1. Introduction to NPMC5023-2104
Contents
1. base address of the controller card axis axis number starting from 0 as axis 1 dir 1 for positive and 0 for negative direction Home with Acceleration Profile int home ac int base int axis int dir Arguments base base address of the controller card axis axis number starting from 0 as axis 1 dir 1 for positive and 0 for negative direction Jog Low Speed int jog fl int base int axis int dir Arguments base base address of the controller card axis axis number starting from 0 as axis 1 dir 1 for positive and 0 for negative direction Jog High Speed int jog fh int base int axis int dir Arguments base base address of the controller card axis axis number starting from 0 as axis 1 dir 1 for positive and 0 for negative direction NPM Jog with Acceleration Profile int jog_accel int base int axis int dir Arguments base base address of the controller card axis axis number starting from 0 as axis 1 dir 1 for positive and 0 for negative direction Immediate Stop int immed_stop int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Decelerate Stop int decel stop int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 NPM 28 11 2 Setup Command Functions Set Low Speed Low Speed Accele2. Digital 10 Control Following screen will appear 8255 Digital 10 Tester x DIO Set DIO Set B port 0 1 2 0 1 2 Output Output Output Output Output Output DIO Set A Address DIO Set B Address From the DIO control dialog box you can set and view all the digital IO s Hit OK button when you are done and you will return to the previous dialog box NPM 8 configure the stepper controller select the Stepper and click on Configure button Configure Axis 12 9 Following setup dialog box will appear Control Selection loj x Stepper Configuration Address HEX Axis 1 Axis 2 X Pulse Dir Active High X Pulse Dir Active High Home Active High Home Active High Alarm Active High Alarm Active High Cw CCwW Cw CCwW Cancel From the stepper configuration setup the polarity of the pulse dir output signal polarity of the Home and Alarm inputs For Pulse Dir outputs two pulse trains can be set by CW CCW For the limit switch polarity settings hardware jumpers are used Refer to the Hardware manual on limit polarity setting Click on OK after configuration 10 To control the stepper motors select the stepper selection and click on Control button Control Axis 12 NPM 11 Following dialog box will appear MR Che sum 5 Status Input Switches Velocity pps EN a MOV
3. base address of the controller card value 0x80 all outputs Ox9B all inputs Set Digital Output Port int output_do_port int base int port int value Arguments base base address of the controller card port 0 to 2 value 0x00 to OxFF Set Digital Output Bit int output_do_bit int base int port int bit int state Arguments base base address of the controller card port 0 to 2 bit 0 to 7 value 0x00 to OxFF Get Digital Input Port int input di port int base int port Arguments base base address of the controller card port 0 to 2 Get Digital Input Bit int input di bit int base int port int bit Arguments base base address of the controller card port 0 to 2 bit 0 to 7 NPM
4. card and running the test program To install the stepper card 1 Turn off the power to the system 2 Select the jumper setting and attach the cables to the card 3 Plug the card to the PC104 BUS 4 Turn on the power to the PC104 setup To install the Software 1 The floppy that comes with the controller contains the install program Go to Windows and run the setup program from the floppy 2 AII the programs and files will be copied to the specified directory To run the Software Double click on the stepper motor icon to start the test program For detailed information see page 10 4 NPM 3 Connector and Jumper Location BRRR JP4 JP1 JP9 JP5 PC104 Bus Connector aen 30 pin IDC connector for stepper control JPI JPA Bus address select jumper JP5 JPO Interrupt select jumper Limit switch polarity select jumper for normally open or normally closed limit sensor configuration Home and Alarm sensor polarity can be set by software NPM 4 Connector Information 4 1 Connector J1 Stepper Motor Control Description Pin Description 5 1 2 GND Pulse 1 3 4 Dir 1 Enable 1 3 6 Encoder Z 1 Encoder Al 7 8 Encoder B 1 Home 1 9 10 Lim1 Lim 1 11 12 Alarm 1 5V 13 14 GND Pulse 2 15 16 Dir 2 Enable 2 17 18 Encoder Z2 Encoder A2 19 20 Encoder B2 Home 2 21 22 Lim 2 Lim 2 23 24 Alarm2 Vss 25 26 Vss NC
5. 27 28 NC NC 29 30 NC NC 31 32 NC STP 33 34 STA NOTE For detailed information on STA and STP please refer to NPMC5023 chip manual 5 Jumper Information 5 1 Jumpers JP4 to JP1 Bus Address Selector 4 2 Base Address hex X Ox3CO hex X 0x3A0 hex X X 0x380 hex X 0x360 hex X X 0x340 hex X X 0x320 hex X X X 0x300 hex X 0 2 0 hex X X 0x2CO hex X X 0 2 0 hex X X X 0x280 hex X X 0x260 hex X X X 0x240 hex X X X 0x220 hex X X X X 0x200 hex NPM 5 2 Jumpers JP5 JP9 Interrupt Number Selector JP5 JP6 JP7 JP8 JP9 Interrupt IRQ 7 X IRQ 6 X IRQ 5 X IRQ 4 X IRQ 5 3 Jumper JP11 Limit input polarity selector Description LEFT For Normally Closed Switches RIGHT For Normally Open Switches X jumper installed LEFT Left two pins are jumped RIGHT Right two pins are jumped NPM 6 Electrical Information 6 1 Limit Limit Home and Alarm Inputs Connector 7 J1 5V 470 OHM VSS MES Se Lim olator Alarm Eon Home 6 2 Pulse Direction Enable Outputs Driver 45v NPMC5023 2104 Pulse PCL5023 Dir Enable 9 NPM 7 Introduction to NPMC Software NPMC S is user friendly graphical program for quickly testin
6. C5023 2104 NPMC5023 2104 is a PC104 BUS 2 axis stepper controller card Utilizing the most powerful stepper pulse generation chip PCL5023 NPMC5023 2104 controller board is packed with advanced features found only in high end stepper controller boards 2axis stepper pulse direction control Maximum output Frequency of 4 9M pulse per second Linear and S Curve Acceleration Deceleration Encoder input for position verification with 134M pulse range Opto isolated inputs Limits Home and Alarm Driver enable output Interrupt capability for error and move finish 5023 2104 can be plugged into any PC104 control system If the control system has Windows 3 1 95 98 operating system getting the controller up and running can be done in a few minutes using the user friendly graphical interface You can quickly check all the available functions of the controller The graphical user interface program also has a programming environment which you can use to cycle motion routines Writing an application specific program is an easy task with all the driver functions provided in C source code NPM 2 Getting Started NPMC5023 2102 requires PC104 BUS The controller is shipped with the following default jumper settings Controller Base Address 0x200 hex Interrupt Number Disabled Limit Switch Polarity Normally Open If this is the first time using the board you can quickly test the board by installing the
7. E ABS Target Pos High Speed pps Low Speed pps DATUM Acceleration msec Enable S Curve Inc Pos we Eig ni INC W Axis 2 HOME Address HEX Immed Ramp Driver Enable Output CY Axis1 Axis2 Program From this screen you can do full control of the stepper motors Most of the buttons and descriptions should be intuitive and self explanatory The Datum button means return the motor back to zero position There is also a Check Registers button that will allow low level access to the stepper control chip It is recommended that you do not access the Registers unless you are familiar with the low levels of the stepper chip Refer to the 5023 chip manual for details 12 RSTP program has a powerful built in programming environment to test motion sequences To access this environment click on the Program button Program 21 NPM 13 Following dialog box will appear Position Velocity Preset Status E HL Em D D ee mm ee Program List SET VEL 1 10000 Command List Axis Parameter Sel perve rap Insert Insert Replace Program C TEST_STP DEMO1 PRG rj cj SAVE EXIT ESTOP STOP From the programming environment you can load create edit save and run simple motion sequences 22 NPM 10 Writing your Application To write your own application use the source
8. USER S MANUAL 5023 2104 Nippon Pulse Motor Co Ltd COPYRIGHT 2000 Nippon Pulse Motor Company Ltd ALL RIGHTS RESERVED First edition August 2000 This document is copyrighted by Nippon Pulse Motor Ltd You may not reproduce or translate into any language in any form and means any part of this publication without the written permission from NPM NPM makes no representations or warranties regarding the content of this document We reserve the right to revise this document any time without notice and obligation Hardware Information Revision 1 53 Software Information Revision 2 0 NPM Table of Contents 1 Introduction to 5023 2104 Board sccsssscssssssccsscescsscscscssssssssessoees 3 2 Getting SEALE 4 3 Connector and Jumper Location e e eere ee eee eee esee esee see eese sete se eesoo 5 4 Connector Information oce cerieise kept tae bis eos ete io eh o 6 4 1 Connector J1 Stepper Control 4 e eer ee eere e eerte eese eo sese ense eese 6 5 Jumper Informatlol eccesso teen Fe Peso eiae RR ces ERRORI ROI AER 7 5 1 Jumper J4 to Bus Address Selection sseessesssocesocesoocssoessscsssocesocssoossoo 7 5 2 Jumper JP5 JP9 Interrupt Number Selection 8 5 3 Jumper JP10 JP11 Limit Input Polarity S
9. base base address of the controller card axis axis number starting from 0 as axis 1 Return Current Position value Get Current Pulse Rate long get current pulse rate int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Return Current Pulse Rate value NPM Get Limit Home Alarm Input Status int get_limits_home_state int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis Return Bit 0 Limit Bit 1 Limit Bit 4 Home Bit 6 Alarm Get Motor Status int moving state int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Return idle not moving 3 acceleration in progress 4 Moving at High Speed 5 Deceleration in Progress 6 Moving at Low Speed Get Position Counter Input either Encoder or Pulse int get pulse counter input type int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Return 0 pulse encoder NPM Get Direction Output Polarity int get_dir_logic int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Return Oor 1 Get Pulse Output Polarity int get_pulse_logic int base int axis Arg
10. code provided in the C language You can directly access the stepper control functions using C driver source code You would need to add to your application project and compile and link to your application Sample C programs using the C driver source is provided in the floppy diskette NPM 11 Stepper Access Functions 11 1 Move Command Functions Note All motion command speed and accelerations are set by the set speed accel functions Move to Absolute Position int movea int base int axis long pos long encoder per rev long pulse per rev Arguments base base address of the controller card axis axis number starting from 0 as axis 1 pos target position with range of 134M encoder per rev encoder resolution per revolution Set to 0 if encoder is not used pulse per rev stepper pulse resolution This is used with encoder If encoder is not used set it to O Linear Interpolated Move to Absolute Position int dual movea int base long posl long pos2 long encoder per 1 long encoder per rev2 long pulse per revl long pulse per rev2 Arguments base base address of the controller card posl target position of axis 1 pos2 target position of axis 2 encoder per rev axis 1 encoder resolution Set to 0 if encoder is not used encoder per rev2 axis 2 encoder resolution Set to 0 if encoder is not used pulse per revl axis 1 stepper pulse resolution This is used with
11. ed to your Windows selection Click on Create button 12 NPM 8 After creating the program group following dialog box will pop up NPMS Installation 2 0 m mm IH Welcome to 5 Installation CONTACT INFORMATION 9 Any last minute information will be included here Click Continue after reading the information 10 Final dialog box will show to indicate that the installation was successful NPHS Installation 2 0 Ea 7 The installation is complete the application has been properly set up NPM 9 Running NPMCS 1 From the Windows program manager click on the following icon 2 Following opening screen will pop up NPMC Test Software version 2 00 OF x NPM MOTION CONTROL SOLUTIGNS Model NPMC5023 215A 2 Axis ISA Steppe Base Address 3 From dialog box select the controller model and enter the base address Test Software version 2 00 OF X MOTION CONTROL SOLUTIGNS Model NPMC5023 218A 2 Axis ISA Steppe E Base NPMC5023 41SA 4 Axis ISA Stepper Address INPMC5023 2104 2 Axis PC104 Stepp 4 After selecting the model number click on the Start button Depending on which model you selected one of the following screens will pop up is NPM For NPMC 2ISA Control Selection olx Model NPMC5023 2ISA Description ISA BUS 2 Axis Stepper 48 Digital 170 d Axis 12 Digital 10 For NPMC 4ISA C
12. election 8 6 Electrical InforniatioH eise saxscensconstodonsvsesstooasesenouadieuseonsgeasdoseacedesseeooasouasenasexs 9 6 1 Limit Limit Home Alarm Inputs eee eee ee eee eo seen naeee 9 6 2 Pulse Direction Enable Outputs eee eere eee ee ee ee 9 7 Introduction to NPMC Software eese eee 10 8 Installing NPNIC S aia ee RESP NINE NE SNNT UNI ERE eso M E PIS 11 9 NEME S oie DRIN MM EIE I ME 14 10 Writing Your Application 1 eee ee ee ee eee eerte ee sete sete eo setae setae e eo aeuo 23 11 Stepper Access Functions cese creer e eerte ee ette sese eo Pee eos te 24 11 1 Move Command Functions a ssscccsssssccsseasocdsontsonsdovacenscesssessdecsesvesosenseascnnseeasons 24 11 2 Setup Command Functions ecce eere eee eee eee 28 11 3 Get Command Functions Leere eee ee eese a toten sense tassa sens 30 11 4 Driver Output Command Functions eee eee ee ee eere ee eren eene nena 33 11 5 Digital IO Command Functions ee eee ee eee eerte ee 34 1 Introduction to NPM
13. encoder If encoder 1 not used set it to O pulse per rev2 axis 2stepper pulse resolution This is used with encoder If encoder 1 not used set it to O NPM Move to Incremental Position int movei int base int axis long pos Arguments base base address of the controller card axis axis number starting from 0 as axis 1 pos relative move amount Use negative value for negative direction Linear Interpolated Move to Incremental Position int dual movei int base long posl long pos2 long encoder per revl1 long encoder per rev2 long pulse per revl long pulse per rev2 Arguments base base address of the controller card posl incremental position of axis 1 pos2 incremental position of axis 2 encoder per 1 axis 1 encoder resolution Set to 0 if encoder is not used encoder per rev2 axis 2 encoder resolution Set to 0 if encoder is not used pulse per 1 axis 1 stepper pulse resolution This is used with encoder If encoder is not used set it to O pulse per rev2 axis 2stepper pulse resolution This is used with encoder If encoder is not used set it to O NPM Home Low Speed int home fl int base int axis int dir Arguments base base address of the controller card axis axis number starting from 0 as axis 1 dir 1 for positive and 0 for negative direction Home High Speed int home fh int base int axis int dir Arguments base
14. g all the features of the following stepper controller cards NPMC 2ISA ISA BUS 2 axis 48 DIO NPMC 4ISA ISA BUS 4 axis 48 DIO NPMC 2104 PC104 BUS 2 axis stepper Program can be run in Windows 3 1 95 and 98 Once the testing is done you can quickly move on to your application using the C source code drivers NPM 8 Installing NPMC S 1 Insert the NPMC S installation disk into the floppy drive 2 Run or double click the install exe program in the floppy disk E Install exe 3 The installation will show the following dialog box This program will attempt to create the following directory on your drive and set up NPMS Version 2 0 If you want to install it in a different directory and or drive type or select the path below NPHS Version 2 0 requires 1041 Kb of free space on the drive 4 Select the default directory C WPMCS and click on Continue button 11 NPM 5 Following dialog box will pop up to indicate that the installation is progressing INPMS Installation 2 0 x E Copying test stp exe zm 29x 6 After successful copy to the directory following dialog box will pop up vas set of icons will now be added to the 93 following Program Manager group If you want to place the icons in a different group type the name of the new or existing group below Em Le If the group does not exist it will be created 7 Select the program group to be add
15. ontrol Selection olx Mode 5023 415 Description ISA BUS 4 Axis Stepper 48 Digital 1 0 Axis 12 Axis 3 4 Digital 10 V Control Configure NPM For NPMC 2104 Dialog Caption 5 NPMC5023 2104 Description PC 104 2 Axis Stepper Axis 12 Depending on the model you can control Axis 1 and 2 Axis 3 and 4 and 48 Digital IO s NPM 5 For NPMC 2ISA and NPMC AISA there are 48 Digital IO s which can be configured as inputs or outputs To configure the Digital IO s select the Digital IO radio button and click on configure button Digital IO Following screen will appear DIO Configuration x Address HEX Address HEX Set Set B In Out PotO In Out In Out Pot1 In Qut O Pot2 In Out Each port consists of 8 bit Each port can be set as input or output You will not be able to change the address of the digital IO s since the base address selection was done on the first screen The two addresses are shown for your application development There are two sets of digital IO s Set A and Set B Each set contains 3 ports Each port has 8 bits of digital IO s Click on the either the in or out configuration or each port When you are done click on OK and you will return to the previous dialog box 6 To control the Digital IO s select the digital IO and click on the control button
16. ration and S Curve int set_speed_accel_time int base int axis unsigned long high_speed unsigned long low_speed unsigned long accel int enable scurve Arguments base base address of the controller card axis axis number starting from 0 as axis 1 high_speed high speed Range from 1 to 4M low_speed low speed Range to 4M accel acceleration time in milliseconds enable_scurve 1 for enable S curve and 0 for disable Set current position int setup_updown_counter int base int axis long value Arguments base base address of the controller card axis axis number starting from 0 as axis 1 value position value 134M Set Position Counter Input from Encoder or Pulse int setup pulse counter input type int base int axis int type Arguments base base address of the controller card axis axis number starting from 0 as axis 1 type 0 for pulse input 1 for encoder input Set Encoder Multiplication Factor int setup encoder mult int base int axis int type Arguments base base address of the controller card axis axis number starting from 0 as axis 1 type 0 for 1X 1 for 2X 2 for 4X encoder NPM Set Direction Output Signal Polarity int setup_dir_logic int base int axis int type Arguments base base address of the controller card axis axis number starting from 0 as axis 1 type 1 Set Pulse Output Signal Polarity int setup_pul
17. se_logic int base int axis int type Arguments base base address of the controller card axis axis number starting from 0 as axis 1 type or 1 Set Home Input Signal Polarity int setup_home_sensor_logic int base int axis int type Arguments base base address of the controller card axis axis number starting from 0 as axis 1 type 0 for normally open 1 for normally closed Set Alarm Input Signal Polarity int setup alarm sensor logic int base int axis int type Arguments base base address of the controller card axis axis number starting from 0 as axis 1 type 0 for normally open 1 for normally closed 29 NPM 11 3 Get Command Functions Check Communication with the Controller Card int check com int base Arguments base base address of the controller card Return 0 communication OK no communication Get Low Speed High Speed Acceleration S Curve int get speed accel time int base int axis unsigned long high speed unsigned long low speed unsigned long accel int enable scurve Arguments base base address of the controller card axis axis number starting from 0 as axis 1 high speed high set speed low speed low set speed accel acceleration time in milliseconds enable scurve for S curve 0 for no Trapezoidal Get Current Position Counter long get current updown counter int base int axis Arguments
18. uments base base address of the controller card axis axis number starting from 0 as axis 1 Return Oor 1 Get Alarm Input Polarity int get_alarm_sensor_logic int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Return Oor 1 Get Home Input Polarity int get_home_sensor_logic int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Return Oor 1 NPM 11 4 Driver Output Command Functions Get Driver Enable Output State int get_driver_enable_state int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Return 0 or 1 Set Driver Enable High int driver_enable_high int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 Set Driver Enable Low int driver_enable_low int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis Enable the output Driver Enable int enable_driver int base int axis Arguments base base address of the controller card axis axis number starting from 0 as axis 1 s NPM 34 11 5 Digital IO Command Functions Configure Digital IO as Inputs or Outputs int config_dio int base int value Arguments base
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