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USER`S MANUAL

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1. Byte Offset 10 Byte Offset Hex Byte length Description Mem Function The Dual Port RAM Memory Region begins here 0 0x0 2 Command char Put Index Read Only 2 0x2 2 Response char Get Index Read Only 4 0 4 512 Command Char Buffer Read Only 516 0x204 508 Reserved Read Only 1024 0x400 4 X axis encoder position Read Only 1028 0x404 4 X axis command position Read Only 1032 0x408 4 X axis command velocity Read Only 1036 0 40 4 X axis acceleration Read Only 1040 0x410 4 X axis velocity limit Read Only 1044 0x414 4 X axis base velocity limit Read Only 1048 0x418 4 X axis proportional gain Read Only 1052 0 41 4 X axis differential gain Read Only 1056 0x420 4 X axis integral gain Read Only 1060 0x424 4 X axis accel feed fwd Read Only 1064 0x428 4 X axis vel feed fwd Read Only 1068 0 42 4 X axis DC offset Read Only 1072 0x430 80 Reserved Read Only 1152 0x480 4 Y axis encoder position Read Only 1156 0x484 4 Y axis command position Read Only 1160 0x488 4 Y axis command velocity Read Only 1164 0x48c 4 Y axis acceleration Read Only 1168 0x490 4 Y axis velocity limit Read Only 1172 0x494 4 Y axis base velocity limit Read Only 1176 0x498 4 Y axis proportional gain Read Only 1180 0 49 4 Y axis differential gain Read Only 1184 0x4a0 4 Y axis integral gain Read Only 1188 4 4 4 Y axis accel feed f
2. Figure 4 9 Break Out to MAXv NOTE X Axis 0 Y Axis 1 Z Axis 2 T Axis 3 U Axis 4 V Axis 5 R Axis 6 S Axis 7 Aux Encoder A 8 Aux Encoder B 9 User s Manual 4 9 FRONT PANEL CONNECTORS 3BCONTROL SIGNAL INTERFACE TABLE 4 2 P2 CONNECTOR PINOUT AT BACKPLANE ROWS B amp C ARE VME58 COMPATIBLE MAXv Pin Assignment P2 Connector Pin Row Z Row A Row B Row C Row D 1 X Phase B X Index 2 GND X Phase A 3 Analog Input 0108 X Aux 4 5 1 00 5 Y Phase B YPhaeB 25 YIndex Index 6 Y Phase A 7 Analog Input 1109 Y Aux YNegLMT A28 YHome 1 9 2 ZPhaseB A29 Zlnde 2 10 Z Phase A 11 Analog Input 21010 Z Aux 12 GND 02 13 T Phase B T Index 14_ T Phase 15 Analog Input 31011 T Aux 16 1 03 17 U Phase B U Index 18 U Phase A 19 Analog Input 41012 U Aux 20 1 04 21 V Phase B V Index 22 Ke GND V Phase A 23 Analog Input 51013 V Aux 24 END 05 25 R Phase R Index 26 ee R Phase A 27 Analog Output 0014 R Aux 28 06
3. Pin RowZ Row Row B Row C Row D 1 X Phase B X Phase B 5V X Index X Index 2 X Step X Servo X Phase A X Phase A 3 Analog Input 01108 X Pos LMT RSVD X Dir X Aux 4 X Neg LMT A24 X Home 1 00 5 Y Phase B Y Phase B A25 Y Index Y Index 6 Y Step Y Servo A26 Y Phase A Y Phase A 7 Analog Input 1 09 Y Pos LMT A27 Y Dir Y Aux 8 Y Neg LMT A28 Y Home 1 9 2 Phase B Z Phase B A29 Z Index Z Index Z Step Z Servo A30 2 Phase Z Phase Analog Input 21010 Z Pos LMT A31 Z Dir Z Aux Z Neg LMT Z Home 1 02 T Phase B T Phase B 5V T Index T Index T Step T Servo D16 Phase A T Phase A Analog Input 34O 11 T Pos LMT D17 T Dir T Aux T Neg LMT D18 T Home 1 03 U Phase B U Phase B D19 U Index U Index U Step U Servo 020 U Phase A U Phase A Analog Input 41012 U Pos LMT D21 U Dir U Aux U Neg L MT D22 U Home 1 04 V Phase B V Phase B D23 V Index V Index V Step V Servo V Phase V Phase Analog Input 5 1013 V Pos LMT D24 V Dir V Aux V Neg LMT D25 V Home 1 05 R Phase B R Phase B D26 R Index R Index R Step R Servo D27 R Phase A R Phase A Analog Output 00014 R Pos LMT D28 R Dir R Aux R Neg LMT D29 R Home Aux 1 06 S Phase B S Phase B D30 S Index S Index S Step S Servo D31 S Phase A S Phase A Analog Output 11015 S Pos LMT S Dir NC S Neg LMT 5V S Home NC
4. 2 12 W WIRING DIAGRAMS erae re co v eee ea reae 2 5 2 7 WORD ACCESS OFFSET 0X40 LIMIT SWITCH STATUS 3 16 0x44 HOME SWITCH STATUS WORD 3 17 0x48 FIRMWARE STATUS 5 3 18 OxfcO STATUS WORD 1 FLAG 3 19 3 29 MAXv User s Manual
5. 3 16 User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION TABLE 3 3 HOME SWITCH STATUS WORD WORD ACCESS OFFSET 0X44 Bit Function Byte access offset 0x47 00 X axis home sensor 01 Y axis home sensor 02 Z axis home sensor 03 T axis home sensor 04 U axis home sensor 05 V axis home sensor 06 R axis home sensor 07 S axis home sensor Byte access offset 0x46 08 Not used 09 Not used 10 Not used 11 Not used 12 Not used 13 Not used 14 Not used 15 Not used Byte access offset 0x45 16 Not used 17 Not used 18 Not used 19 Not used 20 Not used 21 Not used 22 Not used 23 Not used Byte access offset 0x44 24 Not used 25 Not used 26 Not used 27 Not used 28 Not used 29 Not used 30 Not used 31 Not used MAXv User s Manual MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE TABLE 3 4 MAXv CONTROLLER FIRMWARE STATUS FLAGS WORD ACCESS OFFSET 0x48 Bit Function 00 Controller application code not downloaded to RAM 01 Controller application code is initializing 02 Controller application code is running 03 Not used 04 Not used 05 Not used 06 Not used 07 Not used 08 Application stored in flash memory has a check sum error 09 A programmi
6. Caution The servo motor may jump or spin at a very high velocity during connection and configuration The motor should be restrained by some means before beginning this procedure Keep hands and clothing clear of the motor and any mechanical assemblies while performing this procedure It is recommended that the motor shaft not be connected to the physical system until you are sure you have control over the motor 2 6 CONNECT AND CONFIGURE THE MOTOR AMPLIFIER 1 Connect and configure your amplifier per the manufacturer s instructions for Torque or Open Loop mode 2 With the motor and amplifier power turned off connect the MAXnet to the amplifier Balance your motor a Configure the axis as a servo axis by sending the PSM command b Using a voltage meter verify that the command signal from the MAXnet is less than 500mV If it is not send the command 0 to the MAXnet and recheck the voltage If the voltage is still too high contact Pro Dex Oregon Micro Systems Technical Support department for guidance c Turn on power to the amplifier and then to the motor d Adjust the balance setting of your amplifier if equipped until the motor stops moving e If the motor continues to revolve or your amplifier has no balance adjustment i Send the command KO100 to the MAXnet ii If the motor spins faster reduce the command parameter and resend the command e g KO50 iii If the motor spin
7. z See UC command in MAX Family Command Reference Manual for selecting signal on this pin MAXv User s Manual TABLE 6 2 IOvMAX Terminal Block Pin Out Pin Signal Name Pin SignalName Pin Signa Name Pin Signal Name GND GND GND 6 XPhaseB GND GND GND 5 80 4 9 GND 9 45 R Phase A GND 47 R Index A GND GND GND 86 Analog Input GND GND 53 SindexA 89 vO7 161 90 UPoslimit 55 SPhaseB 163 GND 164 GND GND GND GND GND GND 96 109 GND T Index A 98 V Neg Limit 99 GND GND GND GND 29 api GND GND GND U Index A U Phase B GND GND GND GND GND See 0 in MAX Command Manual NOTE Aux Encoder A 8 and Aux Encoder B 9 See Table 6 3 for pin outs of J3 I O J4 XYZT and J5 UVRS of the MAXv MAXv User s Manual TABLE 6 3 PIN OUT FOR FRONT PANEL CONNECTORS 50 Pin General Purpose I O J3 68 Pin 4 AXIS LIST J4 68 Pin 4 AXIS LIST J5 Pin FUNCTION Pin FUNCTION Pin FUNCTION Pin FUNCTION Pin
8. 20 R Phase A 54 R Index 21 106 Index 9 46 1014 21 Z Phase B 55 2 STEP 21 R Phase 55 R STEP 22 Index9 47 22 Z Phase B 56 GND R Phase B 56 23 107 48 1015 23 T SERVO 57 Z SERVO SERVO 24 49 24 BIS GND 25 5VDC 50 12VDC 25 THome 59 Z Home 26 T Dir 60 Z Dir S Aux see UC command 27 T Aux 61 Z Aux Command Manual 28 GND GND 29 T Pos Limit 63 Z Pos Limit R Pos Limit 30 T Neg Limit 64 Z Neg Limit R Neg Limit 31 TPhaseA 65 Index 32 Phase 66 T Index 33 Phase B 67 T STEP 34 T Phase B 68 Legend X axis V axis Y axis R axis Z axis T axis Ground U axis Voltage CLICK HERE FOR BLACK AND WHITE TABLE VERSION OF THIS TABLE 4 8 MAXv User s Manual 3BCONTROL SIGNAL INTERFACE FRONT PANEL CONNECTORS 25 25 F lt 20 8 Analog Inputs ADC 68 16 General Purpose I O gt gt 2 Auxiliary Analog Outputs DAC 9187 _ gt Figure 4 8 MAXv Front Panel Connector Pin Assignment 4 9 1 MAXv IOvVMAX HOOK DIAGRAM The hook up diagram is shown below Note that the nomenclature for the axis can be alpha X y Z or numerical 0 1 2 MAXv component side I O XYZT UVRS J3 50 J4 68 Pin J5 68 Pin J4 68 Pin J3 50 Pin J5 68 Pin XYZT I O UVRS 429 100 Pin
9. ACCELERATION 0 to 8 000 000 pulses per second per second POSITION RANGE 2 147 487 647 ACCURACY Position accuracy and repeatability 0 counts for point to point moves Velocity accuracy 0 01 of peak velocity in jog mode POWER 5VDC 5 at 1 amp typical 12VDC at 0 1 amp typical 5 12VDC at 0 1 amp typical 10 ENVIRONMENTAL Operating temperature range 0 to 50 degrees centigrade Storage temperature range 20 to 85 degrees centigrade Humidity 0 to 90 non condensing DIMENSIONS 6 4 x 9 2 x 0 7 LIMIT SWITCH INPUTS Input levels 3 15 VDC Input sense low or high true selectable by command input for each axis Signal component DS14C89AM or equivalent CONNECTOR Two shielded 68 Pin SCSI3 connectors for all motor control one 50 Pin SCSI2 connector for I O signals on front panel and a 160 pin P2 connector for back plane interconnect HOME SWITCH INPUTS Input levels 3 15 VDC Input sense low or high true selectable by command input for each axis Signal component DS14C89AM or equivalent USER DEFINABLE I O Up to 16 bits of user definable digital I O The 16 bits are user configurable and are configured as 8 inputs and 8 outputs as defaults from the factory NOTE 6 general purpose inputs are shared with two auxiliary encoder channels Input signal component DS26LV32AT or equivalent for IO 0 7 74LCX244MTC or equivalent for IO 8 15 Output signal component SN74ABT12
10. FUNCTION Pin FUNCTION 1 Analog Input 0 26 Analog Input 1 1 XPhase 35 X Index 1 U Phase 35 U Index 2 XPhaseA 36 X Index 2 U Phase A 36 U Index 3 Analog Input 2 28 Analog Input 3 3 iX Phase 37 X STEP 3 U Phase B 37 U STEP 4 X Phase B 38 4 U Phase B 38 5 Analog Input 4 30 Analog Input 5 5 YSERVO 39 X SERVO 5 VSERVO 39 USERVO 7 Analog Output 0 32 Analog Output 1 7 Y Home 41 X Home 7 V Home 41 U Home 8 GND GND 8 Y Dir 42 X Dir 8 V Dir 42 U Dir 100 Phase 8 34 108 9 Y Aux 43 X Aux 9 V Aux 43 U Aux Phase A8 35 10 GND 10 GND GND 11 1 Phase B8 36 109 11 Y Pos Limit 45 X Pos Limit 11 V Pos Limit 45 U Pos Limit 12 PhaseB8 37 12 Y Neg Limit 46 X Neg Limit 12 V Neg Limit 46 U Neg Limit 13 102 Index 8 38 1010 13 Y Phase 47 Y Index 13 V Phase A 47 V Index 14 Index8 39 14 Y Phase A 48 Y Index 14 V Phase A 48 V Index 15 103 40 1011 15 Y Phase B 49 Y STEP 15 V Phase 49 V STEP 16 GND GND 16 Y Phase B 50 16 V Phase B 50 17 4 Phase 9 42 1012 17 5V 51 V BIAS 17 5V 51 V BIAS 18 Phase A9 43 19 105 Phase B9 44 1013 19 Z Phase A 53 Z Index 19 Phase A 53 R Index 20 Phase B9 45 GND 20 Z Phase A 54 Z Index 20 R Phase A 54 R Index 21 106 Index 9 46 1014 21 Z Phase 55 ZSTEP 21 R Phase 55 STEP 22 Index 9 4
11. below Host Application VME Shared Memory 4096 Bytes VME Hardware Registers FPGA ADC Inputs AUX DAC Outputs Flag Clear Requests Interrupt Enable I O Status Bits Mail Box Commands Position Data Status Flags Text Commands Text Response Controller VME Address Selection VME Hardware Registers Figure 3 1 Data Flow Diagram MAXv User s Manual 3 1 APPLICATION INTERFACE DATA DICTIONARY 2BCOMMUNICATION INTERFACE 3 4 APPLICATION INTERFACE DATA DICTIONARY Please refer to the Data Flow Diagram Figure 3 1 for additional information and clarification DATA DICTIONARY 1 ADC Inputs 6 Analog to Digital converter values read each motor update cycle and stored in shared memory Aux DAC Outputs Auxiliary Digital to Analog output requests placed in the DACO or DAC1 shared memory register locations Flag Clear Requests Bits written to Status Word 1 to clear selected status flags and dismiss the latched interrupt OR Bits written to Status Word 2 to clear selected status flags and dismiss the latched interrupt Interrupt Enables Interrupt enable bits written to the Status Word 1 Interrupt enable register OR Interrupt enable bits written to the Status Word 2 Interrupt enable register I O Bits Status The state of the 16 general purpose I O bits read and stored in shared memory each motor update cycle OR The state of the Limit Sensor Inputs read and stored in shared memory ea
12. 2 20 3 COMMUNICATION INTERFACE 3 1 Sd INTRODUCTION eae nd uy tale ADD a tos es 3 1 32 SUMETNTEBRERGCE M e MM E EE 3 1 3 3 COMMUNICATION INTERFACES eere 3 1 34 APPLICATION INTERFACE DATA 3 2 3 5 COMPARISON OF PREVIOUS OMS ARCHITECTURE 3 3 Anapa NG ORO MORSE ERI RARE e 3 4 3 7 MAXv CONTROLLER INITIALIZATION eere terere 3 4 3 7 1 SAMPLE OF AN INTERRUPT SERVICE ROUTINE 3 5 3 7 2 SAMPLE OF SEND STRING 3 9 3 7 8 SAMPLE A SENDANDGETSTRING ees 3 10 3 8 MAXv VME ADDRESS SPACE MEMORY REGISTER MAP 3 13 3 8 1 CONTROLLER STATUS irr ct bt tee e o eus 3 19 3 8 2 MAXv CONTROLLER STATUS WORD 1 INTERRUPT ENABLES 3 20 3 8 3 MAXv CONTROLLER STATUS WORD 2 3 21 3 8 4 CONTROLLER STATUS WORD 2 INTERRUPT ENABLE 3 22 3 9 COMPARISON ede e rh o M ete TOS hemes aol 3 23 3 10 REAL TIME POSITION CAPTURE 3 29 4 CONTROL SIGNAL INTERFACE 4 1 doo INTRODUCTION e eie aaa i eiie te 4 1 4 2 GENERAL PURPOSE LIMIT AND HOME INPUTS amp ANALOG INPUTS 4 1 43 CONTROL
13. 29 GND 31 Analog Output 11015 GND NC 32 Meli NC See UC command in MAX Family Command Reference Manual for selecting signal on this pin Legend X axis V axis Y axis R axis Z axis T axis Ground U axis Voltage CLICK HERE FOR BLACK AND WHITE TABLE VERSION OF THIS TABLE 4 10 MAXv User s Manual 3BCONTROL SIGNAL INTERFACE FRONT PANEL CONNECTORS 4 10 IOVMAX ADAPTER MODULE For ease of connection to the MAXv OMS has developed the IOvMAX interface module All three SCSI connectors the IOvMAX connect directly to the appropriate 50 pin or 68 pin connectors on the MAXv See FIGURE 4 The IOvMAX has a 180 pin terminal block that provides an independent screw connection for each signal In addition the IOvMAX also has a 100 pin connector J29 that is compatible with the OMS VMES8 out See Figure 4 12 IOvMAX Breakout diagram MAXv User s Manual 4 11 FRONT PANEL CONNECTORS 3BCONTROL SIGNAL INTERFACE TABLE 4 3 IOvMAX Terminal Block Pin Out Pin Signal Name Pin Signa Pin Signal Name _ Pin st Signal Name _ GND GND Z Neg Limit GND 6 XPhaseB GND GND GND 8 NET 80 GND 9 YPhase A 45 _ R Phase A GND 47 R Index A GND 49 R
14. 6 User I O 10 31 U Phase A 56 User I O 9 81 7 User I O 12 32 U Phase B 57 User 11 82 U Index 8 User 13 33 U Direction 58 83 Axis Step Output 9 34 U Auxiliary Output 59 5VDC 84 U Positive Limit 10 X Phase A 35 U Home 60 85 U Negative Limit 11 X Phase B 36 V Phase A 61 X Index 86 V Index 12 X Direction 37 V Phase B 62 X Axis Step Output 87 V Axis Step Output 13 X Auxiliary Output 38 V Direction 63 X Positive Limit 88 V Positive Limit 14 X Home 39 V Auxiliary Output 64 X Negative Limit 89 V Negative Limit 15 Y Phase A 40 V Home 65 Y Index 90 5VDC 16 Y Phase B 41 66 Y Axis Step Output 91 17 Y Direction 42 R Phase A 67 Y Positive Limit 92 R Index 18 Y Auxiliary Output 43 R Phase B 68 Y Negative Limit 93 R Axis Step Output 19 Y Home 44 R Direction 69 5VDC 94 R Positive Limit 20 45 R Auxiliary Output 70 95 R Negative Limit 21 Z Phase A 46 R Home 71 Z Index 96 S Index 22 Z Phase B 47 S Phase A 72 Z Axis Step Output 97 S Axis Step Output 23 Z Direction 48 S Phase B 73 Z Positive Limit 98 S Auxiliary Output 24 Z Auxiliary Output 49 S Direction 74 Z Negative Limit 99 S Positive Limit 25 Z Home 50 S Home 75 T Index 100 S Negative Limit ORDERING INFORMATION User Model Computer Axes Servo Stepper _ T Digital Analog Interface Limit Auxiliary Home General Purpose In Out MAXv 1000 1 User Definable 2 1 1 16 6 3 MAXv 2000 2 User Definable 4 2 2 16 6 4 MAXv 3000 3 User Definable 6 3 3 16 6 5 MAXv 4000 VME Bus 4 UserDefinab
15. 8 User 13 33 U Direction 58 ound 83 U Axis Step Output 9 34 U Auxiliary Output 59 5VDC 84 U Positive Limit X Phase A 35 U Home 60 ound 85 U Negative Limit 11 X Phase B 36 V Phase A 61 X Index 86 V Index 12 X Direction 37 V Phase B 62 X Axis Step Output 87 V Axis Step Output 13 X Auxiliary Output 38 V Direction 63 X Positive Limit 88 V Positive Limit 14 X Home 39 V Auxiliary Output 64 X Negative Limit 89 V Negative Limit 15 Y Phase A 40 V Home 65 Y Index 90 5VDC 16 Y Phase B 41 ound 66 Y Axis Step Output 91 17 Y Direction 42 R Phase A 67 Y Positive Limit 92 R Index 18 Y Auxiliary Output 43 R Phase B 68 Y Negative Limit 93 R Axis Step Output 19 Y Home 44 R Direction 69 5VDC 94 R Positive Limit 20 RCC 45 R Auxiliary Output 70 95 R Negative Limit 21 2 46 R Home 71 Zindex 96 22 Z Phase 47 72 Z Axis Step Output 97 23 ZbDirection 48 73 ZPositive Limit 98 24 Z Auxiliary Output 49 74 Z Negative Limit 99 25 ZHome 50 75 T Index 100 Legend X axis V axis Y axis R axis Z axis T axis Ground U axis Voltage CLICK HERE FOR BLACK AND WHITE TABLE VERSION OF THIS TABLE MAXv User s Manual FRONT PANEL CONNECTORS 3BCONTROL SIGNAL INTERFACE This page is intentionally left blank 4 14 User s Manual 4BHOST SOFTWARE INTRODUCTION TO MAXV SOFTWARE SUPPORT 5 HOST SOFTWARE 5 1 INTRODUCTION TO MAXv SOFTWARE SUPPORT No software is provided
16. IFSEHP res De x d Accelerating Possibilities USER S MANUAL INTELLIGENT MOTION CONTROLLERS For VME and VME64 bus MAXv FAMILY PRO DEX INC OREGON MICRO SYSTEMS 15201 NW Greenbrier Parkway B 1 Ridgeview BEAVERTON OR 97006 PHONE 503 629 8081 FAX 503 629 0688 EMAIL csr pro dex com WEB SITE http www pro dexOMS com COPYRIGHT NOTICE 2013 Pro Dex Inc Oregon Micro Systems ALL RIGHTS RESERVED This document is copyrighted by Pro Dex Inc Oregon Micro Systems 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 Pro Dex Inc 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 CompactCPCl PICMG PCI PICMG are registered trademarks of the PCI Special Interest Group LabView is a registered trademark of National Instruments Windows Windows 2000 Win 95 Win 98 Win XP Win NT amp Vista are registered trademarks of Microsoft Corporation DISCLAIMER Pro Dex Inc Oregon Micro Systems 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
17. OUTPUT u eter achat 4 1 4 4 ENCODER FEEDBACK u n en metu on eds 4 3 4 5 ENCODER SELECTION AND COMPATIBILITY es 4 4 45 HOMBPROGEBURES ii dete te iterum etsi edes 4 4 47 UNASSIGNED ENCODERS 2 rtt etit 4 5 4 8 ABSOLUTE ENCODERS WITH SSI scs 4 6 4 8 1 CONFIGURATION EXAMPLES cccccccssessssessessesecsessesecsesscecssesceseenees 4 6 4 9 FRONT PANEL CONNECTORS eter 4 8 4 9 1 IOVMAX HOOK DIAGRAM eee 4 9 4 10 IOVMAX ADAPTER MODULE eere tette tette 4 11 HOST SOFTWARE orm ceo rece rd ec 5 1 5 1 INTRODUCTION TO MAXv SOFTWARE 5 1 User s Manual gt SERVICE T M 6 1 6 7 USER SERVICE Lee Rhen ree dit iege aaa 6 2 THEORY OF OPERATION R aaa ala asas tht eire de nire den A LIMITED WARRANTY B TECHNICAL INFORMATION RETURN FOR REPAIR PROCEDURES C SPECIFICATIONS INDEX MAXv User s Manual OBGENERAL DESCRIPTION INTRODUCTION 1 GENERAL DESCRIPTION 1 1 INTRODUCTION The Pro Dex Inc Oregon Micro Systems MAXv motion controllers form a family of high performance VME bus based products and are in compliance with the universal 60 VME Bus Specification ISO IEC 15776 2001 E The MAXv motion controller can manage up to 8 axes of open loop stepper
18. Phase B GND GND 86 Analog Input 3_ GND GND GND GND 89 107 90 Limit 56 GND 128 164 GND GND GND GND GND GND 96 109 GND T Index A 98 V Neg Limit 134 170 99 GND GND GND 136 172 GND GND GND GND 138 174 GND 140 176 U Index A 141 GND 178 GND GND GND GND See UC command in MAX Command Manual Legend X axis V axis Y axis R axis Z axis T axis Ground U axis Voltage NOTE Aux Encoder A 8 and Aux Encoder 9 See Table 4 1 for pin outs of J3 I O JA XYZT and J5 UVRS of the MAXv CLICK HERE FOR BLACK AND WHITE TABLE VERSION OF THIS TABLE MAXv User s Manual 3BCONTROL SIGNAL INTERFACE FRONT PANEL CONNECTORS TABLE 4 4 VME58 OUTPUT CONNECTOR PIN LIST J29 IOVMAX PIN FUNCTION PIN FUNCTION PIN FUNCTION PIN FUNCTION 1 User 0 26 T Phase A 51 5VDC 76 T Axis Step Output 2 User I O 2 27 T Phase B 52 User I O 1 77 T Auxiliary Output 3 User 4 28 T Direction 53 User 78 T Positive Limit 4 User I O 6 29 T Home 54 User 5 79 T Negative Limit 5 User 1 0 8 30 55 User I O 7 80 5VDC 6 User 10 31 U Phase A 56 User I O 9 81 7 User I O 12 32 U Phase B 57 User I O 11 82 U Index
19. User Bits 8 13 Register Oxfeb Bit Number Bit Function Bit 8 Bit 9 I O Bit 10 Bit 11 Bit 12 Bit 13 Not used Not used N lt BRIO OIN MAXv User s Manual 3 27 MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE TABLE 3 18 8 Interrupt Vector Register Oxff1 Bit Number Bit Function 7 Least Significant Bit of vector number 6 5 4 3 2 1 0 Most Significant Bit of vector number 3 28 MAXv User s Manual 2BCOMMUNICATION INTERFACE REAL TIME POSITION CAPTURE 3 10 REAL TIME POSITION CAPTURE The position capture commands control the real time recording of axis position data and the management of the captured position data The captured position data includes the axis the positive edge I O bits the negative edge I O bits the home and encoder home events and the encoder position of the axis The position data is captured when the conditions specified for the input bit are met The capture conditions for the home switch and general purpose input bits can be a rising positive edge a falling negative edge or the event can be both the rising positive and the falling negative edge so data is captured on any transition of the input bit The real time position capture feature is only available on an axis with incremental encoders See the MAX family command reference manual for mor
20. VL5000 AC50000 KP20 KD45 CLO HMO MA10000 MAXv User s Manual GO ID In a move requiring a three axis coordinated move to a position the following could be used AX KP2 KD6 CLO AY KP2 KD6 CLO AZ KP2 KD6 CLO AM VL5000 5000 5000 AC50000 50000 50000 MA1000 2000 3000 GO ID The controller would calculate the relative velocities required to perform a straight line move from the current position to the desired position 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 counts per second A contour is defined beginning at coordinates 0 0 on the Z and T axes Auxiliary output on the X 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 hole The hole is then cut the torch turned off the stage stopped and the contour definition completed The stage is then positioned and the contour definition executed The following would be input from the host computer VO1000 VC 0 0 ABH VC0 5000 3 1415926 VC0 0 6 2831853 ABL MT 10 10000 VE 1000 0 GO VC MAXv User s Manual SPECIFICATIONS VELOCITY 0 to 4 176 000 pulses per second simultaneous on each axis
21. be dismissed until the host clears that bit TABLE 3 5 Controller Status Word 1 Flag Register Word Access Offset OxfcO Bit Function Byte access offset Oxfc3 00 X axis done bit 01 Y axis done bit 02 Z axis done bit 03 T axis done bit 04 U axis done bit 05 V axis done bit 06 R axis done bit 07 S axis done bit Byte access offset Oxfc2 08 X axis over travel detected 09 Y axis over travel detected 10 Zaxis over travel detected 11 T axis over travel detected 12 U axis over travel detected 13 V axis over travel detected 14 R axis over travel detected 15 S axis over travel detected Byte access offset Oxfc1 16 X axis encoder slip detected 17 Y axis encoder slip detected 18 Z axis encoder slip detected 19 T axis encoder slip detected 20 U axis encoder slip detected 21 V axis encoder slip detected 22 R axis encoder slip detected 23 S axis encoder slip detected Byte access offset OxfcO 24 Command error 25 Text response is available 26 Requested data is available 27 Not used 28 Not used 29 Not used 30 Not used 31 Not used MAXv User s Manual MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE 3 8 2 MAXv CONTROLLER STATUS WORD 1 INTERRUPT ENABLES Setting a bit to a 1 enables the interrupt for the corresponding bit in controller status word 1 TABLE 3 6 Controller Status Word 1 Inter
22. product described within it at any time without notice and without obligation to notify any person of such revision or change 3301 2700000 Rev F TABLE OF CONTENTS TABLE OF GONTENTS eene ec e ette tt eei gp 1 GENERAL 1 1 1 1 ANTIRODUIG TIONS S 1 1 12 SYSTEM OVERVIEW ccccccccsccscsscsccocsscscsscecsucsuceesucsussesucsussesessesucsessesecsesseseeaeenees 1 2 2 GETTING 5 2 1 21 mee EST 2 4 22 TO PREPARE FOR INSTALLATION ccccccccssssccssessesesscsesessessesessesssessesessesseeess 2 1 23 HARDWARE INSTALLATION terere aaa 2 5 24 IOVMAX BREAKOUT MODULE teretes 2 8 2 5 CONNECT AND CHECKOUT THE SERVO 2 9 2 6 CONNECT AND CONFIGURE THE 2 9 27 TUNE THE SYSTEM I a aet iot 2 11 2 7 4 INTRODUCTION 2 11 2 7 2 TUNING ASSISTANT 2 11 27 3 HMANUADSTONINGS estt corti tite 2 11 2 8 SETTING THE USER DEFAULT 2 18 2 9 POWER SUPPLY REQUIREMENTS eene 2 19 2 10 POWER UP RESET SELF TEST DIAGNOSTICS i
23. routine During this self test the LEDs D2 D4 and D6 go through a series of states If the initialization sequence fails in any way the state of the LEDs will indicate the type of initialization error as follows LED Meaning GREEN LED D4 on steady initialization completed successfully GREEN LED D6 on steady waiting for EPIC RESET completion GREEN LEDs D4 D6 on steady waiting for FPGA ready GREEN LED D4 flashing firmware not resident in flash waiting for firmware download RED LED D2 flashing with GREEN LED D4 on steady invalid processor version RED LED D2 flashing with GREEN LED D6 memory compare error 2 20 MAXv User s Manual 2BCOMMUNICATION INTERFACE INTRODUCTION 3 COMMUNICATION INTERFACE 3 1 INTRODUCTION The VME64 Bus specification ISO IEC 15TT6 1002 E allows for a number of different options The MAXv can support three modes A16 A24 and A32 with the default being 16 bit Non Privileged mode 3 2 VME INTERFACE The VME interface is via the standard P1 and P2 interface using the 160 pin VME bus connectors 3 3 COMMUNICATION INTERFACES As shown in the simplified data flow diagram below communication between the MAXv controller and the application is via the VME shared memory and the hardware registers in the FPGA Further details on specific items 1 12 are shown in the Data Dictionary following the Data Flow Diagram
24. slip or stall detection Electronic gearing is also available for tracking with another motor or manual input device such as an independent encoder tracking The bus interface uses Shared Memory technology for communication of commands from the host and feedback of motion control parameters Commands may be written to this Shared Memory by the host eliminating the communication bottlenecks of single address port based communications The MAXv uses the PowerPC s Message unit including the door bell technology to alert and flag the host or the Controller Interrupt control and other data are available through reserved storage regions in the common memory area These include the interrupt vector interrupt control and status done flag data over travel and home switch status Command Error an ASCII Command and an ASCII Response Ring Buffer slip flag for each axis as well as the user definable Some commands may be passed to the MAXv by passing the communication channel using the mailbox system These commands cause an immediate interrupt and may be used for critical commands such as abort Each axis may perform individual unrelated moves or they can be coordinated as required by the application Simple two or three character ASCII commands may be easily sent to the board from any high level language such as C C or VB Complex move sequences time delays and control of other external events may be programmed through the MA
25. the velocities of the defined axes will be set accordingly 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 APP 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 VL etc To restore the factory defaults the command RDF Restore Factory defaults is executed To restore the User Defined Default Parameters the command RDP Restore Defaults is executed 2 18 MAXv User s Manual 1BGETTING STARTED POWER SUPPLY REQUIREMENTS The following is a list of parameters that can be defined as part of the User Definable Power Up Default Parameters Description Factory Default Commands Over travel limit soft limit or hard limit Hard limit LM Over travel limit enabled or disabled Enabled LM Over travel limit polarity active high or active low Active low LT Software based over travel for each axis Disabled TL Step direction bit polarity Low DBI DBN Acceleration value for each axis 2 000 000 AC Trajectory profile for each axis linear parabolic S Linear AJ RT SR curve custom Velocity P
26. when the switch is activated At this point the MAXv can either ramp the axis to a stop or stop the axis immediately To control of the direction of travel the logic active state and the response to the active switch are controlled through commands The duration of the home signal must be UP for at least two controller update cycles to assure reliable detection The other homing method on the MAXv uses the home switch and the encoder signals to home a motor When using the Home Encoder HE mode the homing logic is used with these input signals The home position consists of the logical AND of the encoder index pulse the home switch input 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 The HH HL and EH commands can be used to create different patterns for the home logic The default home logic expressed in Boolean terms is Home Phase A lt Phase B Index Home Switch Default 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 a RE command must increase for positive moves or the system wil
27. 0x708 4 R axis command velocity Read Only 1804 0 70 4 R axis acceleration Read Only 1808 0x710 4 R axis velocity limit Read Only 1812 0 714 4 axis base velocity limit Read Only 1816 0x718 4 R axis proportional gain Read Only 1820 0 71 4 axis differential gain Read Only 1824 0x720 4 R axis integral gain Read Only 1828 0 724 4 axis accel feed fwd Read Only 3 24 User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION Byte Offset 10 Byte Offset Hex Byte length Description Mem Function 1832 0x728 4 R axis vel feed fwd Read Only 1836 0 72 4 axis DC offset Read Only 1840 0x730 80 Reserved Read Only 1920 0x780 4 S axis encoder position Read Only 1924 0x784 4 S axis command position Read Only 1928 0x788 4 S axis command velocity Read Only 1932 0 78 4 S axis acceleration Read Only 1936 0x790 4 S axis velocity limit Read Only 1940 0x794 4 S axis base velocity limit Read Only 1944 0x798 4 S axis proportional gain Read Only 1948 0 79 4 S axis differential gain Read Only 1952 0x7a0 4 S axis integral gain Read Only 1956 Ox7a4 4 S axis accel feed fwd Read Only 1960 0x7a8 4 S axis vel feed fwd Read Only 1964 7 4 S axis DC offset Read Only 1968 0x7b0 80 Reserved Read Only 2048 0x800 2 Response Put Index Read Write 2050
28. 0x802 2 Command Get Index Read Write 2052 0x804 512 Response Buffer Read Write 2564 04 1500 Reserved Read Write The Hardware Register Set begins here 4064 0 1 Not used 4065 Oxfe1 1 Control Register Read Write 4066 Oxfe2 1 Not used 4067 Oxfe3 1 Status Register Read Only 4068 Oxfe4 1 Not used 4069 Oxfe5 1 User I O bits 0 7 Read Only 4070 Oxfe6 1 Not used 4071 Oxfe7 1 Encoder Slip Flags Read Only 4072 Oxfe8 1 Not used 4073 Oxfe9 1 Done Flags Read Only 4074 Oxfea 1 Not used 4075 Oxfeb 1 User I O bits 8 13 Read Only 4076 Oxfec 1 Not Used 4077 Oxfed 1 Limit Switch Status Read Only 4078 Oxfee 1 Not Used 4079 Oxfef 1 Home Switch Status Read Only 4080 OxffO 1 Not used 4081 Oxff1 1 Interrupt Vector Read Write 4082 Oxff2 14 Not Used MAXv User s Manual 3 25 MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE TABLE 3 10 VMES8 Control Register Oxfe1 Bit Number Bit Function Data Area Update Request Unused Encoder Slip Interrupt Enable Limit Register Interrupt Enable Done Register Interrupt Enable Interrupt Request to VME58 I O bits and 1 Interrupt Enable Interrupt Request Enable O N O O O TABLE 3 11 VME58 Status Register 0xfe3 Bit Number Bit Function Command Error Initialized Power up complete Encoder Slip Over travel Encountered Done Interrupt Request to VME58 status Interrupt Request fr
29. 1 P2 connectors provide high density connectivity on the back plane VME amp VME64 compliant 266 MHZ 32 BIT RISC PROCESSOR Updates all signals and data points providing superior application control 4K SHARED MEMORY Permits rapid data transfer to amp from controller Large size accommodates expandability to unique custom applications CONTROLLER I O CAPABILITIES 6 Channels of general purpose analog input with 16 bit 10 VDC input 2 Channels of general purpose analog output with 16 bit 10 VDC output MOTION FEEDBACK Support Quadrature Encoder Feed back up to 16 MHz on up to 10 encoder inputs SOPHISTICATED CONTROL FUNCTIONALITY 16 bit DAC analog resolution Step pulses from 0 to 4 176 000 steps per second 0 steps Backlash compensation Custom parabolic S Curve amp Linear trajectory profiles Real time encoder position capture S curve with 4 quadrant jerk parameters MAXv User s Manual APPENDIX C SPECIFICATIONS CONTROL SIGNALS Two 68 pin SCSI and 50 SCSI connectors for high density signal connection on the front panel 16 user definable digital I O P2 connector is 160 pins and supports most all the signals available on the front panel DESCRIPTION The MAXv family of Motion Controllers brings the Oregon Micro Systems Inc OMS intelligent motion control technology to a new level of servo applications as well as stepping motors A much more powerful 266
30. 5PWR with 510 series resistor IO 0 7 and PI5C3125 to GND IO 8 15 ANALOG INPUTS Six independent analog inputs 16 Bit resolution Signal component ADS7809 or equivalent ANALOG OUTPUTS SERVO 10V and 0 to 10V max One per axis plus two general purposes Signal component AD621 or equivalent STEP PULSE OUTPUT Pulse width 5096 duty cycle Open collector level signal TTL Signal component PI5C3125 or equivalent DIRECTION OUTPUT Open collector level signal TTL Signal component PI5C3125 or equivalent ENCODER FEEDBACK Maximum 16 MHz after 4x quadrature detection Differential signal Differential signal component DS26LV32AT or equivalent ABSOLUTE ENCODERS SSI Technology X and Y axis up to 12 bits resolution default Maximum 8 axes of absolute encoders up to 32 bits resolution REFERENCE VME64bus Specification ISO IEC 15776 2001 E VME64x Specification ANSI VITA 1 1 1997 SOFTWARE High level expertise not required Over 250 ASCII character commands expanded from current OMS command set Software drivers and DLLs for Windows provided at no additional cost User Manual included Support software available for download at our web site www pro dexOMS com MAXv User s Manual TABLE 6 1 P2 CONNECTOR PINOUT AT BACKPLANE ROWS A B amp C ARE VME58 COMPATIBLE MAXv Pin Assignment P2 Connector
31. 7 GND 22 Z Phase B 56 GND 22 R Phase B 56 GND 23 107 48 1015 23 TSERVO 57 ZSERVO 23 SSERVO 57 RSERVO 24 GND GND 24 GND GND 24 GND GND 25 5VDC 50 12VDC 25 THome 59 Z Home 25 S Home 59 R Home 26 T Dir 60 Z Dir 26 S Dir 60 R Dir S Aux see UC command 27 T Aux 61 Z Aux 27 S Aux 61 R Aux Command Manual 28 GND GND 28 GND GND 29 T Pos Limit 63 Z Pos Limit 29 S Pos Limit 63 R Pos Limit 30 T Neg Limit 64 Z Neg Limit 30 S Neg Limit 64 R Neg Limit 31 Phase 65 T Index 31 S Phase A 65 S Index 32 Phase A 66 T Index 32 S Phase A 66 S Index 33 Phase B 67 TSTEP 33 S Phase B 67 S STEP 34 T Phase 68 34 S Phase B 68 MAXv User s Manual TABLE 6 4 VME58 Output Connector Pin List J29 IOVMAX PIN FUNCTION PIN FUNCTION PIN FUNCTION PIN FUNCTION 1 User 1 0 0 26 T Phase A 51 5VDC 76 T Axis Step Output 2 User 2 27 T Phase B 52 User I O 1 7T T Auxiliary Output 3 User 4 28 T Direction 53 User 1 0 78 T Positive Limit 4 User 6 29 T Home 54 User 5 79 T Negative Limit 5 User I O 8 30 Ground 55 User I O 7 80 5VDC
32. ASCII response buffer by the controller in response to query commands such as RP VME Address Selection Vector value 1 255 written to the VME IACK ID register OR Address modifier value written to the VME Address Modifier register VME Hardware Registers The set of MAXv controller registers implemented in an FPGA The registers include Status Word 1 flag register Done flags Limit flags Slip flags CMD error Response available amp Requested data available Status Word 1 interrupt enable Bit by bit interrupt enable for Status Word 1 flags Status Word 2 flag register Axis home flags Status Word 2 interrupt enable Bit by bit interrupt enable for Status Word 2 flags VME IACK ID vector register Vector Id value used to identify the Controller when an interrupt occurs Controller Configuration Register Controller Configuration Switch Status VME Address Modifier Register VME bus address modifier selection Value FIFO Status and Control register Not currently used FIFO Data Register Not currently used COMPARISON OF PREVIOUS OMS OMS motion controllers such as the VME58 family previously used hardware registers for status slip done and over travel limits The MAXv uses the Power PC s Message unit in combination with reserved storage regions in the common memory area to accomplish these functions MAXv User s Manual 3 3 MAXV 2BCOMMUNICATION INTERFACE 3 6 MAXv To aid in the und
33. CE MAXV CONTROLLER INITIALIZATION 3 8 MAXV VME ADDRESS SPACE MEMORY REGISTER MAP The MAXv family of motion controllers as do the VME568 controllers utilizes 0x1000 4096 bytes in the VME Controller Host shared memory address space On the MAXv a set of jumpers is used to determine the base address for host accesses to this address space The MAXv controller uses a base address of 00 3000 to access this address space TABLE 3 1 MAXv VME SHARED ADDRESS SPACE MAPPING Byte Offset Byte Offset Hex Byte length Description The following 8 words contain axis motor positions It is updated each motor update cycle 0 4 X axis motor position 4 0 4 4 Y axis motor position 8 0x8 4 Z axis motor position 12 Oxc 4 T axis motor position 16 0x10 4 U axis motor position 20 0x14 4 V axis motor position 24 0x18 4 R axis motor position 28 Ox1c 4 S axis motor position The following words contain the axis encoder positions It is updated each update cycle 32 0x20 4 X axis encoder position 36 0x24 4 Y axis encoder position 40 0x28 4 Z axis encoder position 44 0 2 4 T axis encoder position 48 0x30 4 U axis encoder position 52 0x34 4 V axis encoder position 56 0x38 4 R axis encoder position 60 Ox3c 4 S axis encoder position The following word contains the axis limit status bits It is updat
34. FFSET 0x44 theta re nicer 3 17 INTERRUPT VECTOR REGISTER OXIfT eet e eren eti nr ee egeo d 3 28 IOVMAX C 4 11 412 IRQ SEEEC TION c 2 2 J13 ADDRESS MODIFIER ana S ttr et etie 2 2 J13 BASE ADDRESS 2 4 J29 PIN OUT FOR THE VME58 OUTPUT CONNECTOR 4 13 C 5 50 PIN CONNECTOR PIN OUT 2000020 4 8 C 4 68 PIN CONNECTOR PIN OUT 02 20021 4 8 C 4 45 68 PIN CONNECTOR PIN OUT 022221 4 8 C 4 LIMIT SWITCH STATUS REGISTER 0 3 27 LIMIT SWITCH STATUS WORD WORD ACCESS OFFSET 0XA0 atten reete nter tina 3 16 PCB DIAGRAM uqatam teet e the e aie be hse ett ce vl ee e C ei Te e eve RAE 2 4 MAXv User s Manual S W INDEX PIN OUT AT BACKPLANE P2 4 10 C 2 PIN OUT FOR THE IOvMAX TERMINAL 4 12 C 3 S SERVO UPDATE RATE 5 retentis 2 12 STATUS REGISTER 0x163 eicere 3 26 STATUS WORD 1 FLAG REGISTER WORD ACCESS OFFSET 0 0 anes aa a
35. Input 2 3384 0xd38 4 Analog Input 3 3388 0xd3C 4 Analog Input 4 3392 0xd40 4 Analog Input 5 3396 0xd44 8 Reserved The following memory region contains auxiliary encoder data 3404 Oxd4C Auxiliary Encoder 0 3408 0xd50 4 Auxiliary Encoder 1 The following memory region contains servo analog output data 3412 54 4 X axis servo DAC output 3416 0xd58 4 Y axis servo DAC output 3420 0 5 4 Z axis servo DAC output 3424 0xd60 4 T axis servo DAC output 3 14 MAXv User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION TABLE 3 1 MAXv VME SHARED ADDRESS SPACE MAPPING con t 3428 4 4 axis servo DAC output 3432 0xd68 4 V axis servo DAC output 3436 Oxd6C 4 R axis servo DAC output 3440 Oxd70 4 S axis servo DAC output 3444 Oxd74 4 Coherent X axis servo DAC output 3448 8 4 Coherent Y axis servo DAC output 3452 Oxd7C 4 Coherent Z axis servo DAC output 3456 0xd80 4 Coherent T axis servo DAC output 3460 84 4 Coherent U axis servo DAC output 3464 0xd88 4 Coherent V axis servo DAC output 3468 0 8 4 Coherent R axis servo DAC output 3472 90 4 Coherent S axis servo DAC output 3476 94 552 Real time position capture data 4028 OxFBC 4 Reserved The remaining 64 bytes are reserved for the controllers hardware register set 4032 OxfcO 4 Status Word 1 flag register 4036 Oxfc4 4 Status Word 1 inte
36. MHz 32 Bit RISC processor PowerPC provides the capability and power for better and more sophisticated application control This new generation of motion control products provides up to 8 axes of motion control on a single card to VME bus compatible computers Each axis can be selected by the user to be an open or closed stepper or a high capability servo axis In addition independent analog inputs are provided to enable integration of analog parameters such velocity override temperature pressure etc under the control of the running application Two additional encoder inputs are available for increased precision and control Two additional general purpose analog outputs are available Outputs are provided for 16 bit analog servo output as well as step and direction for stepper system applications The servo loop is a PID filter with feed forward coefficients and an update rate of 122 us on all 8 axes Independent plus and minus limits a home switch input and an auxiliary output provided for each of the 8 axes so that the state of any of them can be monitored by the system at any time An additional 16 User definable I O is available for synchronization and control of other events The voltage range of limit and home circuits has been extended for operation in the 3 to 15 VDC range Incremental encoder feedback differential or single ended is used for all servo axes and is available for position feedback and may also be used for
37. PLIF Analog Input IOvMAX X SERVO Analog Ground SERVO MOTOR NOILVLNANNDOG YAYNLOVANNVA 33S X PHASE B X PHASE B o o a lt E z tc ENCODER FIGURE 2 10 Example of Wiring Diagram of MAXv Controller via the IOvMAX Interface Module to Servo Motor MAXv User s Manual 2 7 SYSTEM OVERVIEW 1BGETTING STARTED 2 4 BREAKOUT MODULE The IOvMAX breakout module is an accessory for the MAXv family It provides an easy way to set all the control and I O signals and provides a screw terminal connection for each signal A block diagram is shown below MAXv Component Side 1 0 XYZT UVRS J3 50 Pin J4 68 Pin J5 68 Pin J4 68 Pin J3 50 Pin J5 68 Pin XYZT I O UVRS J29 100 Pin Figure 2 11 IOvMAX Break Out to MAXv The IOvMAX provides 180 screw terminals one for each signal from the IOvMAX to the MAXv controller The 100 pin connector on the IOvMAX is pin compatible with the VME58 controller Details for the break out module are shown in Chapter 4 MAXv User s Manual 1BGETTING STARTED CONNECT AND CHECKOUT THE SERVO SYSTEM 2 5 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
38. S LIST J4 68 Pin 4 AXIS LIST J5 Pin FUNCTION Pin FUNCTION Pin FUNCTION Pin FUNCTION Pin FUNCTION Pin FUNCTION 1 Analog Input O 26 Analog Input 1 1 XPhase 35 X Index 1 U Phase 35 U Index 2 X Phase 36 X Index 2 U Phase A 36 _U Index 3 Analog Input 2 28 Analog Input 3 3 X Phase B 37 X STEP 3 U Phase 37 U STEP A 4 X Phase 38 GND 4 U Phase B 38 GND 5 Analog Input 4 30 Analog Input 5 5 Y SERVO 39 XSERVO 5 VSERVO 39 U SERVO 7 Analog Output 0 32 Analog Output 1 7 Y Home 41 X Home 7 V Home 41 U Home 35 8 42 X Dir 8 V Dir 42 U Dir 9 Phase A8 34 108 9 Y Aux 43 X Aux V Aux 43 U Aux 10 PhaseA8 35 GND GND 11 101 Phase 8 36 109 11 Y Pos Limit 45 X Pos Limit 11 V Pos Limit 45 U Pos Limit 12 Phase B8 37 D 12 Y Neg Limit 46 X Neg Limit 12 V Neg Limit 46 U Neg Limit 13 102 Index 8 38 1010 13 Y Phase 47 Y Index 13 V Phase A 47 V Index 14 Index8 39 14 Y Phase A 48 Y Index 14 V Phase A 48 V Index 15 103 40 1011 15 Y Phase B 49 Y STEP 15 V Phase B 49 V STEP 16 41 16 Y Phase B 50 GND 16 V Phase B 50 GND 17 104 Phase 9 42 1012 17 5V 51 V BIAS 17 5V 51 V BIAS 18 Phase 9 43 18 GND GND GND 19 Phase B9 44 1013 19 Z Phase A 53 Z Index 19 R Phase A 53 R Index 20 Phase B9 45 D 20 Z Phase 54 Z Index
39. WITCH FOR THE BACKPLANE P2 INTERFACE DIAGRAM 2 3 HARDWARE INSTALLATION Configure the MAXv board as required by setting appropriate jumpers or using factory defaults Align the MAXv with the VME slot of the computer and insert the MAXv fully into the slot seating the board ejectors Double check the board to ensure it is properly seated in the connector Caution Establish communication with the controller board before wiring external components to the board i e drivers and motors DO NOT make wiring connections to the controller board with power applied to the board Caution ESD warning the MAXv as well as most computers are sensitive to electrostatic discharge ESD and may be damaged if proper precautions are not taken to avoid ESD Use properly grounded esd mats wrist straps and other ESD techniques to prevent damage to the controller and or computer MAXv User s Manual 2 5 SYSTEM OVERVIEW RAND S AXES 5V AUXILIARY X Y Z AND T AXES 1BGETTING STARTED 24 Vdc DRIVER Vi GROUND PULSE DIRECTION AUXILIARY INPUT FIGURE 2 8 Example of Wiring Diagram of MAXv Controller Connected to a Stepper Driver Motor IOvMAX 5V AUXILIARY 24 Vdc DRIVER Vi GROUND PULSE DIRECTION AUXILIARY INPUT FIGURE 2 9 Example of Wiring Diagram of MAXv Controller via the IOvMAX Interface Module 2 6 MAXv User s Manual 1BGETTING STARTED SYSTEM OVERVIEW DC SERVO AM
40. Xv interface The MAXv controller supports two 68 pin and one 50 pin SCSI type connectors on the front panel as well as a 160 pin connector at P2 for back plane connections The IOvMAX connection interface module provides an efficient means of connecting the MAXv signals to external devices It includes two 68 pin connectors and one 50 pin connector as well as a 100 pin connector that is backwards compatible with the VMES58 front panel connector All signals on this connector module are available on a 180 screw terminal block PROGRAMMING The motion controllers easily programmed with character ASCII commands through an extensive command structure The commands are combined into character strings to create sophisticated motion profiles with features such as IO and other functionality A separate FIFO command queue for each axis is used to store the commands once they are parsed in the MAXv These commands are then executed sequentially allowing the host to send a complex command sequence and attend to other tasks while the MAXv manages the motion process These command queues can store 2559 command values and include a command queue counter that allows multiple execution of any command string All commands are sent to the controller as two or three character strings Some of these commands expect one or more numerical operands to follow These commands are identified with after the command The 4 indicates a si
41. a 1 enables the interrupt for the corresponding bit in controller status word 1 TABLE 3 8 MAXv Controller Status Word 2 Oxfcc Bit Function Byte access offset Oxfcf 00 X axis home detected interrupt enable 01 Y axis home detected interrupt enable 02 Z axis home detected interrupt enable 03 T axis home detected interrupt enable 04 U axis home detected interrupt enable 05 V axis home detected interrupt enable 06 R axis home detected interrupt enable 07 S axis home detected interrupt enable Byte access offset Oxfce 08 Real time position capture data available enable 09 Not used 10 Not used 11 Not used 12 Not used 13 Not used 14 Not used 15 Not used Byte access offset Oxfcd 16 Not used 17 Not used 18 Not used 19 Not used 20 Not used 21 Not used 22 Not used 23 Not used Byte access offset Oxfcc 24 Not used 25 Not used 26 Not used 27 Not used 28 Not used 29 Not used 30 Not used 31 Not used 3 22 User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION 3 9 COMPARISON TO VME58 The following is a list of the Shared Memory allocation for the VME58 family of controllers and is shown here to make it easier to find the differences in the assignments when developing a new driver for the MAXv environment TABLE 3 9 VME58 VME Shared Address Space Memory Mapping
42. a big endian processor then appropriate byte swapping to correct for endian differences must be performed by the host processor when accessing the shared memory data 3 30 MAXv User s Manual 3BCONTROL SIGNAL INTERFACE REAL TIME POSITION CAPTURE 4 CONTROL SIGNAL INTERFACE 4 1 INTRODUCTION The MAXv family of motion controllers is available in configurations from one to eight axes and manages any combination of servo and step motor systems The MAXv connects to the VME bus through the VME P1 and VME P2 connectors through rows A B amp C as did the OMS VMES58 previously MAXv default configuration is an open loop stepper controller for the number of axes purchased The connectors two 68 pin SCSI3 and one 50 pin SCSI2 are located on the front panel of the MAXv for easy connection to the IOVMAX breakout board accessory The IOvMAX also has a 100 pin connector that is pin compatible with the J29 connector of the VME58 family The MAXv controller fully meets the ISO IEE 5776 2001 E specification and plugs directly into a VME 6U slot of a VME rack 4 2 GENERAL PURPOSE I O LIMIT AND HOME INPUTS amp ANALOG 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 suitable active switches such as a Hall Effect switch or an opto isolator that connects to ground If the motor travels beyond its allowable limits
43. and trips the switch the limit switch closure removes the excitation from the affected axis Servo motor systems should be designed for safety i e to have electrical braking to stop them The limit switch active signal state can be selected True High or True Low with the LT command on an axis by axis basis The is configured at the factory to control open loop stepper motors for the number of axes purchased Upon installation each axis can be configured for servo motors stepper motors with or without encoder feedback or any combination thereof The servo output may be either unipolar analog 0 10V or bipolar analog 10 10 V 4 3 CONTROL OUTPUT The is configured at the factory to control open loop stepper motors Upon installation each axis can be configured for servo motors open loop steppers stepper motors with encoder feedback or a combination thereof The servo output may be either unipolar analog 0 10V or bipolar analog 10 10 V Step pulse direction and auxiliary outputs are open collector TTL level signals which will wire directly into most driver inputs MAXv User s Manual 4 1 REAL TIME POSITION CAPTURE 3BCONTROL SIGNAL INTERFACE Motion controller Drive Aux Enable Step Step Clock Direction Direction 5V Opto 5V Supply Ground Ground Opto FIGURE 4 1 CONNECTION TO STEP DRIVES WITH INTERNAL PULL UP RESISTORS AND OPTO ISOLATION Motion controller Step Clock Direction 5V O
44. assis See Figure 2 5 for MAXv component locations NOTE Only J12 J13 J7 and J8 are user selectable J12 J13 MODE IRQ CS MSB 31 24 AM 0 5 OOHOFRHO o0ooooooco Ono OoOomnompo jooooooodgdo opo Ll TE L A24 A28 A31 Mode A16 16 bit address IRQ Sel 101 IRQ5 0 5 101001 Address Sel A 15 12 1111 for A16 mode FIGURE 2 1 VME BOARD ADDRESS AND OPERATION OPTION JUMPER SWITCH DIAGRAM MAXv User s Manual 2 1 SYSTEM OVERVIEW 1BGETTING STARTED J12 contains the IRQ and the address mode selection jumpers The IRQ interrupt level range is 0x010 0x111 IRQ2 7 and the default setting is 0x101 IRQ5 The address mode selection supports the 16 bit 24 bit or 32 bit address space operation Note that an open jumper indicates a 1 bit and a closed jumper is 0 J12 IRQ Selection 256 IRQ 2 22 IRO5 pes IRQ 3 IRQ 6 BB IRQ 4 000 Default FIGURE 2 2 J12 IRQ SELECTION J13 contains the hardware address modifier and the board s main address selection jumpers Note that not all combinations of address modifiers are valid Please refer to the VMEbus specification and or the user manual for your processor card J13 Address Modifier i i Default Short Non Privileged Access Standard Access A24 o Short Access A16 not valid Extended Access A32 Default 5 not valid Supervisory A
45. at inara ea ate ea aeae iaer eie 3 19 3 29 STATUS WORD 2 D a e a 3 21 AAA EE EA E ER LM atoms TIEA M SEER EAN Mi E SOO AE EAE 3 22 U UNASSIGNED I ENGODERS uu Dn aT a sa e lo a a e A 4 5 USER I O BITS 0 7 REGISTER 0 5 4 3 27 USER I O BITS 8 13 REGISTER 0 2 4 1 0000000 3 27 V VME BUS MAXv PIN 55 2 4 10 C 2 VME58 COMPARISION TO MAXv CONTROL REGISTER 0xfe1 2 unan iu epe dedu 3 26 DONE FLAGS REGISTER 0xfe9 3 26 ENCODER SLIP REGISTER 0 0 3 26 HOME SWITCH STATUS REGISTER Oxfef n nre r eene nnn nnne nnn 3 27 INTERRUPT VECTOR REGISTER 0 sensn nnn 3 28 LIMIT SWITCH STATUS REGISTER 0 0 0 2240002 5 0000000000 000000000 3 27 SHARED ADDRESS SPACE 3 13 SHARED ADDRESS SPACE MEMORY 3 23 STATUS REGISTER 0Xfe3 5 niit eee 3 26 USER BITS 0 7 REGISTER 0 3 27 USER BITS 8 13 REGISTER 3 27 VOLTAGE
46. ccess Non Privileged Access Block Transfer Program Access 0 Data Access not valid FIGURE 2 3 J13 ADDRESS MODIFIER 2 2 MAXv User s Manual 1BGETTING STARTED SYSTEM OVERVIEW J13 Base Address Selection Default 0 000 in Short mode Po AressingMode Standard Short J13 9 10 J13 7 8 ignored J13 3 4 ignored J13 5 6 ignored J13 1 2 ignored Figure 2 4 J13 BASE ADDRESS SELECTION J11 allows to set the controllers communication to serial upgrade mode The jumper setting is sampled at startup This mode allows the controller firmware to upgraded through a regular RS232 interface connected to JP1 During this mode the controller does not process instructions from the VME interface J11 upgrade mode selection BS Default GND GND g 5 Rg Jumper setting GND GND VME mode default DB4 GND Serial upgrade mode using JP1 JP1 RS232 Connector 2 10 1 9 FIGURE 2 5 J11 AND JP1 DEBUG MODE SELECTION MAXv User s Manual 2 3 SYSTEM OVERVIEW 1BGETTING STARTED J12 IRQ and me Address Mode J11 J13 Address and J3 J1 Address Modifier J7 P2 I O or Analog Selection J8 P2 Step or Servo Selection 9 187 J11 Debug mode J4 Selection J5 J2 J8 J7 4 6 299 FIGURE 2 6 MAXVPCB DIAGRAM NOTE The J2 Bac
47. ch motor update cycle OR The state of the Home Sensor Inputs read and stored in shared memory each motor update cycle Mail Box CMDs Command codes CONTROLLER_ID_QUERY 1 or KILL_ALL_MOTION 2 OR RESET CONTROLLER 3 or SOFTBOOT CONTROLLER 4 placed in the direct command mail box Position Data Axis motor positions and axis encoder positions updated and stored in shared memory each motor update cycle OR Axis motor positions and axis encoder positions copied to shared memory on Request via the Position Request Mail box OR Auxiliary Encoder 8 position updated and stored in shared memory each motor update cycle OR Auxiliary Encoder 9 position updated and stored in shared memory each motor update cycle OR Multi axis Motion Profile Data transferred to shared memory via a mail box request OR Position Capture Table Data transferred to shared memory via a mail box request MAXv User s Manual 2BCOMMUNICATION INTERFACE COMPARISON OF PREVIOUS OMS ARCHITECTURE 10 11 3 5 ARCHITECTURE Status Flags Status Word 1 Flags 8 axis done flags 8 axis limit flags 8 axis encoder slip flags command error flag response available flag requested data available flag OR Status Word 2 Flags Axis home flags Text CMDs Null terminated ASCII controller command strings placed in the VME shared memory ASCII command buffer Text Responses Null terminated ASCII text response strings placed in the
48. closed loop stepper or servo systems in any combination at the user s option as incremental encoder feedback can be provided on each axis The OMS MAXv controller synchronizes all independent or coordinated motion of up to 8 axes while incorporating other critical signals such as hard or soft limits home and other digital and or analog signals to provide the motion solutions to perform virtually any task With high level functionality such as additional two encoder inputs circular and linear interpolation multi tasking custom profiling backlash compensation etc the MAXv can satisfy the needs of most any motion control application See Appendix C Ordering Information for specific MAXv family motion controller models and accessories See block diagram of the MAXv The MAXv communicates as a slave only device and functions as a motion co processor to the VME host It utilizes 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 MAXv 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 n addition the MAXv can provide motion control information such as axis and encoder positions as well as the state of over travel limit inputs home switch inputs and done flags The MAXv motio
49. dex com 2 World Wide Web http www pro dexOMS 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 Pro Dex Inc 15201 NW Greenbrier Parkway B 1 Ridgeview Beaverton OR 97006 RETURN FOR REPAIRS Call Pro Dex Inc Customer Service at 503 629 8081 or 800 707 8111 or e mail to csr pro dex com 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 PRO DEX INC 15201 NW Greenbrier Parkway B 1 Ridgeview Beaverton OR 97006 MAXv User s Manual RETURN FOR REPAIRS This page intentionally left blank MAXv User s Manual FEATURES PID update rate of 122 us on all 8 axes Delivers exceptional servo control on multi axis applications Identical outcomes when utilizing one or all axes of motion Configurable PID filter with feed forward coefficients VME64 SPECIFICATION The 160 pin P
50. e clock frequency and bits resolution AX PSE ECA16 125000 AY PSE ECA16 125000 AZ PSE ECA24 500000 AT PSE ECA32 250000 AU PSE ECA16 125000 Shares clocks with either X axis I O 0 1 or Y axis I O 2 3 AV PSE ECA24 500000 Shares clocks with Z axis I O 4 5 MAXv User s Manual 3BCONTROL SIGNAL INTERFACE ABSOLUTE ENCODERS WITH SSI AR PSE ECA24 500000 Shares clocks with Z axis I O 4 5 AS PSE ECA32 250000 Shares clocks with T axis I O 6 7 Below is an example of how the absolute encoder can be connected to the MAXv through the front connectors of the board This utilizes the IOvMAX breakout board for easier connectivity to the absolute encoder environment Similarly absolute encoding can be connected through the VME backplane Table 3 1 provides address mappings for absolute encoder data 00000009 00000909 Figure 4 7 Connection of an Absolute Encoder to the MAXv Via the Front Panel and IOvMAX Breakout Board MAXv User s Manual 4 7 FRONT PANEL CONNECTORS 3BCONTROL SIGNAL INTERFACE 4 9 FRONT PANEL CONNECTORS Table 4 1 Pin Out For Front Panel Connectors 50 Pin General Purpose I O J3 68 Pin 4 AXI
51. e details on the real time position capture feature The MAXk controller has a ring buffer in VME shared memory which is used to transfer the real time position capture data to the host When a capture event is recorded by the motor update cycle routine it transfers the capture table entry to the shared VME memory The host is signaled that the data is available via bit number 8 or hexadecimal value 0x00000100 in the controller status word 2 register at offset address 0 00000 8 The data available bit is also available at byte offset 0 00000 and bit number 0 or 0x01 The shared memory for the capture data is implemented as a ring buffer with an insert index that the controller uses to insert data into the shared memory region and a removal index that the host uses to remove data from shared memory region The controller places the capture data into the ring buffer at the location specified by the insert index and advances the insert index If after being advanced the insert index equals the removal index then the controller also advances the removal index If the controller has to advance the removal index this means that the host is not removing data fast enough and capture data was lost by the host The capture data is available in the shared VME memory at offset addresses OxD94 through OxFBB The format of the capture table data in shared VME memory is defined in table 1 5 below TABLE 3 19 Real Time Position Capture VME Shared Me
52. eak 200 000 VL Velocity Base 0 VB User Unit values for each axis Off UU Auxiliary output settle time for each axis 0 SE Automatic auxiliary control axis by axis Off AB PA Encoder ratio for each axis 1 1 ER Encoder slip tolerance for each axis used for 0 ES stepper motors Home Active State Low HT Position Maintenance Dead Band Hold Gain and 0 0 0 HD HG HV Hold Velocity Used for stepper systems Servo axis unipolar bipolar output Bipolar SV Servo PID values Acceleration feedforward 0 KA Derivative gain coefficient 160 KD Integral gain coefficient 1 00 Servo DAC zero offset 0 KO Proportional gain coefficient 10 KP Velocity feedforward 0 KV Axis type Open loop stepper PS I O bit level at power up can be high or low High BR 101 Index high B EH Encoder Home Pattern low A high 8 inputs and 8 BD IO Direction outputs Custom and S curve acceleration ramps N A AJ Update rate 1024 ZUR 2 9 POWER SUPPLY REQUIREMENTS The MAXv motion controller card plugs into the VME Bus The MAXv is designed to fit into a standard full size card VME slot and draws 1 2 amps from the 5V and 3 3V power supplies of the VME bus For servo models only 12V at 0 1 and 12V at 0 1 amps are also taken from the bus MAXv User s Manual 2 19 POWER UP RESET SELF TEST DIAGNOSTICS 2 10 POWER UP RESET SELF TEST DIAGNOSTICS During power up reset initialization the MAXv controller performs a Built in Self Test diagnostic
53. ed each update cycle 64 0x40 4 Limit Switch status word The following word contains the axis home sensor status bits It is updated each update cycle 68 0x44 4 Home Switch status word The following word contains the controller firmware status flags It is updated as events occur 72 0x48 4 Firmware State flags The following word is a direct command mechanism that bypasses the text command buffer 76 4 4 Direct Command Mail Box The following 17 words contain a memory region used to capture coherent snapshots of axis position 80 0x50 4 Position Request Mail Box 84 0x54 4 X axis motor position 88 0x58 4 Y axis motor position 92 0 5 4 Z axis motor position 96 0x60 4 T axis motor position 100 0x64 4 U axis motor position 104 0x68 4 V axis motor position 108 Ox6c 4 R axis motor position 112 0x70 4 S axis motor position 116 0x74 4 X axis encoder position 120 0x78 4 Y axis encoder position 124 Ox7c 4 Z axis encoder position 128 0x80 4 T axis encoder position 132 0x84 4 U axis encoder position MAXv User s Manual MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE TABLE 3 1 MAXv VME SHARED ADDRESS SPACE MAPPING con t Byte Offset Byte Offset Hex Byte length Description 136 0x88 4 V axis encoder position 140 4 R axis encoder position 144 0x90 4 S axis encoder position The following word is used to coordinate the sending of text responses from the controller to the host 148 0x94 4 M
54. em Once the optimum values for these variables have been determined 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 The KV variable is the velocity feedforward coefficient and compensates for friction that is proportional to velocity Unlike KP Kl and KD which have to wait for system error before responding the KV variable has an immediate effect on the commanded move and is a gain applied to the current velocity KV makes the system more responsive and by increasing this term the Following Error of the system s response can be minimized However too large of a value may result in unstable behavior after command velocity changes The values for KV range from 0 00 to 32767 00 MAXv User s Manual 2 15 TUNE THE SYSTEM 1BGETTING STARTED Desired Step Response Actual Step Response Velocity Following Error FIGURE 2 16 The KA variable is the acceleration feedforward coefficient and compensates for inertia Like KV the KA variable does not operate on system error and is applied as a gain to the current acceleration and deceleration 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 but if KA is too large instability may occur The value
55. erstanding of the interface several flow charts have been provided These include the elements to be handled for the initialization of the MAXv a sample Interrupt Service Routine ISR a sample of sending a command to the controller such as a Send String and a sample of a SendAndGetString The SendAndGetString would be a pattern for the WY Who Are You command used to identify the MAXv its serial number and revision levels of the firmware 3 7 MAXv CONTROLLER INITIALIZATION The following flow chart shows the activities required to initialize the MAXv controller Write a vector ID Clear Status Word gt Mn id to the VME IACK ID 1 by writing ones to all Te facie ae od Register bits ffff its Oxffff Write an interrupt Write an interrupt enable bit mask to the enable bit mask to the Status Word 2 Interrupt Status Word 1 Enable Register Interrupt Enable Register Override controller address modifier jumper settings here Figure 3 2 Controller Initialization MAXv User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION 3 7 1 SAMPLE OF AN INTERRUPT SERVICE ROUTINE Diagram Read Status Word 1 Bit set in Status Word 1 Axis Done Flags Set Record Done Flags MAXv User s Manual 3 5 MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE Diagram B Axis Limit Flags Set Record Axis Limit Flags Encoder Slip Flags Set C
56. essage semaphore 152 0x98 4 Reserved The following word contains the state of the 16 general purpose I O bits updated each update cycle 156 9 4 General Purpose bits status 160 0 76 Reserved 236 Oxec 4 Reserved The following words contain the axis absolute encoder positions It is updated each update cycle 168 0xa8 4 X axis absolute encoder position 172 Oxac 4 Y axis absolute encoder position 176 OxbO 4 Z axis absolute encoder position 180 Oxb4 4 T axis absolute encoder position 184 Oxb8 4 U axis absolute encoder position 188 Oxbc 4 V axis absolute encoder position 192 OxcO 4 R axis absolute encoder position 196 Oxc4 4 S axis absolute encoder position 200 Oxc8 36 Reserved 236 Oxec 4 Reserved The following memory region contains various data transfer buffers 240 OxfO 4 ASCII Command Buffer insert index 244 Oxf4 4 ASCII Command Buffer process index 248 Oxf8 4 ASCII Response Buffer insert index 252 Oxfc 4 ASCII Response Buffer process index 256 0x100 1024 ASCII Command Ring Buffer 1280 0x500 1024 ASCII Response Ring Buffer 2304 0x900 1024 Utility transfer buffer 3328 00 36 Reserved The following memory region contains analog data 3364 24 4 Auxiliary DAC 0 3368 28 4 Auxiliary DAC 1 3372 Oxd2C 4 Analog Input 0 3376 0xd30 4 Analog Input 1 3380 0xd34 4 Analog
57. gned integer input parameter or a signed fixed point number of the format when User Units are enabled User Units define distances Velocity and acceleration parameters and represent the input in Inches millimeters revolution etc Synchronized moves may be made by entering the AA or AM command mode This form of the command performs a context switch that allows entering commands in the format MRx yf 23 t u vit rit sit Numbers are entered for each axis commanded to move An axis may be skipped by entering a comma at the appropriate axis position with no value parameter The command may be prematurely terminated with a semicolon i e a move requiring only the X and Y axes to move would use the command MRx y followed by the GO command Each axis programmed to move will start together upon execution of the GO command The MAXv can be switched back to independent axis mode by entering the desire single axis command such as AX PROGRAMMING EXAMPLES In a typical move requirement where it is desired to home the stage and then move to a specified position the following will demonstrate the programming for a single axis Initialize the velocity and acceleration parameters to a suitable value Set the PID filter gain values Perform the homing operation initializing the position counter to zero Perform a motion to the absolute position of 10 000 and set the done flag for that axis when the move is finished AX
58. he MAXv controller are included in the following chapters 4 2 MAXv User s Manual 1BGETTING STARTED SYSTEM OVERVIEW 2 GETTING STARTED 2 1 INSTALLATION The Pro Dex Inc Oregon Micro Systems MAXv motion controllers form a family of high performance VME bus based products and are in compliance with the Standard universal 6U VME Bus Specification ISO IEC 15776 2001 E The MAXv will occupy one full width slot in the VME card cage Please read through the following sections before attempting to install the MAXv motion controller as some safety issues need to be considered prior to powering up the system Although the MAXv is a low power device there should be ventilation including forced air around the circuit board The MAXv will draw all of its power from the VME bus so no external power supply is needed The MAXv supports 16 bit 24 bit 32 bit address mode and five address modifier mode selections The address mode J12 board address J13 and IRQ interrupt level J12 are selectable via the hardware selection jumpers See also Figure 2 1 VME Board Address and Operation Jumper Diagram and note Factory Defaults NOTE Factory Default Address Mode A16 16 bit addressing IRQ 101 IRQ5 Address Modifier 101001 0x29 Base Address 0xF000 2 2 PREPARE FOR INSTALLATION Note If you plan on changing any of the factory default jumper settings on J12 and J13 this should be done before installing the MAXv in the ch
59. he PID so that you don t have a runaway motor In this case major changes to the PID parameters may be required For minor differences in the encoder and the motor position readings you can fine tune your PID filter according to the earlier steps You may want to save the values for KP Kl KD etc for future reference These values can be saved in the board s flash memory so they can be accessed easily on reset or power up This can be done by using the APP command These saved parameters will then be used as the power up default set of values MAXv User s Manual SETTING THE USER DEFAULT CONFIGURATION 1BGETTING STARTED 2 8 SETTING THE USER DEFAULT CONFIGURATION There are several parameters that can be defined by the user as default These parameter values can supersede the factory default values and be 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 MAXv comes from the factory with default values for all parameters For instance the default value for the velocity of all axes is 200 000 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 MAXv sending each of the axes the peak velocity When the User Definable Default Parameter value is defined then
60. kplane connector interface signals are selected on J8 as Shown in Figure 2 6 J8 routes signals to the J2 connector if they need to be controlled from the VME All analog and digital signals are accessible via the three front panel connectors J3 J4 and J5 Most signal are also accessible via the VME 160 pin back plane connector Further routing of signals to the back J2 connection is done with J7 and J8 See also Figures 2 5 and 2 6 The signals for both the STEP and SERVO signals for each axis are available on the front panel connectors J4 and J5 and hence are available at all times However only the STEP or the SERVO signal for each axis is available to the backplane via the J2 connector Whether the STEP or the SERVO signal is routed to the J2 connector is determined by the jumper settings on jumper J8 See Figures 2 5 and 2 6 The signals for both digital IO channels 8 15 and Analog IO channels ADC 0 6 and DAC 8 9 are available on the front panel connector J3 and hence are available at all times However only 8 of these 16 signals are available to the backplane via the J2 connector Which of the 8 signals are routed to the J2 connector is determined by the jumper settings on jumper J7 See Figures 2 5 and 2 6 2 4 MAXv User s Manual 1BGETTING STARTED SYSTEM OVERVIEW 0 D N H 8 DAC 0 7 7 J8 Default Output J7 Default STEPO STEP7 ies 108 1015 Figure 2 7 STEP SERVO AND IO ANALOG JUMPER S
61. l oscillate due to positive feedback For other options please contact OMS Technical Support See also Figure 4 6 MAXv User s Manual 3BCONTROL SIGNAL INTERFACE UNASSIGNED ENCODERS Home Switch Phase A Phase B x Index FIGURE 4 6 Encoder Homing State Detection 4 7 UNASSIGNED ENCODERS The MAXv has two encoders that are not assigned to any axis but can be used as an independent way to monitor and control complex motion profiles These are designated encoders 8 and 9 The use of auxiliary encoder channel 8 requires that general purpose input lines 0 1 and 2 be configured as inputs The use of auxiliary encoder channel 9 requires that general purpose input lines 4 5 and 6 be configured as inputs Caution Configure the appropriate general purpose I O channels as inputs PRIOR to connecting encoder devices to these signals Not doing so risks damage to the encoder device and or the MAXv controller MAXv User s Manual 4 5 ABSOLUTE ENCODERS WITH SSI 3BCONTROL SIGNAL INTERFACE 4 8 ABSOLUTE ENCODERS WITH SSI The MAXv comes with two axes of configurable absolute encoders with SSI Synchronous Serial Interface technology By default the X and Y axes will have up to 12 bits of resolution of absolute encoding The MAXv can have up to 8 axes of absolute encoders and up to 32 bits of resolution per axis The MAXv provides a differential clock output through the 1 0 port to deliver clocking to an abs
62. le 8 4 4 16 6 6 MAXv 5000 5 User Definable 10 5 5 16 6 7 MAXv 6000 6 User Definable 12 6 6 16 6 8 MAXv 7000 7 User Definable 14 7 7 16 6 9 MAXv 8000 8 User Definable 16 8 8 16 6 10 ACCESSORIES Breakout Board for without Cable CBL50 10 cable for IOVMAX 10 ft CBL68 10 10 ft cable w mating connector 68 pin MAXv User s Manual ABSOLUTE ENCODERS WITH 55 4 6 ADDRESS SPACE MAPPING rette dk nnne eia tent esaet icta aaepe dat de eaa aeree ELE dnb 3 13 CONTROL REGISTER Oxfe1 eee deme 3 26 CURRENT MODE terrere reete tee ER 2 12 DATA DICTIONARY de M 3 2 DATA FLOW DAORA M A caeuaieeusshastcaayetssancenseidetagedagep aed sencpasaienenpnacs 3 1 DONE FEAGS REGISTER OxIe9 u a u u a n u e reete er ee ete 3 26 ENCODER FEEDBACK eicit rediere Ete cnet 4 3 ENCODER SELECTION AND 4 4 ENCODER SLIP REGISTER 0 3 26 FIRMWARE STATUS FLAGS WORD ACCESS OFFSET 0 48 3 18 FRONT PANEL CONNECTORS ia 4 8 HOME PROGEDURES eb eder tette bti aen sets 4 4 HOME SWITCH STATUS REGISTER 3 27 HOME SWITCH STATUS WORD WORD ACCESS O
63. lemented with the next power up then you must save them with the APP Archive Parameter Power Up command The axes are defined as X Y Z T U V R amp S as well as 0 1 2 3 4 5 6 and 7 respectively The X axis and 0 are one in the same as well as the Y axis and axis 1 Z axis and axis 2 and so on The two extra channels of encoder feedback are referred to as 8 and 9 and are not assigned directly to any axis of control The MAXv bus interface uses VME memory technology to provide a fast communication channel for the commands from the host PC as well as feedback of motion parameters such as encoder positions Commands may be written to this RAM by the host thus eliminating the bottlenecks of and port based communications Critical motion parameters such as position and velocity are available allowing the host to interrogate these parameters in real time while the motion is in progress All of the data can be captured within the same update cycle Interrupt control and other data are available through blocks of dedicated memory and used similarly to registers These registers report status on controller flags over travel limit done flag and encoder slip for each axis Details of the shared memory mapping memory registers and usage are found in Chapter 3 All status bits are capable of generating an interrupt so that the host can interact using either polled or interrupt mode More details on the functionality of t
64. mory Word Access Offset 0xD94 Byte Offset Byte Offset Hex Byte length Description 3476 0 094 1 Controller insert index 3477 0 095 1 Host removal index 3478 OxD96 550 Table entries 10 bytes per entry and 55 entries The number of entries can be greater than one for each axis if capture events occur on back to back motor update cycles and if the host does not collect the data fast enough The format of each table entry is defined in table 1 6 below TABLE 3 20 Real Time Position Capture Table Entry Byte Offset Byte Offset Hex Byte length Description 0 0x00 4 Encoder position offset 0 00 contains MSBs offset 0x03 contains LSBs 4 0x04 1 Axis X 0 Y 1 etc Home event bits 0x01 Positive edge home switch 999 0x02 Encoder home event 0x04 Negative edge home switch 6 0x06 2 Positive edge I O bits offset 0x06 contains MSBs and offset 0x07 contains LSBs 8 0x08 2 Negative edge bits offset 0x08 contains MSBs and offset 0x09 contains LSBs MAXv User s Manual 3 29 REAL TIME POSITION CAPTURE 2BCOMMUNICATION INTERFACE A value of 1 for a given bit indicates that it triggered the capture event A value of 0 for a given bit means it did not trigger the capture event The motion controller contains a PowerPC processor which writes the data in the shared memory in big endian format If the host processor is not
65. n be measured at the two knees of the motion profile Increasing the KI term will increase the response time of your system The motion profile should also have a steeper slope as Kl increases see figures 2 9 and 2 10 below However as Kl increases the system can also become unstable When the increased KI values cause unacceptable instability increase the KD parameter This will increase the dampening on the system s motion profile therefore reducing oscillation or ringing Continue adjusting the KI KU and KD terms until the proper response time is obtained The values for KI range from 0 00 to 32767 00 The values for KU range from 0 00 to 32767 00 MAXv User s Manual 2 13 TUNE THE SYSTEM 1BGETTING STARTED FIGURE 2 12 FIGURE 2 13 If you are getting too much ringing in the motion profile then increase KD to help dampen the system s response f 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 the motor reaching the desired velocity as quickly as possible without overshoot and oscillation ringing The values for KD range from 0 00 to 32767 00 2 14 User s Manual 1BGETTING STARTED TUNE THE SYSTEM Desired Step Response Too Much KD FIGURE 2 14 Desired Step Response Too Little KD FIGURE 2 15 KP KI and KD are the primary parameters of concern when tuning a servo syst
66. n controllers utilize an OMS custom VME and PowerPC Bridge enabling a very efficient and rapid data transferring between the PowerPC and the VME host The stepper control of the MAXv produces an average 50 duty cycle square wave step pulse at velocities of O to 4 000 000 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 bi polar 10V or unipolar 0 to 10V The encoder feedback control can be used as closed loop feedback for the servo PID position maintenance for the stepper axes or strictly as a position reference for any axis The encoder input supports single ended quadrature TTL signals at a rate of up to 8 MHz and counts at a times 4 resolution This means a 1000 line encoder will produce 4000 counts per revolution in the MAXv controller The MAXv motion controller has 6 general purpose analog inputs that utilize a 16 bit ADC with a DC range of 10 VDC Two additional 10 V DACs that are not assigned to any axis are also available Complete specifications for MAXv can be found in Appendix C The MAXv command set employs two or three ASCII character commands These commands can be combined into character strings using virtually any programming language These ASCII command strings can be sent to the MAXv motion controller over the VME bus MAXv User s Manual 14 SYSTEM OVERVIEW OBGENERAL DESCRIPTION 1 2 SYSTEM OVERVIEW The MAXv is a
67. ng error occurred while storing the application code in flash memory 10 Not used 11 Not used 12 A checksum error was detected in the power up default parameter archive 13 A programming error occurred while storing parameters in the power up default parameter archive 14 A checksum error was detected in the altemate parameter archive 15 A programming error occurred while storing parameters in the alternate parameter archive 16 The power up default parameter set has been loaded into working memory 17 The alternate parameter set has been loaded into working memory 18 The factory default parameter set has been loaded into working memory 19 Not used 20 Not used 21 Not used 22 Not used 23 Not used 24 Not used 25 Not used 26 Not used 27 Not used 28 Not used 29 Not used 30 Not used 31 Not used NOTE If the firmware state register contains OXFFFF FFFF then the controller has not completed power up initialization MAXv User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION 3 8 1 MAXv CONTROLLER STATUS Once set by the controller the host must clear a status bit by writing a 1 to that bit Individual bits in the controller in Status Word 1 can be configured to interrupt the host when the controller sets them to a 1 Bit interrupts are enabled by setting the corresponding bit in the Status Word 1 Interrupt Enable register Note if a bit interrupt is enabled and the controller sets that bit then the interrupt will not
68. ntegral gain Read Only 1444 0x5a4 4 T axis accel feed fwd Read Only 1448 0x5a8 4 T axis vel feed fwd Read Only 1452 5 4 T axis DC offset Read Only 1456 0x5b0 80 Reserved Read Only 1536 0x600 4 U axis encoder position Read Only 1540 0x604 4 U axis command position Read Only 1544 0x608 4 U axis command velocity Read Only 1548 0 60 4 U axis acceleration Read Only 1552 0x610 4 U axis velocity limit Read Only 1556 0x614 4 U axis base velocity limit Read Only 1560 0x618 4 U axis proportional gain Read Only 1564 0 61 4 U axis differential gain Read Only 1568 0x620 4 U axis integral gain Read Only 1572 0x624 4 U axis accel feed fwd Read Only 1576 0x628 4 U axis vel feed fwd Read Only 1580 0 62 4 U axis DC offset Read Only 1584 0x630 80 Reserved Read Only 1664 0x680 4 V axis encoder position Read Only 1668 0x684 4 V axis command position Read Only 1672 0x688 4 V axis command velocity Read Only 1676 0x68c 4 V axis acceleration Read Only 1680 0x690 4 V axis velocity limit Read Only 1684 0x694 4 V axis base velocity limit Read Only 1688 0x698 4 V axis proportional gain Read Only 1692 0 69 4 V axis differential gain Read Only 1696 0x6a0 4 V axis integral gain Read Only 1700 0x6a4 4 V axis accel feed fwd Read Only 1704 0x6a8 4 V axis vel feed fwd Read Only 1708 Ox6ac 4 V axis DC offset Read Only 1712 Ox6bO 80 Reserved Read Only 1792 0x700 4 R axis encoder position Read Only 1796 0x704 4 R axis command position Read Only 1800
69. olute encoder The clocking can be configured for the following frequencies 31 250Hz 62 500 2 125 000 2 250 000HGz 500 000Hz 1MHz 2MHz and 4MHz With 0 7 available typical use of absolute encoders require that clock and clock be configured from the X Axis through I O 0 1 Y Axis through I O 2 3 Z Axis through I O 4 5 and T Axis through 6 7 For axes U V R and S clocking would also be configured from clock signals through I O 0 7 This requires that the clocking be shared between axes if more than four axes of absolute encoding are needed Absolute encoders sharing the same output clocks have the requirement that the clock frequency is the same and the bits resolution is the same 4 8 1 CONFIGURATION EXAMPLES The following are two examples on how to configure the MAXv for absolute encoding The first case is standard MAXv with two absolute encoders with up to 12 bits resolution For this example the X axis is 12 bits resolution with a clock frequency at 125 000Hz and the Y axis is 9 bits resolution with a clock frequency of 250 000Hz AX PSE ECA12 125000 AY PSE ECA9 250000 The second example calls for eight absolute encoders three axes at 16 bits resolution with a clock frequency of 125 000Hz three axes at 24 bits resolution with a clock frequency of 500 000 2 and two axes at 32 bits resolution at 250000Hz This example also shows the use of clock sharing with other absolute encoders with the sam
70. om VME58 status Interrupt Request status TABLE 3 12 VME58 Axis Done Flags Register Oxfe9 Bit Number Bit Function X Axis Done Y Axis Done Z Axis Done T Axis Done U Axis Done V Axis Done R Axis Done S Axis Done lt TABLE 3 13 VME58 Encoder Slip Register Oxfe7 Bit Number Bit Function X Axis Slip Y Axis Slip Z Axis Slip T Axis Slip U Axis Slip V Axis Slip R Axis Slip S Axis Slip O NsN O O O 3 26 User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION TABLE 3 14 8 Limit Switch Status Register Oxfed Bit Number Bit Function X Axis Limit Y Axis Limit Z Axis Limit T Axis Limit U Axis Limit V Axis Limit R Axis Limit S Axis Limit O N oO R O OIN TABLE 3 15 VME58 Home Switch Status Register Oxfef Bit Number Bit Function X Home Y Home Z Home T Home U Home V Home R Home S Home N O TABLE 3 16 58 User I O Bits 0 7 Register 5 Bit Number Bit Function Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 5 Bit 6 Bit 7 O N oO RIO OIN TABLE 3 17 58
71. ommand error flag set Refer to Diag C MAXv User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION Diagram C Response Available Flag Set Capture response test from shared memory ASCII Response Buffer Zero the shared memory message semaphore to enable additional test responses Requested Data Available Flag Set Capture requested data from shared memory Write flags just read to Status Word 1 to clear flags and dismiss the interrupt Refer to Diag D MAXv User s Manual 3 7 MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE Diagram D Read Status Register Word 2 Axis Home Flags Set Record Axis Home Flags Write flags just read to Status Word 2 to clear flags and dismiss the interrupt MAXv User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION 3 7 2 SAMPLE OF SEND STRING Compute the free space in the command buffer Will the command string fit in the buffer Transfer the command string to the buffer Set the buffer insert index to one character past the end of the command string Return a zero characters sent count Return the number of characters sent MAXv User s Manual 3 9 MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE 3 7 3 SAMPLE OF A SENDANDGETSTRING Diagram A Send the query command string to the controller See Diagram B Was the query command accepted Wait
72. on is one element to be determined Another is the system s maximum velocity Note that a motor should never exceed 90 of the motor s maximum rate rpm If the system requirement is for a velocity higher than 9096 of the motors top rpm then another motor with higher rpm capability should be used The system s maximum acceleration is determined several different ways The best method is to determine the system time constant which includes hitting or bumping the motor under system load and measuring the time from 0 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 MAXv User s Manual 2 41 TUNE THE SYSTEM 1BGETTING STARTED lower than the calculated value and if this acceleration value is not high enough then a different motor amplifier with more power or bandwidth should be utilized The MAXnet can control either current mode or voltage mode amplifiers The UR command sets the servo update rate of the MAXnet to one of the following rates 976 6us 488 3us 244 1us 122 1us This affects the responsiveness of the system High Following Error can be compensated for using the feedforward coefficients KV and KA commands explained later in this section There are some general formulas that have been developed to determine acceptable Following Error f
73. or both current and velocity mode systems Current mode KP Following Error 3 360 x counts per revolution Voltage mode KP Following Error 90 360 x counts per revolution 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 Kl or long term gain value will follow the guidelines below Current Mode KI Following Error 0 counts Voltage Mode KI Following Error 805 360 x counts per revolution While still in open loop mode CLO use the KO command to zero the motor This variable is used to provide a constant output that will compensate for 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 KO value the motor should successfully maintain a zero position KO is the offset coefficient used while in closed loop or open loop mode hold on HN You should have determined the correct value the KO variable before beginning to tune the PID filter The values for KO range from 32767 00 to 32767 00 Set the previously determined values for maximum velocity maximum acceleration and the move distance for a trapezoidal profile with at least a 2096 flat sp
74. ot at peak velocity Use the following formula to determine the move distance Profile distance peak velocity 2 2xacceleration x2 4 Example 50 000 2 2x500 000 x2 4 6 000 Set the KD and KI variables to 0 and the KP variable to 1 and execute the move by sending the move commands to the MAXnet Example MR6000 GO Adjust the KP term while repeating the above move command 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 then increase the KD term until the motor stabilizes 2 12 MAXv User s Manual 1BGETTING STARTED TUNE THE SYSTEM Example LPO KP1 CL1 MR6000 GO LPO KP2 CL1 MR6000 GO LPO KP4 HN MR6000 GO LPO KD10 CL1 LPO KP8 CL1 MR6000 GO LPO KD100 CL1 The values in the above example are totally arbitrary and may vary drastically with different systems The LPO command is used to set the position error to 0 The values for KP range from 0 00 to 32767 00 Once the KP term has been obtained it can be used to determine the initial value for the KI term Set the KI and KU variables to 4 times the KP value The KI term is a gain applied to the accumulated position error over time The KU variable limits the amount the KI term can contribute to the PID Continue executing the motion profile and raising the KU term until the long term Following Error is acceptable This error ca
75. pto 5V Supply if present Ground Ground Opto FIGURE 4 2 CONNECTION TO STEP DRIVES WITHOUT PULL UP RESISTORS Motion controller 1 K Q 2 2 Resistor Aux 2 Enable Step Step Clock Direction Direction 5V Opto 5VDC Supply Direction Step Clock Ground Opto Ground FIGURE 4 3 CONNECTION TO STEP DRIVES WITH DIFFERENTIAL MAXv User s Manual 3BCONTROL SIGNAL INTERFACE ENCODER FEEDBACK Home Limit Limit Switch Input FIGURE 4 4 INPUT WIRING DIAGRAM TTL output Digital Input Output TTL input FIGURE 4 5 I O WIRING DIAGRAM 4 4 ENCODER FEEDBACK Incremental encoder feedback is provided for all servo axes and is optional for the stepper axes The MAXv encoder feedback accepts quadrature pulse inputs from high resolution encoders at rates up to 16 MHz after quadrature detection When used with stepper motors the encoder monitors the actual position through the encoder pulse train On servo axes it continuously provides input to calculate the position error adjust through the PID filter and change the output accordingly On the stepper axes it 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 or in the encoder tracking mode to mimic an activity All closed loop stepper axes are capable of slip or stall detection and encoder tracking with electronic gearing These options are selectable by the user through soft
76. rrupt enable register 4040 Oxfc8 4 Status Word 2 flag register 4044 Oxfcc 4 Status Word 2 interrupt enable register 4048 OxfdO 4 VME ID Vector 4052 Oxfd4 4 Controller configuration switch register 4056 Oxfd8 4 Address modifier register 4060 Oxfdc 28 Reserved 4088 Oxff8 4 FIFO Status amp Control 4092 Oxffc 4 FIFO Data Register MAXv User s Manual MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE TABLE 3 2 MAXv Limit Switch Status Word Word Access Offset 0x40 Bit Function Byte access offset 0x43 00 X axis positive limit sensor 01 Y axis positive limit sensor 02 Z axis positive limit sensor 03 T axis positive limit sensor 04 U axis positive limit sensor 05 V axis positive limit sensor 06 R axis positive limit sensor 07 S axis positive limit sensor Byte access offset 0x42 08 X axis negative limit sensor 09 Y axis negative limit sensor 10 Z axis negative limit sensor 11 T axis negative limit sensor 12 U axis negative limit sensor 13 V axis negative limit sensor 14 R axis negative limit sensor 15 S axis negative limit sensor Byte access offset 0x41 16 Not used 17 Not used 18 Not used 19 Not used 20 Not used 21 Not used 22 Not used 23 Not used Byte access offset 0x40 24 Not used 25 Not used 26 Not used 27 Not used 28 Not used 29 Not used 30 Not used 31 Not used
77. rupt Enables Word Access Offset Oxfc4 STATUS WORD 1 INTERRUPT ENABLES Bit Function Byte access offset Oxfc7 00 X axis done bit interrupt enable 01 Y axis done bit interrupt enable 02 Z axis done bit interrupt enable 03 T axis done bit interrupt enable 04 U axis done bit interrupt enable 05 V axis done bit interrupt enable 06 R axis done bit interrupt enable 07 S axis done bit interrupt enable Byte access offset Oxfc6 08 X axis over travel detected interrupt enable 09 Y axis over travel detected interrupt enable 10 Z axis over travel detected interrupt enable 11 T axis over travel detected interrupt enable 12 U axis over travel detected interrupt enable 13 V axis over travel detected interrupt enable 14 R axis over travel detected interrupt enable 15 S axis over travel detected interrupt enable Byte access offset Oxfc5 16 X axis slip detected interrupt enable 17 Y axis slip detected interrupt enable 18 Z axis slip detected interrupt enable 19 T axis slip detected interrupt enable 20 U axis slip detected interrupt enable 21 V axis slip detected interrupt enable 22 R axis slip detected interrupt enable 23 S axis slip detected interrupt enable Byte access offset Oxfc4 24 Command error interrupt enable 25 Text response is available interrupt enable 26 Requested data is available interrupt enable 27 No
78. s 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 MAXnet are as described and ensure that the encoder is operating correctly 2 10 MAXv User s Manual 1BGETTING STARTED TUNE THE SYSTEM 2 7 TUNE THE SYSTEM 2 7 1 INTRODUCTION The following is an introduction to the basics of tuning a servo motor Tuning a servo system is the process of balancing three primary gain values Proportional Integral and Derivative in order to achieve optimum system performance In a closed loop system an error signal is derived from the command position and actual position amplified and then supplied to the motor to correct any error 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 The three primary gain values used in servo systems are P proportional integral and D derivative The P term is used as a straight gain factor to get the system response in the ballpark The I term defines how quickly the system will respond to change The D term is a dampening term This term defines how quickly the system settles at its desired position without oscillating The effects of these parameters can be seen when looking at the system s response to a
79. s for KA range from 0 00 to 32767 00 Desired Step Response Actual Step Response Acceleration Deceleration Following Error FIGURE 2 17 The KF variable is the friction offset coefficient and compensates for static friction The KF variable does not operate on system error and is applied to all commanded moves KF increases all portions of the motion profile If KF is too large instability may occur The values for KF range from 0 00 to 32767 00 2 16 MAXv User s Manual 1BGETTING STARTED TUNE THE SYSTEM 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 18 FEEDBACK LOOP To verify that your motor is tuned properly send the commands LP0 CL1 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 Once you are satisfied with the static holding torque you could check for position error Send the command AC100000 VL5000 MR64000 GO With a 2000 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 track if the error is greater than 32768 the controller will disable t
80. s slower but does not stop increase the command parameter and resend the command e g KO150 iv Continue adjusting and resending the KO command until the motor comes to rest Write down the final KO value for later reference as your zero setting 4 Maximize your system s usage of the MAXnet s DAC this method works only with incremental encoders skip it if you use absolute encoder only on that axis MAXv User s Manual 2 9 CONNECT AND CONFIGURE THE MOTOR AMPLIFIER 1BGETTING STARTED a Connect the servo encoder to the MAXnet See section 4 4 on incremental encoder feedback b Setthe signal command gain of your amplifier to its minimum setting c Send the KO3277 command to the MAXnet and observe the velocity of the motor The output of MAXnet will be near 1VDC d If the motor does not move at all your amplifier does not work well at a low velocity n this case adjust the signal command gain of the amplifier to approximately 2096 of maximum or until the motor begins to move e Using a frequency meter measure the pulse rate of Phase A of the encoder The frequency measured is of the actual pulse rate f Adjust the signal command gain of the amplifier until the pulse rate of Phase A 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 mo
81. ship and perform to applicable published Pro Dex Inc Oregon Micro Systems specifications for one year from date of shipment This warranty is in lieu of any other warranty expressed 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 MAXv User s Manual LIMITED WARRANTY This page intentionally left blank MAXv User s Manual APPENDIX B TECHNICAL SUPPORT Pro Dex Inc Oregon Micro Systems Inc can be reached for technical support by any of the following methods 1 Internet E Mail mailto support pro
82. standard length size 6U VME module 6 299 x 9 187 Inches that can be installed in a VME cage see Figure 2 5 The MAXv communication interface is accessed through the VME Bus via the J1 J2 connectors and is compliant with the VME Bus Specifications ISO IEC 15776 2001 E The MAXv utilizes an optimally configured Power PC RISC based 32 bit micro controller and FPGA technology for extensive logic integration and flexibility The MAXv motion controller has three high density front panel SCSI connectors The IOvMAX is the companion accessory break out module that makes for easy connections The IOvMAX supports a straight through connector to connector cable configuration from the MAXv controller s three front panel connectors two 68 pin connectors SCSI3 type and one 50 pin connector SCSI2 type All signals from these connectors are routed through a PCB to a 180 pin screw terminal block The IOvMAX also includes a connector that supports the 100 pin connector of the OMS VME58 J29 This is intended to help reduce the cabling efforts of current users of the OMS VME58 when they begin using the MAXv controller The MAXv controller factory default is for 8 open loop stepper axes If you will require other types of axes such as servos or closed loop steppers you will need to change these with the software commands that assign specific axis to be servo open loop steppers or closed loop stepper axis PS command If you want these changes to be imp
83. step change at the input The shape of the step response falls into one of three categories under damped critically damped or over damped Over damped systems are slow to reach their final value and produce little or no oscillation Critically damped systems reach final value quickly without overshoot Under damped systems reach final value quickly but have various degrees of ringing or oscillation that decay to zero over time Ideally a system should be critically damped allowing for the fastest response time with the least amount of oscillation 2 7 2 TUNING ASSISTANT is a tuning assistant utility that is provided to assist the user in finding the right combination of parameters This utility plots the motor s response The user can analyze this data to arrive at the right servo parameters for their servo system The application and documentation can be found on the CD ROM supplied with the MAXnet and on OMS web site found at www pro dexOMS com 2 7 3 MANUAL TUNING In most 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 There are some system parameters that need to be determined before attempting to tune a motor The encoder resolution counts per revoluti
84. t used 28 Not used 29 Not used 30 Not used 31 Not used 3 20 MAXv User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION 3 8 3 MAXv CONTROLLER STATUS WORD 2 Individual bits in the controller in Status Word 2 can be configured to interrupt the host when the controller sets them to a 1 Note if a bit interrupt is enabled and the controller sets that bit then the interrupt will not be dismissed until the host clears that bit TABLE 3 7 MAXv Controller Status Word 2 Oxfc8 Bit Function Byte access offset Oxfcb 00 X axis home detected 01 Y axis home detected 02 Z axis home detected 03 T axis home detected 04 U axis home detected 05 V axis home detected 06 R axis home detected 07 S axis home detected Byte access offset Oxfca 08 Real time position capture data available 09 Not used 10 Not used 11 Not used 12 Not used 13 Not used 14 Not used 15 Not used Byte access offset Oxfc9 16 Not used 17 Not used 18 Not used 19 Not used 20 Not used 21 Not used 22 Not used 23 Not used Byte access offset Oxfc8 24 Not used 25 Not used 26 Not used 27 Not used 28 Not used 29 Not used 30 Not used 31 Not used MAXv User s Manual 3 21 MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE 3 8 4 CONTROLLER STATUS WORD 2 INTERRUPT ENABLE Setting a bit to
85. tors g Send the KO 3277 command to the MAXnet 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 h Send the KO command with the zero value to the MAXnet 5 Verify the direction of your servo encoder NOTE a Send the KO2000 command to the MAXnet b Send the RE command to the MAXnet and observe the response If the response is positive no further action need be taken go to step 6 d If the response is negative your encoder or analog output must be reversed use one of the methods below i Use EDI EDN to invert normalize encoder direction or ii Use SVP SVP to invert normalize PID analog output inverts values of KO and KOD or iii if your incremental encoder produces a differential signal swap Phase B with Phase B and repeat from step a above iv If your incremental encoder produces a single ended or TTL signal swap Phase A with Phase B and repeat from step a above e If the RE response is still negative contact OMS Technical Support for assistance Repeat from step 1 for the other servo axes Remember to set KO for each axis at every power up unless you store the values in Flash Most encoder problems are caused by lack of power or incorrect connections If the encoder position change
86. until the controller s response available flag is set Transfer the response text from the Response buffer See Diagram C Clear the Response Available Flag Status Word 1 Clear the message semaphore shared memory Return the response text to the calling application Return the response text to the calling application MAXv User s Manual 2BCOMMUNICATION INTERFACE MAXV CONTROLLER INITIALIZATION Diagram B Compute the free space in the command buffer Will the CMD string fit in the buffer Transfer the command string to the command buffer Set the buffer insert index to one character past the end of the command string Return a zero characters sent count Return the number of characters sent MAXv User s Manual MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE Diagram C Initiate the response transfer begining at the process index Transfer response characters up to the buffer insert index Write the updated response process index back in to shared memory Exit NOTE The WY Who Are You is a command where the controller is asked to respond with its serial number model number and firmware revision level As it establishes that the communication between the MAXv and the host is functioning properly it should be the first send and get string developed 3 12 User s Manual 2BCOMMUNICATION INTERFA
87. ware commands MAXv User s Manual 4 3 ENCODER SELECTION AND COMPATIBILITY 3BCONTROL SIGNAL INTERFACE 4 5 ENCODER SELECTION AND COMPATIBILITY The MAXv 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 1000 counts or lines per revolution will result in 4000 pulses of quadrature encoded input for each motor shaft revolution The inputs are compatible with encoders that have single ended or differential TTL outputs The MAXv inputs have built in hysteresis to minimize the effects of noise pickup The MAXv has differential line receivers to accommodate encoders with differential line driver outputs For short distances when single ended encoders are used the unused negative inputs i e Phase A Phase B etc must be left open If distances are longer then 2 feet they must be biased with 1 5 VDC 4 6 HOME PROCEDURES Two logical input functionalities are provided to synchronize the physical hardware with the MAXv controller i e put the controlled motor in the home position The home switch input is a 3 15 VDC level input signal to the MAXv The general purpose home pull up load is 1k Ohms and its ON impedance is about 10 Ohms The MAXv home switch input can be used to physically home a mechanical stage When this functionality is used the axis position counter will be reset to a selected value
88. wd Read Only 1192 0x4a8 4 Y axis vel feed fwd Read Only 1196 Ox4ac 4 Y axis DC offset Read Only 1200 0x4b0 80 Reserved Read Only 1280 0x500 4 Z axis encoder position Read Only 1284 0x504 4 Z axis command position Read Only 1288 0x508 4 Z axis command velocity Read Only 1292 0 50 4 2 axis acceleration Read Only 1296 0x510 4 Z axis velocity limit Read Only 1300 0x514 4 Z axis base velocity limit Read Only 1304 0x518 4 Z axis proportional gain Read Only 1308 0 51 4 2 axis differential gain Read Only 1312 0x520 4 Z axis integral gain Read Only 1316 0x524 4 Z axis accel feed fwd Read Only 1320 0x528 4 Z axis vel feed fwd Read Only MAXv User s Manual 3 23 MAXV CONTROLLER INITIALIZATION 2BCOMMUNICATION INTERFACE Byte Offset 10 Byte Offset Hex Byte length Description Mem Function 1324 0 52 4 2 axis DC offset Read Only 1328 0x530 80 Reserved Read Only 1408 0x580 4 T axis encoder position Read Only 1412 0x584 4 T axis command position Read Only 1416 0x588 4 T axis command velocity Read Only 1420 0x58c 4 T axis acceleration Read Only 1424 0x590 4 T axis velocity limit Read Only 1428 0x594 4 T axis base velocity limit Read Only 1432 0x598 4 T axis proportional gain Read Only 1436 0 59 4 T axis differential gain Read Only 1440 0x5a0 4 T axis i
89. with the MAXv motion controller The VME user must write their own drivers or adapt their previous VME drivers to the MAXv interface see Chapter 3 and 4 for samples of flow charts and specific data flow diagrams and details MAXv User s Manual 5 1 INTRODUCTION TO MAXV SOFTWARE SUPPORT 4BHOST SOFTWARE This page is intentionally left blank MAXv User s Manual 5BSERVICE USER SERVICE 6 SERVICE 6 1 USER SERVICE The MAXv family of controllers contains no user serviceable parts All jumper pins are located J7 J8 J12 and J13 See Chapter 2 2 for more details 6 2 THEORY OF OPERATION The MAXv controller uses a PowerPC microprocessor for the core of its design The highest priority process calculates the desired velocity at the selected update rate with a proprietary algorithm patent number 4 734 847 This frequency is written to logic on board which generates the pulses for stepper motor control and or the appropriate voltage levels for Servo Control The velocity profile and synchronization of each axis is also handled by the PowerPC The position error is computed and applied to a PID filter if the axis is designated to be a servo axis to determine the value of the torque output pin or the appropriate servo axis Synchronization of all axes is performed by the PowerPC The commands from the VME computer are temporarily stored in a 1023 character buffer until the MAXv can parse them The command is then executed immediatel
90. y or routed to separate command queues for each axis The command queue contains a list of addresses to execute The argument queue stores the parameters as applicable supplied with each command for the axis 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 in the argument queue 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 are stored in the command queue 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 The communication interface is performed by the MAXv microprocessor Interrupts from the MAXv to the VME host are generated by this component Status of the interrupts and error flags may be read by the host in the status register 4K shared memory section that is designated for the appropriate activity MAXv User s Manual 6 1 This page intentionally left blank MAXv User s Manual LIMITED WARRANTY APPENDIX A LIMITED WARRANTY The Seller warrants that the articles furnished are free from defect in material and workman

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