SmartPAC. SPC-5000 User Manual TPM. Version: V J30. To properly use the product, read this manual thoroughly is necessary.

Transcription

1 SmartPAC Version: V J30 To properly use the product, read this manual thoroughly is necessary. Part No.: 81-00SPC

2 Revision History Date Revision 2012/6/ Document creation. 2014/4/ Update the section of the terminal boards. 2. Add software APIs in according to the DLL. 2

3 Copyright 2012 TPM The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. ( TPM ), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes. The names of products and corporations appearing in this manual may or may not be registered trademarks, and may or may not have copyrights of their respective companies. These names should be used only for identification or explanation, and to the owners benefit, should not be infringed without any intention. The product s name and version number are both printed on the product itself. Released manual visions for each product design are represented by the digit before and after the period of the manual vision number. Manual updates are represented by the third digit in the manual vision number. Trademark MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered trademarks of Microsoft. BCB (Borland C++ Builder) is registered trademark of Borland. product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies. 3

4 Electrical safely To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system. When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected. Disconnect all power cables from the existing system before you add a device. Before connecting or removing signal cables from motherboard, ensure that all power cables are unplugged. Seek professional assistance before using an adapter or extension card. These devices could interrupt the grounding circuit. Make sure that your power supply is set to the voltage available in your area. If the power supply is broken, contact a qualified service technician or your retailer. Operational safely Please carefully read all the manuals that came with the package, before installing the new device. Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect and damage, contact the dealer immediately. To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and circuitry. Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may become wet. If you encounter technical problems with the product, contact a qualified service technician or the dealer. 4

5 Contents CONTENTS INTRODUCTION OVERVIEW FEATURES SMARTPAC-5111 HARDWARE SPECIFICATIONS SMARTPAC-5120 HARDWARE SPECIFICATIONS UTILITY SOFTWARE MOTIONNET DEVICES SYSTEM ARCHITECTURE GETTING START MECHANICAL DIMENSIONS INTERFACES Front Side CONNECTORS Remote Power On/Off Switch V DC Input Com1 to Com4 Serial Port GPIO RS-1 Motionnet Baudrate Selection /100/1000 Mbps Ethernet Port CFast socket Motionnet Rings SCSI 100 PIN TERMINAL BOARDS DB-100S Specification Layout Drawing Wiring Example T141-GEN SERIES Options of 107-T141-GEN Series Dimensions of 107-T141-GEN Product Category Module Introduction Example Specification Convention T141-GEN

6 T121-GEN Series Terminal Layout Drawing for 107-T141 and 107-T Wiring Examples SYSTEM SETUP INSTALLING A STORAGE DEVICE SATA Hard Drive Installation Compact Flash Card Installation INTERNAL USB DEVICE INSTALLATION Internal USB Device Installation DRIVER INSTALLATION MOTIONNET INTRODUCTION WHAT IS MOTIONNET? MOTIONNET FUNCTIONS ADVANTAGE OF MOTIONNET MOTIONNET PRODUCT FAMILY MYLINK INTERFACES Tool Bar Local 8DI/8DO PROJECT ENCRYPTION BENEFITS AES BRIEF INTRODUCTION FUNCTIONAL ARCHITECTURE FUNCTION REFERENCE MOTIONNET INITIALIZATION Hardware Initialization Library Initialization Motionnet Master DATA DEFINITION SMARTPAC-5000 PLATFORM FUNCTION LIBRARY System Operation GPIO Functions Security Functions Motionnet Operation Functions Ax-Motion Operation Functions FRAM Operation Functions Watchdog Timer (WDT) Functions SMARTPAC AXIS FUNCTION LIBRARY

7 Motion Initialization Pulse Input / Output Configurations Machine I/O Setting Functions Homing Control Functions Velocity Control Functions Position Control Functions Stop Control Functions Counter Operating Functions I/O Control Functions Linear Interpolation Arc Interpolation Helical Interpolation Compare Functions Latch Functions Continuous Functions Counter Comparator Trigger Out Functions Jog Functions APPENDIX A BIOS SETUP Main Menu Boot Priority Order Select Serial Port 2 Transmission Protocol Power Management Setup

8 1. Introduction Utilizing the Intel Atom D525, SmartPAC-5000 is a compact size and powerful PAC (Programmable Automation Controller). SmartPAC-5000 provides features including 3 RS-232 and 1 RS-232/422/485 com port, 4 USB slots, 1 VGA output, 2 Gigabit Ethernet ports, Isolated DIO (8-DI and 8-DO), external accessible CFast, and supports wide range DC-IN 16 to 28 V. With fanless thermal, compact size, small footprint, and wide operating temperatures -20 ~ 70 C (-4 ~ 157 F), SmartPAC-5000 provides high performance, high versatility, and easy to install in field cabinets, and ultra-reliable operating in the most demanding of industrial environment. For further expansion, SmartPAC-5000 model supports Motionnet and a ports or 4-Axis motion control. In addition, SmartPAC-5000 supports programmable GPIO 16-step rotary switch and 4 mode/ status LED displays, in order to provide more adaptability for various environment requests. Motionnet is a super high-speed serial communication system, digital-serial control interface for communication between host algorithm and axis-controllers, I/O devices and other function devices. Hence, The SmartPAC series is an idea system for industrial automation, machine automation and motion control markets Overview Figure 1-1: SPC-5000 overview 8

9 Figure 1-2: SPC-5000 and peripherals 1.2. Features Standard Functions Intel Atom D525, 1M Cache, 1.8GHz processor Single channel supports 2 DDR3 SO-DIMM, up to 4GB 2 Intel WG82583V Gigabit Ethernet ports DB15 VGA display 4 USB ports 3x RS232 and 1 RS-232/422/485 with automatic data flow control Supports SATA/SATA II for HDD/SSD Outside accessible CFast slot Onboard DC to DC power design to support 16V to 28V DC power input 2 Motionnet Rings 9

10 SmartPAC-5111 Model Advanced Functions 3 IEEE1394a ports SmartPAC-5120 Model Advanced Functions 4-axis motion control Support manual pulse generator 1.3. SmartPAC-5111 Hardware Specifications System Hardware CPU Intel Atom D525, 1M Cache, 1.8GHz Processor Chipset ICH8M Memory Single channel supports 2 DDR3 SO-DIMM, up to 4GB Storage Internal 2.5" SATA/SATA II for HDD/SSD Outside accessible CFast slot Integrated with Intel GMA 3150 Graphics Front DB 15 VGA Internal LVDS 24-bit Audio Internal stereo headphone, internal microphone Mini PCIe One internal I/O Interface Serial Ports 2 DB15 serial port: 3 RS-232, 1 RS-232/422/485 with automatic data flow control LAN 2 Intel GbE WG82583V USB 2.0 Front: 2 Internal: 2 Isolation protection on GPIO-16 (8DI/8DO) Programmable GPIO GPIO-4 (Programmable status/modes LED display) 16-step rotary switch (states/modes select) General Operating System Windows Embedded Standard Certifications CE, FCC Class A Dimensions 186mm x 147mm x 79mm (7.3" x 5.8" x 3.1") Weight 2.3 Kg (5.0 lb) Construction Aluminum chassis with fan-less design Mounting Wall-mounting for DIN-rail Power Requirements ATX Power mode: 2-pin remote power on/off switch Onboard DC to DC power support from 16V to 28VDC 10

11 Environment Operating temperature -20 C to 70 C (-4 F to 157 F) ambient temperature with air flow Storage temperature -40 C to 85 C (-40 F to 185 F) Humidity 0% to 95% humidity, non-condensing IEC Shock Protection CFast: Wall-mount, half sine, 11ms HDD: Wall-mount, half sine, 11ms IEC (Random 1 Oct./min, 1hr/axis.) Vibration Protection CFast: 5 5~500Hz, HDD: 1 5~500Hz Advanced Functions Motionnet Motionnet Master x 2 with RJ45 connector 30K bytes for users FRAM 2K bytes for system usage Provides three IEEE Std 1394a-2000 fully compliant cable ports IEEE1394a 100/200/400 megabits per second (Mbits/s). Texas Instruments TSB43AB SmartPAC-5120 Hardware Specifications System Hardware CPU Chipset Memory Storage Graphics Audio Mini PCIe I/O Interface Serial Ports LAN USB 2.0 Intel Atom D525, 1M Cache, 1.8GHz Processor ICH8M Single Channel Supports 2 DDR3 SO-DIMM, up to 4GB Internal 2.5" SATA/SATA II for HDD/SSD Outside Accessible CFast Slot Integrated with Intel GMA 3150 Front DB 15 VGA Internal LVDS 24-bit Internal stereo headphone, internal microphone One internal 2 DB15 serial port : 3 RS-232, 1 RS-232/422/485 with automatic data flow control 2 Intel GbE WG82583V Front: 2 Internal: 2 11

12 Isolation protection on GPIO-16 (8DI/8DO) Programmable GPIO GPIO-4 (Programmable status/modes LED display) 16-step rotary switch (states/modes select) General Operating System Windows Embedded Standard Certifications CE, FCC Class A Dimensions 186mm x 147mm x 79mm (7.3" x 5.8" x 3.1") Weight 2.3 Kg (5.0 lb) Construction Aluminum chassis with fan-less design Mounting Wall-mounting for DIN-rail ATX Power mode: 2-pin remote power on/off switch Power Requirements Onboard DC to DC power support from 16V to 28VDC Environment Operating temperature -20 C to 70 C (-4 F to 157 F) Ambient Temperature with Air Flow Storage temperature -40 C to 85 C (-40 F to 185 F) Humidity 0% to 95% humidity, non-condensing IEC Shock Protection CFast: Wall-mount, half sine, 11ms HDD: Wall-mount, half sine, 11ms IEC (Random 1 Oct./min, 1hr/axis.) Vibration Protection CFast: 5 5~500Hz, HDD: 1 5~500Hz Advanced Functions Motionnet Motionnet Master x 2 with RJ45 connector 30K bytes for users FRAM 2K bytes for system usage 4-Axis Motion Control Motion Control Support Manual pulse generator 1.5. Utility Software MyLink is a useful diagnostic utility used to test, set and verify the functionalities of modules hooked up to Motionnet master. It simplifies the operation and adjustment of modules which could be complicated. So far, MyLink supports modules such as analog I/O, digital I/O, counters, and motion control. The screenshot of MyLink is as follows: 12

13 Figure 1-3: screenshot of MyLink 1.6. Motionnet Devices SmartPAC-5000 equipped two Motionnet master interfaces which are designed for users to quickly and easily develop applications, such as motion control and controls of I/O, consisting high speed network extension called Motionnet. The communication speed of Motionnet is 20Mbps by default, 10Mbps, 5Mbps and 2.5Mbps and each ring could control up to 64 devices simplified the wiring and control complexity in factory and machine automation. Motionnet is designed for versatile automation applications, especially with motion control requirements. The Motionnet master is equipped with 2 masters, Ring_0 and Ring_1. The more detailed will be introduced in the Motionnet user manual. 13

14 1.7. System Architecture Figure 1-4: SPC-5000 system architecture 14

15 2. Getting Start 2.1. Mechanical Dimensions Figure 2-1: the dimensions of SmartPAC

16 16

17 17

18 2.2. Interfaces SmartPAC-5000 provides various kinds of I/O interfaces, including USB, Ethernet, Compact Flash card, VGA, RS232, remote switch, GPIO, etc. With the plentiful supply of the I/O, SmartPAC-5000 can fully fulfill customers requirements. Moreover, SPC-5000 series build in the Motionnet master, which can connect to up to 128 Motionnet slave devices. There are two basic models of SPC-5000 series, SPC-5111 contains 2 Motionnet master and 3 IEEE 1394a interfaces and SPC-5120 contains 4-axis motion control and manual pulse generator (handwheel) according to user requirements Front Figure 2-2: Front I/O interfaces of SPC-5111 Label Function VGA Used to connect an analog VGA monitor. LAN Used to connect the system to a local area network. LED Status Programmable status/modes LED display. USB Provides extensions for USB 2.0/1.1 devices. GPIO Isolation protection on 8DI/8DO Used to connect IEEE 1394a devices. Motionnet Connecting to Motionnet slave modules. Rotary Switch 1 Motionnet speed selection. Reset To reset the system without turning off the power. Momentarily pressing the switch will activate a reset. Table 2-1: Front side connector of SPC

19 Figure 2-3: Front I/O interfaces of SPC-5120 Label VGA LAN LED Status USB GPIO 4Axis Motion Motionnet MPG Reset Function Used to connect an analog VGA monitor. Used to connect the system to a local area network. Programmable status/modes LED display. Provides extensions for USB 2.0/1.1 devices. Isolation protection on 8DI/8DO. 4 Axis motion SCSI 100 pins connector. Connecting to Motionnet slave modules. Connecting to manual pulse generator. To reset the system without turning off the power. Momentarily pressing the switch will activate a reset. Table 2-2: Front side connector of SPC

20 Side Figure 2-4: Side I/O interfaces Label CFast socket Com1/Com2 Com3/Com4 Power LED HD LED Rotary Switch 16V-28V DC Input Remote Power Switch Function Connect to a remote controller to toggle the power switch. DB15 port supports 1 RS232 and 1 RS232/422/485 compatible serial devices. DB15 port supports 2 RS232 compatible serial devices. Indicates the power status. Indicates the R/W status of the hard drive. 16-step rotary switch (states/modes select) Power input connector. Connect to a remote controller to toggle the power switch. Table 2-3: Top side connector 2.3. Connectors Remote Power On/Off Switch It is a 2-pin power-on or power-off switch through Phoenix contact terminal block. Users could turn on or off the system power by using this interface. This terminal block support dual function of soft power-on / power-off (instant off or delay 4 second), and suspend mode. 20

21 V DC Input Pin No. Definition 1 24V 24V DC power input 2 GND Ground 3 FG Frame ground Figure 2-5: 24V DC Input Table 2-4: power connector pin definition Com1 to Com4 Serial Port Figure 2-6: Serial Port Serial interface (com1/2 and com3/4) Connector size: 15-pin D-Sub Serial ports 1 and 2 have combined in a male DB15 connector and port 2 can be configured for RS-232, RS-422, or RS-485 with auto flow control communication. Serial port 2 default setting is RS-232. It could be adjusted as RS-422 or RS-485 by changing the settings in the BIOS. Users can use the Y-type cable to convert the 15-pin D-Sub connector into two 9-pin D-Sub connectors to connect both COM1 and COM2 at the same time. The pin assignments are shown in the following table: Com Port Pin No. RS-232 RS-422 (4-Wire) RS-485 (2-Wire) 1 1 DCD RXD TXD DTR GND DSR RTS CTS RI

22 Com Port Pin No. RS-232 RS-422 (4-Wire) RS-485 (2-Wire) 2 11 RXD RXD TXD RXD RTS TXD+ DATA+ 14 CTS TXD- DATA- 15 GND GND GND Table 2-5: power connector pin definition Serial ports 3 and 4 have combined in a male DB15 connector. Users can use the Y-type cable to convert the 15-pin D-Sub connector into two 9-pin D-Sub connectors to connect both COM3 and COM4 at the same time. The pin assignments are shown in the following table: Com Port Pin No. RS DCD RXD TXD DTR GND DSR RTS CTS RI RXD TXD RTS CTS GND Table 2-6: power connector pin definition 22

23 GPIO Isolated 8DI/8DO Figure 2-7: Isolated DI/O The SPC-5000 offers a 16-bit DIO (8-DI / 8-DO) SCSI-20 pin connector. Each bit of DI and DO equipped with a photo-coupler for isolated protection. The definition is shown below: Pin No. Definition Pin No. Definition 1 EXT_IN0 GPIO Input 0 11 EXT_OUT0 GPIO Output 0 2 EXT_IN1 GPIO Input 1 12 EXT_OUT1 GPIO Output 1 3 EXT_IN2 GPIO Input 2 13 EXT_OUT2 GPIO Output 2 4 EXT_IN3 GPIO Input 3 14 EXT_OUT3 GPIO Output 3 5 EXT_IN4 GPIO Input 4 15 EXT_OUT4 GPIO Output 4 6 EXT_IN5 GPIO Input 5 16 EXT_OUT5 GPIO Output 5 7 EXT_IN6 GPIO Input 6 17 EXT_OUT6 GPIO Output 6 8 EXT_IN7 GPIO Input 7 18 EXT_OUT7 GPIO Output 7 9 DI_COM GPIO COM 19 Reserved NC 10 EGND GPIO GND 20 E24V External 24V DC Table 2-7: pin definition of the 8DI/8DO Digital GPIO input signal circuit in SINK mode (NPN) is illustrated as follows. Figure 2-8: signal circuit of input NPN 23

24 Digital GPIO input signal circuit in SOURCE mode (PNP) is illustrated as follows. Figure 2-9: signal circuit of input PNP Digital GPIO output signal circuit in SINK mode (NPN) is illustrated as follows. Figure 2-10: signal circuit of output NPN LED Indicator SmartPAC-5000 offers 4 programmable LEDs on front panel. The function is for indicating the status of the system. The detailed programming description is not introduced here. Please refer to the section 7. Figure 2-11: LED Rotary Switch Figure 2-12: Rotary switch Main function of the rotary switch is as an input indicator for software. For instance, indicates which program or application to be executed. The detailed programming description is not introduced here. Please refer to the section 7. Function Reference. 24

25 RS-1 Motionnet Baudrate Selection The RS-1 is used to set the baud-rate of Motionnet Rings. Users can choose the baud-rate by switching RS-1. The definition of this switch is as followed: The default setting is: Ring_0: 20Mpbs, Ring_1: 20Mbps. Ring 0 Ring 1 Ring 0 Ring A B C D E F Table 2-8: Motionnet baudrate selection definition /100/1000 Mbps Ethernet Port The Ethernet ports use standard RJ-45 jack connectors with LED indicators on the front side to show active/link status and speed status. The LED indicators on the bottom corners show the cable is properly connected to a 100 Mbps or 1000 Mbps Ethernet network as shown below: Figure 2-13: Serial Port Pin No. 10/100 Mbps 1000 Mbps 1 E_TX+ MDI0_P 2 E_TX- MDI0_N 3 E_RX+ MDI1_P MDI2_P MDI2_N 6 E_RX- MDI1_N MDI3_P MDI3_N Table 2-9: pin definition of the Ethernet port LED 10 Mbps 100 Mbps 1000 Mbps Right bottom LED Off Solid green Solid orange Left bottom LED Flash yellow Flash yellow Flash yellow Table 2-10: The indicator of LAN ports 25

26 CFast socket Connector type: 7+17-pin CFast Card connector consisting of a SATA compatible 7-pin signal connector and a 17-pin power and control connector. The SmartPAC-5000 system comes with a CFast socket. Be sure to disconnect the power source and unscrew the CFast socket cover before installing a CFast card. The SmartPAC-5000 does not support the CFast hot swap and PnP (Plug and Play) functions. It is necessary to remove power source first before inserting or removing the CFast card. Figure 2-14: CFast socket Motionnet Rings Figure 2-15: Motionnet extension connector Ring Pin Pin Mark Pin 1 NC Reserved 2 NC Reserved 3 RS485+ Motionnet protocol + 4 NC Reserved 5 NC Reserved 6 RS485- Motionnet protocol - 7 NC Reserved 8 NC Reserved Table 2-11: pin definition of the Motionnet Ring SCSI 100 PIN The follow table shows the 100 pin definitions for 4-axis motion connector. (SmartPAC-5120 only) Figure 2-16: 100 pin connector for motion 26

27 Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Pin Label I/O 1 st / 2 nd / 3 rd / 4 th 1 24V +24V / 200mA power input 51 24V +24V / 200mA power input 2 EGND External ground 52 EGND External ground 3 EMG I Emergency signal 53 EMG I Emergency signal 4 MEL_1 I 1 st end limit (-) 54 MEL_3 I 3 rd end limit (-) 5 PEL_1 I 1 st end limit (+) 55 PEL_3 I 3 rd end limit (+) 6 ORG_1 I 1 st home signal 56 ORG_3 I 3 rd home signal 7 SLD_1 I 1 st ramp-down signal 57 SLD_3 I 3 rd ramp-down signal 8 MEL_2 I 2 nd end limit (-) 58 MEL_4 I 4 th end limit (-) 9 PEL_2 I 2 nd end limit (+) 59 PEL_4 I 4 th end limit (+) 10 ORG_2 I 2 nd home signal 60 ORG_4 I 4 th home signal 11 SLD_2 I 2 nd ramp-down signal 61 SLD_4 I 4 th ramp-down signal 12 RDY_1 I 1 st servo ready 62 RDY_3 I 3 rd servo ready 13 INP_1 I 1 st servo in-position signal 63 INP_3 I 3 rd servo in-position signal 14 ALM_1 I 1 st servo alarm 64 ALM_3 I 3 rd servo alarm 15 LTC_1 I 1 st latch input 65 LTC_3 I 3 rd latch input 16 RDY_2 I 2 nd servo ready 66 RDY_4 I 4 th servo ready 17 INP_2 I 2 nd servo in-position signal 67 INP_4 I 4 th servo in-position signal 18 ALM_2 I 2 nd servo alarm 68 ALM_4 I 4 th servo alarm 19 LTC_2 I 2 nd latch input 69 LTC_4 I 4 th latch input 20 EGND External ground 70 EGND External ground 21 SVON_1 O 1 st servo on 71 SVON_3 O 3 rd servo on 22 ERC_1 O 1 st clear servo error counter 72 ERC_3 O 3 rd clear servo error counter 23 ALMC_1 O 1 st reset servo alarm 73 ALMC_3 O 3 rd reset servo alarm 24 CMP_1 O 1 st compare output 74 CMP_3 O 3 rd compare output 25 SVON_2 O 2 nd servo on 75 SVON_4 O 4 th servo on 26 ERC_2 O 2 nd clear servo error counter 76 ERC_4 O 4 th clear servo error counter 27 ALMC_2 O 2 nd reset servo alarm 77 ALMC_4 O 4 th reset servo alarm 28 CMP_2 O 2 nd compare output 78 CMP_4 O 4 th compare output 29 EA+_1 I 1 st encoder A phase (+) 79 EA+_3 I 3 rd encoder A phase (+) 30 EA-_1 I 1 st encoder A phase (-) 80 EA-_3 I 3 rd encoder A phase (-) 31 EB+_1 I 1 st encoder B phase (+) 81 EB+_3 I 3 rd encoder B phase (+) 32 EB-_1 I 1 st encoder B phase (-) 82 EB-_3 I 3 rd encoder B phase (-) 33 EZ+_1 I 1 st encoder Z phase (+) 83 EZ+_3 I 3 rd encoder Z phase (+) 34 EZ-_1 I 1 st encoder Z phase (-) 84 EZ-_3 I 3 rd encoder Z phase (-) 35 EA+_2 I 2 nd encoder A phase (+) 85 EA+_4 I 4 th encoder A phase (+) 36 EA-_2 I 2 nd encoder A phase (-) 86 EA-_4 I 4 th encoder A phase (-) 37 EB+_2 I 2 nd encoder B phase (+) 87 EB+_4 I 4 th encoder B phase (+) 38 EB-_2 I 2 nd encoder B phase (-) 88 EB-_4 I 4 th encoder B phase (-) 27

28 Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Pin Label I/O 1 st / 2 nd / 3 rd / 4 th 39 EZ+_2 I 2 nd encoder Z phase (+) 89 EZ+_4 I 4 th encoder Z phase (+) 40 EZ-_2 I 2 nd encoder Z phase (-) 90 EZ-_4 I 4 th encoder Z phase (-) 41 DDA 5V DDA 5V power output. DDA 5V power output. 91 DDA 5V I<100mA I<100mA 42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground 43 DIR+_1 O 1 st direction signal (+) 93 DIR+_3 O 3 rd direction signal (+) 44 DIR-_1 O 1 st direction signal (-) 94 DIR-_3 O 3 rd direction signal (-) 45 OUT+_1 O 1 st pulse signal (+) 95 OUT+_3 O 3 rd pulse signal (+) 46 OUT-_1 O 1 st pulse signal (-) 96 OUT-_3 O 3 rd pulse signal (-) 47 DIR+_2 O 2 nd direction signal (+) 97 DIR+_4 O 4 th direction signal (+) 48 DIR-_2 O 2 nd direction signal (-) 98 DIR-_4 O 4 th direction signal (-) 49 OUT+_2 O 2 nd pulse signal (+) 99 OUT+_4 O 4 th pulse signal (+) 50 OUT-_2 O 2 nd pulse signal (-) 100 OUT-_4 O 4 th pulse signal (-) Table 2-12: 100 pin definition Note that signals SVON, ERC and RALM are NPN type digital output signals which are connected to ground when the individual signal is ON. ALM, INP and RDY are NPN type digital input signals which are connected to ground when the individual signal is ON as well. The logic circuit of LTC in NPN type is as following figure. Figure 2-17: LTC logic circuit in NPN type The logic circuit of CMP in NPN type is as following figure. Figure 2-18: CMP logic circuit in NPN type 28

29 3. Terminal Boards This chapter just applied for SmartPAC The 4-axis motion control interface is via the 100 pin SCSI connector on SmartPAC By connecting to a terminal board, users could do the cabling on the board which is one-to-one pin mapped. The terminal board DB-100S-01 and 107-T141-GEN series are introduced in this manual DB-100S Specification SCSI 100 with 1.27mm pitch pin female connector DIN rail installation Dimension is L-157 x W-122 x H-45 mm Screw terminal Pitch is 5.00mm Cabling spec. is: 26~14 AWG Working temp.: 0 to Layout Drawing Figure 1-1: layout drawing of the terminal board DB The SCSI 100 pin definitions are shown in the following figures. 29

30 Figure 1-2: SCSI 100 pin definition Figure 1-3: screw terminal definition Figure 1-4: screw terminal definition 30

31 Wiring Example Pin definition for Panasonic Minas A series drivers. Figure 1-5: Panasonic Minas A series pin assignment 31

32 Pin definition for Mitsubishi J2S series drivers. Figure 1-6: Pin definition for Mitsubishi J2S series drivers. 32

33 Pin definition for Yaskawa SGDM Sigma II series drivers. Figure 1-7: Pin definition for Yaskawa SGDM Sigma II series drivers. 33

34 T141-GEN Series Options of 107-T141-GEN Series The 107-T141-GEN is a versatile terminal board working as a bridge along with the SCSI 100-pin motion connector and servo driver connectors. While choosing 107-T141-GEN, it is necessary to select the corresponding DB series terminal boards in relation to motor drivers Dimensions of 107-T141-GEN Figure 1-8: dimensions of 107-T141-GEN, unit: mm Product Category T141-GEN (versatile terminal board) 2. Modules for 107-T141-GEN (1) DB-T141-DAA (2) DB-T141-DAB (3) DB-T141-DUM (4) DB-T141-DUME (5) DB-T141-YS2 (6) DB-T141-SAN (7) DB-T141-PA4 (8) DB-T141-MJ3 (9) DB-T141-EZS 34

35 Driver Type Add modules of 107-T141 Terminal Board Series Delta B Type Driver DB-T141-DAA DB-T141-DAB Servo or stepping Driver DB-T141-DUM DB-T141-DUME Yaskawa Sigma-II/V Driver DB-T141-YS2 107-T141-GEN Sanyo Q series Driver DB-T141-SAN Panasonic Minas A Driver DB-T141-PA4 Mitsubishi MR-J3 Driver DB-T141-MJ3 Ezi-SERVO Driver DB-T141-EZS Table 3-1: 107-T141-GEN and daughter board modules Module Introduction The 107-T141-GEN terminal board has 4 connector sockets from left to right with number 1 to 4 correspondingly. The figure below illustrates the connector number on the board. These selections compose the naming convention of the product which will be introduced in the following section. 35

36 Figure 1-9: connector socket number of 107-T141-GEN Example If a user needs 4 axes motion control with 2 Delta B type, 1 Panasonic Minas A and 1 Mitsubishi MR-J3 drivers, the items needed would be 107-T141-GEN * 1, DB-T141-DAB * 2, DB-T141-PA4 * 1 and DB-T141-MJ3 * 1 as the following table. Add modules of 107-T141 Site Driver Terminal Board Series 1 2 Delta B Type Driver DB-T141-DAB 3 Panasonic Minas A Driver DB-T141-PA4 107-T141-GEN 4 Mitsubishi MR-J3 Driver DB-T141-MJ3 Table 3-2: selected list example 36

37 Specification Convention According to the previous example, the product specification is 107-T141 with DABx2 + PA4 + MJ3. The specification is composed similar to the product name introduced in the previous section. 107-T141 with DABx2 + PA4 +MJ3 = 107-T141-GEN spec. + DB-T141-DAB spec. * 2 + DB-T141-PA4 spec. + DB-T141-MJ3 spec. 37

38 T141-GEN Figure 1-10: 107-T141-GEN terminal board Label CN1 CN2 CN3 CN4 CN5 CN6 CN7 CN8 CN9 CN10 CN12 CN13 CN14 CN15 Function 1 st Reserved IO Signals Connector 1 st Machinery IO Signals Connector 2 nd Reserved IO Signals Connector 2 nd Machinery IO Signals Connector 3 rd Reserved IO Signals Connector 3 rd Machinery IO Signals Connector 4 th Reserved IO Signals Connector 4 th Machinery IO Signals Connector Power Connector SCSI 100 pin Connector 1 st DB Connector 2 nd DB Connector 3 rd DB Connector 4 th DB Connector 38

39 CN10 SCSI 100 pin Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Pin Label I/O 1 st / 2 nd / 3 rd / 4 th 1 24V +24V / 200mA power input 51 24V +24V / 200mA power input 2 EGND External ground 52 EGND External ground 3 EMG I Emergency signal 53 EMG I Emergency signal 4 MEL 1 I 1 st end limit (-) 54 MEL 3 I 3 rd end limit (-) 5 PEL 1 I 1 st end limit (+) 55 PEL 3 I 3 rd end limit (+) 6 ORG 1 I 1 st home signal 56 ORG 3 I 3 rd home signal 7 SLD 1 I 1 st ramp-down signal 57 SLD 3 I 3 rd ramp-down signal 8 MEL 2 I 2 nd end limit (-) 58 MEL 4 I 4 th end limit (-) 9 PEL 2 I 2 nd end limit (+) 59 PEL 4 I 4 th end limit (+) 10 ORG 2 I 2 nd home signal 60 ORG 4 I 4 th home signal 11 SLD 2 I 2 nd ramp-down signal 61 SLD 4 I 4 th ramp-down signal 12 RDY 1 I 1 st servo ready 62 RDY 3 I 3 rd servo ready 13 INP 1 I 1 st servo in-position signal 63 INP 3 I 3 rd servo in-position signal 14 ALM 1 I 1 st servo alarm 64 ALM 3 I 3 rd servo alarm 15 LTC 1 I 1 st latch input 65 LTC 3 I 3 rd latch input 16 RDY 2 I 2 nd servo ready 66 RDY 4 I 4 th servo ready 17 INP 2 I 2 nd servo in-position signal 67 INP 4 I 4 th servo in-position signal 18 ALM 2 I 2 nd servo alarm 68 ALM 4 I 4 th servo alarm 19 LTC 2 I 2 nd latch input 69 LTC 4 I 4 th latch input 20 EGND External ground 70 EGND External ground 21 SVON 1 O 1 st servo on 71 SVON 3 O 3 rd servo on 22 ERC 1 O 1 st clear servo error counter 72 ERC 3 O 3 rd clear servo error counter 23 ALMC 1 O 1 st reset servo alarm 73 ALMC 3 O 3 rd reset servo alarm 24 CMP 1 O 1 st compare output 74 CMP 3 O 3 rd compare output 25 SVON 2 O 2 nd servo on 75 SVON 4 O 4 th servo on 26 ERC 2 O 2 nd clear servo error counter 76 ERC 4 O 4 th clear servo error counter 27 ALMC 2 O 2 nd reset servo alarm 77 ALMC 4 O 4 th reset servo alarm 28 CMP 2 O 2 nd compare output 78 CMP 4 O 4 th compare output 29 EA+ 1 I 1 st encoder A phase (+) 79 EA+ 3 I 3 rd encoder A phase (+) 30 EA- 1 I 1 st encoder A phase (-) 80 EA- 3 I 3 rd encoder A phase (-) 31 EB+ 1 I 1 st encoder B phase (+) 81 EB+ 3 I 3 rd encoder B phase (+) 32 EB- 1 I 1 st encoder B phase (-) 82 EB- 3 I 3 rd encoder B phase (-) 33 EZ+ 1 I 1 st encoder Z phase (+) 83 EZ+ 3 I 3 rd encoder Z phase (+) 34 EZ- 1 I 1 st encoder Z phase (-) 84 EZ- 3 I 3 rd encoder Z phase (-) 35 EA+ 2 I 2 nd encoder A phase (+) 85 EA+ 4 I 4 th encoder A phase (+) 36 EA- 2 I 2 nd encoder A phase (-) 86 EA- 4 I 4 th encoder A phase (-) 37 EB+ 2 I 2 nd encoder B phase (+) 87 EB+ 4 I 4 th encoder B phase (+) 38 EB- 2 I 2 nd encoder B phase (-) 88 EB- 4 I 4 th encoder B phase (-) 39 EZ+ 2 I 2 nd encoder Z phase (+) 89 EZ+ 4 I 4 th encoder Z phase (+) 40 EZ- 2 I 2 nd encoder Z phase (-) 90 EZ- 4 I 4 th encoder Z phase (-) 41 DDA 5V DDA 5V power output. 91 DDA 5V DDA 5V power output. I<100mA 42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground 43 DIR+ 1 O 1 st direction signal (+) 93 DIR+ 3 O 3 rd direction signal (+) 44 DIR- 1 O 1 st direction signal (-) 94 DIR- 3 O 3 rd direction signal (-) 45 OUT+ 1 O 1 st pulse signal (+) 95 OUT+ 3 O 3 rd pulse signal (+) 46 OUT- 1 O 1 st pulse signal (-) 96 OUT- 3 O 3 rd pulse signal (-) 47 DIR+ 2 O 2 nd direction signal (+) 97 DIR+ 4 O 4 th direction signal (+) 48 DIR- 2 O 2 nd direction signal (-) 98 DIR- 4 O 4 th direction signal (-) 49 OUT+ 2 O 2 nd pulse signal (+) 99 OUT+ 4 O 4 th pulse signal (+) 50 OUT- 2 O 2 nd pulse signal (-) 100 OUT- 4 O 4 th pulse signal (-) 39

40 CN1/ CN3/ CN5/ CN7 encoder signals connector Pin Label 1 N-1 Reserved 2 N-2 Reserved 3 N-3 Reserved 4 N-4 Reserved 5 N-5 Reserved 6 N-6 Reserved 7 CMP Compare output 8 GND External Ground(24V) 9 BK+ Brake signal(+) 10 BK- Brake signal(-) 11 24V +24V power 12 24V +24V power CN2/ CN4/ CN6/ CN8 machinery I/O signals connector Pin Label 1 PEL End Limit Signal(+) 2 GND External Ground(24V) 3 MEL End Limit Signal(-) 4 GND External Ground(24V) 5 ORG home signal 6 GND External Ground(24V) 7 LTC Latch input 8 GND External Ground(24V) 9 SLD ramp-down signal 10 GND External Ground(24V) 11 24V +24V power 12 24V +24V power 40

41 CN11 / CN12 / CN13 / CN14 Servo driver connector sockets Pin Label I/O Pin Label I/O 1 EA+ I Encoder A phase signal(+) 2 24V +24V power 3 EA- I Encoder A phase signal(-) 4 GND External Ground(24V) 5 EB+ I Encoder B phase signal(+) 6 MEL I End Limit Signal(-) 7 EB- I Encoder B phase signal(-) 8 PEL I End Limit Signal(+) 9 EZ+ I Encoder Z phase signal(+) 10 RDY I Servo Ready 11 EZ- I Encoder Z phase signal(-) 12 INP I Servo In-position signal 13 OUT- O Pulse signal(-) 14 ALM O Servo Alarm 15 OUT+ O Pulse signal(+) 16 SVON O Servo On 17 DIR- O Dir. Signal(-) 18 ERC O Clear Servo Error Counter 19 DIR+ O Dir. Signal(+) 20 ALMC O Clear Servo Alarm 21 GND External Ground(24V) 22 BRK- O Brake signal(-) 23 5V +5V Power 24 BRK+ O Brake signal(+) 25 N-1 Reserved 26 N-2 Reserved 27 N-3 Reserved 28 N-4 Reserved 29 N-5 Reserved 30 N-6 Reserved CN9 Power input and emergency input signal Pin Label 1 24V +24V Power 2 GND Ground 3 EMG Emergency Signal 41

42 T121-GEN Figure 1-11: drawing of 107-T121-GEN Label CN1 CN2 CN3 CN4 CN5 CN6 CN7 CN8 Function 1 st DB Connector 2 nd DB Connector SCSI 68 pin Connector Power Connector 1 st Machinery I/O Signals Connector 1 st Reserved I/O Signals Connector 2 nd Machinery IO Signals Connector 2 nd Reserved IO Signals Connector 42

43 CN3 SCSI 68 pin Pin Label I/O Pin Label I/O 1 5V +5V power 35 5V +5V power 2 EGND External ground 36 EGND External ground 3 OUT+_1 O 1 st pulse signal (+) 37 OUT+_2 O 2 nd pulse signal (+) 4 OUT-_1 O 1 st pulse signal (-) 38 OUT-_2 O 2 nd pulse signal (-) 5 DIR+_1 O 1 st direction signal (+) 39 DIR+_2 O 2 nd direction signal (+) 6 DIR-_1 O 1 st direction signal (-) 40 DIR-_2 O 2 nd direction signal (-) 7 EGND External ground 41 EGND External ground 8 EA+_1 I 1 st encoder A phase (+) 42 EA+_2 I 2 nd encoder A phase (+) 9 EA-_1 I 1 st encoder A phase (-) 43 EA-_2 I 2 nd encoder A phase (-) 10 EB+_1 I 1 st encoder B phase (+) 44 EB+_2 I 2 nd encoder B phase (+) 11 EB-_1 I 1 st encoder B phase (-) 45 EB-_2 I 2 nd encoder B phase (-) 12 EZ+_1 I 1 st encoder Z phase (+) 46 EZ+_2 I 2 nd encoder Z phase (+) 13 EZ-_1 I 1 st encoder Z phase (-) 47 EZ-_2 I 2 nd encoder Z phase (-) 14 24V +24V / 200mA power 48 24V +24V / 200mA power 15 PEL_1 I 1 st end limit (+) 49 PEL_2 I 2 nd end limit (+) 16 MEL_1 I 1 st end limit (-) 50 MEL_2 I 2 nd end limit (-) 17 24V +24V / 200mA power input 51 24V +24V / 200mA power 18 ORG_1 I 1 st home signal 52 ORG_2 I 2 nd t home signal 19 SLD_1 I 1 st ramp-down signal 53 SLD_2 I 2 nd ramp-down signal 20 EGND External ground 54 EGND External ground 21 SVON_1 O 1 st servo on 55 SVON_2 O 2 nd servo on 22 ALM_1 I 1 st servo alarm 56 ALM_2 I 2 nd servo alarm 23 INP_1 I 1 st servo in-position signal 57 INP_2 I 2 nd servo in-position signal 24 ERC_1 O 1 st clear servo error counter 58 ERC_2 O 2 nd clear servo error counter 25 ALMC_1 O 1 st reset servo alarm 59 ALMC_2 O 2 nd reset servo alarm 26 RDY_1 I 1 st servo ready 60 RDY_2 I 2 nd servo ready 27 EGND External ground 61 EGND External ground 28 LTC_1 I 1 st latch input 62 LTC_2 I 2 nd latch input 29 CMP_1 O 1 st compare output 63 CMP_2 O 2 nd compare output 30 EGND External ground 64 EGND External ground 31 EMG I Emergency signal 65 DI_2 I 2 nd digital input 32 DO_1 I 1 st digital output 66 DO_2 I 2 nd digital output 33 EGND External ground 67 EGND External ground 34 24V +24V / 200mA power 68 24V +24V / 200mA power 43

44 CN5/ CN7 machinery I/O signals connector Pin Label 1 PEL End Limit Signal(+) 2 EGND External Ground(24V) 3 MEL End Limit Signal(-) 4 EGND External Ground(24V) 5 ORG home signal 6 EGND External Ground(24V) 7 SLD ramp-down signal 8 EGND External Ground(24V) 9 EMG CN5( EMG : Emergency signal), CN7( DI: Digital input) 10 LTC Latch input 11 24V +24V power 12 24V +24V power CN6/CN8 Reserved IO signals connector Pin Label 1 N-1 Reserved 2 N-2 Reserved 3 N-3 Reserved 4 N-4 Reserved 5 N-5 Reserved 6 N-6 Reserved 7 DO_X Digital output 8 CMP Compare output 9 BK+ Brake signal(+) 10 EGND External Ground(24V) 11 24V +24V power 12 24V +24V power CN4 Power input and emergency input signal Pin Label 1 24V +24V Power 2 EGND External Ground 3 FG 4 24V +24V Power 5 EGND External Ground 6 FG

45 CN1/CN2 Pin Label I/O Pin Label I/O 1 EA+ I Encoder A phase signal(+) 2 24V +24V power 3 EA- I Encoder A phase signal(-) 4 EGND External Ground(24V) 5 EB+ I Encoder B phase signal(+) 6 MEL I End Limit Signal(-) 7 EB- I Encoder B phase signal(-) 8 PEL I End Limit Signal(+) 9 EZ+ I Encoder Z phase signal(+) 10 RDY I Servo Ready 11 EZ- I Encoder Z phase signal(-) 12 INP I Servo In-position signal 13 OUT- O Pulse signal(-) 14 ALM O Servo Alarm 15 OUT+ O Pulse signal(+) 16 SVON O Servo On 17 DIR- O Dir. Signal(-) 18 ERC O Clear Servo Error Counter 19 DIR+ O Dir. Signal(+) 20 ALMC O Clear Servo Alarm 21 EGND External Ground(24V) 22 EGND External Ground(24V) 23 5V +5V Power 24 BRK+ O Brake signal(+) 25 N-1 Reserved 26 N-2 Reserved 27 N-3 Reserved 28 N-4 Reserved 29 N-5 Reserved 30 N-6 Reserved 45

46 Series Terminal Layout Drawing for 107-T141 and 107-T121 DB-T141-DUM dummy type interface board. DB-T141-DUM Pin Label Pin Label 1 RDY Servo Ready 7 +5V +5V Power 2 INP Servo In-position signal 8 IGND 5V Ground 3 ALM Servo Alarm 9 DIR+ Dir. Signal(+) 4 SVON Servo On 10 DIR- Dir. Signal(-) 5 ERC Clear Servo Error Counter 11 OUT+ Pulse signal(-) 6 ALMC Clear Servo Alarm 12 OUT- Pulse signal(+) Note: the dummy type does not have the encoder interface. If users want to connect the EA, EB, EZ of the servo driver feedback to the controller, please contact TPM for customization. DB-T141-DUME dummy type interface board. DB-T141-DUME Pin Label Pin Label 1 EA+ Encoder A phase signal(+) 1 RDY Servo Ready 2 EA- Encoder A phase signal(-) 2 INP Servo In-position signal 3 EB+ Encoder B phase signal(+) 3 ALM Servo Alarm 4 EB- Encoder B phase signal(-) 4 SVON Servo On 5 EZ+ Encoder Z phase signal(+) 5 ERC Clear Servo Error Counter 6 EZ- Encoder Z phase signal(-) 6 ALMC Clear Servo Alarm 7 EGND External ground 7 +5V +5V Power 8 EGND External ground 8 EGND External ground 9 DIR+ Dir. Signal(+) 10 DIR- Dir. Signal(-) 11 OUT+ Pulse signal(-) 12 OUT- Pulse signal(+) 46

47 DB-T141-DAA Delta A2 type interface board. DB-T141-DAA Pin Label Pin Label 1 INP Servo In-position signal 26 EGND External ground 2 EGND External ground 27 EGND External ground 3 DO3 HOME 28 ALM Servo Alarm 4 EGND External ground 29 NC Reserved 5 DO4 TPOS 30 EGND External ground 6 EGND External ground 31 MEL End Limit Signal(-) 7 RDY Servo Ready 32 PEL End Limit Signal(+) 8 DI4 TCM1 33 ALMC Clear Servo Alarm 9 SVON Servo On 34 DI3 TCM0 10 ERC Clear Servo Error Counter 35 NC Reserved V +24V 36 DIR+ Dir. Signal(+) 12 EGND External ground 37 DIR- Dir. Signal(-) 13 EGND External ground 38 NC Reserved 14 NC Reserved 39 NC Reserved 15 MON2 MON2 40 NC Reserved 16 MON1 MON1 41 OUT+ Pulse signal(+) 17 NC Reserved 42 NC Reserved 18 NC Reserved 43 OUT- Pulse signal(-) 19 EGND External ground 44 NC Reserved 20 NC Reserved 45 EGND External ground 21 EA+ Encoder A phase signal(+) 46 NC Reserved 22 EA- Encoder A phase signal(-) 47 EGND External ground 23 EB- Encoder B phase signal(-) 48 NC Reserved 24 EZ- Encoder Z phase signal(-) 49 EGND External ground 25 EB+ Encoder B phase signal(+) 50 EZ+ Encoder Z phase signal(+) DB-T141-DAB Delta B2 type interface board. Pin Label DB-T141-DAB Pin Label 1 ALM Servo Alarm 14 EGND External ground 2 INP Servo In-position signal 15 MEL End Limit Signal(-) 3 PEL End Limit Signal(+) 16 RDY Servo On 4 24V +24V 17 SVON Servo On 5 ERC Clear Servo Error Counter 18 ALMC Clear Servo Alarm 6 NC Reserved 19 DIR+ Dir. Signal(+) 7 NC Reserved 20 DIR- Dir. Signal(-) 8 NC Reserved 21 OUT- Pulse signal(-) 9 NC Reserved 22 OUT+ Pulse signal(+) 10 EA+ Encoder A phase signal(+) 23 EA- Encoder A phase signal(-) 11 EB- Encoder B phase signal(-) 24 EZ+ Encoder Z phase signal(+) 12 EB+ Encoder B phase signal(+) 25 EZ- Encoder Z phase signal(-) 47

48 13 EGND External ground DB-T141-SAN Sanyo Q Series type interface board. DB-T141-SAN Pin Label Pin Label 1 NC Reserved 26 DIR+ Dir. Signal(+) 2 NC Reserved 27 DIR- Dir. Signal(-) 3 EA+ Encoder A phase signal(+) 28 OUT+ Pulse signal(-) 4 EA- Encoder A phase signal(-) 29 OUT- Pulse signal(+) 5 EB+ Encoder B phase signal(+) 30 NC Reserved 6 EB- Encoder B phase signal(-) 31 EGND External ground 7 EZ+ Encoder Z phase signal(+) 32 CONT6 Reserved 8 EZ- Encoder Z phase signal(-) 33 CONT5 Ground 9 NC Reserved 34 ERC Clear Servo Error Counter 10 NC Reserved 35 EMG Emergency Signal 11 NC Reserved 36 ALMC Clear Servo Alarm 12 NC Reserved 37 SVON Servo On 13 NC Reserved 38 EGND External ground 14 NC Reserved 39 INP Servo In-position signal 15 NC Reserved 40 NC Reserved 16 NC Reserved 41 RDY Servo Ready 17 EGND External ground 42 OUT4 ALM5_OFF 18 PEL End Limit Signal(+) 43 OUT5 ALM6_OFF 19 MEL End Limit Signal(-) 44 OUT6 ALM7_OFF 20 NC Reserved 45 OUT7 ALM_OFF 21 NC Reserved 46 ALM Servo Alarm 22 NC Reserved 47 EGND External ground 23 NC Reserved 48 EGND External ground 24 EGND External ground V +24V 25 EGND External ground V +24V 48

49 DB-T141-YS2 Yaskawa Sigma II to Sigma V drivers DB-T141-YS2 Pin Label Pin Label 1 EGND External ground 26 EGND External ground 2 EGND External ground 27 NC Reserved 3 NC Reserved 28 NC Reserved 4 +5V +5V Power 29 RDY Servo Ready 5 V_REF Reference speed 30 EGND External ground 6 EGND External ground 31 ALM Servo Alarm 7 OUT+ Pulse signal(+) 32 EGND External ground 8 OUT- Pulse signal(-) 33 EA+ Encoder A phase signal(+) 9 T_REF Torque reference 34 EA- Encoder A phase signal(-) 10 EGND External ground 35 EB+ Encoder B phase signal(+) 11 DIR+ Dir. Signal(+) 36 EB- Encoder B phase signal(-) 12 DIR- Dir. Signal(-) 37 NC Reserved 13 NC Reserved 38 NC Reserved 14 ERC Clear Servo Error Counter 39 NC Reserved 15 24V +24V 40 SVON Servo On 16 NC Reserved 41 NC Reserved 17 NC Reserved 42 PEL End Limit Signal(+) 18 NC Reserved 43 MEL End Limit Signal(-) 19 EZ+ Encoder Z phase signal(+) 44 ALMC Clear Servo Alarm 20 EZ- Encoder Z phase signal(-) 45 NC Reserved 21 BAT+ Backup battery (+) 46 NC Reserved 22 BAT- Backup battery (-) 47 24V +24V 23 NC Reserved 48 NC Reserved 24 NC Reserved 49 NC Reserved 25 INP Servo In-position signal 50 NC Reserved 49

50 DB-T141-PA4 Panasonic A4 Series driver with more than 500k pps input DB-T141-PA4 Pin Label Pin Label 1 NC Reserved 26 NC Reserved 2 NC Reserved 27 NC Reserved 3 NC Reserved 28 NC Reserved 4 NC Reserved 29 SVON Servo On 5 NC Reserved 30 ERC Clear Servo Error Counter 6 NC Reserved 31 ALMC Clear Servo Alarm 7 24V +24V 32 NC Reserved 8 PEL End Limit Signal(+) 33 EGND External ground 9 MEL End Limit Signal(-) 34 EGND External ground 10 BRK+ Brake signal(+) 35 RDY Servo Ready 11 BRK- Brake signal(-) 36 EGND External ground 12 NC Reserved 37 ALM Servo Alarm 13 EGND External ground 38 EGND External ground 14 NC Reserved 39 INP Servo In-position signal 15 EGND External ground 40 NC Reserved 16 NC Reserved 41 EGND External ground 17 EGND External ground 42 NC Reserved 18 NC Reserved 43 NC Reserved 19 NC Reserved 44 OUT+ Pulse signal(-) 20 NC Reserved 45 OUT- Pulse signal(+) 21 EA+ Encoder A phase signal(+) 46 DIR+ Dir. Signal(+) 22 EA- Encoder A phase signal(-) 47 DIR- Dir. Signal(-) 23 EZ+ Encoder Z phase signal(+) 48 EB+ Encoder B phase signal(+) 24 EZ- Encoder Z phase signal(-) 49 EB- Encoder B phase signal(-) 25 EGND External ground 50 NC Reserved 50

51 DB-T141-MJ3 Mitsubishi J3 series driver interface board DB-T141-MJ3 Pin Label Pin Label 1 NC Reserved 26 NC Reserved 2 NC Reserved 27 NC Reserved 3 EGND External ground 28 EGND External ground 4 EA+ Encoder A phase signal(+) 29 NC Reserved 5 EA- Encoder A phase signal(-) 30 NC Reserved 6 EB+ Encoder B phase signal(+) 31 NC Reserved 7 EB- Encoder B phase signal(-) 32 NC Reserved 8 EZ+ Encoder Z phase signal(+) 33 NC Reserved 9 EZ- Encoder Z phase signal(-) 34 EGND External ground 10 OUT+ Pulse signal(+) 35 DIR+ Dir. Signal(+) 11 OUT- Pulse signal(-) 36 DIR- Dir. Signal(-) 12 NC Reserved 37 NC Reserved 13 NC Reserved 38 NC Reserved 14 NC Reserved 39 NC Reserved 15 SVON Servo On 40 NC Reserved 16 NC Reserved 41 ERC Clear Servo Error Counter 17 PC 42 EGND External ground 18 NC Reserved 43 PEL End Limit Signal(+) 19 ALMC Clear Servo Alarm 44 MEL End Limit Signal(-) 20 24V +24V 45 NC Reserved 21 24V +24V 46 EGND External ground 22 NC Reserved 47 EGND External ground 23 ZSP 48 ALM Servo Alarm 24 INP Servo In-position signal 49 RDY Servo Ready 25 TCL 50 NC Reserved 51

52 DB-T141-EZS Ezi servo driver interface board DB-T141-EZS Pin Label Pin Label 1 OUT+ Pulse signal(+) 11 ALM Servo Alarm 2 OUT- Pulse signal(-) 12 INP Servo In-position signal 3 DIR+ Dir. Signal(+) 13 SVON Servo On 4 DIR- Dir. Signal(-) 14 ALMC Clear Servo Alarm 5 EA+ Encoder A phase signal(+) 15 NC Reserved 6 EA- Encoder A phase signal(-) 16 NC Reserved 7 EB+ Encoder B phase signal(+) 17 NC Reserved 8 EB- Encoder B phase signal(-) 18 NC Reserved 9 EZ+ Encoder Z phase signal(+) 19 EGND External ground 10 EZ- Encoder Z phase signal(-) 20 24V +24V 52

53 Wiring Examples For Panasonic Minas A series drivers. Figure 1-12: wiring example for Panasonic A4 series 53

54 4. System Setup SmartPAC-5000 provides I/O extensions such as SATA hard disk, USB interfaces and compact flash card, etc. With these extensions, users could install devices depending on their needs. The interior device installations would be introduced in the following sub-sections Installing a Storage Device SATA Hard Drive Installation With the left and right side of the chassis, remove 6 screws of those faces, the bottom cover board could be taken off. Figure 4-1: mounting holes at bottom side The drive bay is used to hold a SATA hard drive and attach it to the chassis board. By removing 4 mounting screws from the chassis board, the drive bay could be easily removed. And vice versa, the hard drive could be installed by connecting the power and data cable and attaching the drive bay to the chassis board. The mounting holes and connector interfaces is illustrated in the following figures. Figure 4-2: mounting screws of the drive bay 54

55 Figure 4-3: hard drive bay Compact Flash Card Installation The compact flash slot is covered by a cover locked by 1 screw as shown below. Users could remove the cover by taking off the screws and insert a CFast card in the slot. Figure 4-4: Screws for compact flash card cover Figure 4-5: Insert the compact flash card 55

56 4.2. Internal USB Device Installation When the bottom cover has been taken off, users can install internal USB devices Internal USB Device Installation In addition to 2 USB slots at the front side of SmartPAC-5000, there are 2 USB slots built inside. These slots let users install USB devices rarely need to unplug, like USB hardware dongle key. Figure 4-6: internal USB slots 56

57 4.3. Driver Installation Open the Windows control panel, and double click on the Add Hardware icon. Figure 4-7: Driver Installation Click Next on the Wizard that opens the following dialog.. Figure 4-8: Driver Installation Select "Yes, I have already connected the hardware" and click OK. 57

58 Figure 4-94: Driver Installation Scroll to the bottom of the list that appears and select "Add a new hardware device". Then Click Next. Figure 4-105: Driver Installation Select "Install the hardware that I manually select" and click Next. 58

59 Figure 4-116: Driver Installation Select "Show All Devices" and click Next. Figure 4-127: Driver Installation Click "Hard Disk ". 59

60 Figure 4-138: Driver Installation Click Browse. Figure 4-149: Driver Installation 60

61 Choose MNet104 from Install Package, and Click Open. Figure 4-20: Driver Installation Click OK to install the driver. Figure 4-21: Driver Installation 61

62 "TPM SPC5000 Motionnet Series" has been selected, and Click Next. Figure 4-22: Driver Installation This wizard is ready to install driver, and Click Next. Figure 4-23: Driver Installation 62

63 Completing the Add Hardware Wizard. Click Finish and restart the system. Figure 4-24: Driver Installation TPM SPC5000 Motionnet Series will shown in Device Manager after the driver been successfully installed. Figure 4-25: Driver Installation 63

64 5. Motionnet Introduction 5.1. What Is Motionnet? Motionnet is a super high-speed serial communication system. The G9000 devices provide input/output control, motor control, CPU emulation and message communication with high speed serial communications (up to 20Mbps) all of which are required by current Factory Automation techniques. Motionnet always transfers 4 bytes of data in 15.1μsec using cyclic communication to control input and output. While this data is being transferred, it can communicate a maximum of 256 bytes, such as motor control data, and the LSI controls the data transmission using interrupts. Communication times can be calculated using formulas, allowing users to see that Motionnet guarantees the real-time oriented support needed by FA industries Motionnet Functions Figure 5-1: Motionnet system architecture Provides a communication protocol based on the RS485 standard. Can communicate variable length of data from 1 to 128 words (when a 16-bit CPU is used) An LSI center device (G9001) controls the bus. I/O wiring can be greatly reduced by using a G9002 I/O device. Motor control wiring can be reduced by using a G9003 PCL. Using a G9004 CPU emulation device reduces the wiring for general devices connected to a CPU. Data can be exchanged between CPUs by changing the G9004 mode. New devices can be added to the system on the fly. Systems can be isolated using pulse transformers. Transfer speed up to 20 Mbps. 64

65 Maximum 64 slave devices for each serial line on a master device. Input/output control of up to 256 ports (2048 points), motion control of up to 64 axes, and LSI control of up to 128 devices. Input/output and status communication time for each device when inputting/outputting and reading status data for each device, the system automatically refreshes the center device RAM each communication cycle. (Cyclic communication: 15.1 µsec./local device) When 32 local devices are connected (1024 points of input/output): 0.49 msec. When 64 local devices are connected (2048 points of input/output): 0.97 msec. Data communication time cyclic communication can be interrupted with a command from the CPU. Data communication time: 19.3 µsec. to send or receive 3 bytes (e.g. when writing feed amount data to the G9003). Data communication time: µsec. to send or receive 256 bytes. Serial communication connection cable. Multi-drop connections using LAN cables or dedicated cables. Total cable length of one line: 100 m (20 Mbps/32 local boards) (10 Mbps/64 local boards). Cable length between local boards: 0.6 m or longer Advantage of Motionnet It is possible to connect from center to terminal controller parts by one cable. SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR MOTOR Motion.NET 100m Master Extension Analog I /O Digital I/O Motion SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR SENSOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR ACTUATOR MOTOR WIRE-SAVING / LONG-DISTANCE Figure 5-2: wire-saving and long-distance support In cyclic communication, a communication cycle is as follows when a 20 Mbps speed is selected. Number of local devices Communication cycle Remarks ms If all of the local devices connected are I/O devices, 256 input/output points can be used ms If all of the local devices connected are I/O devices, 512 input/output points can be used ms If all of the local devices connected are I/O devices, 65

66 Number of local devices Communication cycle Remarks 1024 input/output points can be used ms If all of the local devices connected are I/O devices, 2048 input/output points can be used. If a different number of local devices are connected, or when the communication cycle is interrupted by data communications, refer to the calculation formulas in the user's manual to calculate the time latency. Master 20Mbps Slave Module x 64 Slave CYCLE TIME 64 Slaves < 1.04ms 1.04ms 0.56ms NODE 512 -DI / 512-DO DI / 1024-DO On 20Mbps, Max. Cycle Time = 15.1 x NODE [FIFO Time] in us HIGH-SPEED / TIME-DETERMINISTIC Figure 5-3: high-speed and time deterministic support 66

67 5.4. Motionnet Product Family Figure 5-4: Motionnet product family 67

68 6. MyLink Before hands on programming the controller to control the Motionnet modules, usually we would like to test the communication interface, accessibility and the functionalities of the chained modules. TPM provides a software utility named MyLink to test, diagnose and verify the status of the Motionnet connection and the functions of the remote Motionnet modules. As long as all the modules are working correctly, the next step would be starting programming the logic of the modules. After successful installation, MyLink.exe with icon could be found on the desktop. Recommended Hardware Requirement PC Hardware: PC or laptop with Intel Centrino up CPU Memory: 1GB RAM OS: Windows 2000/XP/Win7 LAN card: RJ-45 10/100/1000 Mbps Software Installation 1 executable file: MyLink.exe 6.1. Interfaces Login With respect to local type MyLink, since the Motionnet master device is built-in SmartPAC-5000, the IP address is disabled. The baud rate combo boxes are grayed out since the baud rate is set by switching the dip switch on the controller. In other hand, after selecting the master device, users need to select the baud rate of the master device as well. The figures below show the SmartPAC-5000 local setting dialog on the right side. Figure 6-1: screenshot of Login 68

69 Tool Bar Figure 6-2: MyLink main functions There are 4 main functions in the tool bar. File This is used for setting and saving of axes module parameters. Tools Figure 6-3: functions under file option Provides functions for setting system parameters and initialize the system. Figure 6-4: functions under tools option Windows When multiple slave modules are displayed in the same time, the related menu will be re-arranged accordingly. Help This shows the MyLink revision number. Figure 6-5: functions under window option Local 8DI/8DO If the checkbox of the master device is checked, the 8DI/8DO diagnosis window will be popped up. With MyLink support, users could test the function of the 8DI/8DO easily and quickly. 69

70 Figure 6-6: functions under window option In SPC-5000, there are still 4 LED and a rotary with 16 steps. The dialog box is shown as below. Figure 6-7: functions under window option The detailed functional description of MyLink is not introduced here. Please refer to the TPM Utility User Manual. 70

71 7. Project Encryption This chapter is intended to give a brief overview of the project encryption for SPC The following section will give background information that is necessary to fully understand the functions and how to achieve hardware encryption of the system Benefits TPM is a development system provider with SmartPAC as one of the products. System integrators could adapt SmartPAC as the base system to develop applications for their customers. However, customers could find the top source vendor which is TPM and perhaps, the worst case, clone the storage in the system and purchase extra systems from TPM directly. In case of customers bypass the original system provider, which would cut down benefits for the system integrators cooperating with TPM, SmartPAC introduces a method called project encryption. Through project encryption, the system integrators can lockup certain functionalities or set timers to constrain the system running time. Only the authorized products can be working properly. The authorization is hold by the one and only one system integrator. With the project encryption technology, the system integrators cooperating with TPM and TPM will be tightly coupled cooperating relationship instead of vicious competition to make a win-win partnership AES Brief Introduction This standard specifies the Rijndael algorithm, a symmetric block cipher that can process data blocks of 128 bits, using cipher keys with lengths of 128, 192, and 256 bits. Rijndael was designed to handle additional block sizes and key lengths. However they are not adopted in this standard. Throughout the remainder of this standard, the algorithm specified herein will be referred to as the AES algorithm. The algorithm may be used with the three different key lengths indicated above, and therefore these different flavors may be referred to as AES-128, AES-192, and AES Functional Architecture Each SmartPAC equipped an identification chip with unique serial number. The unique serial number plays the role as the content for AES algorithm. We call the unique serial number the hardware id from now on. Another key held by the system integrator is called the SI key, used for encryption/decryption for the AES algorithm to make the registration key. The illustration of the making of the registration is as the following figure. 71

72 Figure 7-1: generation of the registration key From the above figure, the hardware id is obtainable within SmartPAC, taken as the content for AES algorithm. The SI key, hard coded by the system integrator, is the key to calculate the output value, the registration key. The registration key is like the activation code to activate the full functionalities of the SmartPAC and it is not invertible. Even though the whole data including the registration key could be cloned, the end user or the system integrator s customer cannot obtain the SI key. If an end user wants to buy a replacement from other resources instead of the designated system integrator is not doable since the hardware id would be different with the original one. Therefore, the calculated registration key with the original SI key and different hardware id as content would not match so that the specific functionalities could not be working or the system could only run for certain time period. Once the system integrator gets SmartPAC, a very important thing need to do is to assign a set of SI key with a byte array of length 8 to it. With this SI key, the system integrator could generate the AES key (byte array of length 16) using the provided function application interface _spc5_gen_aes_key. This function will be introduced later. The generated AES key should be given to end users as the activation code when the user brings up the system at first time. A SmartPAC should check the validity and set the corresponding flag in the FRAM right after the system initialization using function _spc5_check_aes_key, _spc5_write_fram_byte. Hereafter when the system is brought up, it reads the flag from FRAM. If the read value matches the pre-defined value, the system bypasses the check AES key procedure and operates normally as the system integrator designed. If the values from the designated address in FRAM do not match, the system could only run certain time or some advanced functions are locked. Only with the correct activation code can bring the system up with full functionalities and unlimited running time. 72

73 8. Function Reference Motionnet is a low cost, digital-serial control interface for communications between host algorithm and axis-controllers, I/O devices and other function devices. Most physical or data layer tasks are completed by the ASIC hardware together with user-friendly software under Windows operating system. This chapter describes the operating principle and application interfaces of the Motionnet. This chapter is helpful to users want to know more details about the operational principle of the motion control card Motionnet Initialization The system initialization is divided into two parts: hardware initialization and library initialization Hardware Initialization The program starts with initialization of the SmartPAC hardware. If the system needs to use the Motionnet functions, it is necessary to link the library by calling _spc5_link_mnet(). After linking the library, users also need to do a reset and start the Ring by calling _mnet_reset_ring(ring_number) and _mnet_start_ring(ring_number) correspondingly. Initialize SmartPAC _spc5_open Need Motionnet Need 4Ax-Motion Yes Yes Link Motionnet library _spc5_link_mnet Link 4Ax-Motion library _spc5_link_mym4 Figure 8-1: hardware initialization interface Library Initialization Motionnet library can be initialized by hardware device driver library call. With the Linkage between hardware and function library, user can use different types of communication masters by the same software interface. 73

74 Figure 8-2: library relationship Motionnet Master The operation of Motionnet extension is divided into the following 2 groups. One is the Motionnet master device, the other is the slave device. Figure 8-3: illustration of master-slave 74

75 8.2. Data Definition Name Range U8 8-bit ASCII character 0 to 255 I16 16-bit signed integer to U16 16-bit unsigned integer 0 to I32 32-bit signed long integer to U32 32-bit unsigned long integer 0 to F32 32-bit single-precision floating-point E38 to E38 F64 64-bit double-precision floating-point E308 to E309 Boolean Boolean logic value TRUE, FALSE 75

76 8.3. SmartPAC-5000 Platform Function Library Function name Resource Functions _spc5_open _spc5_close _spc5_read_cpld_version GPIO Function _spc5_read_local_di _spc5_read_local_do _spc5_write_local_do _spc5_read_rotary_switch _spc5_read_led _spc5_write_led Security Function _spc5_get_secure_id _spc5_gen_aes_key _spc5_check_aes_key Motionnet Operation _spc5_link_mnet _spc5_get_mnet_ring_count _spc5_get_mnet_baud_rate _spc5_set_mnet_baud_rate 4-Axes Motion Operation _spc5_link_mym4 _spc5_get_mym4_count FRAM Operation _spc5_read_fram_byte _spc5_read_fram_word _spc5_read_fram_dword _spc5_write_fram_byte _spc5_write_fram_word _spc5_write_fram_dword WDT Functions _spc5_init_wdt _spc5_set_wdt _spc5_start_wdt Initialize hardware and resources, and get number of functional borads. Release the hardware resources. Read the CPLD version of the boards Get the local DI value. Get the local DO value. Set the local DO value. Get the local rotary switch selected value. Get the LED indicator status. Set the LED indicator status. Get the SECURE_ID of the system in 8 bytes array format. Generate the AES_KEY with SI_KEY and SECURE_ID. Check the validity of the generated AES_KEY. Allocate resources to Motionnet, and get the total ring counts. Get the ring count of the specified board. Get Motionnet baudrate from RS-1 selection. Set the baud rate of the specified ring. Allocate resources to 4Ax-Motion, and get it counts. Get the 4Ax-motion count of the specified board. Read a byte size data from the FRAM. Read a word size data from the FRAM. Read a double word size data from the FRAM. Write a byte size data to the FRAM. Write a word size data to the FRAM. Write a double word size data to the FRAM. Initialize the watchdog timer function. Set the timeout value of watchdog timer. Start the watchdog timer function. 76

77 _spc5_stop_wdt _spc5_reset_wdt Stop the watchdog timer. Reset the watchdog timer. 77

78 System Operation _spc5_open : Initialize hardware and resources, and get number of functional borads. I16 _spc5_open ( U16* ExistBoards ) Name Type ExistBoards [output] U16 * Initialize hardware and resources, and get number of functional borads. 78

79 _spc5_close : Release the hardware and resources. I16 _spc5_close () None 79

80 _spc5_read_cpld_version : Read the CPLD version I16 _spc5_read_cpld_version (U8 *Ver) Name Type Ver [output] U8 * Return the CPLD version. 80

81 GPIO Functions _spc5_read_local_di : Get the local DI value. I16 _spc5_read_local_di (U8* Val) Name Type Val [output] U8 * Return the value of local input interface. 81

82 _spc5_read_local_do : Get the local DO value. I16 _spc5_read_local_do (U8* Val) Name Type Val [output] U8 * Return the value of local output interface. 82

83 _spc5_write_local_do : Set the local DO value. I16 _spc5_write_local_do (U8 Val) Name Type Val U8 Write the value of local input interface. 83

84 _spc5_read_rotary_switch : Get the local rotary switch selected value. I16 _spc5_read_rotary_switch (U8* Val) Name Type Val [output] U8 * Return the value of rotary switch selection. 84

85 _spc5_read_led : Get the LED indicator status. I16 _spc5_read_led (U8* Val) Name Type Val [output] U8 * Return the LED indicator status. 85

86 _spc5_write_led : Set the LED indicator status. I16 _spc5_write_led (U8 Val) Name Type Val U8 Write the LED indicator status. * LED Definition #define SPC5_LED_0 0x01 #define SPC5_LED_1 0x02 #define SPC5_LED_2 0x04 #define SPC5_LED_3 0x08 86

87 Security Functions _spc5_get_secure_id : Get the SECURE_ID of the system in 8 bytes array format. I16 _spc5_get_secure_id (U8 *SecureID) Name Type SecureID [output] U8 * Pointer to an 8-byte array indicating the Secure ID. If SecureID is not null, the data read from security ASIC will be used to generate AES_KEY 87

88 _spc5_gen_aes_key : Generate the AES_KEY with SI_KEY and SECURE_ID. I16 _spc5_gen_aes_key (U8* SI_Key, U8* SecureId, U8* AES_KEY) Name Type SI_KEY U8 * Pointer to a 16-element byte-array indicating SI key. Every element is an integer ranged from 0 to 9 SecureId U8 * Input the 8-byte array indicating the Secure ID AES_KEY [output] U8 * The generated AES_KEY in 16-byte array format 88

89 _spc5_check_aes_key : Check the validity of the generated AES_KEY. I16 _spc5_check_aes_key (U8* SI_KEY, U8* AES_KEY, U8* Validity) Name Type SI_KEY U8 * Pointer to a 16-element byte-array indicating SI key. Every element is an integer ranged from 0 to 9 AES_KEY U8 * Input the 16-byte array indicating the AES_KEY Validity [output] U8 * The result of the checking. 0: invalid, 1: valid 89

90 AES Key Example: U8 SID[8]; U8 SIK[16] = {1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8}; // every element is an integer ranged from 0 to 9 U8 AesKey[16]; U8 Validity; // Generate AES Key _spc5_initial(); _spc5_get_secure_id(sid); _spc5_gen_aes_key(sik, SID, AesKey); // Check AES Key _spc5_check_aes_key(sik, AesKey, &Validity); Secure ID Array 6d c7 d2 8b 09 [7] [6] [5] [4] [3] [2] [1] [0] SI Key Array [15] [14] [13] [12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0] AES Key Array 84 b7 2b e d0 e6 82 ef a f2 96 [15] [14] [13] [12] [11] [10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0] 90

91 Motionnet Operation Functions _spc5_link_mnet : Link the resources to Motionnet, and get the total ring count. I16 _spc5_link_mnet ( U16* RingCount ) Name Type RingCount [output] U16 * Return the total ring count. 91

92 _spc5_get_mnet_ring_count : Get the ring count of the specified board. I16 _spc5_get_mnet_ring_count ( U16 BoardNo, U16* Count ) Name Type BoardNo U16 Specified board. Count [output] U8 * Motionnet Ring count of the specified board. 92

93 _spc5_get_mnet_baud_rate : Get the Baudrate for the specified Motionnet Ring from RS-1 selection. I16 _spc5_get_mnet_baud_rate ( U16 BoardNo, U16 RingNo, U8* BaudRate ); Name Type BoardNo U16 Specified board. RingNo U16 Specified ring. BaudRate [output] U8 * The baud rate for Motionnet Ring. Note: Baud rate: 0: 2.5Mbps, 1: 5Mbps, 2: 10Mbps, 3: 20Mbps 93

94 _spc5 _set_mnet_baud_rate : Set the Baudrate for the specified Motionnet Ring. (SmartPAC-5120 only) I16 _spc _set_mnet_baud_rate ( U16 BoardNo, U16 RingNo, U8 BaudRate ) Name Type BoardNo U16 Specified board. RingNo U16 Specified ring. BaudRate U8 The baud rate for the specified Motionnet Ring. Note: Baud rate: 0: 2.5Mbps, 1: 5Mbps, 2: 10Mbps, 3: 20Mbps 94

95 Ax-Motion Operation Functions _spc5_link_mym4 : Link the resources to 4Ax-Motion, and get the total 4Ax-Motion count. I16 _spc5_link_mym4 ( U16* MyM4Count ) Name Type MyM4Count[output] U16 * Return the 4Ax-Motion count. 95

96 _spc5_get_mym4_count : Link the resources to 4Ax-Motion, and get the total 4Ax-Motion count. I16 _spc5_get_mym4_count ( U16 BoardNo, U16* Count ) Name Type BoardNo U16 Specified board. Count [output] U16 * Return the 4Ax-Motion count of specified borad. 96

97 FRAM Operation Functions _spc5_read_fram_byte : Read a byte size data from an FRAM. I16 _spc5_read_fram_byte (U16 Offset, U8 *Val) Name Type Offset U16 The offset of FRAM that will be read out. It must be between 0 to FRAM size - 1 Val [output] U8 * Return the data of the specified FRAM address with offset. 97

98 _spc5_read_fram_word : Read a word size data from an FRAM. I16 _spc5_read_fram_word (U16 Offset, U16 *Val) Name Type Offset U16 The offset of FRAM that will be read out. It must be between 0 to FRAM size - 3 Val [output] U16 * Return the data of the specified FRAM address with offset. 98

99 _spc5_read_fram_dword : Read a double word size data from an FRAM. I16 _spc5_read_fram_dword (U16 Offset, U32 *Val) Name Type Offset U16 The offset of FRAM that will be read out. It must be between 0 to FRAM size - 5 Val [output] U32 * Return the data of the specified FRAM address with offset. 99

100 _spc5_write_fram_byte : Write a byte size data to an FRAM. I16 _spc5_write_fram_byte (U16 Offset, U8 Val) Name Type Offset U16 The offset of FRAM that will be written. It must be between 0 to FRAM size - 1 Val U8 The data to be written in FRAM. 100

101 _spc5_write_fram_word : Write a word size data to an FRAM. I16 _spc5_write_fram_word (U16 Offset, U16 Val) Name Type Offset U16 The offset of FRAM that will be written. It must be between 0 to FRAM size - 3 Val U16 The data to be written in FRAM. 101

102 _spc5_write_fram_dword : Write a double word size data to an FRAM. I16 _spc5_write_fram_dword (U16 Offset, U32 Val) Name Type Offset U16 The offset of FRAM that will be written. It must be between 0 to FRAM size - 5 Val U32 The data to be written in FRAM. 102

103 Watchdog Timer (WDT) Functions The watchdog timer is a hardware mechanism to reset the system in case the operating system or an application halts. After starting watchdog timer, it needs to periodically reset the watchdog timer in the application before the timer expires. Once the watchdog timer expires, a hardware-generated signal is sent out to reset the system _spc5_init_wdt : Initialize the watchdog timer function. I16 _spc5_init_wdt () None 103

104 _spc5_set_wdt : Set the timeout value of watchdog timer, to indicate the timeout period and unit. Users should call _spc5_reset_wdt() or _spc5_stop_wdt() before the expiration of watchdog timer, or the system will be reset. I16 _spc5_set_wdt (U8 TimeOutPeriod, U8 TimeOutUnit) Name Type TimeOutPeriod U8 Specify the number of tick for watchdog timer. A valid value is TimeOutUnit U8 The time unit. *Time Unit: #define SPC5_WDT_SEC #define SPC5_WDT_MIN 0xC0 0x40 104

105 _spc5_start_wdt : Start the watchdog timer function. Once the _spc5_start_wdt is invoked, the countdown of watchdog timer starts. Users should call _spc5_reset_wdt() or _spc5_stop_wdt() before the expiration of watchdog timer, or the system will be reset. I16 _spc5_start_wdt () None 105

106 _spc5_stop_wdt : Stop the watchdog timer. I16 _spc5_stop_wdt () None 106

107 _spc5_reset_wdt : Reset the watchdog timer. The invocation of _spc5_reset_wdt() allows users to restore the watchdog timer to the initial timeout value specified in _spc5_set_wdt() function. Users should call _spc5_reset_wdt or _spc5_stop_wdt before the expiration of watchdog timer, or the system will be reset. I16 _spc5_reset_wdt () None 107

108 8.4. SmartPAC Axis Function Library Motion Initialization _mym4_initial Function name Initialize the resource of the axes.. Initialize SmartPAC _spc5_open Need 4Ax-Motion Yes Link Motionnet library _spc5_link_mym4 Initialize the resource _mym4_initial 108

109 _mym4_initial : Initialize the resource of the on board 4-axis motion control module. I16 mym4_initial (U16 BoardNo) Name Type BoardNo U16 Specified board. 109

110 Pulse Input / Output Configurations Function name _mym4_set_pls_iptmode _mym4_set_pls_outmode _mym4_set_feedback_src _mym4_set_abs_reference Set encoder input mode & logic. Set pulse command output mode. Set the input source of position counters. Set the absolute command reference. 110

111 _mym4_set_pls_outmode : Set pulse command output mode of axis. I16 _mym4_set_pls_outmode (U16 BoardNo, U16 AxisNo, I16 pls_outmode) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3. Setting of command pulse output mode Value Meaning pls_outmode I16 0 OUT/DIR: OUT falling edge, DIR+ is high level 1 OUT/DIR: OUT rising edge, DIR+ is high level 2 OUT/DIR: OUT falling edge, DIR+ is low level 3 OUT/DIR: OUT rising edge, DIR+ is low level 4 CW/CCW: Low active 5 CW/CCW: High active 6 A/B Phase: B/A phase 7 A/B Phase: A/B phase 111

112 _mym4_set_pls_iptmode : Set encoder input mode & direction of axis. I16 _mym4_set_pls_outmode (U16 BoardNo, U16 AxisNo, U16 pls_iptmode, U16 pls_iptdir) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Setting of encoder feedback pulse input mode. Value Meaning pls_iptmode pls_iptdir U16 U16 0 1X A/B 1 2X A/B 2 4X A/B 3 CW/CCW Logic of encoder feedback pulse. Value Meaning 0 Not inverse direction 1 Inverse direction 112

113 _mym4_set_feedback_src : Set the input source of position counters for axis. I16 _mym4_set_feedback_src (U16 BoardNo, U16 AxisNo, I16 Src) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3. Counter source Value Meaning 0 External Feedback Input & absolute command following position counter Src I16 1 Command Pulse Input & absolute command following position counter 2 Command Pulse Input & absolute command following command counter 3 External Feedback Input & absolute command following command counter 113

114 _mym4_set_abs_reference : Set the absolute moving function reference counter. I16 _mym4_set_abs_reference (U16 BoardNo, U16 AxisNo, I16 Ref) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3. Absolute command reference Value Meaning Ref I16 0 Absolute command following current position counter 1 Absolute command following current command counter 2 Absolute command following target counter Set Abs move command to Position A Set Abs move command to Position B Position A Position B Follow by current position or command counter Follow by target counter Machine I/O Setting Functions Function name 114

115 _mym4_set_alm _mym4_set_inp _mym4_set_erc _mym4_set_erc_on _mym4_set_sd _mym4_set_servo _mym4_set_ralm _mym4_set_ell _mym4_set_mechanical_input_filter _mym4_set_auto_erc Set alarm logic and operating mode Set INP logic and operating mode Set ERC logic and timing Force ERC output Set SD logic and operating mode Set servo driver ON/OFF Output servo driver alarm reset Set EL mode Set a filter for +EL, -EL, SD, ORG, ALM, or INP input singals. When the filter is introduced, the triggered signal pulses shorter than 4 μsec will be ignored. Automatically outputs ERC signal when the following conditions satisfied: +EL, -EL, ALM, EMG and the time of completion of homing process. 115

116 _mym4_set_alm : Set alarm logic and operating mode of axis. I16 _mym4_set_alm (U16 BoardNo, U16 AxisNo, I16 alm_logic, I16 alm_mode) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Setting of active logic for ALARM signal. Value Meaning alm_logic I16 0 Low active 1 High active Reacting modes when receiving ALARM signal. Value Meaning alm_mode I16 0 Motor immediately stops (default). 1 Motor decelerates to stop. 116

117 _mym4_set_inp : Set INP logic and operating mode of axis. I16 _mym4_set_inp (U16 BoardNo, U16 AxisNo, I16 inp_enable, I16 inp_logic) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 INP function enable/disable. Value Meaning inp_enable I16 0 Disabled (default) 1 Enabled Setting of active logic for INP signal. Value Meaning inp_logic I16 0 Low active 1 High active 117

118 _mym4_set_erc : Set ERC logic and timing of the axis. I16 _mym4_set_erc (U16 BoardNo, U16 AxisNo, I16 erc_logic, I16 erc_on_time) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Setting of active logic for ERC signal. Value Meaning erc_logic I16 0 Low active 1 High active Setting of time length of ERC active. Value Meaning erc_on_time I us 1 102us 2 409us 3 1.6ms 4 13ms 5 52ms 6 104ms 7 Level output 118

119 _mym4_set_erc_on : Force ERC output by software command. I16 _mym4_set_erc_on (U16 BoardNo, U16 AxisNo, I16 on_off) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Setting the action of ERC signal. Value Meaning on_off I16 0 Inactive 1 Active 119

120 _mym4_set_sd : Set SD logic and operating mode. I16 _mym4_set_sd (U16 BoardNo, U16 AxisNo, I16 enable, I16 sd_logic, I16 sd_latch, I16 sd_mode) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Enable/disable the SD signal. Value Meaning enable I16 0 Disabled (default) 1 Enabled Setting of active logic for SD signal. Value Meaning sd_logic I16 0 Low active 1 High active Setting of latch control for SD signal Value Meaning sd_latch I16 0 Do not latch 1 Latch Setting the reacting mode of SD signal Value Meaning sd_mode I16 0 Slow down only 1 Slow down then stop 120

121 _mym4_set_servo : Set servo driver to ON / OFF. I16 _mym4_set_servo (U16 BoardNo, U16 AxisNo, I16 on_off) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 On-off state of SVON signal Value Meaning on_off I16 0 In-active 1 Active 121

122 _mym4_set_ralm : Set the status of servo alarm reset signal. I16 _mym4_set_ralm (U16 BoardNo, U16 AxisNo, I16 on_off) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 On-off state of RALM signal. Value Meaning on_off I16 0 In-active 1 Active 122

123 _mym4_set_ell : Set EL active mode & logic. I16 _mym4_set_ell (U16 BoardNo, U16 AxisNo, I16 ell_logic, I16 ell_mode) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Action logic configuration for EL signal. Value Meaning ell_logic I16 0 Low active 1 High active Active mode for EL signal meets. Value Meaning ell_mode I16 0 Stop immediately 1 Decelerating to stop 123

124 _mym4_set_mechanical_input_filter : Set a filter for +EL, -EL, SD, ORG, ALM, or INP input singals. When the filter is introduced, the triggered signal pulses shorter than 4 μsec will be ignored. I16 _mym4_set_mechanical_input_filter (U16 BoardNo, U16 AxisNo, U16 on_off) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 on_off I16 Setting of mode of the input filter. Value Meaning 0 Inactive 1 Active 124

125 _mym4_set_auto_erc : Automatically outputs ERC signal when the following conditions satisfied: +EL, -EL, ALM, EMG and the time of completion of homing process. I16 _mym4_set_auto_erc (U16 BoardNo, U16 AxisNo, I16 auto_erc_logic) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Enable auto ERC function. Value Meaning auto_erc_logic I16 0 Disabled (Default) 1 Enabled 125

126 Homing Control Functions Function name _mym4_set_home_config _mym4_home_move _mym4_escape_home _mym4_home_search Set the Home/Index logic configuration. Begin a home return action. Escape from the ORG active status. Search the ORG active position and stop on the ORG active point. 126

127 _mym4_set_home_config : Set the Home/Index logic configuration. I16 _mym4_set_home_config (U16 BoardNo, U16 AxisNo, I16 home_mode, I16 org_logic, I16 ez_logic, I16 ez_count, I16 erc_out) Name Type BoardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 home_mode I16 Stopping modes for home return, 0~12. See the following Note. Action logic configuration for ORG signal. Value Meaning org_logic I16 0 Low Active 1 High Active Action logic configuration for EZ signal. Value Meaning ez_logic I16 0 Low Active 1 High Active ez_count I16 0~15 Set ERC output options. Value Meaning erc_out I16 0 No ERC Out 1 ERC Out When homing finish 127

128 NOTE In this mode, you can let the 4-axis output pulses until the condition to complete the home return is satisfied after writing the command _mym4_home_move. There are 13 home moving modes provided by 4-axis. The home_mode of function _mym4_set_home_config is used to select one s favorite. After completion of home move, it is necessary to keep in mind that all the position related information should be reset to be 0. In 4-axis system, after homing sequence complete, the first four counters will be cleared to 0 automatically. The following figures show the various home mode and the reset point, when the counter will be clear to 0. home_mode = 0 Figure 8-4: home_mode=0 when SD (ramp-down signal) is inactive Figure 8-5: home_mode=0 when SD (ramp-down signal) is active 128

129 home_mode = 1 Figure 8-6: home_mode = 1 home_mode = 2 Figure 8-7: home_mode = 2 129

130 home_mode = 3 Figure 8-8: home_mode = 3 home_mode = 4 Figure 8-9: home_mode = 4 130

131 home_mode = 5 Figure 8-10: home_mode = 5 home_mode = 6 Figure 8-11: home_mode = 6 Note: FA=1/2 (start velocity) home_mode = 7 Figure 8-12: home_mode = 7 Note: FA=1/2 (start velocity) home_mode = 8 131

132 Figure 8-13: home_mode = 8 home_mode = 9 Figure 8-14: home_mode = 9 home_mode = 10 Figure 8-15: home_mode = 10 home_mode =

133 Figure 8-16: home_mode = 11 home_mode = 12 Figure 8-17: home_mode =