7i76 manual
Contents
1. O RI CRI PICI R2 c2 O R3 Odes oqa El Jo w ous s R5 5 Goo o On H RN2 odg w O 7 05 soe Ode od 250 2 _ 25 9 5 08 R8 ans BN O O H m u OO O a2. CO 2 O 9 CO 55 O oo 2 4 CNS OF O RIG cns pazi RUS RNIT 2 wa RIZ 9 png RN23 819 d RM25 RN26 55 or OU oo Od RN28 Mesa SATY 7 7 183 ue SI gl TBS 186 017 ol ART REV A D Oyo Nel R24 C36 R25 C37 S 01150 0 32 Gees 2125 2 150 3 025 3 905 3 950 4 825 4 850 5 000 7176 52
3. 15 FIELD I O PARAMETERS Sails Wie ae ak 15 NON VOLATILE FIELD I O PARAMETERS 16 OPERATE MODE BAUD RATE 16 WATCHDOG TIMEOUT 16 WED AND UFLBP aid 17 SOFTWARE PROCESS MODES 18 Table of Contents REFERENCE INFORMATION SSLBP ae eee hd SAK Sh Seen Ghee 19 GENERAL ane ee eee cee 19 REGISTER MAP oe cee dota bd ede milo Esta 19 PROCESS INTERFACE REGISTERS 19 COMMAND REGISTER tg ac teat te eed a ating dee avs Dudek le Booed 20 COMMAND REGISTER WRITE IGNORE 20 amp eae err et St e aes a ten 21 LOGAL READ OPERATIONS eta WEEE ed 21 LOCAL WRITE OPERATIONS 21 LOCAL PARAMETERS 2 5 tas 22 NORMALS PART de at ain 23 date eke ath rh na 24 STOP INDIVIDUAL CHANNELS 24 DOME ated Pact by cha hs ae ey ot heat te 24 PER CHANNEL INTERFACE DATA
4. Note that the first section acquires the PTOC and the second section reads the records pointed to by the PTOC For brevity the remote read sequence steps 5 through 9 of the remote read procedure will be listed here as remote read FIRST PART ACQUIRE PTOC 1 Issue a STOPALL 0x800 command wait for COMMAND register clear to verify stop command completion 2 Issue a setup START command with bitmask NN of channels to start 3 Wait for COMMAND register clear to verify start command completion may be many mS 4 Read data register to verify that the selected channels started a 1 bit means a fault in the channel that the bit represents 5 Read PTOCP from interface register 2 of selected channel if zero remote device does not support discovery 6 Remote read word at PTOCP 7 lf word data is 0 PTOC collection is complete goto step 11 8 Save value in local PTOC table and increment local PTOC table index 9 Increment PTOCP value by 2 as it is a word pointer 10 Repeat from step 6 7176 38 REFERENCE INFORMATION SSLBP DISCOVERY SEQUENCE SECOND PART READ PROCESS DESCRIPTOR AND MODE DESCRIPTOR RECORDS 11 For each PTOC entry acquired in the previous step 12 12 Remote read byte at PTOC 0 If byte is proceed to step 16 reading process data descriptor 14 If byte is OxBO proceed to step 25 reading mode descriptor 15 20 21 22 23 24 If byte is neithe
5. 20 5V DIRECTION FROM 7176 7176 7176 7176 7176 FROM 7176 5 PINS 5 5688 COLOR 4 5 BLUE BLUE WHITE 6 GREEN 3 GREEN WHITE 2 ORANGE 1 ORANGE WHITE 7 8 BROWN WHITE BROWN Note The 6 pin terminal block requires the 5V brown and brown white and ground blue and blue white pairs to be terminated in single screw terminal positions 776 11 OPERATION ENCODER INTERFACE The 7176 provide a one channel encoder interface with index This is intended as a spindle encoder but can be used for other purposes The encoder input can be programmed for differential or single ended encoders The encoder interface also provides short circuit protected 5V power to the encoder When used with single ended encoders the ENCA ENCB and IDX signals are wired to the encoder and the ENCA ENCB and IDX terminal left unconnected SPINDLE INTERFACE The 7176 provides one analog output for spindle control The analog output is a isolated potentiometer replacement type device It functions like a potentiometer with SPINDLE being one end of the potentiometer SPINDLEOUT being the wiper and SPINDLE being the other end The voltage on SPINDLEOUT can be set to any voltage between SPINDLE SPINDLE Polarity and voltage range must always be observed for proper operation The voltage supplied between SPINDLE and SPINDLE must be between 5VDC an 15VDC with SPINDLE always being more positive
6. SIGNAL GND STEP2 STEP2 DIR2 DIR2 5VP GND STEP3 STEP3 DIR3 DIR3 5VP Note 5VP pins are PTC short circuit protected 5V output pins for field wiring 7176 5 CONNECTORS TB3 STEP DIR ENCODER AND RS 422 CONNECTOR TB3 has a mix of signals including step dir channel 4 an encoder interface a RS 422 interface and 5V power supply terminals TB3 is 24 terminal 3 5 MM pluggable terminal block with supplied removable screw terminal plugs TB3 CONNECTOR PINOUT TB3 PIN 1 2 SIGNAL GND STEP4 STEP4 DIR4 DIR4 5VP ENCA ENCA GND ENCB ENCB 5VP TB3 PIN 20 21 22 23 24 SIGNAL IDX IDX GND RS 422 RX RS 422 RX RS 422 TX RS 422 TX 5VP 5V 5 supply power 5V 5 supply power GND GND Note 5VP pins are PTC short circuit protected 5V output pins for field wiring 776 6 CONNECTORS TB4 SPINDLE CONNECTOR TB4 is the spindle drive interface with isolated analog output and control signals for a spindle interface TB4 is a 8 terminal 3 5 MM pluggable terminal block with supplied removable screw terminal plugs TB4 PINOUT TB4 PIN SIGNAL 1 SPINDLE 2 SPINDLE OUT 3 SPINDLE 4 NC 5 SPINDLE ENA 6 SPINDLE ENA 7 SPINDLE DIR 8 SPINDLE DIR 7176 7 5 FIELD INPUT OUTPUT CONNECTORS Terminal blocks TB6 and 5 are the 7176s field input and output terminals Inputs 0 through 15
7. 0x24 The address pointer is not modified after the command unless the Autolnc bit is set 776 41 REFERENCE INFORMATION LBP EXAMPLE LBP COMMANDS Write 4 bytes OxAA 0xBB OxCC 0xDD to addresses 0x010 0x011 0x012 0x013 with Autolnc so that the address pointer will be left at 0 014 when the command is completed ow wa a Taewa 1 1 wenes wrtedaiao o ft Wrtedata2 1 o o ft 4 o 0 1 Write 2 more bytes at 0x014 0x015 ers er wr as oss oso Read 8 bytes 0 010 0 011 0 012 0 013 0 014 0 015 0 016 0 017 COMMAND BITS WR LBPRead 2 add 8 data EA Read Addess iss o 0 0 7176 42 REFERENCE INFORMATION LBP LOCAL LBP COMMANDS In addition to the basic data access commands there are a set of commands access LBP status and control the operation of LBP itself These are organized as READ and WRITE commands LOCAL LBP READ COMMANDS HEX all of these commands return a single byte of data Get unit address 1 Get LBP status
8. 11 AOST INTERFACE ay ha See ere 11 PEP DIRE INTERFACE 11 222 INTERFACE 11 12 SPINDLE INTERFACE 12 SPINDLE ISOLATED OUTPUTS 12 STATUS LEDS li pede Reena hee 12 Table of Contents OPERATION PIED ak AW Basin eta nite 13 FIELD AND VIN POWER SUPPLY Anka 13 FIELD OUTPUT CHARACTERISTICS 13 WHY SOURCING OUTPUTS aang i 13 SHORT CIRCUIT PROTECTION vices bed vided a ad ois 13 OVERTEMPERATURE PROTECTION 13 MAXIMUM PER CHIP CURRENT 14 VOLTAGE a 14 FIELD INPUT CHARACTERISTICS 0 00002 ee 14 WHY 5 2 2 dates 14 ANALOG INPUTS tie tices oes at mean 14 FIELD VOLTAGE MONITORING 2 tees rece 14 WATCHDOG AND FAULTS wk SR RE ee
9. 25 PER CHANNEL CONTROL AND STATUS REGISTERS 25 REMOTE MODES Penh ee eaten Gwe Meee teats 25 INTERFACE AND CS REGISTER CONTENTS AT START 25 CS REGISTER AFTER START teeta eda 27 CS REGISTER AFTER ee ie 27 PROGCESS DATA DISCOV ERY 28 PROCESS TABLE OF CONTENTS 28 PROCESS DATA DESCRIPTOR 29 PROCESS DATA DESCRIPTOR FIELDS 29 RECORD erat ania a okt sha 29 DAT AS LEN GTR teat Sahara ee ea 29 cera robe tna aod oid atte a era her ere 30 DAT AC DIRECTION Rew xia ced wen tw Rett Boosh 30 PARAMETER 30 PARAMETER MAX debbie anita 30 UNITS TRING vais ox bad trate eddie Maes 31 NAME STRING a Ae oe ars came alae ara 31 NUMERIC PROCESS DATA SCALING 31 MODE DESGRIP TOR eh yay Ase 31 31 PROCESS ELEMENT PACKING AND UNPACKING 32 7176 SPEC
10. 71765 outputs have short circuit protection and will turn off if short circuit current exceeds approximately 800 mA The 7176 firmware will detect this condition disable the affected output and indicate a fault OVERTEMPERATURE PROTECTION The output driver chips detect over temperature conditions If the 7176 detects a driver chip with a over temperature warning flag asserted it will disable the affected chip and indicate a fault 7176 13 OPERATION FIELD OUTPUT CHARACTERISTICS MAXIMUM PER CHIP CURRENT Because of thermal limitations there is a maximum per driver chip total current of 1 4 amps continuous Each driver chip connects to 8 sequential outputs If this limit is exceeded the driver chip may go into thermal shutdown VOLTAGE CLAMPS The output driver chips used on the 7176 have built in Zener diode clamps to clamp inductive turn off fly back spikes This means that flyback diodes are not normally required on small less than 60 mA inductive loads If high current inductive loads are switched or inductive loads are switched at high frequencies they must have flyback diodes to limit power dissipation the 7176 s driver chips FIELD INPUT CHARACTERISTICS The 7176 field inputs have a nominal input resistance of 10K Ohms to field power ground 7176 inputs sense positive input voltages above a preset threshold For best general purpose use default input threshold is 50 of the field power supply voltage with 10 hysteres
11. DB25 connector pointing towards the left VIN POWER SOURCE The isolated field I O on the 7176 runs from a switching power supply that can be powered by field power or a separate supply VIN with ground common with field power Normally the 7176 s VIN will be powered with field power card jumper W1 allows VIN to be connected to field power If you wish to use a single power supply for the 71765 field outputs and field logic power W1 should be placed in the left hand position This connects field power to VIN If you wish to use a separate supply for VIN W1 Should be placed in the right hand position CABLE 5V POWER The 7176 can get its 5V encoder step dir and serial interface power from the host interface card if desired W2 determines if the 7176 gets this 5V power from the host FPGA card If W2 is the left hand position host cable power is used If W2 is the right hand position 5V power must be supplied to the 7176 via TB3 This option must be set to match the cable power option of the host FPGA card If the FPGA card supplies 5V W2 must be in the left hand position If the FPGA card does not supply 5V W2 must be in the right hand position Never apply external 5V power to the 7176 s TB3 connector when W2 is in the left hand position or you may damage the 7176 FPGA card PC or connecting cable SETUP OPERATE MODE The 7176 can run in setup mode or operate mode In setup mode the serial interface baud rate is f
12. LBP Status bit definitions BIT 7 Reserved BIT 6 Command Timeout Error BIT 5 Invalid write Error attempted write to protected area BIT 4 Buffer overflow error BIT 3 Watchdog timeout error BIT 2 Reserved BIT 1 Reserved BIT 0 CRC error 2 Get CRC enable status note CRCs are always enabled the 7176 3 Get CRC error count 4 9 Reserved Get Enable RPCMEM access flag Get Command timeout character times 10 for serial OxCC OxCF Reserved 0 0 03 4 character card name 7176 43 REFERENCE INFORMATION LBP LOCAL LBP READ COMMANDS 0 5 0 07 4 character configuration name only on some configurations 0xD8 Get low address 0 09 Get high address Get LBP version 0xDB Get LBP Unit ID Serial only not used with USB OxDC Get RPC Pitch Get RPC SizeL Low byte RPCSize OxDE Get RPC SizeH High byte of RPCSize Get LBP cookie returns 0x5A 776 44 REFERENCE INFORMATION LBP LOCAL LBP WRITE COMMANDS HEX all of these commands except OxFF expect a single byte of data OxEO Reserved 0xE1 Set LBP status 0 to clear errors 2 Set CRC check enable Flag non zero to enable CRC checking OxE3 Set CRC error count OxE4 9 Reserved Set Enable RPCMEM access flag non zero to enable access to RPC memory Set Command timeout in mS for USB and character times for serial Re
13. SSLBP must implement three special RPCs the ProcessDataRPC The UnitNumberRPC the DiscoveryRPC DiscoveryRPC Returns one byte that specifies process input data size in bytes and one byte that specifies the process output data size in bytes Following the size bytes are two 16 bit pointers the first is the PTOC and the second is the GTOC Note that the remote software mode must be set before issuing the discovery RPC UnitNumberRPC Returns 32 bit unit number ProcessDataRPC OxBD Normal process data transfer RPC followed by output data bytes Returns one byte of remote fault information followed by input data Number of input and output bytes are as specified in the DiscoveryRPC CRC LBP on the 7176 uses CRC checking of all commands and data to insure validity The CRC used is a 8 bit CRC using the same polynomial as the Dallas Maxim one wire devices 8 5 4 0 The CRC must be appended to all LBP commands and all returned data will have a CRC byte appended Commands with no returned data writes or RPCs with no reads will still cause a CRC byte to be returned this CRC byte will always be OOH FRAMING Since LBP is a binary protocol with no special sync characters the packet framing must be determined by other methods Framing is done by a combination of timing and pre parsing the serial data Timing based framing is used to reset the parser at gaps in the serial data stream This provi
14. TO PDD 1 0x0000 END OF TABLE 7176 28 REFERENCE INFORMATION SSLBP PROCESS DATA DESCRIPTOR Each PTOC entry points to a process data descriptor or a mode descriptor Each process data descriptor is a record with fields for data size data type data direction minimum and maximum values the address of the process data and the unit name and process data name Each process data element has a corresponding process data descriptor record In addition there are mode descriptor records that indicate the current hardware and software modes of the remote device The process data descriptor record structure is as follows PROCESS DATA DESCRIPTOR FIELDS RECORD_TYPE The field is a single byte at the beginning of the process data descriptor for record typing and sanity checking It is OxAO for process data records DATA_LENGTH The DATA_LENGTH field is a single byte field that specifies the length of the process data element in bits Minimum is 1 bit maximum is 255 bits however current SSLBP implementations are limited by the number of interface registers to a maximum of 96 bits 7176 29 REFERENCE INFORMATION SSLBP DATA_TYPE The DATA_TYPE field is a single byte field that specifies the data type of the process data element Data types are as follows NUMBER 0x00 PAD To pad for byte alignment 0x01 BITS Packed bits LSB is 0x02 UNSIGNED Numeric unsigned 0x03 SIGNE
15. and outputs 0 through 7 are terminated at TB6 Inputs 16 through 31 and outputs 8 through 15 are terminated at TB5 TB6 and 5 are 3 5 MM pluggable terminal block with supplied removable screw terminal plugs Pin one is at the bottom edge of the 7176 card TB6 CONNECTOR PINOUT TB6 PIN TB6 PIN 1 INPUTO 13 INPUT12 2 INPUT1 14 INPUT13 3 INPUT2 15 INPUT14 4 INPUT3 16 INPUT15 5 INPUT4 17 OUTPUTO 6 INPUT5 18 OUTPUT1 7 INPUT6 19 OUTPUT2 8 INPUT7 20 OUTPUT3 9 INPUT8 21 OUTPUT4 10 INPUT9 22 OUTPUT5 11 INPUT10 23 OUTPUT6 12 INPUT11 24 OUTPUT7 7176 8 5 FIELD INPUT OUTPUT CONNECTORS TB5 CONNECTOR PINOUT TB5 PIN OUTPUT TB5 PIN OUTPUT 1 INPUT16 13 INPUT28 2 INPUT17 14 INPUT29 3 INPUT18 15 INPUT30 4 INPUT19 16 INPUT31 5 INPUT20 17 OUTPUT8 6 INPUT21 18 OUTPUTS 7 INPUT22 19 OUTPUT10 8 INPUT23 20 OUTPUT11 9 INPUT24 21 OUTPUT12 10 INPUT25 22 OUTPUT13 11 INPUT26 23 OUTPUT14 12 INPUT27 24 OUTPUT15 7176 9 CONNECTORS FIELD POWER CONNECTOR is the 71765 field power connector TB1 pinout is as follows TB1 PIN SIGNAL FUNCTION 1 VFIELD FIELD POWER 8 32V Bottom pin 2 VFIELD FIELD POWER 8 32V 3 VFIELD FIELD POWER 8 32V 4 VFIELD FIELD POWER 8 32V 5 VIN LOGIC POWER 8 32V 6 NC 7 NC 8 GROUND VIN VFIELD COMMON pin Note When W1 is the default left hand position VIN is connected to VFIELD so only VFIELD need be supplied to the 7176 to power its field IO 7176 10 O
16. host 7176 14 OPERATION FIELD I O WATCHDOG AND FAULTS The 7176 has a watchdog timer that will set all set a fault flag if host communication does not occur at a minimum rate Default watchdog time is 50 mS which means if not accessed at a greater than 20 Hz rate the watchdog will bite and disable the outputs When a fault flag is set outputs can not longer be set and the host must first clear the fault before normal operation can continue This is also the 71765 startup condition meaning the host must first clear the fault before starting normal operation This is normally handled by SSLBP FIELD I O PARAMETERS The 7176 has several user settable parameters but normally only a very few need be changed in normal operation PARAMETER TYPE FUNCTION NVBAUDRATE UINT Sets operate mode baudrate NVUNITNUMBER ULONG Non volatile unit number UNITNUMBER ULONG Working unit number NVWATCHDOGTIME UINT Non volatile watchdog time in mS WATCHDOGTIME UINT Working watchdog time in ms OUTPUT UINT 16 bits of output data INPUT ULONG 32 bits of input data FAULT UINT 7176 fault register STATUS UINT 7176 status register 7176 15 OPERATION NON VOLATILE FIELD I O PARAMETERS All non volatile parameters start with the letters NV Non volatile parameters are stored permanently in the processors EEPROM and are copied to the volatile working parameters at power up Because of this non volatile parameters only take affect after a 7176 power cycle O
17. receive and transmit process data in bytes and returns 16 bit pointers to the PTOC and GTOC which are in turn tables of pointers to process data records and mode records The discovery RPC is hex Return data bytes are in the following order RXSize TXSize PTOCLSB PTOCMSB GTOCLSB GTOCMSB RXSize is host relative so this is the size of data that the remote transmits Likewise TXSize is host relative so this is the size of process data the remote receives Note that the remote should check its remote SW mode and remote HW mode flags and return size data and pointers appropriate for the currently selected mode Note that the remote always sends remote fault data as the first byte of the process data sent to the host This extra byte of data must be reflected in the RXSize byte PROCESS DATA RPC The Process data RPC is used to transfer process data to and from the host The process data RPC should always receive and send the amount of RX and TX data that the Discovery RPC indicates As mentioned above the first byte of data sent from the remote to the host is always remote fault information as listed in CS REGISTER AFTER DOIT section of the manual The process data RPC is hex 7176 49 REFERENCE INFORMATION SPECIFICATIONS GENERAL HOST SUPPLY VOLTAGE 5V 5V CURRENT STEP DIR OUTPUTS STEP DIR OUTPUT HIGH V STEP DIR OUTPUT LOW V FIELD I O VIN FIELD I O LOGIC POWER VIN POWER CONSUMPTION FIELD POWER FIELD OUTPUT CU
18. through access mode that allows the host to read or write any remote LBP device parameter This allows simple utilities to setup 7176 volatile and non volatile parameters and allows the host to do process data discovery to determine the input and output process data information from the remote device SETUP MODE OPERATION In setup mode the SSLBP interface is used as a passthrough device to allow reading and writing parameters to the remote LBP device REMOTE READ EXAMPLE For a remote word read the sequence of operations is as follows 1 Issue a STOPALL command 0x800 wait for COMMAND register clear to verify stop command completion 2 Issue a setup START command with bitmask NN of channels to start 3 Wait for COMMAND register clear to verify start command completion may be many mS 4 Read data register to verify that all selected channels started a 1 bit means a fault in the channel that the bit represents 5 Write LBP word read command 0x45 in the MSByte ORed with the parameter address to the selected channels CS register 0 4500 6 Issue a DOIT Command 7 Wait for the command register to be clear 8 Check that the data register is clear any set bits indicate an error 9 Read the returned data in the LS word of the selected channels InterfaceO register 10 Repeat from step 5 for any additional remote data reads Remote read byte word long and double are basically equivalent the only differe
19. write or RPC the number of address bytes 0 2 and the number of data bytes 1 through 8 The 0 address size option indicates that the current address pointer should be used This address pointer will be post incremented by the data size if the auto increment bit is set RPC commands allow any of up to 64 stored commands to be executed in response to the single byte command Note that the low level serial interface details presented here are not normally needed for 7176 card access as all the low level details are handed by the SSLBP code in the SSerial interface built into the FPGA but is presented here for completeness LBP DATA READ WRITE COMMAND as oso Bit 7 6 Command Type Must be 01b to specify data read write command Bit 5 Write 1 to specify write 0 to specify read Bit 4 RPClIncludesData 0 specifies that data is from stream 1 that data is from RPC RPC only ignored for non RPC commands Bit 3 Autolnc 0 leaves address unchanged 1 specifies that address is post incremented by data size in bytes BIT 2 AddressSize 0 to specify current address 1 to specify 2 byte address Bit 1 0 DataSize Specifies data size 00b 1 bytes 01b 2 bytes 10 b 4 bytes 011b 8 bytes When multiple bytes are specified in a read or write command the bytes are always written to or read from successive addresses That is a 4 byte read at location 0x21 will read locations 0x21 0x22 0x23
20. 7176 STEP DIR PLUS I O DAUGHTERCARD V1 22 Table of Contents cine bn ate ay ye ae Seed aa 1 DESCRIPTION ice Bay Aviaries 1 HARDWARE CONFIGURATION 1 0 00 eee 2 GENERAL seated aids Chase 2 VIN POWER SOURCE teas eae cea ee lee 2 GABLE SV POWER ead hovered 2 SETUPOPERATE oh whe tind ole weeks 2 ENCODER INPUT MODE ithe pila a god Ponte 2 CONNECTORS bares wii rahna ao ai Rumi Jo tas 3 7176 CONNECTOR LOCATIONS AND DEFAULT JUMPER POSITIONS 3 HOST INTERFACE CONNECTOR etek 4 2 STEP AND DIR CONNECTOR eee ek oe 5 STEP DIR ENCODER RS 422 CONNECTOR 6 TB4 SPINDLE CONNECTOR bahia eee hace 7 FIELD INPUT OUTPUT CONNECTORS bees 8 STE UN UN carcass sac bene sath fe tay E ap Bok Ge Bae 8 TBSPINOUT ie 9 FIELD POWER GONNEGT OR i ea bore 10 OPERATION Malate ka aia ane
21. AUDRATE 115200 SET BAUDRATEMUL 1 SET PROTOCOL LBP SET INTERFACE OSDEVICE Example setting NVYWATCHDOGTIMEOUT to 100 ms WPD NVWATCHDOGTIME 100 Note this is permanent change the 71765 watchdog timeout and like all volatile parameters will only be applied after the 7176 has been power cycled Example reading 7176 faults in Hexadecimal RPD FAULT H Example of temporarily disabling watchdog and the setting every other output on WPD WATCHDOGTIME 0 WPD OUTPUT AAAAAAAAAAAA H Example of updating 7176 firmware with UFLBP UFLBP 7176 Note the 7176 MUST be in setup mode for UFLBP to work properly 7176 17 OPERATION SOFTWARE PROCESS DATA MODES The 7176 has three software selectable process data modes These different modes select different sets of 7176 data to be transferred between the host and the 7176 during real time process data exchanges For high speed applications choosing the correct mode can reduce the data transfer sizes resulting in higher maximum update rates MODE 0 only mode 32 bits of input data 16 bit of output data MODE 1 plus analog input mode 32 bits of input data 16 bits of output data 4 analog input channels MODE 2 I O plus analog input and field voltage and MPG mode 32 bits of input data 16 bits of output data 4 analog input channels field voltage analog in and 2 MPG encoders on inputs 16 19 Default encoder count mode is 1X to match normal 100 PPR MPGs Encoder input thresh
22. D Numeric twos complement LSB first 0x04 NONVOL_UNSIGNED Numeric unsigned 0x05 NONVOL_SIGNED Numeric twos complement LSB first 0x06 STREAM Continuous data stream 0x07 BOOLEAN Any length non zero true DATA_DIRECTION The DATA_DIRECTION field is a single byte field that specifies the data direction Valid Data direction bytes are as follows 0x00 INPUT Read from remote 0x40 BI_DIRECTIONAL Read from and written to remote 0X80 OUTPUT Written to remote PARAMETER_MIN The PARAMETER_MIN field is 32 bit IEEE 754 floating point number that specifies the minimum value of the process data element This is to allow the driver to present data in engineering units Not valid for non numeric data types PARAMETER_MAX The PARAMETER_MAX field is a 32 bit IEEE 754 floating point number that specifies the maximum value of the process data element This is to allow the driver to present data in engineering units Not valid for non numeric data types 7176 30 REFERENCE INFORMATION SSLBP UNIT_STRING The UNIT_STRING is a variable length null terminated string that specifies the units of the process data element NAME_STRING The NAME_STRING is a variable length null terminated string that begins immediately after the UNIT_STRING It specifies the name of the process data element NUMERIC PROCESS DATA SCALING Currently all numeric process data is simple unsigned or signed twos complement binary data The process data element PARAM_MIN an
23. GENERAL DESCRIPTION The 7176 is daughtercard breakout board for use with MESA s 25 I O FPGA cards like the 5125 The 7176 is designed for interfacing up to 5 Axis of step amp dir step motor or servo motor drives and also provides a spindle encoder interface isolated analog spindle speed control 48 isolated I O points for general purpose field I O use All step and direction outputs are buffered 5V signals that can drive 24 mA All outputs support differential mode to reduce susceptibility to noise An isolated analog spindle voltage with direction and enable outputs is provided for spindle control as is a single spindle encoder channel with TTL or differential inputs 48 points of isolated field I O are provided for general control use including limit switch and control panel inputs coolant enable and tool changer control outputs Isolated I O includes 32 sinking inputs and 16 sourcing outputs Inputs can sense 5V to 32V signals and the outputs can switch 5V through 32V signals Maximum output load is 300 mA Outputs are short circuit protected Field I O is powered by an isolated 8 32V field power source One RS 422 interface is provided for I O expansion via a serial daughtercard All field wiring is terminated in pluggable 3 5 mm screw terminal blocks 7176 1 HARDWARE CONFIGURATION GENERAL Hardware setup jumper positions assume that the 7176 card is oriented in an upright position that is with the host interface
24. IFIC PROCESS DATA EXAMPLE 33 NORMAL MODE OPERATION 35 SETUR START moeroe ieni oh Bae 36 SETUP MODE OPERATION annie eit be nate 36 REMOTE READ EXAMPLE 36 REMOTE WRITE EXAMPLE 37 DISCOVERY SEQUENCE hala es 38 Table of Contents REFERENCE INFORMATION one ede ee eG 41 ee era ee ora ee 41 LBP DATA READ WRITEWCOMMAND 41 EXAMPLE COMMANDS saad etree yews 42 LOCAL LBP COMMANDS 43 LOCAL LBP READ 43 LOCAL LBP WRITE COMMANDS 45 RPC COMMANDS eae hada WEA ee 45 EXAMPLE RPC COMMAND LIST 47 SPECIAL BPOS ted iad wie arent 48 teh a hed at arava Myce th ia dl eo 48 tied Syne Wienke Rade 48 SSERIAL REMOTE RPCS 49 SPECIFICATIONS ei oad alo Sat a Dla Bete a dich Gms 50 DRAWINGS tas weer eae eb head ee 52 vi
25. NFORMATION SSLBP DATA REGISTER SSLBP has a global 8 bit data register for debug and custom setup purposes This register allows access to internal SSLBP parameters The data register is right justified in the 32 bit Hostmot2 register LOCAL READ OPERATIONS The sequence used for reading a local SSLBP variable is as follows 1 The parameter address ORed with the Request bit bit 13 is written to the command register 2 The host polls the command register until it reads as zero 3 The host reads the parameter byte from the data register LOCAL WRITE OPERATIONS The sequence used for writing a local SSLBP variable is as follows 1 The host polls the command register until it reads as zero 2 The host writes the data byte to the data register 3 The host writes the command register with the the parameter address Ored with both the Request bit bit 13 and the Write bit bit 15 776 21 REFERENCE INFORMATION SSLBP LOCAL PARAMETERS There are a number of local SSLBP read only parameters that are useful for interface software and drivers to access using the local read operations LOCAL PARAMETER ADDRESS DESCRIPTION INTERFACE_TYPE 0x0000 0x12 for SSLBP INTERFACE_WIDTH 0x0001 Data port width 8 MAJORREV 0x0002 Major SSLBP firmware revision MINORREV 0x0003 Minor SSLBP firmware revision GP_INPUTS 0x0004 Number of GP input bits 0 for SSLBP GP_OUTPUTS 0x0005 Number of GP output bits 0 for SSLBP PROCESSOR_TYPE 0 0006 OxD8
26. O starts at 0 0000 RPC1 starts at 0 008 RPC2 starts at 0x0010 and so on Before RPC commands can be written to the RPC table the RPCMEM access flag must be set The RPCMEM access flag must be clear for normal operation 7176 46 REFERENCE INFORMATION LBP EXAMPLE RPC COMMAND LIST This is an example stored RPC command list Note RPC command lists must start at a RPCPitch boundary in the RPC table but an individual RPC list can extend until the end of the table This particular RPC example contains 2 LBP commands and uses 7 bytes starting at 0 0028 RPC5 for 0x08 pitch RPC table Command1 Writes two data bytes to address 0x10 0x11 with 2 data bytes supplied by host 2 Reads two data bytes from address 0x12 0x13 commanpeits crt cro we RD 1 as pst oso Lepwrite 2add2data 0 1 o o o 4 wrteaddressuss o o o o 0 witeaddressmse o o o 0 Fispreed 2add2aaa o o o resnas o o The data stream for this RPC would consist of these 3 bytes commanpeits crt cro R2 Ro ft fo fo fo oo st G DataoforCommands o 1 o 1 o 1 o 776 47 REFERENCE INFORMATION SPECIAL RPCS All remotes that work with
27. OCESS DATA DISCOVERY The SSLBP interface provides information to allow the host to determine the name number units sizes types directions and scaling of process data elements This information is read from the remote device via a setup mode start followed by a series of remote read operations Note to the bewildered process data discovery and its complications are not needed to access the 7176 SSLBP In fact the 7176 s data can be accessed SSLBP with no more than a few register reads and writes The sole purpose of process data discovery is to allow the driver to present nicely named and formatted data to the host without the driver having any built in knowledge of the remote device PROCESS TABLE OF CONTENTS After a normal start or setup start command the PTOCP word in the low word of interface register 2 is a pointer to the current process table of contents PTOC in the remote device If remote devices that do not support process device discovery are present their PTOCP will be 0 and process data organization must be inferred from the remote device name Remote reads from this location will return the first entry in the PTOC All PTOC entries are pointers with a size of 2 bytes The end of the PTOC is marked with a 0 sentinel Each PTOC entry points to a process data descriptor Here is an example of a 5 entry PTOC PDD is Process Data Descriptor ENTRY ADDRESS CONTENTS 320733 POINTER TO PDD 0 PTOCP 2 POINTER
28. PERATE MODE BAUD RATE The operate mode baud rate default is 2 5 MBaud This should not be changed unless needed for non standard applications Baud rates are selected by writing an index value to the NVBAUDRATE parameter The index numbers for available baud rates are as follows INDEX BAUD INDEX BAUD INDEX BAUD 0 9600B 1 19200B 2 38400B 3 57600B 4 115200B 5 230400B 6 460800B 7 921600B 8 1 25MB 9 2 5MB 10 5MB 11 10MB WATCHDOG TIMEOUT The default watchdog period is 50 mS but can be set to different periods to suit the application Watchdog timeout units are mS A watchdog timeout value of 0 will disable the watchdog The watch dog is a safety feature and should normally not be disabled nor set to long timeout periods unless the consequences of loss of control of outputs is not important The non volatile watchdog timeout is set via the NVYWATCHDOGTIMEOUT parameter The working watchdog timeout is set with the WATCHDOGTIME parameter 7176 16 OPERATION RPD WPD AND UFLBP The RPD WPD and UFLBP are command line utilities allow reading and writing volatile and non volatile 7176 parameters and updating the firmware the 7176 To use these utilities most operating systems the 7176 must in the setup mode or the operate mode baud rate must be 115200 KBaud or less RPD WPD and UFLBP need environment variables preset before they will work For Windows and 115200 baud the following environment variables should be set SET B
29. PERATION HOST INTERFACE The 7176 is intended to operate with a FPGA card with parallel port pinout like the Mesa 5125 or 6125 The FPGA card supports the step dir encoder and smart serial interface used by the field I O and spindle interface and expansion RS 422 port The FPGA card can also supply 5V power to the 7176 STEP DIR INTERFACE The 7176 provides five channels of step dir interface with buffered 5V differential signal pairs Each differential pair consists of two complementary 5V outputs The differential signals allows reliable signal transmission in noisy environments and can directly interface with RS 422 line receivers Step motor drives with single ended inputs connect to just one of the STEP and DIR signal outputs that is either the STEP DIR or STEP DIR signals with the unused signals left unconnected at the 7176 The input common signal on drives with single ended inputs connects to the 71765 GND or 5VP pins depending on the drive type RS 422 INTERFACE The 7176 has one RS 422 interface available on TB3 This interface is intended for expansion with Mesa SSERIAL devices The easiest way to make a cable for interfacing the 7176 to these devices is to take a standard CAT5 or CAT6 cable cut it in half and wire the individual wires to the 7176 screw terminals The following chart gives the 5 to 7176 screw terminal connections EIA TIA 568B colors shown TB3 PIN SIGNAL 15 GND 16 RX 17 RX 18 TX 19 TX
30. RRENT MIN 4 5 VDC 4V 8VDC 5VDC MAX NOTES 5 5 VDC 100 mA No ext load 10 1V 10mA sink 32 VDC 1 W Typ 600 mW 28VDC 350 mA Per output RESISTIVE LOADS AND INDUCTIVE LOADS WITH FLYBACK DIODE FIELD OUTPUT CURRENT INDUCTIVE LOADS WITH NO FLYBACK DIODE PER DRIVER CHIP CURRENT HIGH SPEED ENCODER INPUT INPUT COMMON MODE RANGE INPUT TTL MODE THRESHOLD DIFFERENTIAL MODE IMPEDANCE COUNT RATE 1 4 131 60 mA Per output 1 4A Per chip 12 Volts 1 8 Volts 135 Ohms 10 MHz 7176 50 SPECIFICATIONS RS 422 INTERFACE MAXIMUM DATA RATE 10 MBIT S INPUT COMMON MODE RANGE 7 12 Volts INPUT TERMINATION RESISTOR 131 135 Ohm OUTPUT LOW 24 mA sink 8 Volts OUTPUT HIGH 24 mA source VCC 8 SPINDLE INTERFACE REFERENCE VOLTAGE 5 15 Volts SPINDLE gt SPINDLE SUPPLY CURRENT 20 mA ISOLATION VOLTAGE 500 NON LINEARITY 1 at 5 2 DIR ENA OUTPUT CURRENT 50 DIR ENA OUTPUT VOLTAGE 100 DIR ENA ISOLATION VOLTAGE 500 Volts DC ENVIRONMENTAL TEMPERATURE C VERSION 0 C 70 C TEMPERATURE I VERSION 40 C 85 C 7176 51 DRAWINGS REV A NLY 2150 UN 58 AND LATE 729 4 000
31. T The CS register is used for local SSLBP and remote LBP device status and control information Read access returns status information in both normal and setup mode In normal mode writes to the CS register are not used After a normal start or setup start the CS register has the following format Byte3 X undefined for SSLBP versions lt 29 remote fault for versions gt 28 See CS REGISTER AFTER DOIT section Byte2 COM_STATE Communication state code debug only Byte1 Communication status code 0x00 for Bit 7 CommunicationNotReady Bit 6 NoRemotelD Bit 5 CommunicationError Bit RemoteFault ByteO Local Communication faults sticky cleared only by STOP Bit 7 TooManyerrors Bit 6 RemoteFault Bit 5 SerialBreakError Bit 4 ExtraCharacterError Bit 3 TimeoutError Bit 2 OverrunError Bit 1 InvalidCookieError Bit CRCError REFERENCE INFORMATION SSLBP CS REGISTER AFTER DOIT After a successful command or normal start with SSLBP versions gt 28 bytes 0 through 2 of CS register are the same as after a start command but in addition the previously invalid byte 3 of the CS register contains remote fault information Byte3 REMOTE_FAULTS Bit 7 LBPCOMFault Bit 6 Fault Bit 5 LowVoltageFault Bit 4 HighVoltageFault Bit 3 OverCurrentFault 2 OverTempFault Bit 1 NoEnableFault Bit 0 WatchdogFault 7176 27 REFERENCE INFORMATION SSLBP PR
32. TE 4 INTERFACE 2 IPD BYTE 11 IPD BYTE 10 IPD BYTE 9 IPD BYTE 8 7176 SPECIFIC PROCESS DATA EXAMPLE Process data is remote device dependent and also dependent on remote device mode The 7176 supports 3 software modes 7176 33 REFERENCE INFORMATION SSLBP 7176 SPECIFIC PROCESS DATA EXAMPLE in In the default input output mode the process data appears the interface registers the order shown 7176 OUTGOING PROCESS DATA FOR MODE 1 INTERFACE 0 SPINOUT 15 8 SPINOUT 7 0 TB5 OUTS 15 8 TB6 OUTS 7 0 SPINDIR SPINENA X INTERFACE 2 7176 INCOMING PROCESS DATA FOR MODE 1 INTERFACE 0 6 INS 7 0 Note that this information is just for user convenience as process data X X X organization in the interface registers can be determined by process data discovery 7176 34 REFERENCE INFORMATION SSLBP NORMAL MODE OPERATION In normal mode the sequence of operations for a cyclic access with write before read is as follows Note steps 1 through 5 are setup operations and are only done once per session 1 Issue STOP ALL command 0x800 wait for COMMAND register clear to verify stop command completion 2 Issue normal START command 9 with bitmask NN of channels to start 3 Wait for COMMAND register clear to verify start command completion may be many mS 4 Read data register to verify that all selected channels started a 1 in any channel position bit means a fault in
33. ard Actual pin functions depend on FPGA configuration but signal directions must be observed DB25 PIN GPIO FUNCT DIR DB25 PIN GPIO FUNC DIR 1 IOO DIRO OUT 14 IO1 STEPO OUT 2 102 011 OUT 15 OUT 3 104 DIR2 OUT 16 5 STEP2 OUT 4 DIR3 OUT 17 7 STEP3 OUT 5 OUT 18 GND 6 9 STEP4 OUT 19 GND 7 1010 SSOTX OUT 20 GND 8 1011 SSORX IN 21 GND 9 1012 SS1TX OUT 22 GND or 5V 10 1013 SS1RX IN 23 GND or 5V 11 1014 ENCI IN 24 GND or 5V 12 1015 ENCB IN 25 GND or 5V 13 1016 ENCA IN Notes 1 If jumper W2 is is the left hand position pins 22 through 25 are 5V if W2 is in the right hand position Pins 22 through 25 are GND 2 GPIO pins are for first FPGA connector next connector series begins at GPIO17 3 Signal directions are relative to FPGA card that is an OUT signal is an output from the FPGA card that drives the 7176 Conversely an IN signal is a FPGA input that is driven by the 7176 776 4 5 TB2 STEP AND DIR CONNECTOR TB2 is the 71765 main step and direction output connector Both polarities of step and direction signals are provided Each channel on the interface uses 6 pins TB2 is a3 5 MM pluggable terminal block with supplied removable screw terminal plugs TB2 CONNECTOR PINOUT TB2 PIN 1 2 SIGNAL GND DIRO DIRO GND DIR1 DIR1 5VP TB2 PIN 20 21 22 23 24
34. ata elements from these interface registers is done in the order of process data descriptors listed in the PTOC Process data elements in PTOC order and process descriptor DATA_SIZE are packed into or unpacked from the interface registers from LSB to MSB and from interface register through interface register 2 Read data and bidirectional data is unpacked from the interface registers read by the host Write data and bidirectional data is packed into the interface registers written by the host Before a DOIT command is written to start a data transfer cycle with the remote device the host must write its packed outgoing process data OPD in table below to the interface registers The CS register not currently used for outgoing data control so is not written HOST WRITES OUTGOING INTERFACE REGISTERS BEFORE DOIT INTERFACE 0 OPD BYTE OPD BYTE 2 OPD BYTE 1 OPD BYTE 0 INTERFACE 1 OPD 7 OPDBYTE6 OPD 5 OPD BYTE 4 INTERFACE 2 OPD BYTE 11 OPD BYTE 10 OPD 9 OPD BYTE 8 7176 32 REFERENCE INFORMATION SSLBP PROCESS DATA ELEMENT PACKING AND UNPACKING After the DOIT command has completed the incoming process data IPD in table below can be read along with the local and remote faults HOST READS INCOMING INTERFACE REGISTERS AFTER DOIT CS REG REMOTE FLT COM_STATE STATUS LOCAL FLT INTERFACE 0 IPD BYTE IPD BYTE 2 IPD BYTE 1 IPD BYTE 0 INTERFACE 1 IPD BYTE 7 IPD BYTE 6 IPD BYTE 5 IPD BY
35. ave software selectable modes that determine the specific data transferred for each DOIT command These modes are selected by writing the mode number to the most significant byte of the remote channels CSR before a START or SETUP START command is issued A default value of 0 00000000 should be written to all CSRs if MODE is not used REMOTE MODE IS WRITTEN TO CSR MS BYTE BEFORE START CS REG voe o o INTERFACE AND CS REGISTER DATA START After a successful start command either setup start or normal start Interface register 0 reports the remote device s unit number This is the number printed on the card label Interface register 1 reports the remote device s 4 letter name LSB first Interface register 2 reports the remote devices global table of contents pointer GTOCP and process table of contents pointer PTOCP for the currently selected remote device mode The GTOCP and PTOCP will be 0x0000 for devices that do not support process data discovery Note that the setup data will be overwritten with process data once the first DOIT command is issued READ DATA FROM PER CHANNEL INTERFACE REGISTERS AFTER START CS REG COM_STATE STATUS LOCAL FLT INTERFACE 0 UNIT BYTE 3 UNIT BYTE 2 UNIT BYTE 1 UNIT BYTE 0 INTERFACE 1 NAME BYTE 3 NAME BYTE 2 NAME BYTE 1 NAME BYTE 0 INTERFACE 2 BYTE1 BYTE1 PTOCP BYTE 0 7176 25 REFERENCE INFORMATION SSLBP CS REGISTER AFTER STAR
36. d PARAM_MAX values in conjunction with the DATA_SIZE can be used to scale this numeric data For unsigned data PARAM_MIN corresponds to a value of 0 and corresponds to a value of 2 DATA_SIZE 1 Meaning scaled unsigned data is RAW_DATA PARAM_MAX PARAM_MIN 2 DATA_SIZE 1 PARAM_MIN For signed data PARAM_MIN corresponds the value 2 DATA_SIZE 1 1 and PARAM the value 2 DATA_SIZE 1 1 meaning scaled signed data is RAW_DATA PARAM_MAX PARAM_MIN 2 512 1 1 MODE DESCRIPTOR In addition to the process data descriptors the PTOC will have pointers to two mode descriptors These are the currently selected hardware and software modes of the remote device FIELD NAME FIELD LENGTH DESCRIPTION RECORD_TYPE 8 BITS RECORD TYPE MODE INDEX 8 BITS WHICH MODE MODE TYPE 8 BITS MODE TYPE UNUSED 8 BITS UNUSED MODE_NAME_STRING VARIABLE NULL TERM STRING MODE TYPES Currently there are only two mode types HWMODE 0x00 and SWMODE 0x01 these correspond to hardware EEPROM or Jumper setting and software dynamically changeable operational modes 776 31 REFERENCE INFORMATION SSLBP PROCESS DATA ELEMENT PACKING AND UNPACKING Ultimately all process data is transferred to and from the host via the interface 0 1 2 registers The packing of outgoing process data elements into these interface registers and unpacking of incoming process d
37. des fast resynchronization to allow robust operation in noisy environments The actual timeout used needs to be optimized for the operating mode In setup mode where a non real time OS may be communicating with the remote device the frame timing is set to its maximum value 25 5 character times This is equivalent to 2 1 mS at 115200 baud This means that host communications cannot have more than 2 1 mS delays between characters in command sequence when in setup mode In operate mode command timeout is set by SSLBP to be 4 character times 16 uSec at 2 5M baud The SSLBP firmware always sends commands in bursts without inter character gaps so will always meet this timing The timing is set short so that the parser on the remote device will always be reset and ready for the next command at the highest repetition rates even if data has been corrupted by noise so that incomplete commands have been received 7176 48 REFERENCE INFORMATION SSERIAL REMOTE RPCS SSerial remote devices must implement three special RPCs to be compatible with the hosts FPGA SSLBP firmware These RPCs may be normal in memory RPCs or special hardwired RPCs for speed Normal programmable RPCs are not required for compatibility with SSLBP so need not be implemented UNIT NUMBER RPC The unit number RPC returns the 4 byte remote unit number Like all LBP data this is sent LSB first This RPC is OxBB hex DISCOVERY RPC The discovery RPC returns the total sizes of the
38. e commands M 14 enable reset bit set high to reset processor download ROM R 13 Request bit set high for read or write command D BIT 12 Dolt bit set high for Dolt commands S BIT 11 Start Stop bit actual operation depends on T ST 1 0 0 0 Stop LBP interface 0x08NN ST 1 0 0 1 Start LBP interface in normal mode ST 1 1 1 1 Start LBP interface in setup mode OxOFNN N bits determine which channels start or do data transfer with remote device A set bit indicates that the corresponding channel will start or do a data transfer A command is started when written to the command register Command completion is signaled by the command register being cleared to 0 0000 by the internal SSLBP firmware If the command register is read before the command is complete it will reflect the previously written command The command register should not be written when non zero or unpredictable behavior may result There are two exceptions to this rule 1 ASTOP ALL command can always be written to reset the SSLBP interface 2 Command writes with the ignore bit set can always be written see below COMMAND REGISTER WRITE IGNORE The command register has a feature that any command written with the MSB bit 31 set will be ignored This is for compatibility with DMA driven interfaces or any interfaces that use a fixed address list for low level hardware access so cannot skip writes 7176 20 REFERENCE I
39. egister is clear the data register can be read to determine if all selected channels have started A 1 bit in any position in the data register indicates that the corresponding channel has failed to start If channel has failed to start more information about the failure can be determined by reading the CS register of the failed channel Once command has been executed the firmware no longer chatters and it becomes the responsibility of the host interface to continue sending DOIT commands at a rate sufficient to feed the remote devices watchdog faster than 20 Hz with the default 50 mS watchdog timeout period If this is not done the remote device s watchdog will bite disabling its outputs and setting the fault flag This will require a channel stop followed by a channel start to resume normal operations 7176 23 REFERENCE INFORMATION SSLBP STOP ALL A STOPALL command is issued to stop all channel communication STOPALL resets all channel variables and should always be issued by a driver when initializing the SSLBP interface STOPALL followed by a START command can be used after a fault condition to re establish communication with the remote LBP devices Device discovery is only done once when START command is issued to aSTOPed SSLBP This means that if cabling devices or device hardware modes are are changed a STOPALL command followed by a START command must be issued by the host to detect the changes A STOPALL co
40. for Dumb8 CHANNELS 0x0007 1 to 8 depending on configuration 776 22 REFERENCE INFORMATION SSLBP NORMAL START When the FPGA is first configured or after a STOP command all local communication error and status parameters are initialized and all LBP communication channels are idle A normal START command begins to establish communications with all remote LBP devices A normal start command is issued by writing a Start bit with type bits of 0 0 1 with a bit mask of the desired channels to start in the low byte This is Ox9NN hex where NN is the bitmask of channels to start This command is written to the command register to start the selected channels Once a start command has been issued all channels that are selected in the bit mask will be probed to determine if a LBP device exists If a device exists on a channel the SSLBP firmware will acquire the device name and device unit number and pointers to process data information from the remote device A normal start command also does a standard set of remote device setup operations when it detects a remote device This setup includes clearing any faults setting remote operational mode and setting the outputs off If no errors have occurred and all faults are clearable the SSLBP firmware enters a chatter loop where it repeatedly sends output data of all O s This keeps the remote devices watchdog fed while waiting for the first DOIT command When the command completes the command r
41. is That is with a 24V field voltage an input must be brought to 60 of 24V 14 4V to be sensed as high and then brought to 40 of 24V 9 6V to be sensed as low These accurate thresholds and hysteresis allow high speed field signal detection while maintaining excellent noise immunity WHY SINKING INPUTS 7176 field inputs are of the sinking type That is external power must be applied to the input to register as activated This mode was chosen so that accidental grounding of an input will not register as an activated input It is suggested that inputs like limit switches use normally closed switches with one switch leg connected to field power and the other to the 7176 input pin so the normal machine state not at limits is to have the inputs activated This way a open switch wire or wire shorted to ground will cause a detectable machine fault ANALOG INPUTS All field input pins are capable of reading the input voltage These are not highly accurate or high resolution but can be useful for things like potentiometer inputs Input resolution is 8 bits and input full scale value is 36 3V Accuracy is 5 Software process data modes 1 and 2 allow reading the analog voltage on inputs 0 through 3 in addition to the 32 digital bit inputs FIELD VOLTAGE MONITORING The 7176 monitors the field voltage and can send this information to the host in some modes If separate VIN is supplied to the 7176 the 7176 can report loss of field voltage to the
42. ixed at 115 2K baud In the operate mode the baud rate is set to 2 5M baud default Setup mode enables a normal PC to communicate with the 7176 for setup purposes W3 controls the setup operate mode selection T W3 must be in the operate mode for normal operation W3 MODE BAUD RATE LEFT Operate mode 2 5M baud default can be changed RIGHT Setup Mode 115 2K baud fixed ENCODER INPUT MODE The 71765 high speed encoder input can be programmed for differential or single ended mode operation W4 W5 and W6 set the encoder input mode When W4 W5 and W6 are in the right hand position the encoder input is mode is differential When W4 W5 and W6 are the left hand position the encoder input mode is single ended or TTL 7176 2 5 7176 CONNECTOR LOCATIONS AND DEFAULT JUMPER POSITIONS W1 VIN SELECT Wi CRI SV PWR CR2 FIELD PWR C PTI 2 Oc a s W2 CABLE POWER 15 FIELD OUTPUTS 0 LEJ 31 FIELD OUTPUTS 8 27 15 RA CNA RNIS H lt gt 2 ja wn 2 5 0 Dot TB3 STEP DIR 4 ENCODER RS422 TBS FIELD INPUTS 16 TB6 FIELD INPUTS 0 NB RN29 Rigo 7176 C ART REV A NOTE TERMINAL BLOCK I S ARE MARKED WITH SQUARE PAD 7176 3 5 P1 HOST INTERFACE CONNECTOR P1 is the DB25F connector on the 7176 that connects to the FPGA c
43. mmand is 0x0800 STOP INDIVIDUAL CHANNELS In addition to stopping all channels a individual stop command can be issued A individual stop command include a bitmask of the channels to stop in the least significant 8 bits of the command the N bits that is a stop channel 1 command would be 0x802 The intended use of individual stop is per channel error recovery It should not be used for normal interface startup as it does not reset channel variables that is command stop all individual channels is not equivalent to a OX800 STOPALL command DOIT In normal operation SSLBP is designed to send host data from the interface registers to the remote device and request data from the remote device for presentation in the interface registers to the host This SSLBP function is designed for high speed real time operation Synchronization with the host is accomplished with the DOIT command When the host writes all outgoing process data from the host is sent to the remote devices and incoming process data is requested Completion of the command is signaled by SSLBP clearing the COMMAND register command is completed when al requested channel transfers have completed or timed out After the completion of a successful DOIT command the incoming process data from the remote can be read A DOIT command contains the DOIT bit and an 8 bit mask in the 8 LSBs that selects the channels that will be reques
44. nce being the LBP command 0x44 0x45 0x46 0x47 respectively and the size of the data read from the interface register s 7176 36 REFERENCE INFORMATION SSLBP REMOTE WRITE EXAMPLE For a remote word write the sequence of operations is as follows 1 Issue a STOPALL 0x800 command wait for COMMAND register clear to verify stop command completion 2 Issue a setup START command with bitmask NN of channels to start 3 Wait for COMMAND register clear to verify start command completion may be many mS 4 Read data register to verify that all selected channels started a 1 bit means a fault in the channel that the bit represents 5 Write the new parameter data to the selected channels InterfaceO register right justified 6 Write LBP word write command 0x65 in the MSByte ORed with the parameter address to the selected channels CS register Ox6500PPPP 7 Issue Command 8 Wait for the command register to be clear 9 Check that the data register is clear any set bits indicate an error Repeat from step 5 for any additional remote parameter writes Remote write byte word long and double are basically equivalent the only difference being the LBP command 0x64 0x65 0x66 0x67 respectively and the size of the data written to the interface register s 776 37 REFERENCE INFORMATION SSLBP DISCOVERY SEQUENCE for process data discovery of one channel the sequence of operations is as follows
45. o field ground Output are sourcing type that is they supply field power to field ground referred loads VIN AND FIELD POWER SUPPLY The 7176 field I O runs from field power supplies of 5 to 32 VDC Field power supplies the power to the 7176 outputs and with the default settings determines the 7176 input thresholds VIN power runs the field I O processor and normally is connected to field power VIN must be greater than 8V for proper operation This means VIN must come from a separate source if 5V field voltage is used Power consumption is approximately 600 mW or 25 mA at 24V VIN power must be present the 7176 field I O to be detected and operate Field voltages that are too high or too low will cause faults FIELD OUTPUT CHARACTERISTICS The 7176 field outputs are high side or sourcing type MOSFET drivers that is they source positive voltage to a ground referred load For example with a standard 24V field power 24V connects to the 7176s field power input TB1 and the outputs on 5 and TB6 now source 24V power to loads All 7176 loads will have one side returned to ground or the negative lead of the 24V supply The 71765 outputs can drive loads of up to 350 mA WHY SOURCING OUTPUTS Sourcing type outputs were chosen for the 7176 because sourcing type field wiring is less likely to cause inadvertent device actuation from the most likely type of field wiring problem which is a short to ground SHORT CIRCUIT PROTECTION The
46. old is fixed at 2 5V for compatibility with 5V encoder outputs 7176 18 REFERENCE INFORMATION Note that the following interface details presented here are not normally needed for users as all register level interface details are handed by the driver code This information is presented here for use by interface and driver developers SSLBP GENERAL SSLBP is a firmware option to HostMot2s SSERIAL serial interface that allows simple communication to LBP based peripherals like the 7176 SSERIAL is a part of the HostMot2 motion interface firmware for MESA s Anything I O FPGA cards REGISTER MAP SSLBP has two global processor interface registers and four per channel remote device interface registers For more details on mapping of these registers in HostMot2 memory space see the REGMAP file that is included with the HostMot2 source distribution PROCESSOR INTERFACE REGISTERS There are two processor interface registers the COMMAND register and the DATA register These registers allow low level communication to SSLBP s interface processor for issuing global commands discovery and debug operations 7176 19 REFERENCE INFORMATION SSLBP COMMAND REGISTER The commands register is a 16 bit register right justified in the 32 bit interface with the following format 2 7 2 W 15 Write bit set high for control data writ
47. r there is a error Remote read byte at PTOC 1 This is DATA_SIZE Remote read byte at PTOC 2 This is DATA_TYPE Remote read byte at PTOC 3 This is DATA_DIRECTION Remote read long at PTOC 4 This is PARAM_MIN Remote read long at PTOC 8 This is PARAM_MAX Remote read word at PTOC 10 This is PARAM_ADD not used normally Read UNIT_STRING starting at PTOC 12 Initialize CharPointer to PTOC 12 repeat remote read byte at CharPointer increment CharPointer if byte is 0 done Read NAME_STRING starting at CharPointer repeat remote read byte at CharPointer increment CharPointer if byte is 0 done Repeat with next PTOC step 11 776 39 REFERENCE INFORMATION SSLBP DISCOVERY SEQUENCE SECOND PART READ PROCESS DESCRIPTOR AND MODE DESCRIPTOR RECORDS 25 Remote read byte at PTOC 1 This is MODE_INDEX 26 Remote read byte at PTOC 2 This is MODE TYPE 27 Read MODE_NAME_ STRING starting at PTOC 4 Initialize CharPointer to PTOC 4 repeat remote read byte at CharPointer increment CharPointer if byte is 0 done 28 Repeat with next PTOC step 1 29 Select next channel and repeat from step 5 7176 40 REFERENCE INFORMATION LBP LBP is a simple binary master slave protocol where the host sends read write or RPC commands to the 7176 the 7176 responds All controller communication to the 7176 is done LBP LBP commands always start with a command header byte This header specifies whether the command is a read or
48. served OxF6 Reserved OxF7 Write LEDs OxF8 Set low address OxF9 Set high address OxFA Add byte to current address OxFB OxFC Reserved OxFD Set unit ID serial only Reset LBP processor if followed by 0x5A OxFF Reset LBP parser no data follows this command 776 45 REFERENCE INFORMATION LBP RPC COMMANDS RPC commands allow previously stored sequences of read write commands to be executed with a single byte command Up to 64 RPC s may be stored RPC write commands may include data if desired or the data may come from the serial data stream RPCs allow significant command compression which improves communication bandwidth When used with SSLBP the 71765 process data transfer uses an RPC for efficiency LBP RPC COMMAND 7 6 must 10b to specify RPC Bit 5 0 RPCNumber Specifies RPC 0 through 63 In the 7176 LBP implementation RPCPitch is 0 8 bytes each RPC command has native size of 0x08 bytes and start 0x8 byte boundaries in the RPC table area RPCs can cross RPCPitch boundaries if larger than RPCPitch RPCs are needed The stored RPC commands consist of LBP headers and addresses and possibly data if the command header has the RID bit set RPC command lists are terminated by a 0 byte The RPC table is accessed at addresses 0 through RPCSize 1 This means with a RPCPitch of 0x8 bytes RPC
49. ted to transfer data A should not be requested on an inactive channel that is a channel that did not start After DOIT command completion the data register will contain a bit mask of channel status data If any bit is set in the data register it indicates a problem with the transfer all zeros indicates no faults or errors The data register contents returned after a command can be used to minimize host access cycles by avoiding the need to read the per channel status registers If detailed fault information is desired the CS register can be read on any channel that shows a failed transfer 7176 24 REFERENCE INFORMATION SSLBP PER CHANNEL INTERFACE DATA REGISTERS SSLBP supports three 32 bit interface data registers per channel These are called interface register 0 interface register 1 and interface register 2 These are read write registers with independent incoming and outgoing data These registers are used for both setup discovery data when starting a data link and process data once the link is running When astart command is issued and has successfully completed per channel setup data will be available in the interface registers PER CHANNEL CONTROL AND STATUS REGISTERS SSLBP has a 32 bit control and status register for each channel Like the interface data registers these registers are used both for data link startup information and for status when the link is in operation REMOTE MODES Some remote devices h
50. than SPINDLE Because the analog output is isolated bipolar output is possible for example with SPINDLE connected to 5V and SPINDLE connected to 5V a 5V analog output range is created In this case the spindle output must be offset so that 50 of full scale is output when a OV output is required Note that if bipolar output is used the output will be forced to SPINDLE at startup or when SPINENA is false SPINDLE ISOLATED OUTPUTS The 7176 provides 2 isolated outputs for use for spindle direction control and spindle enable These outputs are OPTO coupler Darlington transistors They are all isolated from one another so can be used for pull up or pull down individually They will switch a maximum of 50 mA at 0 to 100 VDC The SPINENA output is special as it uses the same signal that enables the analog output When the analog output is enabled the SPINENA OPTO output is on STATUS LEDS The 7176 has two yellow status LEDs for power monitoring and CR2 the top left side of the 7176 monitors 5V power CR2 the top right side of the 7176 monitors field power Both LEDs must be illuminated for normal operation 7176 12 OPERATION FIELD I O The 7176 has a 32 input 16 output isolated field I O system to support a wide range of input and output devices The isolated I O is intended for low voltage DC control systems commonly 24VDC Inputs are sinking type That is they sense positive input voltages relative t
51. the channel that the bit represents 5 Read device unit number This can only be read before DOIT has been asserted 6 Check command register if not clear cycle time is too short Note the command register should never be written to when not clear except to issue a stop command or when written with the command ignore bit set 7 Check data register any 1 bits indicate previous DOIT command failed for in the corresponding channels 8 Read per channel Interface register 0 and interface register 1 for input process data 9 Write per channel output process data for 7176 to interface 0 register and interface 1 register 10 Write DOIT command 0x10NN where NN is the bit mask of channels to initiate transfers 11 Wait for next cycle at next cycle time loop back to state 6 This sequence can be modified if a read modify write sequence is required this requires polling the command register for send receive completion This will take a maximum of 100 uSec from the DOIT command to command register clear and valid input data 7176 35 REFERENCE INFORMATION SETUP START When the FPGA is first configured or after a stop all command all LBP communication channels are idle ASETUP START command first initializes and all local communication error and status parameters and begins to establish communications with all remote LBP devices Unlike the NORMAL START command SETUP START does no device specific setup but instead creates a pass
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