AIO-100 - Animatics Corporation
Contents
1. All listed specifications are correct as of the date of printing See errata for latest details Any and all product specifications are subject to change without notice by the manufacturer 2 1 Electrical Bus DC line voltage 5V DC Aux Power Connector voltage 6 to 24 V DC Normal Maximum DC current 100 ma Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 9 27 1996 Fax 408 748 8725 Tel 408 748 8721 Page 4 17 2 2 Mechanical Dimensions See Figure Weight 1 oz C 0 650 a lead 0 125 Address Jumpers Mouting holes 0 120 dia four count 0 750 1 325 x 1 625 center to center 1 323 Mounting holes 0 120 dia four count 2 500 x 1 750 in center to center All dimensions in inches unless otherwise marked na F 0 175 Standard female 25 pin DSUB 0 050 allow 0 035 clearance for mating connector in each direction 0 665 m 2 3 Environmental Operating temperature 0 C to 50 C Storage temperature 20 C to 70 C Humidity 0 to 90 non condensing Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 5 17 3 Installation 3 1 Unpacking and Inspection Upon receipt of the equipment carefully inspect to ensure that no damage has occurred during shipment If damage is detected notify the carr2. bit patterns of this scheme are reserved for functions internal to the Series 5000 control This is the reason that a maximum of four AIO 100 cards may be uniquely addressed on a Series 5000 based AniLink network Since the SmartMotor does not have this limitation all eight bit address patterns are available allowing up to eight uniquely addressed cards The second byte of a write enables the analog output and performs housekeeping functions the third byte contains the output value When a write is performed the output level is matched by a auto zeroing unity gain amplifier This buffering amplifier allows the voltage divider to be used for other functions without disturbing the AIO 100 s output level A read is carried out a string of two bytes and it may cause the AIO 100 to return up to five bytes since the channels must be converted in order When a conversion of a channel is started a an input voltage sample is stored on the chip and converted to an eight bit binary code The conversion rate is determined by the actual speed of the AniLink bus Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 3 17 5 Simplified Schematic Host PC Controller AIO 100 xternal Output 1 Frema Output 2 System Block Diagram 2 Specifications External Output 3 External Output 4 Analog Input
3. practices when working on any motion based system make sure that their is no possibility of personal injury or machine damage before first time power up Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 9 17 4 _ Adjustments 1 Adjusting REF REF and the Input Centers REF GND a REF 5VDC AGND REF PCF8591P AIN3 W The input and output signal ranges are tied to the PCF8591 s AGND and VRFF signal levels The REF and REF potentiometers on the AIO 100 set the signal maximum and minimum The AIN potentiometers are independent channel adjustments for the inputs These are used to center the input range When building a proportional joystick start by adjusting the REF and REF to allow the full 0 5V swing Next adjust the joystick center point and the X Y Z and W channel potentiometers such that the neutral stick position reads 128 2 and the full 0 to 255 swing is available to the stick Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 10 17 4 2 AniLink Bus Module Address Peripherals on a AniLink network must have non conflicting addresses to function properly This normally means a unique address for each AniLink peripherals The AniLink peripherals use a three bit address scheme based on the of jumpers 1 2 and 4 Module Address Jumper State X
4. 1 255 VARB VARB AINA2 255 VARB VARB AINA3 255 VARB VARB AINA4 255 VARB VARB 4 VARA VARA VARN 1 VARF VARN AOUTA VARAI 255 Output the moving average GOTO 100 6 2 SmartMotor Command Set The SmartMotor has direct command software support for the AIO 100 module There are two major differences in firmware support between the SmartMotor and the Series 5000 The SmartMotor uses a different self diagnostic design than the Series 5000 This different makes it possible to address up to eight unique AIO 100 modules on a single SmartMotor AniLink network The SmartMotor does not have firmware level joystick support An example of a stored user program joystick program can be found in the SmartMotor User s Manual JOY SRC on page 234 Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 16 17 Command Comments Port is valid from A through H Input is valid from 1 to 4 Exp expressions must evaluate to an integer AIN port input Fetch analog byte from port input AOUT port exp Output an analog byte on channel port RAIN port input Fetch analog byte from port input report ASCII integer value on RS 232 This program demonstrates the use of these commands MV A 500 V 0 00 UAI UBO RAINAI RAINA2 RAINA3 RAINA4 WHILE 1 a AINA1 V a b AINA2 c AINA3 d AINA4 G Set mode velocity Set acceleration to 500 63 13 re
5. 11 6 The two female RJ 11 6 sockets on the AIO 100 board are wired in parallel This allows the AniLink network to be extended by plugging one module into the next When several AniLink devices are connected to the same network the available controller power supply may not to maintain operating voltage to the peripherals In this case an additional power source can be added to the network at the screw terminals provided at connector C2 If additional power is fed into on module of an AniLink network that power will be distributed to the other modules over the 5V line of the AniLink network Attention should be paid to the 7805 voltage regulator for any unit receiving external power if the regulator gets too hot to touch connect the additional power to the individual screw terminal ports of all the AniLink Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 8 17 modules SIGNAL Connector C2 External Power Connector Description 5 24 VDC GND 5 24 VDC Internally connected to 1 The power connector is a three socket phoenix type connector 3 4 Power up and Checkout No particular power up procedure is necessary for the AIO 100 A checkout procedure can be derived from the programming examples found later in this manual Use a 5 K pot and a DMM or oscilloscope to check the expected ranges and returns if desired Be sure to apply common safety
6. AIT VART IF VARA 0 GOTO 105 IF VARA 128 GOTO110 IF VARA 225 GOTO 115 200 GOTO 100 END 105 VARA128 GOTO 200 110 VARA225 GOTO 200 115 VARAO GOTO 200 END Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 9 27 1996 Fax 408 748 8725 Tel 408 748 8721 Page 14 17 This program demonstrates a joystick subroutine Auxiliary input 1 is used as a joystick enable for this application Note that JOY1ON mode uses Auxiliary inputs 5 and 6 as speed select and joystick enable respectively Auxiliary output 6 is used as an enable confirmation 100 ACC40000 X200Y300F500 WAIT ACC10000 XOYOF200 WAIT IF 1ON GOSUB 105 GOTO100 END 105 JOYION 106 IFON GOTO106 JOY1OFF RETURN END Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 15 17 Direct Command Programming The 100 subroutine in the first joystick program relies on the JOY 1 Command to format the return from the AIO 100 module addressed as A We could address other modules by slightly changing the program ies Replaces from above AINB1 JOY1 AINB2 z AINB3 5 AINB4 7 VARA AOUTB VARA AOUTA VARA The Series 5000 language can evaluate the complicated expressions used in some feedback control algorithms VARAO Initialization for first iteration VARNO Initialization for first iteration 100 Label statement VARN VARN 1 VARB AINAI
7. H Library Product Peripher AIO 100 USERM OPERATION AND USE OF THE ANIMATICS AIO 100 ANALOG INPUT OUTPUT MODULE Table of Contents 1 Introduction 1 1 Product Description 1 2 Features 1 3 Part Numbering 1 4 Theory of Operation 1 5 Simplified Schematic 2 Specifications 2 1 Electrical 2 2 Mechanical 2 3 Environmental 3 Installation 3 1 Unpacking and Inspection 32 Mounting 3 3 Wiring 3 3 1 Connector Pin Out 3 4 Power up and Checkout 4 Adjustments 4 1 Adjusting REF REF and the Input Centers 4 2 AniLink Bus Module Address Jumpers 1 2 4 5 Maintenance and Repair 5 1 Maintenance 5 2 Indications 5 3 Trouble Shooting 6 Programming 6 1 Series 5000 Command Set With Examples 6 2 Animatics SmartMotor Command Set With Examples Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 1 17 1 Introduction 1 1 Product Description The AIO 100 is a four input one output analog I O peripheral module for the AniLink bus This module allows an Animatics controller to read analog signals from external devices or control an external system with an analog signal Speed control drives joysticks and process controls are common examples The range of signal voltage for both input and output is 0 to 5 VDC with eight bits of resolution Upper and lower limits of the A D or D A functions are independently adjustable allowing the full eight bit accuracy to be appl
8. The Series 5000 command set provides two levels of communication to the AIO 100 firmware level joystick support and direct communications commands To be addressed by the firmware level joystick commands the target AIO 100 must use address A Command Comments AINilet Upload the value of the corresponding analog input let valid from A through D module address valid from 1 to 4 channel number AOUTilet Set the level of the analog output for the corresponding module let valid from A through D module address valid from 0 though 255 output level JOYVH Set the high speed max deflection velocity for the JOY 1ON mode s units determined by the system s SPU values JOYVL Set the low speed max deflection velocity for the JOY1ON mode s units determined by the system s SPU values JOYIOFF Disable the controller joystick mode JOY1 Returns the current channel levels of the AIO 100 module A in XYZW format Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 13 17 Joystick Programming The first program that most designers and technicians want is a test loop This program uses GOTO statements and increments variables to set up a test loop displaying modes Variations of the program are often used in the integration of AIO 100 applications Run the program from TERM5000 in UNTERM mode VARTS00 VARAO 100 JOY1 VARA AOUT VARA W
9. UB connector Direct firmware support under the Series 5000 and SmartMotor command sets special multi axis joystick support in the Series 5000 language 5 V DC operation Can be drawn directly from AniLink network cable Alternate power supply port available AniLink Network Addressable 3 bit High speed serial communications 100K BPS Multi drop addressing Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 2 17 1 3 Part Numbering AIO 100 refers specifically to the one in four out eight bit analog product Produced as a general purpose peripheral other similar peripherals have been produced within the AIO 1XX family of peripherals Please contact your applications engineer for specifics about our special products 4 Theory of Operation The AIO 100 card is equipped with a voltage comparitor a D A converter and number of track and hold buffers The D A converter can be thought of a resistor divider chain connected to the external reference voltage and ground There are 256 taps in the chain each with a selection switch and supporting logic The AIO 100 communicates serially over the AniLink bus with a Animatics controller The controller can write to the AIO 100 module D A or read from it A D Writing to the AIO 100 is carried out as a three byte string The first byte of a write command contains a three bit addressing scheme The last four available
10. ied to small signal ranges Each input channel is can be centered independently These adjustments help the AIO 100 card adapt to almost any application requirement The AIO 100 is especially useful on Series 5000 systems for creating multi axis joystick applications Such applications make use of the AniLink bus and the Series 5000 s joystick firmware command set Either digital or proportional joysticks can be easily integrated The AIO 100 has digital inputs wired in parallel with the Series 5000 s auxiliary inputs 5 and 6 These inputs are dedicated to speed select an joystick engage disengage when the controller is operating in JOYION mode The AIO 100 is cable plug compatible with either the Series 5000 or the SmartMotor control systems Up to four AIO 100 modules can be addressed by a single Series 5000 controller up to eight by a SmartMotor Powered by the 5 V and ground from the AniLink cable these units are equipped with a voltage regulator allowing support from an external 6 V to 24 V source Most applications do not need external support The AniLink Network is a proprietary serial based high speed component network shared by the Series 5000 and SmartMotor lines of motion control products 1 2 Features One eight bit analog output ranging from 0 to 5 VDC Four eight bit analog inputs ranging from 0 to 5 VDC Parallel inputs for Series 5000 Auxiliary Inputs 5 and 6 Simple plug in operation Convenient size and mounting DS
11. ier immediately Equipment should be stored in its original shipping container until ready for use 3 2 Mounting The AIO 100 module should be mounted inside a cabinet or suitable enclosure to protect it from physical and environmental damage It must be kept free of combustible or flammable materials oil vapor steam excessive moisture corrosives and general debris Mounting holes for standard 4 40 screws are located in eight places on the board The board can also be secured using the two threaded 4 40 nuts in the 25 pin DSUB connector Jack screws are suggested for this purpose 3 3 Wiring Wiring the AIO 100 is often as simple as plugging in the supplied phone cable into the RJ11 6 type connector and plugging the opposite end of the cable into the controller By using the second RJ11 6 wired in parallel additional AniLink modules can be plugged in to the network Longer runs of AniLink cable are possible Maximum tested runs for the phone cable wiring and RJ11 6 type connectors is about 3 feet Use of higher efficiency shielded cable and better connectors will allow much longer runs Users desiring industrial type communications connections often remove the RJ11 jack and solder shielded cable directly to the p c board While this is a generally accepted practice understand that poor workmanship will void any warranty on this product In the following schematic normally open push buttons can be connected to the module
12. jumper in place O jumper absent 1 2 3 A Oo O O Bold values only valid on Series 50000 B X O O C O X O D X X O E O O X F X O X G O X X H X X X An AIO 100 module must use address A to be addressed by the JOY1ON firmware support Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 11 17 5 Maintenance and Repair 5 1 Maintenance There are no user serviceable components on the AIO 100 The only periodic maintenance requirement is to keep the board clean 5 2 Indications A failure of the AIO 100 module would be indicated by observably incorrect command returns at the host controller or by invalid signals appearing at the output These conditions would present themselves as a loss of control in an application 5 3 Trouble Shooting As these units have no user serviceable parts trouble shooting is usually limited to checking for power and ground and checking for communications signal As a part of documenting your application you should record acceptable test levels for future use during the development process Should questions arise later about the serviceable condition of an AIO 100 card comparison levels can be a tremendous asset The commands and programming techniques found in the programming section of this document will be useful in the troubleshooting process If your unit is not working 0 Check cabling for unplugged connectors or cable cuts 1 Check for p
13. ower using a DMM A On connector C1 5 between pins 2 and 3 B On IC 7805 5 between pins 1 and 2 CG External power source if applicable If not receiving power locate cause 2 Check for signal on AniLink Clock and Data lines using a logic probe or oscilloscope Logic and Data lines are normally high between data transmissions 3 If power data and clock all show correct signals and your unit is still not working return your module to Animatics for inspection and repair Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 12 17 6 Programming The languages and programming techniques for the Series 5000 and the SmartMotor are radically different Consistent between these languages is the direct command support and module addressing scheme Each AIO 100 card on an AniLink network can be addressed by a letter address A D or A H and each module has four channels 1 through 4 Additional information about the command sets and languages demonstrated in this section can be found in the Series 5000 and SmartMotor User s Manuals 6 1 Series 5000 Command Set The AniLink bus on a Series 5000 controller runs throughout the controller and is ported to the outside in two locations Addresses E F G and H are used for processes within the controller and are therefore not available to the outside network See the Series 5000 User s manual for details on this feature
14. to create an inexpensive jog function Notice the 5 and GND taps are taken from the outputs in series with 1K resistors This prevents a short if both the positive and negative buttons are pushed simultaneously Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 6 17 15K 15K IK d a AIN3 W PCF8591P 1 Connector Pin Out The I O connector is a standard female 25 pin DSUB Peripheral systems can be powered from the AIO 100 s 5 VDC and GND up to the maximum available current on the AniLink network 13 1 eo0000000 00000 o00000000000 25 14 PIN No Function Analog input 1 Analog input 2 Analog input 3 Analog input 4 No Connection Parallel to 5000 s Aux Input 5 Parallel to 5000 s Aux Input 6 No Connection No Connection 10 Analog Output 11 5DC 12 5DC 13 5 DC with IK resistor 14 24 GND 25 GND with 1 K resistor OMADNMNBWNK Animatics Corporation 3050 Tasman Drive Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 7 17 7 1 6 1 6 Connector C1 RJ11 6 connector x 2 in parallel PIN SIGNAL DESCRIPTION Reserved for other AniLink peripheral devices To Controller AniLink Power from controller limited to about 150 Ma AniLink Clock AniLink Data 6 IN 6 Reserved for other AniLink peripheral devices The AniLink connector is a standard RJ
15. v sec Set velocity to 0 Set current position equal to the origin Report channel 1 value Report channel 2 value Report channel 3 value Report channel 4 value IF UAI 1 GOSUB 0 ENDIF LOOP END CO UB 1 Subroutine 0 reports on RS 232 in format User output B signals you to get your finger off of A Animatics Corporation WHILE UAI 0 LOOP UB 0 PRINTCINPUT A1 a 13 PRINT INPUT A2 b 13 PRINT INPUT A3 c 13 PRINT INPUT A4 d 13 RETURN END 3050 Tasman Drive Notice the formatting of this statement Santa Clara CA 95054 Fax 408 748 8725 Tel 408 748 8721 9 27 1996 Page 17 17
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