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USER`S MANUAL

1. Px6lO CONNECTOR Description Pin Pin Description 1032 1 35 102 107 2 36 106 1022 3 37 108 1037 4 38 1023 1039 5 39 1038 1036 6 40 105 Field VCC 7 41 5V Field Ground 8 42 Digital Ground 100 9 43 5V 101 10 44 Digital Ground 1017 11 45 5 1018 12 46 1019 1021 13 47 1031 1034 14 48 103 1035 15 49 1033 104 16 50 Digital Ground Field VCC 17 51 5V Field Ground 18 52 Digital Ground 1020 19 53 5V 1040 20 54 109 1042 21 55 1024 1043 22 56 1010 1011 23 57 1041 1012 24 58 1025 1026 25 59 Digital Ground Field VCC 26 60 5V Field Ground 27 61 Digital Ground 1044 28 62 5V 1045 29 63 Digital Ground 1014 30 64 1027 1015 31 65 1016 1028 32 66 1030 1029 33 67 1046 1047 34 68 1013 PC68 User s Manual SPECIFICATIONS APPENDIX C 1068 TERMINAL BLOCK PIN OUT Row 1 Description Row 2 Description Row 3 Description 1 X Step 24 X Direction 47 X Auxiliary 2 X Phase A 25 X Phase 48 X Index 3 X Phase A 26 X Phase B 49 X Index 4 X Limit 27 X Limit 50 X Home 5 5VDC 28 X Servo 51 Digital Ground 6 Y Step 29 Y Direction 52 Y Auxiliary 7 Y Phase A 30 Y Phase 53 Y Index 8 Y Phase A 31 Y Phase B 54 Y I
2. QUEUE REQUIREMENTS MODE AS AA CD Not Valid A Example Set the bit states of port 1 so that bits 0 and 4 are 1 and all others are 0 Enter PO1 11 6 162 PC68 User s Manual 6 COMMAND STRUCTURE EXPANSION BOARD COMMANDS 6 25 2 BIT RELATIVE I O COMMANDS XC REPORT I O BIT CONFIGURATION E ti The XC command reports the configuration of a input output bit If Px6IO 0 board is installed valid bit numbers include 0 through 47 If Px6IO 1 board is installed valid bit numbers include 48 through 95 If Px6IO 2 board is installed valid bit numbers include 96 through 143 QUEUE REQUIREMENTS Immediate Immediate Custom ramp AM Immediate AA CD Not Valid A Example Report the configuration of bit 65 Enter XC65 Response If bit 65 is an input bit If bit 65 is an output bit If bit 65 is not installed lt LF gt lt CR gt I lt LF gt lt CR gt lt LF gt lt CR gt 0 lt LF gt lt CR gt lt LF gt lt CRS gt N lt LF gt lt CR gt PC68 User s Manual 6 163 EXPANSION BOARD COMMANDS 6 COMMAND STRUCTURE XI REPORT THE BIT E dP STATE OF A PX6IO XI command reports the bit state of a bit If Px6IO 0 board is installed valid bit numbers include 0 through 47 If Px6IO 1 board is installed valid bit numbers include 48 through 95 If 2 board is installed valid port numbers inclu
3. Related commands UN BI PC68 User s Manual 6 121 POSITION MAINTENANCE COMMANDS 6 COMMAND STRUCTURE 6 16 POSITION MAINTENANCE COMMANDS ER ENCODER RATIO EN The ER command allows specification of encoder ratio by entering encoder counts followed by stepper motor counts for position maintenance mode This command is not designed for use with servo motors These counts must be integers unless user units are enabled The ratio of encoder counts to motor counts must be equal to one i e encoder counts must match motor counts when slip detection is enabled All distance velocity and acceleration parameters are input in encoder counts when this mode is enabled The correct number of motor counts are generated while the user need only be concerned with encoder counts This mode can be combined with user units allowing units such as inches or revolutions to be specified in encoder counts All parameters are then input in the user units which have been defined The factory default setting is 1 1 See the AP Command on page 6 24 to preserve the ER settings as the Power up Reset values QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example You have an encoder connected through a series of gears to a 6 122 stepper motor When the motor steps 25 000 times the encoder produces 10 000 counts Set up an encoder ratio so the
4. 6 136 6 88 FAS 6 136 ies ee ene eee OSEE 6 124 1 1 1 6 93 6 90 6 91 6 91 Integral Gain 6 113 er 6 93 Interrupt Done oni He eer eee re e e eene 6 90 C DE 6 91 Interrupt Nearly 6 91 Interr pt 6 132 Interrupt Request ient eterne E Rr DRE ROT DERE DERE REPE Rete meet eerte eee 2 4 Interrupt When Axes DOC e eere eere eee e ertet dee 6 98 Interrupt When In 6 92 6 128 I II 6 30 Voltage n e ee t ne tr c ec a c e b Rr ga 6 37 om 6 48 1068 Adapter 4 3 s Lob cc MM NM LM M Di ALLES A 4 4 M H 6 92 6 12
5. eee 6 153 EXPANSION BOARD 6 161 DIGITAL INPUT OUTPUT MODULE nnm 6 161 BIT RELATIVE 8 6 163 SERIAL COMMUNICATION CONFIGURATION COMMANDS 6 166 PC68 User s Manual 1 GENERAL DESCRIPTION INTRODUCTION 7T HOST SOFTWARE INTRODUCTION TO PC68 SOFTWARE SUPPORT 7 1 COMMUNICATION 7 1 7 1 SERIAL RS 232 COMMUNICATION een 7 2 8 SERVICE USER SERVICE Givi sted aed eb nde A RA aan 8 1 THEORY OF OPERATION 0 a ederent 8 1 A LIMITED WARRANTY B TECHNICAL INFORMATION RETURN FOR REPAIR PROCEDURES C SPECIFICATIONS INDEX PC68 User s Manual iii INTRODUCTION 1 GENERAL DESCRIPTION This page intentionally left blank iv PC68 User s Manual 1 GENERAL DESCRIPTION INTRODUCTION 1 GENERAL DESCRIPTIO 1 1 INTRODUCTION The OMS PC 104 family of products is built around the base controller the PC68 and can expand to satisfy most any motion control application The PC68 intelligent motion controller is 100 PC 104 IEEE P996 1 specification compliant controller It is capable of fully supporting the PC 104 ISA bus as well as the RS 232 interface The PC68 controller can manage four axes of stepper servo or a c
6. See the DAR command on page 6 29 for a complete custom ramp table definition QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DAR DAB DA DS DE SR 6 28 PC68 User s Manual 6 COMMAND STRUCTURE DAR BEGIN CUSTOM RAMP DEFINITION SYSTEM CONTROL COMMANDS The DAR command starts the definition of a custom ramp table A parameter supplied with this command from 1 to 8 specifies which ramp table to create If a ramp table by that number has already been defined it will be overwritten Once the DAR command has been issued only the DAB and DAE commands will be valid A series of ramp table breakpoints may be entered using the DAB command which define the profile breakpoints for this ramp table breakpoints may be defined but a smaller number may be used A ramp table containing no breakpoints is invalid and will result unpredictably if used Example Enter RANGE 1 lt DAR lt 8 Create a ramp table definition resembling a profile DAR3 VL VL VL VL DAB 1 1 VL DAE DAB 1 05 DAB 3 1 DAB 9 9 DAB 3 95 Store as table Ramp Ramp Ramp Ramp Ramp at 10 at 30 at 90 at 30 at 10 of of of of of 3 Up to 25 jerk limited linear until until until until until End table definition Not Valid AACD No
7. Row 1 Description Row 2 Description Row 3 Description 1 GND 24 GND 47 5 0 2 00 25 1017 48 5VDC 3 101 26 1018 49 FieldGND 4 5 0 27 1019 50 1031 5 102 28 5VDC 51 1032 6 103 29 GND 52 1033 7 104 30 FieldGND 53 1034 8 5VDC 31 1020 54 1035 9 5VDC 32 GND 55 5VDC 10 105 33 1021 56 1036 11 106 34 1022 57 1037 12 107 35 No Connect 58 1038 13 108 36 1023 59 1039 14 109 37 1024 60 1040 15 1010 38 1025 61 1041 16 1011 39 1026 62 1042 17 1012 40 5VDC 63 1043 18 GND 41 5 0 64 GND 19 1013 42 Field GND 65 GND 20 5VDC 43 1027 66 1044 21 1014 44 1028 67 1045 22 1015 45 1029 68 1046 23 1016 46 1030 69 1047 4 5 ENCODER FEEDBACK Incremental encoder feedback is provided for all servo axes and is optional for the stepper axes The encoder option accepts quadrature pulse inputs from high resolution encoders at rates up to 4 MHz after quadrature detection The encoder monitors actual position through the encoder pulse train It then continuously calculates the position error on the servo axes and through the PID filter adjusts the output based on that error The stepper axes can monitor the error and correct the position after the move is finished The encoder input can also be used as an independent feedback source All modes are capable of slip or stall detection and encoder tracking with electronic gearing These options are selectable by the user through software commands 4 6 ENC
8. 6 2 COMMAND 5 6 3 AXIS SPECIFICATION 8 6 9 SYSTEM CONTROL 6 14 USER TO COMMANDS eget Are a i san A eas 6 42 MOVE SPECIFICATION 5 iicet re ie Pe ee Rte ne 6 57 MOVE EXECUTION COMMANDS rint nonne tnt bn n RD npn 6 69 MOVE TERMINATION COMMANDS emen 6 75 LOOP CONTROL COMMANDS n oeste eoe et ries 6 81 HOME AND INITIALIZATION CONTROL 6 87 MOVE SYNCHRONIZATION COMMANDS eee 6 90 SYSTEM STATUS REQUEST 6 99 USER UNIT COMMANDS ontea tai 6 107 PID FILTER CONTROL COMMANDS eee 6 110 POSITION MAINTENANCE COMMANDS 6 122 SLIP AND STALL DETECTION 6 132 ENCODER TRACKING COMMANDS 6 135 ENCODER HOME CONTROL 6 136 ENCODER STATUS REQUEST 6 137 VELOCITY STAIRCASE 5 6 139 CONSTANT VELOCITY 2 6 142 MACRO CONTROL COMMANDS esee eene 6 150 STAND ALONE
9. A Example see the following BH command BH BIT HIGH E I dB The BH command sets the selected general purpose output off i e logic high The state of general purpose outputs is off at power up or reset QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp HUNE aa A Example Set bit 10 high at the start of a contour and low at the end Enter AA CV2000 CD0 0 BH10 0 10000 6 2831853 BL10 CE CK 6 144 PC68 User s Manual 6 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING CD CONTOUR DEFINE dP The CD command enters contour definition mode It allows entry of commands for contouring mode Commands are queued for execution by the CX command The parameters define the axes for which the contour is defined and the starting position of the contour in absolute units The contour may be defined on up to 8 axes if circular interpolation is not used or 2 axes with circular mixed with linear interpolation Attempting to do circular interpolation in a contour which is being defined for more than 2 axes will be flagged as a command error This command is executed in the AA mode The contouring axes must be at positions which allow them to reach the specified contouring velocity by the specified position when the contour is executed If the actual position of the stage is equal to the starting position as defined by the CD command the stage will jump to the contourin
10. 6 157 Define Zero Position In Open Loop 6 110 Derivative Gam Goefficlent eere eee 6 112 Done Rglster fee e Toe 3 4 RR 2 10 6 110 PC68 User s Manual 3 INDEX E E EA 6 137 bet oid EAE ES EL 6 14 Echo On etr pue p RU UR YU E EU ee 6 14 H 6 14 ue eL LR ELM 6 14 Enable Disable Stand Alone 6 153 Encoder Ratio ce ps 6 122 Encoder Slip Tolerarice verge gerer eer eere e eue 6 132 Encoder Stat s 6 137 Encodet Tracking ee RR 6 135 End vede ner eoe gd ents 6 28 6 122 6 132 E EA 6 135 Expansion Boards ttt 5 1 5 5 F toe ete ter ete er Peer s 6 78 Flash Memory 3 re ene eene eire eee rne n eri ei on 1 2 street ree Feet 6 78 Force PR 6 141
11. 6 40 Set The Bits Of An Output Port recte ten ene eee e ene eene ee ret 6 162 PC68 User s Manual 9 INDEX T Settling TINE eee ee e e ede Me a i aet 6 45 6 19 6 81 6 156 6 19 EN 6 153 6 80 6 19 Soft Limit eee 6 19 Software SUP POM EEEE EEE E T 7 1 7 3 em MINIMI KE 6 141 Special Characters 3 7 pa MEE 3 7 IRA SIDON 3 7 mu xc ul ue nm 3 7 SPECGCIEICATIONS cente tte Pee seth ees e e E ERE LER ARR C 1 SR dE 6 36 Sl asusta LSU ML ELI EL AND 6 76 1 2 Status Register nee ee ee n e ee ee en e e e ce ve Rex ere on 3 6 iof 6 76 STOP All 6 76 Stop And Reset Done xtti 6 77 Stop At POSION 6 141 Stop At Position By Ramping From 6 80 n LE K ees 6 81 Serm IC c ID 6 37 SVN eC 6 38 SW A 6 96 SOX tle i wa 6 154
12. 6 25 i 6 104 pl EN 6 133 ae P rete ere e en P rae 6 67 2 14 6 99 IO ro dl M M LM M MM E M ME M 6 101 6 149 RS ei ttt ttt ttt tutte ttt tt tte wu ete 6 24 5 23 2 area 1 1 1 2 2 1 2 5 5 2321 ENEE oce e ba ree reve 3 7 5 232 o m 3 1 IS esu E 6 106 6 106 S A 6 76 ife 6 166 ig 6 23 6 77 H 6 45 Select Custom 6 36 ld zm 8 1 Senvo Model Syan ieee ne eee ee ieee sla eed 2 1 Servo Syslelm it onore 2 6 Po 2 9 B M 2 8 Set A PXOIO BIELOW oorr t e eee er eder ede e ede edes eed 6 165 Set A PX6IO Bit State rere Pre Pert tegere 6 164 Set Auxiliary Default To nennen nennen 6 51 Set Auxiliary LOW sxe ener cere er nre e ee tuere ear e eee ad 6 52 Set Baud Rate eene eee teen ree ree ree eevee eta 6 166 Set VO Bit Directiori Debe ebbe centes 6 48 Set Software
13. 0 6 2831853 10 000 1000 MT 1000 0 GO CX PC68 User s Manual 6 145 CONSTANT VELOCITY CONTOURING CE CONTOUR END 6 COMMAND STRUCTURE The CE command marks the end of the contour sequence It will terminate the CD mode ramp to a stop and exit to the AA command mode when executed The end of the contour should contain at least a short linear segment just prior to the CE command to initialize the parameters for the deceleration of the stage QUEUE REQUIREMENTS Not valid Not Valid Not Valid Custom ramp 2 2 A Example CK see CD command on page 6 145 CONTOUR END AND KILL The CK command will end the contour sequence like the CE command except there is no ramp down i e the pulses will stop abruptly This command should be used with caution to prevent the stage from missing steps or loosing its correct position It is used in place of the CE command QUEUE REQUIREMENTS Not Valid Not valid Not Valid Custom ramp 2 2 A Example Enter 6 146 Same scenario as CD command but we want to end the contour with the minimum ramp down AA CV1000 CD0 0 0 CRO 5000 3 1415926 CRO 0 6 2831853 AF 0 MT 10 000 1000 CK MT 1000 0 GO CX PC68 User s Manual 6 COMMAND STRUCTURE A Example CONSTANT CONTOURING The CR
14. QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Enter A Example Enter 6 72 Jog the X axis for 1000 milliseconds AX TM1000 Jog the X axis for 1000 milliseconds and the Z axis for 2000 milliseconds AA T1000 2000 PC68 User s Manual 6 COMMAND STRUCTURE MOVE EXECUTION COMMANDS VS VELOCITY STREAMING E I dB The VS command will generate a pulse train without acceleration or deceleration at the rates specified The parameters are time in 1 2048 second sample intervals X velocity and Y velocity The time parameter for more than 4 axes servo models is in 1 1024 second sample intervals This is a slave mode and cannot be mixed or queued with other commands You must be in the AX mode since the VS command and all parameters are inserted in the X axis command queue The VS command does not require a GO command to start the motion QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not Valid AM Not valid AA CD Not Valid A Example Create a stair step ramp on the X and Y axes with the X axis moving in the negative direction and the Y axis in the positive direction Make each step last 1 second long and increase velocity by 1 000 steps second until a velocity of 3 000 steps second is reached then step down to 0 steps second Assume this is an 8 axes stepper controller Enter AX VS2048 1000 1000 VS2048 2000 200
15. I O bit 1 active low will execute macro 10 begin the definition of Macro 1 send a KILL to stop everything terminate the definition of Macro 1 store macro 1 to non volatile macro 9 define I O bit 2 active low will execute macro 9 lenable the stand alone mode the current parameters to the power up defaults this is the end of the command sequence PC68 User s Manual 6 155 STAND ALONE COMMANDS 6 COMMAND STRUCTURE SK DEFINE KILL LINK E iE dP ON PC68 The SK command links the execution of the KILL function KL to the defined change of state of the assigned input bit First Parameter This specifies the standard input bit number The factory default bits are 0 1 2 and 3 but it can be configured by the user to include bits O to 7 If an I O expansion board is installed bits 8 11 are also included Second Parameter Valid Bit States are 0 and 1 If the value of the selected bit state is ZERO the selected macro will be executed if the selected bit changes from a TTL high to a TTL low If the value of Bit State is ONE then the selected Macro will be executed when the selected bit changes from a TTL low to a TTL high NOTE Each bit state can be linked with a macro So up to two macros can be assigned to an input bit For example macro 10 could be executed when 0 goes low and macro 11 could be executed when 0 goes high Third Parameter If the value is ZERO the K
16. QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example In the single axis mode set the Y axis acceleration to 200 000 counts per second per second Enter AY AC200000 A Example In the AA mode set the acceleration of the X axis to 200 000 and the Z axis to 50 000 and leave the other axes with their previous values Enter AA AC200000 50000 PC68 User s Manual 6 57 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE REPORT COMMAND E IiE dB This command will reply with the current acceleration value for the current axis in an AC command format see below Example Report the current AC value for this axis Enter AC Response lt LF gt lt CR gt AC200000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands AC 6 58 PC68 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS VL VELOCITY HE dB The VL command sets the maximum velocity register of the axis being programmed to the operand which follows the command The operand must be greater than zero and less than or equal to 1 044 000 steps per second where the factory default is 200 000 steps per second See the AP Command on page 6 24 to preserve the VL settings as the Power up Reset values QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid XA Example In the single axis mode set the X axis velo
17. 6 95 WARRANTY E rue e M MM A 1 6 84 lc 6 86 dur ER 6 85 I mE 6 85 6 84 While Ela ree esee 6 86 BIET 6 84 Who Are Y OUS 2 d Dt teet tint teintes in is Uu in LU PA Lu Re Lu ie Pu En En Du LEA t 6 99 6 95 Em 6 84 MT epe nate pete Debut tete EINMAL AD EcL fg 6 97 Moto het hA nA AA Lin iL Dite hine hi 6 99 X 6 163 6 164 6 164 mE 6 158 KEH ER 6 165 6 157 PC68 User s Manual 11
18. the voltage is still too high contact Oregon Micro Systems Technical Support department for guidance Turn on power to the amplifier and then to the motor Adjust the balance setting of your amplifier if equipped until the motor stops moving If the motor continues to revolve or your amplifier has no balance adjustment i Send the command DZ100 to the PC68 ii If the motor spins faster reduce the command parameter and resend the command e g DZ50 If the motor spins slower but does not stop increase the command parameter and resend the command e g DZ150 iv Continue adjusting and resending the DZ command until the motor comes to rest Write down the final DZ value for later reference as your zero setting 4 Maximize your system s usage of the PC68 s DAC Connect the servo encoder to the PC68 Set the signal command gain of your amplifier to it s minimum setting Send the DZ3277 command to the PC68 and observe the velocity of the motor The output of PC68 will be near 1VDC If the motor does not move at all your amplifier does not work well at a low velocity In this case adjust the signal command gain of the amplifier to approximately 20 of maximum or until the motor begins to move Using a frequency meter measure the pulse rate of Phase A of the encoder The frequency measured is of the actual pulse rate Adjust the signal command of the amplifier until the pu
19. 1 LIMITED WARRANTY This page intentionally left blank APPENDIX A PC68 User s Manual APPENDIX B TECHNICAL SUPPORT APPENDIX B TECHNICAL SUPPORT Oregon Micro Systems Inc can be reached for technical support by any of the following methods 1 Internet E mail support OMSmotion com 2 World Wide Web www OMSmotion com 3 Telephone 8 00 a m 5 00 p m Pacific Standard Time 503 629 8081 or 800 707 8111 4 Facsimile 24 Hours 503 629 0688 or 877 629 0688 5 USPS Oregon Micro Systems Inc 1800 NW 169th Place Suite C100 Beaverton OR 97006 RETURN FOR REPAIRS Call Oregon Micro Systems Customer Service at 503 629 8081 or 800 707 8111 or E mail to sales OMS Explain the problem and we may be able to solve it on the phone If not we will give you a Return Materials Authorization RMA number Mark the RMA number on the shipping label packing slip and other paper work accompanying the return We cannot accept returns without an RMA number Please be sure to enclose a packing slip with the RMA number serial number of the equipment reason for return and the name and telephone number of the person we should contact if we have further questions Pack the equipment in a solid cardboard box secured with packing material Ship prepaid and insured to OREGON MICRO SYSTEMS INC Twin Oaks Business Center 1800 NW 169th Place Suite C100 Beaverton OR 97006 PC6
20. A Example The Y axis encoder is counting opposite the expected direction Setup the Y axis to produce a negative voltage when moving positive instead of a positive voltage to correct the problem Enter AY SVI QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands SVN SV UN BI DBI DBN PC68 User s Manual 6 37 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE SVN NORMALIZE SERVO VOLTAGE The SVN command normalizes the voltage output for the current axis negating the effects of the SVI command After receiving this command the PC68 will produce a positive voltage for positive motion and a negative voltage for negative motion the default behavior To make this the default behavior if it has been changed via SVI AP use the AP command SVN is the factory default setting Example The Y axis encoder was rewired and now counts in the correct direction Return the Y axis servo output to normal i e output positive voltage for positive motion Enter AY SVN QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands SVI SV UN BI DBI DBN 6 38 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS 25 REPORT SERVO VOLTAGE INVERSION STATE The SV command reports the current logical direction for the current servo axis The state is set with the SVI and SVN commands x E
21. Related commands KA KV PC68 User s Manual 6 111 PID FILTER CONTROL COMMANDS 6 COMMAND STRUCTURE KD DERIVATIVE GAIN COEFFICIENT d KD is the derivative gain coefficient used in the PID filter calculations See Section 2 for more information regarding this parameter The factory default value is 20 0 See the AP Command on page 6 24 to preserve the KD settings as the Power up Reset values Value range 0 to 4096 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Set KD to 56 on the Z axis Enter AZ KD56 KD REPORT PID DERIVATIVE GAIN 8 The KD command reports the current setting of the derivative gain constant KD in the PID of the current servo axis x Example Forgot to write down the KD setting which is working well Report the setting so it can be recorded Enter KD Response lt LF gt lt CR gt KD5 12500 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KD 6 112 PC68 User s Manual 6 COMMAND STRUCTURE PID FILTER CONTROL COMMANDS INTEGRAL GAIN d COEFFICIENT is the integral gain coefficient used in the PID filter calculations See Section 2 for more information regarding this parameter The factory default value is 0 04 See the AP Command on page 6 24 to preserve the settings as the Po
22. 17 51 Y Limit V Phase A 17 51 V Limit Y Phase 18 52 Y Limit V Phase 18 52 V Limit Y Phase B 19 53 Y Home V Phase B 19 53 V Home Analog Ground 20 54 5VDC Analog Ground 20 54 5VDC Z Index 21 55 Z Servo R Index 21 55 R Servo Z Index 22 56 ZStep R Index 22 56 RStep 2 Phase A 23 57 Z Auxiliary Phase A 23 57 R Auxiliary Z Phase A 24 58 Z Direction R Phase A 24 58 R Direction Z Phase B 25 59 Z Limit Phase B 25 59 R Limit Z Phase B 26 60 Z Limit R Phase B 26 60 R Limit T Servo 27 61 Z Home S Servo 27 61 R Home T Index 28 62 TStep S Index 28 62 Step T Index 29 63 T Auxiliary S Index 29 63 S Auxiliary T Phase A 30 64 T Direction S Phase A 30 64 S Direction T Phase A 31 65 T Limit S Phase A 31 65 S Limit T Phase B 32 66 T Limit S Phase B 32 66 S Limit T Phase B 33 67 T Home S Phase B 33 67 S Digital Ground 34 68 5VDC Digital Ground 34 68 5 0 RS 232 CONNECTOR 44 Description Pin Pin Description POWER SUPPLY CONNECTOR J3 Ground 5 9 No Connect Description Pin Pin Description DTR 4 8 CTS 5 0 5 6 Digital Ground TxD 3 7 No Connect 12VDC 3 4 No Connect RxD 2 6 No Connect 12VDC 1 2 Analog Ground No Connect 1 PC68 User s Manual SPECIFICATIONS APPENDIX C
23. 20 goes high Output Formats If the bit is linked to the execution of a macro the text response is the text of the XX command used to link the bit with the Macro Example lt LF gt lt CR gt XX1 0 23 lt LF gt lt CR gt If the bit is linked to the KILL function KL the output will be the text response of the XK command used to link the bit with the kill function Example lt LF gt lt CR gt SK1 0 1 lt LF gt lt CR gt If the bit is not linked the output will be lt LF gt lt CR gt lt LF gt lt CR gt A Example This will report if there are any macro or KILL function links to input bit 21 when it goes from high to low Enter PX21 0 CB CLEAR MACRO LINKS E I dB This command clears all macro links of input bits to macro executions and or the KILL KL function A Example Clear all previously defined macro links to input bits Enter CB 6 160 PC68 User s Manual 6 COMMAND STRUCTURE EXPANSION BOARD COMMANDS 6 25 EXPANSION BOARD COMMANDS Commands for the Px6lO 6 25 1 Px6lO DIGITAL INPUT OUTPUT MODULE Port relative commands REPORT I O PORT E HN dB CONFIGURATION The PC command reports the configuration of a Px6lO input output port If 0 board is installed valid port numbers include 0 through 5 If Px6lO 1 board is installed valid port numbers include 6 through 11 If 2 board is installed valid port numbers include 12 through 17 QUEUE REQUIREMENTS Immediate
24. PC68 User s Manual 8 1 THEORY OF OPERATION 8 SERVICE This page intentionally left blank 8 2 PC68 User s Manual APPENDIX A LIMITED WARRANTY APPENDIX A LIMITED WARRANTY The Seller warrants that the articles furnished are free from defect in material and workmanship and perform to applicable published Oregon Micro Systems Inc specifications for one year from date of shipment This warranty is in lieu of any other warranty express or implied In no event will Seller be liable for incidental or consequential damages as a result of an alleged breach of the warranty The liability of Seller hereunder shall be limited to replacing or repairing at its option any defective units which are returned f o b Seller s plant Equipment or parts which have been subject to abuse misuse accident alteration neglect or unauthorized repair are not covered by warranty Seller shall have the right of final determination as to the existence and cause of defect As to items repaired or replaced the warranty shall continue in effect for the remainder of the warranty period or for 90 days following date of shipment by Seller of the repaired or replaced part whichever period is longer No liability is assumed for expendable items such as lamps and fuses No warranty is made with respect to custom equipment or products produced to Buyer s specifications except as specifically stated in writing by Seller and contained in the contract PC68 User s Manual
25. QUEUE REQUIREMENTS AA CD Not Valid A Example The following sequence would interrupt the host when the X axis is complete and the Z axis is within 10 000 counts of being complete The Y axis completion would be ignored in this example Enter AA 0 10000 MR100000 100000 GO MR 50000 GO PC68 User s Manual 6 91 MOVE SYNCHRONIZATION COMMANDS 6 COMMAND STRUCTURE INTERRUPT WHEN IN POSITION E IiE dP The IP command operates like the ID command except the interrupt is deferred until the stage is within the specified deadband The GD command should be used in place of the GO command to reset the done flags before the next move If the position hold HN is not enabled for an axis the command will behave like an ID command for that axis This command is available only in models with the encoder option QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Send DONE when axis is within deadband 6 92 Enter AX HV1000 HG100 HD10 HN MR1000 GO IP DONE will occur after move is complete and in position PC68 User s Manual 6 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS IC INTERRUPT CLEAR E I 9 The IC or the ASCII character Control Y hex 19 command is used to clear the done and error flags in the status register and the done flag register This command will be executed immediately and will usually be placed in the done and error handler inter
26. QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example Define macro 2 to set velocities to 20000 on all axes of a two axis board Enter MD2 AA VL20000 20000 Z 6 150 PC68 User s Manual 6 COMMAND STRUCTURE MACRO CONTROL COMMANDS MACRO EXECUTE E I dP The MX command will execute the specified macro and its command string The macro number that is entered as the argument of the command must be between 0 and 24 QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Execute macro number 6 Enter MX6 PM PRINT MACRO E dP The PM command will print the specified macro s command string The macro number entered as the argument for this command must be between 0 and 24 QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Print the command string contained in macro 19 Enter PM19 PC68 User s Manual 6 151 MACRO CONTROL COMMANDS 6 COMMAND STRUCTURE PT H PRESERVE A TEMPORARY MACRO IE b Use PT to save a temporary macro permanently by copying it to non volatile memory The temporary macro number which is entered as an argument for this command must be between 0 and 4 The non volatile macro number which is also entered as an argument for this command must be between 5 and
27. 6 141 6 70 General Description redde 1 1 1 2 Getting Started catio teet detected te todas te hee 2 1 2 18 co 6 69 Go And Monitor Slip Trigger ines san ne 6 75 Go And Reset Done uo A 6 70 Go 6 74 cn eee ee 6 75 Clo MX 6 74 H 6 125 p ES 6 136 HE tete 2 10 6 118 6 125 6 133 pte 6 124 6 15 FM E 6 15 FAM E 6 87 2 10 6 118 6 127 Hold Deadbands eae 6 125 4 PC68 User s Manual INDEX E 6 124 Off ueteri e Rabe te tue 6 118 6 125 6 133 PHONG ineo RI the EE Mr 6 118 6 127 HoldMelocity reete e rer re tt a teer Op ea 6 124 E 6 87 Hore And bL ELM EU E 6 88 Home Encoder cR i ex ctae tet aes teet 6 136 Home Egli htc ate es Ll ie bl be E Ee Le LEE 6 15 Home LOW 6 15 Home Reverse epe eom ee e eere ee eee eee e eres 6 88 Home Reverse And Kill e erem 6 89 Flore SWIG
28. AX MA100000 GO ID NOTE The explanation above applies to PC68 boards communicating via the PC 104 bus When communicating through the RS 232 port the PC68 will generate when a DONE is encountered 6 90 PC68 User s Manual 6 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS INTERRUPT INDEPENDENT IiE dB The Il command allows the control to interrupt the host when each axis finishes move Only those axes which have been supplied a parameter in the most recent move command will cause interrupts QUEUE REQUIREMENTS Not Valid A Example The following command sequence would cause interrupts when the Y T axes finish If they do not complete at the same time two interrupts would be generated Enter MR 1000 10000 GO II INTERRUPT NEARLY DONE IiE dB The IN command allows the control to interrupt the host when the axis or combination of axes is nearly complete When used in an application involving probing a part after a move the probes could start accelerating down while the stage is finishing its move improving the overall system throughput This command is valid in all modes The IN command must be entered before the GO or GD command since it is executed before the move is complete The test is only performed during deceleration If the IN parameter is greater than the ramp down distance the interrupt will be generated when the control starts decelerating
29. COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS HD REPORT POSITION EN MAINTENANCE DEADBAND The HD command reports the current setting of the HD command This command will only work with stepper axes with encoders BN Example Find out what HD was last set to Enter HD Response lt LF gt lt CR gt HD5 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands HD HG HV PC68 User s Manual 6 129 POSITION MAINTENANCE COMMANDS 6 COMMAND STRUCTURE HG REPORT POSITION MAINTENANCE GAIN The HG command reports the current setting of the HG command for the current axis This command works only with stepper encoder axes A Example Position corrections seem slow Check the setting of HG to be sure it is correct Enter HG Response lt LF gt lt CR gt HG100 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands HG HV HD 6 130 68 User s Manual 6 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS HV REPORT POSITION MAINTENANCE VELOCITY The HV command reports the current setting of the HV command for the current axis This command works only with stepper encoder axes xy Example Check the peak correction velocity for the T axis Enter AT HV Response lt LF gt lt CR gt HV20000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT
30. CONTROL OUTPUT 4 CONTROL SIGNAL INTERFACE Step Step Clock Direction Direction 5 Opto 5 Supply Ground Ground Opto FIGURE 4 1 CONNECTION TO STEP DRIVES WITH INTERNAL PULL UP RESISTORS AND OPTO ISOLATION PC68 Step Step Clock Drecion k Opto Supply 5VDC f Ground Ground Opto FIGURE 4 2 CONNECTION TO STEP DRIVES WITHOUT PULL UP RESISTORS Step Step Clock Direction Se Direction Opto 5VDC Supply Opto Ground FIGURE 4 3 CONNECTION TO STEP DRIVES WITH DIFFERENTIAL INPUTS 4 2 PC68 User s Manual 4 CONTROL SIGNAL INTERFACE 1068 ADAPTER MODULE TABLE 4 1 OUTPUT CONNECTOR PIN LIST J5 SIGNAL CONNECTOR J5 Pin Description Pin Description 1 Digital Ground 35 5VDC 2 1 36 0 3 3 37 2 4 5 38 4 5 7 39 0 6 6 Digital Ground 40 5VDC 7 X Index 41 X Servo 8 X Index 42 X Step 9 X Phase A 43 X Auxiliary 10 X Phase A 44 X Direction 11 X Phase 45 X Limit 12 X Phase B 46 X Limit 13 Y Servo 47 X Home 14 Y Index 48 Y Step 15 Y Index 49 Y Auxiliary 16 Y Phase A 50 Y Direction 17 Y Phase A 51 Y Limit 18 Y Phase B 52 Y Limit 19 Y Phase B 53 Y Home 20 Analog Ground 54 5VDC 21 Z Index 55 Z Servo 22 Z Index 56 Z Step 23 Z Phase A 57 Z Auxiliary 24 Z Phase A 58 Z Direction 25 Z Phase B 59 Z
31. Immediate Immediate Custom ramp AA CD Not valid A Example Report the configuration of port 1 Enter PC1 Result If port 1 is an input port lt LF gt lt CR gt I lt LF gt lt CR gt If port 1 is an output port lt LF gt lt CR gt O0 lt LF gt lt CR gt If port 1 is not installed lt LF gt lt CR gt N lt LF gt lt CR gt PC68 User s Manual 6 161 EXPANSION BOARD COMMANDS 6 COMMAND STRUCTURE REPORT PORT STATES IiE dB The PI command reports the bit states of a 1 port as a hex number If Px6IO 0 board is installed valid port numbers include 0 through 5 If Px6lO 1 board is installed valid port numbers include 6 through 11 If Px6lO 2 board is installed valid port numbers include 12 through 17 QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Report the bit states of port 1 Enter PIL Result If bit O of port 1 is high lt LF gt lt CR gt 01 lt LF gt lt CR gt If port 1 is not installed lt LF gt lt CR gt NP lt LF gt lt CR gt PO SET THE BITS a EE OF AN OUTPUT PORT The PO command sets the bits of a Px6IO output port to the states specified by a hex number If 1 0 board is installed valid port numbers include 0 through 5 If Px6lO 1 board is installed valid port numbers include 6 through 11 If 2 board is installed valid port numbers include 12 through 17
32. README TXT on the disk for installation instructions and other information Some programs on the demo disk that include source code may be adapted for use in application programs that use OMS motion controls No license is required 7 2 COMMUNICATION METHODS There are two possible ports that may be used for communication on a PC68 They are a RS 232 port and a PC 104 bus interface Note that not all models of the PC68 support the PC 104 bus interface 7 2 1 PC 104 MODE 7 2 1 1 Interrupt Driven Communication Preferred Method This method provides the most efficient means of communication and status gathering with regard to CPU cycles spent When the PC68 has a character to give to the host it will generate an interrupt to which the host responds and collects the character Interrupts will also be generated when the PC68 is ready to accept a character from the host Further interrupts can be generated for status events such as encountering a limit Switch or an invalid host command In interrupt based communications the host spends as little time as possible talking to the PC68 which frees up its time for other purposes Instead of constantly polling the PC68 for status information an interrupt can trigger a function that collects status just once Although this method can be more difficult to code and requires a programming language capable of compiling interrupt driven code it provides the greatest degree of efficiency This
33. pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example see ES command above 6 132 PC68 User s Manual 6 COMMAND STRUCTURE SLIP AND STALL DETECTION COMMANDS RL RETURN SLIP STATUS RL command returns the slip detection status of each axis S is returned if slip has occurred for that axis or else an N is returned The results are bounded by LF CR pair as in other status commands number of characters returned corresponds to the number of axes available on the board This command is intended to be used with stepper motors with encoders and not with servo motors QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD XA Example On a four axis board see if any axis has slipped Enter RL Response lt LF gt lt CR gt NNSN lt LF gt lt CR gt The Z axis has slipped HF HOLD OFF EN dB The HF command disables position hold stall detection and tracking modes QUEUE REQUIREMENTS MODE AS AA AM AA CD Not Valid A Example Disable slip detection on the X axis Enter AX HF PC68 User s Manual 6 133 SLIP AND STALL DETECTION COMMANDS 6 COMMAND STRUCTURE TF TURN OFF SLIP KILL MODE E E The TF command disables slip kill mode enabled with TN x Example Slip kill mode is enabled but a move needs to be performed where slip is likely and not important for
34. positive this command will return the DBN command If the direction bit has been inverted this command will return DBI Example Report whether the direction bit for the T axis is low or high when making positive moves Enter AT DB Response lt LF gt lt CR gt DBI lt LF gt lt CR gt DBI result indicates the T axis direction bit is high for positive moves QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DBI DBN SV PC68 User s Manual 6 33 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE DE REPORT A CUSTOM RAMP E HH dB TABLE ENTRY The DE command will return a specific entry from a specific custom ramp table The first parameter specifies the table to examine and the second parameter specifies the entry to return from the table RANGE 1 lt Parameter1 lt 8 1 lt Parameter2 lt 25 Example We can t remember what the 23rd breakpoint in table 4 was set to Use the DE command to find out Enter 4 23 Response lt LF gt lt CR gt lt LF gt lt CR gt there is no 23rd entry in table 4 QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DAR DAB DAE DA DS 6 34 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS DS REPORT THE SIZE E HN dB OF A CUSTOM RAMP TABLE The DS command returns the size of the specified custom ramp
35. 121 PON EE 6 39 fj 6 41 iS 6 108 auta tra nh NP AS GA RD oua trato ut PE 6 62 W QM n 6 60 PC68 User s Manual 1 INDEX A A 6 9 6 57 Acceleration 6 57 Acceleration 6 111 Address Range eO ee eet ded s 2 2 2 3 Al ecce Mami uat t ML ee 6 51 BE EE E E 6 43 6 142 EU EU LM S 6 9 BIN rete ree ete ene ete d pa ue sc ftre e Ud Uia 6 42 6 142 xe M m M 6 24 Abest EE E MEE 6 13 eds i ese Ae se ee 6 13 Assign Current Parameters As Power Up Default 6 24 Aq ete as oe cc LI ME LEE 6 11 AU orte t 6 12 A xilidaty OIf cere rre ro eee ed nem 6 43 6 142 Auxiliary pr 6 42 6 142 LAN ME MM 6 12 AX teste e RR 6 10 AXES Al pp M 6 9 Axes 6 9 a MEE E cr E 6 13 AXIS Scis emite enm e d ndm enc 6 13 iip ewe oe e Ete EC E e tn DD CE e rene es 6 11 AXIS Uc estos e reap e Usu ae dre eae pe e Uv e e atat 6 12 Axis 6 12 AXIS E Ra aes a es Rr d ov e e atlas
36. 3 6 RS 232 INTERFACE 3 7 4 CONTROL SIGNAL INTERFACE INTISODUGC TIORB bean ee pe eae 4 1 LIMIT AND HOME INPUTS a pb b Re ab ex heb ER M 4 1 CONTROL OU TPDETS b oet to db t enti 4 1 066 ABAPTERIMODBULE 02 0H Coon Ee EE obere Ee tee bet op RO 4 3 EXPLANATION OF ADDITIONAL CIRCUITRY ON THE 1068 4 4 EXPLANATION OF THE 1068 edere inier 4 6 ENCODER FEEDBAOCK ottenere rx RR P HR RERO ER 4 8 ENCODER SELECTION AND COMPATIBILITY 4 8 HOME PROGEDUIRES Sele ea 4 9 PC68 User s Manual i INTRODUCTION 1 GENERAL DESCRIPTION 5 EXPANSION BOARDS Px6IO I O EXPANSION BOARDS et uite petrae tton ie Sitten edet 5 1 HARDWARE roo rr eng rae ree a qa eR ag ERR de an 5 1 CONNECTING THE Px6lO BOARD TO THE 68 STACK 5 2 SOFTWARE totes ton is esos rob ces aiat 5 3 CONNECTING THE 6 TO 1068 1 5 3 AXISEXPANSIONBOBISD 5 3 HARDWARE 5 3 CONNECTING THE AXIS EXPANSION BOARD AN 1068 5 5 SOFTWARE ui bd ntium viuis md iode 5 5 6 COMMAND STRUCTURE INTRO Hanger P 6 1 COMMAND QUELUES 2 2 553
37. 360 x counts per revolution PC68 User s Manual 2 9 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED 2 10 It is obvious that the voltage mode allows for much greater following errors than the current mode This value is the following error when the motor is at peak velocity and will be used when determining the proportional gain KP The following error for the integral term or long term gain value will follow the following guidelines Current Mode following error for KI 0 counts Voltage Mode following error for 80 of 360 expressed in motor counts 1 While still in open loop mode hold off HF use the DZ command to zero the motor This variable is used to provide a constant output that will compensate for any torque offset from the load So when the system should be stationary the necessary voltage will be sent to the amplifier to cause the motor to maintain position With the correct DZ value the motor should successfully maintain a zero position KO is the offset coefficient used while in closed loop mode hold on HN KO is essentially the same as DZ but used for closed loop operation Once you have determined the correct value for DZ this same value should be used for the KO variable before beginning to tune the PID filter The values for DZ and KO range from 32640 to 32640 2 Set the known values for velocity acceleration and the move distance for a trapezoidal profile with at
38. 39 Report Settling nennen nnne iren treten enne 6 46 8 PC68 User s Manual INDEX S Report Soft Limit Status honey e P rue 6 20 Report Software sss eene enne 6 41 Report The Bit State Of A Px6io Bit 6 164 Report The Size Of A Custom Ramp 6 35 Report Velocity entren 6 117 Request Acceleration 6 105 Request Axis Status idee eere rentrer rer ere nete a 6 103 Request Bit nennen nennen enn nnne entres nennen nens 6 50 Request Encoder Position ecce ede iere ee ete eet C E ER EE dd 6 138 Request Interrupt Status eere reete ener esee 6 104 Request POSITION recede feel tette a e d eens 6 99 Request Queue eene nnns eene 6 101 6 149 Request Velocity ern E E ERO E een wae n n 6 106 M 6 24 Restore Default VAU Si eren te erri rere rer er tee er pete ee rete e 6 25 Restore Factory Default 6 25 RETURN FOR REPAIRS rte sete rete eret rece eerte tre du ice evden tu teeta B 1 Return Slip Status etre erede eiue ve erp erede 6 133 RESTO M LI E E LL ML M ULL UM
39. AA CD Not Valid A Example Enter 6 120 Set up servo axis X for bipolar operation AX BI HN PC68 User s Manual 6 COMMAND STRUCTURE PID FILTER CONTROL COMMANDS UN UNIPOLAR 4 The UN command sets the analog and PWM torque outputs to unipolar When unipolar is selected zero torque reference will result in a low DC level or minimum PWM duty cycle and maximum torque reference will result in a high DC level or maximum PWM duty cycle The analog output will range between 0 0VDC and 10VDC when unipolar is enabled The direction output signal will define the sign of the output It is necessary to issue either the UN or the command to enable PWM operation for a particular axis This command is valid only in the single axis mode QUEUE REQUIREMENTS Immediate Not valid Not Valid Custom ramp Not Valid A Example Set up servo axis X for unipolar operation Enter AX UN HG5 200 100 HN 250 REPORT ANALOG OUTPUT MODE ag The SO command reports whether the analog output type for the current servo axis is bipolar or unipolar The possible responses are and UN the same commands used to set one mode or the other Example The Y axis should be setup with unipolar outputs Use SO to make sure Enter AY SO Response lt LF gt lt CR gt UN lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid
40. Bit 10 4 Bit 13 38 Bit 12 5 Bit 15 39 Bit 14 6 Digital Ground 40 5VDC 7 U Index 41 U Servo 8 U Index 42 U Step 9 U Phase A 43 U Auxiliary 10 U Phase A 44 U Direction 11 U Phase B 45 U Limit 12 U Phase B 46 U Limit 13 VANG 4T U Home 14 V Index 48 V Step 15 V Index 49 V Auxiliary 16 V PhaseA 50 V Direction 17 V Phase A 51 V Limit 18 V Phase B 52 V Limit 19 V Phase B 53 V Home 20 Analog Ground 54 5VDC 21 R Index 55 R Servo 22 R Index 56 R Step 23 R Phase A 57 R Auxiliary 24 R Phase A 58 R Direction 25 R Phase B 59 R Limit 26 R Phase B 60 R Limit In 27 SANG 61 R Home 28 S Index 62 S Step 29 S Index 63 S Auxiliary 30 S Phase A 64 S Direction 31 S Phase A 65 S Limit 32 S Phase B 66 S Limit 33 S Phase B 67 S Home 34 Digital Ground 68 5VDC PC68 User s Manual 5 EXPANSION BOARDS AXIS EXPANSION BOARD 5 2 2 CONNECTING THE AXIS EXPANSION BOARD TO AN 068 An 068 and a SCSI 3 68 pin cable should be used to route the signals from the 68 pin connector on the axis expansion board to the screw terminal block connector on the 1068 When using the 1068 with the board the pin descriptions for axis U V R and S of the terminal block connector on the 068 are as shown below TABLE 5 3 1068 TERMINAL BLOCK PIN OUT WHEN CONNECTED TO AXIS EXP
41. CN SYSTEM CONTROL COMMANDS The CN command enables cosine velocity ramps i e half sinusoid acceleration profiles for all axes The cosine is not truncated in moves that do not reach full speed This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single axis mode The PF command is used to return to linear motion profiles See the AP Command on page 6 24 to preserve the CN setting as the Power up Reset ramp COSINE ON QUEUE REQUIREMENTS MODE Custom ramp AX AS 29 AA 29 AM 29 AA CD Not Valid 4 Example Set the board to be in cosine mode Enter CN PARABOLIC ON E iE dB The PN command sets all axes to truncated parabolic ramps This acceleration profile starts at 100 of the programmed acceleration and decreases in steps of 10 of the initial acceleration down to as low as 10 The parameter supplied selects the number of steps It must be in the range of 3 to 10 corresponding to 70 and 10 acceleration at the peak respectively A parameter out of this range or no parameter supplied defaults to 70 or 3 steps Note that the parameter is the number of steps not the acceleration values The larger number is a lower acceleration at the peak This command should not be given while an axis is in motion or the results may not be predictable This command affects all axes even if issued in the single
42. COMMAND STRUCTURE AXIS SPECIFICATION COMMANDS AR AXIS R HEN dP The AR command sets the context to direct all the following commands to the R axis QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example Set the auxiliary line low on the R axis Enter AR AF AS AXIS S E IiE dP The AS command sets the context to direct all the following commands to the S axis QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Set the auxiliary line low on the R axis Enter AS AF PC68 User s Manual 6 13 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE 6 5 SYSTEM CONTROL COMMANDS These commands allow control of various system parameters and operating modes to allow the user to optimize the response of the system for his her application needs EN ECHO ON E HN dP The EN command enables echoing All commands and parameters will be echoed to the host This mode is useful for debugging command strings from a terminal This mode also outputs an English readable error message to the host which may be echoed to the terminal or computer to aid in debugging QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example Enable echoing by the PC68 so that commands are echoed and the error message is returned to the hos
43. MT 6 66 6 148 Move to move to specified position Move velocity move to first parameter absolute MV 6 140 position at second parameter velocity without stopping at end of move MX 6 151 Execute a macro command string PA 6 44 Report power automatic state 6 44 6 143 Power automatic turn power on before each move and off after the move PC 6 161 Reports the configuration of a Px6lO input output port PE 6 100 6 138 Report encoder positions of all encoder and servo axes PF 6 22 Parabolic off disable parabolic ramps i e linear ramps will generated 6 162 Reports the bit states of a Px6IO port as a hex number PM 6 126 Report PID state PM 6 151 Print a macro command string PN 6 21 Parabolic on enable parabolic ramps PO 6 162 Sets the bits of a Px6IO output port to the states specified by a hex number PP 6 100 Report motor positions of all axes PR 6 23 Parabolic ramp selection per axis PS 6 159 Reports macro link to specified PC68 input bit PT 6 152 Preserve a temporary macro by copying it to non volatile memory PX 6 160 Reports macro link to specified Px6lO PC68 User s Manual 6 COMMAND STRUCTURE COMMAND SUMMARY COMMANDS IN CHAPTER 6 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION Query status of switches and flags for addressed axis QA 6 104
44. REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AM AA CD Move the Y axis 1 000 steps and wait until the move is complete before asking for the position Enter AY MR1000 GO WQ RP 6 95 MOVE SYNCHRONIZATION COMMANDS SW 6 COMMAND STRUCTURE SYNC WAIT E I SW command allows synchronization of multi axis moves or other tasks on one or more 68 boards by using one of the general purpose input lines This command causes the axes to wait until the general purpose input line has been released allowed to go high before proceeding with the next command The SW command can be used to cause an axis to wait until the others are finished Wire OR the auxiliary lines from several axes together and connect them to a general purpose input line Use the SW command on that line All commands after that will wait until all axes release their auxiliary lines QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example 6 96 Enter The following command sequence will cause the X axis move to wait until the Y axis has finished its move and turned off its auxiliary output which has been wired to the general purpose input 0 line AY AN MR2000 GO AF AX SWO MR10000 GO The SW command provides a way to synchronize moves on two or more boards The following example shows one way to do this A Example Procedure Enter You
45. SYNC W a D LU Um ecu a tee dL 6 96 Systemi QVErViEW peiie 1 2 T TABLE OF COMMANDS e e E e M E 6 3 TECHNICAL SUPPORT B 1 Temporary Macro Define erre een tee ee ee eee 6 150 proe CN 6 134 Timed tete cte iL DL LAS I A o 6 72 c rer error ee diee eet en E ee ed eerte a cet 6 40 TM eoe ses eee see eve pute date RYE 6 72 6 134 MOG 2 6 TTurn Off Slip ccce ett ne ere etn ete ee ee 6 134 Turn On Slip Kill MOde oorr A eee eene 6 134 10 PC68 User s Manual INDEX U U uU 6 109 in i E Si d 6 121 Beer 6 121 User 6 109 6 107 Ul EERE REA AEA AERA E hd 6 107 V VB cette t tr a E te tss 6 61 Mee ETE 6 59 Velocity Bases cereo re ede re ee eene ee ae e ee te Fe aa or v rr ra 6 61 Velocity Feedforward ea eid eet ee pre eee edes erede enon gene 6 117 Velocity Streamlng n tret ette ed epe eee ede ed eed 6 73 D D D LED Ee Le De Du 6 59 6 73 W ERE EEUU EU NER 6 95 Malle ML XXe 6 97 Walt 2 parerii cte eese ee vene no ene ene e nece ne re er rd 6 95 Wait For Input G0 LOW ER 6 97 For Queue To
46. a new position Enter AX VL100000 AC500000 HV50000 HD10 HG2000 HN MR200000 GO 6 118 PC68 User s Manual 6 COMMAND STRUCTURE PID FILTER CONTROL COMMANDS PM REPORT PID STATE d m The PM command reports whether the PID for the current servo axis is enabled The HN and HF commands are used to enable and disable the PID and are the possible responses from this command x Example A limit switch was hit by servo axis Y See if the PID is still enabled for that axis Enter AY PM Response lt LF gt lt CR gt HF lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands HN HF PC68 User s Manual 6 119 PID FILTER CONTROL COMMANDS BI BIPOLAR 6 COMMAND STRUCTURE The command sets the analog and PWM torque outputs to bipolar When bipolar is selected a zero torque reference will result in a 5096 PWM duty cycle A negative torque reference will result in less than 5096 PWM duty cycle a positive torque reference will result in greater than 50 PWM duty cycle The analog output will range between 10VDC and 10VDC when bipolar is enabled It is necessary to issue either the UN or the command to enable PWM operation for a particular axis The Bl command is valid only in the single axis mode This is the default mode at power up or reset AM QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp
47. allows the user to scale the motor s movements relative to the encoder This command is intended to be used with stepper motors with encoders and not with servo motors QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Set up the X axis so it will follow its encoder input Enter AX ET HF HOLD OFF IE dB The HF command disables position hold stall detection and tracking modes QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Turn off encoder tracking on X axis Enter AX HF PC68 User s Manual 6 135 ENCODER HOME CONTROL COMMANDS 6 COMMAND STRUCTURE 6 19 ENCODER HOME CONTROL COMMANDS The HE command enables encoder index mode when an HM or HR command is executed Home is defined as the logical AND of the encoder index the external home enable and the encoder quadrant where channel A is positive and channel B is negative The external enable is low true i e the HH and HL commands are not valid in this mode The home logic expressed in Boolean terms is HOME ENCODER home phase A B index home switch QUEUE REQUIREMENTS Immediate Immediate Custom ramp AM Immediate AA CD Not Valid A Example Set up the Y axis so it will use the encoder signals to recognize the home position Enter AY HE H
48. at 9600 baud and higher are the only possible method the host simply cannot keep up with the port at high rates and still pay attention to other tasks There are a couple of different options available for communication methods when using RS 232 The first and most difficult is to write the serial port driver directly into the code This method while the most efficient requires the programmer to write an Interrupt Service Routine and deal with interrupt hooking and unhooking Second access the serial port as a character device or via an operating system API opening it as though it were a file This method is far simpler and allows higher rate communications but puts more overhead on the host software slowing down response times for status events from the PC68 PC68 User s Manual T HOST SOFTWARE COMMUNICATION METHODS 7 2 2 2 POLLED MODE Not Recommended Polled mode communication can be done in virtually any environment and programming language However polled mode communication requires enough attention from the host CPU that high rate character transfers are generally not possible and there is little time left over for performing other tasks This is usually not an issue in non multitasking environments but systems like Windows NT do not deal well with attention hogs like polled mode high speed serial communications In polled mode the serial port does not use an interrupt This means that the interrupt norm
49. axis mode PF is the factory default setting The PF command is used to return to linear motion profiles See the AP Command on page 6 24 to preserve the PN setting as the Power up Reset ramp QUEUE REQUIREMENTS MODE Custom ramp AS Not valid AA Not Valid AM Not Valid AA CD Not Valid A Example Enter PN10 PC68 User s Manual Set the board to be in the smoothest parabolic acceleration ramp 6 21 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE PF PARABOLIC OFF E I The PF command restores all axes to linear acceleration and deceleration ramps This command should not be given while an axis is in motion or the results may not be predictable This command turns off the PN and CN modes This command affects all axes even if issued in the single axis mode PF is the factory default setting See the AP Command on page 6 24 to restore the PF setting as the Power up Reset mode QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not valid Not Valid Not Valid A Example Turn off cosine or parabolic ramps returning to linear Enter PF LA LINEAR RAMP PER AXIS EE 1 a ED The LA command specifies that the linear acceleration ramp is to be used by the selected axes This is the factory default for all axes See the AP Command on page 6 24 to preserve the LA settings as the Power up Reset values QUEUE REQUIREMENTS MODE Min pf Max pn
50. bit connections at the 68 Pin connector J4 are expecting TTL signals 5V High and OV Low Small current limiting resistors have been included on the Px6lO for the input bits to the Px6lO going to the optocouplers Additional resistance can be added externally at the wiring connections if required The current going to the input of the optocouplers should be 20mA maximum Output bits are routed through a 2200 resistor from the optocouplers to the 68 Pin connector Output current from the optocouplers is rated at 60mA maximum Should you need to limit the current coming from the Px6lO add additional resistance externally to the wiring connections of the board PC68 User s Manual 5 1 PX6IO EXPANSION BOARDS 5 EXPANSION BOARDS The pin definitions for the 68 Pin connector at J4 are described below TABLE 5 1 Px6lO Connector Pin Out Pin Description Pin Description Number Number 1 1032 35 102 2 107 36 106 3 1022 37 108 4 1037 38 1023 5 1039 39 1038 6 1036 40 105 7 Field VCC 41 5 8 Field Ground 42 Digital Ground 9 100 43 5V 10 101 44 Digital Ground 11 1017 45 5V 12 1018 46 1019 13 1021 47 1031 14 1034 48 103 15 1035 49 1033 16 104 50 Digital Ground 17 Field VCC 51 5V 18 Field Ground 52 Digital Ground 19 1020 53 5V 20 1040 54 109 21 1042 55 1024 22 1043 56 1010 23 1011 57 1041 24
51. board that provides more than four axes of control The IO68 M board contains low pass filtering circuitry for the positive and negative limit signals The default values for the RC constants are 1000 and 1 0uF With these RC constants used the average cutoff frequency is 21 5kHz in a worse case scenario where all other signals are left unterminated In addition to the above mentioned circuitry there are also 2 2k pull up resistors that have been added to the step output signals for each axis These resistors have been added to the 1068 to help reduce noise that may occur on the step output signals These resistors and capacitors are packaged as through hole devices Should your particular application require different RC constants these devices can be removed from the board and replaced with the appropriate components When changing these components use appropriate methods to desolder and solder the components to avoid causing damage to the board i e lifting pads from the board There are two switches on the 1068 43 and 45 that are used in regards to encoder signals If your system uses differential encoders then these switches should be in the OFF position except where indicated in Table 4 2 The switches set to the OFF position as default from factory If however your system employs single ended encoders then the negative encoder signals need to be fed a biasing voltage Since a biasing voltage has been made availabl
52. command defines a move in a circular pattern from the entry position The first two parameters are the center of the circle in absolute units and the third parameter is the distance to move in radians Positive radians equal counter clockwise movement Negative radians equal clockwise movement The distance parameter should be supplied to seven significant digits if a full circle is to be generated CIRCULAR INTERPOLATION QUEUE REQUIREMENTS Not valid Not Valid Not Valid 8 8 8 Custom ramp AA CD see CD command on page 6 145 The CV command allows specification of contouring velocity It is executed from the AA mode before a contour definition A contour defined by a CD command cannot be executed if followed by a CV command Changing this parameter will make any previously defined contours invalid The contour velocity defaults to 1000 at power up or reset Use WQ between contour definitions to avoid having a CV associated with a second contour definition affect a prior contour still in motion A CV cannot be issued between a CD and CE command CONTOUR VELOCITY QUEUE REQUIREMENTS Not valid Immediate Immediate Custom ramp AA CD Not Valid A Example PC68 User s Manual see CD command on page 6 145 6 147 CONSTANT VELOCITY CONTOURING 6 COMMAND STRUCTURE CONTOUR EXECUTE E dP The CX command will execute the previously ente
53. easily on reset or power up The command AP will store your current parameter assignments such as KP KD etc into flash memory These saved parameters will then be used as the power up default set of values Refer to page 6 24 for more detailed information regarding how to use the commands to save and load parameter sets from flash memory 11 Once the KP term has been obtained then continue executing the motion while raising the KI term until the long term following error is acceptable This error is to be measured at the two knees of the profile If the motor becomes unstable before obtaining the optimum following error than increase the KD term until the motor becomes stable 12 To verify that your motor is tuned properly after you have completed the first 11 steps perform the following test to test the holding torque Send IpO HN commands and check the shaft of the motor to make sure it is stiff If there is play in the motor shaft when you turn it then you may have to re adjust your PID filter 13 Once you are satisfied with the static holding torque you could check for position error Send the command ac100000 vl5000 mr64000 go With an 8000 line encoder this move would be equivalent to 8 revolutions of the motor After the move is complete check the position error by sending the RE and RP commands for the specific axis you are moving Compare the difference in the two responses If they are the same then you are on the right
54. encountered during the move This is useful in applications that register slip conditions by means other than encoder position verification in fact this command is not valid in controls with encoder feedback which includes servo motors If this command is issued without having defined a move the results are undefined Issuing a GD command to execute an already executed move also has undefined results Only one GD command should be issued per defined move A Example Move the X axis 50 000 counts in the positive direction If the motor slips it will close a switch wired to the home input of the X axis Monitor this switch during the move and set the slip flag for axis X if the switch becomes active Enter AX MR50000 GS QUEUE REQUIREMENTS FORMAT Not Valid Not Valid AX AT If PA mode is active add 2 If an auxiliary output bit settle time has been specified add Related commands MA MR GO GD GU PC68 User s Manual 6 75 MOVE TERMINATION COMMANDS 6 COMMAND STRUCTURE 6 9 MOVE TERMINATION COMMANDS The following commands allow termination of move sequences in process ST STOP E IiE dP The ST command flushes the queue for the current axis only in the single axis mode and causes the axis to decelerate to a stop at the rate previously specified in an AC command This command is used to stop the motor in a controlled manner from the jog mode or an unfinished GO or GD command This c
55. etc to user specified units by multiplying by the specified parameter The UF command is used to terminate this mode Factory default is with this command off See the AP Command on page 6 24 to preserve the UU settings as the Power up Reset values QUEUE REQUIREMENTS Immediate Immediate Custom ramp AM Immediate AA CD Not Valid A Example The motor driver and gear ratio you are using requires 10 000 steps to move one inch Set up the X Y and Z axes so you can enter move information in inches Enter AX UU10000 AY UU10000 AZ UU10000 Or AA UU 10000 10000 10000 PC68 User s Manual 6 107 USER UNIT COMMANDS 6 COMMAND STRUCTURE 200 REPORT AXIS USER UNITS E iE lt b AXIS ASSIGNMENT This command returns the current user units multiplier as set via the UU command xq Example Make sure the UU512 command we sent earlier is still current The command will return the UU value with six digits to the right of the decimal point If the UU value exceeds six digits for the fractional value the value will be rounded off to the sixth decimal place Enter UU Response lt CR gt lt LF gt uu512 000000 lt CR gt lt LF gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid If user units are turned off UU returns lt CR gt lt LFSUF lt CR gt lt LF gt Related commands UU UF 6 108 PC68 User s Manual 6 COMMAND STRUCTURE UF USER
56. have 3 eight axis boards for a total of 24 axes to move together Call board 1 the master and boards 2 and 3 the slaves Wire board 1 s X axis auxiliary line to the two slave boards general purpose input O line Send to the master the command AX PAO setting the master s X axis auxiliary line low until its move starts This also sets the slaves general purpose input line low Enter the SWO command to the two slaves followed by the move and GO commands On the master enter the move command followed by the GO command When the master s move starts the PA command will set the auxiliary line high releasing the wait on the slave boards All three boards will start their moves Wire board 1 s X axis auxiliary line to board 2 s and board 3 5 general purpose input O line Board 1 Board 2 AA SWO MR200 200 200 200 200 200 200 200 Board 3 AA SWO MR300 300 300 300 300 300 300 300 GO Board 1 MR100 100 100 100 100 100 100 100 GO PC68 User s Manual 6 COMMAND STRUCTURE MOVE SYNCHRONIZATION COMMANDS WT WAIT IiE dP The WT command will wait for the specified number of milliseconds before proceeding with the next command in the queue In the AA mode all axes will wait Immediate commands will not wait The parameter must be between 1 and 32 000 QUEUE REQUIREMENTS MODE AA CD Not Valid A Example You wan
57. in applications requiring a change in velocity at a prescribed position without stopping MP MOVE POSITIVE dB The MP command sets the direction logic to move the positive direction QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example see MV command page 6 140 MM MOVE MINUS E HN dP The MM command sets the direction logic to move in the negative direction QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Set the direction line to move in the minus direction on the Y axis Enter AY MM PC68 User s Manual 6 139 VELOCITY STAIRCASE COMMANDS 6 COMMAND STRUCTURE MV MOVE VELOCITY E I dB The MV command causes the motor to run to the new absolute position parameter 1 at the new velocity parameter 2 When the destination is reached control will be passed to the next command which should be another MV command or an SP command If the command is not received in time the controller will continue to move at the specified velocity Note that this is a slave mode and it is the responsibility of the user to provide the commands in time They may be queued ahead of time If a new MV command is sent after the controller has already passed the destination specified in the command the controller will continue to move at the old velocity Any number
58. interpreted The commands are then placed in separate command queues for each axis As they are executed the space is reclaimed allowing the host to pass commands ahead of the moves actually being processed Most of the commands are placed in the appropriate command queue for execution while others are executed immediately allowing return of status information in a timely way rather than when encountered in the command stream This information is provided in a table for each command which shows the queue requirements if any and indicates immediate in those cases where the command is not queued The queue requirements shown in the tables are typical Depending on the circumstances in which the command is issued the actual queue requirement may vary slightly The single axis cases are indicated by the mode reference indicating the appropriate axis The synchronized mode is indicated by the mode identifier AA or AM The contouring case is indicated by AA CD for multiple axes in contour definition mode The RQ command may be used to determine the actual space available at any time The queues operate independently allowing each axis to perform separate processes concurrently synchronized modes AA insert special wait opcodes which allow the axes to be synchronized in this mode When the commands are nested within loops the queue space is not reclaimed until after the loop has been executed the programmed number of times For loops larger than the qu
59. is 6 inch square driver motor lead screw pitch provide 10000 steps per inch The operator must manually insert and remove the square from the platform The X and Y axis move a drill into the desired position The Z axis lifts and lowers the drill The operator presses a switch which tells the motion controller that the square is in place and ready to be drilled The operator will continuously remove and replace the squares until ready to take a break The following is a description of how to set up an OMS board to perform this task Connect a normally closed switch between user I O line 0 and ground This will be the Ready to Drill switch AX UU10000 set up user units so we can reference move to inches AY UU10000 10000 steps 1 inch AZ UU10000 AX VL 1 10 set up X axis homing velocity and acceleration AY VL 1 10 set up Y axis homing velocity and acceleration AZ VL 1 10 set up Z axis homing velocity and acceleration AX HR AY HR AZ HR each axis to home AA VL3 3 5j set normal move velocity for X Y and Z axes WH start of loop to drill squares indefinitely operator removes replaces square into platform SWO wait until operator presses switch MA3 3 GO move to center of square MA 5 GO move the drill through the square a 1 2 inch move on the Z axis drills through the square MA 0 GO the drill GO move the platform to home position WG loop back to starting WH com
60. is also the preferred method recommended by Oregon Micro Systems PC68 User s Manual 7 1 COMMUNICATION METHODS 7 HOST SOFTWARE 7 2 1 2 Polled Mode Communication Not Recommended Polled mode communication can be easier to write code for than interrupt driven communication However this method places a much higher load on the host CPU than interrupt driven methods and leaves less time for other processes Using polled mode also makes the code more temperamental should the timing specifications change in the Host PC that the code is running on for example Instead of generating an interrupt when the 68 has a character to give to the host a flag is set in the status register of the PC68 It is the responsibility of the host software to periodically check the status register and if the flag is set collect the character from the PC68 Similarly if the host wishes to send a character to the PC68 the host must first check the status register for the appropriate flag If the flag is present the host can go ahead and send the character If the flag is not present the host must wait until it becomes set Status information must be gathered in a similar fashion 7 2 2 SERIAL RS 232 COMMUNICATION 7 2 2 1 Interrupt Driven Preferred Method Most serial port software and drivers use interrupts although it is possible to operate in polled mode Serial communication when interrupt driven is much faster than in polled mode and
61. only external switch closure to ground or TTL level input signal Input sense low or high true selectable by command input for each axis User definable I O Up 1012 bits of user definable I O on PC68 models with 4 axes or less 8 bits are user configurable as inputs or outputs One auxiliary output per axis and these are fixed as outputs Factory default is 4 inputs 4 outputs and 1 auxiliary output per axis For PC68 models with more than 4 axes up to twice this number of I O is available The default configuration of this I O is the same as described above TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal The auxiliary outputs are TTL open collector outputs 7406 max 48mA The other outputs are TTL totem pole outputs 74LS243 max 24mA Analog outputs 10V and 0 to 10V Step pulse output Pulse width 50 duty cycle Open collector TTL level signal 7406 max 48 Direction output Open collector TTL level signal 7406 max 48mA Encoder Feedback Maximum 4 MHz after 4x quadrature detection Differential TTL level signal MC26G32 max 150mA PC 104 interrupt Interrupts are user selectable 2 through 7 The factory default is level 5 SPECIFICATIONS 2 APPENDIX MODEL PC68 23 PC68 25 PC68 33 PC68 35 PC68 43 PC68 45 PC68 47 PC68 21 PC68 22 PC68 26 PC68 41 PC68 42 PC68 1800 PC68 2800 PC68 1602 PC68 260
62. proper ventilation including forced air around the PCB 2 2 TO PREPARE FOR THE INSTALLATION INTO A PC 104 STACK Before installing the PC68 into a PC 104 stack you must first Set the I O Address Range default is 300 hex discussed in section 2 3 e Set the Interrupt Request IRQ default is IRQ5 discussed in section 2 4 PC68 User s Manual 2 1 SET THE ADDRESS RANGE 2 GETTING STARTED Figure 2 1 illustrates the locations of the switches on the PC68 for the default address and IRQ setting FIGURE 2 1 DEFAULT ADDRESS AND IRQ SETTING 2 3 SET THE ADDRESS RANGE The PC68 s I O address range is selected with the switch S2 located on the top of the board The PC68 s I O address ranges from 200 to 3FF hex The default address is 300 303 hex NOTE To close a switch put it in the ON position as shown on the switch s silkscreen A8 A6 A4 A2 FIGURE 2 2 ADDRESS SELECTED SWITCH Default setting 2 2 PC68 User s Manual 2 GETTING STARTED SET THE ADDRESS RANGE The 0 and A1 address signals of the host are decoded internally by the PC68 and treated as 0 for base address calculations A closed switch sets that bit in the address low and an open switch sets the bit high For example an open on 9 A5 A4 with all other switches closed selects base address 230 NOTE To close a Switch put itin the ON position as shown on the switch s 3 0 0 Default silksc
63. set DZ and KO for each axis at every power up unless you store the values in flash see Section 6 COMMAND STRUCTURE NOTE Most encoder problems are caused by lack of power or incorrect connections If the encoder position changes by only 1 count this is an indication that one of the phases is not connected Do not proceed until you perform all the steps in this procedure ensure that the outputs of the PC68 are as described and ensure that the encoder is operating correctly 2 7 2 TUNE THE SYSTEM 2 7 2 1 Introduction Tuning a servo system is the process of balancing the conflicting requirements to achieve optimum performance of a real world system The first of these requirements is that of accuracy a closed loop system an error signal is derived then amplified then supplied to the motor to correct any error Clearly if a system is to compensate for infinitely small errors the gain of the amplifier needs to be infinite Real world amplifiers do not possess infinite gain therefore there is some minimal error which cannot be corrected In order to have the greatest possible accuracy the gain needs to be as high as possible Unfortunately other real world considerations limit the maximum gain of the system The second of the requirements is that of stability The system must not be unstable e g oscillate The degree to which a system is stable affects its performance The effects can be seen when looking at the system s re
64. the commands The user would define the required motion and processes and store them in a macro see section 6 23 Macro Control Commands on page 6 150 Then with the use of the commands below the execution of the specific macros would be defined Once all of the setup is completed the controller would be put in the stand alone mode SM and the execution of the macros controlled by the defined input bits There are no queue requirements for these commands ENABLE DISABLE E IiE dP STAND ALONE MODE This command enables or disables the SM mode Stand Alone Mode SM mode value of 1 enables the SM mode A SM mode value of 0 disables the SM mode A Example Enable Stand Alone Mode Enter SM1 PC68 User s Manual 6 153 STAND ALONE COMMANDS 6 COMMAND STRUCTURE SX DEFINE MACRO LINK E I dB ON PC68 This command creates the link to execute the previously defined permanent Macro when it senses the change in state of the defined standard input bit First Parameter This specifies the standard input bit number The factory default bits are 0 1 2 and 3 but it can be configured by the user to include bits O to 7 If an I O expansion board is installed bits 8 11 are also included Second Parameter Valid Bit States are 0 and 1 If the value of the selected bit state is ZERO the selected macro will be executed if the selected bit changes from a TTL high to a TTL low If the value of Bit State is ONE then the se
65. to absolute position 10 000 6 64 counts and the T axis to absolute position 1 000 counts The other axes will remain in their current positions Enter AA MA 10000 1000 GO PC68 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS MOVE RELATIVE IiE dP The MR command will set up the axis to move relative from the current position at the time the move is executed In the AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually initiated by a GO or GD command In the AA mode each axis will use its predefined acceleration and velocity values to move to the new absolute position Each axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example In the single axis mode move the X axis 2468 steps in the negative direction Enter AX MR 2468 GO A Example In the AA mode move the X axis 12345 steps in the positive direction and the Y axis 6789 steps in the positive direction Both axes will start at the same time Enter AA MR12345 6789 GO PC68 User s Manual 6 65 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE ML MOVE LINEAR E IE EP The ML command uses linear interpolation to perform a straight line relative move to the new location Input parameters are relative distance
66. to preserve the VB settings as the Power up Reset values QUEUE REQUIREMENTS MODE AA CD Not Valid A Example In the single axis mode set the Y axis velocity base to 200 Enter AY VB200 A Example In the AA mode set the X and Y axes velocity bases to 200 Enter AA VB200 200 PC68 User s Manual 6 61 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE VB REPORT BASE E a d VELOCITY SETTING The VB command returns the base starting velocity setting for the current axis as set by the VB command A Example The acceleration ramp should start at Opps Make sure we didn t leave it at some other value Enter VB Response lt LF gt lt CR gt vb1500 lt LF gt lt CR gt Oops We forgot to set it back to zero QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands VB VL 6 62 PC68 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS LP LOAD POSITION IiE dB The LP command will immediately load the number supplied as a parameter in the absolute position registers of the axis In models with the encoder option the parameter will be loaded into the encoder position register and the parameter times the encoder ratio will be loaded into the position counter If no parameter is supplied the value of zero is used This command turns off the position hold and interrupt on slip modes when used
67. was more than one character to be read from the data register The host would continue checking the status register between each read of the data register until all characters that the PC68 has sent to the data register are read 3 2 PC68 User s Manual 3 COMMUNICATION INTERFACE PC 104 ADDRESS SELECTION Some rules of thumb 1 Every time the host reads the status register it must check the INIT bit for a low before continuing to read or write anything to the controller 2 Every time the host reads the status register and the IBF S bit is high the host should read the data register until the IBF S bit goes low 3 The host should never write to the data register when the TBE 5 bit is low While developing your system it is a good idea to monitor all bits of the Status Register so you have a clear picture of what is happening on the controller 5 If the controller has been reset i e via the RS command you should allow seconds before reading the INIT bit for valid data 3 4 PC 104 ADDRESS SELECTION The 68 is operated as an I O mapped device and occupies a block of 4 contiguous I O addresses The factory default addresses are from base address 300 through 303 hex Reference for the configuration of switch S2 for the address selection A closed switch sets the associated address bit to low where an open switch sets the associated address bit high See section 2 3 Set the I O Address Range TABLE 3 1 REGISTER DESCRIPTI
68. will oscillate due to positive feedback PC68 User s Manual 4 9 HOME PROCEDURES 4 CONTROL SIGNAL INTERFACE Home Switch Phase A j Phase B Index i FIGURE 4 6 ENCODER HOMING STATE DETECTION 4 10 PC68 User s Manual 5 EXPANSION BOARDS 6 EXPANSION BOARDS 9 EXPANSION BOARD 5 1 Px6IO EXPANSION BOARDS The Px6lO daughter board is meant to stack onto the PC68 board The PC 104 stack through connectors on the 6 will mate to the PC68 Also the 60 pin surface mount board to board connector on the Px6lO board will mate to the 60 pin connector on the PC68 The physical size of the Px6IO I O board meet the PC104 IEEE standard This board adds an additional 48 optically isolated general purpose I O bits From the factory the board is configured for 24 outputs and 24 inputs Configurations other than this may also be available contact Oregon Micro Systems for additional information The Px6lO board will draw 5V and digital Ground from the PC68 board the PC 104 stack through connectors A jumper at JP1 connects Field Ground and Digital Ground together Field VCC and 5V are connected together by a jumper at location JP2 NOTE 1 Should the user require isolated power and ground signals to go to the opto couplers contact OMS for instructions 2 The DIP switch at S4 is set at the factory and is not user selectable 5 1 1 HARDWARE The
69. 0 PC68 User s Manual 7 INDEX Q 6 104 n M EMI EI E ME C t 6 105 Quem AS cente tete 6 104 Query Interrupt 6 105 Query The Baud Rate a a e 6 166 R EE LETE EE EEE EE M 6 103 6 50 TM 6 105 6 25 ate tet ttt teat tt ente e eR 2 14 6 138 REMAIN GCM E 6 67 Report A Custom Ramp Table sse 6 34 Report AC Command rennen 6 58 Report Acceleration Feed Forward sse 6 111 Report Analog Output Mode 6 121 Report Axis User Units Axis 6 108 Report Base Velocity nennen 6 62 Report Bit Direction ecc RH HER HER HE e ar e e ee n ere 6 55 Report Bit State 55 ere Eum 6 56 Report DAC Open Loop 6 110 Report Default Auxiliary Bit State 6 54 Report Direction Bit LOGIC rn rrt i Ir ERR ERR en ee aee ens 6 33 Report Encoder 6 100 6 138 Report Encoder Slip Tolerance nennen nnne 6 128 Report I O Bit nnne nnne 6 163 Report Port Bit S
70. 0 VS2048 3000 3000 52048 2000 2000 VS2048 1000 1000 VS1 0 0 PC68 User s Manual 6 73 MOVE EXECUTION COMMANDS 6 COMMAND STRUCTURE GU GO ASYMMETRICAL E HN dB The GU command initiates a previously defined move using the AC value for acceleration and the DC value for deceleration This command may be used with only one axis at a time i e it is not valid with the ML and MT commands If this command is issued without having defined a move the results are undefined Issuing GU command to execute an already executed move also has undefined results Only one GU command should be issued per defined move Example Move the Y axis to position 1 500 using the current acceleration and velocity and a deceleration of 5 000 counts per second per second Enter AY DC5000 MA1500 GU QUEUE REQUIREMENTS FORMAT Not Valid Not Valid AX AT controller has an encoder or servo axis add f PA mode is active add 2 If an auxiliary output bit settle time has been specified add 3 Related commands MA MR GO GD GS 6 74 PC68 User s Manual 6 COMMAND STRUCTURE MOVE EXECUTION COMMANDS GS GO AND MONITOR SLIP TRIGGER The GS command works exactly like the GO command except that the home switch will be monitored during the motion If the home switch becomes active the slip flag will be set for the axis The host application can read the slip flag and see that the home switch was
71. 00 3000 4000 GO ID AZ CA A Example After a multi axis move clear the Y and Z axis done status only Enter AA MR1000 2000 3000 4000 GO ID CA 1 1 PC68 User s Manual 6 94 6 COMMAND STRUCTURE WA A Example WQ A Example PC68 User s Manual MOVE SYNCHRONIZATION COMMANDS The WA command only valid in the AA mode allows a command to wait until all moves on all axes are finished before it executes WAIT FOR AXES Some commands which can affect a non moving axis such as AN AF and PA may execute before a previous move on other axes has finished especially while in the looping LS LE WH WG mode By preceding these commands with a WA they will not execute until all previously defined moves have finished QUEUE REQUIREMENTS Not Valid Custom ramp AA AM AA CD Not Valid The Z axis auxiliary line controls a laser beam that you only want on while the Z axis moves in a positive direction The X and Y axes position the laser You want to repeat the action 10 times Enter AA VL1000 1000 1000 AC10000 10000 10000 LS10 MR1000 1000 GO WA 1 MR 500 GO 1 MR 500 GO LE WAIT FOR QUEUE TO EMPTY E HN dB The WQ command is a special command that stops the board from processing any new command until the queue for the current axis mode is empty i e all previous moves have finished This command is not valid in looping LS LE WH WG mode QUEUE
72. 1012 58 1025 25 1026 59 Digital Ground 26 Field VCC 60 5V 27 Field Ground 61 Digital Ground 28 1044 62 5V 29 1045 63 Digital Ground 30 1014 64 1027 31 1015 65 1016 32 1028 66 1030 33 1029 67 1046 34 1047 68 1013 5 1 2 CONNECTING THE Px6lO BOARD TO THE PC68 STACK Should you need to attach the Px6lO board to the PC68 stack be sure you begin by shutting OFF power to the PC68 controller and peripherals Then align the pins of the PC 104 connectors to the receptacle of the mating PC 104 connectors While doing this align the pins of the 60 pin connector on the Px6lO board with the 60 pin connector of the board directly beneath it With these connectors aligned carefully press them together until all the connectors are fully seated PC68 User s Manual 5 EXPANSION BOARDS AXIS EXPANSION BOARD Now add the necessary hardware for the four standoffs in each corner of the Px6lO Once the has been successfully added to the stack power can now be applied to the boards 5 1 3 SOFTWARE See the command section of the manual for further information regarding the bit commands on the Px6lO board 5 1 4 CONNECTING THE Px6lO TO 1068 Refer to Table 4 5 068 Terminal Block pin out on page 4 8 for pin out 52 AXIS EXPANSION BOARD The axis expansion board has been designed to stack onto a PC68 or any of the PC68 s other daughter boards It is equipped with PC 104 stackable connectors th
73. 2 PC68 1404 PC68 2404 PC68 2206 PC68 1008 PC68 2008 OMS PC668 Intelligent Motion Controls STEPPER INTERFACE servo USER RS 232 AKES CONTROL FEEDBACK 10 10 11 11 12 12 12 10 12 12 24 24 24 24 24 24 24 24 24 68 User s Manual SPECIFICATIONS APPENDIX C PC68 CONNECTOR 4 5 PC68 AXIS EXPANSION BOARD Description Pin Pin Description Description Pin Pin Description Digital Ground 1 35 5VDC Digital Ground 1 35 5VDC 1 2 36 0 9 2 36 8 3 3 37 2 11 3 37 10 5 4 38 4 13 4 38 12 7 5 39 6 15 5 39 14 Digital Ground 6 40 5VDC Digital Ground 6 40 5VDC X Index 7 41 X Servo U Index 7 41 U Servo X Index 8 42 X Step U Index 8 42 U Step X Phase A 9 43 X Auxiliary U Phase A 9 43 U Auxiliary X Phase A 10 44 X Direction U Phase A 10 44 U Direction X Phase B 11 45 X Limit U Phase B 11 45 U Limit X Phase B 12 46 X Limit U Phase 12 46 U Limit Y Servo 13 47 X Home V Servo 13 47 U Home Y Index 14 48 Y Step V Index 14 48 VStep Y Index 15 49 Y Auxiliary V Index 15 49 V Auxiliary Y Phase A 16 50 Y Direction V Phase A 16 50 V Direction Y Phase A
74. 24 QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Copy temporary macro 3 to non volatile macro 19 Enter PT3 19 6 152 PC68 User s Manual 6 COMMAND STRUCTURE STAND ALONE COMMANDS 6 24 STAND ALONE COMMANDS SM The Stand alone mode allows a PC68 Motion Controller to run in a completely independent operation mode This mode has several commands that can establish links to macros When set up properly in this mode the PC68 can scan for a predefined I O Input bit until it reaches the specified state i e goes high Upon sensing that this condition has been met it will execute the permanent Macro 5 24 from Nonvolatile flash memory that had been previously associated with this bit and its condition A common application the stand alone mode is to incorporate the KILL KL function Reference the SK command This will allow the user to stop motion of the device All of these selections are temporary They can be made permanent by executing the AP command which assigns the current parameter values as the Power Up defaults Note The AP command should be used sparingly as it causes a write to the on board Flash Memory and there is a finite amount of times that it can be re written to i e less than 10 000 times typical APPLICATION OVERVIEW The setup of the stand alone mode is performed through the communication interface by the use of
75. 6 10 AXIS Y cete eee tete ee eee ete eve deeem 6 10 AXIS ELIMINA UM LL EU 6 11 AY lc DID DIC D CI DIC DIC E 6 10 oerte n oin ene rece a ine e P e dev p tere e and 6 11 B Begin Custom Ramp Definition emen 6 29 ER 6 47 6 144 Bloc EUR EU 6 120 Bipolar 6 120 DE ELE ree ned ME 6 47 6 144 BIRCOW ocn uua 6 47 6 144 Bit Request In HX ene ene een i a RE ERES 6 49 6 102 pcr E 6 53 rper e pen ed uas d ai ue ee urs 6 47 6 144 6 53 BW 6 97 6 49 6 102 2 PC68 User s Manual INDEX 6 94 6 160 anced tant ieee el 6 145 o 6 146 Gircularinterpolation dne e ote 6 147 PEE EE EN EE E EET 6 146 Clear Axis Done Flag ein ERE ed evene dune d 6 94 Clear Macro eee esee eee 6 160 Clean While ee tert n Spe dt pe ueber eure ere 6 86 GN exse e UO Uu M t I c I D ME 6 21 Command Str cture 0 dde ett tete 6 166 eerte reete ese 6 3 Communication Interface 3 1 3 7 Connection atre ee cen er
76. 6 24 to preserve the KO settings as the Power up Reset values This command affects the offset only when in closed loop mode The DZ command is used to set the offset when the loop is open Typically the value found satisfactory with the KO command will also be used with the DZ command Since this is not always the case KO and DZ are available to set differing offsets RANGE 32 667 lt KO lt 32 667 Example Define the offset coefficient to be 2000 610mV on the Y axis Enter AY KO 2000 QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands KO DZ HN HF PC68 User s Manual 6 114 6 COMMAND STRUCTURE PID FILTER CONTROL COMMANDS KO REPORT PID CLOSED LOOP d OFFSET The KO command reports the closed loop voltage offset KO setting for the current servo axis See the 2DZ command for reporting open loop offset A Example The open loop offset is 218 Make sure the closed loop offset is the same Enter KO Response lt LF gt lt CR gt KO218 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KO DZ PC68 User s Manual 6 115 PID FILTER CONTROL COMMANDS 6 COMMAND STRUCTURE KP PROPORTIONAL GAIN COEFFICIENT d is the proportional coefficient used in the PID filter calculations See Section 2 for detailed information regarding this parameter The factory def
77. 8 IS ias er re ee ee ren ee iv ee i eee ve eeu ee erbe eee 6 132 PT 6 98 J Su X 6 72 d ce TE 6 71 DOG ise EE 6 71 Jog Fractional Velocitles ett ERE EHE PER n er e re ocu 6 72 PC68 User s Manual 5 INDEX K K IA coe bee MEN SUN ial Mat Mat A ath athe al hl 2 13 6 111 2 11 2 12 2 14 6 112 2 11 2 12 2 14 6 113 6 77 Kill SelecteduAXeS usted ese EIE m RE 6 79 223 tnr Pe ice pd ttd 6 77 I NE 6 88 Ree e ea RE 2 10 6 114 26 IS EE 2 9 2 11 2 12 2 14 6 116 Ki 6 89 ee e S SUE 6 79 MEE 2 12 2 13 6 117 L tct EE EE RR RT ME 6 22 uc 6 83 e Eo RAD NS EIE REIN EIE ELE E EE a ADEL 6 16 6 17 LIMITED WARRANT T 1 6 17 Limits an n a e e 6 17 tee NS LR ON ALL MAST CO LAS OR ES NO MS M Pon efe 6 16 ALIM TL 6 16 Per AXIS meme PEE RC eo e enne eae ees 6 22 BEC 6 17 LB ERREUR e ERR PURPUREIS UR ENES IN
78. 8 User s Manual B 1 RETURN FOR REPAIRS APPENDIX B This page intentionally left blank B 2 PC68 User s Manual SPECIFICATIONS Velocity 0 to 1 044 000 counts per second simultaneous on each axis Acceleration 0 to 8 000 000 counts per second per second Position range 67 000 000 counts 33 500 000 Accuracy Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 for step pulse output Environmental Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing Power 5VDC at 1 amp typical 12VDC at 0 1 amp typical 12VDC at 0 1 amp typical Dimensions 3 550X3 775X0 5 inches high Communication PC 104 Meets all signal specifications for PC 104 ISA bus specifications IEEE P996 1 RS 232 Baud rates of 300 to 38 4K Update Rate 488 us for PC68 models with lt 4 axes 977 us for PC68 models with 24 axes PC 104 bus I O address The address block utilizes 4 consecutive addresses and is user selectable The factory default is 300 303 hex Limit switch inputs TTL input levels with on board 2 2K pull up resistor requires only external switch closure to ground or TTL level input signal Input sense low or high true selectable by command input for each axis PC68 User s Manual APPENDIX C APPENDIX C SPECIFICATIONS Home switch inputs TTL input levels with on board 2 2K pull up resistor requires
79. ANSION BOARD Row 1 Description Row 2 Description Row 3 Description 1 U Step 24 U Direction 47 U Auxiliary 2 U Phase 25 U Phase B 48 U Index 3 U Phase A 26 U Phase B 49 U Index 4 U Limit 27 U Limit 50 U Home 5 5V 28 UANG 51 Digital Ground 6 V Step 29 V Direction 52 V Auxiliary 7 V Phase A 30 V Phase 53 V Index 8 V Phase A 31 V Phase B 54 V Index 9 V Limit 32 V Limit 55 V Home 10 5 33 VANG 56 Digital Ground 11 8 34 11 57 13 12 9 35 58 14 13 10 36 12 59 15 14 5 37 RANG 60 Analog Ground 15 R Step 38 R Direction 61 R Auxiliary 16 R Phase 39 R Phase B 62 R Index 17 R Phase A 40 R Phase B 63 R Index 18 R Limit 41 R Limit 64 R Home 19 5 42 65 S Auxiliary 20 S Step 43 S Direction 66 S Index 21 S Phase A 44 S Phase B 67 S Index 22 S Phase A 45 S Phase B 68 S Home 23 S Limit 46 S Limit 69 Digital Ground 5 2 3 SOFTWARE See the command section of the manual for information regarding the commands for the axis expansion board PC68 User s Manual AXIS EXPANSION BOARD 5 EXPANSION BOARDS This page intentionally left blank 5 6 PC68 User s Manual 6 COMMAND STRUCTURE INTRODUCTION 6 COMMAND STRUCTUR 6 1 INTRODUCTION An extensive command structure is built into the PC68 family of intelligent motor controls It includes a 200 command and parameter buffer for each axis and a command lo
80. All interrupts are disabled This command is intended for catastrophic failure recovery only The KL command should be used to reset queues or return the system to a known state Monitor the INIT flag in the status register for completion of the initialization process see Table 3 4 The Initializing in process bit goes high during the initialization process QUEUE REQUIREMENTS Immediate Immediate Custom ramp AM Immediate AA CD Not Valid A Example Clear everything in the board and stop all movement Reset all hardware registers Enter RS ASSIGN CURRENT PARAMETERS E IE dP A Example 6 24 AS POWER UP DEFAULT VALUES The AP command sets the current parameter set to be the power up default set of values This is done by writing the current parameter set to flash memory The following list of parameters will have their values saved to flash memory when the AP command is used SB IO SF SL LN LF LH LL AC LA SC PR SC VL VB UU SE 1 ER ES HD HG BI UN KP KD KO KV KA and DZ NOTE This command should not be issued when an axis is motion also should be used sparingly because the flash memory has a limited number of write cycles i e Less than 10 000 times typical QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AM AA CD Save the current parameter set to be the
81. C REQUEST ACCELERATION E I dP The RC command will return the current acceleration or deceleration of the current axis This may differ from the programmed acceleration if a cosine CN or parabolic PN ramp is being generated When the stage is stopped the parameter returned will be the acceleration at the beginning of a ramp When the stage is running at programmed speed i e not accelerating the parameter returned will be the acceleration at the end of the ramp While a contour is executing the value computed to generate the appropriate lead in will be returned The response to the RC command is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS Immediate Immediate Custom ramp AM Immediate AA CD Not Valid A Example board Enter AA RC Response PC68 User s Manual Display current acceleration values for all axes on a four axis lt LF gt lt CR gt 2000000 2000000 2000000 2000000 lt LF gt lt CR gt 6 105 SYSTEM STATUS REQUEST COMMANDS RV A Example RU A Example 6 106 6 COMMAND STRUCTURE REQUEST VELOCITY E i dP The RV command will return the current velocity at which the axis is moving This may differ from the programmed velocity if the axis is ramping up to speed or stopping The response is surrounded by line feed and carriage return pairs If the JF command is executing the command only reports the intege
82. C68 User s Manual 6 COMMAND STRUCTURE AZ AXIS Z AXIS SPECIFICATION COMMANDS The AZ command sets the context to direct all the following commands to the Z axis QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter AT AXIS T AZ VL500 MR2000 GO Move the Z axis 2 000 steps at a rate of 500 steps second The AT command sets the context to direct all the following commands to the T axis QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid Sa Example Enter PC68 User s Manual AT MA 2468 GO Move the T axis to absolute position 2468 6 11 AXIS SPECIFICATION COMMANDS AU AXIS U The AU command sets the context to direct all the following commands to the U axis 6 COMMAND STRUCTURE QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter AV AXIS V The AV command sets the context to direct all the following commands to the V axis AU LP 56789 Set the U axis position register to 56789 QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter 6 12 AV AF Set the auxiliary line low on the V axis PC68 User s Manual 6
83. C68 User s Manual 6 15 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE LF LIMITS OFF E HN dP The LF command turns off the limit switches for the addressed axis This allows the stage to move beyond the limit switch and should be used with caution QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp AX AS 1 AA 1 AM 1 1 1 AA CD Not Valid Example Set up a board to ignore the Y axis limit switches A Enter AY LF or AA LF 1 1 LN LIMITS ON E EN dP The LN command restores the operation of the limit switches for the addressed axis This is the default mode at power up or reset QUEUE REQUIREMENTS A Example Set up the Y and T axes to stop immediately when a limit switch is encountered Enter AA LN 1 1 LN 6 16 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS LH LIMITS HIGH E IiE dB This limits high command sets the overtravel limit switches so they are active high For instance the overtravel occurs when the input level is high See the AP Command on page 6 24 to preserve the LH settings as the Power up Reset modes QUEUE REQUIREMENTS MODE AX AS AA AM AA CD A Example Select the limit switch high true condition for the X axis Enter AX LH A Example Select a high true limit condition for the Z and U axes Enter AA LH 1 1 LL LIMITS LOW E The LL command specifi
84. CT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED TABLE 2 1 CONNECTOR J3 PIN PIN 5V DC 5 6 Digital Ground 12V DC 3 4 No Connect 12V DC 1 2 Analog Ground Reference the support software disk to find a serial communications utility that will work with the PC68 FIGURE 2 6 CONNECTOR CONFIGURATION 2 7 CONNECT AND CHECKOUT THE SERVO SYSTEM Servo systems tend not to respond gracefully to connection errors You can reduce the chance of making connection errors by following a step by step procedure Caution The servo motor may jump or spin at a very high velocity during connection and configuration The motor should be restrained via fastening to the physical system or by some other means before beginning this procedure Keep hands and clothing clear of the motor and any mechanical assemblies while performing this procedure 2 7 1 CONNECT AND CONFIGURE THE MOTOR AMPLIFIER 1 Connect and configure your amplifier per the manufacturer s instructions for Torque or Open Loop mode 2 6 PC68 User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM 2 With the motor and amplifier power turned off connect the PC68 to the amplifier Do not connect the encoder yet 3 Balance your motor a Using a voltage meter verify that the command signal from the PC68 is less than 500mV If it is not send the command DZO to the PC68 and recheck the voltage
85. D STRUCTURE HR HOME REVERSE E IiE The HR command will cause the current axis to step in the negative direction at the predefined velocity until the home input line goes true It behaves exactly like the HM command except it travels in the reverse direction The parameter defaults to zero if none is supplied QUEUE REQUIREMENTS AA CD Not Valid A Example In a long stage it may be awkward to travel the full distance to KM home at less than 2048 pulses per second The following will get close to home at higher speed then refine the position at lower speed in the reverse direction Enter AX VL100000 HH HM VL1000 HL HR HOME AND KILL E IiE dP The KM command will find home and stop generating pulses immediately i e no deceleration ramp will be generated The position counter is not cleared or reset Due to motor and platform inertia the load and board may lose position synchronization QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Move the Y axis in a positive direction to the home sensor and stop 6 88 movement as quickly as possible Enter AY KM PC68 User s Manual 6 COMMAND STRUCTURE HOME AND INITIALIZATION CONTROL COMMANDS KR HOME REVERSE AND KILL HE KR command will find home in reverse and stop generating pulses immediately i e no deceleration ramp
86. E SE REPORT SETTLING TIME dB The SE command reports the settling time setting SE used with power automatic mode PA for the current axis Example Report the current settling time for axis X Enter AX SE Response lt LF gt lt CR gt SE250 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands SE PA 6 46 PC68 User s Manual 6 COMMAND STRUCTURE USER COMMANDS BLA BIT LOW IiE dB The BL command sets the selected general purpose output on i e logic low QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp a AX AS 2 AA 3 AM 3 AA CD 2 A Example Turn on output bits 10 and 12 after a move Note that this is only valid for bits which have been configured as outputs and an axis expansion board us used See the RB command in this section Enter AX MA1000 GO BL10 BL12 BH BIT HIGH E iI dP The BH command sets the selected general purpose output off i e logic high The state of general purpose outputs is off at power up or reset Valid bits depend on which bits are programmed as outputs Factory default output bits are 8 through 13 QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp pere AX AS 2 AA 3 AM 3 AA CD 2 SA Example Set general purpose bits 8 and 11 to high Enter BH8 11 PC68 User s Manu
87. EM STATUS REQUEST COMMANDS 6 13 SYSTEM STATUS REQUEST COMMANDS These commands allow the host to request the status of various move parameters including the status of limit and home switches WY The WY command returns the model type firmware revision number and number of controlled axes of the board being addressed surrounded by line feeds and carriage returns WHO ARE YOU QUEUE REQUIREMENTS Immediate Immediate Custom ramp AM Immediate AA CD Not Valid A Example Enter You want to examine the board information WY RP A Example PC68 User s Manual Response lt LF gt lt CR gt PC68 ver 3 00 25 S N001234 lt LF gt lt CR gt The RP command returns the current position of the currently addressed axis in the single axis mode or all positions separated by commas in the AA or AM modes The position will be returned to the host via the data port in ASCII format This command is not queued i e the current position will be returned immediately even if the axis is in motion The response is surrounded by line feeds and carriage returns REQUEST POSITION QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AM AA CD The current position on the Y axis is 12345 Use the RP command to verify the position Enter AY RP Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt 6 99
88. ID KL KILL E I dP The KL command will flush the command queue and terminate pulse generation of all axes immediately It is intended for emergency termination of any program and to reset the input queues to a known state The motor may not stop immediately even though no more pulses are delivered due to inertia of the motor rotor and load Therefore the position counter may not accurately reflect the true position of the motor following this command The homing sequence should be used to reestablish the position counters A Control D ASCII 4 will perform the same functions as the KL command t bypasses the command interpreter and may work when the character buffer is full and the KL command cannot get through the interpreter A Control D should be used instead of KL when the board appears hung up This can occur when its input queue is inadvertently filled by entering a loop sequence that was so long you could not enter the LE command QUEUE REQUIREMENTS MODE Not Valid A Example Stop all previously defined movement and flush the queue of a partially entered incorrect move command you wanted a negative move not a positive one before GO is entered Enter AX MR5000 oops KL MR 5000 GO PC68 User s Manual 6 77 MOVE TERMINATION COMMANDS 6 COMMAND STRUCTURE FLUSH IiE dP The FL command will flush an individual axis command queue This command is similar
89. ILL function linkage for the specified Bit State is deleted If the value is ONE the KILL function linkage for the specified Bit State will replace the current linkage A Example The current macro linked to bit 2 as it goes from high to low is 6 156 to be replace with the KILL KL function Enter SK2 0 1 PC68 User s Manual 6 COMMAND STRUCTURE STAND ALONE COMMANDS XX DEFINE MACRO LINK E iI dP ON Px6lO The XX command links the execution of a permanent macro to a change of state of an input bit on the Expansion board Px6IO The macro will be executed if the controller is in the Stand Alone SM mode and the selected bit changes to the specified state First Parameter This specifies the input bit number of the Px6lO Valid numbers must coincide with the input bit numbers assigned to the Px6lO If the bit is assigned by another Macro a command error is reported Second Parameter Valid Bit States are 0 and 1 If the value of the selected bit state is ZERO the selected macro will be executed if the selected bit changes from a TTL high to a TTL low If the Bit State is ONE then the selected Macro will be executed when the selected bit changes from a TTL low to a TTL high NOTE Each bit and state can be linked with a macro So up to two macros can be assigned to an input bit For example macro 15 could be executed when 20 goes low and macro 16 could be executed when 20 goes high
90. Immediate Not Valid Not Valid Related commands HV HG HD PC68 User s Manual 6 131 SLIP AND STALL DETECTION COMMANDS 6 COMMAND STRUCTURE 6 17 SLIP AND STALL DETECTION COMMANDS ES ENCODER SLIP TOLERANCE EN The ES command parameter specifies tolerance before slip or stall is flagged in the status register and by the RL command The mode must be turned on with an IS command and off with an HF command The factory default value is 1 This command is intended to be used with stepper motors and not servo motors See the AP Command on page 6 24 to preserve the ES settings as the Power up Reset values Value Range 1 to 65535 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid 4 Example Your application can tolerate being up to 5 steps from the desired position before the controlling program should be notified of a slip condition Enter ES5 IS IS INTERRUPT ON SLIP The IS command enables the PC68 to interrupt the host on slip or stall detection if the appropriate bit has been set in the interrupt control register Hold and slip detection are disabled if an LP HM HR SA ST or KL command is entered or if a limit is encountered If a slip occurs slip detection must be re enabled The factory default value is 1 This command is intended to be used with stepper motors and not servo motors QUEUE REQUIREMENTS Min
91. Limit 26 Z Phase B 60 Z Limit 27 T Servo 61 Z Home 28 T Index 62 T Step 29 T Index 63 T Auxiliary 30 T Phase A 64 T Direction 31 T Phase A 65 T Limit 32 T Phase B 66 T Limit 33 T Phase B 67 T Home 34 Digital Ground 68 5VDC 4 4 1O68 ADAPTER MODULE The optional 1068 is an adapter module designed to provide easy connection for each signal of the PC68 It incorporates a three row terminal block and some on board filters for the limit inputs A cable is available with the mating connector to fit the PC68 connector 45 5VDC on the 1068 is supplied by the PC68 and is protected by a resetable fuse on the PC68 This supply voltage is intended to be utilized with accessories used in conjunction with the PC68 such as sensors motor driver modules etc and is specified to supply a maximum current of 0 5 amps for these purposes PC68 User s Manual 4 3 1068 ADAPTER MODULE 4 CONTROL SIGNAL INTERFACE If the fuse detects an over current situation such as an external short circuit the supply will shut down It can be re activated by powering down the PC68 ensuring the over current situation has been removed and by powering the PC68 up again after 3 seconds As the fuse is a semiconductor device it never has to be replaced and requires no maintenance 4 4 1 EXPLANATION OF ADDITIONAL CIRCUITRY ON THE 068 The 1068 board is to be used in conjunction with a PC68 or an expansion
92. MAND STRUCTURE SYSTEM CONTROL COMMANDS DAB DEFINE CUSTOM RAMP E I dP BREAKPOINT The DAB command sets a breakpoint in a custom ramp table This is the only command that should be used after DAR and before DAE Each custom ramp may contain up to 25 breakpoints each defined by a DAB command The DAB command takes two parameters the first specifies the acceleration level that should be used to achieve the second parameter velocity level Both levels are expressed in terms of percentage in decimal format i e 1 00 is 100 At no time should a DAB command be entered in which the velocity parameter is less than the velocity parameter of the prior DAB The PC68 will not flag this as a command error but the results of such a ramp will be unpredictable Each DAB command sent should be equal to or greater than the DAB command that preceded it It is the users responsibility to make sure this command is used properly RANGE 0 00000 lt Parameter 1 lt 1 00000 0 00000 lt Parameter 2 lt 1 00000 x Example See the DAR command on page 6 29 for a complete example of a custom profile QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DAR DAE DA DS DE SR PC68 User s Manual 6 27 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE DAE END CUSTOM RAMP DEFINITION EN dB The DAE command terminates a custom ramp table definition initiated by the DAR command
93. MMANDS 6 COMMAND STRUCTURE 6 26 SERIAL COMMUNICATION CONFIGURATION COMMANDS SB The SB command sets the controllers serial communications baud rate SET BAUD RATE Valid baud rates include 300 600 1200 2400 9600 19200 and 38400 The factory default baud rate is 9600 See the AP Command on page 6 24 to preserve the SB your baud rate as the Power up Reset rate NOTE The PC68 uses CTS DTR hardware hand shake for flow control QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter SB19200 SB QUERY THE BAUD RATE Sets the serial communications baud rate to 19200 The SB command queries the board to determine the current baud rate setting QUEUE REQUIREMENTS Immediate Not Valid Not Valid Custom ramp AA CD Not Valid A Example Enter Response 6 166 SB If the board is set for 9600 baud rate Query the board to determine its current baud rate setting lt LF gt lt CR gt 9600 lt LF gt lt CR gt PC68 User s Manual T HOST SOFTWARE INTRODUCTION TO PC68 SOFTWARE SUPPORT HOST SOFTWAR 7 1 INTRODUCTION TO PC68 SOFTWARE SUPPORT A disk containing device drivers application software and demonstration code for Oregon Micro Systems PC family controller is supplied with the initial purchase of an OMS PC68 board Reference the text files i e
94. N COMMANDS MO MOVE ONE PULSE E i dP The MO command will output one step pulse in the current direction do not use the GO command The direction may be reversed by use of the MM or MP command This command generates the output pulse in one sample interval and thus eliminates the latency of generating a ramp with an MR1 GO command sequence This command is not available in models with an encoder option QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not Valid AM Not valid AA CD Not Valid A Example Move the Z axis one pulse in the negative direction Enter AZ MM MO RM REMAINDER z EN 1 The command will divide the position counter by the parameter supplied and replace the position counter with the resulting remainder The parameter must be greater than zero and less than 65 000 This command is used in applications where the controller is managing the motion of a continuously rotating object It allows the position counter to keep track of the absolute position without regard to the number of revolutions it may have rotated This command has no effect on the encoder position register on boards with the encoder feedback option QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid R Example An RM2000 command with a position counter of 4050 will return a position of 1950 since it is within 50 counts of rolling ove
95. ODER SELECTION AND COMPATIBILITY The PC68 is compatible with virtually any incremental encoder which provides quadrature outputs Times four quadrature detection is used to increase resolution This means that an encoder rated for 1024 counts or lines per revolution will result in 4096 counts The inputs are compatible with encoders which have single ended or differential TTL outputs The PC68 inputs have built in hysteresis to minimize effects of noise pickup The PC68 4 8 PC68 User s Manual 4 CONTROL SIGNAL INTERFACE HOME PROCEDURES has differential line receivers to accommodate encoders with differential line driver outputs 4 7 HOME PROCEDURES When single ended encoders are used the unused negative inputs i e Phase A Phase B etc must be biased at or near 1 5V The 1068 provides convenient switches for this See Table 4 2 on 4 5 Two modes are provided to synchronize the physical hardware with the PC68 controller i e put the controlled motor in the home position HS mode factory default The home switch input is a TTL level input signal that can be used to physically home a mechanical stage This signal can be either a logic HIGH or logic LOW true by using the HH and HL commands The HM or HR commands are used after reducing the velocity to no more than 2048 1024 for more than 4 servo axes controllers pulses per second This limit on velocity is necessary to avoid ambiguity of the home position if more than one pu
96. OFF USER UNIT COMMANDS The UF command turns off user units it is the factory default setting for all axes This command is equivalent to and preferred over UU1 since it turns off the mode thus minimizing unnecessary overhead See the AP Command on page 6 24 to make the UF settings as the Power up Reset values QUEUE REQUIREMENTS Immediate Immediate AM Immediate Custom ramp AA CD Not Valid A Example Enter Turn off user unit conversion on the X Y and Z axes AX UF AY UF AZ UF UF 1 1 1 PC68 User s Manual 6 109 PID FILTER CONTROL COMMANDS 6 COMMAND STRUCTURE 6 15 PID FILTER CONTROL COMMANDS The following commands are valid only for servo axes and should never be executed while the specific axis is in motion 02 DEFINE ZERO POSITION IN OPEN LOOP MODE The DZ command defines the offset coefficient needed to produce a zero or stationary position by the servo motor This command is used in the open loop mode hold off HF The factory default value is zero See the AP Command on page 6 24 to preserve the DZ settings as the Power up Reset values Value range 32640 to 32640 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid Not Valid AM Not Valid AA CD Not Valid A Example Define the offset coefficient to be 250 for the X axis Enter AX DZ250 DZ REPO
97. OME SWITCH E IE The HS command enables PC68 home switch mode to determine where home is when an HM or HR command is executed default at power up or reset This mode can also be used with encoders which contain internal home logic by connecting their output to the PC68 home input for the appropriate axis The active level of this input may be controlled by the HH and HL commands QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid Sy Example Enter 6 136 Set up the Y axis so it will ignore the encoder signals and only use the home input to recognize the home position AY HS PC68 User s Manual 6 COMMAND STRUCTURE 6 20 ENCODER STATUS REQUEST COMMANDS EA ENCODER STATUS EN ENCODER STATUS REQUEST COMMANDS The EA command returns encoder status of the currently addressed axis in the following format EA COMMAND RESPONSE DESCRIPTION CHAR SENT DESCRIPTION 1 LF Line feed 2 CR Carriage return 3 CR Carriage return 4 E Slip detection enabled D Slip detection disabled 5 E Position maintenance enabled D Position maintenance disabled S Slip or stall detected reset by execution of EA 6 command N No slip or stall detected 7 P Position Maintenance within deadband N Position not within deadband 8 H Axis is home N Axis is not home 9 N Unused reserved 10 LF Line feed 11 CR C
98. ON ADDRESS FACTORY OFFSET DEFAULT DESCRIPTION 300 hex Data Register 301 hex Done Register 302hex Control Register 303 hex Status Register 3 5 USING INTERRUPTS Full interrupt capability is provided by the PC68 in accordance with the PC 104 specification but not required Interrupts provided are input buffer full IBF transmit buffer empty TBE overtravel fault limit and operation complete done Interrupt levels 2 through 7 are selectable with switch S1 Polled operation is also supported with separate status bits for each of the above interrupt sources See section 2 4 Set the Interrupt Request IRQ 3 6 DATA REGISTER The data register is the data communication port between the PC68 and the PC 104 host CPU All data is passed between the host processor and the 68 through this port port is full duplex in both directions This allows for faster processing of the data between the host and the PC68 PC68 User s Manual 3 3 DONE FLAG REGISTER 3 COMMUNICATION INTERFACE 3 7 DONE FLAG REGISTER The done flag register is a Host CPU read only register of the PC68 Each bit of this register identifies the done status of each of the axes of the PC68 It is an 8 bit register where the first 4 bits are used for the four axes of the PC68 and the other 4 bits are supported when an expansion board is used to expand the total number of axes to 8 When requested by command the PC68 will
99. Offset Coefficient In Closed Loop 6 114 2 6 M 6 44 6 143 Patabolic 6 22 Parable Em 6 21 Parabolic Ramp Per inii eee rien cen e cen cede ce dee 6 23 uo 6 161 PC 104 err tr e en en cen en ce n ed eee eden n e oi oe 1 1 1 2 2 1 2 4 Communication 3 1 3 1 PCO BA AI TP C 2 ll 6 100 6 138 DER LA ceu E E 6 22 m RR 6 162 PID 2 10 2 14 BM eere 6 151 DNE eme d ced E 6 21 e we cca le we we ce wee wen we eden ee eee 6 162 Power Automatic 00000 aane nnne nnn nda 6 44 6 143 eee eb cae 6 100 6 23 Preserve Temporary 6 152 Print AXCustom Ramp itr ene abo eme dene ete eere elie eren entree 6 32 Print Tego 6 151 Proportional Gain 4422224 0 00 6 116 aT 6 159 6 152 PX aor eee eee ached E 6 16
100. QUEUE REQUIREMENTS MODE AA CD Not Valid A Example Set up a board to allow the X axis to ramp to a stop when a limit is encountered Enter AX SL N Example Set up a board to allow the Z and axes to ramp to a stop when a limit is encountered Enter AA SL 1 1 SF SOFT LIMIT OFF E IiE dP The SF command restores the normal operation of the limit switches This is the factory default mode See the AP Command on page 6 24 to preserve the restore the SF selection as the Power up Reset value QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Set up a board to make the X axis stop immediately when a limit is encountered Enter AX SF A Example Set up a board to make the Z and U axes to stop immediately when a limit is encountered Enter AA SF 1 1 PC68 User s Manual 6 19 SYSTEM CONTROL COMMANDS SL REPORT SOFT LIMIT STATUS 6 COMMAND STRUCTURE The SL command reports whether soft limits are currently enabled for the active axis Possible responses are SL and SF the same commands used to enable and disable soft limits xy Example Find out whether soft limits are enabled for axis Z Enter AZ SL Response lt LF gt lt CR gt SL lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands SL SF 6 20 PC68 User s Manual 6 COMMAND STRUCTURE
101. R D IR ON I Ne IS 6 16 Load Position 6 63 Loop End ete e a er mee eae dee s 6 83 LOOP Statt 6 82 p Ue M EMEN 6 63 cM AC DM LA IM I LM 6 82 M 6 64 Macro Executare 6 6 151 inue xi NIE AE I 6 150 EE e EE E eee ee eee ee eee 1 2 ME anuo e m mA e e s 6 66 MM oe e A 6 139 6 67 ainai eed eee edle edd ered eda 2 6 6 64 c ec ESL LM LLLI Lt ILI LL ID IET 6 66 ie 6 139 Move en 6 67 Move POSITIV i oce echo uec oca oca un US LS s aot al 6 139 6 PC68 User s Manual INDEX N Move Relative o e de 6 65 RR attt TN 6 66 6 148 Move Velocity 6 140 Mee 6 139 Mag 6 65 6 66 6 148 jut E 6 140 DOCE nonc NIS ML 6 151 N Normalize Direction ee t ee te per epe npe rep oor gs 6 31 Normalize Servo 6 38 O
102. RT DAC OPEN LOOP OFFSET The DZ command reports current setting of the DZ command in DZ command format QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid x Example The closed loop offset needs to be set the same as the open loop offset We ve already set the open loop offset but forgot what value we used Send the DZ command to find out Enter DZ Response lt LF gt lt CR gt DZ28 lt LF gt lt CR gt Related commands DZ KO 6 110 PC68 User s Manual 6 COMMAND STRUCTURE PID FILTER CONTROL COMMANDS KA ACCELERATION FEEDFORWARD d KA is the acceleration feedforward coefficient used in the PID filter calculations Refer to Section 2 for more information regarding this parameter The factory default value is zero See the AP Command on page 6 24 to preserve the KA settings as the Power up Reset values Value range 0 to 4096 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not Valid AM Not valid AA CD Not Valid A Example Define KA to be 2 on the T axis Enter AT KA2 KA REPORT ACCELERATION q z FEED FORWARD The KA command reports the current setting of the acceleration feed forward constant KA for the current servo axis QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid A Example Find out what the current KA value is for servo axis Y Enter AY KA Response lt LF gt lt CR gt KA10 50000 lt LF gt lt CR gt
103. RT SOFTWARE E dB TRAVEL LIMITS The TL command reports the software travel limits for the current axis assigned via the TL command The first value returned is the upper or positive limit and the second value is the lower or negative limit These are not physical limits but rather positional limits that an axis should not exceed If one of these limits is exceeded the 68 will set the current axis limit flag and notify the host computer of the condition as though the axis encountered a hard limit xy Example Enter Response A Example Enter Response Find out what the software limits of the Y axis are currently set to TL lt LF gt lt CR gt TL101000 1000 lt LF gt lt CR gt Find out what the software limits of the T axis are currently set to AT TL lt LF gt lt CR gt TLO 0 lt LF gt lt CR gt software limits for axis T are currently disabled FORMAT QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands TL PC68 User s Manual 6 41 USER COMMANDS 6 COMMAND STRUCTURE 6 6 USER COMMANDS The following commands are for accessing the bit functions of the board See also the SW page 6 96 and WS page 6 84 commands AN AUXILIARY ON E IiE dP The AN command turns on the selected auxiliary output ports That is it allows the open collector line to be pulled high by an external pull up resistor The AN comm
104. S feed and two carriage returns on each end command The done flag is reset by this QUEUE REQUIREMENTS Not valid Immediate Immediate Custom ramp AA CD Not Valid A Example Enter Check the status of a 4 axis board AA RI Response QUERY AXIS lt LF gt lt CR gt lt CR gt MDNN MDNN MDNN MDNN lt LF gt lt CR gt lt CR gt The QA command returns the status of the single addressed axis like the RA command except flags are not affected QUEUE REQUIREMENTS Immediate Not valid Not Valid Custom ramp AA CD Not Valid A Example Enter Check the status of the X axis AX QA Response 6 104 lt LF gt lt CR gt lt CR gt PNNH lt LF gt lt CR gt lt CR gt PC68 User s Manual 6 COMMAND STRUCTURE A Example SYSTEM STATUS REQUEST COMMANDS The QI command returns the same information for all axes when in the AA mode as the QA command does in the single axis mode The 4 character fields for each axis are separated by commas and the string has one line feed and two carriage returns on each end QUERY INTERRUPT STATUS QUEUE REQUIREMENTS Not Valid Immediate Immediate Not Valid Custom ramp AA CD Check the status of a four axis board Enter AA QI Response lt LF gt lt CR gt lt CR gt PNNN MNNN MNLN lt LF gt lt CR gt lt CR gt R
105. SYSTEM STATUS REQUEST COMMANDS PE REPORT ENCODER POSITIONS 6 COMMAND STRUCTURE PE reports the encoder positions of all encoder and or servo axes QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter PE Response lt LF gt lt CR gt 0 50 156 0 lt LF gt lt CR gt PP REPORT MOTOR POSITIONS Report the encoder positions of a PC68 45 four axis servo board The PP command reports the motor positions of all axes QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter PP Response 6 100 lt LF gt lt CR gt 0 0 0 125 lt LF gt lt CR gt Report the motor positions of a four axis controller PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM STATUS REQUEST COMMANDS RQ REQUEST QUEUE STATUS IiE dB The RQ command returns the number of entries available in the queue of the currently addressed axis in the single axis mode or all axes separated by commas in the AA or AM modes The ASCII string is surrounded by line feeds and carriage returns The maximum available in each command queue is 200 The response is at a fixed length of 3 characters For example if the current free queue space is 67 the response from the board to the RQ command is lt LF gt lt CR gt 067 lt LF gt lt CR gt When issuing an RQ command while defining
106. Third Parameter Specifies the macro number 5 24 to be executed when the conditions are met The macro assigned to an existing bit and state can be changed by entering the same XX command with a new macro number A Macro linkage can be deleted by specifying the bit number and the Bit State along with macro number Zero A Example When input bit 20 goes high macro 15 will execute Enter XX20 1 15 PC68 User s Manual 6 157 STAND ALONE COMMANDS 6 COMMAND STRUCTURE DEFINE KILL LINK ON E I dP The XK function links the execution of the KILL KL function to the change in the sate of a 1 input bit in a similar manner as the XX function links the execution for a selected macro as above First Parameter This specifies the input bit number of the Px6lO Valid numbers must coincide with the input bit numbers assigned to the Px6lO If the bit is assigned by another Macro a command error is reported Second Parameter Valid Bit States are 0 and 1 If the value of the selected bit state is ZERO the selected macro will be executed if the selected bit changes from a TTL high to a TTL low If the Bit State is ONE then the selected Macro will be executed when the selected bit changes from a TTL low to a TTL high NOTE Each bit and state can be linked with a macro So up to two macros can be assigned to an input bit For example macro 15 could be executed when 20 goes low and macro 16 could be execute
107. USER S MANUAL INTELLIGENT MOTOR CONTROLLERS PC68 FAMILY OREGON MICRO SYSTEMS INC TWIN OAKS BUSINESS CENTER 1800 NW 169 PLACE SUITE C100 BEAVERTON OR 97006 PHONE 503 629 8081 FAX 503 629 0688 EMAIL sales OMSmotion com WEB SITE www OMSmotion com COPYRIGHT NOTICE 2001 Oregon Micro Systems Inc A Pro Dex Company ALL RIGHTS RESERVED This document is copyrighted by Oregon Micro Systems Inc You may not reproduce transmit transcribe store in a retrieval system or translate into any language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise any part of this publication without the express written permission of Oregon Micro Systems Inc TRADEMARKS IBM IBM PC IBM PC XT IBM PC AT IBM PS 2 and IBM PC DOS are registered trademarks of International Business Machines Corporation DISCLAIMER Oregon Micro Systems Inc makes no representations or warranties regarding the contents of this document We reserve the right to revise this document or make changes to the specifications of the product described within it at any time without notice and without obligation to notify any person of such revision or change 3301 1000000 Revision G 1 GENERAL DESCRIPTION INTRODUCTION TABLE OF CONTENTS 1 GENERAL DESCRIPTION INTRO BUC WO Ni ecc EET 1 1 SYSTEM OVERVIEW tht nr ee e tech HERR 1 2 2 GETTING STARTED PREPARE FOR INSTALLATION ie riti rui
108. a contour the available space in the contouring queue will be returned The maximum available is 1016 The response is fixed in length at 4 characters QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Immediate Example See the size of the command queue for the T axis Enter AT RQ Response lt LF gt lt CR gt 200 lt LF gt lt CR gt PC68 User s Manual 6 101 SYSTEM STATUS REQUEST COMMANDS 6 COMMAND STRUCTURE BX BIT REQUEST IN HEX i The command returns the state of the general purpose bits in a six digit hex format surrounded by line feed and carriage return pairs The two left hex digits are unused and are always set to 0 A one in any binary position signals that bit as being low QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Immediate Immediate Immediate AA CD Not Valid A Example User output bits 10 and 12 were previously turned on i e low 6 102 ground Input bits 0 and 3 are on i e low ground Check their status with the BX command Enter BX Response lt LF gt lt CR gt 001409 lt LF gt lt CR gt PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM STATUS REQUEST COMMANDS RA REQUEST AXIS STATUS E iE dB The RA command returns the state of the limit and home switches and the done and direction flags for the curr
109. add the value found in Table B to the value from Table A to determine total queue usage QUEUE REQUIREMENTS AA CD Not Valid A Example In the single axis mode move the Y axis 12345 steps in the negative direction and set the done flag when the move is completed Then move it 12345 steps in the positive direction clear the previous done flag and set the done flag again when the move is completed Enter AY MR 12345 GO ID MR12345 GD ID A Example In the AA mode perform a linear absolute move with the X and Y 6 70 axes to the position 10000 20000 and set the done flag when the move is completed Then perform a linear relative move on both axes moving the X axis 10000 steps in the negative direction and the Y axis 20000 steps in the negative direction Enter AA MT10000 20000 GO ID ML 10000 20000 GD ID PC68 User s Manual 6 COMMAND STRUCTURE MOVE EXECUTION COMMANDS JG JOG E EN dP The JG command is a velocity mode and will step the axis at the velocity supplied as a parameter The JG command will accelerate to the programmed velocity and run until altered by an ST SA KL or another JG command The jog velocity may be changed by following the command with another JG command of a different velocity The axis must be stopped before reversing directions This command modifies the move velocity parameter VL for the affected axis The JG command does not require a GO or GD command to star
110. al 6 47 USER COMMANDS 6 COMMAND STRUCTURE lO SET I O BIT DIRECTION E IiE dB The IO command defines the direction of the general purpose bits 0 to 7 as inputs or outputs The bit direction selection is made in groups of four bits A null argument skips that bit group A zero value sets that bit group to be inputs A one value configures that bit group to be outputs The factory default configuration is Bits 0 3 are input and bits 4 7 are output Addition of the axis expansion board adds input bits 8 11 and output bits 12 15 to the system space See the AP Command on page 6 24 to preserve the IO setting as the Power up Reset setting NOTE Bits 8 15 are not configurable QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AM AA CD A Example Set bits 0 3 as output and bits 4 7 as inputs 6 48 Enter IO1 0 PC68 User s Manual 6 COMMAND STRUCTURE USER COMMANDS BX BIT REQUEST IN HEX IiE dP The BX command returns the state of the general purpose bits in a six digit hex format surrounded by line feed and carriage return pairs The two left hex digits are unused and are always set to 0 A one in any binary position signals that bit as being low QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example User output bits 4 and 7 were previously tur
111. ally assigned to the serial port is available to other devices and that a large number of serial ports can be supported without running out of resources This is an advantage in systems that require several serial devices For PC 104 capable PC68 controls the best method by far is interrupt driven bus communication For RS 232 mode standard interrupt driver ports are best As with any other system non multitasking environments allow the software to run with the full attention of the CPU which provides a better response time and causes fewer race conditions If a multitasking system must be used the system should be chosen with a heavy bias toward those that multitask most smoothly spreading the CPU attention span evenly across all running tasks rather than toward those that allow the foreground task to take over There are several example applications on the support disk shipped with your 68 Reference the source code and README files on the support disk PC68 User s Manual 7 3 COMMUNICATION METHODS 7 HOST SOFTWARE This page intentionally left blank 7 4 PC68 User s Manual 8 SERVICE TABLE OF CONTENTS 8 SERVIC 8 1 USER SERVICE The PC68 family of controllers contain no user serviceable parts 8 2 THEORY OF OPERATION The 68332 microprocessor on the PC68 controllers maintains four concurrent processes The highest priority process calculates the desired pulse frequency 2048 times second or 1024 times second d
112. and may be used to change power level on driver modules so equipped trigger another board s input or as a user specified output This is the default mode for the auxiliary line at power up or reset A parameter must be supplied for the desired axes when used in the AA mode so that the other axes are not affected The parameter only serves as a place holder to show which axes should be affected the value given does not affect the active state of the auxiliary line No parameter is required in the single axis mode QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp poop Ir A Example Turn on the Y axis auxiliary output in the single axis mode Enter AY AN A Example Turn on the X and Z axes auxiliary outputs when in the AA command mode The Y axis is unchanged in this example Enter AA AN1 1 6 42 PC68 User s Manual 6 COMMAND STRUCTURE USER COMMANDS AF AUXILIARY OFF IiE dP The AF command turns off the selected auxiliary outputs That is it causes the open collector line to be driven low The AF command may be used to change power level on driver modules so equipped or as a user specified output Same parameter rules apply as the AN command QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp now qu o A Example Turn off the Y axis auxiliary output in the single axis mode Enter AY AF A Example Turn off the X and Z axes auxiliary o
113. ard produces a 50 duty cycle square wave step pulse The velocity ranges from 0 to 1 044 000 steps second The acceleration ranges from 0 to 8 000 000 steps second second The servo control uses 16 bit DAC and outputs either a 10V or 0 to 10V range The encoder feedback control can be used as feedback for the servo PID position maintenance for the stepper axes or as just a position feedback for any axes The encoder PC68 User s Manual 5 3 AXIS EXPANSION BOARD 5 EXPANSION BOARDS input supports either differential or single ended quadrature TTL signals at a rate of up to 4MHz and counts at a 4 times resolution This means 1000 line encoder will produce 4000 counts per revolution in the axis expansion board Step output auxiliary and direction signals for the axes are open collector TTL level signals All of the general purpose I O bits have 2 2k pull up resistor on the axis expansion board They output TTL totem pole output signals As inputs they expect TTL level signals The home and limit switches are TTL level inputs with 2 2k pull up resistors on the board The pin out for the 68 pin connector on the axis expansion board is shown below TABLE 5 2 Expansion Board Connector Pin Out Pin Number Description Pin Number Description 1 Digital Ground 35 5VDC 2 Bit 9 36 Bit 8 3 Bit 11 37
114. arriage return 12 CR Carriage return QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp Not Valid A Example Enter Response PC68 User s Manual Examine the status of the Y axis encoder AY EA lt LF gt lt CR gt lt CR gt EENPNN lt LF gt lt CR gt lt CR gt 6 137 ENCODER STATUS REQUEST COMMANDS 6 COMMAND STRUCTURE RE REQUEST ENCODER POSITION EN dB The RE command returns current encoder position of the currently addressed axis in encoder counts The ASCII string is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS Immediate Immediate Custom ramp Immediate AA CD Not Valid A Example Examine the current encoder position of the Y axis Enter AY RE Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt PE REPORT ENCODER POSITIONS EN d reports the encoder positions of all encoder and or servo axes QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp Not Valid A Example Report the encoder positions of a PC68 45 four axis servo board Enter PE Response lt LF gt lt CR gt 0 50 156 0 lt LF gt lt CR gt 6 138 PC68 User s Manual 6 COMMAND STRUCTURE VELOCITY STAIRCASE COMMANDS 6 21 VELOCITY STAIRCASE COMMANDS The following commands describe the velocity staircase mode This mode is useful
115. at MRx y z t u v r s Numbers are entered for each axis which is to be commanded to move An axis may be skipped by entering a comma with no parameter The command may be prematurely terminated with a i e a move requiring only the X and Y axes would use the command MRx y followed by the GO command Each axis programmed to move will start together upon executing the GO command The PC68 can be switched back to the unsynchronized mode by entering the desired single axis command such as AX The AM command is provided for complex applications where the host manages multiple motion processes by a multitasking operating system This mode shares the same instructions as the AA mode but allows starting a task while some other task involving one or many axes is active For example the X and Y axes could be doing linear interpolation while the Z axis is making an unrelated move simultaneously Constant velocity contouring provides another mode wherein the move parameters are predefined by entering AA then CD The PC68 will then calculate the move profile in advance and move at constant velocity in the prescribed pattern It can do linear interpolation on as many as 8 axes between the predefined points or it can do circular interpolation mixed with linear on two axes PC68 User s Manual 6 1 COMMAND QUEUES 6 COMMAND STRUCTURE 6 2 COMMAND QUEUES The input characters are placed in a character buffer on input then removed and
116. at power up EN 6 14 Echo on turn on echo to host ER 6 123 Report motor encoder ratio ER 6 122 Encoder ratio set encoder count to motor count ratio ES 6 128 Report encoder slip tolerance 6 132 slip tolerance set tolerance before slip or stall is flagged ET 6 135 Encoder tracking set encoder tracking mode FL 6 78 Flush an axis command queue FP 6 141 Force position flush queue and attempt to stop at specified position GD 6 70 Go and reset done flags GO 6 69 Go command start execution of motion GS 6 75 Go and use the home switch to monitor for motor slip Go and use the AC values to accelerate and the DC GU 6 74 values to decelerate HD 6 129 Report position maintenance deadband 6 125 deadband specify deadband tolerance for position HE 6 136 Encoder home mode set home on encoder logic HF 6 118 6 125 Hold off disable position hold slip detection and 6 133 6 135 tracking modes HG 6 130 Report position maintenance gain PC68 User s Manual 6 COMMAND STRUCTURE COMMAND SUMMARY COMMANDS IN CHAPTER 6 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION HG 6 124 Hold gain specify position hold gain parameter HH 6 15 Home high home switches are active high HL 6 15 Home low home switches are active low HM 6 87 Home find home and initializ
117. at will mate to the 68 or its daughter boards In addition to the PC 104 connectors is a 60 pin board to board type connector that is used to mate to the other boards in the stack The axis expansion board was designed to add four additional axes of control to the PC68 board These four axes can be used as stepper stepper with encoder feedback or servo in any of a number of configurations Contact OMS for more information regarding the various configurations of this board In addition to the added four axes of control there are an additional eight bits of general purpose on the axis board These are fixed at four inputs and four outputs Along with the general purpose I O there is an Auxiliary bit that is available for each axis and can be treated as an bit So the axis expansion board is capable of offering up to 12 additional bits of I O The board receives the 5V 12V 12V and Digital Ground that it uses from the PC 104 connectors Two jumpers on the board are used to connect Digital and Analog Ground together These two signals are tied together on the board from factory If it is desired to use separate Digital and Analog Ground signals these jumpers would have to be removed and the separate Analog Ground signal could be fed to the board via the 68 pin connector or the 6 pin connector at J3 Contact OMS for instruction on how to implement these modifications 5 2 1 HARDWARE The step output of the axis expansion bo
118. ault value is 10 0 See the AP Command on page 6 24 to preserve the KP settings as the Power up Reset values Value range 0 to 4096 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Define KP to be 45 6 on the Z axis Enter AZ KP45 6 KP REPORT PID PROPORTIONAL GAIN 4 command reports the current setting of the proportional gain constant KP in the PID of the current servo axis x Example Find out what the X axis proportional gain is set to Enter AX KP Response lt LF gt lt CR gt KP10 00000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KD 6 116 PC68 User s Manual 6 COMMAND STRUCTURE PID FILTER CONTROL COMMANDS KV VELOCITY FEEDFORWARD d KV is the velocity feedforward coefficient used in the PID filter calculations See Section 2 for a more detailed explanation of this parameter The factory default value is zero See the AP Command on page 6 24 to preserve the KV settings as the Power up Reset values Value range 0 to 4096 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Set KV to 35 3 on the Y axis Enter AY KV35 3 KV REPORT VELOCITY FEEDFORWARD q The KV command reports the current veloc
119. ave expansion board to the ISA bus of the PC 104 CPU or used as a stand alone controller where it communicates as a slave device through an RS 232 port The PC68 utilizes Flash Memory where programs command sequences can be stored permanently as macros The 68 utilizes the Motorola 68332 32 bit microcontroller and FPGA technology for extensive logic integration and flexibility The firmware which resides in Flash Memory can be upgraded through either of the communication interfaces RS 232 or PC 104 without having to remove the controller from the system if you have a 32 Bit Operating System such as Windows or Windows NT All signals to and from the PC68 are buffered through TTL devices and are found on the shielded SCSI 3 type connector J5 The 1068 is a connection board that is used to route the signals of the PC68 to individual screw terminal blocks Both the PC68 and 1068 utilize a resettable fuse on the 5V on the SCSI connectors for protection As a stand alone controller the PC68 obtains its power from connector J3 and the RS 232 communication port connects to J4 The PC68 supports baud rates of 300 to 38 4K baud With the ability to store macros into Flash Memory the PC68 could essentially be programmed once and then be embedded into a machine where it could run independently When the 68 is configured into a PC 104 stack it supports four I O address registers that provide near real time information The data communication is pe
120. c o Gv ene Gl ore Ga ea on cr rere 2 6 ecrire E 2 6 tert oret s or Percorso Porter rs Poe retenir 6 145 CONTOUR M M ERE 6 146 Contour End t ea aa a e ear au er gen 6 146 GContour EXGGUIe ere 6 148 Gontour Velocity erret Pete ete a 6 147 Control ennemi 4 1 4 10 COSINE On eon ea eren n t 6 21 Gosine Ramp Per AXIS 6 23 6 147 Qu quss Um 6 147 E E E E E E E A E E O 6 86 e c 6 148 D ate at eee ae kc ek ate chen cee ENE E RES vee et vet cet et tet et ett ieee 6 27 DAE 6 28 DAR 6 29 Register eade eade tette te ttai 3 3 DB lie e Let LM t LE LL M C 6 30 pipe 6 31 E 6 68 Deceleration 6 68 Define Custom Ramp 6 27 Define Kill Link On PCOB er nete ce el e e ren eet 6 156 Define Kill link On PXO6lIOu oer erre ete eee eene dere dere eee 6 158 Define Macro Link On 6 6 154 Define Macro Link On
121. ch to coordinated moves QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Perform an absolute move using the X and Y axes Enter AA MA12000 14000 GO AM AXES MULTITASKING E IiE The AM mode allows several tasks to be managed simultaneously For instance a task may be performing coordination motion on 2 axes while a second task is performing unrelated but simultaneous motion on another axis QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example Perform a coordinated move on the X and Y axes while moving the T axis as a separate move Enter AM MR2000 3000 GO MA 10000 GO PC68 User s Manual 6 9 AXIS SPECIFICATION COMMANDS 6 COMMAND STRUCTURE The AX command sets the context to direct all the following commands to the X axis This is the default mode at power up or reset AXIS X QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter AY AXIS Y AX JG5000 Make the X axis step at a rate of 5 000 steps second The AY command sets the context to direct all the following commands to the Y axis QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter AY RA Examine the status of the Y axis P
122. city to 10 000 counts per second per second Enter AX VL10000 A Example In the AA mode set the peak velocity of the X axis to 5 000 and the T axis to 50 000 and leave the other axes with their previous values Enter AA VL5000 50000 PC68 User s Manual 6 59 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE VL REPORT VELOCITY SETTING HERE db The VL command returns the peak velocity setting for the current axis as set by the VL command A Example Make sure our 50000 command worked Enter VL Response lt LF gt lt CR gt v150000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands VL VB 6 60 PC68 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS VB VELOCITY BASE dP The VB command allows the velocity ramp to start at the specified velocity This allows faster acceleration and the ability to pass through resonance quickly in some applications The velocity jumps instantly to the specified velocity then ramps as usual The deceleration is the same in reverse This mode is active only for linear ramps It is ignored for cosine and parabolic ramps but not flagged as a command error The parameter must be greater than zero and less than the programmed velocity where the factory default is zero steps per second This command is not valid with the JG command See the AP Command on page 6 24
123. cn Custom ramp AX AS Not valid AA Not Valid AM 11 11 Not Valid AA CD Not Valid A Example Select a linear ramp for the X axis Enter AX LA Example Select the linear ramp for the Y and T axes Enter AA LA 1 1 6 22 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS SC COSINE RAMP PER AXIS IiE dP The SC command specifies that the standard cosine acceleration ramp is to be used by the selected axis axes QUEUE REQUIREMENTS MODE Custom ramp AX AS Not valid AA Not Valid AM Not Valid AA CD Not Valid A Example Select the cosine ramp for the X axis Enter AX SC A Example Select the cosine ramp for the Y and T axes Enter AA SC 1 1 PARABOLIC RAMP PER AXIS E dP PR selects that a parabolic acceleration ramp is to be used by the specified axes QUEUE REQUIREMENTS MODE Custom ramp AS Not valid AA Not Valid AM Not Valid AA CD Not Valid A Example Select a 10 step parabolic ramp for the T axis Enter AT PR10 A Example Select a 10 step parabolic ramp for the Y axis and a 8 step parabolic ramp for the T axis Enter AA PR 10 8 PC68 User s Manual 6 23 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE RESET E IiE dP The RS command is a software reset which causes the local PC68 microprocessor to reset All previously entered data and commands are lost All internal parameters are initialized to defaults
124. command To make this the default at powerup or reset when DBI has already been made the default use the AP command Example Set the direction outputs for axes Z and T to default output logic i e output low when traveling positive and high when traveling negative Leave X and Y as they are Enter AZ DBN AT DBN Or AA DBN 1 1 QUEUE REQUIREMENTS FORMAT AA CD Not Valid Related commands DBI DB UN BI SVI SVN PC68 User s Manual 6 31 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE PRINT CUSTOM E IiE dB This command will print out a previously defined custom ramp table If an undefined table number is specified only linefeed carriage return pairs will be returned RANGE 1 lt DA lt 8 Print out custom ramp table 2 Enter DA2 Response lt LF gt lt CR gt DAR2 lt LF gt lt CR gt DABO 10000 0 20000 lt LF gt lt CR gt DABO 90000 0 80000 lt LF gt lt CR gt DABO 10000 1 00000 lt LF gt lt CR gt DAE lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DAR DAB DAE DS DE 6 32 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS DB REPORT DIRECTION BIT LOGIC EN d The DB command returns the command either DBN that would set the direction bit to its current logical operation If the direction bit is low when moving
125. d the value found in Table B to the value from Table A to determine total queue usage QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example In the single axis mode move the X axis to absolute position 12345 Enter AX MA12345 GO A Example In the AA mode move the X axis 2468 steps in the positive direction and the Y axis 2468 steps in the negative direction Enter AA MR2468 2468 GO PC68 User s Manual 6 69 MOVE EXECUTION COMMANDS 6 COMMAND STRUCTURE GD GO AND RESET DONE E NN dP GD command may be substituted for a GO command It will reset the done flags then initiate the move which has been previously programmed with such commands as MA MR MT and ML just as the GO command does In the single axis mode only the done flag for the selected axis will be reset In the AA mode all the done flags will be reset In the AM mode the axes involved in the move will be reset This allows the host to reset the interrupts on the axis involved in the next move without affecting other axes which may be still active Note that this command is probably only useful in applications where commands are queued in advance since the interrupt may be reset before the host has the opportunity to service it if the GD command is waiting in the queue To find the total queue requirements for a specific application find the appropriate value in Table A If the board is an encoder version
126. d when 20 goes high Third Parameter If the value is ZERO the KILL function linkage for the specified Bit State is deleted If the value is ONE the KILL function linkage for the specified Bit State will replace the current linkage A Example When input bit 17 goes low the KILL KL function linkage will be deleted Enter XK17 0 1 PC68 User s Manual 6 158 6 COMMAND STRUCTURE STAND ALONE COMMANDS PS REPORT MACRO LINK E I dB This command reports the macro link or KILL KL function link to the specified input bit and Bit State See XX command on page 6 157 First Parameter This specifies the standard input bit number The factory default bits are 0 1 2 and 3 but it can be configured by the user to be the bits to 7 If an expansion board is installed bits 8 11 are also included Second Parameter Valid Bit states are 0 and 1 If the value of the selected bit state is ZERO the selected macro will be executed if the selected bit changes from a TTL high to a TTL low If the Bit State is ONE then the selected Macro will be executed when the selected bit changes from a TTL low to a TTL high NOTE Each bit and state can be linked with a macro So up to two macros can be assigned to an input bit For example macro 15 could be executed when 20 goes low and macro 16 could be executed when 20 goes high Output Formats If the bit is linked to the execution of a macro the text response
127. d with the PC 104 J1 J2 connectors then special mounting efforts may be required to protect the extended pins on the bottom of the PC68 CAUTION The PC668 is a static sensitive device and standard ESD Electro Static Discharge techniques are required when handling and installing the 68 RS 232 communication port is DTE com device so that straight connection can be used for communication RxD to TxD TxD to RxD Two handshake signals are supported CTS and DTR that can also be connected straight through Baud rates of 300 600 1200 2400 4800 9600 19200 and 38400 are supported The 9600 baud rate is the factory default Any terminal device that supports these signals and baud rates be it a computer dumb terminal etc can be used to communicate to the PC68 Most terminal software can be used to communicate interactively to the PC68 although the explanation in this manual is limited to the program supplied by OMS Select an unused COM Port COM1 2 etc on the computer or terminal to be used Connect a straight through 9 pin RS 232 cable between the host terminal and the PC68 To prevent motors switches or other devices from unexpected activation do not connect the cable to output connector J5 at this time Connect 5VDC 1 Amp power source to the power connector at J3 See Table 2 1 for the connector pin out NOTE 12VDC is required only for servo operation PC68 User s Manual 2 5 CONNE
128. de 96 through 143 QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AM AA CD A Example Report the configuration of bit 65 XH Enter XC65 Response If bit 65 is an input bit lt LF gt lt CR gt I lt LF gt lt CR gt If bit 65 is an output bit lt LF gt lt CR gt O lt LF gt lt CR gt If bit 65 is not installed lt LF gt lt CRSN lt LF gt lt CR gt SET PX6IO BIT STATE dB The XH command sets a Px6lO output bit to a 1 If Px6IO 0 board is installed valid bit numbers include 0 through 47 If Px6IO 1 board is installed valid bit numbers include 48 through 95 If 2 board is installed valid port numbers include 96 through 143 QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Set bit 65 high 6 164 Enter XH65 PC68 User s Manual 6 COMMAND STRUCTURE EXPANSION BOARD COMMANDS XL SET A PX6IO BIT LOW I dP XL command sets Px6lO output bit zero If Px6IO 0 board is installed valid bit numbers include 0 through 47 If Px6IO 1 board is installed valid bit numbers include 48 through 95 If Px6IO 2 board is installed valid bit numbers include 96 through 143 QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Set bit 65 high Enter XL65 PC68 User s Manual 6 165 SERIAL COMMUNICATION CONFIGURATION CO
129. e The command expects a loop counter operand following the command The commands up to the LE loop terminator will be executed the number of times specified by the operand Loops may be nested up to four levels deep on each axis The parameter must be less than 32 000 The first loop of commands will occur immediately as they are entered The remaining loops will be executed after the loop terminator LE has been entered Because of the excess processing overhead involved the MA command cannot be used in the loop mode while the board is in the cosine CN velocity profile mode and the MT command cannot be used in the loop mode at any time The axis mode e g AX AY AA must be the same when entering and exiting the loop otherwise the matching loop termination command will not be found by the board s command processor If you want one axis to wait for another in the loop you must be in the AA mode throughout the loop If you are in the single axis mode in the loop each axis commands will go into their separate queues and execute independently of each other Another important thing to note is that the command queue size is 200 Each queued command takes one or more slots If when entering a looping sequence of commands all 200 queue slots are filled before the LE loop terminator is entered the board will hang This is because there is no space for the LE command or any other commands clear this hang up send the board a Contro
130. e controller board Note Because the 68 is a double sided the top of the controller board is considered the side with the female half of the PC 104 connector and the connector J5 Where the bottom of the is considered the side where the pins of the PC 104 connector are exposed The PC68 registers are all 8 bit I O registers and are addressed using decode logic for addresses AO AQ of the PC 104 bus See Table 3 1 for I O Register Description The four registers in order of the address sequence are the Data register Done Flag registers Control register and the Status register The PC68 supports interrupt levels 2 7 and can be set to any one of these levels with switch S1 located on the top of the controller board If interrupts are not desired the PC68 can operate in a polled mode without generating any interrupts however it is preferred to use interrupt mode when communicating with the PC68 3 3 PC 104 COMMUNICATION THEORY The process for communicating to the PC68 through the PC 104 bus at its simplest form consists of the data register and the status register of the PC68 Reference Figure 3 1 for a flow chart of the communication sequence PC68 User s Manual 3 1 PC 104 COMMUNICATION THEORY 3 COMMUNICATION INTERFACE Read the Status Register Write to Read Data from Data Register Register Command Read Done Flag Overtravel Register Determine which axis flagged as DONE Requiremen
131. e is stored in nonvolatile memory automatically and need not be stored via the AP command Since this command writes to non volatile memory it should be used only when necessary and not in repeatedly called functions BEN Example Enter AZ ADH Set the powerup state of the Z axis auxiliary line to high FORMAT QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands ADL AD PC68 User s Manual 6 51 USER COMMANDS 6 COMMAND STRUCTURE ADL SET AUXILIARY DEFAULT LOW ADL command sets the default powerup or reset state of the auxiliary line for the current axis to low This change is stored in nonvolatile memory automatically and need not be stored via the AP command Since this command writes to non volatile memory it should be used only when necessary and not in repeatedly called functions Example Set the powerup state of the Y axis auxiliary line to low Enter AY ADL QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Immediate Related commands ADH AD PC68 User s Manual 6 52 6 COMMAND STRUCTURE USER COMMANDS BS BIT SET E iE dP Set all of the output bits to a known state at the same time This command will affect all output bits setting their states to the specified mask nearly simultaneously The mask must be in ASCII hex format where the least significant bit bit O is on the
132. e on the 1068 M simply change the position of the switches to ON to tap into this voltage Be sure to change the position of these switches when power to the board is OFF the green LED should be off PC68 User s Manual 4 CONTROL SIGNAL INTERFACE 1068 ADAPTER MODULE TABLE 4 2 1068 ENCODER BIAS SWITCH 43 068 ENCODER BIAS SWITCH 545 Signal Description Signal Description 1 Y Phase B 1 T Phase B 2 Y Phase A 2 T Phase A 3 Y Index 3 T Index 4 X Phase B 4 Z Phase B 5 X Phase A 5 Z Phase A 6 X Index 6 Z Index 7 Leave ON 7 Leave OFF 8 Leave ON 8 Leave OFF nmm 87654321 87654321 Terminal Block FIGURE 4 4 1068 DEFAULT SWITCH SETTING If only one of the axes is using a single ended encoder while the others are using a differential encoder you need only turn on the switch positions that relate to the axis with the single ended encoder Besides biasing the negative encoder signals these switches also configure the 1068 Placed in the position shown in Figure 4 4 the 068 is configured to work with the PC68 or the expansion board that adds more axes For the 1068 43 pins 7 and 8 are to be ON while S45 pins 7 and 8 are to be OFF other signals on the 068 are straight through connections with no additional circuitry added Should you need filter
133. e the position counter HN 6 118 6 127 Hold on enable position correction after move HR 6 88 Home reverse find home in reverse direction and initialize position counter HS 6 136 Home switch enable home switch mode HV 6 131 Report position maintenance velocity 6 124 Hold velocity specify maximum position hold correction velocity IC 6 93 Interrupt clear clear done interrupt status and error flags ID 6 90 Interrupt host when done and set done flag II 6 91 Interrupt independent IN 6 91 Interrupt when nearly done IO 6 48 Designates bits as inputs or outputs IP 6 92 6 128 Interrupt when in position IS 6 132 Interrupt slip interrupts host on slip or stall detection IX 6 98 Interrupt when done Sends Hex character via RS 232 JF 6 72 Jog at fractional rates Jog command run motor at specified velocity until a JG 6 71 new velocity command is sent or it is stopped by a stop or kill command KA 6 111 Report acceleration feedforward KAH 6 111 Acceleration Feedforward coefficient used in tuning servo systems KD 6 112 Report PID derivative gain KD 6 112 Derivative Gain coefficient used for PID filter KI 6 113 Report PID integral gain KI 6 113 Integral Gain coefficient used for PID filter KL 6 77 Kill flush queue and terminate pulse generation immediately on all axes without decelerating KM 6 88 Home and kill pulse generation KO 6 115 Report PID closed loop offset KO 6 114 Offset coefficient used in clos
134. ed Refer to Section 6 COMMAND STRUCTURE for more information on these commands The following is a list of parameters that can be defined as part of the User Definable Power Up Default Parameters Baud Rate for serial communication bit configuration Overtravel limit soft limit or hard limit Overtravel limit enabled or disabled Overtravel limit polarity active high or active low Software based overtravel for each axis Direction Bit polarity Acceleration value for each axis Trajectory profile for each axis linear parabolic S curve custom Velocity Peak Velocity Base User Unit values for each axis Auxiliary output settle time for each axis Automatic auxiliary control axis by axis Encoder Ratio for each axis Encoder Slip tolerance for each axis Position Maintenance Dead Band Hold Gain and Hold Velocity Servo axis unipolar bipolar output Servo PID values KP KD KO KV KA Servo zero value DZ NOTE Use the AP command sparingly since it writes to Flash Memory There is a finite 2 16 number of times the Flash can be re written i e less that 10 000 times typical PC68 User s Manual 2 GETTING STARTED POWER SUPPLY REQUIREMENTS 2 9 POWER SUPPLY REQUIREMENTS The PC68 is designed to operate from the power supplied by to the PC 104 bus which must be capable of supplying 5V at 1 amp typical to the PC68 Servo models of the 68 require 12V at 0 1 amp typical CAUTION Under no circu
135. ed loop mode KP 6 116 Report PID proportional gain KP 6 116 Proportional Gain coefficient used for PID filter KR 6 89 Home in reverse and kill pulse generation KS 6 79 Kill selected axes KV 6 117 Report velocity feedforward 6 117 Velocity Feedforward coefficient used in tuning servo systems PC68 User s Manual COMMAND SUMMARY 6 COMMAND STRUCTURE COMMANDS IN CHAPTER 6 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION LA 6 22 Linear ramp selection per axis LE 6 83 Loop end terminate most recent LS command LF 6 16 Disable limit switches for selected axis LH 6 17 Limit high limit switch is active high LL 6 17 Limit low limit switch is active low LN 6 16 Enable limit switches for selected axis LP 6 63 Load position load position counter with parameter LS 6 18 Report limit active state LS 6 82 Loop start set loop counter from 1 to 32000 loops may be nested to 4 levels MA 6 64 Move absolute move to absolute position MD 6 150 Define a temporary macro 6 66 linear move specified distance relative from current position MM 6 139 Move minus set minus direction for MV type move MO 6 67 Move one pulse in current direction MP 6 139 Move plus set positive direction for MV type move MR 6 65 Move relative move specified distance from current position
136. ediate Immediate Not Valid Related commands BH BL BX PC68 User s Manual 6 55 USER COMMANDS 6 COMMAND STRUCTURE BS REPORT BIT STATE I The command reports the state of the specified general purpose bit x Example Determine the state of I O bit 6 Enter BS6 Response If the bit is set to a TTL high the response will be lt LF gt lt CR gt 1 lt LF gt lt CR gt If the bit is set to a TTL low the response will be lt LF gt lt CR gt 0 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Immediate Not Valid Related commands BH BL BX 6 56 PC68 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATION COMMANDS 6 7 MOVE SPECIFICATION COMMANDS These commands allow specification of move parameters They allow move parameters to be tailored to the user s system requirements ACCELERATION E IiE dB The AC command sets the acceleration deceleration register to the operand which follows the command The parameter must be greater than zero zero is not valid and less than 8 000 000 where 2 000 000 is the factory default and the unit is in steps per second per second All the following move commands for the axis being programmed will accelerate or decelerate at this rate until another AC command is entered See the AP Command on page 6 24 to preserve the AC settings as the Power up Reset values
137. een specified add 3 Related commands KL RS ST SA SD SI SO FL PC68 User s Manual 6 79 MOVE TERMINATION COMMANDS 6 COMMAND STRUCTURE SO STOP AT POSITION BY RAMPING EN dB FROM DISTANCE The SO command instructs the PC68 to continue moving until reaching a specified distance parameter 2 from a specified stop point parameter 1 The axis will then ramp to a stop within the specified distance This allows the user to control the point at which deceleration begins the rate of deceleration and the stop point all with a single command RANGE 33 554 541 lt Parameter 1 Stop Position lt 33 554 541 33 554 541 lt Parameter 2 Distance from Stop Position to Start Decelerating lt 33 554 541 Example The X axis is jogging at 10 000 steps per second We want the axis to stop at position 50 000 but it must not start ramping until reaching position 46 000 Enter 050000 4000 Related commands ST SA SD SI KL KS QUEUE REQUIREMENTS FORMAT Not Valid AX AT If the controller has an encoder or servo axis add 1 If PA mode is active add 1 If an AUX bit settling time has been specified add 3 6 80 PC68 User s Manual 6 COMMAND STRUCTURE MOVE TERMINATION COMMANDS SI STOP INDIVIDUAL E IE dB This command can be used to stop only certain axes In a single axis mode the SI command behaves identically to ST In a multiaxis mode however SI can be used to stop any numbe
138. ently addressed axis The limit flag in the hardware status register will be reset by the RA command providing another axis is not in limit The done flag register will also be reset by this command The status is returned in the following format CHARACTER MEANING CHAR SENT DESCRIPTION 1 LF Line feed 2 CR Carriage return 3 CR Carriage return 4 P Moving in positive direction M Moving in negative direction D Done ID Il or IN command has been executed set to N by this command 5 or IC command N No ID executed yet L Axis in overtravel Char 4 tells which direction Set to N when limit switch 6 is not active N Not in overtravel in this direction 7 H Home switch active Set to N when home switch is not active N Home switch not active 8 LF Line feed 9 CR Carriage return 10 CR Carriage return A Example PC68 User s Manual QUEUE REQUIREMENTS Immediate Not valid Not Valid Custom ramp AA CD Not Valid Enter Response The Y axis just encountered a limit verify its status AY RA lt LF gt lt CR gt lt CR gt PNLN lt LF gt lt CR gt lt CR gt 6 103 SYSTEM STATUS REQUEST COMMANDS 6 COMMAND STRUCTURE The RI command is an AA mode command that returns the same status information on all axes as the RA command in the single axis mode The 4 character fields for each axis are separated by commas and the string has one line REQUEST INTERRUPT STATU
139. epending on the model with a proprietary algorithm patent number 4 734 847 This frequency is used to generate the pulse trains The velocity profile and synchronization of each axis is also handled by the 68332 The commands from the PC AT or compatible host computer are temporarily stored in a 124 character buffer until the 68332 microprocessor can parse them The command is then executed immediately or routed to separate command queues for each axis The command queue contains a list of addresses to execute followed by an optional parameter A command from the host may be expanded into several commands to the appropriate axis The GO command for example will expand into start ramp up constant velocity and ramp down commands The LS command will save its parameter i e the loop count on a loop stack along with the address of the LS command to be used by the next LE command as a target for a jump command The LE command will decrement the loop count and jump to the most recent LS command providing the loop count has not reached zero If the loop count has reached zero and it is not nested inside another loop the queue space will be flagged as available and the next instruction in the queue will be executed Interrupts to the PC AT host are generated Status of the interrupts and error flags may be read by the host The PC68 address is compared to the I O address selected by the host When a match is detected the board decode logic is enabled
140. es that overtravel occurs when the limit input signal is low active low This is the factory default mode See the AP Command on page 6 24 to preserve the LL settings as the Power up Reset mode QUEUE REQUIREMENTS A Example Select the limit switch low true condition for the X axis Enter AX LL Example Select a low true limit condition for the Z and U axes Enter LL 1 1 PC68 User s Manual 6 17 SYSTEM CONTROL COMMANDS LS REPORT LIMIT ACTIVE STATE 6 COMMAND STRUCTURE The LS command reports the active state of the limits for the current axis The LL and LH commands are used to set this value and are the possible responses of this command A Example Enter AY LS Response lt LF gt lt CR gt LL lt LF gt lt CR gt Find out whether the Y axis limits are active high or active low FORMAT QUEUE REQUIREMENTS Immediate Not Valid Not Valid Related commands LH LL PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS SL SOFT LIMIT IiE dP The SL command changes the operation of the limit inputs causing the output pulse train to ramp down instead of terminating immediately The output queue is not flushed except for the current move This mode is effective for point to point and JG moves only See the AP Command on page 6 24 to preserve the SL settings as the Power up Reset value
141. eter VB 6 62 Report axis base velocity VB 6 61 Base velocity set base velocity VL 6 60 Report axis velocity limit VL 6 59 Set maximum velocity to be used in profile VS 6 73 Velocity stream slave velocity mode for profiling WA 6 95 Wait until all moves on all axes are finished WD 6 84 While end WS loop terminator WG 6 86 Terminate WH loop WH 6 85 While execute all commands until WG loop terminator until flag cleared by CW command WQ 6 95 Wait until current axis queue is empty WS 6 84 While sync execute while sync is true WT 6 97 Wait wait for specified number of milliseconds WY 6 99 Who are you returns model and software revision XC 6 163 Reports the configuration of a Px6lO input output bit XH 6 164 Sets a Px6IO output bit to 1 XI 6 164 Reports the bit state of a Px6lO bit XK 6 158 Links KILL function to specified 1 XL 6 165 Sets a Px6lO output bit to a zero XX 6 157 Links macro to specified Px6lO input bit These commands are valid when an expansion board is used with the PC68 to get more than four axes of control 6 8 PC68 User s Manual 6 COMMAND STRUCTURE AXIS SPECIFICATION COMMANDS 6 4 AXIS SPECIFICATION COMMANDS The following commands set the context to direct the commands which follow to the appropriate axis They remain in effect until superseded by another command of the same type specifying a different axis AA AXES ALL IE dP The AA command will perform a context swit
142. eue space the loop may never be completed since it cannot reclaim the queue space and cannot accept the loop terminator The RQ command may be used to examine the remaining queue space A Control D may clear this condition if the input character queue is not also filled since it bypasses the command interrupter Some commands are valid only for stepper axes others for stepper axes with encoder feedback and still others for servo axes Most are valid for all three types or some combination of types A set of symbols to the right of each command identifies which motor types with which each command may be used The symbols meanings are as follows Stepper motor with or without an encoder Stepper motor with an encoder Servo motor If a command is usable with one of these motor types the symbol will appear in black If the command is not usable with a motor type that motor symbol will be displayed in gray This command is not usable with servo motors C Indicates an example The following commands are available in firmware revision 6 00 and above 6 2 PC68 User s Manual 6 COMMAND STRUCTURE COMMAND SUMMARY 6 3 COMMAND SUMMARY The following commands are included in the PC68 family of motor controllers The indicates a signed integer input parameter or a signed fixed point number of the format when user units are enabled With User Units enabled distances velocity and acceleration parameters may be i
143. for each axis in the move The ML command should be followed by a GO or GD to start the axes together The velocity and acceleration parameters are scaled to allow the axes to move and finish together All axes are scaled to the axis with the longest move time QUEUE REQUIREMENTS AA CD Not Valid A Example In the AA mode move the Y Z and T axes 10000 100 and 1000 counts respectively with each starting and finishing together The other axes remain in their previous positions Enter AA ML 10000 100 1000 GO MT MOVE TO E HN dP The MT command uses linear interpolation to move to the specified absolute position The syntax is similar to the ML command This command is invalid while in the CN mode if loops are being used The command will become valid again after executing an ST or KL command The MT command is not valid in loops LS LE WH WG at anytime When used in the contour definition mode only the axes being used in the contour must be provided for in the MT syntax A GO or GD command initiates the move QUEUE REQUIREMENTS AA CD 4 number of axes A Example In the AA mode move the X Y and T axes to absolute positions 6 66 1000 10000 and 100 counts respectively with each starting and finishing together The unused axes remain in their previous positions Enter AA MT1000 10000 100 GO PC68 User s Manual 6 COMMAND STRUCTURE MOVE SPECIFICATIO
144. ft blank C 6 PC68 User s Manual INDEX eec Rc crc cM 3 7 m 3 7 c cR E 3 7 3 7 69392 1 2 8 1 fj M 6 55 6 56 ADM Lut tudo 6 58 fip 6 54 o E 6 32 fib 6 33 vb E E 6 34 LDS 6 35 op 6 110 Ed 6 123 ees Err c ccu C cr ERE MES 6 128 6 129 6 130 M 6 131 ri T E 6 111 CKD 6 112 DKK M 6 113 bebe ditor hp EL E E NEL 6 115 A 6 116 LE E 6 117 S adesivi dis eee d eec de eue eren eee e de dee eese eve eee 6 18 nf nente e tte pe dede tef epe ee ets 6 119 6 126 vele n 6 26 Y lp un cers tide ete etnies ele wn cera sede avn ceva stile welch able ele 6 166 lp 6 46 Polon eL eee 6 20 Alo a eee c c CM DM m 6
145. g velocity with no ramp up This could cause the stage to stall if it is not able to accelerate at this high rate It is recommended that some ramp up distance be allowed There is also some ramp down distance as the stage slows from the constant velocity value to a stop This distance is adjustable using the AC command It can almost be eliminated using the CK command The CX command cannot be placed within a loop or while construct QUEUE REQUIREMENTS Not valid Immediate Immediate 5 number of axes in the contour Custom ramp AA CD A Example The following demonstrates cutting a hole with a 10 000 count radius using constant velocity contouring and circular interpolation The contouring velocity is set to 1000 pulses per second A contour is then defined beginning at coordinates 0 0 on the X and Y axes The auxiliary output of the Z axis is turned on which could turn on the cutting torch or laser starting the cut at the center of the circle A half circle is cut from the center to the outside of the hole positioning the cutting tool at the start of the desired hole The hole is then cut the torch turned off the stage stopped and the definition is complete The stage is then positioned and the hole cut with the CX command The AN and AF commands must have commas for all axes since they can all be addressed from within the contour definition Enter AA CV1000 CD0 0 AN 0 5000 3 1415926
146. hold mode will work correctly Enter ER10000 25000 PC68 User s Manual 6 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS ER REPORT MOTOR ENCODER RATIO ER command reports the motor to encoder ratio as set with the ER command QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Find out what the last ER command sent was Enter ER Response lt LF gt lt CR gt er2 000000 lt LF gt lt CR gt The encoder produces 1 count for every 2 steps of the motor Related commands ER PC68 User s Manual 6 123 POSITION MAINTENANCE COMMANDS HOLD VELOCITY 6 COMMAND STRUCTURE The HV command specifies maximum position hold correction velocity This is the peak velocity which will be used while making position corrections The factory default setting is zero See the AP Command on page 6 24 to preserve the HV settings as the Power up Reset values This command is not designed for use with servo motors Value range 0 to 1 044 000 QUEUE REQUIREMENTS MODE Custom ramp AX AS 2 AA 2 AM Immediate AA CD Not Valid A Example see HN command page 6 127 HG HOLD GAIN The HG command allows the user to specify position hold gain parameter This gain parameter is multiplied by the position error in determining the velocity during correction This command is designed to work with stepper motor applicati
147. in a PC68 with the encoder option QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example The following would load the X axis position register with 1000 and the Z axis position register with 2000 Enter AA LP1000 2000 A Example The following would load the Y axis position register with 20 000 and the encoder position register with 30 000 counts in encoder models Enter AY ER3 2 LP30000 PC68 User s Manual 6 63 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE MOVE ABSOLUTE IiE dP The MA command will set up the axis to move to the absolute position supplied as a parameter The default value of zero is used if no parameter is supplied in the single axis mode In the AA mode an axis may remain stationary by entering a comma but omitting the parameter The move is actually initiated by a GO or GD command In the AA mode each axis will use its predefined acceleration and velocity values to move to the new absolute position Each axis may or may not get to the destination at the same time because each axis utilizes individual velocities and accelerations QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example In the single axis mode move the X axis to absolute position 100 000 counts with the previously entered acceleration and velocity parameters Enter AX MA100000 GO A Example In the AA mode move the Y axis
148. in operation to the KL and ST commands except that current motion will remain unaffected by the FL command All unexecuted commands remaining in the current axis queue will be flushed upon receipt of this command Example Several motion commands have been sent to the X axis but a situation arose and now those commands must be cleared out The currently executing motion must be allowed to complete to avoid damage to the product Enter AX FL QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KL KS RS ST SA 6 78 PC68 User s Manual 6 COMMAND STRUCTURE MOVE TERMINATION COMMANDS KS KILL SELECTED AXES E IiE dB This command performs the same operation as the KL kill command except that individual axes can be killed without affecting others KS will flush only the selected axes command queues rather than the entire board Refer to the KL command for more details Example The Y axis has hit a limit switch and is now executing commands that were waiting in the queue This axis must be reset but the other axes must be allowed to continue operation Enter AY KS or AA KS 1 QUEUE REQUIREMENTS FORMAT 5 5 Not Valid AX AT If PA mode is active 1 auxiliary output bit settle time has been specified add 3 AA AM mode is active add 1 If an auxiliary output bit settle time has b
149. ing circuitry on any of these other signals it would have to be added external to the IO68 M Contact Oregon Micro Systems technical support for further instruction PC68 User s Manual 4 5 1068 ADAPTER MODULE 4 CONTROL SIGNAL INTERFACE Table 4 3 shows the pin definitions on the 1068 terminal block connector TABLE 4 3 1068 TERMINAL BLOCK PIN OUT Row 1 Description Row 2 Description Row 3 Description 1 X Step 24 X Direction 47 X Auxiliary 2 X Phase 25 X Phase 48 X Index 3 X Phase A 26 X Phase B 49 X Index 4 X Limit 27 X Limit 50 X Home 5 5VDC 28 X Servo 51 Digital Ground 6 Y Step 29 Y Direction 52 Y Auxiliary 7 Y Phase 30 Y Phase 53 Y Index 8 Y Phase A 31 Y Phase B 54 Y Index 9 Y Limit 32 Y Limit 55 Y Home 10 5VDC 33 Y Servo 56 Digital Ground 11 0 34 3 57 5 12 1 35 No Connect 58 6 13 2 36 4 59 7 14 5VDC 37 Z Servo 60 Analog Ground 15 Z Step 38 Z Direction 61 Z Auxiliary 16 Z Phase 39 Z Phase 62 Z Index 17 Z Phase A 40 Z Phase B 63 Z Index 18 Z Limit 41 Z Limit 64 Z Home 19 5VDC 42 T Servo 65 T Auxiliary 20 T Step 43 T Direction 66 T Index 21 T Phase 44 T Phase B 67 T Index 22 T Phase A 45 T Phase B 68 T Home 23 T Limit 46 T Limit 69 Digital Ground NOTE The pin out is the same for a IO68 M when used with an expa
150. is the text of the SX command used to link the bit with the macro Example lt LF gt lt CR gt SX1 0 23 lt LF gt lt CR gt If the bit is linked to the KL KILL function the output will be the text response of the SK command used to link the bit with the kill function Example lt LF gt lt CR gt SK1 0 1 lt LF gt lt CR gt If the bit is not linked the output will be lt LF gt lt CR gt lt LF gt lt CR gt A Example This will report if there are any macro or KILL KL function links to input bit 2 when it goes from low to high Enter PS2 1 PC68 User s Manual 6 159 STAND ALONE COMMANDS 6 COMMAND STRUCTURE PX REPORT KILL LINK E I dP This command reports the macro link or KILL KL function link to the specified input bit and Bit State See XX command on page 6 157 First Parameter Specifies the number of the input bit on the Px6lO Valid numbers include any defined input bits on the 6 Second Parameter Valid Bit States are 0 and1 If the value of the selected bit state is ZERO the selected macro will be executed if the selected bit changes from a TTL high to a TTL low If the Bit State is ONE then the selected Macro will be executed when the selected bit changes from a TTL low to a TTL high NOTE Each bit and state can be linked with a macro So up to two macros can be assigned to an input bit For example macro 15 could be executed when 20 goes low and macro 16 could be executed when
151. ity feed forward setting KV of the current servo axis x Example Make sure the velocity feed forward setting of axis T is zero Enter AT KV Response lt LF gt lt CR gt KVO 00000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KV KA PC68 User s Manual 6 117 PID FILTER CONTROL COMMANDS 6 COMMAND STRUCTURE HF HOLD OFF i dP The HF command disables position hold stall detection and tracking modes QUEUE REQUIREMENTS AA CD Not Valid A Example Turn off encoder hold mode on the X axis Enter AX HF HN HOLD ON EN The HN command enables position correction after a move and activates the HV HG and HD commands Hold and slip detection are disabled if an LP HM HR SA ST or KL command is entered or if a limit is encountered QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid Example The following commands could be used to set up the position correction mode This sequence sets up a move velocity of 100 000 steps per second and an acceleration of 500 000 steps per second per second The position correction velocity is set for 50 000 steps per second a deadband of 10 steps and correction gain of 2 000 The correction is then enabled A 200 000 step move is performed then that position is maintained within the 10 step deadband until commanded to
152. l socket Align the PC68 on to the PC 104 J1 J2 connector ensuring that the board is lined up correctly and push the boards together Make sure that the four standoffs are aligned with the four holes on the PC68 Double check the board to ensure it is properly seated in the connector Either screw another set of standoffs in to the standoffs on the lower board or use screws to secure the PC68 Replace the power cord and turn on the computer Allow the computer to boot up 2 4 PC68 User s Manual 2 GETTING STARTED CONNECTING THE PC68 FOR RS 232 COMMUNICATION For ease in troubleshooting do not connect the 68 to other parts of the system until communication is established with the host You can test that communications are working by running PC68BCOM EXE from a command prompt Otherwise you can run Terminal or Executor from the OMS EZ Suite to test communications to your PC68 Using one of these programs send a WY to the controller If you get a response that identifies your controller model and its firmware version then you have a communication link If you need assistance contact Oregon Micro Systems 2 6 CONNECTING THE PC68 FOR RS 232 COMMUNICATION The first requirement for communication through the RS 232 interface is to insure that the PC68 is securely and safely mounted where damage is unlikely This includes the exposure to possible static discharge moisture debris etc If the specific PC68 model is equippe
153. l D same as KL but shorter to kill all moves and flush all queues When programming a loop of more than four or five moves the queue size should be examined with the RQ command to see if it is nearing zero QUEUE REQUIREMENTS MODE AS AA CD Not Valid A Example Execute a 100 000 count relative move on the Z axis 5 times Enter AZ LS5 MR100000 GO LE 6 82 PC68 User s Manual 6 COMMAND STRUCTURE LOOP CONTROL COMMANDS NOTE The first move will occur immediately after entering the GO command The remaining 4 moves will be executed after the loop terminator LE has been entered Example Execute a 100 000 count move relative on the X axis together with a 100 count move on the T axis followed by a move absolute to 100 counts on the X axis and 200 counts on the T axis four times Enter 154 MR100000 100 GO MA100 200 GO LE LE LOOP END E EN dP The LE command terminates the most recent LS command The axis will loop back and repeat the commands within the loop the number of times specified in the LS command The loop will start repeating as soon as this command is terminated QUEUE REQUIREMENTS MODE AX AS AA AM Not Valid A Example see LS command page 6 82 PC68 User s Manual 6 83 LOOP CONTROL COMMANDS 6 COMMAND STRUCTURE WS WHILE SYNC IiE dB The WS command will execute the commands between the WS and WD commands a
154. large of a value may result in unstable behavior after command velocity changes 2 12 PC68 User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM The values for KV range from 0 to 4096 Desired Step Response Actual Step Response Constant Velocity Following Error FIGURE 2 11 9 The KA variable is used when tuning torque controlled servos current mode servo amplifiers This is the acceleration feedforward coefficient Systems with high inertial loads may require additional torque during acceleration or deceleration to achieve optimum performance KA determines how closely the system follows the desired acceleration and deceleration portions of the motion profile Increasing this term reduces the following error occurring during acceleration and deceleration of the system Although if KA is too large instability may occur The values for KA range from 0 to 4096 Desired Step Response Actual Step Response Acceleration Deceleration Following Error FIGURE 2 12 PC68 User s Manual 2 13 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED The block diagram below describes the feedback loop that is taking place in the servo system PID Algorithm Motor and Encoder Amplifier Error i e Position FIGURE 2 13 FEEDBACK LOOP 10 You want to save the values for KP KD etc for future reference These values can be saved in the board s Flash Memory so they can be accessed
155. least a 2096 flat spot at peak velocity Formula Profile distance peak velocity 2 2xacceleration x2 4 Example 50 000 2 2x500 000 x2 4 6 000 3 Execute the move by sending the move commands to the 68 Example MR6000 GO 4 Adjust the KP term while repeating step 2 until the following error at the flat spot of the profile is acceptable If the motor becomes unstable prior to obtaining the optimum KP term than increase the KD term until the motor stabilizes Example LPO KP3 HN MR6000 GO LPO KP10 HN MR6000 GO LPO KP25 HN MR6000 GO LPO KD100 HN LPO KP35 HN MR6000 GO LPO KD125 HN The values in the above example are totally arbitrary and may vary drastically with different systems The command is used to set the position error to O PC68 User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM The values for KP range from 0 to 4096 Once the KP term has been obtained then continue executing the motion while raising the KI term until the long term following error is acceptable This error can be measured at the two knees of the motion profile By increasing the KI term the response time of your system will increase motion profile should have a steeper slope as increases However as Kl increases the system can also become unstable When the instability becomes unacceptable increase the KD parameter This will increase the dampening on the system s motion profile therefore red
156. lected Macro will be executed when the selected bit changes from a TTL low to a TTL high NOTE Each bit state can be linked with a macro So up to two macros can be assigned to an input bit For example macro 10 could be executed when 0 goes low and macro 11 could be executed when 0 goes high Third Parameter Specifies the Macro number 5 24 to be executed when the conditions are met A macro link can be deleted by specifying the bit number and the Bit State along with a Macro number zero The macro assigned to a given input bit and Bit State can be changed by issuing the same SX command using a different macro number A Example When bit 1 goes from low to high macro 20 will be executed 6 154 Enter X1 1 20 PC68 User s Manual 6 COMMAND STRUCTURE STAND ALONE COMMANDS A Example Upon Power up the user presses an Activate Button short to ground linked to bit 1 This should cause the 68 to position the X axis at a position 1000 steps from zero and the Y axis at 2000 steps from zero At that point it should execute Macro 10 The Stop button short to ground is linked to bit 2 Enter MDO AX MA1000 GO AY MA2000 GO control Z gt 0 10 SX1 0 10 MD1 KL lt control Z gt PTIl 9 SX2 0 9 SM1 AP begin the definition of Macro 0 move x axis to position 1000 move y axis to position 2000 terminate the definition of Macro 0 store macro 0 to non volatile macro 10
157. lse occurs per sample interval When this functionality is used the axis position counter will be reset to a select value when the switch is activated At this point the PC68 can either ramp the axis to a stop or stop the axis immediately The control of the direction of travel the logic active state and the response to the active switch are controlled through commands HE mode PC68 home inputs can be used with encoders which provide one home pulse for the complete travel of the stage The index input uses internal logic to establish the home position when used with the HE command mode This position consists of the logical AND of the encoder index pulse the home enable external input LOW true only and a single quadrant from the encoder logic The home enable pulse must be true for less than one revolution of the encoder thus allowing only one home for the complete travel of the stage This input is not inverted by the HH and HL commands The home logic expressed in Boolean terms is home phaseA phaseB index home switch It is necessary that the above quadrant occur within the index pulse as provided by the encoder for this logic to function properly It may be necessary with some encoders to shift the phase of this quadrant by inverting one or both of the phases Inverting one phase or swapping phase A for phase B will also reverse the direction The encoder counter read by an RE command must increase for positive moves or the system
158. lse rate of Phase 4 is approximately 1096 of your desired peak operational velocity If the pulse rate is already greater than 1096 of peak your amplifier is not designed for low velocity motion and you will likely have some difficulty tuning your motors Send the DZ 3277 command to the PC68 and recheck the velocity You may need to readjust your amplifier If so do not reduce the signal command gain only increase the setting as needed Increasing the gain will not impair the forward peak velocity but reduction will Send the DZ command with the zero value noted at the end of step 3d iv to the PC68 Send the same value using the KO command e g KO 175 PC68 User s Manual 2 7 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED 5 Verify the direction of your servo encoder a b Send the LPO DZ2000 command to the PC68 Send the command to the PC68 and observe the response If the response is positive no further action need be taken go to step 6 If the response is negative your encoder must be reversed i If your encoder produces a differential signal swap Phase B with Phase B not and repeat from step a above ii If your encoder produces a single ended or TTL signal swap Phase A with Phase B and repeat from step a above If the RE response is still negative contact OMS Technical Support for assistance 6 Repeat from step 1 for the other servo axes 7 Remember to
159. mand CW operator wants a break so he she sends CW from keyboard and presses switch once more since loop will most likely be waiting for the switch at this point the loop ends and the following commands execute 0 0 0 GO move to home position 6 85 LOOP CONTROL COMMANDS 6 COMMAND STRUCTURE WG WHILE FLAG E IiE daB The WG command serves as the terminator for the WH command QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example see WH command page 6 85 CLEAR WHILE IiE daB The CW command breaks the WH command upon execution of the remaining commands in the loop i e the current execution of the loop is finished The WH loop is always executed at least one time since the test for the flag is at the bottom QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example see WH command page 6 85 6 86 PC68 User s Manual 6 COMMAND STRUCTURE HOME AND INITIALIZATION CONTROL COMMANDS 6 11 HOME AND INITIALIZATION CONTROL COMMANDS These commands allow the initialization of the physical stage with the controller HM HOME The HM command will cause the current axis to step in the positive direction at the predefined velocity until the home input line goes true The position counter will be initialized to the position supplied as a parameter The velocity should be less than 2048 coun
160. me at the end of each move before complementing the auxiliary bit This is useful for systems that need to retain torque for some specific amount of time before allowing the motor drive to reduce current output This mode need only be set once and can be turned off by using the AN or AF command Axes can be selectively affected in the AA mode by following the syntax as described for the AN command The values of the included parameters set the state of the auxiliary line during the move The following queue requirements apply to each GO or GD command in the command stream in the AA and single axis modes This mode is off by factory default See the AP Command on page 6 24 to preserve the PA settings as the Power up Reset values QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Turn on the Y axis auxiliary output at the beginning of a move and turn the T axis output off at the beginning of a move while in the AA command mode Note the reversed logic i e on 1 off On pulls the signal line to ground Off lets it rise to 5 volts or its pull up reference voltage Enter AA PA 0 1 Related commands AN AF PC68 User s Manual 6 143 CONSTANT VELOCITY CONTOURING 6 COMMAND STRUCTURE LOW dB The BL command sets the selected general purpose output on i e logic low QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp EM EE RAE EUNT
161. motors SK 6 156 Links KILL function to specified PC68 input bit SL 6 20 Report soft limit status SL 6 19 Soft limit mode allow pulse train to ramp down on overtravel SM 6 153 Enables Disables stand alone mode SO 6 121 Report analog output mode SO 6 80 Stop at a designated position using a specified ramp down distance PC68 User s Manual COMMAND SUMMARY 6 COMMAND STRUCTURE COMMANDS IN CHAPTER 6 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION SP 6 141 Stop at position stop at specified position if possible after all commands have been executed SR 6 36 Selects custom ramp ST 6 76 Stop flush queue and decelerate to stop SV 6 39 Report servo voltage invert selection SVI 6 37 Invert servo voltage SVN 6 38 Normalize servo voltage SW 6 96 wait for the input bit to be released by other SX 6 154 Links macro to specified PC68 input bit TF 6 134 Turn encoder slip kill off TL 6 41 Report software overtravel ranges TL 6 40 Set software travel limits TM 6 72 velocity for the specified number of TN 6 134 Turn encoder slip kill on UF 6 109 User units off turn off user unit translation UN 6 121 Unipolar set the analog torque outputs to unipolar UU 6 108 Report axis user units axis assignment UU 6 107 User units multiply acceleration velocity and distance parameters by specified param
162. mstances should the PC68 be installed in or removed from the PC 104 bus with the power on PC68 User s Manual 2 17 POWER SUPPLY REQUIREMENTS 2 GETTING STARTED 0 125 Diameter Typical FACTORY 3 775 2 0 125 Diameter Typical FIGURE 2 14 PC68 DIMENSIONAL LAYOUT 2 18 PC68 User s Manual 3 COMMUNICATION INTERFACE INTRODUCTION 3 COMMUNICATION INTERFAC 3 1 INTRODUCTION The PC68 is 10096 compatible with PC 104 ISA IEEE P996 1 specification computers and can also communicate through an RS 232 port PC68 can be considered a motion coprocessor in the PC 104 computer where it can execute the motion process independent to the PC 104 CPU or continue to be interactive The PC 104 interface of the PC68 has four consecutive 8 bit I O ports available for control of interrupts status of interrupt requests data transfer as well as done flags The 68 can generate interrupts for several different conditions or can be polled The RS 232 port on the PC68 provides the ability for the PC68 to be a complete stand alone controller without interaction from the host computer or it can be continually interactive through the RS 232 port Baud rates of 300 to 38 4K are supported by the PC68 3 2 PC 104 INTERFACE The PC 104 interface to the controller consists of four consecutive registers Factory default address is 300 303H The base address is selectable with switch S2 located on the top of th
163. nable bit This bit should be checked before writing to the data register to avoid sending a character when the interrupt has been disabled IBF E Input buffer full interrupt enable bit DON E Done or error status interrupt enable bit Unused Unused Unused Unused PC68 User s Manual STATUS REGISTER 3 COMMUNICATION INTERFACE 3 9 STATUS REGISTER This register is a host read only register that provides status information to the host CPU This status is independent of the enable status of the interrupt allowing the board to operate in a polled mode if desired In an interrupt mode the host would read this register upon receiving an interrupt The information provided in this register can define the source of the interrupt The functionality of this and the other registers is consistent with other OMS products Future expansions to these registers may be performed to enhance the controllers capabilities See Table 3 4 for details on the status register TABLE 3 4 STATUS REGISTER DESCRIPTION STATUS DESCRIPTION Interrupt request status Transmit buffer empty status This high true bit indicates a character may be written to the transmit buffer Input buffer full status This high true bit indicates a char acter is available in the input buffer to be read by the host Done or error status This high true bit indicates the command is complete i e an ID command has been detected If bits 0 thro
164. ndex 9 Y Limit 32 Y Limit 55 Y Home 10 5VDC 33 Y Servo 56 Digital Ground 11 0 34 3 57 5 12 1 35 58 6 13 2 36 4 59 7 14 5VDC 37 Z Servo 60 Analog Ground 15 Z Step 38 Z Direction 61 Z Auxiliary 16 Z Phase 39 Z Phase B 62 Z Index 17 Z Phase A 40 Z Phase B 63 Z Index 18 Z Limit 41 Z Limit 64 Z Home 19 5VDC 42 T Servo 65 T Auxiliary 20 T Step 43 T Direction 66 T Index 21 T Phase 44 T Phase B 67 T Index 22 T Phase A 45 T Phase B 68 T Home 23 T Limit 46 T Limit 69 Digital Ground 1068 1 TERMINAL BLOCK PIN OUT Row 1 Description Row 2 Description Row 3 Description 1 GND 24 GND 47 5VDC 2 0 25 17 48 5VDC 3 1 26 18 49 FieldGND 4 5VDC 27 19 50 31 5 2 28 5VDC 51 32 6 3 29 GND 52 33 7 4 30 FieldGND 53 34 8 5VDC 31 20 54 35 9 5VDC 32 GND 55 5VDC 10 5 33 21 56 36 11 6 34 0 22 57 37 12 7 35 58 38 13 8 36 23 59 39 14 9 37 0 24 60 40 15 10 38 0 25 61 41 16 11 39 26 62 42 17 12 40 5VDC 63 43 18 GND 41 5VDC 64 GND 19 13 42 Field GND 65 GND 20 5VDC 43 27 66 44 21 14 44 28 67 45 22 15 45 29 68 46 23 16 46 30 69 47 PC68 User s Manual 5 SPECIFICATIONS APPENDIX C This page intentionally le
165. ne een i de dae 2 1 TO PREPARE FOR THE INSTALLATION INTO A PC 104 STACK 2 1 SET THE VO ADDRESS RANGE oe 2 2 SET THE INTERRUPT REQUEST IRQ eiie sir et Fette 2 4 INSTALL THE PC68 INTO A PC 104 2 4 CONNECTING THE PC68 FOR RS 232 2 5 CONNECT AND CHECKOUT THE SERVO 2 6 CONNECT AND CONFIGURE THE MOTOR AMPLIFIER 2 6 TUNE THE SYSTEM near atn rant 2 8 SETTING THE USER DEFAULT CONFIGURATION 2 15 SETTING THE USER DEFAULTS 2 15 OTHER USER DEFINABLE DEFAULT PARAMETERS 2 16 POWER SUPPLY REGUIREMENTS pei eibi pe vetta 2 17 3 COMMUNICATION INTERFACE p 3 1 ut ema ete op eres opui eu erue x 3 1 PC 104 COMMUNICATION THEORY intet tte tiere te Rte 3 1 POHOA ADDRESS SELECTION niini nran mittite Eid 3 3 USING INTERRUPTS urt tini tsm itte RE x 3 3 iones ecol muet 3 3 DONE FLAG REGISTERS 3 in eom aaa eet 3 4 INTERRUPT CONTROL He een 3 5 STATUS
166. ned on i e low ground Input bits O and 3 are on i e low ground Check their status with the BX command Enter BX Response lt LF gt lt CR gt 99 lt LF gt lt CR gt NOTE When the axis expansion board is used with the PC68 this response expands to four characters When Px6lO is added to these it expands to 16 characters PC68 User s Manual 6 49 USER COMMANDS 6 COMMAND STRUCTURE RB REQUEST BIT DIRECTION Zz EN The RB command returns the direction of the general purpose lines as they are currently defined in hex format surrounded by line feed and carriage return pairs Output bits return a 1 while input bits return a O The two left hex digits are unused and are always set to 0 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Immediate Immediate Immediate AA CD Not Valid A Example Factory default settings have bits 0 through 3 as inputs and 4 through 7 are outputs on the PC68 Verify this with the RB command Enter RB Response lt LF gt lt CR gt FO lt LF gt lt CR gt NOTE When the expansion board is used with the PC68 this response 6 50 expands to four characters When Px6lO is added to these it expands to 16 characters PC68 User s Manual 6 COMMAND STRUCTURE ADH SET AUXILIARY DEFAULT TO HIGH USER COMMANDS The ADH command sets the default powerup or reset state of the auxiliary line for the current axis to high This chang
167. nput in inches revolutions etc COMMANDS IN CHAPTER 6 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION AA 6 9 Any following commands are for the AA All Axes mode AC 6 58 Report AC command 6 57 Acceleration set acceleration deceleration register AD 6 54 Report default auxiliary bit state ADH 6 51 Set auxiliary default to high ADL 6 52 Set auxiliary default to low AF 6 43 6 142 Auxiliary off AM 6 9 Axes multitasking mode AN 6 42 6 142 Auxiliary on AP 6 24 Make the current parameter set the power up default values AR 6 13 Any following commands are for the R axis AS 6 13 Any following commands are for the S axis AT 6 11 Any following commands are for the T axis AU 6 12 Any following commands are for the U axis 6 12 Any following commands for the V axis AX 6 10 Any following commands are for the X axis default on reset AY 6 10 Any following commands are for the Y axis AZ 6 11 Any following commands are for the Z axis BD 6 55 Report the direction of a general purpose BH 6 47 6 144 Set selected I O bit high off BI 6 120 Bipolar set the analog torque outputs to bipolar BL 6 47 6 144 Set selected l O bit low on BS 6 56 Report the state of the specified I O bit Set all bits of the general purpose output port to the E state specified by the hex argument BW 6 97 Wait for inpu
168. nsion board to add more axes just exchange X Y Z and T with U V R and S respectively Refer to Table 5 3 4 4 2 EXPLANATION OF THE 1068 1 When the 1068 is configured as an 1068 the additional low pass filter circuitry and added pull up resistors are removed from the board All signals are routed as straight through connections Also S43 and S45 are configured so the 1068 1 will work with the Px6lO board For the 1068 1 543 pins 7 and 8 are to be OFF while S45 pins 7 and 8 are to be ON Table 4 4 shows the pin definitions for these switches PC68 User s Manual 4 CONTROL SIGNAL INTERFACE 1068 ADAPTER MODULE TABLE 4 4 SWITCH DEFINITION FOR 1068 1 S43 45 Switch Number signal Switch Number signal Description Description 1 1020 1 1029 2 Field VCC 2 1015 3 1035 3 1045 4 1018 4 Field VCC 5 101 5 1012 6 Field GND 6 1043 7 Leave OFF 7 Leave ON 8 Leave OFF 8 Leave ON The factory default switch setting for the 068 is shown below wn omm 87654321 87654321 Terminal Block FIGURE 4 5 1068 DEFAULT SWITCH SETTING PC68 User s Manual 4 7 ENCODER FEEDBACK 4 CONTROL SIGNAL INTERFACE Table 4 5 1068 Terminal Block pin out shows the pin definitions for 1068 1 terminal block connector TABLE 4 5 1068 TERMINAL BLOCK PIN OUT
169. o send CTS and data terminal ready DTR FIGURE 3 2 5 232 CONNECTOR PINOUT Due to the lack of registers when operated in RS 232 mode the PC68 returns status information to the host via special characters inserted into the response stream Done or Error condition occurs the PC68 will send one or more of these characters to the host These characters are Command Error Motor Slip with encoders only Overtravel Limit 9 Done These characters are not axis specific It is necessary for the host to query the 68 for that information if it is required PC68 User s Manual 3 7 RS 232 INTERFACE 3 COMMUNICATION INTERFACE This page intentionally left blank 3 8 PC68 User s Manual 4 CONTROL SIGNAL INTERFACE INTRODUCTION 4 CONTROL SIGNAL INTERFAC 4 1 INTRODUCTION The PC668 is available in several configurations to manage combinations of servo and step motor systems A single 68 pin shielded SCSI 3 connector incorporates all the control signals of the PC68 The mating connector is an AMP Inc part number 749621 7 with a 749195 2 hood and strain relief As a convenience in system integration connection to the PC68 for 5VDC power digital ground and analog ground is provided at the output connector J5 4 2 LIMIT AND HOME INPUTS To facilitate system implementation limit and home inputs are provided for each axis Limits may be activated by mechanical switches using contact closures or other s
170. oder resolution counts per revolution is one element to be determined Another is the systems maximum velocity Note that a motor should never exceed 90 of the motor s top rpm If the system requirement is for a velocity higher than 90 of the motors top rpm then another motor with higher rpm capability is to be used The system s maximum acceleration is determined a couple of different ways The best method is to determine the system time constant which includes hitting or bumping the motor under system load and measure the time from rpm to maximum rpm and divide this value by 5 The maximum acceleration is either 2 5 times this value or is based on the system requirements for handling the load as defined in the operating specifications of the system This value is always lower than the calculated value and if this acceleration value is not high enough then a different motor amplifier with more power or band width should be utilized The PC68 can control either current mode or voltage mode amplifiers The servo update rate of the PC68 is 488 6 for four axes High following errors can be compensated for using the feedforward coefficients explained later in this section There are some general formulas that have been developed to determine acceptable following error for both current and velocity mode systems Current mode following error for 3 360 x counts per revolution Voltage mode following error for KP 90
171. of steps can be specified in this manner with both acceleration and deceleration The controller will not reverse direction if the position has already passed but will behave as explained above Thus the direction of the move must be specified before starting the move with the MP or MM commands All destinations must be in absolute position no position relative moves are allowed due to the nature of these commands Cosine and parabolic acceleration will not apply QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp i 9 3 76 5 1 Not valid AM Not Valid AA CD Not Valid A Example Generate a velocity staircase with the breakpoints given in absolute position Default acceleration AC of 200 000 Enter MP MV10000 30000 MV20000 50000 MV30000 10000 SP35000 The move as shown in Figure 6 1 VELOCITY MV SP POSITION FIGURE 6 1 VELOCITY STAIRCASE PROFILE 6 140 PC68 User s Manual 6 COMMAND STRUCTURE VELOCITY STAIRCASE COMMANDS STOP AT POSITION E I dB The SP command will cause the axis to stop at the specified position The controller will attempt to stop at the specified destination If there is insufficient distance to stop at the previously specified deceleration when the command is received the controller will stop as soon as possible at that deceleration This command is not compatible with the JG command QUEUE REQUIREMENTS Min pf Max pn cn Cust
172. om ramp Not valid AM Not Valid AA CD Not Valid A Example see MV command page 6 140 FP FORCE POSITION IiE dP The FP command will flush the command queue and attempt to stop at the specified position The axis will overshoot if there is insufficient distance left to stop at the programmed acceleration This command should not be given to a servo axis while it is in motion The results may be unpredictable QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Force axis to stop at 25 000 Enter FP25000 PC68 User s Manual 6 141 CONSTANT VELOCITY CONTOURING 6 COMMAND STRUCTURE 6 22 CONSTANT VELOCITY CONTOURING The PC68 will attempt to generate any profile which it is asked to do It is the responsibility of the host to be sure the acceleration required when generating a circle or any other change in direction is possible within the mechanical constraints of the system corners must be defined by arcs and tangents to those arcs else the change in direction will be instantaneous and generate very large accelerations The arc radius must be chosen so that the acceleration constraints of the system are met AF AUXILIARY OFF I dB The command used within a contour definition allowing control of other devices at any instruction within the contour The AA mode syntax is used Any a
173. ombination of both types of motion and can be expanded with a daughter board to support eight axes It can manage coordinated or independent motion of each or all of the axes simultaneously With high level functionality such as circular and linear interpolation multi tasking custom profiling etc the PC68 can satisfy most any motion control application In a PC 104 computer stack of boards the PC68 functions as a motion coprocessor Through the RS 232 interface the PC68 operates as a stand alone controller It utilizes a 32 bit microprocessor and patented proprietary technology to control the trajectory profile acceleration velocity deceleration and direction of selected axes In response to commands from the host computer the 68 controller will calculate the optimum velocity profile to reach the desired destination in the minimum time while conforming to the programmed acceleration and velocity parameters The stepper control of the PC68 produces a 50 duty cycle square wave step pulse at velocities of O to 1 044 000 pulses per second and an acceleration of 0 to 8 000 000 pulses per second per second The servo control utilizes a 16 bit DAC and outputs either 10V or 0 to 10V The encoder feedback control can be used as feedback for the servo PID position maintenance for the stepper axes or as strictly a position feedback of any axis The encoder input supports either differential or single ended quadrature TTL signals at a rate of
174. ommand is executed immediately All status and position information is retained When executed in the AA mode the ST command is equivalent to the SA command QUEUE REQUIREMENTS MODE Custom ramp AX AS 58 AA 58 AM Not Valid AA CD Not Valid A Example Move the Y axis for a while at 1200 steps second then ramp to a stop Enter AY JG1200 wait awhile ST SA STOP ALL IE The SA command flushes all queues and causes all axes to decelerate to a stop at the rate previously specified in AC command status and position information is retained QUEUE REQUIREMENTS MODE AS AA AM AA CD Not Valid A Example Send all axes on a move then ramp them to a stop before they finish Enter AA VL100 100 100 100 100 100 100 100 MR1000 2000 3000 4000 5000 6000 7000 8000 GO waitawhile SA 6 76 PC68 User s Manual 6 COMMAND STRUCTURE MOVE TERMINATION COMMANDS SD STOP AND RESET DONE E HN dP The SD command may be substituted for the SA command It will reset the done flags then proceed to stop all axes This allows the host to be interrupted when all axes have stopped by using the ID command after the SD The SA ID combination may flag the completion early if one of the axes is already done from a previously executed ID QUEUE REQUIREMENTS AA CD Not Valid A Example Flag a done when all axes have stopped Enter AA SD
175. ons using encoders and is not designed for use with servo motors The parameter must be between 1 and 32 000 The parameter should be set experimentally by increasing it until the system is unstable then reducing it slightly below the threshold of stability The factory default value is 1 See the AP Command on page 6 24 to preserve the HG settings as the Power up Reset values QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example see HN command page 6 127 PC68 User s Manual 6 124 6 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS HD HOLD DEADBAND EN The HD command specifies deadband counts for position hold If the stage is within this limit it is considered in position and no further correction will be made This parameter interacts with the HG command i e a larger deadband will allow a larger gain parameter in many applications This command is designed to work with stepper motor applications using encoders and is not designed for use with servo motors The factory default value is zero See the AP Command on page 6 24 to preserve the HD settings as the Power up Reset values QUEUE REQUIREMENTS AA CD Not Valid A Example see HN command page 6 127 HF HOLD OFF i dP The HF command disables position hold stall detection and tracking modes as well as the servo PID This is the default mode at po
176. op counter which allows multiple executions of almost any command string Commands that are defined for use on the X Y Z and T axes are used with the PC68 controller Commands referencing the U V R and S axes apply to the axis expansion board that connects to the PC68 The commands that are used on bits other than O to 15 require the Px6IO I O board to be connected to the PC68 stack of boards The following commands in this section are included in the PC68 family of controllers Most all of the commands are two ASCII characters and may be in upper or lower case Some of the commands expect a numerical operand to follow These commands are identified with a after the command The operand must be terminated by a space carriage return or semi colon to indicate the end of the number No terminator is required on the other commands but may be included to improve readability Semi colons are the preferred termination character because they are visible in your code The operand must immediately follow the command with no space or separation character The indicates a signed integer input parameter or a signed fixed point number of the format when user units are enabled With user units enabled distances velocity and acceleration parameters may be input in inches revolutions etc Synchronized moves may be made by entering the AA command This command performs a context switch which allows entering the commands in the form
177. power up default set of values Enter AP PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS RESTORE DEFAULT VALUES RD assigns the current parameter set to be the default values that are in flash memory QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid A Example Enter RD RF RESTORE FACTORY DEFAULT VALUES Assign the current parameter set to be the default values RF assigns the current parameter set to be the factory default values QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Not Valid Example Enter RF PC68 User s Manual Assign the current parameter set to be the factory default values 6 25 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE RT REPORT RAMP TYPE E E The RT command reports the current acceleration ramp assigned to the active axis Possible responses are LA Default linear ramp PRn Parabolic where n specifies number of segments SC Cosine ramp SRn Custom ramp where n specifies the table number x Example Make sure custom ramp 3 was assigned to the Y axis Enter AY RT Response lt LF gt lt CR gt SR3 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands PF LA PN PR CN SC SR 6 26 PC68 User s Manual 6 COM
178. r at 4000 i e the axis is 1950 counts from the starting point PC68 User s Manual 6 67 MOVE SPECIFICATION COMMANDS 6 COMMAND STRUCTURE DC DECELERATION IiE dP The DC command sets a deceleration rate overriding the AC parameter when the GU command is used to initiate a move Only the GU command will use the DC value The deceleration rate defaults to 200 000 and will take on whatever value is entered via the AC command Therefore the DC command must be reentered after using AC if a different deceleration rate is desired RANGE 1 lt DC lt 8000000 Example Send the Y axis on a 100 000 count move that accelerates at 100 000 counts per second per second up to 50 000 counts per second and decelerates at 20 000 counts per second per second Enter AY AC100000 DC20000 VL50000 MR100000 GU QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands AC RC VL VB GU 6 68 PC68 User s Manual 6 COMMAND STRUCTURE MOVE EXECUTION COMMANDS 6 8 MOVE EXECUTION COMMANDS These commands allow execution of the moves which have been previously specified GO GO E IiE The GO command will initiate the move which has been previously programmed with such commands as MA MR MT and ML No operand is required with the GO command To find the total queue requirements for a specific application find the appropriate value in Table A If the board is an encoder version ad
179. r of axes and can be used in place of SA Like SA SI will ramp those axes to be stopped using the rate previously specified via the AC command This command is useful for stopping a specific axis when the current axis mode is unknown and for stopping several axes without affecting current motion on other axes Each parameter represents an axis from X through T Any non zero value in a parameter will cause the corresponding axis to be stopped Example Start a motion on all four axes When input bit 1 becomes true stop axes Y and T without affecting X and Z Enter AM MR15000 30000 20000 40000 GO SW1 SI 1 1 QUEUE REQUIREMENTS FORMAT SI 61 Slb b b b 9 61 AA CD Not Valid PNO amp PRO ramp selections add 4 All other PN amp PR ramp selections add 18 CN amp SC ramp selections add 18 SR Custom ramp selections add 2 number of steps in ramp 1 If PA mode is active add 1 f an auxiliary output bit settle time has been specified add Related commands ST SA SD SO KL KS PC68 User s Manual 6 81 LOOP CONTROL COMMANDS 6 COMMAND STRUCTURE 6 10 LOOP CONTROL COMMANDS These commands allow move sequences to be repeated within loops Loops can be nested up to four levels deep on each axis 15 LOOP START dP The LS command sets the loop counter for the axis being programmed in the single axis mode and all axes in the AA mod
180. r part of the velocity QUEUE REQUIREMENTS Immediate Immediate Custom ramp AM Immediate AA CD Not Valid Jog the Y axis at 12345 steps per second Display the current velocity Enter AY JG 12345 RV Response lt LF gt lt CR gt 12345 lt LF gt lt CR gt REPORT POSITION IN USER UNITS The RU command returns the current position in user units see UU command on page 6 107 The format of response is a floating point number with five characters to the right of the decimal point This response is surrounded by line feed and carriage return pairs QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AM AA CD Define user units so Move the Z axis 3 1 2 One revolution of a motor is 2000 steps moves can be referenced in revolutions revolutions Use RU to display the position when the move is complete Enter AZ UU2000 LPO MR3 5 GO Wait until move is complete RU Response lt LF gt lt CR gt 3 50000 lt LF gt lt CR gt PC68 User s Manual 6 COMMAND STRUCTURE USER UNIT COMMANDS 6 14 USER UNIT COMMANDS The following commands allow specification of move parameters in user defined units The OMS controls will automatically convert all move parameters to these units once they have been initialized UU USER UNITS Ii dB UU command converts all move velocities distances
181. red contour sequence The stage must be positioned such that it can accelerate to speed by the absolute position specified by the CD command it is executing and must be traveling in the proper direction Once a contour is defined it may be executed at any time by executing a CX command until it is replaced by another contour definition The CX command cannot be placed within a loop or while construct QUEUE REQUIREMENTS Immediate see CD command on page 6 145 MT MOVE TO dB The command causes the axes defined by the CD command to move to the specified absolute position using linear interpolation Only the axes being used in a contour must be specified in the contouring mode QUEUE REQUIREMENTS Custom ramp AA CD 4 number of axes A Example Make a hexagon in CV mode using the X and Y axes Enter AA CV5000 CD10000 0 MT20000 0 MT25000 10000 MT20000 20000 BLY MT10000 20000 MT5000 10000 BH9 MT10000 0 CK CX 6 148 PC68 User s Manual 6 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING RQ REQUEST QUEUE STATUS HE dB command returns the number of entries available the contouring queue QUEUE REQUIREMENTS Immediate Immediate Immediate Custom ramp AA CD Immediate A Example Examine contour queue size Enter 0 0 RQ Response lt LF gt l
182. reen 0 Byte 1 Byte 2 FIGURE 2 3 PC68 I O ADDRESS Byte 2 Byte 1 Byte 0 Not Recommended Default Default OMSB O gt OLSB OMSB OLSE 00 0 Default Q a a a O O O O O OMSB 000 0 00121 01022 01123 100 4 10125 11026 11127 000 8 001 29 010 011 1012C 101 D 110 E 1112F FIGURE 2 4 ADDRESS SWITCH CONFIGURATION PC68 User s Manual 2 3 SET THE INTERRUPT REQUEST IRQ 2 GETTING STARTED 2 4 SET THE INTERRUPT REQUEST IRQ The interrupt level that the PC68 board uses for communication is selected with switch S1 The default setting is IRQ5 Close the specific switch to select the desired IRQ All open IRQ switches disable the interrupt capability There should never be more than one IRQ switch closed at the same time on S1 The switch on the far left of S1 is used to determine PC 104 or RS 232 communication mode When communicating through the PC 104 bus this switch should be open off When communicating to the PC68 via RS 232 this switch should be closed on E o O Q A eo N 1 FIGURE 2 5 INTERRUPT SWITCH default setting for a PC68 42 2 5 INSTALL THE PC68 INTO A PC 104 SYSTEM Reference installation instructions provided in text files i e README TXT that came with the support software disk Turn off power to the PC 104 computer and disconnect its power cord from the wal
183. rformed by sending and receiving strings of data through the data port register The status register provides that handshaking information for writing to the data register as well as some status information including error conditions motion complete etc The PC68 can generate an interrupt to the PC 104 host and the conditions that cause interrupt can be individually selected by writing to the control register More details on each of the communication interfaces as well as the functionality of the controller are included in the following chapters 1 2 PC68 User s Manual 2 GETTING STARTED PREPARE FOR INSTALLATION 2 GETTING STARTE 2 1 PREPARE FOR INSTALLATION The installation of the PC68 board is flexible and dependent on the type of communication interface being used either the RS 232 or PC 104 bus Minimum Requirements For RS 232 1 Controller must be gt 0 1 from the top of the surface it s mounted on 2 5V power must be supplied This can be done through the on board 6 pin connector For Servo Models 12 power supplies are also required This can be done through the on board 6 pin connector For PC 104 1 Install PC68 in a PC 104 system that complies with the PC 104 bus specification 2 Set the PC68 to use IRQ and I O Address Settings that do not conflict with other devices in the system 3 The power for 5 12 and 12 volts is provided through the PC104 Bus connector For All PC68 Models Allow for
184. right To set a line low the corresponding bit in the hex mask must be a 1 A zero 0 in any bit position will set the corresponding bit high xy Example Set output 0 high 1 4 low and 5 7 high 1E hex 00011110 Enter BS1E QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands AN AF BH BL BX PC68 User s Manual 6 53 USER COMMANDS 6 COMMAND STRUCTURE 2AD REPORT DEFAULT AUXILIARY E IiE dB BIT STATE This command will reply with the current powerup default state of the current axis auxiliary bit as set by ADH or ADL The response will be either ADH or ADL based on the current powerup state of the auxiliary bit A Example Report the powerup state of the Y axis auxiliary bit Enter AY AD Response lt LF gt lt CR gt ADL lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands ADL ADH 6 54 PC68 User s Manual 6 COMMAND STRUCTURE USER COMMANDS 2BD REPORT BIT DIRECTION dP The command reports if a general purpose I O bit is an input or output x Example Find out whether I O bit 2 is configured as an input an output Enter BD2 Response If the bit is an input the response will be lt LF gt lt CR gt i00 lt LF gt lt CR gt An output bit response is lt LF gt lt CR gt iol lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Imm
185. rupt service routine to clear the interrupt and the associated flags The Control Y version of this command is preferred to minimize the latency in its execution The flags may be polled by an RA or RI command which will also reset the flags This command is not recommended unless used to clear flags after they have been read via the QA or QI commands These flags are otherwise automatically cleared when read via the RA or RI commands or by directly accessing the registers on the board QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example Clear the flags after an X axis move relative of 5000 steps was flagged as done when an ID executes Enter AX MR5000 GO ID done flag set 1C PC68 User s Manual 6 93 MOVE SYNCHRONIZATION COMMANDS 6 COMMAND STRUCTURE CA CLEAR AXIS DONE FLAG E IiE dB The CA command operates like the IC command except it clears the done flag of the addressed axis only This command is not recommended unless used to clear flags after they have been read via the QA or QI commands These flags are otherwise automatically cleared when read via the RA or RI commands or by directly accessing the registers on the board QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example After a multi axis move clear the Z axis done status only Enter AA MR1000 20
186. s a loop while the specified general purpose input line is true i e low When the line goes high it will exit the loop and execute the commands which follow The test is at the bottom of the loop i e it will always be executed at least once QUEUE REQUIREMENTS Min pf Max pn cn MODE AX AS AA AM 2 2 AA CD Not Valid Custom ramp A Example Execute a continuous loop moving the X axis 10 000 counts and then move the Y axis 1000 counts until an external device terminates the loop Enter AA WS1 MR10000 GO MR 1000 GO WD WD WHILE END HN The WD command serves as the loop terminator for the WS command QUEUE REQUIREMENTS MODE Custom ramp AX AS 2 AA 2 AM 2 2 2 AAICD Not Valid A Example see WS command above 6 84 PC68 User s Manual 6 COMMAND STRUCTURE LOOP CONTROL COMMANDS WH WHILE E IiE dP The WH command will execute all commands between it and the terminating WG command as a loop until terminated by a CW command This allows repeated execution of a command sequence which can be terminated by the host These commands may not be nested but may be executed sequentially QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Procedure Enter PC68 User s Manual You have a 3 axis platform that you use to drill holes in the center of a inch thick sheet of metal The sheet
187. s are configured in blocks of four The syntax for the IO command uses a 0 to set the corresponding four bits to inputs and a 1 to set them to outputs Example 100 1 This will set I O bits 0 3 as inputs and 4 7 as outputs factory default Example 101 1 This will set all bits 0 7 to outputs Refer to page 6 48 for more on the IO command The Report Bits command is used to check the configuration of the I O bits This command should be executed to ensure that the configuration of the bits is as required by the system This should be performed PRIOR to connecting hardware to the User I O signals of the PC68 Refer to page 6 50 for more on the RB command The eight User I O bit all have 2 2k Ohm pull up resistor connected to them default the active state of the inputs is a low true When the bits are configured as inputs it is only necessary to have a switch closure to ground to activate the input The BX command is used to check the status of the input bits The use of a 100 Ohm pull down resistor can be used to change the state of the inputs for testing Refer to page 6 49 for more on the BX command The BH Bit High and BL Bit Low commands are used to toggle the logic state of the User I O bits Before connecting the User I O signals to exterior hardware you should be certain that the bits are configured correctly LED connected through 100 Ohm resistor to 5 can be used to
188. s reset by a host read of the status register If the PC68 is responding to for instance an axis query and there are several characters to be read from the data register by the host the 5 bit of the status register may never appear to reset though it does very fast Also the PC68 3 6 PC68 User s Manual 3 COMMUNICATION INTERFACE 5 232 INTERFACE can read characters from the data register very fast which may make the TBE 5 bit of the status register appear to never reset though it does very fast The error bits command error 5 encoder slip S and overtravel OVRT of the status register are automatically cleared when the Status Register is read This will reset these bits in the status register without altering the state of the done flag register The INIT bit only goes high when the board is initializing and cannot communicate It will go low and remain low when initialization is complete 3 10 RS 232 INTERFACE The PC68 is compatible with the EIA standard RS 232 specifications for serial communication at baud rates of 300 600 1200 2400 4800 9600 19200 and 38400 The factory default baud rate is 9600 The PC68 is configured as a data terminal device so that the signals of the host terminal can connect straight through there is no need for a null modem and a standard RS 232 cable can be used The RS 232 interface to the 68 consists of transmit data TxD receive data RxD and handshake signals clear t
189. second The position correction velocity is set for 50 000 steps per second a deadband of 10 steps and correction gain of 2 000 The correction is then enabled A 200 000 step move is performed then that position is maintained within the 10 step deadband until commanded to a new position Enter AX VL100000 AC500000 HV50000 HD10 HG2000 HN MR200000 GO PC68 User s Manual 6 127 POSITION MAINTENANCE COMMANDS 6 COMMAND STRUCTURE IP INTERRUPT WHEN IN POSITION The command operates like the ID command except the interrupt is deferred until the stage is within the specified deadband The GD command should be used in place of the GO command to reset the done flags before the next move If the position hold HN is not enabled for an axis the command will behave like an ID command for that axis QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Send DONE when axis is within deadband Enter AX HV1000 HG100 HD10 HN MR1000 GO IP DONE will occur after move is complete and in position ES REPORT ENCODER EN SLIP TOLERANCE The ES command reports the current setting of the ES command QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid A Example Report the current deadband for encoder slip detection tolerance Enter ES Response lt LF gt lt CR gt ES15 lt LF gt lt CR gt Related commands ES 6 128 PC68 User s Manual 6
190. set the appropriate bits of the done flag register to indicate when a process is complete on the associated axes The host can then read the register at any time to determine the done status of any axes The register is cleared at the completion of the host read or by the execution of the RA or RI commands The detail definition of the register is shown in Table 3 2 TABLE 3 2 DONE FLAG REGISTER DESCRIPTION DONE STATUS REGISTER DESCRIPTION BIT DESCRIPTION Done Status of X Axis Done Status of Y Axis Done Status of Z Axis Done Status of T Axis Done Status of U Axis Done Status of V Axis Done Status of R Axis Done Status of S Axis Valid when an expansion board is used to make a controller with more than four axes 3 4 PC68 User s Manual 3 COMMUNICATION INTERFACE 3 8 INTERRUPT CONTROL REGISTER INTERRUPT CONTROL REGISTER This is a host read write register that provides different interrupt sources from the PC68 to be individually enabled or disabled This may be performed at any time by a write to the The register may be read back at anytime to verify or determine the state of the interrupts Reference Table 3 3 for a detailed definition of the associated bit of the register control register TABLE 3 3 CONTROL REGISTER DESCRIPTION NAME CONTROL DESCRIPTION E Interrupt enable bit This bit must be on to enable any interrupts TBE E Transmit buffer empty interrupt e
191. sponse to a step change at the input The step response falls into one of three categories under damped critically damped over damped Over damped systems are slow to reach their final value Critically damped systems reach final value quickly without overshoot Under damped PC68 User s Manual 2 GETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM systems reach final value quickly but have various degrees of ringing that decay to zero The third requirement is that of bandwidth The system should respond to the highest input frequency possible The motor load combination is the predominant feature of the open loop bandwidth In the closed loop situation the amplifier attempts to compensate for the limited response characteristics of the motor load Increasing gain extends the closed loop bandwidth at the expense of stability 2 7 2 2 Manual Tuning In most all motion control applications the optimum tuning of the servo system is achieved through a manual tuning process Auto tuning algorithms typically can only get the system parameters close and require manual steps to fine tune the parameters An empirical trial and error approach will be discussed first NOTE You may want to use the OMS software to help during this process t is capable of capturing the actual data and plotting it in reference to an ideal motion profile There are some system parameters that need to be defined to before attempting to tune a motor The enc
192. t FIGURE 3 1 DATA COMMUNICATION FLOW CHART The host CPU first reads the status register The information provided in those 8 bits informs the host whether the PC668 is initialized and ready to receive a character and if there are any characters in the data register to be read by the host The other information provided in the status registers is not a function of the communication at this point It is required that the INIT bit of the status register is set low and that the TBE S bit of the status register is set high before the host can write a character to the data register If those two bit of the status register are acceptable then the host CPU writes a character to the data register The TBE S bit will go low until the PC68 reads the character from the data register The host is either waiting for an interrupt generated by a high TBE S or polling the status register so that the host may send another character When the host detects an active TBE S then it writes another character to the data register The TBE S bit goes low until the PC68 reads the character from the data register If the two characters written to the PC68 have requested a response from the PC68 then the IBF_S bit will go high This can generate an interrupt to the host or the host can poll the status register to detect this condition At this point the host would read the data register This will cause the 5 bit to go low and then return high very fast as long as there
193. t CR gt 1016 lt LF gt lt CR gt PC68 User s Manual 6 149 MACRO CONTROL COMMANDS 6 COMMAND STRUCTURE 6 23 MACRO CONTROL COMMANDS Macros are typically used as a shortcut to save some keystrokes They can be used to save common parameter settings that may need to be recalled They can also be used to store common command sequences that may be used for a particular process Once macros are defined an entire command sequence can be sent to the controller through just executing the MX command and the appropriate macro number As a result sending a stream of frequently used commands to the controller is done simply through the use of one command Detailed information regarding the macro commands is shown below MD TEMPORARY MACRO DEFINE E I 9 MD is used to begin defining a temporary macro macro can contain up to 250 characters Macros 0 through 4 are temporary and they will be erased when the controller is reset or power is turned off Macros 5 through 24 are stored in non volatile memory and will be preserved when the controller is reset or powered off Enter the macro number immediately after the MD command The macro number must be between 0 and 4 Next enter the command string which is made up of up to 250 ASCII characters After entering the command string for the macro enter a control Z to end the macro definition Be careful not to exceed 250 ASCII characters or the size of the axis queue when working with macros
194. t Valid Related commands DAB DAE DA DS DE SR PC68 User s Manual 6 29 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE DBI INVERT DIRECTION BIT E IiE dB The DBI command inverts the logic of the direction control output of the addressed axis or axes By default the direction output of an axis is a TTL low when traveling in the positive direction and high when traveling negative After using the DBI command the direction bit will be high when traveling positive and low when traveling negative This is useful for inverting the logical direction of a motor when the encoder counts opposite the motor direction This command can be canceled using the DBN command To make this the default at powerup or reset use the AP command Example Set the direction outputs for axes Z and T to output high when traveling positive and low when traveling negative Leave X and Y as they are Enter AZ DBI AT DBI or AA DBI 1 1 QUEUE REQUIREMENTS FORMAT AA CD Not Valid Related commands DBN DB UN BI SVI SVN 6 30 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS DBN NORMALIZE DIRECTION BIT E E d The DBN command normalizes the logic of the direction control output of the addressed axis or axes returning their output logic to default i e TTL low when traveling in the positive direction and high when traveling negative This command negates the effect of the DBI
195. t as a readable ASCII string This command would probably be the first command executed after turning on the system when this mode is desired Enter EN EF ECHO OFF E IiE EP The EF command disables echoing from the PC68 motion system This is the default mode at power up or reset QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example Stop echoing to the host Enter EF 6 14 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS HH HOME HIGH HN dP The command sets the sense of the home switch on the current axis to active high This allows the use of a normally closed switch QUEUE REQUIREMENTS MODE Custom ramp AX AS 1 AA 1 AM 1 Not Valid A Example see HL command below HL HOME LOW E HL command sets the sense of the home switch on the current axis to active low This is the default mode at power up or reset QUEUE REQUIREMENTS MODE AX AS AA AM Not Valid A Example A faster home sequence may be used in applications which have a long distance to travel to reach home The stage is moved through home at high speed with the home switch set for active high then reversed at low speed to meet the 2048 steps per second requirement of the home command Enter AX VL20000 HH HMO VL1000 HL HRO AA HH 1 1 P
196. t the motion Ramp will be at currently defined acceleration AC Value Range 0 to 1 044 000 QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid 7 Example Jog the motor at 100 000 steps per second then change to 35 000 steps per second when the second JG is entered then stop by decelerating to a stop Enter JG100000 JG35000 ST NOTE Output events waiting for completion of JG will begin when JG is up to its requested velocity A Example Jog the motor at 5000 steps per second in the negative direction Enter JG 5000 PC68 User s Manual 6 71 MOVE EXECUTION COMMANDS 6 COMMAND STRUCTURE The JF command will jog the axis at the velocity specified like the JG command The parameter may include a fractional part allowing better resolution at low speeds The velocity set by this command will remain the default velocity until altered by a VL JG or another JF command JF JOG FRACTIONAL VELOCITIES QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Enter Jog the Y axis at 2 2 3 steps per second AY JF2 667 The TM command performs a jog at the current velocity limits defined for the axis axes It then jogs the axis axes for the specified number of milliseconds In multi axis mode all axes begin moving at the same time and stop when their respective jog times have elapsed TM TIMED JOG Time range 0 to 200000 msec
197. t to go low BX 6 49 6 102 Return bit status in hex format CA 6 94 Clear done flag of currently addressed axis CB 6 160 Clear all macro links to input bits 6 145 Define a contour CE 6 146 End contour definition ramp to a stop CK 6 146 End contour definition immediately stop step pulses PC68 User s Manual COMMAND SUMMARY 6 COMMAND STRUCTURE COMMANDS IN CHAPTER 6 SECTION COMMAND PAGE NUMBER COMMAND DESCRIPTION CN 6 21 Cosine on enable cosine velocity profiles CR 6 147 Circular interpolation move in a circle CV 6 147 Contouring velocity definition CW 6 86 Clear while flag i e terminate WH WG loop CX 6 148 Contour execute DA 6 32 Print a custom ramp DAB 6 27 Define custom ramp breakpoint DAE 6 28 End custom ramp definition DAR 6 29 Begin custom ramp definition DB 6 33 Report direction bit logic DBI 6 30 Invert direction bit DBN 6 31 Normalize direction bit DC 6 68 Set the deceleration rate that will be used by the GU command DE 6 34 Report an acceleration ramp definition table entry DS 6 35 Report the size of a custom acceleration ramp table DZ 6 110 Report DAC open loop offset 07 6 110 Offset coefficient used open loop mode EA 6 137 Encoder status return encoder status of currently addressed axis EF 6 14 Echo off turn off echo to host default
198. t to produce pulses on the X axis at 5 000 steps second for 2 seconds then 10 000 pulses second for 3 seconds then stop Enter AX JG5000 WT2000 JG10000 WT3000 JGO BW WAIT FOR INPUT TO GO LOW dP The BW command is just like the SW command except that it waits for the input line to reach a TTL low rather than a TTL high Refer to the SW command for more detail QUEUE REQUIREMENTS FORMAT Not Valid x Example See the examples for the SW command Related commands WT WA WQ SW PC68 User s Manual 6 97 MOVE SYNCHRONIZATION COMMANDS 6 COMMAND STRUCTURE INTERRUPT dP WHEN AXES DONE The IX command is a special form of the ID command It is intended for use by the serial communications version of the PC68 axis which has been supplied a position in the most recent move command will send a special done character to the host as they complete their move AXIS DONE INDICATOR CHARACTERS DONE CHARACTER IN HEX DONE CHARACTER IN HEX po x erede utro CERE Hm x Example The following command sequence would cause two characters to be sent to the host An 81 hex character will be sent when the Y axis finishes and an 83 hex character when the T axis finishes Enter AM MR 1000 10000 GO IX QUEUE REQUIREMENTS FORMAT Not Valid Related commands ID IP IN 6 98 PC68 User s Manual 6 COMMAND STRUCTURE SYST
199. table as the number of breakpoint entries in the table RANGE 1 lt DS lt 8 x Example The 3rd custom ramp should be 17 breakpoints long Make sure this is true Enter DS3 Response lt LF gt lt CR gt 17 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands DAR DAB DAE DA DE PC68 User s Manual 6 35 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE SR SELECT CUSTOM RAMP E IiE dB The SR command selects a previously defined custom ramp profile for use with a specific axis This command will override previous ramp type selection for the given axis such as PN and CN RANGE 0 lt SR lt 9 x Example Select custom ramp number 4 for use with axis Y and ramp number 8 for axis T Enter SR 4 8 QUEUE REQUIREMENTS FORMAT MODE Min SR 60 SRH HHH 60 AA CD Not Valid 10 2 for each segment in the ramp Related commands RT PF LA PN PR CN SC DAR DAB DAE 6 36 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS SVI INVERT SERVO VOLTAGE dB The SVI command inverts the voltage output for the current axis After receiving this command the PC68 will produce a negative voltage for positive motion and a positive voltage for negative motion To cancel this command issue an SVN command To make inverted servo outputs the default at powerup or reset use the AP command
200. tates occ ccc ett tH eter nt nit ee nee e Fo BER on i 6 162 Report I O Port Configuration 1 enne a nnne 6 161 Kill link sss oo ro ERREUR E 6 160 Report Limit Active State 1 000 01 nennen ntn nnnt nnns 6 18 Report Macro 6 159 Report Motor POSITIONS elle He 6 100 Report Motor Encoder 2 102 2 2 2 20000 1 nennen enne 6 123 Report Peak Velocity 111 00001 nennen nnne nnne 6 60 Report PID Closed Loop 22 0 1151 00000000 010 nennen nnne 6 115 Report PID D rivatiVe Galri rrr eee eet ee oo ees 6 112 PID Integral Gain eee He db ee eter edere ee CR ee das 6 113 Report PID Proportional nennen 6 116 Report PID State sie scss 25 25 sestie xe ye yess sp cevtexeeeees ee tebe On euo n e e NER 6 119 6 126 Report Position In User Units 6 106 Report Position Maintenance Deadband 6 129 Report Position Maintenance eene 6 130 Report Position Maintenance 6 131 Report Ramp Type erat aet E 6 26 Report Servo Voltage Inversion State 4 6
201. test the bits when toggling them Refer to page 6 47 for more on the BH and BL commands PC68 User s Manual 2 15 SETTING THE USER DEFAULT CONFIGURATION 2 GETTING STARTED 2 8 2 OTHER USER DEFINABLE DEFAULT PARAMETERS The PC68 comes from the factory with default values for all parameters For instance the default value for the velocity of all axes is 100 000 counts per second A count is equivalent to a step pulse or one count of an encoder In a typical application when the system is powered up the main host computer would initialize all of the peripherals such as the PC68 sending to each of the axes the peak velocity When the User Definable Default Parameter value is defined for the velocity then the initialization of the system can skip initializing the velocities of the defined axes This feature can greatly simplify the software and initialization process Once the values for all of the associated parameters are defined i e velocity acceleration PID values etc then the AP Archive Parameters command is executed to place the values into Flash Memory From this point forward these defined values will be used after reset or power up The individual parameters can be over written at anytime by using the associated command i e AC etc To restore the factory defaults the command RF Restore Factory defaults is executed To restore the User Defined Default Parameters the command RD Restore Defaults is execut
202. this move Disable slip kill mode Enter TF QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands TN ES IS RL TN TURN ON SLIP KILL MODE EN The TN command enables slip kill mode In this mode if the motor slips beyond the deadband set by the ES command the 68 will kill motion on the axis that slipped as though a KL command had been issued to the axis This mode can be disabled default with the TF command A Example X axis is sent on a move Its encoder cable was not connected to the controller oops The controller issues a KL Kill command to the X axis after receiving the slip interrupt The slip interrupt is generated once the difference between the motor position counts and encoder counts exceed 20 Enter ES20 TN IS LPO MA30 GO QUEUE REQUIREMENTS FORMAT Not Valid Not Valid Related commands TF ES IS RL 6 134 PC68 User s Manual 6 COMMAND STRUCTURE ENCODER TRACKING COMMANDS 6 18 ENCODER TRACKING COMMANDS ET ENCODER TRACKING EN The ET command turns on the encoder tracking mode The axis will track its encoder input thus allowing one axis to follow the activity of another or a thumbwheel for manual positioning or the movement of another device that produces a signal compatible to the encoder inputs No acceleration or deceleration ramps are generated The axis will duplicate the encoder input The ER command
203. track if the error was greater than 32768 than the controller will disable the PID so that you don t have a runaway motor and major changes to the PID parameters may be required For minor differences in the encoder and the position reading you can fine tune your PID filter according from the earlier steps 2 14 PC68 User s Manual 2 GETTING STARTED SETTING THE USER DEFAULT CONFIGURATION 2 8 SETTING THE USER DEFAULT CONFIGURATION There are several parameters that can be defined by the user as default These parameter values supersede the factory default values and are stored in Flash Memory for power up configuration Most of these parameters consist of axis specific values i e velocity acceleration limit switch logic sense etc The configuration of the User I O must be configured once the communication interface has been established 2 8 1 SETTING THE USER DEFAULTS The factory default of these signals sets bits 0 through 3 as inputs and 4 through 7 as outputs If these signals are to be used in a configuration other than the factory defaults then they must be reconfigured before any hardware is connected If an input device such as a position sensor or limit switch is attached to a User signal configured as an output then the logic gate the PC68 be destroyed and additional damage to the PC68 could occur IOZ command is used to change the User from input to output and visa versa User I O bit
204. ts per second to maintain accuracy of the home position loaded For models with more than 4 servo axes velocity should be less than 1024 counts per second The axis will not stop at home but will initialize the position counter when the home switch becomes true and decelerates to a stop The axis may be commanded to go home by following this command with a move absolute to the same position as specified in the HM command The parameter defaults to zero if none is supplied QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Enter PC68 User s Manual Find the physical home position of the X axis of the stage NOTE The velocity should be less than 2048 pulses per second 1024 pulses per second for models with more than 4 servo axes to minimize position error for this command The motor runs until the home switch input is activated and then initializes the position counter to the parameter supplied Since the motor decelerates to a stop after reaching home it is necessary to do an MA to the same position as specified in the home command if it is desired to physically position the device at home The following commands will find home initialize it to 1000 counts then return to home In many cases it will not be necessary to return home only find the position and synchronize the controller to it AX VL1000 HM1000 MA1000 GO 6 87 HOME AND INITIALIZATION CONTROL COMMANDS 6 COMMAN
205. ucing oscillation or ringing Continue adjusting the KI and KD terms until the proper response time is obtained The values for KI range from 0 to 4096 FIGURE 2 7 6 FIGURE 2 8 If you are getting too much ringing in the motion profile then increase KD to help dampen the system s response If instead the system is over damped and is reaching the final velocity too slowly then reduce the KD parameter Optimally the system s motion profile should show PC68 User s Manual 2 11 CONNECT AND CHECKOUT THE SERVO SYSTEM 2 GETTING STARTED the motor reaching the desired velocity as quickly as possible without overshoot and oscillation ringing The values for KD range from 0 to 4096 Desired Step Response Too Little KD FIGURE 2 9 FIGURE 2 10 7 KP Kl and KD are the primary parameters of concern when tuning a servo system Once the optimum values for these variables have been determined then you can adjust some of the secondary parameters that will help fine tune your system s performance These other variables are described in the subsequent steps 8 The KV variable is used when tuning velocity controlled servos voltage mode servo amplifiers This is the velocity feedforward coefficient KV determines how closely the system follows the desired constant velocity portion of the motion profile By increasing this term the following error of the system s response can be minimized However too
206. ugh 3 are all false it indicates command completion ID command has been executed The error bits indicate one or more errors have been detected Overtravel overtravel switch was true indicating attempted travel out of bounds Encoder error This bit flags a slip error on models with the encoder option if the interrupt on slip IS command has been issued Init flag This bit indicates the PC68 is being reset or the 68332 microprocessor has not completed initialization Host initialization routines should check this bit for a zero before proceeding Command error An unrecognizable command has been detected or LS and LE commands are not in matched pairs In order to resolve the source of a done or error interrupt the DON 5 bit 4 of the status register should be read first This bit in the status register is automatically reset upon the termination of the read cycle If the DON 5 flag is true the error bits should be checked to determine if the interrupt was caused by an error condition If no error condition is present the done flag register should be read to determine which axis or axes are done The error bits of the status register and the done flag register are automatically cleared when these registers are read The transmit buffer empty TBE 5 bit of the status register is reset by a host write to the data register and the input buffer full IBF S bit of the status register i
207. uitable active switches such as a hall effect switch or opto isolator that connects to ground If the motor travels beyond its allowable limits and trips the switch the limit switch closure removes the excitation from the affected axis You can select the limit switch active signal state with the LH and LL command on an axis by axis basis The behavior of the limit functionality can be controlled with the System Control Commands see page 6 14 The home switch provides a means to synchronize the motor controller with the load at some home or reference position The home switch when used with the software commands HM or HR causes the motor to decelerate to a stop when the switch closes On finding the home position the position counters are initialized to the parameter supplied with the command You can change the sense of the home switches to TRUE when open by use of the HH command described on page 6 15 4 3 CONTROL OUTPUT The PC68 is configured at the factory for control of servo motors stepper motors or a combination of both The servo output may be either unipolar analog 0 10 volt or bipolar analog 10 10 volt see the UN and BI commands in Section 6 Command Structure on page 6 121 and on page 6 120 Step pulse output is TTL open collector which will wire directly into most driver inputs but may require a pull up resistor to 5 VDC to operate some other drives See wiring diagrams that follow PC68 User s Manual 4 1
208. up to 4MHz and counts at a 4 times resolution This means a 1000 line encoder will produce 4000 counts per revolution in the PC68 controller The PC68 is commanded using virtually any programming language to pass simple ASCII command strings to the PC68 through either the PC 104 address or RS 232 port For a typical motion requirement of 1 000 000 counts at 400 000 counts sec and an acceleration of 500 000 counts sec sec the following string would be sent from the host computer to the PC68 VL400000 AC500000 MR1000000 GO For additional command programming examples see Section 6 The OMS PC 104 family of products consist of the PC68 and a series of expansion boards that essentially are daughter boards to the PC68 that pass the PC 104 ISA bus signals straight through OMS has defined a proprietary board to board bus that joins the PC68 with the expansion boards Each module provides defined functionality such as four additional axes of control user definable I O etc The expansion boards provide the PC68 User s Manual 1 1 SYSTEM OVERVIEW 1 GENERAL DESCRIPTION feature that you pay for what you need rather than paying for additional features you don t need list of expansion boards is lengthy and OMS will gladly entertain the possibilities for custom modules for large OEM applications 1 2 SYSTEM OVERVIEW The 68 is only 3 55 x 3 775 and is intended to be embedded into a stack of PC 104 boards where it behaves as a sl
209. utputs when in the AA command mode The Y axis is unchanged in this example Enter AA AF1 1 PC68 User s Manual 6 43 USER COMMANDS 6 COMMAND STRUCTURE PA POWER AUTOMATIC IiE dB The PA command will turn on or off the auxiliary outputs at the beginning of each GO or GD command execution and complement the outputs after the move is executed The auxiliary will be turned on i e pulled high upon the execution of the GO or GD and off at the end of that move if the parameter is zero or not specified in the single axis mode If the parameter is non zero the sense is reversed i e the auxiliary output is turned off driven low upon the execution of the GO or GD command and on at the end of the move The SE command can be used to apply a settling time at the end of each move before complementing the auxiliary bit This is useful for systems that need to retain torque for some specific amount of time before allowing the motor drive to reduce current output This mode need only be set once and can be turned off by using the AN or AF command Axes can be selectively affected in the AA mode by following the syntax as described for the AN command The values of the included parameters set the state of the auxiliary line during the move The following queue requirements apply to each GO or GD command in the command stream in the AA and single axis modes This mode is off by factory default See the AP Command on page 6 24 to preser
210. uxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp GEN WI EE A Example see CD command page 6 145 AN AUXILIARY ON E iE dB The AN command may be used with a contour by using the AA mode syntax as above Any auxiliary can be exercised with this command All axes must be specified or specifically skipped rather than those axes defined within the contour as the other commands in this section QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp p Wwe A Example see CD command page 6 145 6 142 PC68 User s Manual 6 COMMAND STRUCTURE CONSTANT VELOCITY CONTOURING POWER AUTOMATIC E I dP The PA command will turn on or off the auxiliary outputs at the beginning of each GO or GD command execution and complement the outputs after the move is executed The auxiliary will be turned on i e pulled high upon the execution of the GO or GD and off at the end of that move if the parameter is zero or not specified in the single axis mode If the parameter is non zero the sense is reversed i e the auxiliary output is turned off driven low upon the execution of the GO or GD command and on at the end of the move The SE command can be used to apply a settling ti
211. ve the PA settings as the Power up Reset values QUEUE REQUIREMENTS AA CD Not Valid A Example Turn on the Y axis auxiliary output at the beginning of a move and turn the T axis output off at the beginning of a move while in the AA command mode Note the reversed logic i e 0 on 1 off On pulls the signal line to ground Off lets it rise to 5 volts or its pull up reference voltage Enter AA PA 0 1 Related commands AN AF 6 44 PC68 User s Manual 6 COMMAND STRUCTURE USER COMMANDS SETTLING TIME dP The SE command allows specification of settling time in milliseconds to be used before the power is reduced when using the PA mode The parameter may be any value to 1000 milliseconds Specification of a parameter of zero turns off the mode This command is available in single axis mode only The use of this command requires 3 queue slots with the execution of each GO or GD command The factory default settling time is zero See the AP Command on page 6 24 to preserve the SE settings as the Power up Reset values QUEUE REQUIREMENTS Immediate Immediate Immediate Not Valid Custom ramp AA CD A Example Turn on the Z axis auxiliary output upon execution of a move and have it remain on for 500 milliseconds after the move is complete Enter AZ PA SE500 PC68 User s Manual 6 45 USER COMMANDS 6 COMMAND STRUCTUR
212. wer up Reset values Value range 0 to 4096 QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not valid AM Not Valid AA CD Not Valid A Example Define KI to be 3 42 on the X axis Enter AX KI3 42 REPORT PID INTEGRAL GAIN d The command reports the current setting of the integral gain constant in the PID of the current servo axis x Example Report the setting of the KI command on the Z axis Enter AZ KI Response lt LF gt lt CR gt KI0O 01000 lt LF gt lt CR gt QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands KI KP KD PC68 User s Manual 6 113 PID FILTER CONTROL COMMANDS 6 COMMAND STRUCTURE KO OFFSET COEFFICIENT IN d CLOSED LOOP MODE The KO command defines the offset coefficient to cause the motor to remain stationary and compensate for additional torque on the motor from loading This command is used in the closed loop mode hold on HN The factory default value is zero See the AP Command on page 6 24 to preserve the KO settings as the Power up Reset values The factory default value is zero Full scale the KO command has a range of 32 667 which corresponds directly to the 16 bit range of the DAC less a few counts as a buffer zone Each increment decrement of the KO value will result in an approximate change in the output voltage of 0 0003 volts See the AP Command on page
213. wer up or reset QUEUE REQUIREMENTS MODE AX AS AA AM AA CD Not Valid A Example Turn off encoder hold mode on the X axis Enter AX HF PC68 User s Manual 6 125 POSITION MAINTENANCE COMMANDS 6 COMMAND STRUCTURE PM REPORT PID STATE f The PM command reports whether the PID for the current servo axis is enabled The HN and HF commands are used to enable and disable the PID and are the possible responses from this command QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid x Example A limit switch was hit by servo axis Y See if the PID is still enabled for that axis Enter AY PM Response lt LF gt lt CR gt HF lt LF gt lt CR gt Related commands HN HF 6 126 PC68 User s Manual 6 COMMAND STRUCTURE POSITION MAINTENANCE COMMANDS HN HOLD ON EN HN command enables position correction after move and activates the HG and HD commands well as all of the PID filter commands stepper motor axes Hold and slip detection are disabled if an LP HM HR SA ST or KL command is entered or if a limit is encountered QUEUE REQUIREMENTS MODE AS AA CD Not Valid A Example The following commands could be used to set up the position correction mode This sequence sets up a move velocity of 100 000 steps per second and an acceleration of 500 000 steps per second per
214. will be generated The position counter is not affected Due to motor and platform inertia the load and board may lose position synchronization QUEUE REQUIREMENTS Min pf Max pn cn Custom ramp Not Valid AM Not Valid AA CD Not Valid A Example Move the Y axis in a negative direction to the home sensor and stop movement as quickly as possible Enter AY KR PC68 User s Manual 6 89 MOVE SYNCHRONIZATION COMMANDS 6 COMMAND STRUCTURE 6 12 MOVE SYNCHRONIZATION COMMANDS These commands allow the synchronization of moves with external events or multiple axis sequences ID INTERRUPT DONE IiE dP The ID command will set the done flag and interrupt the host if the interrupt has been enabled This allows the PC68 to signal the host when a string of commands has been completed In the AA mode the done flag register bits will be set as each axis encounters the ID in its command stream but the done flag in the status register will not be set until all axes have executed the ID command In the AM mode only the axes active in the most recent move will set their done flags QUEUE REQUIREMENTS MODE Min pf Max pn cn Custom ramp AX AS 1 1 1 AA 1 AM 1 AA CD 1 A Example Interrupt the host CPU after the execution of Move Absolute is finished When the move is finished the ID command will be encountered in the command queue and will set the done flags Enter
215. without affecting flags Query status of switches and flags on all axes without Ql 6 105 affecting flags RA 6 103 Return status of switches and flags and reset flags RB 6 50 Return programmed direction of I O bits in hex format RC 6 105 Return current acceleration or deceleration of the current axis RD 6 25 Restore the current parameter set to the power up default values RE 6 138 Request encoder position return current encoder position RF 6 25 Restore the current parameter set to the factory default values RI 6 104 Return status of switches and flags for all axes and reset flags RL 6 133 Return slip status of each axis RM 6 67 Return remainder of position divided by parameter in position counter RP 6 99 Request position returns current position 6 101 6 149 Request queue status return number of queue entries available RS 6 24 Software reset of PC68 RT 6 26 Report ramp type RU 6 106 Return current position in user units RV 6 106 Return current velocity at which the axis is moving SA 6 76 Stop all flush queue and stops all axes with deceleration SB 6 166 Report current baud rate setting SB 6 166 Sets the controller s serial communications baud rate SC 6 23 Cosine ramp selection per axis SD 6 77 Stop all axes and clear any done flags SE 6 46 Report settling time 6 45 Set settling time before power is reduced in PA mode SF 6 19 Soft limit off restore normal overtravel operation SI 6 81 Stop selected
216. xample Enter Report whether servo voltage is positive for positive moves on axis X AX SV Response lt LF gt lt CR gt svn lt LF gt lt CR gt voltage is normal i e positive for positive moves QUEUE REQUIREMENTS FORMAT Immediate Not Valid Not Valid Related commands SVI SVN DB PC68 User s Manual 6 39 SYSTEM CONTROL COMMANDS 6 COMMAND STRUCTURE TL SET SOFTWARE TRAVEL LIMITS E E dB The TL command sets logical limits on the range of travel for an axis Two parameters must be supplied one for the upper travel limit and the other for the lower travel limit both as absolute positions If the axis reaches either of these logical limits the PC68 will flag a limit condition just as it would using the physical limit switch inputs Move Relative MR type motion is subject to software travel limits because the PC68 checks an internal absolute position register Set both parameters equal to disable software travel limits RANGE 33 554 000 lt Parameter 1 lt 33 554 000 Upper Position Limit 33 554 000 lt Parameter 2 lt 33 554 000 Lower Position Limit Example Set logical position limits for the X axis of 1 000 000 Enter AX TL1000000 1000000 QUEUE REQUIREMENTS FORMAT Not Valid Related commands TL LL LH LN LF SL SF 6 40 PC68 User s Manual 6 COMMAND STRUCTURE SYSTEM CONTROL COMMANDS TL REPO

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