ISC629 2-Channel Isolated DC Servo Motor Interface Board User`s
Contents
1. This port is used to access the 8254 Counter 3 bits For an exhaustive explanation of the operation of the 8254 timer chip please consult the data sheet available from Intel or NEC BA B 8254 Control 1 8 Read Write This port is used to access the 8254 control byte The functionality of these bits is described in the data sheet available from Intel or NEC 8255 Mode Definition Bit Set Reset Feature Control Word Control Word D7 D6 D5 D4 D3 D2 D1 D0 D7 D6 Do D4 D3 D2 D1 DO Bit Set Rst GROUP 2 Gee Port C low 0 Reset ort a Bit Select 21314 5 0 1 O oOo olo aia ee olojo o 11 1 0 0 Bit set rst flag GROUP 1 Bil SeuiRese DIO Active Port C high 1 Input 0 Output Port A 1 Input 0 Output Mode Select 00 Mode 0 01 Mode 1 1X Mode 2 Mode set flag Mode Definition 1 Active Fig 5 1 8255 Control byte bit definitions ISC629 Users Manual 25 RTD Embedded Technologies Inc LM629 Instruction set A complete list of instructions accepted by the LM629 chip is described below in table 5 2 Instruction Description HEX RESET Initialize Reset LM629 00 DFH gt Define Home SIP sE Set Index Posi2. End of Interrupt EOI Command ISC629 Users Manual 27 RTD Embedded Technologies Inc After an interrupt service routine is complete the 8259 Interrupt Controller must be acknowledged by writing the value 20h to port 20h What exactly happens when an interrupt occurs Understanding the sequence of events when an interrupt is triggered is necessary to correctly write interrupt handlers When an interrupt request line is driven high by a peripheral device such as the ISC629 the interrupt controller checks to see if interrupts are enabled for that IRQ It then checks to see if other interrupts are active or requested and determines which interrupt has priority The inter rupt controller then interrupts the processor The current code segment CS instruction pointer IP and flags are pushed onto the system stack and a new set if CS and IP are loaded from the lowest 1024 bytes of memory This table is referred to as the interrupt vector table and each entry to this table is called an interrupt vector Once the new CS and IP are loaded from the interrupt vector table the processor starts to execute code from the new Code Segment CS and from the new Instruction Pointer IP When the interrupt routine is completed the old CS and IP is popped from the system stack and the program execution continues from the point where interruption occurred Using Interrupts in your Program Adding interrupt support to your program is not as difficult as
3. 2 EXP 16 counts sample i e O to 16368 counts per sample with 1 2 EXP16 counts sample resolution e Acceleration range 0 to 1 073 741 823 2 EXP 16 counts sample sample i e 0 to 16368 counts sample2 with 1 2 EXP16 counts sample resolution e Motor drive output 8 bit PWM sign magnitude signals e Operating Modes Position and Velocity e Feedback Device Quadrature signals index pulse TTL level signals e Control Algorithm PID with programmable integration limit e Sample Intervals Derivative term programmable from 2048 Fclk to 2048 2048 Fclk 256 to 65 536us e Clock Frequency 4 MHz 8MHz also avialable upon request H bridge e Max voltage 60V DC e Max current 6A e Peak current 25A e Output capacitors 220uF 63V for each channel e Protection 60V transient absorber diodes 1500W power dissipation TTL CMOS levels Number of lines 24 Drive capability 2mA Pull up Pull down 10K pull down on all 24 lines Motors cable connector Phoenix contact MSTB 2 5 4 ST 5 08 Motors PCB connector MSTB 2 5 4 G 5 08 Encoder feedback connectors MPT 0 5 5 2 54 Counter timer I O port 10 pin header TTL digital 1 O s Header connector 50 Pin Host bus XT AT PC 104 bus ISC629 Users Manual 32 RTD Embedded Technologies Inc Electrical Operating temperature ranges 0 to 70 C Supply voltage 5V 8 Power consumption 2 0 W maximum with 12V output unloaded 12V power supply Max load 1A Mechanical PCB size 91 x 96 mm MAX size 110x 96 x 17 mm non
4. 3 1 ISC629 integrated with a PC 104 RTD cpuModule stack Fig 3 2 Timer counter header connector Fig 3 3 Incremental encoder terminal blocks Fig 4 1 ISC629 Block diagram Fig 4 2 Typical motor control scheme Fig 5 1 8255 Control byte bit definition TABLES Table 2 1 Factory configured jumper settings Table 2 2 Base Address jumper settings of ISC629 Table 3 1 Timer counter connector pinout Table 3 2 50 pin connector pinout Table 5 1 ISC629 I O map Table 5 2 LM629 Instruction set 15C629 Users Manual 6 RTD Embedded Technologies Inc Chapter 1 INTRODUCTION This user s manual describes the operation of the ISC629 Embedded Servo Controller board Features Some of the key features of the ISC629 include e Two independent Servo Motor controller channels Onboard full H bridges with 10A drive capability with additional cooling 6A drive capability withot forced airflow or additional heatsink Direct motor interfaces using onboard terminal blocks 2 Independent LM629 PWM output servo motor controllers 2 Protected and filtered incremental encoder inputs selectable pull up dn 24 user accessible programmable TTL level digital I O 8255 compatible 3 16 bit timer counter channels 8254 compatible 5V only operation Supports direct drive of 12V motors from onboard power supply PC 104 compliant CE approved design The following paragraphs briefly describe the major features of the ISC629 A more detailed discus sion
5. is included in chapter 4 Hardware description and in Chapter 5 Board operation and program ming The board setup is described in Chapter 2 Board Settings A full description of the LM629 servo controllers is included in Chapter 5 Board operation and programming Motion controllers The ISC629 DC servo motor interface is implemented using two LM629 controller chips This versa tile chip offers powerful features that will enable complex positioning tasks with minimal host interven tion The ISC629 channels can be programmed to operate totally independently offering a complete subsystem for 2 axis motion control using standard DC motors with encoder feedback often called servo motors The LM629 chips include a tunable PID filter Trajectory control unit and position counter These parts perform the intensive real time computational task required in high performance digital motion control Motor drive stage A powerful onboard H bridge is used to interface directly to motors Overvoltage and transient protec tion diodes ensure reliable operation in industrial environments The H bridges are capable of driving either 24V or alternatively 48V DC motors The current drive capability is rated to 10A peak using the onboard terminal blocks Mechanical description 15C629 Users Manual 7 RTD Embedded Technologies Inc The ISC629 is designed on a PC 104 form factor An easy mechanical interface to both PC 104 and EUROCARD systems can be
6. it may seem especially when program ming under DOS The following discussion will cover programming under DOS Note that even the smallest mistake in your interrupt program may cause the computer to hang up and will only restart after a reboot This can be frustrating and time consuming Writing an Interrupt Service Routine ISR The first step in adding interrupts to your software is to write an interrupt service routine ISR This is the routine that will be executed automatically each time an interrupt request occurs for the specified IRQ An ISR is different from other sub routines or procedures First on entrance the processor reg isters must be pushed onto the stack_before anything else Second just before exiting the routine you must clear the interrupt on the ISC629 by issuing the RSTI instruction and reading the interrupt status register and finally write the EOC command to the interrupt controller When exiting the inter rupt routine the processor registers must be popped from the system stack and you must execute the IRE assembly instruction This instruction pops the CS IP and processor flags from the system stack These were pushed onto the stack when entering the ISR Most compilers allow you to identify a function as an interrupt type and will automatically add these instructions to your ISR with one exception most compilers do not automatically add the EOI com mand to the function you must do it yourself Other than this and
7. of the op eration of the 8255 PPI chip please consult the data sheet available from Intel or NEC BA 5 PPI Port B 1 8 Read Write This port is used to access the 8255 Port B bits Instructions on how to access port A is described in greater detail in the software that is included in the shipment For an exhaustive explanation of the operation of the 8255 PPI chip please consult the data sheet available from Intel or NEC BA 6 PPI Port C 1 8 Read Write This port is used to access the 8255 Port C bits Instructions on how to access port A is described in greater detail in the software that is included in the shipment For an exhaustive explanation of the op eration of the 8255 PPI chip please consult the data sheet available from Intel or NEC BA 7 PPI Control byte 1 8 Read Write This port is used to access the 8255 control byte The functionality of these bits is described briefly in the following page in figure 5 1 BA 8 8254 Counter 1 1 8 Read Write This port is used to access the 8254 Counter 1 bits For an exhaustive explanation of the operation of the 8254 timer chip please consult the data sheet available from Intel or NEC BA 9 8254 Counter 2 1 8 Read Write This port is used to access the 8254 Counter 2 bits For an exhaustive explanation of the operation of the 8254 timer chip please consult the data sheet available from Intel or NEC BA A 8254 Counter 3 1 8 Read Write ISC629 Users Manual 24 RTD Embedded Technologies Inc
8. 25 EM629 Instruction Setien hanneno A a A A a R 28 Jnterrapts poeier aieeaa e E EARE NARE AGE E AE EA AREE ASEA EAR ENE ENET GR NEEE 30 W hat1s an Interrupt sistanta a a aa a a E tease E i iS 30 Interrupt request neS eE a A add 30 8259 Programmable interrupt controller oo eee eee ceeeeeeceneceseceseeceeseeeseessecssesseesseceseceaeseaesesecseesseeeseeeaeensessaes 30 Interrupt mask register IMR cicocooiuosanncni nsoeniodincnnidcn treri cando a E EDENE EAE E AES EEE ES 30 End Of Interrupt EOD Command seit eas E A A a 31 What exactly happens when an interrupt OCCUTS esesssesseessesseeestesrtetestsestestestestestestsrtnestentestestnereetnernrenrestett 31 Using anterrupts in yo r PLOT AA 31 Writing an interrupt service routine ISR oooncnncnonococnnononononononanonnnonn cono nonnonn nono nnnn ocre nono nono nono nn nonn conan narra ncnnncnnnns 31 Saving the startup IMR and interrupt Vector oooonccnooccononoconononononnnconocono nono nnnonnnonn non nena conca non rnn econ econ enano nano nn nana ccnncnnos 33 Common InterruptmistakesS aut id 34 CHAPTER 6 18C629 SPECIFICATIONS ponnien rones aaan EEEE EEEE EEE ES EE E 35 CHAPTER 7 LIMITED WARRANTY oint iao o a a E E a ai aS 37 ISC629 Users Manual 5 RTD Embedded Technologies Inc LIST OF ILLUSTRATIONS AND TABLES ILLUSTRATIONS Fig 2 1 ISC629 Board layout showing jumper locations Fig 2 2 Base address jumpers Fig 2 3 Interrupt jumpers Fig 2 4 Timer counter jumpers Fig
9. ED OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND RTD EMBEDDED TECHNOLOGIES EXPRESSLY DISCLAIMS ALL WARRANTIES NOT STATED HEREIN ALL IMPLIED WARRANTIES INCLUDING IMPLIED WARRANTIES FOR MECHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED TO THE DURATION OF THIS WARRANTY IN THE EVENT THE PRODUCT IS NOT FREE FROM DEFECTS AS WARRANTED ABOVE THE PURCHASER S SOLE REMEDY SHALL BE REPAIR OR REPLACEMENT AS PROVIDED ABOVE UNDER NO CIRCUMSTANCES WILL RTD EMBEDDED TECHNOLOGIES BE LIABLE TO THE PURCHASER OR ANY USER FOR ANY DAMAGES INCLUDING ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES EXPENSES LOST PROFITS LOST SAVINGS OR OTHER DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PRODUCT SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR CONSUMER PRODUCTS AND SOME STATES DO NOT ALLOW LIMITATIONS ON HOW LONG AN IMPLIED WARRANTY LASTS SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO YOU THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS AND YOU MAY ALSO HAVE OTHER RIGHTS WHICH VARY FROM STATE TO STATE ISC629 Users Manual 34 RTD Embedded Technologies Inc
10. ISC629 2 Channel Isolated DC Servo Motor Interface Board User s Manual Hardware Revision C BDM 610020059 ISO9001 and AS9100 Certified RevC ISC626 2 CHANNEL DC SERVO MOTOR INTERFACE BOARD USER S MANUAL RTD EMBEDDED TECHNOLOGIES INC 103 Innovation Blvd State College PA 16803 0906 Phone 1 814 234 8087 FAX 1 814 234 5218 E mail sales rtd com techsupport rtd com Web Site http www rtd com 15C629 Users Manual 2 RTD Embedded Technologies Inc Revision History 02 05 2003 Release 1 0 10 31 2006 New Board release and removal of RTD Finland 06 27 2007 Fixed TOC and removed erroneous temperature specification Published by RTD Embedded Technologies Inc 103 Innovation Boulevard State College PA 16803 Copyright 2005 by RTD Embedded Technologies Inc All rights reserved utilityModule is a trademark of Real Time Devices All other trademarks appearing in this document are the property of their respective owners 15C629 Users Manual 3 RTD Embedded Technologies Inc The RTD Embedded Technologies Logo is a registered trademark of RTD Embedded Technologies dspModule cpuModule and utili tyModule are trademarks of RTD Embedded Technologies PC 104 PC 104 Plus and PCI 104 are registered trademark of PC 104 Con sortium Atheros is a trademark of Atheros Communications All other trademarks appearing in this document are the property of their respective owners 15C629 Users Manual 4 RTD Embe
11. R should be like A A Function new_IRQ_handler Inputs Nothing Returns Nothing Sets the interrupt flag for the EVENT rn void interrupt far new_IRQ_handler void IRQ_flag 1 Indicate to main process interrupt has occurred Your program code should be here Read interrupt status registers Clear interrupt on ISC629 outp 0x20 0x20 Acknowledge the interrupt controller Saving the Startup Interrupt Mask Register IMR and interrupt vector ISC629 Users Manual 29 RTD Embedded Technologies Inc The next step after writing the ISR is to save the start up state of the interrupt mask register and the original interrupt vector you are using The IMR is located in address 21h The interrupt vector you will be using is located in the interrupt vector table which is an array of pointers addresses and it is lo cate din the first 1024 bytes of the memory Segment 0 offset 0 You can read this value directly but it is a better practice to use DOS function 35h get interrupt vector to do this Most C compilers have a special function available for doing this The vectors for the hardware interrupts on the XT bus are vectors 8 15 where IRQO uses vector 8 and IRQ7 uses vector 15 Thus if your ISC629 is using IRQ5 it corresponds to vector number 13 Before you install your ISR temporarily mask out the IRQ you will be using This prevents the IRQ from requesting an interrupt while you are installing and ini
12. Retriggerable All these modes are discussed in detail in the 8254 data sheet available from Intel ISC629 Users Manual 21 RTD Embedded Technologies Inc Chapter 5 BOARD OPERATION AND PROGRAMMING This chapter shows you how to program and use your ISC629 Included are a complete detailed description of the memory map and a detailed discussion of pro gramming operations to aid you in programming The full functionality of the LM629 is described in the attached data sheet reprint from National Semiconductor ISC629 Users Manual 22 RTD Embedded Technologies Inc Defining the Memory Map The I O map of the ISC629 is shown in Table 5 1 below As shown the module occupies two ad dresses The Base Address designated as BA can be set using the jumpers as described in Chap ter 2 Board settings The following sections describe the register contents of each address used in the I O map Table 5 1 ISC629 I O Map Register Description Read Function Write Function Address in HEX BA Base Address 300h factory default BA 0 Servo chip channel 1 1 8 Read Write This is the address through which all communication is performed to the servo controller chip for chan nel 1 Data and commands are selected by one bit in the board control register bit 3 BA 2 BA 1 Servo chip channel 2 1 8 Read Write This is the address through which all communication is performed Data and commands are selected by one bit in the board control
13. Ts Special full bridge driver chips are used to drive the MOSFET bridges These drivers can tolerate negative voltage tran sients as well as voltages up to 600V The propagation delay for the high and low side is also matched to ensure precise control of the bridge The maximum peak current of the H bridge is 25A 10A con tinuous with a voltage of 60V maximum with additional heat sinking or convection cooling with a fan unit such as the EFAN104 If you use the standard ISC629 board you should not exceed 6A con tinuous current drive ISC629 Users Manual 19 RTD Embedded Technologies Inc The onboard bridge drivers are controlled by signals in the table 3 1b pins 6 10 These signals are not TTL level but 0 12V The signals can be used to drive an external bridge power element through the motor control port Incremental encoder inputs The feedback from DC servo motors is usually implemented using TTL level incremental encoders The ISC629 has terminal blocks onboard for direct connection to feedback encoders The incremental encoders are powered from the board 5V This output is protected against over voltages with a spe cial transient absorber diode Encoder inputs CH_A CH_B and INDEX are protected against positive and negative voltage tran sients The encoder inputs are fed into a Schmidt trigger buffer that ensures reliable operation even under noisy environments Input signals are inverted in this stage This must be taken into account
14. _VECTOR 3 Name for IRQ void interrupt far old_IRQ1_dispatcher es ds di si bp sp 0x dx cx ax ip cs flags Variable to store old IRQ_Vector void far _interrupt new_IRQ1_handler void A Function init_irq_handlers Inputs Nothing Returns Nothing Purpose Set the pointers in the interrupt table to point to our functions i e setup for ISR s void init_irq_handlers void ISC629 Users Manual 30 RTD Embedded Technologies Inc _disable old_IRQ1_handler _dos_getvect IRQ1_VECTOR 8 _dos_setvect IRQ1_VECTOR 8 new_IRQ1_handler Gi_old_mask inp 0x21 outp 0x21 Gi_old_mask amp 1 lt lt IRQ1_VECTOR _enable Pra Function Restore do this before exiting program Inputs Nothing Returns Nothing Purpose Restore interrupt vector table ho void restore void Restore the old vectors _disable _dos_setvect IRQ1_VECTOR 8 old_IRQ1_handler outp 0x21 Gi_old_mask _enable ISC629 Users Manual 31 RTD Embedded Technologies Inc Chapter 6 ISC629 SPECIFICATIONS Host Interface I O mapped occupies 16 bytes of space Jumper selectable base address with 4 jumpers 8 bit data bus 16 bit AT bus connector Jumper selectable interrupts both XT and AT 5 7 10 11 and 12 Servo controllers and H bridge 8255 Digital I O Connectors LM629 servo controllers e Position range 1 073 741 824 to 1 073 741 823 counts e Velocity range 0 to 1 073 741 823
15. a few exceptions discussed below you can write your ISR as any code routine It can call other functions and procedures in your pro gram and it can access global data If you are writing your first ISR we recommend you stick to the basics just something that enables you to verify you have entered the ISR and executed it success fully For example set a flag in your ISR and in your main program check for the flag Note If you choose to write your ISR in in line Assembly you must push and pop regis ters correctly and exit the routine with the IRET instruction instead of the RET instruction There are a few precautions you must consider when writing ISR s The most important is do not use any DOS functions or functions that call DOS functions from an interrupt routine DOS is ISC629 Users Manual 28 RTD Embedded Technologies Inc not re entrant that is a DOS function cannot call itself In typical programming this will not happen because of the way DOS is written But what about using interrupts Consider then the following situation in your program If DOS function X is being executed when an interrupt occurs and the inter rupt routine makes a call to the same DOS function X then function X is essentially being called while active Such cases will cause the computer to crash DOS does not support such operations The general rule is that do not call any functions that use the screen read keyboard input or any file I O routines These shou
16. achieved Stack your ISC629 directly on a PC 104 compatible computer using the onboard mounting holes Connector description There are two 4 position terminal blocks on the left side of the module to directly interfacing to DC motors The incremental encoders connect to the ISC629 using small screw terminal blocks The general purpose 50 pin digital I O interface connector is located on the right hand side of the board The 10 pin counter timer I O port header located near the base address jumper block What comes with your board Your ISC629 package contains the following items ISC629 motor interface board User s manual Note Software and drivers are available from our website If any item is missing or damaged please call RTD customer service at the following number 1 814 234 8087 or E mail techsupport rtd com Board accessories In addition to the items included in your ISC629 delivery several hardware accessories are available Contact your local distributor for more information and for advice on selecting the most appropriate accessories to support your control system These include the following e Software drivers e Hardware accessories including IDAN solid aluminum frames for PC 104 Computers For more information on IDAN please visit our websites at the following internet addresses www rtd com Using this manual This manual is intended to help you install your new ISC629 card and get it working quickly whil
17. an event that causes the processor in your computer to temporarily halt its current process and execute another routine Upon completion of the new routine control is returned to the original routine at the point where its execution was interrupted Interrupts are a very flexible way of dealing with asynchronous events Keyboard activity is a good example your computer cannot predict when you might press a key and it would be a waste of proc essor time to do nothing whilst waiting for a keystroke to occur Thus the interrupt scheme is used and the processor proceeds with other tasks When a keystroke finally occurs the keyboard then in terrupts the processor so that it can get the keyboard data It then places it into the memory and then returns to what it was doing before the interrupt occurred Other common devices that use inter rupts are A D boards network boards serial ports etc Your ISC629 can interrupt the main processor when a trajectory is completed motor is stopped or an error occurs in the motor control process A complete description of all the possible error condition in terrupts is included in the documentation of the LM629 chip By using interrupts you can write power ful code to interface to your motion control system Interrupt request lines To allow different peripheral devices to generate interrupts on the same computer the PC AT bus has interrupt request channels IRQ s A rising edge transition on one of these line
18. dded Technologies Inc TABLE OF CONTENTS LIST OF ILLUSTRATIONS AND TABLES cirera tierin iarri iaia eSa R ENE a ERAN ES 6 CHAPTER 1 INTRODUCTON 0 ar o A eae Shh O ees 7 FOAUCOS 9 E ads apedsteeyecdeseadesbin sae escaped etycas side 7 Motion Controllers vostra tasted ane eed a ees eves Meine teh tenes 7 AA RT 7 Mechanical descripta O Heed a Sh ech UG Ms E o a 8 Connector descriptOM sesaning a ai i a aa o a a e aa aako 8 What comes with your boatd om a a ee A i e ee S 8 Board accessories commit ridad 8 Using this mado a 8 When you need help cintia aia 9 CHAPTER 2 BOARD SETTINGS rens e e e E enana IES adn NA E E EEA EEEE 10 Factory Configured jumper setting Senone e a cde E E E a E ee ee 11 Base NS A ON 12 Interruptichamels mt A A E E eect eevee 14 Timer counter Settings cuisine cda tiras 14 CHAPTER 3 BOARD INSTALLATION rrian ici ted 15 Boatdi stallati oi ita di ved heat Bee ete 15 External VO connections sicciedis d cevssatscabscecs EnEn de sycebs cudeueseosdesveces legs de guveued uubevesbecbevtaccadsuadvosvsuasecadsueseecber ye 16 CHAPTER 4 HARDWARE DESCRIPTION ipso a a A delicada 20 The M629 servo controller Chips tii A vad 21 Hebridges for motion Contra eet ee ead 21 Incremental Encoder Inputs aio tas 22 EZ ID USAMOS iaa 22 S2I4tMEr COUMLEL muta tii 23 CHAPTER 5 BOARD OPERATION AND PROGRAMMING ooccccccoccconcnnncnnnnanocnononornonnnonnnonn nono connconncnnncnnnnns 24 Defining the memory Mapen o callar illo E E E E aceasta
19. e PC 104 bus Both of these outputs are independently fused with 2A fuses located under the terminal blocks Fig 3 2 Incremental encoder terminal blocks ISC629 Users Manual 16 RTD Embedded Technologies Inc General purpose digital I O header connector pinout The table 3 2 below illustrates the pinout of the 50 pin header connector that is used for general purpose digital I O 5V is available in pin 49 PIN number Signal Description PIN Number Signal Description 2 N C GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND 50 GND 5V Fused 2A Table 3 2 50 pin connector pinout 15C629 Users Manual 17 RTD Embedded Technologies Inc Chapter 4 HARDWARE DESCRIPTION This chapter describes in detail the major features of the ISC629 The LM629 Servo controller chips H bridges for motor control Incremental encoder inputs Motor control port 8255 based digital I O 8245 counter timers Interrupts A Counter I O J14 fan 8245 lt H o Timer e ll NOTE Channel 2 te identical ag H rem 7 D Q id aa LM629 Motion PRN g Control Chip O A ADDRESS nd CONROL DECODER EPLD Chip V Fig 4 1 ISC629 Block Diagram ISC629 Users Manual 18 24 DIGITAL 1 0 RTD Embedded Technologies Inc The LM629 servo controller chips The LM629 chips are dedicated motion control processors designated for use with a variety of applica t
20. ee performance can not be guaranteed when sharing interrupts Timer counter settings Factory settings OSC OT1 and OT2 The clock sources of the onboard 8254 timer counter chips can be selected with the left section of the jumper block shown in figure 2 4 below Note that the rightmost 4 jumpers are used to select the base address of the board Fig 2 4 Timer counter jumpers definitions below from left to right below Clock 1 source OSC Onboard 4MHz oscillator EXT External source Clock 2 source OT1 Output of timer 1 OSC Onboard 4MHz oscillator EXT External source Clock 3 source OT2 Output of timer 2 OSC Onboard 4MHz oscillator EXT External source ISC629 Users Manual 13 RTD Embedded Technologies Inc Chapter 3 BOARD INSTALLATION The ISC629 DC servo motor interface board is very easy to connect to your industrial distributed con trol system Direct interface to PC 104 as well as EUROCARD installations is possible This chapter gives step by step instructions on how to install the ISC629 into your system After completing the installation it is recommended that you use the diagnostic and test software to fully verify that your board is working Board Installation Keep your board in the antistatic bag until you are ready to install it into your system When removing it from the bag hold the board at the edges and do not touch the components or connectors Please handle the board in an antistatic environment and
21. factory jumper settings to suit your specific application Table 2 1 Factory configured jumper settings Please check figure 2 1 below for detailed locations JUMPER NAME DESCRIPTION NUMBER OF JUMPERS FACTORY SETTING 300H TIMER 8254 clock settings 8 OSC OT1 OT2 5 11 at 11 183 ysb s gt gt o Figure 2 1 ISC629 Board layout showing jumper locations 15C629 Users Manual 11 RTD Embedded Technologies Inc Base Address jumpers Factory setting 300h The most common cause of failure when you are first setting up your module is address contention Some of your computer s l O space is already occupied by other internal I O devices or expansion boards When the board attempts to use it s own reserved I O addresses which are being already used by another peripheral device erratic performance may occur and the data read from the board may be corrupted To avoid this problem make sure you set up the base address first using the eight jumpers marked BASE It allows you to choose from 16 different I O addresses in your computer s I O map Should the factory installed setting of 300h be unusable for your system configuration you may change this setting to another using the options illustrated in Table 2 2 overleaf The table shows the switch settings and their corresponding values in hexadecimal values Ensure that you verify the correct lo cation of the base address jumpers When the jumper i
22. figure 3 1 below illustrates the logical connection of the DC servo motors to the ISC629 The Motor should be connected to the DC motor terminal for correct loop operation Connect Motor to the negative terminal of the motor Note that the maximum supply voltage is 60V It is very important that the nominal motor voltage is not exceeded MOTOR1 V MOTOR1 GND MOTOR MOTOR2 V MOTOR2 GND MOTOR2 Fig 3 1 Motor interface terminal block Timer counter connector pinout 15C629 Users Manual 15 RTD Embedded Technologies Inc Connector J14 carries the external clock gate and output signals of the three timer counters The pinout of this connector to view is shown below 2 4 6 8 10 E GATE1 E_CLK1 TC2 E GATE GND 3 E CLK1 TC1 E GATE2 E_CLK2 TC3 1 3 5 7 9 Signal definitions E_CLK1 External clock signal counter1 10K pull down E_GATE1 Extrenal gate counter1 10K pull up TC1 Output of timer counter1 E_CLK2 External clock signal counter2 10K pull down E_GATE2 Extrenal gate counter2 10K pull up TC2 Output of timer counter2 E_CLK3 External clock signal counter3 10K pull down E_GATE3 Extrenal gate counter3 10K pull up TC3 Output of timer counter3 Incremental encoder connectors The figure 3 2 below illustrates the screw terminal blocks used to connect the incremental encoders of the DC servo motors to the ISC629 J5 is the connector for Channel 1 and J6 for Channel 2 The 5V is supplied by th
23. ions using DC Servo motors These parts perform the complete real time computational tasks of complex digital motion control Included in the chips are three following blocks 1 a 32 bit command position sequencer 2 a 32 bit position feedback processor and 3 a 16 bit programmable PID filter Figure 4 2 below illustrates the setup for a LM629 based motor control system The clock frequency of the controllers is 4MHz This must be taken into account in all timing calculations 3MHz 1SC629 boards are also available upon special request control lines digital direction 16 bits PWM H bridge DC motor quadrature incremental encoder ANO1 0860 2 Fig 4 2 Typical motor control scheme Main features of the LM629 include 32 bit position velocity and acceleration registers Programmable PID filter with 16 bit coefficients Programmable derivative sampling interval 8 bit and sign PWM output Internal trapezoidal velocity profile generator Velocity target position and filter parameters may be changed during motion Position and velocity modes of operations Real time programmable interrupts Quadrature encoder feedback with index pulse H bridges for motion control The ISC629 features two independent H bridges that are used to drive the motors The H bridges are implemented using 4 high performance N channel MOSFETs These MOSFETs are configured in two full bridges Each of the two bridges consists of high side and low side MOSFE
24. ld not be used in ISR s The same problem of re entrancy also exists for many floating point emulators This effectively means that you should also avoid floating point mathematical operations in your ISR Note that the problem of reentrancy exists no matter what programming language you use Even if you are writing your ISR in Assembly language DOS and many floating point emulators are not re entrant Of course there are ways to avoid this problem such as those which activate when your ISR is called Such solutions are however beyond the scope of this manual The second major concern when writing ISR s is to make them as short as possible in term of execu tion time Spending long times in interrupt service routines may mean that other important interrupts are not serviced Also if you spend too long in your ISR it may be called again before you have ex ited This will lead to your computer hanging up and will require a reboot Your ISR should have the following structure Push any processor registers used in your ISR Most C compiler do this automatically Put the body of your routine here Read interrupt status register of the LM629 chip on your ISC629 board Clear the interrupt bit by writing the RSTI instruction to the LM629 that caused the inter rupt Issue the EOI command to the 8259 by writing 20h to address 20h e Pop all registers Most C compilers do this automatically The following C example shows what the shell of your IS
25. register bit 3 BA 2 BA 2 Board control register 1 4 Read Write The board control register is used to configure the operation of the ISC629 board The bit definitions are listed below e Bit0 0 after reset EN_RST this bit is used to block the host reset from resetting the servo control chips In some cases it may be desirable to inhibit a host reset for example from a watchdog timer to abort a trajectory 0 gt Enables host reset to reset servo chips 1 gt Disables host reset from resetting servo chips e Bit 1 0 after reset reserved for factory testing only e Bit 2 0 after reset reserved for factory testing only 15C629 Users Manual 23 RTD Embedded Technologies Inc e Bit3 1 after reset PS this bit is important for all access to the LM629 chips With the PS bit you may select whether you are addressing the chip with commands or data This bit must be set before access to the chip is performed to ensure correct interpretation of the data written to the addresses BA 1 and BA 2 See the software disk for more examples on the usage of this bit 0 gt DATA 1 gt COMMAND NOTE When reading back this bit is inverted 1 gt DATA 0 gt COMMAND BA 3 Reserved for factory testing purposes BA 4 PPI Port A 1 8 Read Write This port is used to access the 8255 Port A bits Instructions on how to access port A is described in greater detail in the software that is included in the shipment For an exhaustive explanation
26. s removed it corresponds to a logical 1 connecting the jumper to a 0 When you set the base address of the module record the setting in side the back cover of this manual directly after the Appendices BASE ADDRESS JUMPER SETTINGS OF THE ISC629 BASE ADDRESS HEX A5 A6 A7 A8 200 0 0 0 0 220 10 0 0 240 0 1 0 0 260 1 1 0 0 280 0 0 1 0 2A0 101 0 2C0 0 1 10 2E0 1110 300 0 0 0 1 320 100 1 340 O 1 0 1 360 1 1 0 1 380 001 1 3A0 1 0 1 1 3C0 0 1 1 1 3E0 11 1 1 1 JUMPER OFF 0 JUMPER CLOSED Table 2 2 Base Address Jumper settings of the ISC629 Fig 2 2 Base address jumpers set for 300H ISC629 Users Manual 12 RTD Embedded Technologies Inc Interrupt Channels Factory setting IRQ5 IRQ11 The header connectors shown in Figure 2 3 below lets you connect the LM629 servo controller inter rupt outputs to one of the interrupt channels available on the host XT AT bus If your board has no AT extension interrupts 10 15 are not available Both servo controllers must use different interrupts and therefore two headers are available IRQ1 marks the Channel 1 interrupt and IRQ2 marks the inter rupt for Channel 2 IRG o 0 Ofl2 1110 O 0 9 1 9 9 0 O 1199 10 5109 0 Q Fig 2 3 Interrupt jumpers Note The ISC629 does not support interrupt sharing This is sometimes regarded as a part of the PC 104 special features After extensive software and hardware tests we have found that er ror fr
27. s will be latched into the interrupt controller The interrupt controller checks to see if the interrupts are to be acknowl edged from that IRQ and if another interrupt is being processed it decides if the new request should supersede the one in progress or if it has to wait until the one in progress has been completed The priority level of the interrupt is determined by the number of the IRQ as follows IRQO has the highest priority whilst IRQ15 has the lowest Many of the IRQ s are used by the standard system resources IRQO is dedicated to the internal timer IRQ1 is dedicated to the keyboard input IRQ3 for the serial port COM2 and IRQ4 for the serial port COM1 Often interrupts 5 and 7 are free for the user 8259 Programmable Interrupt Controller The chip responsible for handling interrupt requests in a PC is the 8259 Interrupt Controller To use interrupts you will need to know how to read and set the 8259 s internal interrupt mask register IMR and how to send the end of interrupt EOI command to acknowledge the 8259 interrupt controller Interrupt Mask Register IMR Each bit in the interrupt mask register IMR contains the mask status of the interrupt line If a bit is set equal to 1 then the corresponding IRQ is masked and it will not generate an interrupt If a bit is cleared equal to 0 then the corresponding IRQ is not masked and it can then generate an interrupt The interrupt mask register is programmed through port 21h
28. st also providing enough detail about the board and it s functions so that you can obtain maximum use of it s features even in the most demanding applications The scope of this manual does not cover complex motion control programming and system design When you need help This manual and all the example programs will provide you with enough information to fully utilize all the features on this board If you have any problems with installation or use of the board contact our 15C629 Users Manual 8 RTD Embedded Technologies Inc Technical Support Department 1 814 234 8087 Alternatively send a FAX to 1 814 234 5218 or Email to techsupport rtd com When sending FAX or Email requests please include the follow ing information Your company s name and address your name your telephone number and a brief description of the problem 15C629 Users Manual 9 RTD Embedded Technologies Inc Chapter 2 BOARD SETTINGS The ISC629 DC servo motor interface board has jumper settings which can be changed to suit your appli cation and host computer memory configuration The factory settings are listed and shown in the diagram in the beginning of this chapter ISC629 Users Manual 10 RTD Embedded Technologies Inc Factory Configured Jumper Settings Table 2 1 below illustrates the factory jumper setting for the ISC629 Figure 2 1 shows the board layout of the ISC629 and the locations of the jumpers The following paragraphs explain how to change the
29. stack through connectors CE The ISC629 is CE certified in the IDAN Enclosure System ISC629 Users Manual 33 RTD Embedded Technologies Inc Chapter 7 LIMITED WARRANTY RTD Embedded Technologies Inc warrants the hardware and software products it manufactures and produces to be free from defects in materials and workmanship for one year following the date of shipment from RTD EMBEDDED TECHNOLOGIES INC This warranty is limited to the original purchaser of product and is not transferable During the one year warranty period RTD EMBEDDED TECHNOLOGIES will repair or replace at its option any de fective products or parts at no additional charge provided that the product is returned shipping prepaid to RTD EMBEDDED TECHNOLOGIES All replaced parts and products become the property of RTD EMBEDDED TECHNOLOGIES Before returning any product for repair customers are required to contact the factory for an RMA number THIS LIMITED WARRANTY DOES NOT EXTEND TO ANY PRODUCTS WHICH HAVE BEEN DAMAGED AS A RESULT OF ACCIDENT MISUSE ABUSE such as use of incorrect input voltages improper or insufficient venti lation failure to follow the operating instructions that are provided by RTD EMBEDDED TECHNOLOGIES acts of God or other contingencies beyond the control of RTD EMBEDDED TECHNOLOGIES OR AS A RESULT OF SERVICE OR MODIFICATION BY ANYONE OTHER THAN RTD EMBEDDED TECHNOLOGIES EXCEPT AS EXPRESSLY SET FORTH ABOVE NO OTHER WARRANTIES ARE EXPRESS
30. tializing your ISR To mask the IRQ read the current IMR at I O port 21h and set the bit that corresponds to the IRQ The IMR is arranged so that bit O is for IRQO and bit 7 is for IRQ7 See the paragraph entitled Interrupt Mask Register IMR earlier in this discussion for help in determining your IRQ s bit After setting the bit write the new value to I O port 21h With the startup IMR saved and the interrupts temporarily disabled you can assign the interrupt vec tor to point to your ISR Again you can overwrite the appropriate entry in the vector table with a direct memory write but this is not recommended Instead use the DOS function 25h Set Interrupt Vector or if your compiler provides it the library routine for setting up interrupt vectors Remember that inter rupt vector 8 corresponds to IRQO vector 9 for IRQ1 etc If you need to program the source of your interrupts do that next For example if you are using transmitted or received messages as interrupt source program it to do that Finally clear the mask bit for your IRQ in the IMR This will enable your IRQ Common Interrupt mistakes Remember hardware interrupts are from 8 15 XT IRQ s are numbered 0 7 Forgetting to clear the IRQ mask bit in the IMR Forgetting to send the EOI command after ISR code Disables further inter rupts Example on Interrupt vector table setup in C code void far _interrupt new_IRQ1_handler void ISR function prototype define IRQ1
31. tion LPEI Interrupt Interrupt on Error LPES Interrupt Stop on Error SBPA Interrupt Set Breakpoint Absolute SBPR Interrupt Set Breakpoint Relative MSKI Interrupt Mask Interrupts RSTI Interrupt Reset Interrupts LFIL Filter Load Filter Parameters UDF Filter Update Filter LTRJ Trajectory Load Trajector STT Trajectory Start Motion RDSTAT Report Read Status Byte RDSIGS Report Read Signals Register RDIP Report Read Index Position 09 RDDP Report Read Desired Position 0s RDRP Report Read Desired Position RDDV Report Read Desired Velocity RDRV Report Read Real Velocit OBC RDSUM Report Read Integration Sum OD Table 5 2 LM629 Instruction Set These instructions are loaded to the LM629 chip while the PS bit is in COMMAND mode See previous sections for more details The board status register can be read at all times remember to set the PS bit in DATA mode when reading this register AN 639 AN 706 Application note and LM628 LM629 Datasheet walk you through all the important func tions required to solve most motion control problems This application note is included on your software disk and it can be downloaded from www national com The diagnostic program diag629 exe has the same functions described in flow charts in AN 639 as C functions This diagnostics program shows you how to correctly use them together 15C629 Users Manual 26 RTD Embedded Technologies Inc INTERRUPTS What is an interrupt An interrupt is
32. use a grounded workbench for testing and han dling of your hardware Before installing the board in your computer check the jumper settings Chap ter 2 reviews the factory settings and how to alter them If any alterations are needed please refer to the appropriate instructions in this chapter Do however note that incompatible settings can result in unpredictable board operation and erratic response General installation guidelines e Turn OFF the power to your computer and all devices connected to the ISC629 e Touch the grounded metal housing of your computer to discharge any antistatic build up and then remove the board from its antistatic bag e Hold the board by the edges and install it in an enclosure or place it on the table on an antistatic sur face e Connect your motors to the available terminal blocks e Connect the incremental encoders to the correct screw terminal blocks e Connect the 50 pin digital I O connector flat ribbon cable to the board Make sure that the orienta tion of the cables is correct Installation integrated with a PC 104 module stack e Secure the four PC 104 installation holes with standoffs e Connect the board to its peripherals using the appropriate connectors ISC629 Users Manual 14 RTD Embedded Technologies Inc 50 PIN EXPANSION CONNECTOR 150629 RTD dataModule Fig 3 1 1ISC629 integrated into a PC 104 RTD cpuModule stack External I O Connections Motor interface connectors The
33. when making sensor channel connections The input impedance of the encoder inputs lines are 4 7K A header on the board allows you to select either a pull up or pull down configuration to suit the en coder output circuitry Factory default is pull down mode The illustration below shows the selection jumper set for 4 7K pull down on the encoder inputs PU O O PD Motor control port The header J4 carries all the necessary signals required to interface to an external power stage Avail able in this connector are power 8 bit PWM and sign as well as direct 1 2 bridge control signals The power in this connector is selected to be either 12V or 5V The selection is made using the solder blob B1 located on the solder side of the board next to the 50 pin connector This output is protected with a 2A fuse 8255 based digital I O The 8255 programmable peripheral interface PPI is used for digital I O functions This high per formance TTL CMOS compatible chip has 24 digital I O lines divided into two groups of 12 lines each All the 24 digital I O lines are pulled down with 10K Ohm resistor Group A Port A 8 lines and Port C upper 4 lines Group B Port B 8 lines and Port C lower 4 lines Port A Port B and Port C are available in the 50 pin expansion connector These Ports can be utilized using any of the three operating modes as described below e Mode 0 Basic I O this lets you use simple input output functions for a port Data is
34. written to or read from the specified port e Mode 1 Strobed input output Lets you transfer data I O from port A in conjunction with strobed or handshake signals e Mode 2 Strobed bi directional input output lets you communicate with an external device through the port A Handshaking is similar to mode 1 ISC629 Users Manual 20 RTD Embedded Technologies Inc Available Port direction definitions Port A and B are defined to be Inputs or Outputs as ports the lower bits in Port C 0 3 and 4 7 may be set as Inputs or Outputs in groups All these modes are discussed in detail in the 8255 data sheet available from Intel 8254 timer counter An 8254 programmable interval timer provides three 16 bit 4MHz timer counters to support a wide range of timing and counting functions All of the timer counters TC1 to TC3 can be cascaded The timers have dif ferent options for clock sources as well as gate signals available at header connector J14 on the board Each Timer Counter has two inputs CLK in and GATE in and one output TC They can be pro grammed as binary or BCD down counters by writing the appropriate data to the command word The command word also lets you set up the different modes of operation The six programmable modes are Mode 0 Event Counter Interrupt on Terminal Count Mode 1 Hardware Retriggerable one shot Mode 2 Rate Generator Mode 3 Square Wave Mode Mode 4 Software Triggered Strobe Mode 5 Hardware Triggered Strobe
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