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PK2100 - Digi International

1. Q 7 PLC Bus 0 000000 00000020 v N 9 9 a Flip Flops Flip Flops PLC Bus u5 PAL U10 Supervisor EEPRO U1 ooo ooo G J3 J9 2 C U32 u21 Comparator Comparator OOOO C O u8 MU 9 00000020 000000 o 00000 J4 e 09 9 99 o o o G Ki Keypad Conn 3 3 9 3 9 3 9 5 5 5 9 9 9 9 69 9 3 9 9 P2 INOAV Gdvog Symbols define ees 4 3 4 4 FINT VEC eee D 6 KJUMP VEC C 2 D 7 BID scs F 3 CTS0 EEN 4 8 RDX gedreet atii Au F 2 STBX aua ee a aa at F 3 IWR endende dion F 3 assignment ssss A 4 DMAFLAGO oaser 5 6 _DMAFPLAGL niou a 5 6 12 volt PK2100 3 3 26 pin connector pin assignments F 2 5 x
2. 3 4 EGD ate t ERES 4 5 relay 3 4 3 11 4 6 5 2 RS 232 3 2 3 4 4 2 5 11 Reeg eech 3 4 PK2100 output serial eee 3 2 3 4 voltage sss 5 5 5 6 OUTVDVR C A 5 12 overload re C 2 protection cee 3 5 3 6 P phone jack sss 4 8 PK2100 125V0lb see 3 3 block diagram 3 3 liGoK p ente 2 3 LE 4 2 PLCBus 3 2 3 4 3 14 5 11 D 7 F 2 F3 F 4 F 5 F 6 4 bit operations F 3 F 4 8 bit operations F 3 F 4 addresses F 3 F 4 reading data F 3 F 4 writing data F 3 EA ports PK2100 ione rS 4 2 serial 1 4 4 7 4 8 4 10 asynchronous 4 9 baud rate sssss 4 9 interrupt driven 4 9 multiprocessor communica tions feature ss 4 9 polling sss 4 9 RS 232 irs 3 4 3 14 4 14 RS 485 3 4 3 14 4 14 positioning the cursor 4 5 power dissipation B 7 C 3 formula neus C 3 power failure interrupts 1 3 C 2 C33 D 7 power supply ssss 3 13 power supply regulators C 3 printficgokosgnshoenstsnu 4 5 printing eege 4 5 program readable jumpers B 6 programmable counter 3 7 programming 1 4 4 2 Index I 7 programming
3. 1 3 1 4 2 2 C 3 real time clock 1 3 baud rate 2 2 4 8 A 3 B 3 baud rates serial ports ssssse 4 9 beeper nes 4 3 4 4 5 9 DUI tli iioii tts 3 12 Volume vecti 4 4 bidirectional data lines F 3 Index l 1 block diagram dimensions sssss B 2 PK2100 3 3 B 2 board jumpers 2 2 3 4 3 14 bridge 3 8 3 9 3 10 3 11 resistance ssssseseeeeeee 3 4 brownout eene C 2 C 3 buffer EEN ee eege 5 11 transmit esses 5 11 built in beeper isa e 3 12 tel yS ccce 3 12 bus control registers F 6 expansion 1 2 3 2 3 4 3 14 F 2 F 3 F 4 F 6 4 bit drivers F 7 8 bit drivers F 7 addresses ssss F 4 deViCE Sinsir F 5 F 6 functions F 7 F 8 rules for devices F 5 software drivers F 6 LCD 5 actes F 2 B SADRO iinan iini F 4 BU SADRZ ose e F 4 BUSADR2 esee F 4 BUSADR3 sss F 7 F 8 BUSRDO F 6 F 7 F 8 B SRD I oe F 6 F 7 BUSWR detener F 7 C Le WE 3 7 CUB EE 3 7 CRA e ee titt 3 7 CQB EE 3 7 CABE EE 3 7 C2B EE 3 7 calibrated direct drivers 5 3 values eere 5 4 5 5 conversion 5 3 5 5
4. Drivers may be low level drivers that return send or transmit values when the values are received or presented by the interface High level drivers modify the inputs or outputs in some way such as by introducing calibration hysteresis or averaging Indirect high level drivers are preferred because they eliminate any concern about the technical details of the input output interface The price for this convenience is a slight loss of speed and efficiency Digital Input Direct Driver int up digin int channel Gets the value at the specified digital input channel 1 7 The function returns 1 when the channel is high and 0 when the channel is low Virtual Driver Reference the parameters DIGIN1 DIGIN2 DIGIN3 DIGIN4 DIGINS DIGIN6 and DIGIN7 For example heater DIGIN1 DIGIN2 These variables take the value 1 1f the input 1s high greater than 2 5 volts and 0 if the input is low The parameter value changes only if the new value remains the same for 2 ticks 25 50 ms of the virtual driver Digital Output Direct Driver int up setout int channel int value Passes channel number 1 10 and value 0 for OFF 1 for ON If channel is 11 or 12 relay 1 or 2 1s switched Indirect Driver Set the variables OUT1 OUT2 OUT3 OUT9 OUT10 to a value of 0 to turn the output off or to a value of 1 to turn the output on Outputs pull low when turned on The variables RELAY1 and RELAY2 control the rela
5. sssssseeee 3 13 memory battery backed 1 3 1 4 2 2 C 3 memory mapped I O register F 3 F 4 metal oxide varistors 3 12 millisecond clock 4 3 DEE Zeien andeelen EN 5 8 mk m BEREE ELE PEA EEE 5 8 modem option seeeeees 5 12 MODEM2 32 LIB 5 12 modes addressing ssssse F 4 operation sssseeeeereee 2 2 monitor program e 4 8 MOV S nerna ita 3 12 PK2100 N N WATCHDOG sseeeee 4 4 NETWORK LIB 5 12 nickel cadmium battery 1 3 el EE 1 3 C2 C 3 D 8 NMI VEC sess C 2 D 7 MOD iere ets 4 3 nonlinearity DAG tees 5 3 nonmaskable interrupts 1 3 C 2 C 3 D 8 NOTIMERS sese 4 3 NOUNIVERSAL esee 4 3 O OTIcQT nisus 3 12 O8 O10 sess 3 12 3 13 OMOR 11 RR ER D 3 IEN 3 10 open collector transistor outputs3 6 operation Indes EES 2 2 use of keypad 2 2 temperature esess B 7 Operation Mode Control Register D 3 operational amplifier 3 4 3 10 opto 22 9th bit binary protocol 5 14 OUTI OUT2 OUTI10 4 6 OUTI OUTI0 aeee 5 2 Outport sssesseseseesesesee 4 8 F 7 F 8 OUTDEMO C A 5 12 output analog 3 4 3 13 5 5 5 6 calibrated eee 5 5 CUMTENE tos He 5 5 DAC ca 5 5 5 6 digital 3 12 4 3 4 6 5 2 high current
6. internal 12 Serial Port 1 internal D 8 Appendix D I O Map and Interrupt Vectors PK2100 ArPPENDIX E EEPROM PK2100 Appendix E EEPROM E 1 PK2100 PK2120 24 V Version Calibration Table E 1 presents the calibration constants for the PK2100 PK2120 the standard 24 volt versions Table E 1 Calibration Constants for PK2100 PK2120 EEPROM Address Definition Startup Mode If 1 enter program mode If 8 execute loaded program at startup Baud rate in units of 1200 baud Unit serial number BCD time and date with the fol lowing format second minutes hours day month year 0x106 0x107 0x108 Required power voltage This value is 24 for standard PK2100s and 12 for the 12 V version Software test version times 10 12 for version 1 2 Microprocessor clock speed in units of 1200 Hz 16 bits 5120 for 6 144 MHz clock speed Ox10C Ox11C 0x128 Ox12A 0x130 Bus address for networking 16 bits Analog voltage reference units of 1 mV 16 bits 2 10300 for 10 300 V Excitation resistor values for universal inputs 1 6 These are the pull up resistors to the reference Six integers in units of 0 5 Q 6600 for 3 3 kQ resistors Pull down resistor values for universal inputs 1 6 Six integers in units of 0 5 Q Default is 9400 4 7 KQ 4 20 mA load resistor Resistance in units of 0 5 O The nominal value is 780 2 counts Q x 390 Q Thi
7. 40 70 C e LCD 0 50 C 5 95 noncondensing 18 35 V D C 220 mA linear supply PK2100 PK2120 e 9 15 V D C 220mA linear supply PK2110 PK2130 Configurable I O No Digital Inputs 7 protected 48 48 V 2 5 V digital threshold Digital Outputs e 10 channels sinking continuously 150 mA each at 50 C and 48 V D C 1 channel sinking continuously 500 mA at 25 C e 2 SPDT relays 3 A at 48 V Analog Inputs 6 universal inputs 1 10 bit high gain differential input Humidity Input Voltage and Current Analog Outputs 2 jumperable as 0 10 V 0 7 V for PK2110 PK2130 10 bits or 0 20 mA 0 15 mA for PK2110 PK2130 second output not available if high gain analog input is in use Resistance Measurement Input No Processor Z180 Clock Speed 6 144 MHz 9 216 MHz optional SRAM 32 kbytes supports up to 512 kbytes EPROM 32 kbytes supports up to 512 kbytes Flash EPROM Supports up to 256 kbytes Counters 2 in hardware others in software Serial Ports RS 232 with RTS CTS handshake RS 232 or RS 485 RS 422 4 wire Up to 38 400 baud Sonal Rate 57 600 baud at 9 216 MHz Watchdog Supervisor Yes l Time Date Clock Yes Memory Backup Battery CR2354 1 GU or equivalent 3 year shelf life 10 year life in use e 2x 6 keypad Keypad and LED Display e 2 x 20 character LCD PLCBus Port Yes Flash EPROM
8. Full Crepain 4 3 Bate cese 4 2 4 3 5 12 programs downloading 4 2 uploading susse 4 2 protective diodes 3 12 PRI E Ld cce ebbe 3 7 Timer Channel 0 D 8 PRTODEMO C see 5 12 pulse measurement 3 8 pulse width measurement 3 3 R RAM battery backed 1 3 1 4 2 2 C 3 raw values 5 4 5 5 5 6 read only memory 1 3 1 4 2 2 3 9 5 3 5 10 RE EE F 7 read24data eseese F 8 readddata F 7 read8data 4 F 8 reading data on the PL CBus F 3 F 4 READIO C 4 eee 5 12 READKEY C A 5 12 real time clock 1 3 4 3 5 8 kernel 4 3 4 4 5 8 recalibration BEPROM tette E 4 receive buffer cece 5 11 receiver interrupt 4 10 regulated input voltage C 2 RELAY1 RELAY 4 6 5 2 relays aei 3 4 built in oo eee 1 2 3 12 COMLACIS ciere 3 11 DIP Zs teenie etal F 2 drivers ase eee F 6 external eR 1 2 output 3 4 3 10 4 6 5 2 I 8 Index reset CET C 2 C 3 resistance bridge 3 4 resistor EE 3 5 load Be 5 3 restore LCD screen ccceeeteeeeerees 4 5 ROM i7 rede anto 1 3 flash ETE AE 5 10 programmable 1 3 1 4 2 2 ORE EE AMEN 3 9 5 3 5 10 RR eege e 3 5 RS 232 communication 1 2 2 2 2 3
9. GND oo A2X GND oo A3X GND oo strobe STBX 24 V oo attention AT 5V VCC 2 om 1 GND Figure F 1 PLCBus Pin Diagram F 2 Appendix F PLCBus PK2100 Two independent buses the LCD bus and the PLCBus exist on the single connector The LCD bus consists of the following lines e LCDX positive going strobe e RDX negative going strobe for read e WRX negative going strobe for write e A0X address line for LCD register selection e D0X D7X bidirectional data lines shared with expansion bus The LCD bus is used to connect Z World s OP6000 series interfaces or to drive certain small liquid crystal displays directly Figure F 2 illustrates the connection of an OP6000 interface to a controller PLCBus Yellow wire on top PLCBus Header Note position of connector relative to pin 1 From OP6000 KLB Interface Card Header J2 Pin 1 Figure F 2 OP6000 Connection to PLCBus Port The PLCBus consists of the following lines STBX negative going strobe e AIX A3X three control lines for selecting bus operation e DOX D3X four bidirectional data lines used for 4 bit operations D4X D7X four additional data lines for 8 bit operations e AT attention line open drain that may be pulled low by any device causing an interrupt The PLCBus may be used as a 4 bit bus DOX D3X or as an 8 bit bus DOX D7X Whether it is used as a 4 bit bus or an 8 bit bus depends on the encoding of t
10. PK2100 and PK2200 controllers The BL1000 BL1100 BL1300 BL1400 and BL1500 controllers support the XP8300 XP8400 XP8600 and XP8900 expansion boards using the controller s parallel input output port The BL1400 and BL1500 also support the XP8200 and XP8500 expansion boards The ZB4100 s PLCBus supports most expansion boards except for the XP8700 and the XP8800 The SE1100 adds expansion capability to boards with or without a PLCBus interface Table F 1 lists Z World s expansion devices that are supported on the PLCBus Table F 1 Z World PLCBus Expansion Devices Device Description EXP A D12 Eight channels of 12 bit A D converters SE1100 Four SPDT relays for use with all Z World controllers XP8100 Series 32 digital inputs outputs XP8200 Universal Input Output Board 16 universal inputs 6 high current digital outputs XP8300 Two high power SPDT and four high power SPST relays XP8400 Eight low power SPST DIP relays XP8500 11 channels of 12 bit A D converters XP8600 Two channels of 12 bit D A converters XP8700 One full duplex asynchronous RS 232 port XP8800 One axis stepper motor control XP8900 Eight channels of 12 bit D A converters Multiple expansion boards may GND oo VCC 5 V be linked together and con bos 7 jd nected to a Z World controller D1X 00 DOX to form an extended system D3X OO D2X o D5X OO DAN Figure F 1 shows the pin layout D7X oo D6X for the PLCBus connector GND 12 o O t AIX
11. Si Nn Z World s Dynamic C reference manuals provide complete software descriptions and programming instructions 1 4 PK2100 Overview PK2100 5 GETTING STARTED Chapter 2 provides instructions for connecting the PK2100 to a host PC and running a sample program PK2100 Getting Started 2 1 Initial PK2100 Setup When the PK2100 powers up it reads its board jumpers the keypad if any and the contents of the EEPROM to determine its mode of operation The following modes of operation are available Run a program stored in battery backed RAM 2 Program at 19 2 kbaud using the RS 232 port 3 Program at 38 4 kbaud using the RS 232 port The keypad Figure 2 1 may be used to set the mode Hold down the MENU setup key and one other key FIELD run UP pgm 19 2 or DOWN pgm 38 4 simultaneously The unit will beep to acknowledge the change of operating mode A menu i item fed 4 KA help setup De BA mt Figure 2 1 PK2100 Keypad L The watchdog timer must be enabled when the keypad is used to set the mode A jumper installed on jumper block J4 overrides any keypad settings The jumper block must be used when a keypad is not available for example in the PK2120 controller Figure 2 2 illustrates the jumper configurations Program at Program at Run program at 19 2 kbaud at 38 4 kbaud in RAM ajo D o uunnunmn ooog J4 J4 Figure 2 2 PK2100 Jumper Conf
12. eR ROT 4 2 The Five Key System essere 4 2 Full C Language Programming eee 4 3 PK2100 Contents iii Virtual Driver i ud e MA A RRA ce be I ee a 4 3 Invoking the Virtual Driver esee 4 4 Virtual Driver Services sess 4 4 Virtual Driver Variables essere 4 6 Digital Outputs ati Ionen ae e e bie 4 6 IRSCH 4 6 Universal Inputs eoe ee arbe aes 4 6 yen EL M E i 4 7 Downloading Code 4 8 Direct Programming of the Serial Ports esee 4 8 Attainable Baud Rates essen 4 9 Z180 Serial Ports eaae I e ces 4 9 Software Reference 5 1 Driver Softwate 7 eese EROR TOROS GARE 5 2 Digital le 5 2 Direct RE 5 2 EIER desee pee reporte opns 5 2 Digital Output eege RO TEE 5 2 RRE 5 2 Indirect Driven uium mee Gere endet 5 2 Analog Input ose qi tete EE 5 3 Low Level Direct Driver 5 3 Calibrated Direct Driver 5 3 Virtual Driver for Universal Inputs 00 0 0 cecceeseeseeeeeteeeeeeeees 5 4 Analog Output essere nnne 5 5 Direct Drivers ioc Ee 5 5 Vie DIR 5 6 High Speed DMA Counter sse 5 6 Battery Backed Clock sse 5 7 Liquid Crystal Display and Keypad sss 5 8 EEPROM Read Write cccceceesesceeseeseeeseeeeeeseeeeeseeneeeaeenseeaeeaes 5 10 Flash EPROM Witte ec e aus tdm e 5 10 Communication esesssesseseeeeeereneennennenne enne 5 11 RS 232 Communication ennenen aenn 5 11
13. separate grounds for analog and digital signals The PK2100 is often connected between the host PC and another device Any differences in ground potential can cause serious problems that are hard to diagnose Do not connect analog ground to digital ground anywhere e Double check the connecting cables to ensure none are inserted backwards into the PK2100 headers Verify that the host PC s COM port works by connecting a known good serial device to the COM port Remember that a PC s COMI COM3 and COM2 COMA share interrupts User shells and mouse software in particular often interfere with proper COM port opera tion For example a mouse running on COMI can preclude running Dynamic C on COM3 e Use the Z World power supply supplied If another power supply must be used verify that it has enough capacity and filtering to support the PK2100 Use the Z World cables supplied The most common fault of other cables is their failure to properly assert CTS at the RS 232 port of the PK2100 Without CTS being asserted the PK2100 s RS 232 port will not transmit Assert CTS by either connecting the RTS signal of the PC s COM port or looping back the PK2100 s RTS Check the connections carefully if a DB9 connector or an RJ 12 connector is wired to a 10 pin connector The wires do not run pin for pin i Note that telephone company wiring has four wires with 4 pin RJ 11 connectors whereas the RJ 12 connector has six pins e Experim
14. stepping motors or solenoids These outputs can sink approximately 300 milliamps each at up to 48 volts subject to total heat dissipation restrictions for the integrated circuit driver 6 One analog output DAC which may be a voltage output 0 10 volts for PK2100 PK2120 and 0 7 volts for PK2110 PK2130 or a current output 0 20 mA for PK2100 PK2120 and 0 15 mA for PK2110 PK2130 A second analog voltage output UEXP is available when the universal inputs are used as fixed threshold digital inputs 7 Communication interfaces including a full duplex RS 422 RS 485 serial port that can operate asynchronously at up to 38 400 baud and an RS 232 serial port with two handshaking lines that can operate at up to 38 400 baud A second RS 232 port can be configured as a substitute for the RS 422 RS 485 port by changing board jumpers but it will have no handshaking lines There is also a 26 pin connector to Z World s PLCBus expansion bus for customer designed devices or Z World PLCBus expansion devices Universal Inputs The universal interface comprises six analog inputs U1 U6 with a measurement range of 0 10 volts 0 7 volts for PK2110 PK2130 An additional universal input channel A D is available when it is not in use as part of the high gain input A universal input may be read either as an analog input by taking an analog reading or as a digital input by comparing the voltage at the input with a threshold Software p
15. 1 3 2 2 3 9 4 8 5 3 addresses E 2 E 3 E 4 calibration ssss E 4 read write esses 5 10 recalibration E 4 wrong clock frequency A 3 EPROM oooioinonsnnseene 1 3 1 4 4 8 Tlasht eie e aT 1 4 erasing the LCD screen 4 5 excitation resistor 3 5 EXP A DI2 eeeee F 2 expansion bus 1 2 3 2 3 4 3 14 D 7 F 2 F 3 F 4 F 6 4 bit drivers s F 7 8 bit drivers F 7 addresses d aded F 4 devices s es F 5 F 6 functions sss F 7 F 8 rules for devices F 5 l 4 Index expansion bus software drivers F 6 expansion register F 4 F 5 F 7 external Cl ck ee ERIS 4 8 DAC Gennes D 4 E 2 F five key system 4 2 driver us sero 5 12 flash EPROM eeecescesereeees 5 10 frequency system clock 4 8 4 9 A 3 full C language programming 4 3 function libraries 5 2 F 4 communication 5 12 gate programming 4 2 virtual driver 4 4 4 5 4 6 G gain input 3 4 3 8 3 9 3 10 5 4 gate programming 4 2 4 3 GATE P LIB 4 2 5 12 GATER C cuneus 4 2 5 12 H HI nete B 4 THA eno nete B 6 H5 eoque 5 3 B 6 LL 5 3 B 6 H7 uem 3 9 3 10 5 4 B 4 EI
16. 12 DIP relays sss F 2 direct drivers 5 2 5 3 5 5 display backlighted 1 3 liquid crystal 4 3 4 4 4 5 5 8 5 9 5 10 B 7 F 2 dissipation heat cen B 7 C 3 DOWGEL Elec B 7 C 3 DMA channels 3 7 5 6 5 7 Channel 0 D 8 Channel 1 D 8 counter high speed 5 6 5 7 Interrupts s s s 5 6 5 7 DMAOCOUNE ossssssseeseeeesreessreesseee 5 6 DMA1Count ciini 5 6 DMACOUNT C 5 7 5 12 DMASnapShot 5 7 download by monitor program 4 8 downloading programs 4 2 DREGIL enee C 2 driver software s s s 5 2 Index l 3 drivers calibrated exe 5 3 direct ssss 5 2 5 3 5 5 expansion bus F 6 4 DIt scorrere F 7 chte T F 7 high current 3 12 high level 5 2 high voltage 4 3 UE needs 5 2 low level 5 2 5 3 relay t eel dee F 6 virtual 4 2 4 3 4 4 4 5 4 6 5 2 5 4 5 6 5 9 function library 4 4 4 5 4 6 variables 4 4 Dynamic C A 4 3 communication D 7 will not start A 3 E echo option sssssss 5 11 ee rd ogg Deanna 5 10 ee WI eese nenne 5 10 esi iii 5 10 EEPROM
17. 3 2 3 4 4 2 4 8 5 11 expansion card 5 11 serial output 3 2 3 4 4 2 5 11 serial port 3 4 3 14 RS 485 communication 1 2 3 4 serial output oo eee 3 4 serial port 3 4 3 14 RS232 Q onte diee 5 14 RS485 Cf ie are 5 14 REK unos ene 4 4 RES uade IEWRGOUO RR 4 9 RUNKERNEL eene 4 4 noc 3 2 EE 3 2 S sample programs 5 2 5 7 gate programming 4 2 virtual driver 4 4 VWDOG C eee 4 4 save LCD screen 0 ceeeeetteeeeees 4 5 SCAN Ciian 4 2 5 12 SCANPLER C A 5 12 screw connectors 3 2 B 7 screw terminals 3 2 B 7 Serial Channel 0 block diagram 4 9 PK2100 Serial Channel 1 4 9 serial communication 1 2 1 4 2 2 2 3 3 2 3 4 4 2 4 8 4 9 4 10 5 10 serial interrupt esseeeeeee D 8 output esses 3 2 3 4 serial ports 1 4 4 7 4 8 4 10 asynchronous sssssseeseeseee 4 9 baud rate onses 4 9 interrupt driven 4 9 low level utility functions 4 8 multiprocessor communications feature sse 4 9 polling etae 4 9 Serial Port 0 D 8 Serial Port 1 D 8 services virtual driver 4 3 4 4 setl2adr ssseeeeessseeesessee F
18. 3 addressing mode F 4 BERENS 5 12 5KEYCODE C eee 5 12 5KEYDEMO C eee 5 12 5KEYEXTD LIB 5 12 5KEYLAD C eese 5 12 BEEZLINE C A 5 12 BEE SCAN CA 5 12 8 bit bus operations F 3 F 4 9th bit binary protocol 5 14 A A D converters esee F 2 SYSUEM ect cio ERE Seegen 5 3 AOX etenim es F 3 AIX A2X AN F 3 RA 3 9 5 4 ADD unda 3 9 5 4 ADCDEMO C 5 3 5 12 addresses encoding ssssssss F 4 PECBUS eSI F 3 F 4 addressing modes F 4 adjusting potentiometer 3 5 PK2100 amplifier ectie 5 4 analog Channel o 5 3 input 3 3 3 4 4 3 4 6 5 2 5 3 5 4 differential 3 4 3 8 5 4 high sensitivity 3 8 output 3 4 3 13 5 5 5 6 resolution essse 3 5 voltage reference 3 5 applications relays cisci 3 4 solenoids 3 4 3 12 stepping motors 3 4 asynchronous serial communication 4 9 attention line essss F 3 interrupt seii iii D 8 averaging e eseeeeeseeseeereeseesese 5 2 B background routine eenia taac itcm F 5 battery CANONS 5g uie ER G 3 lithium 5s 1 3 nickel cadmium 1 3 replacing sess G 2 shelf life gegangen ec B 3 G2 battery backed Clock atas cess 5 7 5 8 RAM
19. 50 screw terminals used for input output and power connections In addition there are two connectors on the sides of the unit a modular phone jack connector for the RS 232 port and a 26 pin connector for the PLCBus expansion port PLCBus O 10 V ref 5V GND m U1 U2 U3 U4 U5 L U6 GND Universal Inputs D2 D3 D4 D5 C1A D6 C1B 1 D7 C2A GND GND Tx RS 485 Ton RS 422 Rx Rx C2B C2B Digital Inputs O O O O 3 2 I O Configurations RS 232 Figure 3 1 PK2100 Pin Layout NC1 4 COM1 Relay 1 NO1 NC2 4 COM2 Relay2 NO2 GND PK2100 The connector labeled 10 V ref is nominally 7 volts for the PK2110 PK2130 12 volt versions of the PK2100 The connector labeled DC in is 12 or 24 volts depending on the specific PK2100 model Figure 3 2 shows a PK2100 block diagram The PK2100 s board layout and schematic are included in this manual U1 UEXP L DAC U2 O1 Universal O2 igh inputs Ha Real Time Clock t EE U4 O4 Digital Battery O5 Output U5 O6 O7 SCH RAM K High A D EPROM NGA Gain ES Input acp EEPROM NoT COM2 D RS 232 a D3 Digital Current D4 Input Beeper 010 Digital D5 4 Output D6 PLCBus Expansion C
20. 7 setl6adr c cessare F 7 set24adr oe ssssesseessssoreresse F 7 E E F 7 CY ott Yo bre F 7 set8adrE ccs essc F 8 setup Trial eet droits 2 2 shadow registers F 4 SHBUSO iecore F 4 SHBUS1 oe F 4 shutdown ses C 2 software calibration 5 3 5 5 5 6 downloading 4 8 libraries 4 2 4 4 4 5 4 6 5 2 5 12 F 4 GETS susce iO 4 3 solenoids susssss 3 4 source C term seses A 4 stepping motors s 3 4 Str ct tm wee 5 7 support libraries 5 12 SYSClOCK occus 4 8 PK2100 system clock iios 4 9 frequency 4 8 4 9 A 3 system reset C 2 C 3 T TO output interrupt D 8 TIIN TE 4 7 T1IN TION oeit 4 7 T O une NTE 4 7 TIO TIO iecit tt 4 7 TIRED eoi PIE 4 7 TIRLD T1ORID 4 7 TC8250 sss 5 7 5 8 TDEE dun 4 10 temperature constraints esses B 7 drift ed eege dees 3 10 terminals SCLEW du hectic laeets 3 2 thermistor cedens 3 5 ticks 25 ms 4 3 4 4 4 6 5 2 5 4 time and date 5 7 5 8 C 2 time date clock 1 3 5 7 5 8 C 2 timer Virtual sine 4 3 4 7 watchdog 1 3 4 4 4 8 C 3 virtual 4 3 4 4 5 9 Omer 5 8 5 9 Eis eet aes 5 7 5 8 EMCO EE 5 8 tino WI eoe nene 5 8 token LOD iita 4 5 Toshiba o on 5 7 5 8 tr
21. Support Libraries and Sample Programs sss 5 12 Appendix A Troubleshooting A 1 Out of the Box uie Rn s A 2 Dynamic C Will Not Start essere A 3 Dynamic C Loses Serial Link sse A 3 PK2100 Resets Repeatedly sse A 3 Common Programming Errors essere A 4 iv Contents PK2100 Appendix B Specifications B 1 Hardware Dimensions cceceeseeeseeseeeceeseeeseeseeeseeseeeseeeenseenrenseenss B 2 Jumper and Header Specifications sse B 4 HEIEREN EE B 7 Environmental Temperature Constraints eee B 7 Appendix C Power Management C 1 Power Failure Intetr pts usen nor C 2 Heat Sinking olei tene Dre EID IO C 3 Appendix D I O Map and Interrupt Vectors D 1 VQ Map itia as deals ct T e E s D 2 e D 6 Jump Vectots 4 5 e temet eerie net Ree e deren D 7 Interrupt Priorities s enine D 8 Appendix E EEPROM E 1 PK2100 PK2120 24 V Version Calibration esses E 2 PK2110 PK2130 12 V Version Calibration see E 4 Faeld Calibration ecciesie tte e E 4 Appendix F PLCBus F 1 PLCBus Overview essere nennen enne F 2 Allocation of Devices on the Bus F 6 GER F 6 8 Bit Dees ceo deeg F 7 Expansion Bus Software F 7 Appendix G Battery G 1 Storage Conditions and Shelf Life G 2 Instructions for Replacing the Lithium Battery A G 2 Battery Cautions scenes t i Reit eise beet seas G 3 Board L
22. causes the universal inputs to have a threshold fixed at this value 2 3 Factory setting The internal DAC is connected to the comparators used for the universal inputs J11 1 2 Connect to enable the CTS function on RS 232 serial port 2 3 Connect to use the CTS line as a board reset line High CTS will reset board PK2100 Appendix B Specifications B 5 Header Header H8 Table B 4 PK2100 Header Connections Pins Description 7 8 Connect to engage 4 20 mA load resistor 430 Q from universal input 6 to ground Connect to enable the second RS 232 output at the 1 2 expense of RS 485 output The output pin will be i TX The RS 232 input will be RX and RX must be tied to ground 3 4 Connect 3 4 and 5 6 to enable the termination and 5 6 bias resistors for RS 485 communications For universal inputs 1 6 connect H6 n to H4 n to engage excitation resistor 3 3 kQ to 10 V reference For universal inputs 1 6 connect H5 n to H6 n to engage pull down resistor to ground 4 7 kQ Header J4 is a program read header that overrides the keypad Software conventions work with the various jumper connections listed in Table B 5 Table B 5 PK2100 Header J4 Connections B 6 Appendix B Specifications Pins Description 2 3 Place PK2100 in programming mode at 38 400 bps 6 7 Run PK2100 program in RAM 7 8 Place PK2100 in programming mode at 19 200 bps Is equiv
23. communication capability suitable for communicating with other controllers one at a time or in a plant wide network It supports both RS 232 and RS 485 RS 422 serial communica tion modes PLCBus Expansion Bus Screw Connectors 2 x 20 LCD Connector 7 eg Keypad O O J I O O eaeoggsud Fi F2 F3 na del ada E O x z O O O Screw Connectors Bis RS 232 Connector Figure 1 1 PK2100 C Programmable Controller 1 2 PK2100 Overview PK2100 PK2100 Features Seven fixed digital inputs Six universal inputs One high gain differential analog input Ten high current outputs capable of driving inductive loads such as solenoids and relays Two SPDT relays Two analog outputs 2 x 20 charcter LCD screen backlighted display available and 2 x 6 keypad PLCBus port One RS 232 port and one RS 232 or RS 485 RS 422 port Rugged enclosure Battery backed RAM up to 512 kbytes EPROM up to 512 kbytes for holding program and data Optional flash EPROM to replace standard EPROM Battery backed time date clock Lithium button battery which lasts about 10 years in normal use to provide power for the time date clock and the battery backed memory when no external power is supplied to the unit option for nickel cadmium battery or a super capacitor for battery backup Watchdog timer Power failure warning
24. following structure is used to hold the time and date struct tm char tm_sec 0 59 char tm_min 0 59 char tm_hour 0 23 char tm_mday 1 31 char tm_mon fi 1 T2 char tm_year 00 150 1900 2050 char tm_wday 0 6 where 0 means Sunday PK2100 Software Reference 5 7 The following routines read and write the clock int tmc wr struct tm x write the clock int tmc rd struct tm x read the clock The following routines convert the time to and from a long integer The long integer format represents the number of seconds that have passed since midnight 00 00 00 January 1 1980 return long seconds from structure long mktime struct tm t return structure from long seconds int mktm struct tm t long time The long integer format is easier for making comparisons It represents time until 12 00 midnight December 31 1999 The real time clock can also be programmed to interrupt the processor periodically through the INT2 interrupt line The Toshiba TC8250 data book contains further details Liquid Crystal Display and Keypad The library CPLC LIB includes functions for writing to the LCD and reading the keypad There is a 16 element keypad buffer void lc char char ch Sends a character to the LCD The function waits for the LCD to become free before sending the character int lc cmd int cmd Sends a 1 byte command to the LCD The function waits for the LCD t
25. input output interfaces3 2 3 3 5 2 INTO een emm D 8 INTI cien uei D 8 INTZ uH D 8 Interrupts 0 0 cece 5 8 D 8 interface EE geen ee een 3 2 5 2 PK2100 interface universal 3 4 3 5 intermediate variables 5 2 internal DAG isses 3 5 5 6 programmable counter 3 7 5 4 interrupt driven driver 4 10 interrupts 4 6 4 10 D 6 D 7 F 3 F 5 and LCD 4 5 attention line D 8 DMA 5 6 5 7 illegal instruction D 8 INT2 452 nete ERE 5 8 nonmaskable 1 3 C 2 C 3 D 7 power failure 1 3 C2 C 3 D 7 routines 3 7 5 2 5 6 C 2 C 3 D 7 F 5 Serial ssa eessen D 7 EO output i sn D 8 VELOEN eieiei ies set det 4 9 D 7 virtual driver 4 3 invoking the virtual driver 4 3 4 4 J Tisi m ementi eec B 5 E GE B 5 E seems 2 2 B 6 Juss rette 3 13 5 5 B 4 JSt nct rette al imo B 5 p CET B 5 TI tns es 4 8 B 5 jump vectors sssessss D 7 jumpers 2 2 3 4 3 5 3 14 boatd oet epis B 4 ER EE B 4 Bebe eet t B 6 EIS abt 5 3 B 6 H6 EE 5 3 B 6 H7 Wiss 3 9 3 10 5 4 B 4 log E B 6 EIOS cinema eniti e B 4 Index l 5 jumpers dene eee B 5 E SE B 5 E 3 13 5 5 B 4 JR i eroe B 5 JO teen omes B 5 AE o i Rete eats 4 7 B 5 program readable 2 2 B 6 K K Sans RETE 3 13 K terminal sssss 3 13 kernel real time 4 3
26. interrupt EEPROM standard 512 bytes to hold factory set calibration constants and user configuration data of a more permanent nature than data held in the battery backed RAM PK2110 Features The PK2110 is a 12 volt version of the PK2100 PK2120 Features The PK2120 is a PK2100 without the enclosure the keypad or the LCD PK2130 Features The PK2130 is a 12 volt version of the PK2120 Options and Upgrades 9 216 MHz clock upgrade can be factory installed 128 kbyte flash EPROM can be factory installed 128 kbyte or 512 kbyte SRAM can be factory installed Backlit character LCD is available for the PK2100 and the PK2110 LR Appendix B provides detailed specifications for the PK2100 PK2100 PK2100 Overview 1 3 Software Development and Evaluation Tools Dynamic C Z World s Windows based real time C language develop ment system is used to develop software for the PK2100 The host PC downloads the executable code through the PK2100 s RS 232 port to one of the following places battery backed RAM ROM written on a separate ROM programmer and then substituted for the standard Z World ROM or optional flash EPROM which may be programmed or reprogrammed without removing it from the controller This allows fast in target development and debugging A PK2100 Development Kit contains the manual schematics pro gramming cable power supply 128 kbyte flash EPROM and a dem onstration board to simulate input output
27. or more down to a few hundred hertz The counters are implemented by using the DMA channels of the Z180 microprocessor The maximum count speed is more than 100 kHz The DMA channel can be programmed to store a byte from an input output port to memory for each count if desired This byte can be the least significant byte of the internal programmable counter PRT which allows the count edge to be localized in time This feature can also determine the PK2100 I O Configurations 3 7 exact time within a few microseconds at which an event occurs by programming the DMA channel to store one byte and then interrupt the count The interrupt routine can read the most significant part of the PRT counter and any software extension of this counter In general the maximum count is 65 536 which can be extended by software to larger counts if the counting speed is not higher than about 10 kHz The capabilities of the counters are summarized below Counters measure the time at which a negative edge occurs with a precision of a few microseconds The measurement can be repeated hundreds of times per second A minimum time must occur between successive events to allow for interrupt processing Counters measure the width of a pulse by counting up to 65 536 at a rate from more than 100 kHz to 300 Hz This provides 16 bit accuracy in the measurement of pulse widths Counters count negative going edges for up to two channels The maximum count
28. phy adr xxx my buffer my count The function returns 0 if the operation is successful if no flash EPROM is present 2 if a physical address 1s within the BIOS area 3 if a physical address 1s within the symbol table or 4 if the write times out 5 10 Software Reference PK2100 The data are placed in RAM not ROM when some form of initializa tion is not included when the data are declared The function then will not work It may seem to be contradictory to write to ROM but this is possible with flash EPROM where the flash memory is treated as nonvolatile memory Flash EPROM is rated for 10 000 writes Z World s experi ence has been that flash EPROM seems to last for at least 100 000 writes Nevertheless there is a limit after which the flash EPROM chip will need replacement Communication RS 232 Communication Z World has RS 232 support libraries for the Z180 port 0 and for the RS 232 expansion card that interfaces through the PLCBus to the PK2100 Functional support for serial communication includes the following functions Initialization of the serial ports Monitoring and reading a circular receive buffer Monitoring and writing to a circular transmit buffer An echo option CTS clear to send and RTS request to send control XModem protocol for downloading and uploading data A modem option PK2100 Software Reference 5 11 Support Libraries and Sample Programs Dynamic C
29. this function but only the last eight bits will be set Call this function only if the first 16 bits of the address are the same as the address in the previous call to set24adr LIBRARY DRIVERS LIB e int read24data0 long address Sets the current PLCBus address using the 24 bit address then reads eight bits of data from the PLCBus with a BUSRDO cycle RETURN VALUE PLCBus data in lower eight bits upper bits 0 LIBRARY DRIVERS LIB e int read8data0 long address Sets the last eight bits of the current PLCBus address using address bits 16 23 then reads eight bits of data from the PLCBus with a BUSRDO cycle PARAMETER address bits 16 23 are read RETURN VALUE PLCBus data in lower eight bits upper bits 0 LIBRARY DRIVERS LIB void write24data long address char data Sets the current PLCBus address using the 24 bit address then writes eight bits of data to the PL CBus PARAMETERS address is 24 bit address to write to data is data to write to the PLCBus LIBRARY DRIVERS LIB void write8data long address char data Sets the last eight bits of the current PLCBus address using address bits 16 23 then writes eight bits of data to the PLCBus PARAMETERS address bits 16 23 are the address of the PLCBus to write data is data to write to the PLCBus LIBRARY DRIVERS LIB PK2100 Appendix F PLCBus F 11 F 12 Appendix F PLCBus PK2100 APPENDIX G BATTERY Appendix G provides informatio
30. to the PK2100 after power up If the PC s RS 232 port supplies a large current most commonly on portable and industrial PCs some RS 232 level converter ICs go into a nondestructive latch up Connecting the RS 232 cable after power up alleviates this problem Dynamic C Loses Serial Link Dynamic C will lose its link if the program disables interrupts for more than 50 milliseconds Make sure that interrupts are not disabled for more than 50 milliseconds PK2100 Resets Repeatedly The PK2100 resets every 1 6 seconds if the watchdog timer is not hit and the watchdog timer is enabled by connecting pins 13 and 14 of J8 Dynamic C hits the watchdog timer but there may be problems running the program if the program does not hit the watchdog timer Make a call to uplc init at the start of the program to make sure the watchdog timer is hit periodically in the background PK2100 Appendix A Troubleshooting A 3 Common Programming Errors Values for constants or variables out of range Table A 1 Ranges of Dynamic C Function Types Type Range int 32 768 22 to 432 767 25 1 long int 2 147 483 648 2 to 42147483647 2 1 float 6 805646 x 10 to 46 805646 x 1075 char 0 to 255 Counting up from or down to one instead of zero In the software world ordinal series often begin or terminate with zero not one Confusing a function s definition with an instance of its use in a listing Not
31. volts even if power is abruptly cut off from the board The amount of time depends on the size of the capacitors in the power supply A standard wall transformer provides about 10 milliseconds If the power cable is abruptly removed from the PK2100 side then only the capacitors on the board are available reducing the computing time to a few hundred microseconds These times can vary considerably depend ing on the system configuration and loads on the 5 or 9 volt power supplies The interval between the power failure detection and entry to the power failure interrupt routine is approximately 100 microseconds or less if Dynamic C NMI communications is not in use Testing power failure interrupt routines presents some problems Nor mally a power failure interrupt routine disables interrupts Probably the best test method is to use battery backed memory to leave messages that track the execution of the power failure routines Use a variable trans former to simulate brownouts and other types of power failure conditions The power failure interrupt must be disabled if an external 5 volt power supply is used Heat Sinking The PK2100 has two power supply regulators that are either heat sinked into the case or into the mounting rails for the PK2120 PK2130 The 5 volt regulator dissipates the most heat and transfers heat to the case or rails via two mounting pem nuts The maximum heat dissipation by this regulator is 10 watts at an a
32. which fades at higher temperatures the PK2100 can be expected to operate at 60 C or more without problem PK2100 Appendix B Specifications B 7 B 8 Appendix B Specifications PK2100 bh APPENDIX C POWER MANAGEMENT Appendix C provides detailed information on power systems and sources PK2100 Power Management C 1 Power Failure Interrupts The following events occur when power fails 1 The power failure nonmaskable interrupt NMI is triggered when the unregulated D C input voltage falls below approximately 15 6 volts or 7 8 volts for the PK2110 PK2130 subject to the voltage divider R9 R33 2 The system reset is triggered when the regulated 5 volt supply falls below 4 5 volts The reset remains enabled as the voltage falls further At this point the chip select for the SRAM is forced high standby mode The time date clock and SRAM are switched to the lithium backup battery as the regulated voltage falls below the battery voltage of approximately 3 volts The following function shows how to handle a power failure interrupt JUMP_VEC NMI VEC myint interrupt retn myint Enter code here to save some variables or tag some flags while inport DREG1 amp 0x02 wait while NMI line is low this means input voltage is still below threshold that triggered the NMI return if just a power glitch return Normally a power failure interrupt routine will not return but will execute sh
33. 2B Tt C2B Counter Inputs Figure 3 2 PK2100 Block Diagram The PK2100 has the following input output interfaces 1 Six universal inputs that may be used as analog inputs to measure voltage current or resistance or as digital inputs to measure a voltage compared to a specific threshold voltage or to software specifiable high and low thresholds The universal inputs accept 0 10 volts with 10 bit resolution 2 Seven digital inputs with a 2 5 volt threshold Three of the inputs are dual purpose they function either as general purpose digital inputs or as counter inputs When serving as counter inputs the three inputs provide two counter inputs capable of counting pulses at 100 kHz or more The counter inputs can also be used to measure pulse widths and other pulse timing characteristics PK2100 I O Configurations 3 3 3 One high sensitivity differential analog input Normally the high sensitivity range is 0 1 volts but the input gain can be changed by installing different input resistors on the operational amplifier When the positive side of the differential input is more than 1 volt its voltage can be measured by the universal input with which it 1s coupled This input 1s suitable for connection to resistance bridges 4 Two relay contact outputs NO NC COM for each relay The relays are rated for 3 amps at 48 volts Contact protection devices may be installed 5 Ten high current outputs suitable for driving relays
34. 4 4 5 8 keypad 1 2 2 2 4 3 5 8 5 9 B 6 and operation modes 2 2 KEYREQUEST iieis 4 4 L lc 6har eesesent Re 5 8 ME WEE 5 8 le etrloonononsenc eee 5 8 le init elaid orenian 5 8 lc_init_keypad 5 8 lc init timerl 5 9 le kxget lem 5 9 le eesovr eU 5 9 l et eege 5 9 ME EC 5 9 le printf occ enes 5 9 le setbeep oo sss 5 9 lc wait ogem eR 5 10 le wdogarray ooeec 4 4 LCD 1 2 4 3 4 4 4 5 5 8 5 9 5 10 B 7 F 2 CUTS OT ior ues 4 4 4 5 erasing the screen 4 5 low temperature B 7 restoring the screen 4 5 row and column numbers 4 5 saving the screen 4 5 tok ti z ende 4 5 l 6 Index LGD DUS t F 2 led erase occ 4 5 led erase Line e 4 5 led printf oo 4 4 4 5 lcd r sscrn esse 4 5 led savscrn oo eee 4 5 ES KA F 2 leap year seinieni ieai 5 7 LED ugereest Seat C 2 libraries function sses 5 2 F 4 communications 5 12 gate programming 4 2 virtual driver 4 4 4 5 4 6 liquid crystal display 1 2 4 3 4 4 4 5 5 8 5 9 5 10 B 7 F 2 lithium battery 1 3 C22 G 2 MEI ike 3 10 LM324A sess 3 10 EM339 A eet erus 3 5 load resistor 5 3 low level drivers 5 2 5 3 low temperature LCD B 7 M master slave communication 5 12 MC1413B
35. 4 5 4 6 4 7 5 2 5 4 5 6 5 9 function library 4 4 4 6 INVOKING s s s 4 3 4 4 sample programs 4 4 Services iaio enais 4 3 4 4 variables ssussss 4 4 virtual timer ceee 4 3 4 6 watchdog timer 4 3 4 4 5 9 voltage divider sss C 2 Il CL 5 5 5 6 volume b epetz seen 4 4 VWDOG C A 4 4 5 12 W watchdog timer 1 3 4 4 4 8 C 3 virtual 4 3 4 4 5 9 writel2data F 7 write24data F 8 write4data oo F 7 write8data sess F 8 writing data on the PLCBus Menit E F 3 F 4 X KP8200 EE F 2 XP8300 sssssssssseeeee F 2 IXP8400 iacet F 2 bei F 2 IXP8700 tereti F 2 F 3 Z 20232 LIB sees 5 12 Z180 Port 0 5 11 Port Guoieteesadunevadas D 6 Technical Manual 4 7 Sl baud iai n inaen es 4 8 Z80 SIO Technical Manual 4 8 Zilog Ite estet ees 4 8 PK2100 Z WWORLD Z World Inc 2900 Spafford Street Davis California 95616 6800 U S A Telephone Facsimile Web Site E Mail 530 757 3737 530 753 5141 http www zworld com zworld zworld com Part No 019 0014 Revision C Printed in U S A
36. 6 384 xx1001 xxxxxx XXXXXX xx1010 6bitsxl1 4 xx1010 1 1011 4bitsx1 1 1011 expansion register XXXxx 1100 8 bits x 2 4 096 xxxx1100 xxxxxxxx x xxxl1il 8 bits x 3 1M Xxxx1101 xxxxxxxx XXXXXXXX xxxx 1110 8 amp bitsx1 16 xxxx1110 xxxxl1lIIlil 8 bits x 1 16 xxxx1111 This scheme uses less than the full addressing space The mode notation indicates how many bus address cycles must take place and how many bits are placed on the bus during each cycle For example the 5 x 3 mode means three bus cycles with five address bits each time to yield 15 bit addresses not 24 bit addresses since the bus uses only the lower five bits of the three address bytes PK2100 Appendix F PLCBus F 5 Z World provides software drivers that access the PLCBus To allow access to bus devices in a multiprocessing environment the expansion register and the address registers are shadowed with memory locations known as shadow registers The 4 byte shadow registers which are saved at predefined memory addresses are as follows SHBUSI SHBUS1 1 SHBUSO SHBUSO 1 SHBUS0 2 SHBUS0 3 Busexpansion BUSADRO BUSADRI BUSADR2 Before the new addresses or expansion register values are output to the bus their values are stored in the shadow registers All interrupts that use the bus save the four shadow registers on the stack Then when exiting the interrupt routine they restore the shadow registers and output the three address re
37. 9A provide additional protection against overload The input has a high D C impedance unless one of the jumpers 1s con nected If the excitation resistor is connected the circuit provides an excitation voltage or current to an external device This is convenient for measuring an external resistance such as a potentiometer or a temperature sensor Figure 3 4 10 V reference 10 V reference 3 3 KQ 3 3 KQ 8 KQ Ge Temperature Sensor V Figure 3 4 Measuring Variable External Resistance PK2100 I O Configurations 3 5 Multiple contacts may be connected with external resistors to a single universal input Figure 3 5 10 V ref 10 V ref 33kQ 3 3 kQ qr WH a Multiple Contacts closest has b Muliple Contacts Resolvable priority Individually Figure 3 5 Use of External Resistors to Connect Multiple Contacts to Single Universal Input Digital Inputs The seven digital inputs accept an input voltage with a digital threshold at approximately 2 5 volts The inputs are protected against overload over a range from 48 to 48 volts These inputs are convenient for detecting contact closures or sensing devices with open collector transistor outputs Logic level outputs can also be detected as long as they are supplied from CMOS logic outputs guaranteed to swing to at least 3 5 volts Three of the digital inputs are shared as inputs to the high speed counters Figure 3 6 shows a digital input The RC circuit helps to stabi
38. BRARY EZIOPLC LIB EZIOPLC2 LIB EZIOMGPL LIB void eioPlcAdr12 unsigned addr Specifies the address to be written to the PL CBus using cycles BUSADRO BUSADRI and BUSADR2 PARAMETER addr is broken into three nibbles and one nibble is written in each BUSADRx cycle LIBRARY EZIOPLC LIB EZIOPLC2 LIB EZIOMGPL LIB void setl6adr int adr Sets the current address for the PLCBus All read and write operations access this address until a new address is set PARAMETER adr is a 16 bit physical address The high order nibble contains the value for the expansion register and the remaining three 4 bit nibbles form a 12 bit address the first and last nibbles must be swapped LIBRARY DRIVERS LIB e void setl2adr int adr Sets the current address for the PLCBus All read and write operations access this address until a new address is set PARAMETER adr is a 12 bit physical address three 4 bit nibbles with the first and third nibbles swapped LIBRARY DRIVERS LIB void eioPlcAdr4 unsigned addr Specifies the address to be written to the PLCBus using only cycle BUSADR2 PARAMETER addr is the nibble corresponding to BUSADR2 LIBRARY EZIOPLC LIB EZIOPLC2 LIB EZIOMGPL LIB F 8 Appendix F PLCBus PK2100 void set4adr int adr Sets the current address for the PLCBus All read and write operations access this address until a new address is set A 12 bit address may be passed to this function but onl
39. C Each output consumes power depending on the current as follows 100mA 0 10 W 200mA 0 25 W 350mA 0 50 W This limits the maximum current to approximately 150 milliamps per output if all outputs are turned on at the same time for a 100 percent duty cycle The maximum current for any single output is 500 milliamps Analog Output One analog output DAC is provided With Pins 2 3 on Jumper J7 connected the output can be a voltage 0 10 volts for PK2100 PK2120 and 0 7 volts for PK2110 PK2130 connecting Pins 1 2 on Jumper J7 turns the output into a current output suitable for driving current loops at 4 20 mA The analog output will drive 20 milliamps 15 milliamps for PK2110 PK2130 up to 470 with a resolution of 10 bits Another 10 bit analog output channel UEXP is available if it is not being used to support the universal inputs Communication Interfaces The PK2100 comes with a full duplex RS 422 RS 485 serial port that can operate asynchronously at up to 38 400 baud 57 600 with the optional 9 216 MHz clock upgrade An RS 232 serial port with two handshaking PK2100 UO Configurations 3 13 lines can also operate at up to 38 400 baud 57 600 with the optional 9 216 MHz clock upgrade A second RS 232 port can be configured as a substitute for the RS 422 RS 485 port by changing board jumpers but it will have no handshaking lines Pins 3 4 and 5 6 on Header 8 are connected to enable RS 422 RS 485 communications Remove t
40. D etc to High sensitivity differential input Figure 3 9 Nulled Bridge Circuit for Measuring High Sensitivity Differential Analog Input 0 10 volts The bridge makes it possible to detect changes of 0 04 percent in the value of the variable resistor element when the gain is 10 A change of only 40 2 percent can be detected without a bridge jija RO ERPSA RPSB amp 19 R5 XRP5B RI1 Jumper H7 installed The gain for the negative input AD is given by RP5A R5 The gain for R5 RP5A g ll WS xq Jumper H7 not installed the positive input AD is given by or The calibration gain and offsets are stored in the EEPROM see Appendix E The output voltage y is given by y a x x ta 5 x x where x and x are the positive and negative inputs respectively a is the positive side gain a is the positive side offset and b is the negative side gain RI amp td Qflat P is also equal to the calibrated value of a GvGenfigwrs ionE tn connected minus 1 that is b a 1 If the negative input x is tied to ground the equation becomes y a Z x a or solving for x X17 do a This equation returns the input voltage given the output The function up higain 1 returns this value with Jumper H7 removed If the output of the operational amplifier is out of range x input above 1 volt y output above 10 volts the value of a direct measurement of x is returned This is less a
41. MA Byte Count Register Channel 0 most 28 MARIL DMA Memory Address Register Channel 1 least 29 MARIH DMA Memory Address Register Channel 1 most 2A MARIB DMA Memory Address Register Channel 1 extra bits 2B IARIL DMA I O Address Register Channel 1 least 2C IARIH DMA I O Address Register Channel 1 most 2D Reserved 2E BCRIL DMA Byte Count Register Channel 1 least 2F BCRIH DMA Byte Count Register Channel 1 most 30 DSTAT DMA Status Register 31 DMODE DMA Mode Register 32 DCNTL DMA WAIT Control Register 33 IL Interrupt Vector Low Register 34 ITC Interrupt Trap Control Register 35 Reserved 36 RCR Refresh Control Register 37 Reserved 38 CBR MMU Common Base Register 39 BBR MMU Bank Base Register 3A CBAR MMU Common Bank Area Register 3B 3D K Reserved 3E OMCR Operation Mode Control Register l 3F ICR T O Control Register PK2100 Appendix D I O Map and Interrupt Vectors D 3 Table D 2 and Table D 3 present the I O addresses that control I O devices external to the Z180 processor Table D 2 Write Registers External DAC for voltage or current output The high 8 bits of the digital value route through the PK2100 s 8 0x90 0 7 DAC bit DAC The low 2 bits of the digital value route through an analog circuit and are controlled via DACA and DACB below Beeper low voltage drive 1 Address Bit s Symbol Function 0x80 0 SDA W EEPROM data write O
42. S cu tate bees B 6 H9 ssec RU RI B 4 EE eege e 3 12 BA handshaking s saeseeean 3 4 3 13 hardware reset usse 4 4 heat dissipation 3 4 B 7 C 3 high current dree tegen 3 12 OQULPUL errare reete eterne 3 4 high frequency noise 3 5 PK2100 high gain input 5 3 5 4 high level drivers 5 2 high sensitivity analog input 3 8 high speed COUDLerS 1 creer 3 6 DMA counter 5 6 5 7 high voltage drivers 4 3 hooking up the PK2100 2 3 how to write to flash EPROM 5 10 hysteresis 3 3 3 4 4 6 5 2 5 4 l LO devices ssssssees D 2 interfaces sss 3 2 5 2 LU as pusetenm HER D 2 in DI D 2 lY DOS eee e heres 3 2 illegal instruction interrupt D 7 indirect drivers sus 5 2 inductive spikes 3 13 initial PK2100 setup 2 2 inport 4 8 C 2 F 7 F 8 input analog 3 3 3 4 4 3 4 6 5 2 5 3 5 4 differential 3 4 3 8 5 4 high sensitivity 3 8 counter 3 3 3 7 3 8 5 6 5 7 CUEFTETIL uc den Sieg ee e 5 3 differential counter 3 7 digital 3 3 3 4 3 6 3 7 4 3 4 6 5 2 5 5 F 6 high gain 5 3 5 4 universal 3 3 3 4 3 8 4 3 4 6 5 2 5 3 5 4 5 5 input sensitivity 3 8
43. TI Status Register Serial Channel 1 06 TDRO Transmit Data Register Serial Channel 0 07 TDRI Transmit Data Register Serial Channel 1 08 RDRO Receive Data Register Serial Channel 0 09 RDRI Receive Data Register Serial Channel 1 0A CNTR Clocked Serial Control Register 0B TRDR Clocked Serial Data Register 0C TMDROL Timer Data Register Channel 0 least OD TMDROH Timer Data Register Channel 0 most OE RLDROL Timer Reload Register Channel 0 least OF RLDROH Timer Reload Register Channel 0 most 10 TCR Timer Control Register 11 13 Reserved 14 TMDRIL Timer Data Register Channel 1 least 15 TMDRIH Timer Data Register Channel 1 most 16 RLDRIL Timer Reload Register Channel 1 least 17 RLDRIH Timer Reload Register Channel 1 most 18 FRC Free Running Counter 19 1F Reserved 20 SAROL DMA Source Address Channel 0 least 21 SAROH DMA Source Address Channel 0 most 22 SAROB DMA Source Address Channel 0 extra bits continued D 2 Appendix D I O Map and Interrupt Vectors PK2100 Table D 1 Addresses 00 3F for Z180 Internal I O Registers concluded Address Name Description 23 DAROL DMA Destination Address Channel 0 least 24 DAROH DMA Destination Address Channel 0 most 25 DAROB DMA Destination Address Channel 0 extra bits 26 BCROL DMA Byte Count Register Channel 0 least 27 BCROH D
44. When count negative edges have been detected the channel will cause an interrupt and the interrupt service routine will set the flag DMAFLAGI to 1 A program can monitor DMAFLAGI to determine if the number of counts has occurred 5 6 Software Reference PK2100 uint DMASnapShot byte channel uint counter This function reads the number of pulses that a DMA channel 0 or 1 has counted A DMA counter is initialized with one of the two preceding functions The function returns 0 if a DMA channel is counting too fast to allow for stable reading of the count value If the function reads a stable count value it returns 1 and sets the parameter count Note that DMA interrupts will still occur when the DMA channel counts down from its loaded value even if the counts cannot be read For example main unsigned count oldcount oldcount 0 DMAOCount 100 count 100 pulses while DMAOFLAG not finished if DMASnapShot 0 amp count is it stable if oldcount count oldcount count printf DMA counted u n count printf finished counting n The program DMACOUNT C in the subdirectory SAMPLES CPLC illustrates the use of these DMA functions Battery Backed Clock The battery backed clock Toshiba part number TC8250 retains the time and date with a resolution of one second and an accuracy of about one second per day It automatically accounts for leap year The
45. alent to no jumper connected PK2100 Connectors The ideal conductor for a screw clamp terminal is a single solid conduc tor However bare copper can become oxidized particularly if it is exposed to air for a long time before installation The oxide can increase the resistance in the connection by 20 Q especially if the clamping pressure is not sufficient Use tinned wires or clean shiny copper wire to avoid this problem If multiple conductors or stranded wires are used consider soldering the wire bundle or using a crimp connector to avoid a loss of contact pressure from a spontaneous rearrangement of the wire bundle at a later time Soldering may make the wire subject to fatigue failure at the junction with the solder if there is flexing or vibration Environmental Temperature Constraints No special precautions are necessary over the range of 0 50 C 32 122 F For operation at temperatures much below 0 C the PK2100 should be equipped with a low temperature LCD that 1s specified to operate down to 20 C The heating effect of the power dissipated by the unit about 5 watts may be sufficient to keep the temperature above 0 C depending on the insulating capability of the enclosure The LCD storage temperature is 20 C lower than its operating temperature which may protect the LCD 1n case the power should fail removing the heat source The LCD is specified for a maximum operating temperature of 50 C Except for the LCD
46. alsches Einsetzen oder Behandein der Batterie Nur durch gleichen Typ oder vom Hersteller empfohlenen Ersatztyp ersetzen Entsorgung der gebrauchten Batterien gem b den Anweisungen des Herstellers Attention French Il y a danger d explosion si la remplacement de la batterie est incor rect Remplacez uniquement avec une batterie du m me type ou d un type quivalent recommand par le fabricant Mettez au rebut les batteries usag es conform ment aux instructions du fabricant Cuidado Spanish Peligro de explosi n si la pila es instalada incorrectamente Reemplace solamente con una similar o de tipo equivalente a la que el fabricante recomienda Deshagase de las pilas usadas de acuerdo con las instrucciones del fabricante Waarschuwing Dutch Explosiegevaar indien de batter niet goed wordt vervagen Vervanging alleen door een zelfde of equivalent type als aanbevolen door de fabrikant Gebruikte batterijen afvoeren als door de fabrikant wordt aangegeven Varning Swedish Explosionsf ra vid felaktigt batteribyte Anv nd samma batterityp eller en likvardigt typ som rekommenderas av fabrikanten Kassera anv nt batteri enligt fabrikantens instruktion PK2100 Appendix G Battery G 3 G 4 Appendix G Battery PK2100 00LCXd ynoKe7 peog 40 98uuo 2 H11 c 2 U26 HC Driver U35 HC Driver U23 Latch St Latch
47. ansmit buffer 5 11 transmitter interrupt 4 10 EC EE D 8 troubleshooting baud trate uoa A 3 com DO A 3 communication mode A 3 memory siZe sseee A 3 Index l 9 U WHT GH NEE 5 5 U1HIGH U2HIGH U5HIGH U6HIGH 4 6 ULEN ois ivst sinters ees 5 4 5 5 U1IN U2IN U5IN U6IN flee aches le Raia Sees elas 4 6 UL LOW ee desse 5 5 U1LOW U1HIGH U6LOW U6HIGH eeeeeeeee 4 6 U26 itd tegt kg 3 12 U35 date iei 3 12 3 13 UART232 C ien 5 14 UART232 LIB 5 12 UEXP 3 4 3 5 3 13 5 3 5 5 5 6 UINVDVR CN 5 12 ULN20023 sese 3 13 uncalibrated values 5 4 5 5 5 6 conversion e 5 3 5 5 Universal Channel 6 5 3 universal input 3 3 3 4 3 7 3 8 4 3 4 6 5 2 5 3 5 4 5 5 interface oo eee 3 4 3 5 unregulated input voltage C 2 up adcal oo eeeseeeeeees 5 3 Up adrd uei 5 3 5 4 p adtest Lesser 5 4 up beep cce 4 4 up beepvol oo 4 4 up dacd 0 hinh 5 5 up_daccal seer 5 5 UP dacout enne 5 5 p diginiiceeneteen 5 2 p dogluais 5 3 5 4 up expout eseseeeIm 5 6 up higain 3 10 5 4 p in420 ise is 5 3 p Betount eege EE 5 2 up uncal 5 3 5 4 5 5 plc init enses 4 4 uploading programs 4 2 UREADIO CN 5 12 1 10 e Index V virtual driver 3 4 4 2 4 3 4 4
48. ayout Index PK2100 Contents v vi Contents PK2100 AnBour Tuis MANUAL This manual provides instructions for installing testing configuring and interconnecting the Z World PK2100 controller Instructions are also provided for using Dynamic C functions Instructions to get started using Dynamic C software programming functions as well as complete C and Dynamic C references and program ming resources are referenced when necessary Assumptions Assumptions are made regarding the user s knowledge and experience in the following areas Ability to design and engineer the target system that a PK2100 will control Understanding of the basics of operating a software program and editing files under Windows on a PC Knowledge of the basics of C programming RY i full treatment of C refer to the following The C Programming Language by Kernighan and Ritchie published by Prentice Hall and or C A Reference Manual by Harbison and Steel published by Prentice Hall Knowledge of basic Z80 assembly language and architecture For documentation from Zilog refer to any of the eo following texts Z180 MPU User s Manual Z180 Serial Communication Controllers Z80 Microprocessor Family User s Manual PK2100 About This Manual vii Terms and Abbreviations Table 1 lists and defines terms and abbreviations that may be used in this manual Table 1 Terms and Abbreviations term Abbreviation Term Abbrev
49. back to the screen and the image copy A task can use these routines to interrupt another task using the liquid crystal display save the image use the liquid crystal display restore the image and return the liquid crystal display to the original task PK2100 System Development 4 5 Virtual Driver Variables The variables described here are defined in CPLC LIB The virtual driver updates the input variables every 25 milliseconds to reflect the state of the hardware inputs and sets the hardware outputs based on the state of its output variables The virtual driver does not change input variables unless the A hardware input has the same value for at least two ticks of the virtual driver Digital Outputs The 10 digital outputs and the two relay outputs are represented by the following variables RELAY1 RELAY2 OUT1 OUT2 OUT9 OUT10 Storing a 1 in these variables causes the corresponding output to be energized on the next virtual driver tick Storing a 0 clears the corre sponding output Digital Inputs Seven variables represent the seven digital inputs DIGIN1 DIGIN2 DIGIN6 DIGIN7 These variables are updated every virtual driver tick 25 ms They are set to either 1 or 0 depending on the state of the physical input A 1 corre sponds to an input value of at least 2 5 volts Universal Inputs The universal inputs are represented by these variables U1IN U2IN U3IN U4IN UB5IN U6IN They are updated to 1 or 0 de
50. can be programmed to ignore all received characters except those with the extra multiprocessing bits enabled This provides a 1 byte attention message that can be used to wake up a processor without the processor having to monitor intelligently all traffic on a shared communications link Figure 4 2 shows the configuration for Serial Channel 0 The configura tion for Serial Channel 1 is similar but modem control lines RTS1 and DCD0 are not available Five of the seven registers shown are accessible directly as internal registers Microprocessor Internal Bus TXAO Shift Register In Shift Register Out RTSO CTSO DCDO CNTLAO CLKAO CNTLBO STATO Baud Rate Generator Figure 4 2 Z180 Serial Channel 0 Configuration PK2100 System Development 4 9 The serial ports may be polled or interrupt driven A polling driver tests the ready flags TDRE and RDRF until a ready condition appears transmit ter data register empty or receiver data register full If an error condition occurs on receive the routine must clear the error flags and take any appropriate action If the CTS line is used for flow control transmission of data is automatically stopped when CTS goes high because the TDRE flag is disabled This prevents the driver from transmitting more charac ters because it thinks the transmitter is not ready The transmitter will still function with CTS high but care must be exercised since TDRE is no
51. cant internal DAC OxA2 0 DACA Additional bit next to least external DAC OxA3 0 DACB Additional bit least significant external DAC OxA4 0 DRV8 Digital output 8 1 drives output OxA5 0 DRV9 Digital output 9 1 drives output OxA6 0 RLYI enables Relay 1 OxA7 0 RLY2 1 enables Relay 2 OxC8 0 7 BUSADRO Expansion bus first address byte OxCA 0 7 BUSADRI Expansion bus second address byte OxCC 0 7 BUSADR2 Expansion bus third address byte OxCE 0 7 BUSWR Expansion bus write to port 0x0 0 7 LCDRD LCD read register control 0xD1 0 7 LCDRD 1 LCD read register data OxD8 0 7 LCDWR LCD write register control OxD9 0 7 LCDWR LCD write register data 1 OxEO 0 3 RTRW Real time clock read write data registers OxFO 0 3 RTALE Real time clock write address latch PK2100 Appendix D I O Map and Interrupt Vectors D 5 Table D 3 Read Registers Address Bits Symbol 0x80 0 D7 UINP DREGI 0x81 0 D7 SDAR 0x88 0 D7 DREG2 0x98 WDOG 0xCO 0 D7 BUSRO OxC2 0 D7 BUSRDI OxC4 0 D7 BUSSPARE OxC6 BUSRESET Interrupt Vectors Function Bits 0 6 are universal inputs 0 5 and the sensitive input bit 6 Bit7isa user programmable jumper J8 pins 11 12 and is low when the jumper is installed Bit 7 represents signal PR Bit 0 is EEPROM data bit Bit 1 is NMI interrupt line power fail line Bits 2 3 4 5 6 and 7 are keypad columns 0 1 2 3 4 and 5 Bits 0 6 are digital i
52. ccurate by a factor equal to the gain ratio Solving this equation for x x in terms of y and x yields x x EI s On x2L bi The function up higain 2 returns this value with Jumper H7 re moved This is the difference between inputs x and x in terms of y and x both of which can be measured directly The accuracy with which the difference voltage is measured is approximately 10 times greater than for the regular universal input channels 1 millivolt instead of 10 millivolts Change resistor R5 and possibly R11 to change the gain of the high gain input These 47 kQ resistors are factory installed for a gain of 10 or 11 if Jumper H7 is removed A smaller resistor will increase the gain For example changing both the R5 and R11 resistors to 10 kQ will increase the gain to 47 or 48 with Jumper H7 removed When differential inputs are desired it is preferable to operate with H7 removed since the gain difference between the positive and negative inputs will be exactly 1 and will not depend on a balance between resistors making the output 5 volts when both differential inputs are 5 volts As the gain is increased it becomes necessary to use an operational amplifier with a more stable offset voltage than the LM324 which has considerable drift over tempera ture The Linear Technology LM1014 is suitable for gains up to 100 or more The negative input has a low input impedance compared to the positive input when H7 is removed If R5
53. cted The third is latched if the first two are latched and a matching BUSADR2 is detected If 4 bit addressing is used then there are three 4 bit address nibbles giving 12 bit addresses In addition a special register address is reserved for address expansion This address if ever used would provide an additional four bits of addressing when using the 4 bit convention If eight data lines are used then the addressing possibilities of the bus become much greater more than 256 million addresses according to the conventions established for the bus F 4 Appendix F PLCBus PK2100 Place an address on the bus by writing bytes to BUSADRO BUSADRI and BUSADRQ2 in succession Since 4 bit and 8 bit addressing modes must coexist the lower four bits of the first address byte written to BUSADRO identify addressing categories and distinguish 4 bit and 8 bit modes from each other There are 16 address categories as listed in Table F 3 An x indicates that the address bit may be a 1 or a 0 Table F 3 First Level PLCBus Address Coding First Byte Mode Addresses Full Address Encoding 000 0 4bitsx3 256 0000 xxxx xxxx 0001 256 0001 xxxx xxxx 0010 256 0010 xxxx xxxx 0011 256 0011 xxxx xxxx x0100 Sbitsx3 2 048 x0100 xxxxx xxxxx x0101 2 048 x0101 xxxxx xxxxx x0d110 2 048 xOllO xxxxx xxxxx x0111 2 048 x0111 xxxxx xxxxx xx1000 6bitsx3 16 384 xx1000 xxxxxx xxxxxx xx1001 1
54. d _eioWriteWR char ch Writes information to the PLCBus during the BUSWR cycle PARAMETER ch is the character to be written to the PLCBus LIBRARY EZIOPLC LIB EZIOPLC2 LIB EZIOMGPL LIB void writel2data int adr char dat Sets the current PLCBus address then writes four bits of data to the PLCBus PARAMETER adr is the 12 bit address to which the PLCBus is set dat bits 0 3 specifies the data to write to the PLCBus LIBRARY DRIVERS LIB void write4data int address char data Sets the last four bits of the current PLCBus address then writes four bits of data to the PLCBus PARAMETER adr contains the last four bits of the physical address bits 8 11 dat bits 0 3 specifies the data to write to the PLCBus LIBRARY DRIVERS LIB The 8 bit drivers employ the following calls void set24adr long address Sets a 24 bit address three 8 bit nibbles on the PLCBus All read and write operations will access this address until a new address is set PARAMETER address is a 24 bit physical address for 8 bit bus with the first and third bytes swapped low byte most significant LIBRARY DRIVERS LIB F 10 Appendix F PLCBus PK2100 void set8adr long address Sets the current address on the PLCBus All read and write operations will access this address until a new address is set PARAMETER address contains the last eight bits of the physical address in bits 16 23 A 24 bit address may be passed to
55. e baud rate The clock and baud rate must be specified in units of 1200 Hz Thus a 9 216 MHz clock is expressed by 7680 and 19 200 baud is expressed by 16 The return value is 1 if the baud value cannot be derived from the given clock frequency Each serial port appears to the CPU as a set of registers Each serial port can be accessed directly with the inport and outport library functions using the symbolic constants for Address 00 09 in Table D 1 Appendix D 4 8 System Development PK2100 For example to read and write from serial port 0 char ch ch inport RDRO outport TDRO ch Ports may be polled or interrupt driven The interrupt vectors are given in Table D 4 Appendix D Attainable Baud Rates The serial ports built into the Z180 can generate standard baud rates when the clock frequency is 6 144 MHz or 9 216 MHz or a small multiple for example 3 072 4 608 6 144 9 216 or 12 288 MHz A crystal is stamped with twice the clock frequency Z180 Serial Ports The Z180 has two independent full duplex asynchronous serial channels with a separate baud rate generator for each channel The baud rate can be divided down from the microprocessor clock or from an external clock for either or both channels The serial ports have a multiprocessor communications feature that can be enabled When enabled an extra bit is included in the transmitted character where the parity bit would normally go Receiving Z180s
56. e downloaded or uploaded serially through the RS 232 connection to a PC Gate programming is not C programming Itis done with an L application program written in C that modifies the param eters of the virtual driver Support functions for gate programming may be found in the subdirectory LIBRARY GATE_P LIB The programs SCAN C and GATER C in SAMPLES CPLC are examples of gate programming Costatements Costatements formerly called function blocks implement cooperative multitasking and use the virtual driver The Real Time Kernel The real time kernel allows a preemptive multitasking system to be developed The Five Key System The five key system implements a user interface to the software using the PK2100 s keypad and liquid crystal display 4 2 System Development PK2100 Full C Language Programming Full C language programming may access all the features available in Dynamic C and its libraries Gate programming and costatements use Z World s virtual driver Full Dynamic C programming of course may include any method or combinations of methods Virtual Driver The virtual driver is a software package activated by a periodic interrupt every 25 milliseconds and provides certain services to the application programmer The virtual driver provides the following services Running real time second and millisecond clocks Scanning the universal inputs to compare them against preset thresh olds Scanning the d
57. e used for high current outputs O1 O7 In that case K must be connected to that power supply J7 Connect 2 3 on J7 for voltage output on the DAC channel factory setting Connect 1 2 for 20 mA current output B 4 Appendix B Specifications PK2100 Table B 3 PK2100 Jumper Connections Header Pins Description Ji 1 2 Connect if using 32K RAM or 128K RAM 2 3 Connect for 256K or 512K RAM 4 5 Connect if using 32K 64K or 128K EPROM 5 6 Connect for 512K or 256K EPROM or flash EPROM 7 8 Connect for other than 32K EPROM 8 9 Connect for 32K EPROM 10 11 Not connected 12 13 Connect for 64K 128K 256K flash EPROM 13 14 Connect for 512K non flash EPROM J3 12 Write protect EEPROM at addresses 256 511 This is the factory setting 2 3 Write enable EEPROM at addresses 256 511 J8 1 2 Not connected 3 4 Connects timer output TO to processor INT2 Can generate periodic interrupts 5 6 Connects universal input 1 to processor INTO Not recommended 7 8 Connect processor I O CKAI to digital input 6 Can i be used to aid pulse measurements Connect processor I O CKAI to digital input 7 Can 9 10 f be used to aid pulse measurements 11 12 Processor readable jumper By convention install i whenever 13 14 is installed 13 14 Install jumper to enable watchdog timer J9 The comparators used for the universal inputs are 1 2 connected to the voltage divider RR which has a i value of 1 6 V This
58. el The current is specified such that 1000 1 milliamp The maximum is 20 000 or 20 milliamps Pins 1 2 on Jumper J7 must be connected for current output The maximum output is approximately 12 volts void up expout int rawval Sends a raw value to UEXP the internal D A converter Use this function primarily for testing and calibration since in most cases UEXP is subject to constant manipulation by interrupt routines Use up expout up docal value to output a calibrated value expressed in millivolts Virtual Driver The virtual driver does not perform analog output High Speed DMA Counter The two DMA channels are used as high speed counters and are capable of counting up to 600 kHz Function calls load the countdown value for the DMA channel and enable the DMA interrupt Flags for the DMA channel are set to 1 once a counter reaches zero A program can monitor these flags void DMAOCount uint count Loads the DMA channel 0 with the count value and enables the DMA Channel 0 interrupt The function sets the flag DMAFLAGO to zero When count negative edges have been detected the channel will cause an interrupt and the interrupt service routine will set the flag DMAFLAGO to 1 A program can monitor DMAFLAGO to determine if the number of counts has occurred void DMAl1Count uint count Loads DMA Channel 1 with the count value and enables the DMA Channel 1 interrupt The function sets the flag DMAFLAGI to zero
59. ending statements with semicolons Not inserting commas as required in functions parameter lists Leaving out an ASCII space character between characters forming a different legal but unwanted operator e Confusing similar looking operators such as amp amp with amp with with etc nadvertently inserting ASCII nonprinting characters into a source code file A 4 Appendix A Troubleshooting PK2100 APPENDIX B SPECIFICATIONS Appendix B provides the dimensions and specifications for the PK2100 controller PK2100 Appendix B Specifications B 1 Hardware Dimensions Figure B 1 illustartes the PK2100 s dimensions UNIVERSAL Dem H INPUTS Iron lt a o6 EES Beane ee 7885383888 s88388 m Figure B 1 PK2100 Dimensions in inches Figure B 2 illustartes the dimensions for the PK2120 PK2130 board only version of the PK2100 0 7 typ 4 typ S 0 19 typ 70 65 70 78 6 76 E um EEN M Figure B 2 PK2120 PK2130 Dimensions in inches B 2 Appendix B Specifications PK2100 Table B 1 presents the specifications for the PK2100 series of controllers Table B 1 PK2100 Specifications Board Size 5 5 x 6 76 x 0 78 Enclosure Size 5 5 x 7 0 x 1 6 Operating Temperature Controller
60. ent with each peripheral device connected to the PK2100 to determine how it appears to the PK2100 when powered up powered down and when its connecting wiring 1s open or shorted A 2 Appendix A Troubleshooting PK2100 Dynamic C Will Not Start If Dynamic C will not start an error message on the Dynamic C screen for example Target Not Responding or Communication Error announces a communication failure Wrong Baud Rate Either Dynamic C s baud rate is not set correctly or the PK2100 s baud rate is not set correctly Wrong System Clock Speed in EEPROM The EEPROM contains the system clock speed as a word at location 108H in units of 1200 baud If this number is incorrect the PK2100 will try to communicate at the wrong baud rate Wrong Communication Mode Both sides must be talking RS 232 Wrong COM Port A PC generally has two serial ports COMI and COM Specify the one used in the Dynamic C Target Setup menu Use trial and error 1f necessary Wrong Operating Mode Communication with Dynamic C is lost when the PK2100 is in run mode Use the setup keys to reconfigure the PK2100 for programming mode to communicate with Dynamic C at 19 200 baud or 38 400 baud Wrong Jumper Setting Jumpers on J4 override thee setup keys Make sure they are installed correctly Wrong EPROM Size or Wrong Board Jumper Jumper J1 is used to specify the EPROM s size e Ifall else fails connect the serial cable
61. escription Sample RS232 C RS485 C CZOREM C CSREMOTE C UART232 C RS 232 communication with a PC dumb terminal with or without a modem Also master to slave communication with another board running RS485 C Slave program to communicate with the master running RS232 C More elaborate sample of RS 232 communication between board and PC dumb terminal Includes modem communication data monitoring time and date setup memory read and write data logging XMODEM download of the data log XMODEM upload of binary file for remote downloading Also supports master to slave communication Slave has to be running the program CSREMOTE C Slave version of CAZOREM C Has most of the capabilities of CZOREM C Master to slave com munication is through the opto22 Oth bit binary protocol RS 232 communication with the PK2100 through an RS 232 expansion card CUARTREM C Same as CZOREM C but uses the RS 232 expansion card 5 14 Software Reference PK2100 APPENDIX A TROUBLESHOOTING Appendix A provides procedures for troubleshooting system hardware and software PK2100 Appendix A Troubleshooting A 1 Out of the Box Check the items listed below before starting development Rechecking may help to solve problems found during development e Verify that the PK2100 runs in stand alone mode before connecting any expansion boards or I O devices e Verify that the entire system has good low impedance
62. eue 3 11 5 2 control registers F 6 conversion calibrated and uncalibrated values nna 5 3 5 5 count negative going edges 3 8 counter DM A idisse deett 5 6 high speed 3 6 input 3 3 3 7 3 8 5 6 5 7 programmable 3 7 virtual timer oo ce ceeeeeeeeeee 4 7 CPLC LIB 4 6 5 8 5 12 CSREMOTE C eee 5 14 CUS Ses uA De 4 10 CTSO onse es 4 8 CUSRTREN C A 5 14 current ID put ecc aee teens 5 3 loop 4 20 mA 1 2 3 5 3 13 OQUUPUE iis eiie asihi 5 6 cursor positioning 4 4 4 5 CZOREM C A 5 14 D DOX D7X esee F 3 DAC 3 4 3 13 5 5 5 6 external oo cece D 4 E 2 internal 3 5 5 6 D 4 nonlinearity esses 5 3 Output 3 13 5 5 5 6 DACDEMO C sene 5 12 PK2100 date time clock 1 3 IIe RE 4 9 4 10 line to ground 4 10 detecting contact closures 3 6 difference voltage 3 10 5 4 differential analog input 3 4 3 8 5 4 counter input sssesss 3 7 LU 3 7 3 10 DIGDEMO C sseeeeee 5 12 DIGINI DIGIN2 DIGIN7 4 6 DIGIN1 DIGIN7 5 2 digital input 3 3 3 4 3 6 3 7 4 3 4 6 5 2 5 5 F 6 digital output 3 12 4 3 4 6 5 2 DIGVDVR C eeseee 5 12 diodes protective nresnani 3
63. eypad to select which ADC channel to monitor CDEMO_RT C Demonstrate the use of the real time kernel l pacozmo c DACDEMO C Use keypad to select output voltage on the DAC DIGDEMO C Use the keypad to select which digital input channel to monitor DIGVDVR C Similar to DIGDEMO C but uses the virtual driver to monitor the state of the input DMACOUNT C Demonstrates the use of the high speed counters GATER C Elaborate program using ladder C or gate programming to control and monitor the I Os OUTDEMO C Use the keypad to toggle the state of the digital outputs OUTVDVR C Similar to OUTDEMO C but uses the virtual driver to change the state of the output PRTODEMO C Use TIMERO for interrupt timer READIO C Read and toggle the I Os through STDIN The I Os are driven by function calls READKEY C Read the keypad and write to the LCD and to the STDIO window SCAN C Elaborate program using function blocks or gate programming to control and monitor the I Os SCANBLK C Use function blocks for I O control l UINVDVR C Use the virtual driver to monitor the universal inputs UREADIO C Read and toggle the I Os through STDIN The virtual driver drives the I Os VWDOG C Illustrates the use of the virtual watchdogs and of PK2100 KEYREQUEST Software Reference 5 13 Table 5 3 lists and describes sample communication programs in the SAMPLES NETWORK subdirectory Table 5 3 Sample Communication Programs in SAMPLES NETWORK D
64. for high speed counting 5 kHz to more than 100 kHz is 65 536 The maximum count for low speed counting is unlimited High Sensitivity Differential Analog Input One high sensitivity analog input is available This input has a differential input with a gain of 10 compared to the universal input This input is useful for devices requiring higher input sensitivity for example ther mistors or RTDs in a bridge Although the high sensitivity input has 10 times the gain and accuracy the dynamic range is necessarily 10 times less since the number voltage steps available from the conversion 1024 does not change Figure 3 8 shows the high sensitivity input circuit 470 kO Ou RP5B 47 KQ AD e 47 ka to Comparator 7 AD RES 1 470 kO RP5A 7th Universal Input to Comparator 8 Figure 3 8 High Sensitivity Differential Analog Input 3 8 I O Configurations PK2100 The gain at the plus and minus inputs is 10 when jumper H7 is installed The gain of the plus input becomes higher 11 when H7 is removed This has the effect of skewing the output from a nulled bridge circuit to the middle of the measurement range Such a bridge circuit is shown in Figure 3 9 below When the bridge is nulled both inputs are equal to 5 volts The output voltage of the input amplifier with H7 removed is 5 x 11 10 2 5 volts This is in the middle of the 10 volt measurement range of f 10 V reference Variable element thermistor RT
65. gisters and the expansion registers to the bus This allows an interrupt routine to access the bus without disturbing the activity of a background routine that also accesses the bus To work reliably bus devices must be designed according to the following rules 1 The device must not rely on critical timing such as a minimum delay between two successive register accesses 2 The device must be capable of being selected and deselected without adversely affecting the internal operation of the controller Allocation of Devices on the Bus 4 Bit Devices Table F 4 provides the address allocations for the registers of 4 bit devices Table F 4 Allocation of Registers Al A2 A3 Meaning digital output registers 64 registers 000 D xxxi 64x 8 512 I bit registers 000j 001j xxxj analog output modules 64 registers F digital input registers 128 registers 000j Olxj xxxi 128 x4 512 input Bits 000j LOxj og analog input modules 128 registers 000j 11xj xxxj 128 spare registers customer 001j xxxj xxxj 512 spare registers Z World j controlled by board jumper X controlled by PAL F 6 Appendix F PLCBus PK2100 Digital output devices such as relay drivers should be addressed with three 4 bit addresses followed by a 4 bit data write to the control register The control registers are configured as follows bit 3 bit2 bitl bit 0 A2 Al AO D The three address lines determi
66. hannel 0 0x10 SER1_VEC Asynchronous Serial Port Channel 1 Jump Vectors These special interrupt vectors occur in a different manner Instead of loading the address of the interrupt routine from the interrupt vector these interrupts cause a jump directly to the address of the vector which will contain a jump instruction to the interrupt routine This is an example of such a vector 0x66 nonmaskable power failure interrupt Since non maskable interrupts can be used for Dynamic C communica tions the interrupt vector for power failure is normally stored just in front of the Dynamic C program A vector may be stored there by the command JUMP_VEC NMI VEC name The Dynamic C communication routines relay to this vector when the nonmaskable interrupt is caused by a power failure rather than by a serial interrupt PK2100 Appendix D I O Map and Interrupt Vectors D 7 Interrupt Priorities The interrupt priorities are listed below in descending order 1 Trap Illegal Instruction internal 2 NMI nonmaskable interrupt power failure external 3 INTO nonmaskable level 0 external 4 INTI nonmaskable level 1 expansion bus attention line external en INT2 nonmaskable level 2 TO output interrupt if jumpered external 6 PRT Timer Channel 0 internal 7 PRT Timer Channel 1 internal 8 DMA Channel 0 internal 9 DMA Channel 1 internal 10 Clocked Serial I O internal 11 Serial Port 0
67. he address placed on the bus Some PLCBus expansion cards require 4 bit addressing and others such as the XP8700 require 8 bit addressing These devices may be mixed on a single bus PK2100 Appendix F PLCBus F 3 There are eight registers corresponding to the modes determined by bus lines A1X A2X and A3X The registers are listed in Table F 2 Table F 2 PLCBus Hegisters Register Address A3 A2 A1 Meaning l BUSRDO CO 0 0 0 Read data one way BUSRDI C2 0 0 1 Read data another way BUSRD2 C4 0 1 0 Spare or read data 7 Read this register to BUSRESET ES q reset the PLCBus BUSADRO C8 1 0 0 First address nibble or byte BUSADRI CA 1 0 j e nibble or byte BUSADR2 CC 1 1 0 Third address nibble or byte BUSWR CE 1 1 1 Write data Writing or reading one of these registers takes care of all the bus details Functions are available in Z World s software libraries to read from or write to expansion bus devices To communicate with a device on the expansion bus first select a register associated with the device Then read or write from to the register The register is selected by placing its address on the bus Each device recog nizes its own address and latches itself internally A typical device has three internal latches corresponding to the three address bytes The first is latched when a matching BUSADRO is detected The second is latched when the first is latched and a matching BUSADRI is dete
68. hese jumpers and connect Pins 1 2 on Header 8 to enable the second RS 232 output The RS 232 output pin will be TX and the input will be RX RX must be tied to ground The jumper arrangements are shown in Figure 3 14 The PK2100 has a 26 pin connection to allow access to Z World s PLCBus expansion bus for customer designed devices or Z World s PLCBus expansion devices RS 422 RS 485 RS 232 H8 H8 e e Figure 3 14 H8 Jumper Configurations 3 14 I O Configurations PK2100 SvsrEM DEVELOPMENT Chapter 4 describes the programming support for the PK2100 PK2100 System Development 4 1 Programming Z world supports program development for the PK2100 in a variety of ways Support for some of these stems from a virtual driver which monitors the PK2100 s ports and provides a set of virtual latches timers counters function keys and two DAC analog outputs Gate Programming Gate programming is a quick and easy way to program the PK2100 s inputs and outputs The logic elements are summarized in Table 4 1 Table 4 1 Gate Programming Logic Elements External Internal Seven digital inputs Thirty memory latches Six universal inputs Ten on delay timers Ten digital outputs Five countdown counters Two relay outputs Four special function keys l l Discrete digital to analog outputs l An operator updates the parameters supported by these logic elements using the five key system Gate programs can b
69. iation Description PIO Programmable Input Output Integrated Circuit RAM Random Access Memory RTC Real Time Clock SIB Serial Interface Board SRAM Static Random Access Memory NMI Non Maskable Interrupt Conventions Table 2 lists and defines typographical conventions that may be used in this manual Example While IN 01 Italics Edit byte To emphasize that certain functions must operate on 8 bit bytes the term Table 2 Term and Abbreviation Conventions Description program or a Dynamic C keyword or phrase Program comments are written in Courier font plain face Indicates that something should be typed instead of the italicized words e g in place of filename type a file s name Sans serif font bold signifies a menu or menu selection An ellipsis indicates that 1 irrelevant program text is omitted for brevity or that 2 preceding program text may be repeated indefinitely Brackets in a C function s definition or program segment indicate that the enclosed directive is optional byte is used as a type specifier Byte is actually a type character not a standard C keyword Parameters defined by byte are not standard C characters they are 8 bit bytes This function does not work in an application unless first declared with typedef or define viii About This Manual Courier font bold indicates a program a fragment of a PK2100 Pin Number 1 o oo oO A black square indicates
70. ibrated form float up higain int mode Returns a value from the high gain differential analog input There are three modes of operation all of which assume Jumper H7 is removed Mode 1 assumes AD is grounded and returns voltage on AD in the range 0 1 volts Mode 2 returns the difference voltage AD AD The possible voltage range depends on the common mode voltage varying from 0 1 volts when AD is at ground from 0 5 to 0 5 volts when AD is at 0 5 volts and from 1 to 0 volts when AD is at 1 0 volt Mode 3 returns the input voltage on AD in the range 0 10 volts The function returns the input voltage at AD if the output of the amplifier is out of range Virtual Driver for Universal Inputs The virtual driver assesses the state of universal inputs 1 6 Each of these channels has a high and low threshold and a flag to indicate the relation ship of the incoming signal to the thresholds The incoming analog signal is compared with the high and low threshold every tick of the virtual driver 25 milliseconds For example the flag UIIN is set to 1 if the signal on Channel 1 1s above the high threshold and is set to 0 if the signal is below the low threshold The flag is not altered when the signal is in the hysteresis region In addition the flag is not altered unless the new condition that requires the flag to be altered persists for two clock ticks 25 50 milliseconds A program such as the one in the foll
71. igital inputs and setting digital outputs Providing any number of virtual watchdog timers Providing clock drive for the optional real time kernel Providing control for an audible beeper Providing a driver for the keypad Providing a driver for the liquid crystal display The following switches turn off the services of the virtual driver If used they must precede driver calls Leave the switch undefined to avoid disabling the service define NOUNIVERSAL Disable the virtual driver for digital inputs universal inputs digital outputs and relays e define NOTIMERS Disable the virtual timers The virtual timers are software timers useful in ladder logic programming and gate programming e define NOLCD Disable the liquid crystal display LCD This directive will prevent the initialization of the LCD Commands to the LCD have no effect unless the LCD has been initialized PK2100 System Development 4 3 The following preprocessor variables control features of the virtual driver define N WATCHDOG nn Specify the number of virtual watchdog timers Each virtual watchdog has a counter that has to be reloaded If the counter for any virtual watchdog counts down to zero a hardware reset is forced To reload a virtual watchdog type up wdoghit int watchdog byte count where count is the number of 25 millisecond ticks to countdown A virtual watchdog wdog can be monitored if necessary by reading the inte
72. igurations for Programming 2 2 Getting Started PK2100 Connecting the PK2100 to a Host PC 1 Make sure the PK2100 power source is not connected 2 Connect the PK2100 to the host PC s RS 232 serial COM port A 9 pin to RS 232 phone plug adapter is included with the developer s kit 3 Connect the red tagged lead from the 24 volt or 12 volt power supply to the 24 volt screw connector Connect the other power supply lead to the GND screw connector 4 Plug the power supply into a wall socket The North American version of the PK2100 developer s kit comes with a 24 volt D C power supply International users and users of PK2110 PK2130 controllers which are designed for 12 volts must provide an appropriate power supply The PK2100 is now ready to be programmed Establishing Communication Communication between the PC and the PK2100 becomes possible once the hardware is connected and the Dynamic C software has been installed Double click the Dynamic C icon to start the software Note that the PC attempts to communicate with the PK2100 each time Dynamic C is started No error messages are displayed once communication is estab lished Dy See Appendix A Troubleshooting if an error message such as Target Not Responding or Communication Error appears Once the necessary changes have been made to establish A communication between the host PC and the PK2100 use the Dynamic C short cut Ctrl Y to reset the controller and
73. initiate communication Running a Sample Program 1 Open a sample program located in Dynamic C subdirectory SAMPLES CPLC See Appendix A Troubleshooting if an error message such as Target Not Responding or Communication Error appears PK2100 Getting Started 2 3 2 Compile the program by pressing F3 or by choosing Compile from the Compile menu Dynamic C compiles and downloads the program into the PK2100 s flash memory 3 Run the program by pressing F9 or by choosing Run from the Run menu 4 Press Ctrl Z to stop execution of the program 5 If needed press F9 to restart execution of the program 2 4 Getting Started PK2100 I O CONFIGURATIONS Chapter 3 discusses how to configure the available inputs outputs in the PK2100 controller PK2100 HO Configurations 3 1 PK2100 Inputs and Outputs The PK2100 provides these types of inputs outputs Universal analog inputs Protected digital inputs e High gain differential analog input SPDT relays e High current driver outputs capable of driving inductive loads such as solenoids and relays Analog outputs e 2X 20 charcter LCD screen backlighted display available and 2 X 6 keypad e Serial communication channels PLCBus port RS 232 port and RS 232 or RS 485 RS 422 port Figure 3 1 shows the signal names of the PK2100 s screw connectors The chapter describes the various interfaces and presents some typical applications There are
74. is decreased to increase the gain this impedance becomes even lower When a bridge is used the finite impedance of the negative input will change the gain slightly 3 10 I O Configurations PK2100 The gain for a bridge such as EY 47 KQ R1 b R11 47 KQ Vo R5 R2 470 kO v RP5A would be EM TES 8 8 X l RB RS Lig tu The change in gain for the input V V is given by the above formula If R5 is 47 kO and R1 and R2 are each 350 Q then the gain is reduced by the factor 1 1 0 9962 47 000 47 000 EE 1 350 350 or about 4 parts in 1000 Relay Outputs The PK2100 has two relays Each relay Figure 3 10 is single pole double throw The rated current is 3 A and the rated voltage is 48 V Optional metal oxide varistors MOV may be installed on the board to protect the contacts When the voltage across the contact exceeds the trigger voltage of the MOV the MOV acts as a short circuit preventing or minimizing sparking and arcing NC 24 V A L eo e Wi COM B EH NO Figure 3 10 PK2100 Relay PK2100 UO Configurations 3 11 The relay output signals are routed through the U35 high current driver chip Digital Outputs The PK2100 has 10 digital outputs O1 O10 Seven of the outputs belong to one high current driver chip U26 and three belong to another chip U35 These outputs can drive inductive loads such as relays small solenoids and steppi
75. itional testing or burn in of an individual unit is available by special arrangement Company Address fe Z WORLD Y Z World Inc Telephone 530 757 3737 2900 Spafford Street Facsimile 530 753 5141 Davis California 95616 6800 Web Site http www zworld com USA E Mail zworld zworld com CONTENTS About This Manual vii PK2100 Overview 1 1 PK2100 OVerVvIew o guid iie tent do pp te beni 1 2 PK2100 Eeatu r s ener dente epe 1 3 PK2110 Features tens ht e eet fto 1 3 PK2120 Features z tene a Hee edet eue 1 3 P2130 Features opo e odes 1 3 Options and Upgrade 1 3 Software Development and Evaluation Tools 1 4 Getting Started 2 1 Initial PK 2100 Setups ich needed ette 2 2 Connecting the PK2100 to a Host PC sse 2 3 Establishing Communication seen 2 3 Running a Sample Program cceccesceeseesceeseeseeeseeseeeseeneeeaeeseeeseenes 2 3 UO Configurations 3 1 PK2100 Inputs and Outputs essere 3 2 Universal Inputs esses 3 4 Digital Inputs eessen eh ean eae 3 6 High Sensitivity Differential Analog Input 3 8 Relay Outputs een EAR 3 11 Digital Outputs essere 3 12 Analog Output i aur ERE 3 13 Communication Interfaces esessesseseseseeeeeenennne 3 14 System Development 4 1 Programming a SH NU ettet 4 2 Gate Programming a STILE CER IAS 4 2 Costatements edel ett a iq 4 2 The Real Time Ketel
76. l 2 Index calibration 1 3 5 2 constants 1 3 5 3 5 6 input gain sses 3 9 EEPROM ossonssonsenssesessereseese E 4 software 5 3 5 5 5 6 CDEMO B C 5 12 Channel o 5 3 KA avenues eene 3 7 clamp diodes 3 5 clock battery backed 5 7 5 8 date time sssssss 1 3 external ues 4 9 frequency System 4 8 4 9 A 3 millisecond 4 3 real time 1 3 4 3 5 8 SNE EAR E 4 9 time date 5 7 5 8 C 2 clocked serial TO E D 8 CNTLBO EE 4 8 er K N DEE 4 8 common problems programming errors A 4 wrong cables A 2 wrong COM port A 2 communication Dynamic C D 7 function libraries 5 12 RS 232 1 2 2 2 2 3 3 2 3 4 4 2 4 8 5 11 RS 485 sss 1 2 3 4 serial 1 2 1 4 2 2 2 3 3 2 3 4 4 2 4 8 4 9 4 10 5 11 comparator esee 3 5 components cesses 3 2 connect PK2100 to PC 2 3 connectors 26 pin pin assignments F 2 DAG irte 3 13 SOLOW scu tere en 3 2 PK2100 constants calibration 3 9 5 3 5 6 contact protection 3 4 contacts closures detecting sss 3 6 multiple dee 3 6 protection ssssseees 3 4 telay
77. lize the input but note the 0 2 millisecond RC time constant which affects signals faster than 5 kHz While it may be tempting to disable the capacitor with a jumper this is not recommended because the signal may be degraded 5V 10 kQ 22 kQ Input Digital Input i 0 01 uF Figure 3 6 PK2100 Digital Input 3 6 I O Configurations PK2100 Three of the digital inputs also serve as counter inputs In addition there is a special differential counter input The counter inputs are arranged as shown in Figure 3 7 5V T oa lt M J gt DREQO Counter 1 Cap EF T V J8 7 8 CKA1 J8 9 10 C2A hd 1 v TI gt DREQ1 Counter 2 C2B Cope C2B U34 RS 485 receiver Figure 3 7 Digital Inputs Used As Counter Inputs The counters count on a negative going edge Each counter has two inputs which are symmetrical in that one can be used as a gate and the other can be used as a count input The RS 485 receiver input can be used as a digital input by attaching one side of it to the desired threshold voltage This input can be used as a true differential input for such devices as inductive pickups It has a common mode voltage range from 12 to 12 volts with an input hysteresis of 50 millivolts An internal jumper can connect the signal from input output procesor CKAI which is controlled by the second RS 485 serial port s hardware CKAI can be set to count pulses at 100 kHz
78. m o o of pin 1 of all headers and jumpers Pin Icons Table 3 displays and defines icons that may be used in this manual Table 3 Icons Icon Meaning ae Refer to or see Sat Please contact N Caution L Note Tip Factory Default PK2100 About This Manual ix X About This Manual PK2100 PK2100 Overview Chapter 1 provides an overview and brief description of the PK2100 C Programmable controller features options and upgrades PK2100 PK2100 Overview 1 1 PK2100 Overview The PK2100 series is Z World s most comprehensive controller that connects directly to many sensors and peripheral devices without needing intermediate signal conditioning A typical application for the PK2100 is the control of medium scale production equipment such as packaging machinery special purpose machine tools or material processing systems The PK2100 can be used to detect contact closures count pulses and measure analog values such as temperature or pressure The PK2100 has two built in relays and it can directly drive 10 external relays or solenoids There is an analog output capability including the 4 to 20 mA loop output standard in the control industry The PK2100 has an optional built in keypad and liquid crystal display LCD There is a PLCBus expansion bus connector that allows external expansion of the input output capabilities or the addition of interface devices designed by the user The PK2100 has serial
79. mbient temperature of 50 C The regulator will shut down protectively if an attempt is made to dissipate more heat because of a combination of high input voltage or excessive current draw on the 5 volt supply The power dissipation is given by the formula P V 5 x 0 15 where Vy input voltage 18 35 V I current in amperes drawn from 5 volt supply by external accessories on bus or from VCC voltage terminal If the PK2100 is disassembled take care to preserve or replace the silicon grease in the heat conductive paths Heat dissipation can be improved by bolting the PK2100 to a metal plate with a good heat transfer path near the PK2100 Power Management C 3 C 4 Power Management PK2100 D Appenpix D VO MAP AND INTERRUPT VECTORS PK2100 Appendix D I O Map and Interrupt Vectors D 1 UO Map The internal registers for the input ouput devices built into to the Z180 processor occupy the first 40 hex addresses of the input output space Table D 1 lists the addresses of these internal registers Table D 1 Addresses 00 3F for Z180 Internal I O Registers Address Description 00 CNTLAO Control Register A Serial Channel 0 01 CNTLAI Control Register A Serial Channel 1 02 CNTLBO Control Register B Serial Channel 0 03 CNTLB1 Control Register B Serial Channel 1 04 STATO Status Register Serial Channel 0 05 STA
80. n about the onboard lithium battery PK2100 Appendix G Battery G 1 Storage Conditions and Shelf Life The battery on the PK2100 will provide approximately 9 000 hours of backup for the real time clock and static RAM as long as proper storage procedures are followed Boards should be kept sealed in the factory packaging at room temperature until field installation The board should not be exposed to extremes of temperature humidity or contaminants The backup time is affected by many factors including the amount of time the board is unpowered size of static RAM temperature humidity and exposure to contaminants including dust and chemicals Protection against environmental extremes will help maximize battery life Instructions for Replacing the Lithium Battery Use the following steps to replace the battery 1 Locate the three pins on the bottom side of the printed circuit board that secure it to the board 2 Carefully de solder the pins and remove the battery Use a solder sucker to clean up the holes 3 Install the new battery and solder it to the board Use only a CR2354 1GU or equivalent G 2 Appendix G Battery PK2100 Battery Cautions Caution English There is a danger of explosion if battery is incorrectly replaced Replace only with the same or equivalent type recommended by the manufacturer Dispose of used batteries according to the manufacturer s instructions Warnung German Explosionsgefahr durch f
81. ne which output bit is to be written The output is set as either 1 or 0 according to D If the device exists on the bus reading the register drives bit 0 low Otherwise bit 0 is a 1 For digital input each register BUSRDO returns four bits The read register BUSRDI drives bit 0 low if the device exists on the bus 8 Bit Devices Z World s XP8700 and XP8800 expansion boards use 8 bit addressing Refer to the XP8700 and XP8800 manual Expansion Bus Software The expansion bus provides a convenient way to interface Z World s controllers with expansion boards or other specially designed boards The expansion bus may be accessed by using input functions Follow the suggested protocol The software drivers are easier to use but are less efficient in some cases Table F 5 lists the libraries Table F 5 Dynamic C PLCBus Libraries Library Needed Controller DRIVERS LIB All controllers EZIOTGPL LIB BL1000 EZIOLGPL LIB BL1100 EZIOMGPL LIB BL1400 BL1500 EZIOPLC2 4LIB BLI70 EZIOBL17 LIB BL1700 PBUS TG LIB BL1000 PBUS_LG LIB BL1100 BL1300 PLC EXP LIB BL1200 BL1600 PK2100 PK2200 PK2100 Appendix F PLCBus F 7 There are 4 bit and 8 bit drivers The 4 bit drivers employ the following calls void eioResetPlcBus Resets all expansion boards on the PLCBus When using this call make sure there is sufficient delay between this call and the first access to an expansion board LI
82. ng motors Outputs O1 O7 on U26 use a common bus K for the protective diodes Thus it is possible to use a power supply for these outputs other than the power supply for the PK2100 All loads connected to the same group of drivers must use the same power supply so the diodes can return inductive spikes to the same power supply Refer to Figure 3 11 k k Inductive _ External load power supply l l up to 48 V K Digital output channel 01 O7 m Ee V VV Figure 3 11 Routing External Power Supply for PK2100 Digital Outputs If the PK2100 s power supply DC in 12 or 24 volts is used route K to the power supply by connecting jumper H11 Refer to Figure 3 12 DC in DC in Inductive load gt o H11 l K Digital output Ji channel 01 07 i Sp V V Figure 3 12 Routing PK2100 Internal Power Supply for Digital Outputs 3 12 I O Configurations PK2100 The diodes on U35 for outputs O8 O10 use the PK2100 s power supply directly D C in D C in Inductive load uU Digital output channels O8 O10 V Figure 3 13 Routing PK2100 Power Supply for Digital Outputs O8 O10 The drivers used are the Motorola MC1413B or the equivalent Texas Instruments ULN2003 One drives outputs O1 O7 and the other drives outputs O8 O10 the onboard relays and the beeper Each driver chip can dissipate a maximum of 1 25 watts when the ambient temperature is 60
83. ng of four bytes Y1 X1 Y2 X2 where Y1 is in the most significant byte The pair Y1 X1 is the position of the cursor before writing and Y2 X2 1s where the cursor will be positioned after writing The upper four bits of Y2 specify whether the cursor will be left on 1 or off 0 after the print is complete If mt is a null string then only cursor positioning will take place Lines on a 2 x 20 screen Y values are numbered 0 and 1 Columns X values are numbered 0 19 A screen with four lines has lines numbered 0 3 The function led_print is not reentrant If it is used in a multitasking environment it is necessary to restrict led_printf to only one task at a time Several utility routines make this possible The following routines save and restore the contents of the liquid crystal display screen The program must have the token to use these routines in a multitasking environment lcd savscrn struct lcd scrn s lcd resscrn struct lcd scrn s The following routines erase the screen or a line on the screen The user must have the token to call these routines in a multitasking environment lcd erase lcd erase line int line line is 0 or 1 A copy of the display contents and the location of the cursor 1s updated in memory whenever Led printf prints to the liquid crystal display The function Led savscrn copies this image to a user specified save area The function Led resscrn copies the screen save area
84. nputs 0 6 Bit 7 is the universal input channel fed through AD or universal input channel 8 Reading this location hits the watchdog timer First read data port expansion bus Second read data port expansion bus Unused bus read address Read location to reset all devices on expansion bus Most interrupt vectors can be altered under program control The ad dresses are relative to the start of the interrupt vector page which is determined by the contents of the I register Table D 4 lists the default interrupt vectors set by the boot code in the Dynamic C EPROM A directive such as the following is used to vector an interrupt to a user function in Dynamic C SINT VEC 0x10 myfunction This causes the interrupt at offset 10H serial port 1 of the Z180 to invoke the function myfunction The function must be declared with the interrupt keyword interrupt myfunction D 6 Appendix D I O Map and Interrupt Vectors PK2100 Table D 4 Interrupt Vectors for Z180 Internal Devices Address Name Description 0x00 INT1_VEC Expansion bus attention INT1 vector 0x02 INT2_VEC INT2 vector can be jumpered to output of the real time clock for periodic interrupt 0x04 PRTO_VEC PRT timer channel 0 0x06 PRT1 VEC PRT timer channel 1 l 0x08 DMAO VEC DMA channel 0 0x0A DMA1 VEC DMA channel 1 l 0x0C CSIO_VEC Clocked Serial I O OxOE SERO VEC Asynchronous Serial Port C
85. o become free before sending the command If the LCD does not become free within a certain time 5 000 attempts to write the function returns 1 Otherwise it returns 0 indicating success void lc ctrl byte cmd Sends a 1 byte command to the control register of the LCD The function waits for the LCD to become free not busy before writing void lc init Initializes the LCD The display is turned on cleared and the cursor now in the top left character position blinks void lc init keypad Initializes the keypad timer and the real time kernel if it is in use 5 8 Software Reference PK2100 void lc init timerl uint count Initializes the timer reload register The term count is expressed as shown below for the 6 144 MHz clock count Frequency Period 192 1600 Hz 625 us 384 800 Hz 1 25 ms 6144 50 Hz 20 ms In other words count clock speed 20 x frequency int lc kxget byte mode Gets the current entry from the keypad buffer If mode is 0 the byte pointer is advanced Otherwise it remains at the current byte The function returns an integer representing which key was pressed Numbers from 0 11 are returned for a 2 x 6 keypad The function returns 1 if the buffer is empty void lc kxinit Initializes the keypad The virtual watchdogs are initialized if virtual watchdogs are defined see the virtual driver e void lc nl Performs a newline on the LCD void lc pos int line in
86. owing example can set the thresholds to any desired level and then check the associated flag 5 4 Software Reference PK2100 This relationship is shown in Figure 5 1 for Channel 1 U1HIGH up uncal 8000 U1LOW up uncal 7900 U1LIN up adrd 1 gt U1LOW get immediate value of U1 while 1 OUT2 UIIN output 2 enabled whenever Ul is greater than 800 mV Note that the thresholds are expressed as raw uncalibrated values This saves computation time in the interrupt routine Use the routine up uncal to compute the raw values from the desired calibrated values 1 d 2 n I 2 o 0 U1LOW U1HIGH INPUT Figure 5 1 Universal Input Hysteresis Analog Output Analog output consists of the DAC output channel which can be set up as either a current or a voltage output There is also an option for the UEXP output to be used as a voltage DAC output if the universal input is configured as a digital only input Only direct drivers are available for analog output Direct Driver void up daccal int value Sends a calibrated value to the DAC output channel A calibrated voltage is a value expressed in millivolts 10 000 for 10 volts void up dacout int rawval Sends a raw value to the DAC output channel Each count represents an increment of 0 01 volts over the count range 0 1023 PK2100 Software Reference 5 5 void up dac420 int current Sends a current value to the DAC output chann
87. pending on the relationship of the analog input to preset thresholds A high threshold and a low threshold are associated with each universal input variable These are the levels at which the flags ULIN U2IN are switched U1LLOW U1HIGH U2LOW U2HIGH U6LOW U6HIGH The way the universal inputs are interpreted is determined by setting these thresholds 4 6 System Development PK2100 Timers There are 10 virtual timers Each timer has an input flag an output flag and a reload value TIIN T2IN T10IN input flags T10 T20 T100 output flags TIRLD T2RLD T1ORLD reload values When a timer input for example TLIN goes from 0 to 1 the counter starts counting from the reload value for example T1RLD down one count every virtual driver tick 25 milliseconds The output flag T10 is set to 1 when the count reaches zero The output is forced to zero when ever the input is set to zero TxIN Counter TxO Figure 4 1 Timer Ouput Variation Over Time with Timer Input and Counter PK2100 System Development 4 7 Downloading Code A program may be downloaded to the PK2100 via a serial or other communications link A related problem is loading programs to EPROM RAM or an external mass storage device for execution The basic method for downloading starts with writing a monitor program that is burned into EPROM This monitor program serves as a master con
88. provides sub directories with libraries and software samples Table 5 1 lists and describes libraries of use to the PK2100 in the LIB subdirectory Table 5 1 PK2100 Support Libraries Library Description Z0232 LIB RS 232 library for the Z180 port 0 MODEM232 LIB Miscellaneous functions common to the other communication libraries UART232 LIB RS 232 library for the RS 232 expansion card NETWORK LIB RS 485 9 bit binary half duplex support for master slave communication for Z180 port 1 CPLC LIB Low level drivers for the PK2100 Includes drivers for the real time clock LCD keypad virtual drivers DAC A D digital input and digital output 5KEY LIB Driver for the five key system 5KEYEXTD LIB Drivers for input output display under the five key system GATE_P LIB Drivers for gate programming Table 5 2 lists and describes sample programs of use to the PK2100 in the SAMPLES CPLC subdirectory 5 12 Software Reference PK2100 Table 5 2 Sample Programs in SAMPLES CPLC Description Program Program 5KEYCODE C Code driven sample program for the five key system 5KEYDEMO C Uses a code driven five key system and the RTK for I O monitor and control 5KEYLAD C Combines 5KEYCODE C and LADDERC C 5KEYLINK C Linked list sample program for the five key system 5KEYSCAN C Combines 5KEYCODE C and SCANBLK C ADCDEMO C Use k
89. replaces standard EPROM PK2100 Appendix B Specifications B 3 Jumper and Header Specifications Figure B 3 shows the locations of the PK2100 headers and jumpers ss H11 2 o J7 9 H7 o H9 ee 1 fo H1 E 1 SES E 1 H5 oo00000 H4 ses zm 900000009 J4 H8 1 1 Figure B 3 Locations of PK2100 Headers and Jumpers The jumper configurations are described in Table B 2 Table B 3 and Table B 4 Header HI H7 Table B 2 PK2100 Header Descriptions Description When H1 is connected a 10 kQ excitation resistor RP6A is connected between the 10 V reference and the high gain input AD Connect a jumper across H7 to cause differential inputs AD and AD to be balanced in gain If the jumper is discon nected the gain is greater on the AD side so that if both inputs are set to 5 V the output of the operational amplifier is 5 V Use this feature to accept input from bridges where the taps are nominally at 5 V H9 A jumper across H9 connects the internal battery to relay 1 N O contact Use H9 when a battery self test circuit is to be implemented by connecting a switched load to the battery H11 A jumper is normally installed across H11 to connect K to the 24 V power supply Disconnect only if a separate power supply is to b
90. rnal variable Le wdogarray wdog 1 The program VWDOG C in the subdirectory SAMPLES CPLC illustrates the use of virtual watchdog timers define RUNKERNEL Request the real time kernel It will be initialized define KEYREQUEST nn Request a real time kernel task when a key 1s pressed The sample program SAMPLESNCPLCWNWDOG C illustrates the use of this directive Invoking the Virtual Driver Call uple_init from the main function to invoke the virtual driver This call will initialize the following items Variables for the virtual driver Virtual watchdog timers 1f requested The liquid crystal display unless disabled The real time kernel if requested The timer that runs the background routine The program must periodically hit the hardware watchdog uplc init to keep it from timing out Virtual Driver Services e up beep int milliseconds Beeps the built in beeper for the number of milliseconds specified up beepvol int code Sets beeper volume The code is 0 1 or 2 and corresponds to beeper off low or high volume 4 4 System Development PK2100 lcd printf long cursor char fmt arg Print on the liquid crystal display screen The variable cursor determines the position of the cursor before and after the string of characters determined by the format mt and the arguments arg is printed according to traditional printf conventions The cursor variable is a long integer consisti
91. rovided by Z World can be used to compare the input voltage to a single fixed threshold or to two software specified thresholds Single Threshold A digital 1 results when the voltage is above the threshold Otherwise a digital 0 results Dual Threshold A digital 1 results when the voltage is above the high threshold A digital 0 results when the voltage is below the low threshold Otherwise the software reports no change Z World s virtual driver 3 4 I O Configurations PK2100 software see Chapter 4 System Development provides the two thresh olds The universal inputs are protected against overloads between 48 and 48 volts The analog resolution is 10 bits providing approximately 1024 steps over the range 0 10 volts 0 7 volts for PK2110 PK2130 Its sensitivity is about 10 millivolts per step Figure 3 3 shows a schematic of a single universal input channel 10 V reference 3 3 kO excitation VCC Jumpers resistor H4 H5 H6 o 22kQ Input o o z 0 01 uF eee V comparator LM339A 4 7 KQ UEXP value or fixed reference RR wv S 430 Q resistor 4 20 mA loop w channel 6 only Connect H5 7 8 Figure 3 3 Universal Input Channel Each input uses a comparator driven by the signal and by an internal DAC to measure the input voltage The input resistor and capacitor filter out high frequency noise and provide protection against overloads Clamp diodes in the LM33
92. s represents the combined resistance of the load resistor and the pull down resistor in parallel Reserved Table of 11 values relating to internal DAC First value is output voltage when nominal output is zero Additional values are output voltage increment above offset when input number is 1 2 4 256 512 Stored as integers expressed in units of 0 5 mV 0x146 Ox10B 0x110 Table of 11 values relating to external DAC First value is output voltage when nominal output is zero Additional values are output voltage increment above offset when input number is 1 2 4 256 512 Stored as integers expressed in units of 0 5 mV continued E 2 Appendix E EEPROM PK2100 Table E 1 Calibration Constants for PK2100 PK2120 EEPROM continued Address Definition Ox15C Ox15E 0x160 0x164 0x168 0x16A PK2100 For the standard PK2100 this is current in units of 1 0 pA corresponding to voltage output of 2 000V when set for 0 20 mA output into nominal 392 load resistor Typically near 4000 For the 12 volt PK2100 the output range is 0 15 mA For the standard PK2100 this is current in units of 1 0 uA corresponding to voltage output of 10 000 V when is set for 0 20 mA output into nominal 392 Q load resistor For the 12 volt PK2100 the output range is 0 15 mA With shorting jumper H7 connected these are 16 bit numbers a and a high gain plus side inputs in the gain formula yzaj
93. s 1 0 s This requires 4 bytes of EEPROM stored least byte first PK2110 PK2130 12 V Version Calibration Table E 2 presents the calibration constants for the PK2110 PK2130 the 12 volt versions where they differ from those of PK2100 PK2120 in Table E 1 Table E 2 Calibration Constants for PK2110 PK2130 EEPROM Address Definition 0x106 Required power This value is 12 for the 12 V version 0x 107 Software test version times 10 12 for version 1 2 Ox15C For the 12 Volt PK2100 this is current in units of 1 0 WA corresponding to voltage output of 2 000V when set for 0 15 mA output into nominal 392 Q load resistor Ox15E For the 12 V PK2100 this is current in units of 1 0 uA corresponding to voltage output of 10 000 V when set for 0 15 mA output into nominal 392 Q load resistor Field Calibration If the EEPROM is erased or certain components are changed the PK2100 may be recalibrated The only equipment needed for this procedure is a volt ohm milliampere meter with sufficient precision 0 1 or better The calibration constants for the EEPROM are given in this appendix E 4 Appendix E EEPROM PK2100 APPENDIX F PLCBus Appendix F provides the pin assignments for the PLCBus describes the registers and lists the software drivers PK2100 Appendix F PLCBus F 1 PLCBus Overview The PLCBus is a general purpose expansion bus for Z World controllers The PLCBus is available on the BL1200 BL1600 BL1700
94. siders the actual value of the voltage reference and the nonlinearity of UEXP The calibration for the high sensitivity input Channel 7 is such that 10 000 equals 1 volt Values slightly less than 0 and slightly over 10 000 are possible int up in420 Returns the current flowing through universal Channel 6 when subjected to a current input The function returns 1000 for each milliampere The maximum value is approximately 25 000 Jumper H6 6 must be connected to H5 6 and Jumper H5 7 must be connected to H5 8 to place a load resistor equivalent to 392 Q in the circuit The driver must be able to deliver an input voltage of about 8 volts to achieve 20 milliamps PK2100 Software Reference 5 3 int up adtest int channel int testval Returns 1 if external voltage is greater than test value expressed as an uncalibrated 0 1023 value Use up uncal routine to compute test value For example up adtest 2 up uncal 2600 returns 1 if the Channel 2 input is greater than 2 60 volts int up uncal int calval Returns uncalibrated value 0 1023 given calibrated value in millivolts 0 10 000 This function is used to generate a raw threshold value corresponding to a calibrated value for use with the universal input channels and the high gain channel up docal int calval Generates calibrated value 0 10 000 millivolts given uncalibrated value 0 1023 This can be used with up adrd channel when data are collected in uncal
95. t available to synchronize the loading of the data register TDR An interrupt driven driver works with the program enabling the receiver interrupt as long as it wants to receive characters The transmitter interrupt is enabled only while characters are waiting in the output buffer When an interrupt occurs the interrupt routine must determine the cause receiver data register full transmitter data register empty receiver error or DCDO pin high channel 0 only None of these interrupts is edge triggered Another interrupt will occur immediately if the interrupts are re enabled without disabling the condition causing the interrupt The signal DCD0 is especially treacherous because it cannot be disabled when the receive interrupts are on In most designs the DCDO line should be connected directly to ground thus taking it out of the picture 4 10 System Development PK2100 SOFTWARE REFERENCE Chapter 5 presents information on the Dynamic C software drivers and communication software for the PK2100 PK2100 Software Reference 5 1 Driver Software Drivers in the Dynamic C software library make it easy to communicate with the PK2100 inputs and outputs Drivers may be direct or indirect A direct driver immediately reads or writes to the controlled hardware An indirect driver uses intermediate variables Z World s virtual driver 1s a periodically called interrupt service routine that connects the hardware with intermediate variables
96. t column Positions the cursor at line 0 1 and column 0 1 2 3 e void lc printf char fmt Perform a printf on the LCD The function arguments are specified as they are for the standard printf void lc setbeep int count Sounds the beeper for the number of 2560 Hz cycles specified by count PK2100 Software Reference 5 9 void lc wait Waits for the LCD to become free 1 e not busy EEPROM Read Write int ee rd int address Reads EEPROM at specified address and returns result in lower byte Returns 1 if EEPROM is not functioning int ee wr int address char data Writes character data at address in EEPROM Returns 1 if EEPROM is not functioning int eei rd int address Reads EEPROM integer 2 bytes least significant byte first at address specified Does not return a distinct error code 1f EEPROM fails Flash EPROM Write int WriteFlash ulong addr char buf int num Writes num bytes from buf to flash EPROM starting at addr The term addr is an absolute physical address To do this with Dynamic C allocate flash data in Dynamic C by declaring initialized variables or arrays or initialized xdata The data name for xdata must be passed directly to the function xdata my data 0 OxFF 0x08 WriteFlash my data my buffer my count For normal data pass the physical address of the data to the function char xxx 0 OxFF 0x08 WriteFlash
97. troller to load and start execution of the programs and to regain control when the executed program finishes The monitor program must also gain control when the board is reset through hardware either by power on watchdog time out or the reset key An external hardware reset line may be installed to allow the computer that is downloading the program to be able to force a hardware reset of the PK2100 Connect Pins 2 and 3 on Jumper J11 to use the CTSO line from the 6 pin phone jack to control external resetting of the PK2100 However the handshaking line for the RS 232 port will be lost To be safe tie the CTSO line of the RS 232 port to ground to continue to use the RS 232 port for communication A Refer to the Dynamic C manual for a discussion on memory mapping and remote downloading and execution of code Direct Programming of the Serial Ports The Z180 Technical Manual and the Z80 SIO Technical Manual available from Zilog Inc in Campbell California provide detailed information to plan extensive use of the serial ports and synchronous communications Z World provides just a few low level utility functions int sysclock int z180baud int clock int baud The sysclock function returns the clock frequency in units of 1200 Hz as read from the EEPROM The clock frequency was stored at location 108H at the factory The z180baud function returns the byte to be stored in CNTLBO or CNTLB1 considering only the bits needed to set th
98. utdown code and then enter a loop until the power supply voltage falls low enough to trigger a reset However the voltage in a brownout situation might fall low enough to trigger a power failure interrupt but not low enough to reset resulting in an endless hang up If an NMI is encountered the service routine can monitor bit 1 of DREGI to see whether the D C input voltage is still below the threshold of 15 6 volts bit 1 is 0 if NMI is still active If the low power was just a glitch a return will resume execution of the program If a low but not fatally low voltage persists then the user has to decide manually what action to take if any A situation similar to a brownout will occur if the power supply is overloaded For example when an LED is turned on the voltage supplied to the Z180 may dip below 15 6 volts The interrupt routine will execute a shutdown This turns off the LED clearing the problem However the cause of the overload may persist and the system will oscillate alternately experiencing an overload and then resetting A larger power supply should correct this situation C 2 Power Management PK2100 Do not forget the interaction between the watchdog timer and the power failure interrupt If a brownout causes an extended stay in the power failure interrupt routine the watchdog can time out and cause a system restart A few milliseconds of computing time remain when the 5 volt supply falls below 4 5
99. v PK2100 C Programmable Controller User s Manual Revision C PK2100 User s Manual Part Number 019 0014 Revision C Last revised on April 28 2000 Printed in U S A Copyright O 1998 Z World Inc All rights reserved Z World reserves the right to make changes and improvements to its products without providing notice Trademarks Dynamic C isa registered trademark of Z World Inc Windows isa registered trademark of Microsoft Corporation PLCBus is a trademark of Z World Inc Hayes Smart Modem is a registered trademark of Hayes Microcom puter Products Inc Notice to Users When a system failure may cause serious consequences protecting life and property against such consequences with a backup system or safety device is essential The buyer agrees that protection against consequences resulting from system failure is the buyer s responsibility This device is not approved for life support or medical systems All Z World products are 100 percent functionally tested Additional testing may include visual quality control inspections or mechanical defects analyzer inspections Specifications are based on characterization of tested sample units rather than testing over temperature and voltage of each unit Z World may qualify components to operate within a range of parameters that is different from the manufacturer s recommended range This strategy is believed to be more economical and effective Add
100. x do with the minus side grounded If the minus side is not grounded the formula is y a X x ag b X xs where b is the minus side gain and can be computed from the calibration constants stored at location 0x164 The value y is the output of the high gain amplifier read with universal input channel 7 The value x is the plus side input read with universal input channel 8 and x is the minus side input The coefficient ag is signed and is in units of 0 01 mV The coefficient a is the unsigned dimensionless gain expressed in units such that a gain of 10 is equal to 2000 With shorting jumper H7 removed these are 16 bit numbers a and a high gain plus side input in the gain formula y a X x ao with the minus side grounded If the minus side is not grounded the formula becomes y a X x a bj X xs where b is the minus side gain and can be computed as a 1 The library function up higain supports the default case H7 unjumpered Reserved Resistance of excitation resistor for high gain plus input in units of Q Nominal value 10 kQ An unsigned integer continued Appendix E EEPROM E 3 Table E 1 Calibration Constants for PK2100 PK2120 EEPROM concluded Address 0x16C Definition Long coefficient relating speed of microprocessor clock relative to speed of real time clock Nominal value is 107 374 182 which is 1 40 of a second microprocessor clock time on the scale where 2 i
101. x81 0 KEYR2 Keypad drive row 2 Open collector 1 drives low 0x82 0 ENB485 Enable RS 485 channel 0x83 0 BEEPH Beeper high voltage drive 1 drives beeper 0x84 0 SCL EEPROM clock bit 0x85 0 KEYR3 Keypad drive row 3 Open collector 1 drives low 0x86 0 KEYRI Keypad drive row 1 Open collector 1 drives low KEYR4 Keypad drive row 4 Open collector 1 drives low Get Al h digital if k DRVIO so tenth digital output if key row not used Internal DAC for successive approxi mation The high 8 bits of the digital value route through the PK2100 s 8 0x88 0 7 UEXP bit DAC The low 2 bits of the digital value route through an analog circuit and are controlled via UEXPA and UEXPB below Md g E drives the beeper 0x99 0 DRVI Digital output 1 1 drives output Ox9A 0 DRV2 Digital output 2 1 drives output Ox9B 0 DRV3 Digital output 3 1 drives output 0x9C 0 DRV4 Digital output 4 1 drives output continued D 4 Appendix D I O Map and Interrupt Vectors PK2100 Address Table D 2 Write Registers concluded Bit s Symbol Function 0x9D 0 DRV5 Digital output 5 1 drives output Ox9E 0 DRV6 Digital output 6 1 drives output Ox9F 0 DRV7 Digital output 7 1 drives output OxAO 0 UEXPA Additional bit next to least internal DAC OxAl 0 UEXPB Additional bit least signifi
102. y contacts 5 2 Software Reference PK2100 Analog Input The A D system relies on software calibration using calibration constants stored in the system EEPROM Uncalibrated values are in the range 0 1023 with each count representing approximately 10 millivolts Calibrated values are kept on a scale 0 10 000 with each count represent ing 1 millivolt or in the case of the single high gain input 0 1 millivolt Since it requires about 200 milliseconds to convert an uncalibrated value to a calibrated value or vice versa preliminary data storage or averaging may be done using uncalibrated values to save computing time The following utility routines convert back and forth between uncalibrated and calibrated values int up docal int raw value return calibrated value from raw int up uncal int cal value return raw value from calibrated Low Level Direct Driver int up adrd int channel Returns a 10 bit uncalibrated value scaled so that 1023 corresponds to full scale 10 volts The conversion time is less than 200 millisec onds Each count represents approximately 10 millivolts The channel may be 1 8 Channels 1 6 are universal inputs Channel 8 may be used as a universal input unless it is used with the high sensitivity input Channel 7 Calibrated Direct Driver int up adcal int channel Returns a voltage value scaled so that the value 10 000 represents 10 volts The calibration applied con
103. y the last four bits will be set Call this function only if the first eight bits of the address are the same as the address in the previous call to set12adr PARAMETER adr contains the last four bits bits 8 11 of the physical address LIBRARY DRIVERS LIB e char _eioReadDO Reads the data on the PLCBus in the BUSADRO cycle RETURN VALUE the byte read on the PLCBus in the BUSADRO cycle LIBRARY EZIOPLC LIB EZIOPLC2 LIB EZIOMGPL LIB e char _eioReadD1 Reads the data on the PLCBus in the BUSADRI cycle RETURN VALUE the byte read on the PLCBus in the BUSADRI cycle LIBRARY EZIOPLC LIB EZIOPLC2 LIB EZIOMGPL LIB e char _eioReadD2 Reads the data on the PLCBus in the BUSADR2 cycle RETURN VALUE the byte read on the PLCBus in the BUSADR2 cycle LIBRARY EZIOPLC LIB EZIOPLC2 LIB EZIOMGPL LIB e char readl2data int adr Sets the current PLCBus address using the 12 bit adr then reads four bits of data from the PLCBus with BUSADRO cycle RETURN VALUE PLCBus data in the lower four bits the upper bits are undefined LIBRARY DRIVERS LIB PK2100 Appendix F PLCBus F 9 char read4data int adr Sets the last four bits of the current PLCBus address using adr bits 8 11 then reads four bits of data from the bus with BUSADRO cycle PARAMETER adr bits 8 11 specifies the address to read RETURN VALUE PLCBus data in the lower four bits the upper bits are undefined LIBRARY DRIVERS LIB voi

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