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Intelligent Position Servo User Manual

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1. citu tb te qe hive tend idv quee ede 44 Defining Calibration Parameters isse re eot od eo tan qe e Page unde ds 45 Define Control Cali os oco eure ceed eas ceo PNE LA COMMI 45 Detme Deadbd tnd oe torto D eee tud aste s A bats d 45 Define Derivative til ded etas testa eiua ad ecce 46 Define Pulse Gal sese es i oM he eO eiut ect 47 Define Zero Pulse Deusthia nnde ae utn 47 ji Ni MN TP 48 IPSManualV3 0 doc Page 3 of 48 01 19 2012 Draft GAA Custom Electronics Introduction Thank you for your interest in the Intelligent Position Servo Amplifier IPS AMP We hope you ll find that it simplifies your positioning needs through its versatile command set easy to use interface and its standard form factor The IPS AMP can be used in virtually any RC servo system that uses a permanent magnet motor approximately 5 volt and a potentiometer approximately 5K ohms to provide output shaft position feedback To build an IPS servo you will need to remove the old control electronics and replace them with the IPS AMP Throughout the manual IPS AMP refers to the servo electronics and IPS refers to a servo that is using the IPS AMP Depending upon your application the IPS AMP can be used with its default settings However due to the large
2. 12 13 19 22 25 32 33 34 42 13 22 34 Cc 15 16 17 18 22 39 Vos AR ANN dS a M n E as EE Rd a en Md 15 22 26 27 28 32 39 12 15 16 17 18 19 22 40 r M 15 22 41 e tae 13 19 22 32 34 43 44 19 22 26 32 34 43 44 a 22 33 34 16 19 22 33 34 43 44 19 22 42 saan las Sacer aderat ehe 19 22 34 42 19 22 43 44 oct uias cod 19 22 43 44 r E 19 22 43 44 IPSManualV3 0 doc 01 19 2012
3. 34 Halt ING Peto Que Sad a LM M PUE Ses EE E M M tC 34 Defining barlsdfeoParamielets Seo eint e RU ese tata a ei Ue put 35 Define Failsafe CULTO eto e piston d a foetus telle ken du eu loa pa dedi un dus 35 Define den eR ei aa cota ab te ak Bee 35 Define Failsafe se coti ati beue bare tu it 36 Non Volatile Memory Commands o istaec Pa redd c tee bete 37 Load Parameters from EEPROM RNC Pedes ta e ipie ded 37 Restore Factory Defaults to BBPRONMML aite eI at etre pb vp pta re A pe 3T Sav Parameters to EEPROM 2 sun o etat R cte esr cM I a cate 38 Reports Conmmiatids ure ice d 39 Report CUEEBD uu s s ed sace er 39 Report jii RP 39 tetuer e s ei pte itt e EE 40 R pott Solware 10 su on ed e oet 41 Table Commands eee recolo a qoin ca ie saben erui 42 Fable IMIG CE Da nhu bd t ad as indui adnan sia talit pui 42 Table Ready for QUO ote ctu elu ita aus Sor at ito 42 Sant s odes eases nav b pete aves cans eu nt v E 43 Fable 43 Table Step
4. address cannot be used as an argument for any command that returns data This would cause a conflict on the multi drop bus Therefore no data will be returned by the IPS AMP on commands with as the address IPSManualV3 0 doc Page 23 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Optional Format IDDR YES lt CR gt Sets IPS AMP to send responses over the serial link when appropriate Description The Data Response parameter can be set to NO if for instance the application has multiple IPS AMPs on the same serial line with the same address This would be an unusual configuration but it is allowed IPSManualV3 0 doc Page 24 of 48 01 19 2012 Draft GAA Custom Electronics Defining Application Parameters Mnemonic Name Valid Range of Parameter Default Range is not checked Value Define Device Direction CWP CWN CWP Optional Format 1DDD lt CR gt Returns the current Device Direction IDDD CWP lt CR gt Defines the IPS AMP s clockwise movements as positive Description Defines the sign value of the IPS AMP s clockwise rotation The CWP argument defines clockwise movements as positive the CWN argument defines clockwise movements as negative This command takes effect immediately It does NOT wait for the next GO command It is best to only change the value of this parameter when the IPS AMP is stopped and at the 0 position IPSManualV3 0 doc Page 25 of 48 01 1
5. Operating Modes 1 and 3 IPSManualV3 0 doc Page 47 of 48 01 19 2012 GAA Custom Electronics 17 22 23 rele cca tye ridus 21 22 45 46 ti atris MID 16 22 23 ERU 21 22 45 M O 11 22 25 m 21 22 46 Vou e Gub e e 17 22 24 17 22 35 36 aa a 17 22 35 36 E E TE E AS M 17 22 35 36 11 12 16 18 21 22 26 27 32 33 11 12 16 18 21 22 26 28 32 33 11 16 18 22 26 27 28 29 30 33 e 20 22 31 E E E EEE E gs dee a 20 21 22 47 O EN E E EEE E EET 20 21 22 47 roma nlite Neha a D 18 22 29 30 D e 18 22 29 30 re 11 15 18 22 26 27 28 32 E C 13 14 22 37 uti E EE E dat cate 13 14 17 21 22 37 PE E E E 10 11 13 14 17 22 37 38 Mom beo eei uos M aa
6. USE THIS COMMAND WITH CAUTION NEVER IN A LIVE SYSTEM IPSManualV3 0 doc Page 37 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value None Description This command will save all IPS AMP adjustable parameters in nonvolatile EEPROM memory When the IPS AMP s power is applied this memory is used to define all operating values After you have made changes to any parameters you will need to use this command to save your changes or they will be lost when power is removed from the IPS AMP This operation will take several seconds to complete The servo power should be turned off using the DPW command before you issue this command USE THIS COMMAND WITH CAUTION NEVER IN A LIVE SYSTEM IPSManualV3 0 doc Page 38 of 48 01 19 2012 Draft GAA Custom Electronics Reporting Commands Valid Range of Parameter Default Range is not checked Value None 1RPS lt CR gt Reports the IPS AMP motor current Description This command reports the product of the peak motor current times the duty cycle of the applied voltage waveform This is effectively the average motor current It is reported in percentage of stall current maximum value The Data Response parameter must be set to YES and a valid servo address character must be used to obtain output Range is not checked Value None IRPS lt CR gt Reports the current IPS AMP position This command reports the current IPS AMP posit
7. Draft GAA Custom Electronics IPS AMP Intelligent Position Servo User Manual GAA Custom Electronics POB 335 1104 Christopher Lane Benton City WA 99320 509 588 5410 www l servo com IPSManualV3 0 doc Page 1 of 48 01 19 2012 Draft GAA Custom Electronics Table Of Contents re Nese ne tac MM c ear Md 4 Deyice CSOT ATTN e oa amd EM 5 Getting Started RD EE 6 6 Electrica POWEE S elec 6 Connectmg to th lPSAMP ele oben d ee cs cs ah ean ad 6 Selecting the Serial or R C pulse Interface aide ere i ro ccr pi ae eO I HR 6 Serial Communication Protocol a d et rosis equ olv disce cona fen eh E eti 7 Senal Interface 7 E DOLUEG ae ede ute es 7 RESPONSE SUUCTUNG Gu PEE xe dA 7 Connecting Multiple Devices icem amp Serial Connection cert dames feast veas esca 8 Using th PC Interface SO tw ane aos oc pep a E beca ola uides 8 Programming the Basic Device Parameters eee tte ere
8. The E flag is also set if the user commands the IPS to move to a position beyond either of the limits set using the DLC and DLK commands The IPS will move to the limit position but no farther and the E flag will be set The final reporting command is the Report Status command RST The RST command returns a six character text string Each character position in the string represents a status condition If the condition is false the character will be a If the status condition is true a character specific to that condition will hold that position in the string If all error conditions could be simultaneously true the output would be FOETMW If none of them are true the output will be n actuality the M and W flags cannot be set at the same time but this shows the order of the string These are the Flags and their meanings F if a Failsafe Timeout has occurred since the last Status see the Failsafe commands O if the Motor Trip Current has been exceeded since the last Status see the DMC command E if the position error has exceeded the Deadband value since the last Report Status see the RCU command The E flag indicates that the IPS AMP was unable to keep pace with the programmed Operation Parameters at least once T if the IPS AMP is currently executing a table see Using Tables M if the IPS AMP is moving to a defined position W if the IPS AMP is waiting for a delay time to expire F and are
9. This parameter helps tune the IPS AMP for best performance Notes This is a command suitable for advanced users only Improper setting of this parameter will result in poor or erratic performance IPSManualV3 0 doc Page 46 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Optional Format 1DPG lt CR gt Returns current Position Gain 1DPG X lt CR gt Defines IPS AMP Position Gain Description The Define Zero Pulse Length DPZ and the Define Pulse Gain DPG commands are used to convert the input position pulse into an IPS AMP position value Changing the position gain DPG will define the range of motion for the IPS AMP for given pulse widths based upon the Zero Pulse Length value This command is only used in pulse modes Operating Modes 1 and 3 Range is not checked Value Optional Format 1DPZ lt CR gt Returns current zero pulse length IDPZ X lt CR gt Defines IPS AMP zero pulse length Description The Define Zero Pulse Length DPZ and the Define Pulse Gain DPG commands are used to convert the input position pulse into a IPS AMP position value This is done by first measuring the input pulse width This is done in units of 1 uSec so a pulse width of 1 5 mSec will result in a value of 1500 The default value for DPZ is 1500 Changing this value will change the center position of the IPS AMP in pulse mode Operating Mode 1 This command is only used in pulse modes
10. A 1 5ms pulse will place it in the center The exact pulse length required to move to the center position is programmable along with a gain value to define the movement executed for the range of the input pulses The Define Pulse Gain DPG and Define Zero Pulse Length DPZ commands accomplish this However these are advanced commands and should be used cautiously In Mode 3 the IPS AMP will select one of two sequence tables to execute If the pulse on the input line is 1015 in length Table 1 will execute once If the input pulse is 2ms in length Table 2 will execute once Mode 4 causes Table 1 to begin executing shortly after power up and to continue executing as long as power is applied the capabilities of Mode 2 serial mode are available in Mode 4 IPSManualV3 0 doc Page 20 of 48 01 19 2012 Draft GAA Custom Electronics Changing the Device Calibration NOTE The following commands are intended only for advanced users because they have the ability to render the device partially or completely non functional If these parameters are changed be prepared to either set them to their factory default values individually or to use the ERD command to restore all parameters Also exercise caution when using the ERD command due to the possibility of unforeseen side effects Tuning the R C Pulse Parameters There are two commands that change the operation of the IPS when using the R C pulse interface for Mode 1 They are t
11. IPS AMP The IPS AMP can be installed in most RC servos its small size allows it to fit in most standard size servo cases To build an IPS servo follow these steps 1 Select the servo you would like to upgrade by replacing the internal electronics with the IPS AMP The servo must use a permanent magnet DC motor and a potentiometer for position feedback this is true of most servos 2 Open the servo case and remove the old control electronics Remove the connections at the circuit board and keep the interconnection wires because these can likely be used when installing the IPS AMP 3 The IPS AMP has 8 connections that need to be made please refer to the IPS hardware documentation for details a Install two wires to the motor b Install three wires to the position feedback potentiometer c Install three wires to the control cable 4 Now you are ready to test your new IPS servo you can do this using the PC application or your RC system When you test a new installation its possible that the servo direction relative to the position feedback pot it reversed and the servo will run to a limit and stall Do not leave the servo in this condition because it will draw a lot of current and possibly damage the motor If this happens remove power and reverse the two leads to the motor The IPS AMP is not reverse polarity protected and will be destroyed if reverse polarity power is applied Please check your work carefully before applying power
12. IPS AMP will not move if the Define Failsafe Current Parameter is set to 0 see DFC command IPSManualV3 0 doc Page 36 of 48 01 19 2012 Draft GAA Custom Electronics Non Volatile Memory Commands Valid Range of Parameter Default Range is not checked Value None Description The IPS AMP operates on parameters that are stored in Random Access Memory RAM Values in RAM are not maintained when power is removed it is volatile This command retrieves all IPS AMP adjustable parameters from nonvolatile EEPROM memory and moves them to RAM If you have made changes to any parameters and you do not like the current operation you may use this command to retrieve your most recently saved parameters and restore the device to its last saved operating state Be sure to save your final changes using the ESV command or they will be lost when power is removed from the IPS AMP USE THIS COMMAND WITH CAUTION NEVER IN A LIVE SYSTEM Range is not checked Value None Description This command will restore all IPS AMP adjustable parameters back to the factory default values Any changes made since the device was purchased even if they were previously saved to EEPROM are lost This also applies to all serial communications parameters including the IPS AMP s address character so all devices on the same serial line will now respond identically The baud rate will also be restored to the factory default value of 9600 baud
13. The input parameters are not range tested entering values out of range will result in unpredictable behavior Each command is preceded by the device s address character The default address character is 1 Commands that are sent with an address character of will be processed by all devices on that serial line They will only respond when they receive a command with their specific address They will not answer commands that are received with the address character This is to prevent multiple servos from trying to talk at the same time Command Structure Each command is three characters long and most commands require an argument For many commands sending them without a parameter returns the current value of the parameter A full list of available commands appears later in the manual All commands and address characters are case sensitive All commands must be terminated with a carriage return CR line feed lt LF gt characters are ignored on input All commands that expect a parameter must be delimited with a single space character Parameters are not range tested so entering an out of range value can cause unpredictable results By the way do not send the characters lt CR gt They are only there to indicate a Carriage Return Below is an example of a valid command to read the IPS AMP position 1RPS lt CR gt Here 15 an example of a valid command to set the IPS AMP position parameter to 60 5 degrees
14. The IPS continually monitors the motor drive current for both control and status reasons The value of the current is available using the RCU command Additionally it is possible to set some behaviors if the motor drive current exceeds certain user defined parameters The motor current commands are Define Motor Current DMC Define Trip Current DTC and Define Reduced Current DRC The DMC command is used to set the maximum current value that the IPS will use to execute the movements requested by the user This number is in percent of motor stall current so the range is 0 to 100 See the RCU command Higher numbers yield the possibility of greater performance Lower numbers will yield system compliance but if the number is too low the system may be unable to satisfy the user specified dynamics Again if this occurs the E flag will be set and latched in the Status text string Unless there are reasons to do otherwise leaving this value at the factory default of 100 is suggested for normal operation NOTE Defining the motor current to 0 is the way to temporarily allow the IPS to be adjusted manually for setting the various mechanical limits set by the DLC DLK and DZR commands Under certain conditions it may be desirable to specify a maximum motor current such that exceeding this value would be detected reported and change the behavior of the IPS Defining a Trip Current will accomplish this The Trip Current is also specified in percent
15. first line is the number of entries Each subsequent line contains three 3 digit numbers the last of which has a sign indicator The first field of the line is the Delay for that entry from the SDL command The second field is the Speed from the SSP command The last field is the Position from the SPS command 2 00 0 00 0 090 6 01 005 0 025 0 The Data Response parameter must be set to YES to obtain output Plus signs are not printed for the position or velocity values If the value is positive there will be an extra space character before the value instead of the plus sign Range is not checked Value Required ITRS X lt CR gt Resets the specified sequence table Description This command will reset the specified sequence table It will clear all entries and set the step pointer to the first step in the table Use this command to begin setting up a new sequence table See the TSE command for a full description of defining a sequence table IPSManualV3 0 doc Page 43 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Required Description This command will set the next entry in the sequence table defined by the command argument Each table entry contains a IPS AMP position defined by SPS command a slew rate defined by the SSL command and a delay defined by the SDL command To define a sequence use the following steps 1 Reset the desired table TRS command Set the desired
16. latched flags In other words they are set in the software and remain set until cleared by the user To clear them send a Report Status command They are cleared after the response is sent Defining Serial Communication Parameters Thus far the only serial communication parameter discussed has been the Define Device Address command DDA In addition it is also possible to change the baud rate of the communication interface There are six baud rates available and each of them has been assigned a parameter number They are 2400 which corresponds to 1 4800 which is 2 9600 15 3 19200 is 4 57600 15 5 and 100k baud is 6 Note that 100k baud 15 not a standard rate This 15 the fastest the IPS AMP hardware allowed using the internal CPU clock This baud rate should be obtainable by most standard microcontrollers NOTE The default baud rate of the IPS AMP is 9600 baud If the user changes the baud rate the command takes effect immediately These considerations must be observed IPSManualV3 0 doc Page 16 of 48 01 19 2012 Draft GAA Custom Electronics First the user must immediately change baud rate on the computer that is sending commands to the IPS AMP to continue communicating with the device Second if this is the desired future communication rate the ESV command must be sent to save the new baud rate in non volatile memory so that it is available whenever the IPS AMP is powered up Third if the ERD command is issue
17. of stall current 0 to 100 Exceeding the Trip Current causes two actions First the O flag is set in the Status text string and it will remain latched until the string is read via the RST command The other effect is that the value defined by the Define Reduced Current command DRC will be moved into the Define Motor Current parameter Normally this value would be lower than the normal motor current assuming that the Trip Current is not to be exceeded However if the user desired the trip condition could actually be used to set a higher current such as to detect and overcome a circumstance that required more mechanical power NOTE The Reduced Current value will remain in effect until the user sets it back to its normal value using the DMC command IPSManualV3 0 doc Page 18 of 48 01 19 2012 Draft GAA Custom Electronics Using Tables There are often reasons to execute a particular series of known moves multiple times It would be advantageous to accomplish this with one simple command rather than to deal with the overhead of continuing to input and execute the sequence manually The IPS AMP provides this capability through its Tables A Table is simply a pre programmed sequence of movements that can be entered once and then executed with two commands There are 10 tables in the IPS AMP Each has room for 6 entries One entry consists of a delay SDL command a speed SSP command and a position SPS command Tables may be
18. of the art microprocessor controlled circuitry greatly expanding the capabilities of the device Here is a list of features it shares with standard servos e Standard 1 2 millisecond pulse input Compatible with all modern RC receivers Hitec JR 3 wire connector V Ground and Signal 4 8V to 6 0V Operating Voltage Here is a list of enhanced features e Bi directional serial interface at several selectable baud rates Multiple devices can share the same serial communication line Holds position even if input signal terminates unless programmed otherwise e User programmable Failsafe feature will assume defined position and power if input ceases Actual position and motor current load sensing and reporting Programmable over current protection Physical rotation limits can be tailored to each application e Save and retrieve operating parameters from non volatile memory e Can execute any of several user programmed tables of sequenced moves with a single command e Access to all internal control loop parameters As mentioned above depending upon your application your IPS AMP may be usable just as it comes from the factory You will have to determine its applicability for you If you are replacing a standard R C servo it should be ready to go However we hope you selected the IPS AMP to take advantage of its advanced feature set Even if you want to use the standard R C pulse interface you may want to tune s
19. ose poe teh en bg a 23 Define M eot atem BA Eq ERE MA ua 23 Define Data Response uos edes o ege petits bini ud nie ed Rt 24 Defining Application Parameters rte Wieder ATI GER KT 25 Defne Deyice Direction Lees cse heu Morse ya tre Ride he os o dise e nest 25 Define Zero eb embed Nen HI ME 26 Define Limit Position Clockwise ari Oo tem thas ec eur agora doen 21 Define Limit Position Counter Clockwise 28 D fine Motor Current ce enn a as hl M PUT d la ce 29 Define Reduced Motor Current tee eroe em ttp tr se ta tte e y ides 29 Define Tip Current edes dui dx Da ue rts Mr da ai casa Fu repo dt ici t av EU 30 Deine Operating MOGde d anos ticae te eis rete inte inei uote 31 IPSManualV3 0 doc Page 2 of 48 01 19 2012 Draft GAA Custom Electronics Setting Operation Parameters Cattle otha es ou ne 32 dieto ed due 32 Set POSION edi A hte Eh in vaso EPA de 32 Set Relative POSH NOT decetero ate ae ie ind td ai ee di a ut 33 Set Speed Sese ToS eb HE MM D SE 33 Movernient Commands doen ence Er deben pata oi doa ipee venu di Grape Re 34 GO NOW PT RN
20. the applied motor voltage and the instantaneous motor current is the average current drawn by the motor The IPS AMP draws maximum current when the motor is stalled and the duty cycle of the applied voltage is 100 This Parameter can be changed automatically if the Trip Current is exceeded See the DRC and DTC commands Range is not checked Value Optional Format IDRC CR Returns the current value of Reduced Motor Current Parameter IDRC 35 lt CR gt Defines the IPS AMP s Reduced Motor Current Parameter at 35 of the stall current maximum draw Description If the physical load placed on the IPS AMP exceeds that which can be applied without exceeding the Trip Current see the DTC command the value of this parameter will be moved to the Define Motor Current Parameter see DMC command This will allow the IPS AMP to operate in a diminished power mode until the excessive load is removed and the Define Motor Current Parameter is restored to its correct value If this Parameter is set to 0 the IPS AMP will stop if the Motor Trip Current is exceeded IPSManualV3 0 doc Page 29 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Optional Format 1DTC lt CR gt Returns the current value of Motor Trip Current Parameter IDTC 95 lt CR gt Defines the IPS AMP s Motor Trip Current Parameter at 95 of the stall current maximum draw Description The Motor Trip Current is used in the I
21. to 100 Define Reduced Motor Current Application Optional 0 to 100 Define Motor Trip Current Application Optional 0 to 100 Define Operating Mode Set Delay Application Operation Optional Optional 1 2 3 4 0 0 to 99 9 Set Position Operation Optional 199 9 to 199 9 Set Relative Position Operation Optional 199 9 to 199 9 Set Speed Go Now Operation Movement Optional 0 1 to 500 9 and 0 Halt Now Define Failsafe Current Movement Failsafe Optional 0 to 100 Define Failsafe Position Failsafe Optional 199 9 to 199 9 Define Failsafe Time Out Load Parameters from EEPROM Failsafe EEPROM Optional 0 1 to 99 9 and 0 Restore Factory Defaults to EEPROM EEPROM Save Parameters to EEPROM Report Current EEPROM 0 to 100 Report Position 199 9 to 199 9 Report Status For Oor Eor Tor Mor Wor Report Version Table Mode Optional Current Software Version 1 to 250 and 0 Table Ready for GO Required 1 to 10 and 0 Table Report Entries Required 1 to 10 Table Reset Required 1 to 10 Table Step Enter Define Control Loop Gain Calibration Required Optional 1 to 10 999 to 999 Define Dead Band Calibration Optional 0 to 100 Define Derivative Gain Calibration Optional 999 to 999 Define Pulse Gain Calibration Opt
22. to keep pace with the programmed Operation Parameters at least once Either the load momentarily exceeded its normal range or the IPS AMP has been asked to perform beyond its physical capabilities It may be necessary to scale back one or more IPS AMP Parameters The Data Response parameter must be set to YES and a valid servo address character must be used to obtain output IPSManualV3 0 doc Page 40 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value None Below 1RVR lt CR gt Returns the current version of IPS AMP software Description This command is used to ensure that the operating software is at the most up to date version or at least at a known version The typical format 15 GAACE IPS AMP V 2 0a The Data Response parameter must be set to YES and a valid servo address character must be used to obtain output Your IPS AMP may be returned to the factory for software upgrades Contact the factory for details Range is not checked Value None Description This command is used to measure the voltage being applied to the IPS AMP The controlling computer can use it to determine if the batteries are in need of recharging The voltage may be read either under load or with no load to determine the true state of the batteries The Data Response parameter must be set to YES and a valid servo address character must be used to obtain output Valid voltages are between 4 0 Volts an
23. 9 2012 Draft GAA Custom Electronics Range is not checked Value Special Format Description 1DZR lt CR gt Defines the current physical position of the IPS AMP as the Zero Position IDZR lt gt Defines the IPS AMP Zero Position in degrees This command defines the reference physical position the IPS AMP for all future position commands Always define the Zero Position before defining either of the other physical limits of the device using the DLC and DLK commands The zero position for the IPS AMP can be set using two methods It can be physically set by turning the IPS AMP motor current to 0 DMC command then physically turning the IPS AMP to the position that will be referred to as the zero reference and then entering the DZR command with no argument The second method is to set the desired physical zero position of the IPS AMP in the system and then obtain the position value using the RPS command Report Position and then entering that number as the argument of the DZR command Once the new Zero Position has been entered all future references to position including Report Position commands RPS and Set Position commands SPS will return values based on this new zero This value should be set once and left alone It provides the basis for the Limit commands DLC and DLK and all movement IPSManualV3 0 doc Page 26 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked V
24. C and DLK commands If a relative position is set which is past either of the limits of motion the IPS AMP will move only to that limit Mnemonic Name Valid Range of Parameter Default Range is not checked Value Format Description Set Speed 0 1 to 500 0 or 0 ptional 1SSL lt CR gt Returns current Slew Rate 1551 XXX X lt CR gt Defines IPS AMP Slew Rate in degrees per second This command defines the speed the IPS AMP will use to move from its current position to the next position This value defines the maximum position step that will be executed every second For example if this value is set to 1 0 then the IPS AMP will move 1 0 degree every second If the next Set Position command is defined to be 90 degrees from where it is now this will result in 90 degrees of motion in 90 seconds at the next GO command If this value is set to 0 the IPS AMP will move at its maximum rate This speed will be a function of the IPS AMP s motor current DMC command the applied voltage and the load IPSManualV3 0 doc Page 33 of 48 01 19 2012 Draft GAA Custom Electronics Movement Commands Range is not checked Value None 1GO lt CR gt Commands the IPS AMP to go using the current set parameters Description This command will cause the IPS AMP to move to the position set by the Set Position SPS command or the Set Relative Position command SRP at the current set speed SSP after the current set delay SD
25. CR gt Sets the IPS AMP Set Position to 47 5 degrees This command defines the position you would like the IPS AMP to move to at the next GO command The IPS AMP will not move when this command is entered it will only set a variable Issuing the GO command will cause the IPS AMP to move The position value is based on the Define Zero Position command and the feedback potentiometer in the IPS AMP The full range of motion of the IPS AMP is approximately 180 degrees If the Zero Position is set near the middle of the range of motion the IPS AMP can move from approximately 90 0 to 90 0 degrees If Zero is set at the positive limit of the IPS AMP it will move from approximately 180 0 to 0 0 degrees And if Zero is set near the negative limit it will move from 0 0 to 180 0 degrees To determine the maximum range of motion of your IPS AMP is capable of take exact measurements of position using the RPS command See the following commands for more explanation DLC DLK and DZR IPSManualV3 0 doc Page 32 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Required Description ISRP XX X lt CR gt Sets a new position relative to the last set position This command defines a relative position move The last set position is adjusted by adding this value to the current set position The IPS AMP will not move until a GO command is issued The IPS AMP has a limited range of motion defined by the DL
26. Current DFC The DFT command sets the acceptable length of time in seconds that the interface signal pin will sit idle before entering Failsafe Mode The range is from 0 1 to 99 9 seconds To completely disable entry into Failsafe Mode define the timeout parameter to 0 This tells the firmware to never enter failsafe mode If there is a preferred position for the IPS to assume if the data stream ceases the DFP command is used to define that position This could be anywhere in its defined range of motion The DFC command is used to change the motor drive current if the device enters Failsafe Mode Again this number is in percent of full current see the RCU command If the usual current is lower than 100 it could be set to the maximum to lock the device in a new position If it s desirable for the IPS to effectively float its position if the data stream stops set DFC to 0 This will turn off the motor if the Failsafe Timeout is exceeded and the device will back driven to an equilibrium position by the mechanical system to which it is connected This could be the internal mechanical stop of the device NOTE If the desired action when the data stream ceases is to maintain the current position disable Failsafe Mode by entering 0 as the Failsafe Timeout parameter In this case nothing changes This is the factory default IPSManualV3 0 doc Page 17 of 48 01 19 2012 Draft GAA Custom Electronics Defining the Motor Current Parameters
27. IPS AMP position SPS command Set the speed SSP command Set the delay SDL command Enter values into the sequence table TSE command Repeat steps 2 through 5 up to six times total You may review the contents of any table by using the Table Report TRP command IPSManualV3 0 doc Page 44 of 48 01 19 2012 Draft GAA Custom Electronics Defining Calibration Parameters Format Description Name Valid Range of Parameter Default Range is not checked Value Define Control Loop Gain 999 to 999 100 Optional 1DCG lt CR gt Returns current gain 1DCG X lt CR gt Defines Control Loop Proportional Gain This command sets the control loop proportional gain This has a great effect on the performance of the IPS AMP If you set this value too low the IPS AMP will move slowly and will maintain a large position error If the gain is too high the IPS AMP may oscillate around its final position The default value of 100 is pretty conservative and will yield acceptable performance in most applications This is acommand suitable for advanced users only Improper setting of this parameter can result in poor or erratic performance Mnemonic Name Valid Range of Parameter Default Range is not checked Value Format Description Define Deadband 0 to 100 3 Optional 1DB lt CR gt Returns current Deadband 1DB X lt CR gt Defines IPS AMP Deadband This command sets the IPS AMP control loop deadband It is in Posi
28. ISPS 60 5 lt CR gt Response Structure If responses are enabled on an IPS AMP any command received that starts with its address character will result in a response The two characters of lt CR gt lt LF gt will indicate the command was processed and understood A lt CR gt lt LF gt indicates the command was not recognized If the command requires a response it will be sent before the lt CR gt lt LF gt Here is an example response to a Report Position command when the current position is 32 2 degrees 32 2 lt CR gt lt LF gt IPSManualV3 0 doc Page 7 of 48 01 19 2012 Draft GAA Custom Electronics Connecting Multiple Devices Together The IPS AMP was specifically designed to minimize the required computer I O Several IPS AMPs can be connected to the same I O pin of your computer The number of devices is limited only by the capabilities of your controller Each IPS AMP input drives three high impedance inputs of the microcontroller used in servo amp This represents a maximum DC load current of 10 micro amps and an input capacitance of less than 30 pF Also the controller must be able to tri state the output line when it is not transmitting data to one of the devices Otherwise there will be a conflict between it and any device that is responding to a command Because the controller s output line is physically closer to the input line its signal will almost certainly dominate over the IPS AMP and nothing will be receiv
29. L has elapsed Or if a table ready command is pending TRD the IPS AMP will begin the execution of the set sequence table This command is useful in synchronizing the motions of several IPS AMPs Each IPS AMP s parameters can be defined using the unique address of each Then the GO command can be issued with address to cause all IPS AMPs to start moving at the same time Range is not checked Value None 1HT lt CR gt Halts the IPS AMP immediately Description This command stops the IPS AMP at its current position The IPS AMP will continue to power the motor and hold its current position This will also halt the execution of any table function HT will also cancel a pending Table Ready for GO TRD command IPSManualV3 0 doc Page 34 of 48 01 19 2012 Draft GAA Custom Electronics Defining Failsafe Parameters Range is not checked Value Optional Format 1DPW lt CR gt Returns the current IPS AMP Failsafe Current Parameter 1DPW 10 lt CR gt Defines the IPS AMP Current under Failsafe condition to 10 of the stall current maximum value Description If input pulse information or serial data is not present on the data pin of the IPS AMP for a time specified by the Define Failsafe Timeout DFT command the IPS AMP motor current will be set to this value If this Parameter is set to 0 the IPS AMP will stop if the Failsafe Timeout occurs regardless of the value of the Failsafe Position Pa
30. PS AMP like a circuit breaker is used in an electrical panel If this value is exceeded it s the combination of the instantaneous current and the duty cycle of the applied voltage the value of the Reduced Motor Current Parameter see the DRC command will be moved to the Motor Current Parameter see the DMC command The factory default for this parameter is 100 In other words if the parameter is never modified the trip condition will never occur IPSManualV3 0 doc Page 30 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Optional Description 1DOM lt CR gt Returns current Operating Mode 1DOM X lt CR gt Defines IPS AMP Operating Mode This command defines the IPS AMP s operating mode There are four valid modes as defined below 1 Pulse mode This is the default operating mode In this mode the IPS AMP expects a input pulse width to define the IPS AMP position The pulse width range is 1 0 mSec to 2 0 mSec with 1 5 mSec defining center position Serial mode In this mode the IPS AMP expects to receive commands through the serial interface Input pulse information is ignored in this mode Pulse sequence table select The IPS AMP contains ten sequence tables that can contain sequences of up to six positions In this mode the input pulse defines a sequence table to play If the pulse width is 1 mSec table 1 will be played If the pulse width is 2 mSec table 2 will be played Auto table
31. Selecting the Serial or R C pulse Interface The IPS AMP is capable of interfacing with an R C receiver or computer that is using the 1 2 millisecond R C pulse interface or a computer using a 0 5V serial interface The IPS AMP senses the voltage on the signal wire 2 seconds after power up If the signal line is at OV it will operate in the R C pulse mode If the signal line is at 4V or more it will operate using the serial interface If the signal line is not stable at the two second mark or the signal line is noisy the IPS AMP may not choose the correct interface for your intended application IPSManualV3 0 doc Page 6 of 48 01 19 2012 Draft GAA Custom Electronics Serial Communication Protocol The serial communication interface uses the same signal line for both transmit and receive half duplex Thus only one device can transmit at a time The IPS AMP does not send responses unless requested and responses must be enabled internally Every command starts with a servo address character that is user defined default is 1 allowing several servos to be connected to one control device in a multi drop configuration The interface is a logic level low true interface fixed at 8 bits no parity and 1 stop bit 8N1 The default factory baud rate is 9600 though the user can set it for other baud rates up to 100kBaud Serial Interface Overview The IPS AMP serial interface is very simple and has been designed to be controlled by a computer
32. alue Special Format Description 1DLC lt CR gt Sets the Clockwise Limit Position to the current physical position of the IPS AMP IDLC XX X lt CR gt Defines the Clockwise Limit Position in degrees This command defines the maximum physical position the IPS AMP will attempt to achieve in the clockwise direction If a command or position pulse is given that exceeds this range the IPS AMP will stop at this limit value This prevents the IPS AMP from stalling against its physical limit or a physical limit in the application mechanism which might damage the unit Always define the Zero Position first by using the DZR command This limit can be physically set by Turning the IPS AMP motor current to 0 DMC command then turning the IPS AMP clockwise to the limit you desire At that point do one of two things Either enter the DLC command with no argument or obtain the current position by using the RPS command Report Position and then enter that number as the argument of the DLC command IPSManualV3 0 doc Page 27 of 48 01 19 2012 Draft GAA Custom Electronics Mnemonic Name Valid Range of Parameter Default Range is not checked Value Define Limit Position Counter Clockwise 199 9 to 199 9 Special Format Description 1DLK lt CR gt Sets the Counter Clockwise Limit Position to the current physical position of the IPS AMP IDLK XX X lt CR gt Defines the Counter Clockwise Limit Position in degrees T
33. d 5 25 Volts Voltages under 4 0 Volts will reset the IPS AMP CPU Voltages above 5 25 Volts may damage your IPS AMP and void your warranty IPSManualV3 0 doc Page 41 of 48 01 19 2012 Draft GAA Custom Electronics Table Commands Range is not checked Value Optional Format ITMD CR Returns current Table Mode 1TMD X lt CR gt Defines IPS AMP Table Mode Description The IPS AMP contains ten sequence tables that define a list of IPS AMP positions with selected Delays and Speeds These tables can be played from one to 250 times or can repeat forever if Table Mode is set to 0 This command defines the way a table is executed This value is only valid in modes that use the sequence table s This mode applies to whichever table is selected see the Table Ready command Range is not checked Value ee Required Format 1TDR X lt CR gt Sets a flag that will cause the defined table to play when the next GO command is received Description This command will set a flag for the selected table When the next GO command GO is received the selected sequence table to play IPSManualV3 0 doc Page 42 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Required ITRP X lt CR gt Sends table entries for the specified table out the serial port Description This command is used to verify the table entries in you IPS AMP Example output for a table with two entries is shown below The
34. d to return the IPS AMP to the factory defaults the baud rate also returns to 9600 If the desired baud rate is different the controlling computer must send at least the DBR command at the 9600 baud rate If the user wants to implement the IPS AMP in an environment where communication from the device to the controlling computer is not desired it is possible to disable all data responses from the device To do this send the Define Data Response command DDR with the parameter of NO From that point forward no serial data will be sent from the IPS AMP It must be remembered that this also disables all of the reporting functions Defining Failsafe Behavior Unlike standard R C servos the IPS has the ability to maintain its position even if the information being sent to the device ceases It does not matter whether the device is using the R C pulse mode or the serial interface When the information stream stops the IPS enters Failsafe Mode and sets the F flag in the status string see the RST command Often this means moving to a specified position to await resumption of the position data However moving to a position may not be desirable in every possible user application Therefore the behavior of the device in Failsafe Mode is configurable In fact it is possible to completely prevent entry into Failsafe Mode Three commands control Failsafe Mode They are Define Failsafe Timeout DFT Define Failsafe Position DFP and Define Failsafe
35. de docs d in ede re Pera dn dede 10 Defining the Device e ted M 10 Defining the Mechanical Patratretets ees e e ect da erit ete o eu eot E QU beue ere rae de tons 11 Setting Operating Movement Parameters ceci Ia eene kn anneau aad 12 Initiating and Halting eoe tio ronde epa ostrea esa etu te dE Ret 13 Saving and Retrieving Parameters from Non Volatile Memory 13 Programming More Complex Device 15 Using the Report Commands to Get Device Status tir reete co cae 15 Defining Serial Communication Parameters 16 Defining Failsafe BehaViot 17 Defining Motor Current 18 ism Tables DE 19 Bopp 20 Changing the Device Calibration sse dee de tit secre Gere ete sex o 21 Tuning the R C Pulse Parameters 21 Tuning the Motor Control Loop Parameters 21 IPS Command Summary ero eii ar a AUT E rete tel editt Aes eds Gnas 22 Defining Communication Paramelets i coiere e Ind HE adu edd 23 TITAS Baud RA ao ee
36. ding upon the values of some of the restored parameters the device may begin moving immediately So the user needs to keep clear of all mechanisms involved Another potential side effect is that the communication parameters also return to their default values This includes the baud rate but more importantly the device address If the IPS AMP in question had been assigned a new device address it will now be back to the factory default of 1 and it will not respond to commands at its previous address The bottom line act carefully and thoughtfully when using the EEPROM commands They can have unforeseen side effects that may cost considerable time and effort to rectify IPSManualV3 0 doc Page 14 of 48 01 19 2012 Draft GAA Custom Electronics Programming More Complex Device Parameters The next class of commands will largely be used by those who are more familiar with the IPS and wish to experiment with more sophisticated control They are the various status reporting commands the motor current controls and those that control the serial interface There are also a group of commands that manage the IPS if there is a loss of communication either serial or if using the R C pulse interface Using the Report Commands to Get Device Status There are four reporting commands available in the IPS They are Report Version RVR Report Position RPS Report Current RCU and Report Status RST With careful consideration the reporting command
37. e Suppose that the following sequence of moves was to be executed starting from any current position Assume that the IPS address is a The last two moves demonstrate a way to reduce the number of commands sent 1 Move immediately to 0 0 degrees at 10 degrees second a aSDL 0 0 lt CR gt Delay 0 0 seconds b aSSP 10 0 lt CR gt Speed of 10 0 degrees second c aSPS 0 0 lt CR gt Absolute Position of 0 0 degrees d aGO lt CR gt Execute 2 Move to 15 0 degrees at 20 degrees second after a 3 2 second delay aSDL 3 2 lt CR gt New Delay b aSSP 20 0 lt CR gt New Speed c aSPS 15 0 lt CR gt New Absolute Position d aGO lt CR gt Execute 3 Move immediately to 20 0 degrees at 10 degrees second aSDL 0 0 lt CR gt New Delay b aSSP 10 0 lt CR gt New Speed c aSPS 20 0 lt CR gt New Position d aGO lt CR gt Execute 4 Move immediately to 30 0 degrees at 10 degrees second a aSRP 10 0 lt CR gt Move Relative Speed and Delay are set from last command b aGO lt CR gt Execute 5 Move immediately to 40 0 degrees at 10 degrees second a aSRP 10 0 lt CR gt Move Relative Speed and Delay are set from last command b aGO lt CR gt Execute NOTE The Limit commands DLC and DLK set the maximum range of motion of the IPS If the device is commanded to move beyond either of these values it will stop at the limit and move no farther and the E flag will be set in the Status text string see
38. e unique is in the range of motion required for operation Some applications will require the full range of motion of the IPS AMP Some will require substantially less In fact some mechanical systems might be damaged if the full range of motion is used Additionally the point that is considered zero may not necessarily be in the middle of the range of motion The IPS AMP permits any of these situations and makes it easy to tailor each system There are four parameters that must be defined to configure the mechanical system constraints They are the Zero Position Clockwise Rotation Limit Counter Clockwise Rotation Limit and the Direction of Rotation that will be referred to as Positive If the factory defaults perform in the user system as desired there is no need to change these parameters There is an internal potentiometer mounted to the output shaft of the IPS that senses its rotational position The internal microcontroller reads that position constantly and converts that reading to units of degrees to aid the user The first task is to define the rotational position that the system will refer to as 0 0 degrees This should be defined once and left alone All subsequent positions will be referenced from this position To accomplish this connect the IPS to power and establish communication with it Then define the Motor Current to 0 see the DMC command which effectively turns the motor off Now the IPS can be moved to any position i
39. ed Serial Connection Note The IPS AMP uses one line for both the serial input and output If the serial output line of your microprocessor cannot be tri stated under software control high impedance output state between command transmissions it will require additional circuitry to accomplish this A simple circuit is shown below V 5k To IPS AMP CPU Input Serial Input 2N4403 CPU Output or equiv Gnd Fig 1 Serial I O Connection Schematic Using the PC Interface Software As noted previously the IPS AMP serial interface was designed to converse with a computer not a human being Therefore the interface is not robust While input parameters need to be within certain ranges they are not range checked There are no text correction characters such as backspace or delete The commands are all short 3 character mnemonics And there is no on line help available directly from the IPS AMP To make the device easier to test and program a special VB Application Orion has been developed by GAA Custom Electronics See Fig 2 IDE Screen Shot The software allows control of configuration of all IPS capabilities and includes a scripting capability to simulate several computer commands issued IPSManualV3 0 doc Page 8 of 48 01 19 2012 Draft GAA Custom Electronics sequentially Additionally a USB interface module is available to provide the hardware connections between the PC and your IPS Contact GAA Custo
40. ees second b cSPS 30 0 lt CR gt Set device c to move to 30 0 degrees 5 All start at the same time a GO lt CR gt Execute all 3 listening devices a b and c Saving and Retrieving Parameters from Non Volatile Memory All parameters that control the operation of the IPS are manipulated and managed from the CPU s random access memory RAM The advantage of RAM is that it is fast to use and easy to modify The disadvantage is that it does not maintain its state when power is removed It would be impractical to require the user to reprogram the IPS AMP every time it is to be utilized To prevent this all parameters are saved in onboard non volatile memory called EEPROM When power is applied to the IPS AMP one of the first things it does is to retrieve all parameters from EEPROM memory and place a copy of them into RAM thus restoring the state of the device to what it was previously This is important because it allows users to customize the operation of each IPS ina system Here is another way to think about this When making revisions on a document it s better to make a copy and do editing on that thereby keeping the original untouched and safe Once the revisions are complete the original document may be replaced with the new one Even then it is often a good idea to keep a copy of the original available in case one day it is needed for reference purposes Directly modifying parameters stored in EEPROM would be like working
41. eferred to as 100 All currents reported are in percent of stall current so the numbers will always be from 1 to 100 100 A B C 50 0 30 Duty Cycle 70 Duty Cycle 100 Duty Cycle Fig 2 Motor Current PWM Waveforms Figure 2 shows just three out of thousands of possible motor current PWM waveforms The first A shows 30 duty cycle at 50 of stall full current B shows a 70 duty cycle at 100 of stall IPSManualV3 0 doc Page 15 of 48 01 19 2012 Draft GAA Custom Electronics current And C shows a 100 duty cycle at 100 of full current For A the RCU command would report 15 which is 30 of 50 0 30 X 0 50 0 15 15 For B the response would be 70 and for C it would be 100 These numbers reflect the approximate load on the IPS motor at any given time The IPS AMP monitors and attempts to maintain the speed programmed by the user in the SSP command It will continue to raise its motor current as required to maintain that speed If the load on the device continues to increase such that the motor current reaches 100 and that is still insufficient the IPS AMP will not be able to maintain speed This condition will set the E flag in the Report Status string see the RST command indicating that either the load momentarily exceeded its normal range or the IPS AMP has been asked to perform beyond its physical capabilities It may be necessary to scale back one or more IPS Operation Parameters
42. executed once multiple times or continuously The RST command can be used to determine the state of table execution whether the device is actually executing a table and within that table whether or not it is waiting for a delay to expire or currently moving There are five commands used to create maintain and execute tables They are the Table Reset command TRS the Table Step Enter command TSE the Table Report Entries command TRP the Table Mode command TMD and the Table Ready for GO command TRD The Table Reset command is the safest way to begin creating a table It clears all the table entries in the specified table and sets the number of entries for that table to 0 The parameter sent is the table number and a parameter is required for this command unlike many others The Table Step Enter command is used to build the table In preparation to enter each step a delay speed and position must all be set using the SDL SSP and SPS commands When all three parameters are set send the TSE command with a parameter of the table number This will enter those three values as the next available step in the table Once again a parameter of the table number is required for this command When all desired steps have been entered the table entries can be verified using the Table Report Entries command again with a required parameter of the table number The output of the TRP command is one line with the number of valid steps in the
43. he Define Zero Pulse Length command DPZ and the Define Pulse Gain command DPG The DPZ command is used to set the center of the range of motion The DPG command is used to increase or decrease the total range of motion The pulse length of a normal zero position pulse is 1 5ms or 1500 microseconds us Because R C transmitter may not precisely hit 1500us for the center position the IPS AMP is capable of using a different pulse length to indicate center The range is from 1000us to 2000us The user can change the amount that the IPS moves for a given change in pulse length using the DPG command The higher this number is the larger the swing will be for a given change in pulse length There is only one gain for both directions of swing so it affects both directions equally To move the movement center position in only one direction away from the signal center position the user will need to modify this parameter in conjunction with the DLC and DLK commands The pulse gain will have to be high enough to reach farthest position in the direction of swing with the greatest amplitude and the DLC or DLK commands used to stop the motion on the short side before it hits the internal mechanical stop in the IPS Tuning the Motor Control Loop Parameters There are three parameters that affect the motor movement in the IPS when using serial mode They are the Define Dead Band command DDB the Define Control Loop Gain command DCG and the Define Der
44. his command defines the maximum physical position the IPS AMP will attempt to achieve in the counter clockwise direction If a command or position pulse is given that exceeds this range the IPS AMP will stop at this limit value This prevents the IPS AMP from stalling against its physical limit or a physical limit in the application mechanism which might damage the unit Always define the Zero Position first by using the DZR command This limit can be physically set by Turning the IPS AMP motor current to 0 DMC command then turning the IPS AMP counter clockwise to the limit you desire At that point do one of two things Either enter the DLK command with no argument or obtain the current position by using the RPS command Report Position and then enter that number as the argument of the DLK command IPSManualV3 0 doc Page 28 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Optional Format 1 DMC lt CR gt Returns the current value of Motor Current Parameter IDMC 75 lt CR gt Defines the IPS AMP s maximum average Motor Current at 75 of the stall current maximum draw Description The Motor Current Parameter sets the maximum average current the motor will draw in normal operation This will limit the physical torque applied by the IPS AMP This may be useful if the application mechanism cannot tolerate the maximum force the IPS AMP can apply to the system The combination of the duty cycle of
45. ion The units are degrees Notes The Data Response parameter must be set to YES and a valid servo address character must be used to obtain output IPSManualV3 0 doc Page 39 of 48 01 19 2012 Mnemonic GAA Custom Electronics Name Valid Range of Parameter Default Range is not checked Value RST Report Status N A N A None IRST CR Reports the current IPS AMP status Description This command reports the current IPS AMP status This is useful to determine if the IPS AMP is moving delaying or has a position error The output is always six characters It is the concatenation of the six different flag values Listed below are each flag s value and its meaning F if a Failsafe Timeout has occurred since the last Status if not O if the Motor Trip Current has been exceeded since the last Status E if the position error has exceeded the Deadband value since the last Status T if the IPS AMP is currently executing a table if not M if the IPS AMP is moving to a defined position if not W if the IPS AMP is waiting for a delay time to expire if not ow ow if not n if not If all error conditions could be simultaneously true the M and W flags cannot be set at the same time the output would be FOETMW If none of them are true the output will be F O and E are latched flags They are only cleared by a Report Status command The E flag indicates that the IPS AMP was unable
46. ional 999 to 999 Define Zero Pulse Length Calibration Optional 1000 to 2000 On the following pages each command will be discussed in detail All commands will be shown with the default servo address of 1 X s indicates an input argument and its range is defined for each command IPSManualV3 0 doc Page 22 of 48 01 19 2012 Draft GAA Custom Electronics Defining Communication Parameters Range is not checked Value Required 1DBR X lt CR gt Sets the baud rate for the serial interface Description In serial mode the IPS AMP can communicate at several pre programmed rates from 2400 baud to 100 000 baud The baud rate is defined by selecting the proper parameter from the following list 1 2400 baud 2 4800 baud 3 9600 baud 4 19200 baud 5 57600 baud 6 100000 baud The serial data format is 8 bit No parity 1 Stop bit Range is not checked yame Define Device Address Any ASCII Character All devices on this serial interface line 1 X lt CR gt Sets the IPS AMP address character Description This command defines the ASCII character that will be used for the address of this device in serial mode The character is case sensitive and can be any character except The new address will be in effect for the next command Since all devices can share the same serial interface it is important to program the address character for each IPS AMP independently The
47. ivative Gain command DDG The Deadband sets the error value that the IPS AMP will tolerate between the actual and desired arm position before taking action to bring the device back into command compliance Two or three will usually be sufficient but tighter accuracy may be obtained by making this number as small as 0 The disadvantage of low numbers is that the IPS will appear to hum or chatter as it skips back and forth over the programmed position to maintain no or very low error numbers This increases the current load placed on the supply to the IPS potentially shortening battery life if batteries are being used The DCG command The DDG command IPSManualV3 0 doc Page 21 of 48 01 19 2012 Draft IPS Command Summary Define Baud Rate Command Type Parameter Guidelines Required GAA Custom Electronics Valid Range of Parameter Factory Range validation is not done Default 1 2 3 4 5 6 Define Device Address Required Any ASCII character except Define Data Response Define Device Direction Application Optional Optional YES NO CWP CWN Define Limit Position Clockwise Application Special 199 9 to 199 9 and manual Define Limit Position Counter Clockwise Application Special 199 9 to 199 9 and manual Define Zero Position Application Special 199 9 to 199 9 and manual Define Motor Current Application Optional 0
48. m Electronics to obtain more information Orion version 2 0 IPS Full Command Set f Servo Address 1 Read All jet up Sequence Tables Device Calibration Define Device Address Failsafe Define Baud Rate Define Failsafe Timeout Define Operating Mode Detine Failsafe Position Define Data Response Define Failsafe Current Application Define Device Direction Define Zero Position Set to Present Position Define Clockwise Limit Set to Present Position Define Counter Clk Limit Define Motor Current Define Trip Current Define Reduced Current Fig 2 IDE Screen Shot IPSManualV3 0 doc Page 9 of 48 01 19 2012 Draft GAA Custom Electronics Programming the Basic Device Parameters To begin using the IPS AMP there are several basic parameters that must be defined Next the operating parameters must be set And finally the movement commands must be given Define commands start with the letter D They are specific to the device and the user application set once or very rarely and left alone They generally relate to the communication interface the internal device configuration and external physical device application Once those parameters are defined the IPS AMP is ready for the operation parameters to be set Set commands begin with the letter S They are also used in Tables which will be discussed later Finally the Moveme
49. n its range of motion manually Move it to the position that will be considered zero and enter the Define Zero Position command DZR with no parameter Without a parameter the device will assume the current position is the one meant The basis for all further absolute position commands is now defined Now rotate the IPS clockwise to the furthest position you want it to move during operation and enter the Define Limit Position Clockwise command DLC Follow this with the counter clockwise position and the Define Limit Position Counter Clockwise command DLK Next establish which direction the IPS is to consider the Positive direction If clockwise rotations are positive in the system such as compass headings send the Define Device Direction command DDD with CWP clockwise positive as the parameter If counter clockwise rotations will be considered positive such as in systems using trigonometric unit circle angles then send the Define Device Direction command with CWN clockwise negative as the parameter Clockwise Positive is the factory default Once these four parameters have been set re establish the motor current with the DMC command and test the mechanical limits Readjust them as required using this method Once the parameters are properly tuned save them in non volatile memory see the ESV command NOTE It is not good practice to set either of the rotational limits of the IPS fully against its internal mechanical stop It s be
50. nt command is given Several IPS AMPs can be given Set commands and then Movement command can begin execution of all devices simultaneously This feature is useful to coordinate the actions of multiple devices working in unison Defining the Device Address The IPS AMP was designed to employ multi drop interface 1 several devices can all use the same CPU data I O pin To route specific commands to the proper devices each IPS AMP on the same I O pin must have a unique address The device address is a single ASCII character Any character can be used with the exception of which is reserved to indicate that a command applies to all devices on that particular I O signal line The default address that is programmed at the factory is 1 If each IPS AMP is on its own unique I O line it is possible to leave this parameter set to 1 However it is recommended that each address character in some way reflect its purpose in the application For instance if two IPS AMPs are being used in a pan amp tilt mechanism one could have the address of P and the other T Since the addresses are case sensitive if the application has two pan amp tilt mechanisms on the same I O pin the second could use p and t This will help make the control software more user friendly at least as user friendly as one character addresses can be Because each address is unique it must be programmed individually before multiple devices are connec
51. number of advanced features learning to use all its capabilities will take some time There are many powerful commands and functions available to the experienced user The IPS AMP can be controlled using the standard 1 to 2 millisecond R C pulse system 1 5 millisecond center If you are using it in place of a standard R C servo it is literally a plug and play device One exception is that unlike a normal R C servo that loses its position when the pulse stream ceases a single pulse may be sent to the IPS AMP and it will maintain that position until power is removed The serial command interface is used for computer controlled positioning applications This is the more versatile user interface in that all aspects of the IPS AMP are available in this mode Besides the movement parameters there are Calibration Communication Memory and Table functions that are accessible There are also several Status commands to report various IPS AMP conditions If you want to use the serial command interface again you may find the IPS AMP usable as it comes programmed from the factory However there are many commands available which modify its performance parameters They will all be discussed in this manual IPSManualV3 0 doc Page 4 of 48 01 19 2012 Draft GAA Custom Electronics Device Description The IPS is based on a standard commercially available R C servo normally used in model cars and aircraft The electronics have been replaced with state
52. ome of the operating parameters using the serial interface While it is not required we recommend you use the Visual Basic application written specifically for this purpose This PC based software is available from GAA Custom Electronics as well as a USB interface module that will perform the voltage conversion between the your PC and the IPS AMP The manual contains the technical information that will allow you to develop yours own system to send and receive serial signals to and from the IPS AMP IPSManualV3 0 doc Page 5 of 48 01 19 2012 Draft GAA Custom Electronics Getting Started Safety Electro mechanical devices such as the IPS should only be utilized by people having previous experience with similar devices If you do not have such experience seek the help of someone who does The IPS can be programmed by the user to move automatically shortly after power is applied Therefore ensure that you are completely clear of the device and any attached linkages or other moving parts when you apply power Electrical Power The IPS AMP requires only one voltage for power It should be at least 4 8VDC and it should NEVER EXCEED 6 0VDC Higher voltages will damage the device Newly charged batteries have a higher initial voltage than after a short amount of use Be sure to carefully measure your power voltage before applying it to the IPS AMP to prevent damage especially with newly charged batteries Connecting to the
53. on the original document The IPS AMP does not require this There are three commands available for working with non volatile memory EEPROM They are ELD ESV and ERD ELD is the Load RAM from EEPROM command It is used to return all parameters of IPSManualV3 0 doc Page 13 of 48 01 19 2012 Draft GAA Custom Electronics the IPS AMP to the last previously saved state This is essentially what the device does every time power is applied but before it begins operating The converse of the ELD command is ESV ESV saves in EEPROM a copy of the current parameters from RAM This allows the user to make modifications to various parameters test them to ensure they operate as desired and then save them in non volatile memory so that they are available whenever the device powers up The third EEPROM command is the ERD command It returns all parameters to the factory defaults It will probably only be used if sufficient experimentation is done with many parameters such that it would be easier to return the IPS AMP to a known state with a single command rather than having to change every parameter individually It should be noted that choosing to use the EEPROM commands should be done very carefully There are several side effects of these commands that might not be immediately obvious First of all writing to EEPROM due to the technology involved takes time While performing this task the IPS AMP is unable to do any movements Also depen
54. ore sophisticated operation Mode 3 uses the pulse interface to select a table for execution And Mode 4 is an automatic continuous table execution mode If the IPS is programmed to be in pulse mode the serial mode can get the attention of the internal CPU by holding the input signal wire above 4 Volts for the first two seconds after the IPS AMP powers up The IPS AMP senses the voltage on the signal wire for the first 2 seconds after power up If the Operating Mode is set to 1 3 and the signal line is at 0 Volts it will operate in the R C pulse mode If the signal line is at 4V or more the serial interface will be active overriding Mode 1 or 3 if they were programmed by the user If the signal line is not stable at the two second mark or the signal line is noisy the IPS AMP may not choose the correct interface for your intended application In Mode 1 and Mode 3 the IPS AMP is capable of interfacing with an R C receiver or computer that is using the 1 2 millisecond R C pulse interface a computer using a 0 5V serial interface The pulses must be positive pulses meaning that the normal state of the signal line is 0 Volts There must be at least 10 milliseconds of 0 Volts between pulses In Mode 1 the high time of the input pulse is measured and the position is calculated based on the pulse length 1 millisecond ms pulses will position the IPS at one end of its travel and 2ms pulses will move it to the other end
55. play mode In this mode the IPS AMP will start playing sequence table 1 shortly after power is applied When power is applied to the IPS AMP and it is in modes 1 or 3 the input line is examined 2 seconds after power up to determine if it is connected to a pulse source or a serial interface If the signal line is at OV it will operate in the R C pulse mode If the signal line is at 4V or more then the run mode is set to Serial If the signal line is not stable at the two second mark or the signal line is noisy the IPS AMP may not choose the correct interface for your intended application IPSManualV3 0 doc Page 31 of 48 01 19 2012 Draft GAA Custom Electronics Setting Operation Parameters Mnemonic Name Valid Range of Parameter Default Range is not checked Value Format Description Mnemonic SPS Description Set Delay 0 0 to 99 9 Optional 1SDL lt CR gt Returns current Delay count ISDL XX X lt CR gt Defines IPS AMP Delay count in seconds This command defines a delay count for the IPS AMP This count defines how long it will wait after the GO command before the new Set Position command begins processing The units of the delay are in Seconds This applies only to serial position commands Operating Mode 2 and sequence table entries It is not valid for Operating Mode 1 Range is not checked Value Optional 1SPS lt CR gt Returns current value of the Set Position Parameter ISPS 47 5 lt
56. rameter see DFP command Range is not checked Value Pome Optional Format 1DFP lt CR gt Returns current Failsafe Position IDFP XXX X lt CR gt Defines IPS AMP Failsafe Position in degrees Description The IPS AMP will move to the defined failsafe position if input pulse information or serial data is not present on the data pin of the IPS AMP for a time specified by the Define Failsafe Timeout DFT command This parameter defines the position the IPS AMP will move to if the timeout occurs It is measured in degrees The IPS AMP will not move if the Define Failsafe Current Parameter is set to 0 see DFC command The timeout is specified using the Define Failsafe Timeout command DFT IPSManualV3 0 doc Page 35 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value Wi Optional 1DFT lt CR gt Returns current Failsafe Timeout IDFT 1 0 lt CR gt Defines IPS AMP Failsafe Timeout as 1 0 seconds Description If input position pulse information or serial data is not present for a user defined amount of time on the data pin of the IPS AMP it will move to the defined failsafe position specified by the Define Failsafe Position DFP command This parameter defines the amount of time the IPS AMP will wait for valid information before it enters the failsafe mode The units of this time are seconds If this parameter is set to 0 there is no timeout The function is disabled The
57. s can be used to get information on the operating environment of the IPS The Report Version command RVR will return a text string that shows the current version of firmware that is programmed into the IPS The manual also has a version number Make sure they match Having the correct documentation is necessary when using or debugging the device Also the factory can update the IPS AMP firmware Check the GAA Custom Electronics web site to see what versions of firmware exist for the IPS AMP and what improvements each version makes available Details on returning your device for updating are on the web site The Report Position command RPS will return the current position of the IPS in degrees based upon the zero position that was set by the DZR command If the device is moving see the Report Status command the returned value will reflect the actual position at the time of command entry The Report Current command RCU can be used to determine the load that is on the IPS The current applied to the motor is pulse width modulated PWM so the average current applied is a function of two things the peak current of the applied voltage and the duty cycle of the current The figure below helps illustrate this It should be noted that all values of current discussed for this device are in terms of the stall current of the motor full current applied with no motor movement which is the maximum current the motor will draw In the IPS AMP this is r
58. table Following that line is one line for each table entry An example output is shown below 2 00 0 00 0 090 6 01 0 05 0 025 0 This example shows 2 steps entered The first is a delay of 00 0 seconds a speed of 00 0 as fast as the IPS can move to a position of 90 6 degrees The second entry follows the same format Once the table has been defined the Table Mode command tells the IPS how many iterations it is to execute with the one command The valid number is from 1 to 250 If 0 is entered the table will execute forever If this command is sent during an execution sequence without a parameter it will return the number of remaining iterations The final Table command is TRD which is always sent with a parameter of the table number It sets a flag indicating that the specified table is to be executed when the next GO command is sent Again this allows the coordination of multiple IPSs acting in unison If this command is sent with a parameter of 0 it will cancel any pending TRD command to clear a previously set Table Mode flag IPSManualV3 0 doc Page 19 of 48 01 19 2012 Draft GAA Custom Electronics Operating Modes The IPS AMP has four operating modes any of which can be selected using the Define Operating Mode command DOM The factory default mode is Mode 1 Pulse Mode In Mode 1 the device acts just like a digital R C servo Mode 2 is the serial mode which gives the user access to all the device parameters and m
59. ted together The PC software available from GAA Custom Electronics is ideal for performing this function If this is not available PC applications are available on the Internet such as Hyperterm They may be used instead but it must be remembered that the IPS AMP interface is not very forgiving regarding typographical errors so care must be exercised when using these programs NOTE The IPS AMP uses different electrical voltages than the RS 232 interface of your PC It is VERY important that some hardware circuitry be used to convert the PC signal levels to those used by the IPS AMP Connecting the device directly to the I O pins of a PC serial connector will damage the IPS AMP and void your warranty When using Hyperterm or some other software to Define the address of the IPS AMP to a lower case a send the following command 1DDA a lt CR gt The IPS AMP will respond with a lt CR gt lt LF gt acknowledging your command From that time on this IPS AMP will respond only to commands that begin with the letter a or to indicate the command is for ALL devices on that serial line Be sure to save the new device address to EEPROM See the ESV command IPSManualV3 0 doc Page 10 of 48 01 19 2012 Draft GAA Custom Electronics Defining the Mechanical Parameters The IPS AMP is a multi purpose device capable of many functions Each user application is very likely going to be unique One way in which an application can b
60. the RST command IPSManualV3 0 doc Page 12 of 48 01 19 2012 Draft GAA Custom Electronics Initiating and Halting Movement There are two commands that directly control the movement of the IPS They are GO and HT which stand for Go Now and Halt Now The GO command as shown in the example above is used to initiate movements that have been setup by sending previous Operational Parameters It is also used to initiate the execution of a particular table which also would have been setup using the various Table commands as explained later in this manual Another function of the GO command is to coordinate the movement of several IPS AMPs Suppose a system contains three devices with the addresses of a b and c and all of them are on the same I O line Each of their movements while being different must all begin at the same time Here is how that might be programmed 1 Setall devices on this line to a 1 0 second delay SDL 1 0 lt CR gt indicates command is for all listening devices 2 Set Speed and Position for a a aSSP 10 0 lt CR gt Set device a to move at 10 0 degrees second b aSPS 10 0 lt CR gt Set device a to move to 10 0 degrees 3 Set Speed and Position for b a bSSP 20 0 lt CR gt Set device b to move at 20 0 degrees second b bSPS 20 0 lt CR gt Set device b to move to 20 0 degrees 4 Set Speed and Position for c cSSP 30 0 lt CR gt Set device c to move at 30 0 degr
61. tion count units When the IPS AMP position is within the deadband of the desired position the control loop will stop driving the motor The smaller this value the more accurate the position control will be but the more power the IPS AMP will draw The default value of 3 is a good place to start values as low as 2 or 0 will give very good performance If the deadband is very low the IPS AMP may have a tendency to chatter or hum as it oscillates back and forth from above to below the desired position This is normal behavior for low values of Deadband IPSManualV3 0 doc Page 45 of 48 01 19 2012 Draft GAA Custom Electronics Range is not checked Value DDG Define Derivative Gain Optional Format 1DDG lt CR gt Returns current Derivative Gain 1DDG X lt CR gt Defines IPS AMP Derivative Gain Description This command sets the IPS AMP control derivative loop gain This parameter helps tune the IPS AMP for best performance A value of 150 allows an increased loop gain DCG with stable centering and good holding power and without overshoot This is acommand suitable for advanced users only Improper setting of this parameter will result in poor or erratic performance Range is not checked Value Define Integral Gain 999 to 999 Optional Format 1DIG lt CR gt Returns current IntegralGain 1DIG X lt CR gt Defines IPS AMP IntegralGain Description This command sets the IPS AMP control integral loop gain
62. tter to back it off the stop slightly If the IPS hits a mechanical stop during operation the motor will stall While it s unlikely this will damage the device the motor will draw the full current possible This could overload the electronic system or cause excessive electrical noise Minimally it will shorten battery life unnecessarily IPSManualV3 0 doc Page 11 of 48 01 19 2012 Draft GAA Custom Electronics Setting Operating Movement Parameters There are three parameters that specify the movements that the IPS AMP is to execute They are the position to move to in degrees the speed at which to move in degrees per second and finally the delay in seconds between the order to execute see the GO command and when the IPS begins moving This delay can help coordinate multiple devices working in unison There is also a Relative Position parameter expressed in degrees that specifies the movement that is to be made relative to the current position This is different from the standard Position parameter which is defined in absolute terms and relative only to the IPS zero position These parameters are persistent in that several Position commands may be executed sequentially using the same Speed and Delay parameters without resetting the Speed parameter each time Only the Position parameter would need to be sent to the device This can reduce the number of commands that must be sent to the IPS to perform a sequence of move Exampl

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