MotionC-P Technical Manual

Transcription

1 Motion- /++ rogrammable, Standalone, S -axis Servo or Stepper Motion ontroller with Opto-couplers, Solid State Relays,,, and high voltage I/Os Technical Manual icasso venue, Suite, avis, -, US Tel: -- Fax: -- Internet sales@tern.com

2 OYRIT Motion-, Motion, Motion, -Engine, i-engine, i-engine-, - Engine, -Engine, -Engine, Memard-, T-Kit, and TF are trademarks of TER, Inc. IntelEX and IntelSX are trademarks of Intel orporation. mes and mes are trademarks of dvanced Micro evices, Inc. is a Trademark of E Electronics Inc. Borland /++ is a trademark of Borland International. Microsoft, MS-OS, Windows, Windows, and Windows are trademarks of Microsoft orporation. IBM is a trademark of International Business Machines orporation. ersion. March, o part of this document may be copied or reproduced in any form or by any means without the prior written consent of TER, Inc., icasso venue, Suite, avis, -, US Tel: -- Fax: -- Internet sales@tern.com Important otice TER is developing complex, high technology integration systems. These systems are integrated with software and hardware that are not % defect free. TER products are not designed, intended, authorized, or warranted to be suitable for use in life-support applications, devices, or systems, or in other critical applications. TER and the Buyer agree that TER will not be liable for incidental or consequential damages arising from the use of TER products. It is the Buyer's responsibility to protect life and property against incidental failure. TER reserves the right to make changes and improvements to its products without providing notice.

3 Motion- Table of ontents Table of ontents hapter page hapter page. Introduction...-. Functional escription...-. hysical escription...-. Motion- rogramming Overview Minimum ardware Requirements -.. Minimum Software Requirements..-. Installation...-. Software Installation...-. ardware Installation onnecting the Motion- to the i-engine/-engine/-engine.-.. onnecting the Motion to the owering-on the Motion...-. ardware...-. i-engine/-engine/-engine...-. Interface with M M S chipset...-. Motion I/O map...-. Quadrature Encode Inputs (M)...-. Motion Servo nalog Ouputs...-. Limit, ome, and Fault Switches...-. ower mplifier ontrol ower Supplies, igital and nalog round I/O Lines of I RS- and RS rotected Inputs S Ready Signal to the ost i-engine/ -Engine/-Engine Software Functions in M.LIB Sample rograms... - ppendices:. Motion- Layout...- Schematics: Motion- i

4 Motion- hapter : Introduction hapter : Introduction. Functional escription The Motion- is a /++ programmable Standalone -axis motion controller with + I/Os, Optos and SSRs Features:. x., m at, to /++ programmable, with remote debugger IE, and samples riven by E, E, i-engine, ie-m, or -Engine M: axis stepping open-loop control with pulse, direction Stall detection with quadrature encoder inputs M/: or -axis closed-loop servo control solenoid drivers, + TTL I/Os, RS, RS Opto-couplers for home, limit,capture, and fault switches opto isolated Solid State Relays (SSR) for or loads -bit registers for position, velocity, acceleration, and jerk S-curve, trapezoidal, velocity-contour, and electronic gearing Mz pulse rate, µs programmable loop rate, and s The Motion- (M) is a low-cost, high-performance, standalone, /++ programmable industrial controller for up to -axis motion control. The M supports a S chipset (M///, M) with build in sophisticated field proven control firmware. The M must be driven by a host /++ programmable TER controller. User only needs to define parameters for I algorithm and trajectory profile. The S calculates velocity, position and stabilizes the motor output, while the host controller interfacing with user, monitoring I/Os, reads s, computing or pre-loading a new set of parameters. The host controller interfaces to the S chipset via high-speed data bus. User can easy develop application /++ program on a, download, and debug via serial link. The host writes pre-defined motion commands to the S, and the S can interrupt the host at any time. The M provides a total of opto-couplers for home switches, limit switches, fault switches and other user inputs. Seven solenoid drivers are capable of sinking up to m at. Eight opto-isolated Solid State Relays (SSR) can switch m or loads upto. Two I () chips provide I/O lines. Two RS- and one RS- drivers can be installed. dditional I/Os, memory,, and can be provided by the host E/IE/E. M supports up to -axis closed-loop digital servo control for a variety of servo motors. It uses incremental quadrature encoders for position feedback and it supports high speed s for ± servo control voltage output. Each axis contains sophisticated trajectory profile and digital servo capabilities, allowing very low position and velocity tracking errors. The -axis operation can be programmed either independently or in synchrony to allow advanced multi-axis motion such as circular and continuous-path profiles. It provides electronic gearing, I/I control, a choice of S-curve, trapezoidal, or contoured velocity profile modes, /T counter for stable low-velocity motion, automatic motor error shutdown, monitoring travel limit switches, home switches, capture switches, and fault switches. M is a - axis servo version. -

5 hapter : Introduction Motion- M is for -axis open-loop stepping motor control. It supports sophisticated trajectory generation and synchronization features, allowing the creation of complex motion sequences. It provides up to Mz pulse and direction signals for driving step motor systems. M is a -axis stepper version. Seven solenoid drivers are capable of sinking up to m at. Two Is (), each provides user-programmable bi-directional I/O lines. Two RS- and one RS- drivers can be installed. Up to -xis ontrol apture Switches Encoder or Step pulse mplifier WM M Enable M IO M S Limit Switches ome Switches Fault Switches IT IT i-engine/-engine/-engine -bit, I/O, Mem. M Enable LM Enable RS etworking S, RS SER/, I I/O Figure. Funcitonal block diagram of the M -

6 Motion- hapter : Introduction. hysical escription The physical layout of the Motion- is shown in Figure...,..,..,..,..,..,..,..,. SER S S IO.,..,..,..,..,..,..,..,..,.,.,..,..,. Figure. hysical layout of the Motion- -

7 hapter : Introduction Motion-. Motion rogramming Overview evelopment of application software for the Motion- consists of three easy steps, as shown in the block diagram below. STE Serial link and Motion+x-Engine, program in /++ ebug /++ program with Remote ebugger STE Test Motion+x-Engine in the field, away from pplication program resides in the battery-backed SRM STE Make application ROM or ownload to Flash Replace EBU ROM, project is complete There are three possible steps in the development of a /++ application program. These steps are explained thoroughly in the Technical Manuals for the -Engine/-Engine/i-Engine/-Engine. lease refer to the Tutorial section in the Technical Manuals for the E- and - Kit to obtain further details on programming the Motion+x-Engine. The Motion-+x-Engine is programmed using your via RS- serial link. Your /++ program can be remotely debugged over the serial link at a rate of up to, baud... Minimum ardware Requirements or -compatible computer with serial OMx port that supports, baud Motion- x-engine controller with EBU ROM - serial cable (RS-; B connector for OM port and IE x connector for controller) enter negative wall transformer (+ m).. Minimum Software Requirements TER E- or - Kit software environment: Windows,, T, -

8 Motion- hapter : Installation hapter : Installation. Software Installation lease refer to the Technical manual for the /++ E- or - Kit for TER controllers.. ardware Installation ardware installation for the Motion- consists primarily of connecting the microcontroller to your. Overview Install x-engine controller to the Motion- onnect to the Motion- using a RS cable. onnect wall transformer to power jack on Motion- User is ready to begin development -

9 hapter : Installation Motion-.. onnecting the Motion- to a -Engine/ i-engine/-engine/-engine Install the x-engine controller on the M- via J (x) and J (x) header. The Motion- is linked to the via a serial RS cable (-). IMORTT: The red side of the cable must point to pin of SER header. The B connector should connect to one of your 's OM orts (OM or OM). To OM or OM Red side of the serial cable corresponds to pin of (SER) To IE B connector -

10 Motion- hapter : ardware hapter : ardware. -Engine, i-engine, i-engine-m, -Engine or -Engine The Motion- must be driven by a -Engine, or i-engine, or -Engine or -Engine, as the host /++ programmable controller. lease refer to the corresponding x-engine Technical Manual for more information.. Interface with M Mx S chipset The Motion- supports M s S Motion control chip sets, including M////. The Mx S chipset is packaged in two surface mount chips, and I/O. The chipset is driven by a host x-engine via an -bit, bi-directional port. ommunication to and from the chipset consist of packet-oriented messages. n interrupt line /IT, from the pin, is routed to J pin of the i-engine (/IT), -Engine (/IT), or -Engine, so the chipset can signal the host when special conditions occur, such as receiving an encoder index pulse. The i-engine/-engine/-engine writes commands to the Mx and reads data from the Mx chipset. Each command consists of a -bit word, with a command code value defined in the Mx manual. ata is transmitted to and from the chipset in -bit words. Functions are available in mc.lib and prototypes are listed in mc.h file. Many sample programs are also included in the of the E- or - kits. void mc_host_dat_wr(unsigned int dat); // host Engine writes -bit dat to M void mc_host_cmd_wr(unsigned char cmd); // host Engine writes -bit cmd to M unsigned int mc_host_dat_rd(void); // host Engine reads -bit dat from M char mc_host_rdy(void); //return for I/O pin, RY low, indicating busy. Motion x I/O Map The following tables list the I/O address of the Mx, together with their ata Bits, hip-select Symbol and Functions. Base I/O ata Bits ddress Select Symbol Function x - /M Read/Write - from/to Mx I/O chip (U) xb - /I Read/Write - from/to I c I/O chip (U) x - / Read/Write - from/to I c I/O chip (U) x /RST ardware reset.. Quadrature Encoder Inputs (Mx) The Mx supports up to channels of Incremental Encoder inputs for motor position information. Each quadrature encoder channel consists of a square wave, offset -degree from the other. For every channel, four position inputs and control signals are supported: channel pulse (Qx); B channel pulse (QBx); Index pulse, and ome switch signal. -

11 hapter : ardware Motion - ifferential line drivers () are used to support differential quadrature inputs. The quadrature encoder inputs are not optically isolated from digital ground ().. M Servo nalog Outputs M uses a -pin motion interface connector J. The M supports both and WM output mode for external servo motor amplifier. The M uses a quad -bit voltage output converter (). While the -bit output mode is used, the -bit uses the higher order bits date from the chip. The contains four precision output buffer amplifiers, providing full -bit performance at LSB total unadjusted error without adjustments. The has a typical µs output setting time and outputs to. with an external. precision reference. quad amplifier buffer with adjustable gain and offset supports channels of default ± analog servo control signals at header J (-), supporting a variety of motor amplifier interfaces. resistor pot is installed in J providing the offset voltage. User may replace default K gain resistors in R to setup necessary gains. The /(Jp), /(Jp), /(Jp), and /(Jp) provides buffered output voltage from the operational amplifier (U), capable up to m. The M outputs a -bit data word as an unsigned -bit number with a range of -. Output alue Output (olts) outputs volt outputs. volts outputs. volts The /(Jp), /(Jp), /(Jp) and /(Jp) are adjusted buffered output voltages. The default output voltages are - for an output value of -, for an output value of, and + for an output value of +. The K pot installed in J is used to adjust the reset analog voltage output to zero. See sample program mc_dac.c for detail. REF=. OT J x from + - U * ain R.K x/ to J K R. Limit, ome, and Fault Switches There are limit switch inputs for each axis: +L and L. There are a total of limit switch inputs (+L-, and L-). There are also home switch inputs: OM- and fault switch inputs: FLT-. ll switch inputs are routed to J and protected by opto-couplers. ll switch inputs are high by default, and can be high actived with ground signal. See sample programs: mc_h_i.c, and mc_sta.c for details. -

12 Motion- hapter : ardware. ower mplifier ontrol, Solenoids, and Solid-State-Realys There are lines of high voltage drivers (U, UL) designed to sink up to m at. Four drivers routed to the J header (E-), are driven by the output pins ( O, pin -). These drivers are designed for power amplifier enable control in a digital servo system. Three drivers (-) are routed to SER header. - are driven by the host x-engine via J header pin,, and. lease refer to the M schematic and sample program mcp_hvo.c for more details. Eight SSRs can be installed on the M. These SSRs (S, E) has a zero ohm contact (upto m) while enabled, and Open contacts while disabled.. ower Supplies, igital and nalog round The M can be powered by a single (with on-board regulator) or (with a on-board switching regulator), via J(x header) or screw terminal (J). The on-board linear or optional switching regulator (U) can produce for the S and the host engine. The RS drivers (U and U) are powered by and produces negative voltage for both RS- and operational amplifiers. Use a wall transformer, as default. User may provide regulated field power supply +, -, and via J header. OEM product may use external power supply with the on-board regulator removed. If you use the on-board + regulator () to power the external quadrature encoders, you will need to provide additional large heat sinks to the regulator, such as mounting on a large metal standoff. If you want to provide an external regulated + to the Motion via J, you should not install the on-board regulator.. x I/O Lines of Two I There are bi-directional user programmable I/O lines (-, -, -) at J header. These TTL level I/O pins are provided by U (u, or ) can be used to interface to with Ls, Keypads, or power relay drivers. Eight I lines of U should be programmed to support outputs (B-B) for the Solid-State-Relays (SSR). The remaine I pins are programmed as inputs, and protected by opto-couplers. See sample program mcp_ppi.c for details.. RS- and RS- drivers Two channels of RS- serial port drives are available on the Motionx. SER for debugging SER for application. n RS- driver and header supports the optional S URT.. rotected Opto-coupler Inputs Quadrature decoder inputs, Q-, QB-, and I- are protected by differential line drivers (). ll home switches (OM-), Limit switches (+L-, -L-), and Fault switches (FLT-), are protected by opto-couplers. ll inputs can take up to input. -

13 hapter : ardware Motion -. S Ready Signal to the ost i-engine/-engine/-engine The S IO chip pin (RY) is a hardware ready signal that indicates the S is busy while it is low. The M routes RY signal to: i-engine - J pin () -Engine J pin () -

14 Motion- hapter : Software hapter : Software lease refer to the Technical Manual for the /++ evelopment Kit for TER -bit Embedded Microcontrollers on debugging and programming tools. For software information related to the - Engine, -Engine, or i-engine controller, please refer to the respective manual.. Functions in M.LIB void mc_host_dat_wr(unsigned int dat); // host -Engine writes -bit dat to M void mc_host_cmd_wr(unsigned int cmd); // host -Engine writes -bit cmd to M unsigned int mc_host_dat_rd(void); // host -Engine reads -bit dat from M char mc_host_rdy(void); // return for M IO pin low, indicating host port busy unsigned int mc_host_status_rd(void); // return bits of the status register of S chipset. void mc_hard_reset(void); // Issue a hardware reset to the S chipset unsigned int mc_adc_rd(char ch); // reads -bit from S // ch=- for - at header J. Sample rograms Sample programs for the Motion- are located in the samples directory at :\TER\x\samples\mc, :\TER\x\samples\mcp Mc_pwm.c Mc_ppi.c Mc_adc.c Mc_dac.c Mc_sta.c Mc_f_int.c Mc_h_int.c Mc_d.c Mc_pos.c M_ver.c Mc_pos.c Mcp_sta.c Mcp_ppi.c Mcp_hvo.c Mcp_h_i.c -

15 .,..,..,. SER.,..,..,..,..,..,..,..,..,..,..,..,..,..,.,.,..,..,. Total of Mounting oles, marked in RE. M- Layout

16 U LM + LX R M OFF + U MZ OFF + LK RX LT U RO /RE E I O- RX- RX+ LKI /RST SRX STX L -LM L IT I OI T +LM -LM LI M LI M LK I O L K / ST B /STB LI M R /W LI M /WE R/W LI M LI M U / WR E I W /R I -LM +LM -LM +LM SE L /SEL / R M I I I I SE /IT OUT OUT OUT OUT REFL REF -I I I /IT O O O O /WR /I / - RY WB WM WM W LK QB WMS I M Q OTO /WR /I / RST /R /RST LT J +I +I -I -I +QB +QB -QB -QB +Q +Q -Q -Q +I +I -I -I +QB +QB -QB -QB +Q +Q -Q -Q / / E E FLT FLT +L +L -L -L OM OM / / E E FLT FLT +L +L -L -L OM OM K +I -I R /WR / W R M RY WM WM LK QB WMS I M Q Q Q I /R /M / S E L I / R M LKI M W WB U IO IO LK I M Q B M WM Q QB WM Q M I I M M M IT WMS WMS WMS QB /STB R/W /SEL QB I Q Q I REF.UF /S /WE /STB W WM WB IT W WB WMS WMS WMS QB J RI MO RX TX TX RX /RTS OFF TX RX /RST RST /S OU OU RY OU /WR /R /IT J J REF +I + REF REF REF R K J REF I u U R TO /TX + + RI /RX - RX - - RO - TI TX /TX TO TI TX /RX RI RO RX /TX /RX U TO /RTS + /TS - + RI MI - RO - - TI TO TI MO /TX TX /RX RI RO RX /RST MX R RX- /TX /TS /RX /RTS RX+ +LM U RX /RST RO /TS /RE B MO E TX /RTS I O- B +I -I +QB -QB +Q -Q +I -I +QB -QB +I -I +QB -QB +Q -Q +I -I +QB -QB +Q -QB +Q -Q -Q RX+ TX+ RS K R +I -I +QB -QB +Q -Q +I -I +QB -I +I I QB +QB -QB -Q +Q Q I +I -I U B Y Y B B Y / Y B LS U B Y -I +I I QB +QB -QB -Q +Q Q I +I -I -LU -L MU OM FLU FLT +LU +L -LU -L MU OM FLU FLT +LU +L -LU -L MU OM FLU FLT +LU +L -LU -L T OTO T T T T T T T T T T T T T T T -LM M I +LM -LM M I +LM -LM M I +LM -LM M I +LM RST /R -LU MU FLU +LU -LU MU FLU +LU -LU /RST RS K + MU FLU +LU -LU MU FLU +LU R RS K M I +LM -LM M I +LM R /TX /RX + RX /RTS TX RX U RO /RE E I LT U RO /RE E I /SEL B RS K R K RS -QB +QB QB Q +Q -Q Y B B Y / Y B LS U B B -QB Y +QB QB Y Y / Y Q B +Q B -Q LT B K RS LS MU OM FLU FLT +LU +L -LM M I +LM -LM M I +LM -LM + RX- RX+ - +I -I +QB -QB +Q -Q +I -I +QB R R +Q -QB +Q -Q -Q RX- TX J WMS WM WMS WM WMS WM WMS WM WB WB WB WB J W W W W RX- TX- TX+ RX+ TX- TX+ - U K I I I I I I I I O O O O O O O O /OE L / /I /RST /RST / /M RB K RB STE/TER, Inc. Title S M/ -XIS MOTIO OTROLLER / Size ocument umber RE B M.S ate: ecember, Sheet of LMS U - R K R REF R REF /STB R K O- R/W /SEL U R R QB REF LM REF R K O- K LMS UB LMS U K K + LMS U / / / U RF+ RF- U REF B OU B B OU SS B OU B RST S O B E O L B E /RST / O E O B E R/W K K UL J - +

17 RST /WR /R /I / UF RST /WR /R /I / UF UF U O O I BU BU BU BU BU B B BU B BU B OTO O RS K R BB BB O O I O U BB BB B B B B B B B B + + RS K R B B B B B B BU BU B BU B BU B BU B BU B BU B O O O O O O RST RST /WR B B B B B B B B /R R B /WR /WR ST B /WR B U B IS B I B B B /R / B B /R /R S / /I B B B B B B R ST / S U IS I + I + I + I + I + I + I + I + I + I + I + I + I + I + I + I + I T T T T T T T T T T T T T T T T B B B B B B B B B B B B B B B B I I I I I I I I J R R J RS RS I I I I I I I I J RS K R R R R BU BU K RS Title OTO ISOLTOR FOR MOTIO Size ocument umber RE B OTO.S ate: ecember, Sheet of