TIP120 - TEWS TECHNOLOGIES
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1. Reset Value 7 1 INT_VEC Higher bits of 8 bit Interrupt Vector loaded by software 0 Bit is generated by the TIP 120 hardware R W Table 4 7 Interrupt Vector Register TIP120 User Manual Issue 1 0 5 Page 12 of 14 TEWSL TECHNOLOGIES 5 Programming Hints The LM628 Motion Controller can operate in an 8 bit DAC mode or in a 12bit DAC mode The LM628 default mode after power up or reset is the 8 bit DAC mode The TIP120 does only support the 12 bit DAC mode For board options with the LM628 Motion Controller the user must issue the PORT12 command early in the initialization phase to set the LM628 DAC mode to 12 bit Please see the LM628 documentation for details TIP120 User Manual Issue 1 0 5 Page 13 of 14 TEWS amp TECHNOLOGIES 6 Pin Assignment I O Connector Pin Function Pin Level INPUT1 Axis 1 26 INPUT1 Axis 2 INPUT1 Axis 1 27 INPUT1 Axis 2 INPUT2 Axis 1 28 INPUT2 Axis 2 INPUT2 Axis 1 29 INPUT2 Axis 2 INPUT3 Axis 1 30 INPUTS Axis 2 INPUTS Axis 1 31 INPUTS Axis 2 OUPUT1 Axis 1 32 OUPUT1 Axis 2 OUPUT1 Axis 1 33 OUPUT1 Axis 2 COND a R oO pm co w E Zz O S w a Z O AGND PWM Output Axis 1 MAG PWM Output Axis 1 SIGN DAC Output Axis 1 DAC GND Axis 1 AGND Phase A Axis 1 Phase A Axis 1 19 Phase B Axis 1 20 Phase B Axis 1 21 Phase Index Axis 1 22 Phase Index Axis 1 23 AGND 24 25 36 AGND 37 PWM Output Axi2. 2 Motion Controller ja Encoder ba LM628 gt Industry Pack UO Interface 8 E Figure 1 1 Block Diagram TIP120 User Manual Issue 1 0 5 Page 6 of 14 TEWS amp TECHNOLOGIES 2 Technical Specification IP Interface Interface Single Size IndustryPack Logic Interface compliant to ANSI VITA 4 1995 ID ROM Data Format UO Space Used LM62x Registers Interrupt Vector Register Memory Space Not Used Interrupts Int used LM62x Axis 1 Int2 used LM62x Axis 2 DMA Not supported Clock Rate 8 MHz Module Type Type Wait states LM62x Registers Read cycle 1 wait state write cycle no wait states All others no wait states Interrupt Vectored interrupts On Board Devices Motion Controller National LM628 for 10V output signal D A converter 12 bit DAC 10V output Output OP 10V at 10mA unlimited capacitive load National LM629 for PWM output signal TTL 8 bit sign magnitude PWM TTL signal 24mA UO Interface Optical Isolated I O Three 24V DC inputs protected against confusing the pole for each axis input threshold 8 5V to 14V One software controlled floating output for each axis transistor of optocoupler Encoder Input Quadrature encoder interface for RS422 or TTL level with phase A phase B and index Minimum pulse width high and low 2us Interface Connector 50 conductor flat cable Physical Data Power Req
3. 4 6 Interrupt Status Register The Interrupt Status Register of the TIP120 is a byte wide mixed access register The Interrupt Status Register reflects the interrupt status of the three TIP120 inputs and the TIP120 LM62x motion TIP120 User Manual Issue 1 0 5 Page 10 of 14 TEWS amp TECHNOLOGIES controller interrupt If an interrupt is pending the corresponding Interrupt Status Register bit is read as 1 To quit the interrupts for the TIP120 inputs write a 1 to the corresponding bit of the Interrupt Status Register The LM62x motion controller interrupts must be acknowledged by programming the LM62x Bit Symbol Description Access Reset Value 7 4 Read as 0 Write Don t care 3 INT LM Interrupt LM62x of Axis X R 0 No active interrupt 1 Active interrupt 2 INT_IN3 Interrupt INPUT 1 3 of Axis X R C 1 INT IN2 0 No active interrupt 0 NI IN1 1 GING interrupt Write 1 to clear interrupt Table 4 4 Interrupt Status Register The input interrupts are only active if the corresponding enable bit in the Interrupt Enable Register is set to 1 The interrupt status of the LM62x can be read at any time NOTE After RESET a LM62x interrupt is pending The user must execute the LM62x Reset Interrupt routine 4 7 Interrupt Control Register The Interrupt Control Register of the TIP120 is a byte wide read write register The Interrupt Control Regi
4. For signals on hardware products an Active Low is represented by the signal name with following i e IP_RESET H Access terms are described as W Write Only R Read Only RW Read Write R C Read Clear R S Read Set 2014 by TEWS TECHNOLOGIES GmbH All trademarks mentioned are property of their respective owners Page 2 of 14 TEWS amp TECHNOLOGIES Issue Description Date 1 0 First Issue November 1999 1 1 General Revision July 2003 1 2 Update in Programming Hints Section May 2004 1 3 New address TEWS LLC September 2006 1 0 4 New Notation for User Manual and Engineering Documentation May 2009 1 0 5 General Revision August 2014 TIP120 User Manual Issue 1 0 5 Page 3 of 14 P Go MM eh TEWS amp TECHNOLOGIES Table of Contents PRODUCT DESCRIPTION ki vi asi ai kot ak a tt kita a a aa ka kaa ka a a n ka kak a ta ka 6 TECHNICAL SPEGIFIGA TO D 7 ID PROM GON TEN FS kiosin ai bit tifi oo ed io ot kak l ok et aa a a ak n kk n a a kok kk kk a 8 IP ADDRESSING eee ott ad pt tn n tk tn pi a a ank a kk n n n kb kk ok 9 GW UO AGAFO SSN aa E E ea pant vo ka ko na n ke n a KO k n n an ga nn tk nn a EDE da AP ko ka aa Rap pena po n k 9 4 2 Control Status ReQister csscccesceeseseeeseeeeeeeeeseeeescaeenseeeenseeeeeaeeesaaesasneeeneeaeseasseseaeseseeeeneneeenees 10 AS Datla REQISTO E 10 4 4 Output TEE 10 4 5 Input Regester veeiosve re koaa tr reio asse kitan seek kn di
5. de kinan ss kin asse ra o ake k n Die kanon die ni kako aa ki ao kek ADD Sa VE 10 4 6 Interrupt Status ReGister ccseccescc see eesseeeeeeeeeeeeessaeseseeeenseeeeeesesaeseseeeeneeaeseeseseaesnseeeeeeeeeeiees 10 4 7 Interrupt Control Register ccscccesceesseeeesneeeeeeeeeeneceseaeeeseeeeeeeeeseaesesaaesnseeeeeeeeeseaesaseenenseeeenes 11 4 8 Interrupt Enable Register cccssceeccsseeeeeesseeeeeenseeeeeenseeeseensueeseenseeeeeensueeeeensneeeeenseeeeeenseeneeenses 12 4 9 Interrupt Vector Register sccccsseeececssceeeeessneeeeessneeeeessneeeeessneeseessneeseessneesessaneesesssnaeseesanaesessnes 12 PROGRAMMING HINTS seseueuekukveeRSergEEEEEENEEENEESEEEEEENKEENENENENSSEENEEENKKENESENEEReEEEEENEN 13 PIN ASSIGNMENT UO CONNECTOR ccccecceeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeeeeeeeeeees 14 TIP120 User Manual Issue 1 0 5 Page 4 of 14 TEWS amp TECHNOLOGIES List of Figures FIGURE 1 1 BLOCK DIAGDAM A AEEA EEEn AEEA RR AAEE RR EE EEAE EEEE EE EEE RREE ERREA EEEa 6 List of Tables TABLE 2 1 TECHNICAL GPECIEICATION ai titit kt tate aaa taa aaa aa aa ae ae aaa aa aaaaesaoaaasoteoseesaseoeeosssaooseooosesssssoneoooooon 7 TABLE 3 1 ID PROM CONTENTS 200 ccccccceececccceececeeecececcuececeaueeeeceauceeeceuaeeeeaaeeeeceaaeeeeeeaaeeeeauneeeeaueeeeeeaneeeeeas 8 TABLE 4 1 REGISTER GET 9 TABLE 4 2 OUTPUTREOGISTER E EEEn EARR AA EERR EE EEAR EE EEAE EEPE AA ERREA EEEn EEEn 10 TABLE 4 34 I
6. in the IP I O space TEWS amp TECHNOLOGIES Offset Symbol Description Size Bit Axis 1 Registers 0x01 CONTROL1 STATUS1 Control Status Register LM628 LM629 8 0x03 DATA1 Data Register LM628 LM629 8 0x05 OUTPUT1 Output Register Control Switch 8 0x07 INPUT 1 Input Register Control Switches 8 0x09 INTSTAT1 Interrupt Status Register 8 0x0B INTCR1 Interrupt Control Register 8 OxOD INTENA1 Interrupt Enable Register 8 OXOF Reserved Axis 2 Registers Ox11 CONTROL2 STATUS2_ Control Status Register LM628 LM629 8 0x13 DATA2 Data Register LM628 LM629 8 0x15 OUTPUT2 Output Register Control Switch 8 0x17 INPUT2 Input Register Control Switches 8 0x19 INTSTAT2 Interrupt Status Register 8 0x1B INTCR2 Interrupt Control Register 8 0x1D INTENA2 Interrupt Enable Register 8 Ox1F Reserved 0x21 INTVEC Interrupt Vector Register 8 Table 4 1 Register Set TIP120 User Manual Issue 1 0 5 Page 9 of 14 TEWS amp TECHNOLOGIES 4 2 Control Status Register The Control Register of the TIP120 is a byte wide write only register An access to the Control Register will select the next command to the motion controller For further information about the command settings of the motion controller please refer to the LM628 LM629 data sheet The Status Register of the TIP120 is a byte wide read only register 4 3 Data Register The Data Register of the TIP120 is a byte wide read writ
7. NPUT REGISTER mantahane anena mo dot in kit m e al dl tin ta at a nek a E ek l ek en NES 10 TABLE 4 4 INTERRUDTGTATUSGSREOGISTER 11 TABLE 4 5 INTERRUPT CGONTROLREGISTER nnti nn rtn nn nn nn anrr nnn rennara 11 TABLE 4 6 INTERRUPTENARBLEREOGISTER 12 TABLE 4 7 INTERRUDPTVECTORREGIGTER 12 TABLE 6 1 PIN ASSIGNMENT I O CONNECTOR 14 TIP120 User Manual Issue 1 0 5 Page 5 of 14 TEWS amp TECHNOLOGIES 1 Product Description The TIP120 family of IndustryPack compatible modules is designed for motion control applications using incremental encoders as position feedback There are five board options available The TIP120 1x is a one or two axes motion control IP based on the LM628 controller from National Semiconductor providing a 10V output signal by a 12 bit D A converter The 10V output signal is buffered by an operational amplifier which is able to drive unlimited capacitive loads This signal can be used to drive the power amplifier of the motor drive system The TIP120 2x is a one or two axes motion control IP based on the LM629 controller from National Semiconductor providing an 8 bit sign magnitude PWM output signal The PWM output signal is buffered by a TTL driver capable up to 24mA This signal can be used for directly driving H switches The TIP120 30 is a two axes motion control IP based on the LM628 controller from National Semiconductor for axis 1 providing a 10V output signal by a 12 bit D A converter and based
8. The Embedded I O Company E VS D TECHNOLOGIES TIP120 Motion Controller with Incremental Encoder Interface Version 1 0 User Manual Issue 1 0 5 August 2014 TEWS TECHNOLOGIES GmbH Am Bahnhof 7 25469 Halstenbek Germany www tews com Phone 49 0 4101 4058 0 Fax 49 0 4101 4058 19 e mail info tews com TIP120 10 2 axes motion controller using LM628 incremental encoder interface TIP120 11 1 axis motion controller using LM628 incremental encoder interface TIP120 20 2 axes motion controller using LM629 incremental encoder interface TIP120 21 1 axis motion controller using LM629 incremental encoder interface TIP120 30 2 axes motion controller using LM628 LM629 with incremental encoder interface TIP120 User Manual Issue 1 0 5 with with with with and TEWS amp TECHNOLOGIES This document contains information which is proprietary to TEWS TECHNOLOGIES GmbH Any reproduction without written permission is forbidden TEWS TECHNOLOGIES GmbH has made any effort to ensure that this manual is accurate and complete However TEWS TECHNOLOGIES GmbH reserves the right to change the product described in this document at any time without notice TEWS TECHNOLOGIES GmbH is not liable for any damage arising out of the application or use of the device described herein Style Conventions Hexadecimal characters are specified with prefix Ox i e OxO29E that means hexadecimal value 029E
9. e register An access to the Data Register requires an access to the Control Register first The motion controller uses a multiplexed 8 bit asynchronous host interface A 16 bit data read write to the motion controller requires two 8 bit accesses The first access takes the high byte and the second access the low byte of the 16 bit word For further information about the data settings of the motion controller please refer to LM628 LM629 data sheet 4 4 Output Register The Output Register of the TIP120 is a byte wide read write register The Output Register controls an optical isolated open collector output floating switch The output switch may be used for an additional axis enable control Bit Symbol Description Access Reset Value 7 1 Read as 0 Write Don t care 0 OUT1 OUTPUT1 Control Axis X R W 0 0 Open Collector Output Driver OFF Floating Switch Open 1 Open Collector Output Driver ON Floating Switch Closed Table 4 2 Output Register 4 5 Input Register The Input Register of the TIP120 is a byte wide read register The Input Register shows the actual level at the TIP120 input pins The inputs may be used for limit switches and emergency stop detection for each axis Bit Symbol Description Access Reset Value 7 3 Read as 0 2 IN3 INPUT 1 3 Status of Axis X R 1 IN2 0 Input x not active 0 IN 1 Input x active Table 4 3 Input Register
10. on the LM629 controller from National Semiconductor for axis 2 offering an 8 bit sign magnitude PWM output signal The 10V output signal is buffered by an operational amplifier which is able to drive unlimited capacity loads This signal can be used to drive the power amplifier of the motor drive system The PWM output is buffered by a TTL driver capable up to 24mA This signal can be used for directly driving H switches The position feedback is provided by an incremental encoder interface The level of the encoder signals can be TTL or RS422 The LM628 LM629 used on the TIP120 xx are dedicated motion control processors designed for use with a variety of DC and brushless DC servo motors and other servomechanisms which provide a quadrature quadruple incremental position feedback signal The LM628 LM629 perform the intensive real time computational tasks required for high performance digital motion control The host control software interface is facilitated by a high level command set Three isolated 24V DC digital inputs are available for user functionality The function for the three inputs may be limit switches and emergency stop input A floating optical output can be controlled by software for example as enable signal for the motor power amplifier O O Aad Encoder Interface _ Motion Controller Encoder Interface we OU aR an 12 bit D A 3 bit Input Local 1 bit Output Decoder A An Se L 1bitOutput Axis
11. s 2 MAG 38 PWM Output Axis 2 SIGN 39 DAC Output Axis 2 40 DAC GND Axis 2 41 AGND 42 Phase A Axis 2 43 Phase A Axis 2 44 Phase B Axis 2 45 Phase B Axis 2 46 Phase Index Axis 2 47 Phase Index Axis 2 48 AGND Nlalala al ziz al G 6 Site 4 aje o o Z O NC Table 6 1 Pin Assignment I O Connector TIP120 User Manual Issue 1 0 5 Page 14 of 14
12. ster controls which signal transition forces an interrupt for the TIP120 inputs Bit Symbol Description Access Reset Value 7 3 Read as 0 2 INT_IN3_POL Transition Select INPUT 1 3 of Axis X R W 000 1 INT IN2 POL 0 Interrupt Request on High to Low Transition 0 INT IN1 POL 1 Interrupt Request on Low to High Transition Table 4 5 Interrupt Control Register TIP120 User Manual Issue 1 0 5 Page 11 of 14 4 8 Interrupt Enable Register The Interrupt Enable Register of the TIP120 is a byte wide read write register The Interrupt Enable Register enables or disables the various interrupt sources TEWS amp TECHNOLOGIES Bit Symbol Description Access Reset Value 7 4 Read as 0 Write Don t care 3 INT_LM_EN Interrupt Enable LM62x of Axis X R W 0 0 Interrupt disabled 1 Interrupt enabled 2 INT_IN3_EN Interrupt Enable INPUT1 3 of Axis x R W 000 1 INT IN2 EN 0 Interrupt disabled 0 INT IN1 EN 1 Interrupt enabled Table 4 6 Interrupt Enable Register 4 9 Interrupt Vector Register The Interrupt Vector Register of the TIP120 xx is a byte wide read write register It holds the interrupt vector passed to the CPU during interrupt acknowledge cycles 0 Interrupt Axis 1 1 Interrupt Axis 2 Axis 1 generates interrupts on INTREQO Axis 2 generates interrupts on INTREQ1 of the IP bus Bit Symbol Description Access
13. uirements 200mA typical 5V DC 40mA typical 12V DC 40mA typical 12V DC Temperature Range Operating 0 C to 70 C Storage 25 C to 125 C MTBF TIP120 10 285000 h MTBF values shown are based on calculation according to MIL HDBK 217F and MIL HDBK 217F Notice 2 Environment Gg 20 C The MTBF calculation is based on component FIT rates provided by the component suppliers If FIT rates are not available MIL HDBK 217F and MIL HDBK 217F Notice 2 formulas are used for FIT rate calculation Humidity 5 95 non condensing TIP120 User Manual Issue 1 0 5 Table 2 1 Technical Specification Page 7 of 14 3 ID Prom Contents TEWSL TECHNOLOGIES Offset Function Value 0x01 ASCII l 0x49 0x03 ASCII P 0x50 0x05 ASCII A 0x41 0x07 ASCII C 0x43 0x09 Manufacturer ID 0xB3 0x0B Model Number 0x1E OxOD Revision 0x10 OxXOF Reserved Ox00 0x11 Driver ID Low Byte 0x00 0x13 Driver ID High Byte 0x00 0x15 Number of bytes used OxOD TIP120 10 Ox72 TIP120 11 0x53 0x17 CRC TIP120 20 0x8D TIP120 21 OxAC TIP120 30 0xC7 TIP120 10 0x0A TIP120 11 0x0B 0x19 Board Option TIP120 20 0x14 TIP120 21 0x15 TIP120 30 0x1E D Not used ae Ox3F Ox00 TIP120 User Manual Issue 1 0 5 Table 3 1 ID PROM Contents Page 8 of 14 4 IP Addressing 4 1 1 O Addressing The complete register set of the TIP120 accessible
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