manual - Mesa Electronics
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1. is Parallel port DIS duce 8 8 12 Parallel port OPETAHOM sarral ntes adis Intertuptmask register a A UE DIU Our laksu ka Jatermupestatustesistek __ _ _ _ _ _ _ _ _ Common command mask registers etuer te m etu eie E eee ees uterino aal Servo system TUNING dee A a kd kid id Demonstration programs emis kaj e n aia REFERENCE INFORMATION Specifications eiee ne m b farne 4128 USER S MANUAL WARNINGS SERVO WARNING Large servo motors are capable of inflicting serious injury both to people and to mechanisms associated with the servo system In addition some motors use potentially lethal supply voltages When a servo control system is first configured unpredictable behavior should be EXPECTED First time checks of basic servo operation such as motor position versus drive should be checked with the motor power leads disconnected Never depend on software commands to the 4128 to disable the motor when you or others would be exposed to a hazard should the motor start unexpectedly Motor power should always be removed when working on mechanical parts of the servo system STATIC ELECTRICITY The CMOS integrated circuits on the 4128 can be damaged by exposure to electrostatic discharges The following precautions should be take2. PARAMETER DESC RANGE UNITS KP gain 0 to 32767 drive err KD damping Oto 32767 drive err n error n 1 KI integral 0 to 32767 drive accum error IL integral limit 0 to 32767 KI contribution limit SI sample interval 010255 SP SI 1 STEP SIZE motor step 100 to 10000 encoder counts VELOCITY velocity Oto 1073741823 encodercounts SP ACCELERATION acceleration Oto 1073741823 encoder counts SP SP MOTOR selects motor 1 TIME DIV selects graph 10to 200 milliseconds division SP SAMPLING PERIOD 256 uSec 1 51 with 8 MHz clock The following table shows the 428 TUNE key functions KEY FUNCTION UP ARROW select parameter DOWN ARROW select parameter RIGHT ARROW adjust parameter up fast 10 LEFT ARROW adjust parameter down fast 10 PAGEDOWN adjust parameter up slow 1 END adjust parameter down slow 1 PAGEUP draw horizontal timing scale INSERT do step and record response DELETE clear graph CTRL HOME reset parameters to initial values current motor only ALTX exit program Page 15 4128 USER S MANUAL OPERATION DEMONSTRATION PROGRAMS 4I28VELO sets motor 0 and motor 1 into the velocity mode and allows you to set their speeds in RPM 4I28POS does some random 2 axis moves with pairs of motors 4I28 VELO and 4I28POS may need to have their default filter parameters and other constants changed to match your motors and card location before being run 4I28TUNE is a manual parameter tuning program that allo
3. 5 15 Bit 13 6 16 Bit 14 7 17 Bit 15 Page 12 4128 USER S MANUAL OPERATION PARALLEL PORT OPERATION The parallel ports on the 4128 use a standard 82C55 PIA The user accessible I O lines have 3 3K pullup pulldown resistors to simplify interfacing to contact closure opto detector or open collector outputs Port A is used for Motor enable on the 7125 and 7127 Hbridges so must be set to output mode Port B and C can be used for input or output Port C has the feature of being splitable into two 4 bit ports to allow both input and output bits on the same port INTERRUPT MASK REGISTER The four LM629 motor controller chips on the 4128 have their interrupts OR ed together in the 4128 control logic so any individual axis interrupt can generate a system interrupt Individual interrupts are masked in the interrupt mask register before being OR ed together and presented to the system The interrupt mask register is a read write register A one bit in the interrupt mask register enables the correponding axis s interrupt and a zero bit disable thats axis s interrupt Bit 4 of the Interrupt mask register is the IRQEN bit If the IRQEN bit is clear the IRQ driver pin on the 4128 is tri stated BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BITO INTERRUPT STATUS REGISTER The 4 per axis interrupts can be monitored via the read only interrupt status register Bit 4 ofthe interrupt status register is set if any 4128 interrupt is active BIT
4. Electronics within 2 years of original purchase provided the warrantor s examination discloses to its satisfaction that the product was defective The warrantor may at its option replace the product in lieu of repair With regard to any product returned within 2 years of purchase said repairs or replacement will be made without charge If the failure has been caused by misuse neglect accident or abnormal conditions of operation repairs will be billed at a nominal cost e E Ecce THE FOREGOING WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTY OF MERCHANTABILITY FITNESS OR ADEQUACY FOR ANY PARTICULAR PURPOSE OR USE MESA ELECTRONICS SHALL NOT BE LIABLE FOR ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER IN CONTRACT TORT OR OTHERWISE If any failure occurs the following steps should be taken 1 Notify Mesa Electronics giving full details of the difficulty On receipt of this information service data or shipping instructions will be forwarded to you 2 On receipt of the shipping instructions forward the product in its original protective packaging transportation prepaid to Mesa Electronics Repairs will be made at Mesa Electronics and the product returned transportation prepaid Page 19 4128 USER S MANUAL REFERENCE INFORMATION SCHEMATICS Page 20
5. 4128 MOTOR CONTROLLER VERSION 1 0 Copyright 2001 by MESA ELECTRONICS Richmond CA Printed in the United States of America All rights reserved This document and the data disclosed herein is not to be reproduced used disclosed in whole or in part to anyone without the written permission of MESA ELECTRONICS Mesa Electronics 4175 Lakeside Drive Suite 100 Richmond CA 94806 1950 Tel 510 223 9272 Fax 510 223 9585 E Mail tech mesanet com Website www mesanet com 4128 USER S MANUAL 4128 USER S MANUAL TABLE OF CONTENTS WARNINGS Servo Hazards Pe emakat nk te Dg led cuite duvet die Fraridling Cure dero td beh Ud reme opened Veena atiendan INTRODUCTION lt 223 2 2 2 2 323 _ __ HARDWARE CONFIGURATION General Suera NI munandi kap aaa e tes Default configutation sessi be pala v ee ees Le ko Se Samad e E A td eet A Interrupt select siete ke A lid aa p ullops pulldo As rt A A INTERFACE CONNECTOR General eM Menai aed DENTES OR EDEN EET aaa a a had VOconnectororientation x vveseveeeeeeeeeee eee eee eee Interface connector pinout uan okulaari exu err ak E pads INSTALLATION ta bad OPERATION Resister map E EATA m taat oil ase x de
6. 5 HBridges are disabled at power up In some cases a low signal may be desired on the I O bits at power up This can be accomplished by moving W8 to the right hand position Page 8 4128 USER S MANUAL INTERFACE CONNECTOR GENERAL The I O interface connector on the 4128 is 50 pin header The suggested mating connector is AMP PN 1 746285 0 The 4128 can connect to two 7125 two 7127 HBridges if used with the 4128 adapter supplied with the 4I28 10 CONNECTOR ORIENTATION The 50 pin connector on the 4I28 has the pin one end marked with a white square on the circuit card This corresponds with the red stripe on typical flat cable assemblies INTERFACE CONNECTOR PINOUT PIN SIGNAL PIN SIGNAL 1 5V 2 BITO 3 4 2 5 6 BIT4 7 BIT5 8 BIT6 9 BIT7 10 BIT8 11 BIT9 12 BIT10 13 BIT11 14 BIT12 15 BIT13 16 BIT14 17 BIT15 18 GND 19 OAO 20 080 21 IDXO 22 ENAO 23 PWMO 24 DIRO 25 GND 26 QAI 27 081 28 IDX1 29 ENA1 30 PWM1 31 DIR1 32 GND 33 QA2 34 QB2 35 IDX2 36 ENA2 37 PWM2 38 DIR2 39 GND 40 OA3 41 42 IDX3 43 ENA3 44 PWM3 45 DIR3 46 GND 47 BIT16 48 BIT17 49 BIT18 50 BIT19 Page 9 4128 USER S MANUAL INSTALLATION GENERAL When the 4128 has been properly configured for its application it can be inserted into a PC 104 stack The standoffs should then be tightened to secure the 4128 in its place When the 4128 is secured inthe stack the connector can be plugged in from the s
7. 7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BITO Xx xx axara axara axira Page 13 4128 USER S MANUAL OPERATION COMMON COMAND MASK REGISTER To reduce the overhead when starting multiple axis moves the 4128 has the ability to issue commands to more than one axis at at time This would typically be used with the start trajectory command The common command register is a read wrie register A 1 bit the the register will enable command directed at axis 0 to write to the cooresponding axis in addition to axis 0 The common command registershould be cleared to a 0 after use so that it will not interfere with per channel readback data BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BITO XC TTT comms com comi 3X _ CONNECTING MOTORS After the 4I28 has been configured and installed in the system it should be checked for correct operation The supplied programs 4128READ and 4128HOLD can be used as a quick check of 4128 functionality The first step is to connect the 4128 to the quadrature encoder s and then use 4I28READ to check for functionality and proper count direction to match the coordinates of your positioning system The program 4I28READ simply prints both motor positions relative to their position at program initialization continuously until a key is pressed If the count direction is reversed switch the encoder A and B outputs to the 4128 For the next step It is suggested that the motor
8. drive leads be left disconnected and 4I25HOLD be run When 4I28HOLD is run it will check for the presence of the 4128 and enable all motors All motors will be configured for position mode with the home position being set to wherever the motors happen to be during program initialization The PWM outputs of the 4128 or the H Bridge can then be monitored while the motor is manually rocked back and forth from its original position If the 4128 is operating correctly the DIR and PWM outputs should vary with encoder shaft position If the 4128 is used with a 7125 7127 H Bridge the 7125 7127 output LEDs can be used as indicators of power drive direction and magnitude A green LED color on a 7125 7127 indicates a positive polarity on pin 1 of the motor drive terminal strip In this way it is possible to determine the correct motor drive polarity The motor s should be connected such that the motor drive would tend to oppose the hand generated motor motion Page 14 4128 USER S MANUAL OPERATION SERVO SYSTEM TUNING A simple manual tuning program 4I28TUNE is supplied with the 4128 This program allows you to manually adjust the digital filter parameters while the selected motor 15 in operation In addition 4I28TUNE can record the step response ofthe servo system with the current set of filter parameters 4I28TUNE uses the cursor keys to select the desired parameter and adjust that parameter The selectable parameters are as follows
9. e 4128 occupies 16 contiguous locations in I O space The base address ofthe 4128 card can be set to 2 different locations These locations are selected with shorting jumpers placed on jumper block Wi The following table shows the I O base addresses selected by W1 ADDRESS wil 0220H DOWN 0230H UP Page 6 4128 USER S MANUAL HARDWARE CONFIGURATION DEFAULT JUMPER SETTINGS e amp 05 e z amp 2 z 8 Page 7 4128 USER S MANUAL HARDWARE CONFIGURATION INTERRUPT SELECT Jumpers blocks W2 through W7 are used to select the interrput generated by the 4128 card If interrupts are not used they should be disabled by moving the jumpers to the W7 position The following table shown how to select the desired interrupt IRQ W2 W3 W4 WS W6 W7 2 9 IN NONE NONE NONE NONE NONE 5 NONE IN NONE NONE NONE NONE 10 NONE NONE IN NONE NONE NONE 11 NONE NONE NONE IN NONE NONE 12 NONE NONE NONE NONE IN NONE NONE NONE NONE NONE NONE NONE IN 10 PULLUPS The 41285 I O bits come from an 82C55 chip and default to inputs at power up For some interface signals it is important to have a defined logic state at power up This defined state 15 determined by pullup pulldown resistors connected to the I O bits The default setting is to have pullup resistors the I O bits so at power up they will default to a high state This is done by setting W8 to the left hand position This is needed so that the 7127 and 712
10. ide Page 10 4128 USER S MANUAL OPERATION REGISTER MAP The 4128 occupies 16 contiguous I O port locations starting at the user selected base address BASE 00H Motor 0 common Command Status port BASE 01H Motor 0 common Data port BASE 02H Motor 1 Command Status port BASE 03H Motor 1 Data port BASE 04H Motor 2 Command Status port BASE 05H Motor 2 Data port BASE 06H Motor 3 Command Status port BASE 07 Motor 3 Data port BASE 08H Interrupt mask register BASE 09H Interrupt status register BASE 0 Common command mask register BASE 0 82C55 Port A must be output BASE 0DH 82C55 Port B user defined BASE 0 82C55 Port C user defined BASE 0 82C55 Control port PARALLEL PORT A 82C55 parallel port is supplied to control the enables for the Hbridges and to provide 20 general purpose bits The motor control bits are designed to interface with the Mesa 7125 7127 H Bridge driver and the supplied software otherwise these bits can be used for any purpose Page 11 4128 USER S MANUAL OPERATION PARALLEL PORT BITS 82C55 PORT BIT PIN FUNCTION A 0 22 Motor 0 enable A 1 29 Motor 1 enable A 2 36 Motor 2 enable A 3 43 Motor 3 enable A 4 47 Bit 16 A 5 48 Bit 17 A 6 49 Bit 18 A 7 50 Bit 19 B 0 2 Bit O B 1 3 Bit 1 B 2 4 Bit 2 B 3 5 Bit 3 B 4 6 Bit 4 B 5 7 Bit 5 B 6 8 Bit 6 B 7 9 Bit 7 0 10 Bit8 C 1 11 Bit 9 2 12 Bit 10 3 13 Bit 11 4 14 Bit 12
11. n when handling the 4128 to prevent possible damage A Leave the 4128 in its antistatic bag until needed B All work should be performed at an antistatic workstation C Ground equipment into which 4128 will be installed D Ground personnel with conductive bracelet through 1 megohmresistor to ground E Avoid wearing synthetic fabrics particularly Nylon Page 4 4128 USER S MANUAL INTRODUCTION GENERAL The 4128 is a low cost LM629 based 4 axis DC servo motor control system implemented on a stackable PC 104 bus card The 4128 is designed for high performance positioning systems using DC servo motors with guadrature shaft encoders The per axis output of the 4128 is an 8 bit sign magnitude PWM signal that can drive H bridge type servo amplifiers directly TTL inputs are conditioned with RC filters and Schmitt triggers for noise immunity The 4 axis 4128 can be use with 2 Mesa 7125 or 7127 2 axis HBridges using the supplied 4128 adapter Control signals for each axis include 8 auxiliary I O bits Sixteen general purpose I O bits are available for any application use The LM6295 used on the 4128 are high performance digital processors specifically designed for motion control The LM629 can execute a ramp up slew and ramp down motion sequence without host processor intervention Host interrupts can be generated at end of motion position breakpoints index pulse or in response to various error conditions Interrupts are
12. or ed on the 4I28 card so that only one system interrupt is used IRQs 9 5 10 11 or 12 can be selected with jumpers on the 4128 card A digital PID filter is used to set loop feedback parameters for stability and optimum performance Velocity target position and filter parameters may be changed during motion Demonstration software includes examples of 2 axis position mode operation velocity mode operation and a simple filter tuning program that allows dynamic filter coefficient modification while providing a graphic display of the servo system step response Source code is provided for all demonstration software Page 5 4128 USER S MANUAL HARDWARE CONFIGURATION GENERAL The 4128 has only two hardware configurable options the port address and the Interrupt The options are selected with shorting jumpers placed on three pin headers In the following discussions when the words up down right and left are used it is assumed that the 4128 card is oriented with its bus connectors J1 and J2 at the bottom edge of the card nearest the person doing the configuration DEFAULT CONFIGURATION The 4I28 card is configured in the following manner when shipped from the factory FUNCTION DEFAULT JUMPERS POSITION PORT ADDRESS 0200H WI DOWN INTERRUPT NONE W2 W7 WIN I O PULL U D PULL UP WS LEFT Demonstration programs shipped with the 4128 depend on the port address being left at the default setting PORT ADDRESS Th
13. ws you to optimize filter parameters while the selected motor is in operation 4I28 TUNE requires an EGA VGA or Hercules compatible video adaptor card for operation of the demonstration programs are written in Turbo Pascal The source code for the demonstration programs is provided in the source directory ofthe 4I28 distribution disk Page 16 4128 USER S MANUAL Page 17 4128 USER S MANUAL REFERENCE INFORMATION SPECIFICATIONS MIN MAX UNIT NOTES POWERSUPPLY Voltage 4 5 5 5 V Supply current 250 mA no extload BUS LOADING Input capacitance 15 pF Input leakage current 5 uA Output drive capability 150 pF Output sink current 1 2 mA 1 O PORT LOADING Input logic low 3 8 V Input logic high 2 0 3 5 V Output low 4 2 5 mA sink Output high 3 0 V 2 5 mA source ENVIRONMENTAL Operating temperature range I version 40 85 C C version 0 70 Relative humidity 0 90 Percent Non condensing Page 18 4128 USER S MANUAL REFERENCE INFORMATION WARRANTY Mesa Electronics warrants the products it manufactures to be free effects in material and workmanship under normal use and service for the period of 2 years from date of purchase This warranty shall not apply to products which have been subject to misuse neglect accident or abnormal conditions ofoperation In the event of failure of a product covered by this warranty Mesa Electronics will repair any product returned to Mesa
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