K:\MC101\MANUAL\MCUMAN.WP [PFP#1000380182]
Contents
1. 22 4 2 Output Signal Description 23 List of Tables Table 1 JP1 I O Port Setting J Table 2 JP2 IRQ Setting e dis ian Sats ERA E T 8 Table 3 PWM Stepper Setting 8 Table 4 I O Port Description 10 Table 5 Communication Register 11 Motor Controller Card MC 101 Table 6 List of Commands 12 Table 7 INIT Command Structure 14 Table 8 Step Command Structure 16 Table 9 PWM Command Structure 18 Table 10 Status Register Bits 20 Table 11 Connector Pin Layout 23 Motor Controller Card MC 101 1 Introduction 1 1 Product Description The MC 101 stepping motor control card is designed for the need of controlling the steps speeds directions and accelerations of stepping motors using the IBM PC XT AT or compatibles maximum of three stepping motors can be controlled simultaneously by one MC 101 card Each of the three channels consists of an 8253 counter timer controlled by common 8031 microcontroller which can execute the smart set of commands compute accelerations sense emergency switches and interrupt to the PC under certain circumstances Once th2. 1 Digital input 8 bit TTL digital input Base 2 Communication register Communication status Base 3 Command register ontrol commands Table 4 I O Port Description Important notice For correct operation of MC 101 card it is necessary to perform IC F2h and EC 05h commands before any other communication with this card Using any other commands 10 Motor Controller Card MC 101 except of these described above may cause incorrect operation of the card bit Value and Meaning 1 Input ready 1 Input ready interrupt enabled 1 Status change 1 Status change interrupt enabled 1 Interrupt request 1 Run 0 Reset requested eserved for future use 1 Command 0 Data in data register Table 5 Communication Register 11 Motor Controller Card MC 101 3 2 Programming concepts For programming of MC 101 a set of simple commands is used Each of these commands consists of a command code byte followed by 0 to 5 data bytes Number of data bytes is determined by the used command code Both command code bytes and data bytes are passed to MC 101 through common Data register Base 0 To determine whether command code or data are currently stored in this register bit 0 of Communication register Command Data is used Command Data bit set to 1 determines that command code is present in Data register while Command Data bit set to 0 determines data in Data register This bit is set using CF Command
3. MC 101 Motor Controller Card USER S MANUAL 1992 COPYRIGHT 1992 by HUMUSOFT All rights reserved No part of this publication may be reproduced or distributed in any form or by any means or stored in a database or retrieval system without the prior written consent of HUMUSOFT 5 0 Limited Warranty HUMUSOFT s r o disclaims all liability for any direct or indirect damages caused by use or misuse of the MC 101 device or this documentation HUMUSOFT is a registered trademark of HUMUSOFT s r o Other brand and product names may be trademarks or registered trademarks of their respective holders Printed in Czech Republic Motor Controller Card MC 101 Table of Contents 1 Introduction 5 1 1 Product Description 5 1 2 Features iList sise din met pie le nn Sees nt 6 2 Hardware Installation 7 2 1 DIP Switch amp Jumper Settings 7 2 2 Installation resta eon vn le bee Be Ele Cea es ce ee ans 8 3 Programming Guide 10 3 15 Port Description ss st ek lads aoe eh ai ees 10 3 2 Programming concepts 12 3 3 Initialization ets nn es en dit 13 3 4 Commands for Step Mode 15 3 5 Commands for PWM Mode 18 3 6 MC 101 Status amp Interrupts 19 4 Signals 22 4 1 Output Connector
4. follows and reset using DF Data follows control commands Initial configuration Command follows in data reg Data follows in data reg Input ready interrupt enable Input ready interrupt disable Status change interrupt enable Status change interrupt disable Enable card Disable card reset Table 6 List of Commands 12 Motor Controller Card MC 101 Command and data flow from host computer to MC 101 is under automatic handshake control Immediately after writing any byte to Data register bit 7 of Communication register Input ready is reset to 0 While Input ready is 0 neither write to Data register nor change of Command Data bit should be performed After the data are accepted by the microcontroller on the MC 101 Input ready is set to 1 and next byte can be written to MC 101 through Data register The whole transfer of a command to MC 101 looks like the following example e Wait until Input ready bit is 1 Send CF control command Write command code to Data register e Wait until Input ready bit is 1 Send DF control command Write first data byte to Data register e Wait until Input ready bit is 1 Write second data byte to Data register After receiving the whole command and data the command is either immediately executed or stored in MC 101 internal buffer in case that the particular channel is busy at the moment 3 3 Initialization After hardware reset of MC 101 card which can be ca
5. MC 101 card in any free expansion slot of your computer Follow the steps outlined below ts Turn off the power to the computer system and unplug the power cord ts Disconnect all cables connected to the computer system t Using a screwdriver or nut driver remove the cover mounting screws that screws are at the rear side of the PC Motor Controller Card MC 101 Remove the computer system cover Find an empty expansion slot for in your computer If the slot still has the metal expansion slot cover attached remove the cover with a screwdriver Save the screw to install the MC 101 Hold the MC 101 firmly at the top of the board and press the gold edge connector into an empty expansion slot Using a screwdriver screw the retaining bracket tightly against the rear plate of the computer system Replace the cover of the computer and plug in the power cord Reconnect all cables that were previously attached to the rear of the computer Motor Controller Card MC 101 3 Programming Guide 3 1 Port Description T O space of the MC 101 card consists of four registers immediately following the base address selected by SW1 I O ports are listed in Table 4 The meaning of individual bits in particular registers are listed in Table 5 and Table 10 list of commands for command register is in Table 6 Base 0 Data register Data for MC 101 Base 0 Status register Status of MC 101 1 Digital output 8 bit TTL digital output
6. After this action we want to move the same motor 4096 steps back to the initial position As max speed and acceleration have been set by previous command it is not necessary to set them again So the command code for this action is 11001010 CAh followed by data 00h low byte of 4096 steps FOh high byte of 4096 steps 17 Motor Controller Card MC 101 3 5 Commands for PWM Mode For channels in PWM mode a set of commands is similar to the set of commands for Step mode Parameters for PWM are period of output signal and duration of logical one on the output PWM command structure is shown in Table 9 Bit Value and Meaning Duration data flag 2 bytes of data follow eriod data flag 2 bytes of data follow Channel 3 Enable 1 Enable 0 Disable Channel 2 Enable 1 Enable 0 Disable Channel 1 Enable 1 Enable 0 Disable Table 9 PWM Command Structure If Period flag PER is set two data bytes containing desired period duration will follow the command code Period duration is a 16 bit integer value Lower byte should be passed first to the Data port Possible value is from 1 to 65535 unit is 200 ns If Duration flag DUR is set two data bytes containing desired pulse duration will follow the command code Pulse duration is a 16 bit integer value Lower byte 18 Motor Controller Card MC 101 should be passed first to the Data port Possible value is from 1 to 65535 unit is 200 ns PWM commands are
7. e command has been sent from the PC to the MC 101 card 8031 microcontroller becomes responsible for the motor control and PC is freed for other purposes 8031 microcontroller has also a buffer so that up to 10 commands can be loaded into MC 101 card and then sequentially executed In this way computing resources of your PC can be better utilized Each of the three channels can be individually reconfigured as a pulse width modulation PWM channel and used for controlling DC motors heat systems etc In addition there are an 8 bit digital input port and an 8 bit digital output port for other versatile applications Motor Controller Card MC 101 1 2 Features List The MC 101 allows independent and simultaneous operation of up to 3 stepping motors or PWM channels with following features Programmable step rate from 1 to 8191 pulse per second pps or 0 3 to 2700 rpm for a motor with 200 steps per revolution Programmable acceleration and deceleration from 100 to 25500 pps per second Number of steps per command from 32768 to 32767 Independent emergency inputs for each channel which allows to stop motors immediately Possibility of PWM signals generation with programmable period and pulse width from 0 to 13 ms with 200 ns resolution Independent choice of stepping PWM for any channel Jumper selectable interrupt signals DIP switch selectable I O port base address Crystal based timing 8 digital input chan
8. initialized channel is determined by Mode bit of the channel This command can be used for initialization of a single channel two channels or all three channels by one command For example command 00100101 25h causes initialization of channels 1 and 3 channel 1 in Step mode channel 3 in PWM mode while channel 2 is left uninitialized Desired mode of operation of each channel must also be set by jumpers Default mode of operation of all channels after reset is the Step mode 3 4 Commands for Step Mode For channels in Step mode a set of powerful commands can be used to set desired number of steps direction maximum speed and acceleration Step command structure is shown in Table 8 15 Motor Controller Card MC 101 Value and Meaning 1 Command is executed 0 Data are accepted without execution Acceleration data flag 1 byte of data follows Speed data flag 2 bytes of data follow Step data flag 2 bytes of data follow hannel 3 Enable 1 Enable 0 Disable hannel 2 Enable 1 Enable 0 Disable hannel Enable 1 Enable 0 Disable Table 8 Step Command Structure Enable bits determine which channels should accept this command Step Speed and Acceleration flags determine which data will follow this command If the Execute bit is set to 1 command will be executed If this bit is reset to 0 data are loaded into internal registers without execution If Step flag ST is set two data bytes containing des
9. ired number of steps will follow the command code Number of steps is a two s complement 16 bit integer number Lower byte should be passed first to the Data port Possible number of steps ranges from 32768 to 32767 If Speed flag SP is set two data bytes containing desired maximum pulse 16 Motor Controller Card MC 101 frequency will follow the command code Pulse frequency is a 16 bit integer value Lower byte should be passed first to the Data port Possible pulse frequency is from 1 to 8191 pulse per second If Acceleration flag A is set one data byte containing desired acceleration will follow the command code Acceleration is an 8 bit integer value Possible acceleration is from 1 to 255 This number means the increase of pulse frequency per 10 ms If Acceleration equals to 0 no acceleration control is provided and the pulse frequency is the maximum from the beginning Command code is followed by data in this order step number low byte step number high byte max speed low byte max speed high byte acceleration For easy understanding there is an example of MC 101 programming We want to move stepping motor on channel 2 4096 steps clockwise with maximum speed 1000 pulse per second Desired time to reach full speed is 1 s Command code for this action is 11111010 FAh Following data are 00h step number low byte 10h step number high byte E8h max speed low byte 03h speed high byte OAh acceleration byte
10. nels and 8 digital output channels all TTL compatible IBM PC XT AT compatible 2 Hardware Installation 2 1 DIP Switch amp Jumper Settings The bank of eight switches SW1 on the MC 101 specifies the base address of I O ports on this card MC 101 occupies four consequent addresses in PC I O address space Bit weights of these switches are listed in Table 1 According to this table selecting I O address 310h means that switches 1 2 and 6 should be switched OFF and all other switches ON Factory setting of base address is 310h IRQ signal can be selected using jumper JP2 This jumper can be either disconnected interrupt disabled or placed to one of the Motor Controller Card MC 101 1 Oh Oh Oh Oh Oh Oh Oh Oh Table 1 JP1 I O Port Setting positions marked 2 3 4 5 6 7 which will enable selected IRQ signal On 286 and higher machines placing jumper JP2 to position 2 will enable IRQ9 signal IRQ jumper settings are listed in Table 2 Motor Controller Card MC 101 umper position Table 2 JP2 IRQ Setting Jumpers JP4 5 are used to select the mode of operation of each channel JP3 is used for configuration of channel 1 JP4 for channel 2 and JP5 for channel 3 Factory setting is all channels in step mode See Table 3 Ch 1 JP3 Ch 2 JP4 Ch 3 5 Table 3 PWM Stepper Setting 2 2 Installation Once you have properly set all jumpers and switches you can install the
11. not buffered Any new command for any channel immediately interrupts the channel operation and new values are loaded into the channel Each channel must be initialized before being used in PWM mode 3 6 MC 101 Status amp Interrupts Status byte of the MC 101 card can be obtained by reading the Data register Base 0 Meaning of individual bits in status byte is in Table 10 19 Motor Controller Card MC 101 Value and Meaning 1 Buffer full 0 Data can be written Emergency switch 3 1 ON 0 OFF Emergency switch 2 1 ON 0 OFF Emergency switch 1 1 ON 0 OFF hannel 3 Busy 1 channel busy 0 channel free hannel 2 Busy 1 channel busy 0 channel free hannel 1 Busy 1 channel busy 0 channel free Table 10 Status Register Bits If the emergency switch is switched ON emergency input forced LOW ES bit of the corresponding channel is set to 1 and corresponding motor immediately stops BUSY bits are 1 while the channel executes command and 0 when the channel is idle The BF bit signals that the command buffer is full and the card is not able to accept more commands The ERR bit signals either an error or initialization in progress In either case the card is not active and it is necessary to wait until this bit becomes 0 20 Motor Controller Card MC 101 Any change of status can cause hardware interrupt to host PC if jumper JP2 is set correctly and status change interrupt is enabled by se
12. supply in the range from 0 to 30V This configuration provides high flexibility in connecting to other devices is a TTL compatible input Low level on this input causes immediate stop of the motor and a message to host computer Using DIRECTION output and a simple logic allows to connect two end switches to any channel In addition there are 8 digital TTL compatible inputs D IN to D IN 7 and 8 digital TTL compatible outputs D OUT 0 to D OUT 7 for general purpose use 24
13. tting bit 4 of control register to 1 This interrupt request is automatically reset by reading Status byte 21 Motor Controller Card MC 101 4 Signals 4 1 Output Connector The MC 101 card is equipped with a 37 pin D type female connector with pin assignments according to Table 11 22 Motor Controller Card MC 101 GND CH1 PULSE CH1 GND CH2 PULSE CH2 GND CH3 PULSE CH3 EMERGENCY STOP CH1 EMERGENCY STOP CH2 EMERGENCY STOP CH3 GND GND DINO DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 DIN7 DIR CH1 EXT VCC CH1 DIR CH2 EXT VCC CH2 DIR CH3 EXT VCC CH3 12V 12V 5V GND D OUT 0 D OUT 1 D OUT 2 D OUT 3 D OUT 4 D OUT 5 D OUT 6 D OUT 7 O BR ND Table 11 Connector Pin Layout 4 2 Output Signal Description Five signals are assigned to each channel GND is the ground point for the channel DIRECTION is an open collector with 4k7 pullup resistor output High level of this signal determines clockwise rotation low level counterclockwise rotation of stepping motor PULSE is an open collector with 4k7 pullup resistor output This 23 Motor Controller Card MC 101 EXTERNAL VCC EMERGENCY STOP signal is the output of either clock pulses for stepping motor or PWM output is an input for supplying two internal pullup resistors of each channel This input can be connected to 5V pin 28 or 12V pin 27 or to any external power
14. used by switching on the computer or pressing RESET button on the computer it is necessary to initialize the 13 Motor Controller Card MC 101 card before you execute any other commands At first it is necessary to write IC Initial configuration and EC Enable card control commands to Command register Base 3 and then set desired mode of operation using control commands Software reset of MC 101 can also be performed in several ways First possibility is to perform DC Disable card control command wait until bit ERR of status register is 1 Reset accepted and then enable card with EC control command This will cause cold start of the 8031 microcontroller and ends execution of all commands The same situation can be achieved by Init command 00h with no data If it is necessary to initialize single channels individually Init command should be used This command has no data and its structure is shown in Table 6 Symbol Value and Meaning 7 0 Channel 3 Mode 0 Step 1 PWM Channel 2 Mode 0 Step 1 PWM Channel 1 Mode 0 Step 1 PWM Channel 3 Enable 0 disable 1 enable Channel 2 Enable 0 disable 1 enable Channel 1 Enable 0 disable 1 enable Table 7 INIT Command Structure 14 Motor Controller Card MC 101 This command is used for initialization of single channels and determining the mode of operation of each channel Command is valid for channels with Enable bits set to 1 The mode of operation of
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