Step Dir outputs and additional encoder channels located on J11 and J12 7737 Differential Step Dir and Encoder Board Drive Enable and Error 24V NPN Signals for additional motors Drive Interface Board EPx DIB 26 pin Flat
16. to 4MHz Step Frequency e 16 Differential Quadrature Encoder Inputs 32 Bit Resolution Upper 9 channels shared with Digital Inputs e 4 MHz Max Encoder frequency Encoder resolution multiplied by 4 thru Hardware e 8Channel Analog Inputs Range 10Volts 16 bit Resolution 7762M Only e 96 Digital 1 0 64 Inputs amp 32 Outputs e Ethernet 100Mb connectivity using TCP IP interface e Wide input power range 10 40VDC e Simple UDP Socket Programming Interface e Visual Studio 2010 Net Managed Library for C C and VB Net Software Developers e Standalone Operation by programming the unit with BASIC programming language Extremely Important Reminder When operating machines take extreme precautions The machines can have enormous power even with a small motor Never come inside a machine path while powered Operating machines without necessary precautions can result in lost of limbs or even death 2016 Vital Systems Inc 3 www vitalsystem com DSPMC v2 Controller User Guide Software Components The DSPMC comes with GUI software tools for Hardware Testing setup PID controller run motion control commands and upgrade new firmware Following gives a brief description of the software tool set All software components including the Mach3 Mach4 plugins may be downloaded from the DSPMC webpage VSI Device Manager In order to change or update the firmware installed on the DSPMC or activate features you will U er r have
17. wa internet Protocol TCP IP Description Transmission Control Protocol lnternet Protocol The default Wide area network protocol that provides communication across diverse interconnected netvworks Show icon in notification area when connected Motify me when this connection has limited or no connecti 2016 Vital Systems Inc 7 www vitalsystem com DSPMC v2 Controller User Guide 4 Click on the Properties button and make the settings in your PC similar to the one shown in the figure below After settings are done click OK button to finish the setup Internet Protocol TCP IP Properties You can qet IF settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings C 3 Obtain an IP address automatically e Use the following IP address IP address 192 165 Oo 10 Subnet mask 206 255 255 0 Use the following DNS server addresses Preferred ONS server Alternate ONS server Los Advanced 2016 Vital Systems Inc 8 www vitalsystem com DSPMC v2 Controller User Guide Hardware Interface description The DSPMC board has several interface ports and indicator LEDs Figure below shows front side view of the DSPMC board vvith interface ports and other components DSPMC Board J1 Ethernet port connect
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