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HP 44714A User's Manual

1. HP 44714A stepper Motor Controller Pulse Output Accessory Configuration and Programming M Enclosed is the HP 44714A Stepper Motor Con troller Pulse Output Accessory Configuration and Pro gramming Manual Insert this manual and tab page into the Plug In Accessories Configuration and Programm ing Manual s Binder supplied with your HP 3852A Data Acquisition Control Unit DM 44714 90001 W HEWLETT M PACKARD Copyright Hewlett Packard Company 1987 Manual Part Number 44714 90001 Printed JULY 1987 Edition 1 Microfiche Part Number 44714 99001 Printed in U S A E0787 MI Vt HP 44714A fotor Controller Pulse Output Accessory Stepper n The HP 44714A Assembly Level Service Manual Chapter 18 of the HP 3852A Assembly Level Service Manual is available Order HP Part Number 03852 90091 ELE PACKARD Copyright Hewlett Packard Company 1987 Manual Part Number 44714 90001 Printed JULY 1987 Edition 1 Microfiche Part Number 44714 99001 Printed in U S A E0787 The Printing History shown below lists the printing dates of all Editions and Updates created for this manual The Edition number changes as the manual undergoes subsequent revisions Editions are numbered sequentially starting with Edition 1 Updates which are issued between Editions contain individual replacement pages which the customer uses to update the current Edition of the manual Updates are numb
2. 1Set profile for example OUTPUT 708 0N INTR CALL INTRUPT Call the subroutine on interrupt OUTPUT 709 ENABLE INTR SYS IEnable the system interrupt OUTPUT 709 ENABLE INTR Enable the HP 447144 interrupt OUTPUT 709 7 SUB INTRUPT ISubroutine INTRUPT OUTPUT 709 BEEP Action taken on interrupt OUTPUT 709 ENABLE INTR IReenable HP 447144 to interrupt 1 OUTPUT 709 SUBEND l End of servicing subroutine OUTPUT 709 MOVE 100 Iinterrupts and beeps after move 3 46 Programming the Stepper Motor Controller Puise Output Limiting Motor Motion Hard Limits Hait Input OUTPUT 709 WAIT 5 5 second pause between moves OUTPUT 709 SUSTAIN 1000 iInterrupts and beeps when 1000 Hz OUTPUT 709 WAIT 10 Wait OUTPUT 709 HALT SGL Interrupts and beeps when pulses halt 1 An enabled interrupt that is serviced is disabled and must be reenabled to be able to interrupt again COMMANDS DISCUSSED HARDLIM PLIM sense NLIM__sense USE ch HALT mode USE ch Limits of motion can be established for automatically or manually stopping a motor in case of emergency Limits of motion are determined by use of limit switches which close or open when a limit is reached You can set up a switch that is operated manually in case of emergency to stop a motor A halt switch input and two limit switch inputs one for each direction are provided for each of the three channels Hard limits are the positive and negative physical lim
3. F 28 Figure 3 10 Standby Output STBYn HI sense and LO sense Programming the Stepper Motor Controller Pulse Output 3 31 N n E B H a DISABLE INTR 2 00 va ateri la sin ae tere 4 DONE wo cemeterio MM 4 2 ENABLE INTR eee een 4 2 TP MINOREM MK 4 2 TARDEIN ee A nan LL LEE 4 2 MOVE ORNARE 4 2 Ji A A RAYI ae 4 2 DEIR eg ih ae ieee Gt eee EN 4 2 PROF CE eea e nu nna 4 3 A A 4 3 E URN O O 4 3 OINDBX ke aa ar ba a te kt uideo engere 4 3 EC MENTRE VPN 4 3 DISC ATE AN e aah dad VE me 4 3 STANDBY sun state bibon eke keit iactata 4 3 SUS PAIN txts exp Ls in A fme bar 4 3 cts duane tn ate sane es Beene TANE 4 3 This section summarizes the HP 44714A commands discussed previously in this manual For a tutorial on each of these commands refer to the section titled Programming the Stepper Motor Controller Pulse Output For detailed reference information on each command in the summary refer to the HP 3852A Command Reference Manual PULSE MOTOR DRIVER SET UP COMMANDS STANDBY PULSE PROFILE PSCALE OUTPUT COMMANDS MOVE SUSTAIN TRIG DELAY HALT SGL LIMITS COMMANDS HARDLIM HALT POSITION COMMANDS POS POS DONE GUADRATURE COUNTER COMMANDS QSCALE QINDEX QPOS INTERRUPT COMMANDS ENABLE INTR DISABLE INTR TEST COMMAND TEST Causes the selected trigger to be delayed by the time specified Delays the triggering of the MOVE and SUSTAIN comman
4. SLOPE PARAMETER HAS NO IMPACT TIME 3852P A14 F 12 Ti Figure 3 2 Typical Motion Profiles Used By the MOVE and SUSTAIN Commands to Efficiently Control Motor Velocity Two commands send pulses to a motor MOVE is used to send a fixed number of pulses SUSTAIN is used to send pulses continuously You can choose to trigger either command with the TRIG command or with an external stimulus before pulses are actually generated If the TRIG mode is AUTO the default the trigger is automatically generated immediately following the command Both commands generate pulses as defined by the motion profile you mn in the PROFILE command Programming the Stepper Motor Coniroller Pulse Output 3 11 The motion profile specified must fit the type of stepper motor being controlled To set up the PROFILE command for stepper motors you specify the FREQ mode minimum frequency maximum frequency rate of change of frequency and the pulse width which is fixed until another PROFILE command changes it You can find a more detailed discussion of the motion profile in the previous section titled Defining a Motion Profile p Sending a COMMAND DISCUSSED Fixed Number of Pulses MOVE distance model NOWATIT USE ch distance The distance to move REL or position to move to ABS mode REL relative or ABS absolute NOWAIT Allows the acceptance of another command before the move completes Required if a trigger other than TRIG AUTO is
5. or SGL trigger can be cancelled by a TRIG HOLD command If NOWAIT is not specified the command can be cancelled by sending DEVICE CLEAR followed by TRIG HOLD The power on state is AUTO and if a TRIG command is executed without declaring an option the default option is SGL i e OUTPUT 709 TRIG is equivalent to OUTPUT 709 TRIG SGL Figure 3 3 illustrates the use of the TRIG command Delaying COMMAND DISCUSSED the Trigger DELAY time USE ch The DELAY command is used to delay the trigger of a MOVE or SUSTAIN command The delay can be from 0 000 to 65 535 seconds and is settable in one millisecond increments Once a delay is programmed all triggers are delayed until the delay is reprogrammed The DELAY command is illustrated in Figure 3 3 Halting COMMAND DISCUSSED a Pulse Output HALT mode USE ch The pulse output can be immediately stopped by sending a HALT command with the SGL mode specified Use of HALT SGL is illustrated in Figure 3 3 Additionally pulses can be immediately stopped manually by an emergency halt switch connected to the HALTn input which is controlled by the HI LO and ON OFF mode parameters of the HALT command This is discussed further in the section titled Limiting Motor Motion 3 14 Programming the Stepper Motor Controller Pulse Output 10 OUTPUT 709 RST 500 20 OUTPUT 709 USE 500 Slot 5 Channel 00 30 OUTPUT 709 STANDBY AUTO LO 40 OUTPUT 709 PULSE SS HI HI 50
6. 0 no pulses can be generated PROFILE WIDTH 0 0 0 1E 3 min max slope 0 no pulses can be generated PROFILE WIDTH 1E 3 10E 3 1E 3 9E 3 period lt max width PROFILE WIDTH 5E 3 1E 3 1E 3 10E 3 min gt max Pulse The SUSTAIN command is used to set up a pulse output and must be Output triggered with the TRIG command to initiate action This section describes Comm ands the SUSTAIN command the TRIG command and the DELAY command for delaying the trigger SUSTAIN COMMAND DISCUSSED Command SUSTAIN width INOWAIT USE ch 326 Programming the Stepper Motor Controlier Pulse Output TRIG Command DELAY Command The SUSTAIN command when triggered causes pulses to be generated indefinitely until a SUSTAIN O command is executed and triggered or a HALT SGL command is executed The period of pulses is specified by the PROFILE command and must be used in conjunction with the SUSTAIN command The SUSTAIN command specifies the final pulse width and initiates the pulse train while the PROFILE command specifies the period of the pulse train Use of the SUSTAIN and PROFILE commands is illustrated in Figure 3 9 NOTE A SUSTAIN command with a width less than the PROFILE min parameter will cause pulses to be generated at the min width A SUSTAIN command with a width greater than the PROFILE max parameter will cause pulses to be generated at the max width ramping from min to max COMMAND
7. DISCUSSED TRIG mode USE ch The SUSTAIN command is triggered to initiate pulses with the TRIG command You can trigger automatically with the AUTO option and a trigger is generated as the final step in the SUSTAIN command You use the SYS option to declare the HP 3852A mainframe backplane system trigger as the trigger source Simultaneous moves of all three channels are made by triggering channels 1 and 2 off of channel 0 using the CHANO option You can generate an immediate trigger with the SGL option and once generated TRIG returns to HOLD The power on state is AUTO and if a TRIG command is executed without declaring an option the default option is SGL Use of the TRIG command is illustrated in Figure 3 9 NOTE You must specify the NOWAIT option in the SUSTAIN command if you use TRIG HOLD in conjunction with another mode other than AUTO If NOWAIT is not specified the SUSTAIN command will be locked into a wait state preventing it from accepting another command COMMAND DISCUSSED DELAY time USE ch Programming the Stepper Motor Controller Pulse Output 3 27 The triggering of a SUSTAIN command can be delayed with a DELAY command The delay can be from 0 000 to 65 536 seconds and is settable in one millisecond increments Figure 3 9 demonstrates the use of the PROFILE SUSTAIN DELAY and TRIG commands to establish and change pulse widths and frequency of pulses Selecting Each channel can be enabled to interrupt with th
8. INSTRUMENT AND FIELD WIRING BEFORE INSTALLING REMOVING ANY ACGERRORY As REGARD ALS ACCOSSORY CHANG AS BEING AT THE SAKE POYENTIAL E AS THE HIGHEST VOLTAGE APPLIED TO ANY CHANNEL 8 i 5 BLIFTINDO MBOLOGNNDO HY REFER TO MAMGAL FOR ADDITIONAL DETAILS 38529 A14 F 2 Figure 2 1 HP 44714A Terminal and Component Modules Setting Up the HP 44714A Hardware 2 3 SET THE OUTPU ISOLATION JUMPERS FOR ISOLATED OR NON ISOLATED OUTPUTS HP 44714A TERMINAL MODULE MO RE Gi pa fann Ga AN EPI PI PE PE NE MN B PAN a f a pa an pd eyepsJesIense e Yo OmMARr n JBE AMARMOGAHATO m CONNECT FIELD WIRING FOR EXTERNAL POWER SUPPLY IF USED AND PULSE OUTPUTS E Be STEPPER MOTOR CONTROL CONNECT LIMIT SWITCH INPUTS Hi H l t H Lo zan m 3 Tu EF H ennt H i E L E ES i 4 f ON D Mon LL zT E er a t E D SET THE TEST JUMPER TO THE NORM POSITION U S 19 118 DL wee RIZE CONNECT QUADRATURE COUNTER INPUTS AND OPTICAL ENCODER POWER DO NOT HAVE A MOTOR CONNECTED WHEN IN FHE TESI POSITION si CONNECT THE TERMINAL MODULE TO THE COMPONENT MODULE INSTALL THE ACCESSORY INTO A MAINFRAME OR EXTENDER FRAME Figure 2 2 HP 44714A Hardware Set Up Steps h 4 There are five jumpers for each channel located on the terminal module Terminal that must be set to either the ISOLATED or NON ISOLATED Module position These
9. OUTPUT 709 PROFILE FAEN 100 800 200 25 6 60 OUTPUT 709 PSCALE O 1 L 70 OUTPUT 709 MOVE 20 Move auto triggered OUTPUT 7089 DELAY 5 Delay trigger 5 seconds OUTPUT 709 TRIG HOLD OUTPUT 70 MOVE 20 NOWAIT INOWAIT required for TRIG OUTPUT 708 TRIG Single trigger PAUSE Press CONTINUE to proceed OUTPUT 709 MOVE 30 NOWAIT OUTPUT 709 TRIG Single trigger 40 PAUSE Press CONTINUE to proceed F OUTPUT 709 TRIG AUTO IReset to trigger auto 160 OUTPUT 709 SUSTAIN 10 iTriggered auto 170 OUTPUT 709 WAIT 10 110 second wait 180 OUTPUT 709 SUSTAIN 50 190 OUTPUT 708 WAIT 10 80 PAUSE Press CONTINUE to proceed 90 OUTPUT 709 MOVE 30 Move auto triggered 200 OUTPUT 709 SUSTAIN 0 Stop to change direction 210 OUTPUT 709 WAIT 10 220 OUTPUT 709 SUSTAIN 10 Reverse direction 230 OUTPUT 709 WAIT 10 240 OUTPUT 709 HALT SGE IStop 250 END CHANNEL STEPPER MOTOR DRIVE GEAR 4 NEGATIVE POSITIVE Ed k 20 10 l T E ig 4 40 Yo k 18 1 10 20 30 jid _ SLIDING BAR 3852P A14 F 13 Figure 3 3 Sending Pulses To a Motor Programming the Stepper Motor Controller Pulse Output 3 15 Each channel can be enabled to interrupt with the ENABLE INTR USE ts ch command When enabled a channel interrupts when Interrup 1 Pulses stop following a MOVE command 2 The specified frequency or pulse wi
10. Stepper Motor Controiler Pulse Output DESCRIPTION A move is in progress TRIG SGL encountered without corresponding MOVE or SUSTAIN command preceeding it A running SUSTAIN command must be stopped with HALT or SUSTAIN O before 8 command to reverse direction can be executed A MOVE command cannot be executed when the PROFILE command is in the width mode Will not execute a MOVE or SUSTAIN command when test jumper is in the TEST position Motor cannot move when powered down by STANDBY in the ON mode 3 EEE siz Pulses s swe Direction W MOTOR 5 Standby DRIVER E Common a Gane ENSE n Positive STEPPER MOTOR Namat ve Limit sen gmat Home Limit i ey S Pasitian Switch AAN m nnm rece rre sa m ad ST SSO sese Emergency HRO 5 07 nate Switch QUADRATURE COUNTER l SHAFT ENCODER POWER The HP 44714A is used as the digital control of a stepper motor driver assembly installed between your HP 3852A 44714A and the stepper motors See Figure 3 1a Stepper motor drive assemblies can be of different types One type has one input for pulses to move the motor and another input to specify CW or CCW movement direction The second type has two inputs for pulses to move the motor one input for CW movement and one input for CCW movement You can set up the HP 447144 to control either type of stepper motor drive assembly Figure 3 Ib and 3 1c show the two configuratio
11. and triggered the STBYn output goes low After all pulses are sent the STBYn output goes high Figure 3 10 illustrates the STBYn output for HI sense and LO sense The power on defaults are AUTO and HI If a STANDBY command is executed and a mode is not specified the default is ON If a sense is not declared the sense remains unchanged Programming the Stepper Motor Controller Pulse Output 3 29 LINE 49 ACCELERATION LINE 5 PERIOD ime SLOPE 2mS SUSTAIN WIDTH 5mS DECELERATION LINE 89 SERO se Bin SUSTAIN WIDTH ImS LINE 1229 LINE 130 ims PERIOD ImS SUSTAIN WIDTH PERIOD HALT SLOE Coie Ls Me m LINE 169 NOTE THE PROFILE WIDTH AND SUSTAIN COMMANDS ARE USED TOGETHER TO CONTROL THE PULSE WIDTH PROFILE sets the pulse width limits amp nd waveform period 2 SUSTAIN specifies the pulse width HE Pulse width specified by SUSTAIN period specified by PROFILE L trett re Hinr Peer orientem rmm SUSTAIN command triggered m L SES Were Les un width pulse width specified by pulse width specified by increases as min of profile specified by SUSTAIN slope of attained Figure 3 9 Changing Pulse Width and Frequency 3 30 Programming the Stepper Motor Controller Pulse Output STANDBY MODE ON PULSE OUTPUT ak i hal ME GO EE Dikte STBYn nisch OUTPUT TAN HI SENSE STBYn Al 500 OUTPUT m LO SENSE 3852P A14
12. and exit the standby mode respectively ON remove power OFF apply power You must check your motor driver specifications for the logic sense 1 or 0 required to deenergize the motor an AULAM MULA MM error ii aaa HP 3852A AL DATA ACQUISITION CONTROL UNIT mm HP 44714A MOTOR DRIVE STEPPER MOTOR ASSEMBLY 1 CONTROLLER ACCESSORY MOTOR DRIVE din etree ya MOTOR DRIVE ASSEMBLY 5 A DIGITAL CONTROL OF 3 MOTOR DRIVE ASSEMBLIES POWER CH MOTOR SUPPLY DRIVE ASSEMBLY P 447144 PVCC amp PCOM ka VCC GND CH MOTOR PSTP i CLOCK 4 E Sos at NDIR Be DIRECTION jE STBY E OUTPUT OFF B PULSE STEP DIRECTION MODE CHANNEL SHOWN POWER CH MOTOR SUPPLY DRIVE ASSEMBLY 44714A PVCC amp PCOM VCC GND PULSES FOR CW PSTP 4 NDIR PULSES FOR CCW CCW POWER TURN OFF OUTPUT OFF STBY 3852P A14 F 11 C PULSE STEP STEP MODE CHANNEL SHOWN Figure 3 1 Controlling a Stepper Motor 36 Programming the Stepper Motor Controller Puise Output EXAMPLES For a motor driver that deenergizes a motor when STBYn is low 10 20 10 20 30 40 50 60 70 OUTPUT 709 STANDBY AUTO LO IChanges sense to LO OUTPUT 709 MOVE 750 REL IMotor power on a move to 750 takes place motor power off OUTPUT 709 STANDBY ON LO Sense is LO motor power off ki EN other commands OUTPUT 7
13. be if the motor has not skipped a pulse EXAMPLE Load a position value of 50 for channel 02 slot 4 OUTPUT 709 POS 50 USE 402 COMMAND DISCUSSED POS USE ch INTO name or fmt For each channel the controlling processor can be queried to find out what value the position counter holds by using the POS command You can query the counter even while the motor is moving if the NOWAIT option is used in the MOVE or SUSTAIN command The POS command returns a position value that can optionally be placed into the specified variable name or returned in the format specified If a format is not specified the value is returned in RASC format real number The number can range from 2 147 483 648 to 2 147 483 647 EXAMPLE Determine position value of channel 02 slot 4 in LASC format 16 OUTPUT 708 POS USE 402 LASC 20 ENTER 709 value 30 PRINT value 40 END COMMAND DISCUSSED DONE USE cAh INTO name or fmt With the DONE command you can determine whether or not a move has completed and if so under what conditions The command returns a number from 3 through 2 which optionally can be placed into the specified variable name or returned in the format specified The numbers 3 through 2 have the following meaning Programming the Stepper Motor Controller Pulse Output 3 19 CODE MEANING 3 Waiting for trigger 2 Running 1 SUSTAIN Running Ready for next command 0 Move completed successfully 1 Move aborted because
14. greater than the PROFILE max parameter will cause pulses to be generated at the max velocity ramping from min to max Figure 3 3 illustrates the use of the SUSTAIN command COMMAND DISCUSSED TRIG mode USE ch MOVE or SUSTAIN commands must be triggered to initiate pulses The TRIG command is used to generate the trigger and has different trigger modes for you to select from Trigger modes available are HOLD The trigger is disabled in the HOLD mode SYS 1 The SYS mode connects the mainframe s backplane system trigger as the trigger Source AUTO The AUTO INT mode generates a trigger automatically or INT as the final step in a MOVE or SUSTAIN command power on mode CHANO 1 The CHANO mode connects channel 0 as the trigger source to allow simultaneous moves with channel 0 Programming the Stepper Motor Controller Pulse Output 3 13 SGL 1 initiates an immediate trigger After a SGL trigger is generated TRIG returns to HOLD If a mode is not specified in the command the default is SGL 1 The MOVE and SUSTAIN commands must specify the NOWAIT option for these trigger modes to work Without NOWAIT the HP 44714A must complete the MOVE or SUSTAIN command before the next command is recognized if the next command is a manual trigger the HP 44714A cannot access the trigger command unless NOWAIT is used NOTE A MOVE or SUSTAIN command with NOWAIT specified waiting for a SYS CHAN 0
15. jumpers provide isolated STBY NDIR and PSTP outputs Jum pers when set to the ISOLATED position All five jumpers for a channel must be set in the same position but some channels can be isolated and others non isolated Figure 2 3 shows the isolation jumpers for all three channels The following sections including Figures 2 4 and 2 5 illustrate what the isolation and non isolation modes are and what pull up resistors are provided When the jumpers are in the NON ISOLATED position the internal 5V and ground are connected to the pull up resistors and the STBY NDIR and PSTP outputs are routed through buffers instead of through the opto isolators 2 4 Setting Up the HP 44714A Hardware I NOTE CHAN 2 CHAN 1 CHAN CELLS ELOR ELUS ALL JUMPERS FOR A CHANNEL jen jemi dem SLE po iane 40mm san Ene PEETI SELO 1 BECO SETA DENE IIT 38529 A14 F 4 Figure 2 3 Terminal Module Output isolation Jumpers Why Use The PVCC and PCOM inputs can be used to power the opto isolation of an External the pulse output lines with an external power supply You use an external Power Supply power supply where your application is in a noisy environment and you are concerned that a power supply glitch may cause an output pulse and move a motor Operating the HP 44714A in the ISOLATED mode with an external power supply can reduce power supply glitches that cause an additional output pulse Figure 2 4 shows a simplifie
16. of hait 2 Move aborted because of hard limit EXAMPLE Determine if a move on channel 02 slot 4 is complete 10 OUTPUT 708 DONE USE 402 20 ENTER 708 value 30 PRINT value 40 END Monitorin Q You can use quadrature counter inputs QA QB and QI channels A B and Index for attaching an optical encoder to the HP 44714A and physically monitor the motor shaft movement Each channel has a positive and negative input that is TTL compatible and has an active switching range of 0 to 15V The HP 44714A has two outputs QPWR and QGND ee inii that provide power for the optical encoder Figure 3 5 shows typical Counter connections to the quadrature counter Three commands are used to set up the quadrature counter QSCALE OINDEX and QPOS HEWLETT PACKARD HEDS 5000 SERIES QUADRATURE COUNTER INPUTS OPTICAL ENCODER HP 44714A QAn QANX Li jwen QBn STEPPER HE CHANNEL N 4 Bro MOTOR FE INDEX CH A x INPUTS FOR OPTICAL ENCODERS WITH DIFFERENTIAL OUTPUTS 3852P A14 F 15 Figure 3 5 Quadrature Counter Connections From An Optical Encoder 3 20 Programming the Stepper Motor Coniroller Pulse Output scaling the Quadrature Counter indexing the Quadrature Counter QINDEX ONCE COMMANDS DISCUSSED QSCALE gfactor USE ch OSCALE scales each motor step to specify the distance the motor travels per quadrature count in whatever units you choose The distance can be a positive or negative nu
17. programming the HP 44714A after the hardware is set up and the accessory is installed in a mainframe or extender frame Programming information is provided in Chapter 3 titled Programming the HP 44714A This information is divided into Programming for Stepper Motor Control where controlling frequency or velocity is of primary concern and Programming for General Purpose Pulse Output where controlling pulse width is of primary concern Chapter 4 is a summary of HP 44714A commands Introduction 1 3 ts Conten AN d Watnines and CAOS eya w ace er ovd Hardware Set Up Steps 1 through 2 2 Setting the TEST Jumper see 2 2 2 Setting Terminal Module Jumpers 2 4 Why Use an External Power Supply 2 5 Pull Up Resistors erari udanie n rn 2 6 Wiring the HP 44714A Terminal Module 2 7 Wiring the Pulse Outputs o oooooooo 2 8 3 Wiring the External Power Supply 2 8 Additional Wiring for Stepper Motor Control 2 9 Limit and Halt Switch Inputs 2 9 5 Quadrature Counter Inputs and Outputs 2 10 E Connecting the Terminal Module to Component Module eere 2 11 Installing the Accessory Into a Frame 2 13 imeal Che ian n AE L PX ERR eb REF do 2 13 Warnin gs and Cautions Chapter 2 This section summarizes the WARNINGS and CAUTIONS that apply to the HP 44714A Review all WARNINGS and CAUTIONS b
18. switch connected between QI and QPWR as shown in Figure 3 6 When the motor steps through the home position the switch closes during that step and generates a pulse with the leading edge starting the counter Executing the following QINDEX command resets the counter and counting begins when the motor steps through the home position OUTPUT 708 QINDEX ONCE USE 402 Programming the Stepper Motor Controller Pulse Output 3 21 QINDEX SGL Asking For Quadrature Counter Value HOME POSITION SWITCH Ol a e x LOK QGND e QPWR A a 3852P Ai4 F 16 Figure 3 6 QINDEX ONCE With Home Position Switch The quadrature counter is reset immediately and begins counting immediately when a QINDEX SGL command is executed QINDEX then returns to the OFF state The counter is not reset on any following index pulses but continues to keep count of the number of quadrature pulses positive and negative This feature lends itself to stepping the motor to position something at a stop call this zero and then resetting the quadrature counter to zero to agree with the pointer Example Set the channel 02 slot 4 motor to the zero position reset the counter and begin counting immediately OUTPUT 709 GINDEX SGL USE 402 The counter is reset on execution of the QINDEX command and on the next MOVE or SUSTAIN command providing motion the counter begins counting COMMAND DISCUSSED QPOS USE ch INT
19. the prior written consent of Hewlett Packard Company Copyright 1985 by HEWLETT PACKARD COMPANY iii AM PACKARD CERTIFICATION Hewlett Packard Company certifies that this product met its published specifications at the time of shipment from the factory Hewlett Packard further certifies that its calibration measurements are traceable to the National Institute of Standards and Technol ies to the extent allowed by the the Institute s calibration facility and to the calibration facilities of other International Standards Organization members WARRANTY This Hewlett Packard instrument product is warranted against defects in materials and workmanship for a period of one year from date of shipment During the warranty period Hewlett Packard Company will at its option either repair or replace products which prove to be defective B i For warranty service or repair this product must be returned to a service facility designated by hp Buver shall prepay i shipping charges to hp and hp shall pay shipping charges to return the product to Buyer However Buyer shall j pay all shipping charges duties and taxes for products returned to hp from another country Duration and conditions of warranty for this instrument may be nn when the instrument is integrated into becomes a part of other hp instrument products Hewlett Packard warrants that its software and firmware designated by hp for use with an in
20. used The MOVE command is used to move the motor a fixed number of steps When triggered the MOVE command generates a fixed number of pulses determined from the distance you want to move The number of pulses can vary dependent on the value of the scale factor In the example of Figure 13 if the slide bar moves 0 1 inches per motor step you declare a scale factor of 0 1 which will cause 200 pulses to be generated If a scale factor of 0 2 is specified the MOVE command will generate only 100 pulses The REL and ABS parameters affect the move differently A REL move means to move a specified distance relative to the current position An ABS move means to move to the absolute position specified in the MOVE command For example a REL move of 10 means to move ten units from the current position An ABS move of 10 means to move to position 10 If the current position were 90 a move of 80 would take place If the PSCALE scale factor is left at 1 0 the distance parameter in the MOVE command corresponds to the number of pulses to be sent Sending COMMAND DISCUSSED Pulses Continuously SUSTAIN velocity or width NOWAITI USE ch velocity The frequency of pulses in Hz PROFILE in FREQ mode width The pulse width in seconds PROFILE in WIDTH mode NOWAIT Allows the acceptance of another command before the new velocity or width is accepted required if a trigger other than TRIG AUTO is used 3 12 Programming the Stepper Motor Con
21. 09 STANDBY OFF IMotor power on OUTPUT 709 MOVE 750 REL IA move to 750 takes place OUTPUT 709 STANDBY ON Motor power off The AUTO mode satisfies most application needs freeing you from having to program STANDBY on and off In the AUTO mode the STANDBY command provides a one second delay in powering off the motor to keep power constantly applied for multiple moves without removing and applying power many times in a short period of time setting the COMMAND DISCUSSED Pulse Mode and Sense PULSE mode PSTPn sense INDIR sense USE ch 1 PARAMETER VALID ENTRY mode SD or SS PSTPn sense Hi LO LH or HL ND Rn sense HI LO LH or HL The SD step direction mode causes all pulses to appear at the PSTPn output while the NDIRn output controls direction of motor motion Direction of motion is specified by using a positive or negative number in the MOVE or SUSTAIN command See Figure 3 1b The PULSE command establishes which outputs the pulses appear at PSTPn and NDIRn and whether the pulses are to be low high low or high low high You direct pulses to the PSTPn and NDIRn outputs with the SD and SS mode parameters of the PULSE command Low high low pulses are set by declaring the HI or LH option for the PSTPn_ sense parameter LO or HL causes high low high pulses The NDIRn__sense parameter sets the sense for the NDIRn output which will indicate positive moves For example if HI is selected for NDIRn__
22. 4 Terminal module jumpers setting 2 4 TEST ee eee batte acd osos 2 2 Test Jumper Setting sicco x xxx E ORC coe 2 4 TAN LO s uod E Edad uc ue ela ci ane ii 3 13 3 27 AF OTO A e ke oi aU dede C SCARE 3 13 3 27 W Warning and Cautions oos seg e en ewes 2 1
23. 52A Command Reference Manual HP P N 03852 90003 Chapter 4 Command Summary summarizes the HP 44714A commands by functional group and provides an aphabetical listing of all commands A brief description of each command and the syntax is given Appendix A Specifications for the HP 44714A are given in Appendix A introduction 1 1 Q Description ACCESSOTY The HP 44714A 3 Channel Stepper Motor Controller Pulse Output accessory for the HP 3852A can be used for either stepper motor control or general purpose pulse output The HP 44714A is designed to provide the control signals for all types of stepper motor drivers You can generate continuous pulses or a fixed number of pulses while you control the pulse width and frequency of the pulses There are additional features available for controlling stepper motor limits of travel and determining position of the motor Position can be monitored by using either the internal counter or by physically monitoring position with an optical encoder and the quadrature counter Two modes of operation are provided 1 Changing frequency of pulses with a fixed pulse width stepper motor control and 2 Changing width of pulses with a fixed freguency pulse output Figure 1 1 shows the two modes of operation and a simplified block diagram of the HP 44714A HP 447144 S CHANNEL CONTROLLER PULSE OUTPUT TERMINAL MODULE rcv E IA A eae E A es rM REN SEN xa PE Ta 7 mo A A Eee ae ren e
24. CALE command in the internal position counter This allows you to set the counter to any value corresponding with current position Syntax POS pos value USE ch Requests the current position value present in the internal position counter Syntax POS USE ch INTO name or fmt Defines a trapizoidal motion profile that specifies the velocity range acceleration deceleration and pulse width of pulses generated by the MOVE and SUSTAIN commands Syntax PROFILE FREQ mir frea max freq slope pwidth USE ch or PROFILE WIDTH min width max width slope period USE ch Specifies the distance of motion that one step of the motor causes Syntax PSCALE scale factor USE ch sets which outputs the pulses appear at and whether the pulses are positive going or negative going Syntax PULSE mode PSTP sense NDIR sense USE ch Specifies how the quadrature counter is to be indexed resets the counter Syntax QINDEX mode USE ch Requests the current position value present in the quadrature counter Syntax QPOS USE ch INTO name or fmi Specifies the distance of motion that one quadrature count corresponds to The scale factor qfactor can be in any units desired i e inches angle of rotation etc Syntax QSCALE gfactor USE ch Used to remove power from a stepper motor when the motor 1s sitting idle Syntax STANDBY Imode I senselTUSE ch When triggered generates pulses continuously a
25. GOND POWER OPTICAL 3852P A14 F 1 Bene cM ENCODER Figure 1 1 Simplified Block Diagram 12 introduction STEPPER MOTOR Define Your Application Set Up the Hardware Program the Accessory You need to perform three tasks to begin using the HP 44714A accessory e Define your application e Set up the hardware e Program for stepper motor control or pulse output The HP 44714A can be used for stepper motor control or for general purpose pulse output You first define the use of the HP 44714A and verify that the specifications of the accessory meet the requirements of your application For stepper motor control the HP 44714A connects to a step motor driver You determine the type of outputs and the logic sense high true or low true required to control your motor drivers Additionally you must determine whether the HP 44714A outputs are to be isolated or non isolated For general purpose pulse output you also determine the type of outputs the logic sense required and whether the HP 44714A outputs are to be isolated or non isolated Kefer to the specifications listed in Appendix A to verify the HP 44714A meets your application requirements All hardware set up is performed on the terminal module which attaches to the component module You set jumpers to fit your application and connect your field wiring Instructions for doing this is provided in Chapter 2 titled Setting Up the HP 44714A Hardware You are ready to begin
26. LIM NLIM and HALT 2 Quadrature counter inputs QDB QDA and QDD 3 Optical encoder power supply outputs QPWR and QGND Limit and Halt You have the ability to limit motor travel in both the positive and negative Switch Inputs direction Limit switches placed in your stepper motor application can provide a hard wired input to the HP 44714A when a limit is reached A HALT switch can also provide a hard wired input to stop operation at any time i e emergency stops Figure 2 6 shows where positive and negative limit switches and halt switch inputs are made on the terminal module Setting Up the HP 44714A Hardware 2 9 atime NEGATIVE CHANNEL STEPPER MOTOR POSITIVE pe van 30 ro E ae 20 rie 40 T e T L ka En n 45 A i i 1 NEGATIVE POSITIVE LIMIT pa ran T LIMIT SWITCH SWITCH SLIDING BAR DRIVE GEAR M M ROTE PLIM_SENSE LO NLIM SENSE LO HALT MODE LO LIMIT AND HALT SWITCH FIELD WIRING 38927 414 7 7 Figure 2 6 Limit and Halt Switch Inputs Quadrature Motor shaft movement is physically monitored by attaching a shaft encoder Counter Inputs to the motor shaft Encoder pulses are input to the quadrature counter and Outputs which keeps track of distance and direction of motion Figure 2 7 shows a typical shaft encoder connected to the terminal module Note that power for the encoder is suppli
27. Motor Driver Set Up 3 6 OINDEX Ulsa eadera er ya 3 22 Setting the Motor Drive Power Turn Off Asking For Quadrature Counter Value 3 22 Mode aid SENSE cs vcr eR 3 6 Setting ine Pulse M de ista 3 7 Programming For General Purpose Defining a Motion ProfilC 3 8 Pulse OUT DUE oru ida ick oaks 3 23 PROFILE FREQ Setting Conflicts 3 9 Setting Up the Pulse Output cause es 3 23 Scaling Motor MOtiON eseecse 3 9 Defining a Pulse Profile oia 3 25 Sending Pulses to a Motor 05 3 11 PROFILE WIDTH Setting Conflicts 3 26 sending a Fixed Number of Pulses 3 12 Pulse Output Commands lle 3 26 sending Pulses Continuously 3 12 SUSTAIN COMME ri sias 3 26 Triggering a MOVE or SUSTAIN TRIG COMMAnd a uccidere Seda d s 3 27 Command su sso baba da xac xad ada era 3 13 DELAY Command cce ka te kale av 3 27 Delaying tlie reta do Sonia ke ee dices 3 14 Selecting Interrupts co aes e rat e S ERE Sono 3 28 Halting a Pulse Output Le oo fwa an a 3 14 Enabling Interrupts ENABLE INTR 3 28 Selecting IBterrupts uoo do uoo dox ERR 3 16 Disabling Interrupts DISABLE INTR 3 28 Enabling Interrupts ENABLE INTR 3 16 STANDBY Command 3 29 Disabling Interrupts DISABLE INTR 3 16 Chapter 3 The HP 44714A can be used either as a stepper motor control or for general purpose pulse output This programming sect
28. O name or fmi For each channel the controlling processor can be queried to find out what value the quadrature counter holds by using the QPOS command You can query the counter even while the motor is moving if the NOWAIT option is used in the MOVE or SUSTAIN command 322 Programming the Stepper Motor Controller Pulse Output The QPOS command returns a value that can optionally be placed into the specified variable name or returned in the format specified If a format is not specified the value is returned in RASC format real number The number can range from 2 147 483 648 to 2 147 483 647 and will rollover from the maximum positive number to the maximum negative number and vice versa EXAMPLE Determine the quadrature counter value of channel 02 slot 4 in DASC format 10 OUTPUT 709 QPOS USE 402 DASC 20 ENTER 709 value 30 PRINT value 40 END POWER eme s mA m d 2 puer Es UM PULSE OUTPUT i DIRECTION DIRECTION STANDBY Ka EMERGENCY HALT SWITCH i OPTIONAL USE gt DES KA Ree IRE DOUNTE Y OUADRATI at OA BON Radel ee ad OT NA Be Oe eee This section deals with applications that primarily require control of pulse width pulse width modulation and secondly changing of frequency For general purpose pulse output all inputs and outputs of the HP 44714A are active but all of them might not be used Unless you control dc motors you probably will not use Limit Commands Positi
29. a particular channel is 2 sec Limit Switch Inputs e Schmitt trigger inputs filter noise and sense input state Causes an immediate halt of output pulses Limit Switch Characteristies The limit switch inputs are TTL compatible and require a 50 sec pulse width The accessory supplies 5V and a 10 kohm pull up resistor for switch closure sensing Counter Limit switches Maximum input voltage 15 V 5 V Maximum input current 3 5 mA 1 mA Tnresholds Viow max 0 5 V 1 0V Vhigh min 2 5 V 3 85 V Number of counts 2 147 483 647 n a Counter accuracy 0 5 counts n a A Ht Hl SL TET ATTN AI ANA a dat AS re i tr i rm rn SBB m i PH OPAC 7 ge E Av Specifications Supplemental Characteristics This section contains characteristics that are intended to provide information useful in applying the system by giving typical or nominal but non warranted performance parameters RESPONSE TIMES u Command over HP IB to start stop pulses 35 msec Command from a subroutine to start stop pulses 10 msec Backpiane trigger to start pulses 150 msec Limit switch to stop pulses 100 msec A Acceleration See PROFILE D DEL Y ria didas pose ae 3 14 3 27 Delaying a trigger 0 0 0 0 0 00 3 14 3 27 DISABLE UNTER sii died Sone e hae eck Gao 3 16 O ee 3 19 E ENABLE INTR erc aod ex p exam 3 16 Error Messages oa esos tios FR AC Rn 3 3 External power supply Wiring ssssves 2 8 G General Purpose Pulse Outpu
30. ainframe or extender backplane thru edge connector terminals on the component module Whether you use the HP 44714A as a stepper motor controller or for general purpose pulse output you perform the same set up procedure except for the field wiring Figure 2 2 illustrates the seven steps required for setting up the HP 44714A hardware steps 4 and 5 are only required if limit switches are installed Step 4 or if an optical encoder is connected to the quadrature counter Step 5 In the text that follows the steps are denoted by a circle around the step number i e step no 1 1 A test jumper is present on the HP 44714A terminal module see Figure 2 2 Step D When the terminal module is connected to your application the jumper must be in the NORM position Refer to the HP 44714A Service Manual for setting the test jumper to the TEST position and testing the HP 44714A WARNING OPERATOR INJURY OR EQUIPMENT DAMAGE Set the TEST Jumper J581 on the terminal module to the NORM position before wiring your application Refer to the HP 44714A Service Manual for testing of the module with the jumper in the TEST position 2 2 Setting Up the HP 44714A Hardware COMPONENT TERMINAL MODULE MODULE TI IA A EI i EP MA a use ES DO NOT INSTALL AGORSSORY WITHOUT MEYAL GOVERS ATTACHED NO OPERATOR SERVIGCASULE Paris INSIDE REFER SERVIGING TO SERVICE TRAINED PERSONAE dit TURN OFF POWER GOLRCCG TO
31. an 1 is specified The examples that follow show how round off errors are generated and can accumulate Programming the Stepper Motor Controller Pulse Output 3 9 PSCALE ROUND OFF ERROR EXANIPLES The two examples that follow show how errors can accumulate using the REL and ABS options of the MOVE command Refer to the section titled Sending a Fixed Number of Pulses for a discussion of the REL and ABS parameters 5 10 20 30 40 50 60 70 80 Note 1 5 10 20 30 40 50 60 70 80 OUTPUT 709 USE 400 OUTPUT 709 POS 0 OUTPUT 709 PSCALE 2 OUTPUT 709 MOVE 1 REL OUTPUT 7089 POS OUTPUT 709 MOVE 1 REL OUTPUT 709 POS OUTPUT 7098 MOVE 1 REL OUTPUT 709 POS ISlot 4 Channel 00 Set counter to O Set 2 degrees step Request 1 degree move Note 1 Counter returns 2 Request 1 degree move Note 1 Counter returns 4 Request 1 degree move Note 1 ICounter returns 6 Although a 1 degree move is requested the smallest move per step in degrees as specified by PSCALE is 2 degrees The counter can only count in increments of the scale factor specified Using the REL option the error continues to accumulate OUTPUT 709 USE 400 OUTPUT 709 POS 0 OUTPUT 709 PSCALE 2 OUTPUT 709 MOVE 1 ABS OUTPUT 709 POS OUTPUT 709 MOVE 2 ABS OUTPUT 709 POS OUTPUT 708 MOVE 3 ABS OUTPUT 708 POS Slot 4 Channel 00 Set counter to 0 Set 2 degrees step IRe
32. and For example if HI is selected for NDIRn sense this output will be high during the output of pulses specified as a positive number If nothing is declared here the sense defining positive numbers is the same as set for PSTPn The SS step step mode causes pulses for positive numbers to appear at the PSTPn output while pulses for negative numbers will appear at the NDIRn output See Figure 3 7b The PSTPn sense parameter defines low high low or high low high pulses for PSTPn The NDIRn sense parameter defines the sense for NDIRn If the NDIRn sense is not declared it is the same as that declared for PSTPn 3 24 Programming the Stepper Motor Controller Pulse Output Defining a Puise a PULSE STEP DIRECTION MODE HP 44714A PSTP NOIR ALL PULSES X Pulse specified with amp positive number cause NDIR to be a high or low logic level settable Pulse specified with a negitive number cause NDIR to be the opposite logic level 6 PULSE STEP STER MODE c HP 44714A PULSES SPECIFIED WITH A POSITIVE NUMBER NDIR M PULSES SPECIFIED WITH A NEGATIVE NUMBER 852P A14 F 17 Figure 3 7 Setting Up the Pulse Output With the PULSE Command COMMAND DISCUSSED Profile PROFILE WIDTH min max slope period USE ch PARAMETER MEANING WIDTH pulse width profile versus FREQ profile used for motor control min minimum puise width in seconds i e 001 or 1E 3 max maximum p
33. between the HP 44714A and the motor for wiring instructions of step step or step direction drivers Figure 2 2 step 3 identifies the pulse outputs and external power supply inputs 1 External power supply inputs for isolating the pulse outputs PVCC and PCOM 2 PSTP NDIR and STBY pulse outputs NOTE For general purpose pulse output you can use the HALT input for manually stopping the pulse train Refer to the section titled Limit and Halt Switch Inputs for information on using a HALT switch Wiring the Whether you use the HP 44714 as a stepper motor controller or for general External pulse output you can isolate the PSTP NDIR and STBY pulse outputs by Power Supply using an external power supply To use an external power supply you should have all jumpers for a channel set to the ISOLATED position Figure 2 4 illustrates how an external power supply is connected Figure 2 2 step 3 shows the PVCC and PCOM connectors on the terminal module 2 8 Setting Up the HP 44714A Hardware NOTE The remaining set up procedures apply to stepper motor control or to dc motor control You can however use the HALT input for general purpose pulse output Additional This section gives you additional information to wire the limit and halt Wiring for switches and the quadrature counter for stepper motor control The inputs Stepper and outputs described are Motor Control 1 Positive and negative limit and halt inputs P
34. d diagram of output isolation Setting Up the HP 44714A Hardware 2 5 HP 44714A COMPONENT MODULE HP 44714A TERMINAL MODULE S JUMPERS DE RER EXTERNAL i ues POWER SUPPLY a OPTO ISOLATION a NON ISOLATED yo i M mn een rn NON ISOLATED S3852P A14 FP S NON ISOLATED OUTPUTS Figure 2 4 Output isolation Simplified Diagram Pull Up The pull up resistors present on the terminal module for the STBY NDIR Resistors and PSTP outputs have a value that is selected for use with an external 20V power supply to allow a current of 6 mA For external power supply isolated voltages less than 20V you can decrease the 3 3K pull up resistance value with external resistors in parallel and still allow 6 mA of current with the lower power supply voltage Doing this optimizes the performance of the HP 44714A allowing you to achieve the pulse width specifications Figure 2 5 shows the value of the external resistor needed for different power supply voltages and the resultant parallel combination pull up resistor value 280 Setting Up the HP 44714A Hardware HP 44714A TERMINAL MODULE FIELD WIRING EXTERNAL POWER SUPPLY 4 EXTERNAL POWER PULL UP RES Rx Ry OPTIONAL PULL DOWN SUPPLY VOLTAGE REQUIRED TO EXTERNAL RESISTOR TO LIMIT HIGH ALLOW GmA PARALLEL OUTPUT VOLTAGE TO RESISTOR ROW IV 3 SK 19K 3852P A14 F 6 Figure 2 5 Pull Up Resistor Selection Wiring
35. ds Syntax DELAY time USE ch Disables the interrupts that occur when a move is completed Syntax DISABLE INTR USE ch Command Summary 4 1 HALT 4 2 Command Summary Queries the controller to determine if a move has completed and if so under what conditions the move terminated A code 3 to 2 is returned indicating how the move compieted Syntax DONE USE ch INTO name or fmi Clears and then enables the interrupts that occur when a move is completed or a SUSTAIN has reached final frequency or width Syntax ENABLE INTR USE ch Specifies the conditions under which a stepper motor is to be brought to an abrupt stop For general purpose pulse output specifies the conditions under which pulses abruptly stop Syntax HALT mode USE ch Determines how the positive PLIMn and negative NLIMn hard limit inputs will operate When a limit switch is activated in the positive direction further positive motion is prohibited but negative motion is allowed The opposite case occurs when the negative limit switch is activated Syntax HARDLIM PLIMn sense INLIMn__sensel USE chi Specifies a distance to be moved and determines the number of pulses required for the move the parameters of the PROFILE command and the scale factor of the PSCALE command are used to calculate the number pulses required Syntax MOVE distance mode NOWAITI USE ch Loads a position value in units specified by the PS
36. dth is reached in a SUSTAIN command 3 A hardlimit is reached causing pulses to stop 4 A HALT SGL command is executed stopping pulses 5 The HALT switch is activated stopping pulses Also each channel can be prevented from interrupting with the DISABLE INTR USE ch command Refer to Chapter 8 Using Interrupts in the HP 3852A Mainframe Configuration and Programming Manual for more information An example program for servicing an HP 44714A interrupt follows the next two sections titled Enabling Interrupts and Disabling Interrupts Enabling Interrupts can be independently enabled for each channel with the interrupts ENABLE INTR command If more than one channel generates an ENABLE INTR interrupt the mainframe services the lowest numbered channel first then the next lowest etc The HP 44714A generates an interrupt each time the motor stops or when the specified frequency or pulse width is reached in the SUSTAIN command Disabling Each channel can be independently disabled from generating an interrupt at interrupis the end of a move with the DISABLE INTR USE ch command The DISABLE INTR channel specified by USE ch is the channel with interrupts disabled The other two channels can still interrupt if enabled EXAMPLE The following program segment and subroutine enables and services an HP 44714A interrupt for slot 4 channel 00 OUTPUT 709 USE 400 iSlot 4 Channel 00 OUTPUT 709 PROFILE FREQ 0 1200 250 50E 6
37. e CR c ja 2 10 8 Connecting the Terminal Module to Component Module o 2 11 Minstalling the Accessory Into a Frame 2 13 tal CAS tetas nase 2 13 Chapter 3 PROGRAMMING THE STEPPER MOTOR CONTROLLER PULSE OUTPUT Power On Reset State e ie an es 3 2 STANDBY 44 45 e535 ai ata do QU RE ELE 3 2 PEYE ssa s ae E Ead eddie 3 2 PROFILE ddnde bei aaa ata 3 2 PSOAGE kant e kaa korek Dan oh doa dp cao bean 3 2 DELAY cits brad dd DEA ei ea 3 2 i Cua Ge ee Edo E est Mob Da 3 2 PAL kai iran ti inik pene de dai o ba 3 2 HARDER sas 3 2 OSCALE iaa nb bcn n ER 3 3 DINDEX ur dud Scared bank de RR E reds 3 3 Error Message Summary see ese en tnn 3 3 Programming For Stepper Motor Control 3 4 Pulse Motor Driver Set Up o o 3 6 Setting the Motor Drive Power Turn Off Mode and See ye ERE RS 3 6 Setting the Pulse Mode and Sense 3 7 Defining a Motion Proflle 3 8 PROFILE FREQ Setting Conflicts 3 9 Scaling Motor MoOti0M oo ooooo 3 9 Sending Pulses to a MotoT 3 11 Sending a Fixed Number of Pulses 3 12 Sending Pulses Continuously 3 12 Triggering a MOVE or SUSTAIN ke Onan Lees on Rd Podio areas 3 13 D laying the ARE 3 14 Halting a Pulse Outptit osen 3 14 Selecting InterruptS ooo conocen 3 16 Enabling Interrupts ENABLE INTR 3 16 Disabling Interrupts DISABLE INTR 3 16 Lim
38. e ENABLE INTR USE Interrupts ch command When enabled a channel interrupts when 1 Pulses stop following a MOVE command 2 The specified frequency or pulse width 1s reached in a SUSTAIN command 3 A hardlimit is reached causing pulses to stop 4 A HALT SGL command is executed stopping pulses 5 The HALT switch is activated stopping pulses Also each channel can be prevented from interrupting with the DISABLE INTR USE ch command Refer to Chapter 8 Using Interrupts in the HP 3852A Mainframe Configuration and Programming Manual for more information An example program for servicing an HP 44714A interrupt follows the next two sections titled Enabling Interrupts and Disabling Interrupts Enabling Interrupts can be independently enabled for each channel with the Interrupts ENABLE INTR command If more than one channel generates an ENABLE INTR interrupt the mainframe services the lowest numbered channel first then the next lowest etc The HP 44714A generates an interrupt each time the motor stops or when the specified frequency or pulse width is reached in the SUSTAIN command Disabling Each channel can be independently disabled from generating an interrupt at Interrupts the end of a move with the DISABLE INTR USE ch command The DISABLE INTR channel specified by USE ch is the channel with interrupts disabled The other two channels can still interrupt if enabled 3 28 Programming the Stepper Motor C
39. e terminal module from component module Use flat bladed screwdriver to turn spring loaded fastener 1 4 turn counterclockwise Lift caver from terminal module To replace terminal madule cover insert tabs on cover into module slots Lower cover io moduie press down on spring loaded fastener and turn 1 4 turn clockwise te close 9 Connect the termina module te the component module and turn the locking ring to the right to lock the terminal moduie to the component module Figure 2 8 Accessory Terminal Module with Cover 2 12 Setting Up the HP 447144 Hardware Installing Figure 2 9 gives you instructions for installing and removing an HP 44714A the accessory from a mainframe or extender frame Accessory into a Frame pi b a 9 un Z A k zs FOP AIL ad H Ual N p 6 a d Imi ie INI i MIDER i LA i ie e e 9 i i uc nan ne h ima i m n 3252P A14 F 18 LM ed Installing an Accessory Removing an Accessory 1 Connect the terminal module to the component 1 Turn the locking ring to the UNLOCK position module and turn the locking ring to the right to lock the terminal module to the component module 2 Line up the ridges on the top and bottom rails of the accessory with the slot guides to the left of the siot number on the mainframe Make sure the terminal module cover is facing feft 3 Slide the accessory into the slot and press firm ly on the terminal to lock the acce
40. ed by the HP 44714A via the QPWR and QGND terminals 2 10 Setting Up the HP 44714A Hardware 1 2 6 L A i E le am 2 ELI ELT ELI ELT ann go HEWLETT PACKARD HEDS 5000 SERIES OPTICAL ENCODER n ex DRIVE GEAR 4 S8S2P AJ4 FAB Figure 2 7 Quadrature Counter Inputs Outputs A After all field wiring is connected to the terminal module you install the the Terminal cover and install the terminal module to the component module Figure 2 8 Module to shows the terminal module with cover and how it is installed on a component module Setting Up the HP 44714A Hardware 2 11 COMPONENT TERMINAL MODULE E Lot a STATE GETING o ARE HEAR gt Ta TECHN p OS MOY insta Auer al MOUN METAL SAND ATT hE purn Gow ct Han Tem Site l SM TO cei LOL TRAINED PERENNE Tiva i ON m f W2R1NO PRES Er dad i s REDNO ALL EEE HARTS L FIN AT DE GAME POTENTIAL lg AS ME IST ATAOE APLIC EG AH AA I igo Faro YO aan F r ADDI TION DETAIL amp i be an de REND ARR RENNES o m jl O d d Pr F E d CO MM ie M p B SPRING i ae a i OME LOADED er que sa dp c Vi i FASTENER Pog NP n i li Ir i gf io r i Ed E a i I LA Ag Uv E BH Pd i e eti deh a i E gt 5 i 2 i H 1 4 3 J md LA zt yee sis J ABAP AAFS To remove terminal module cover seperat
41. ee ON NEE SE A PF a ee EG EE W Bi n k LIMITS 2 POND A D ned NEU SOND i MESE ELM a tu 1 ae gt i OSTTIVE aK GA LIVE LE we Aes ee Aone re ie aon omm i emm mmmmmmmriumumi il lt NLIM AND HALT i IMI te nm itera NGND f SWITCH INPUTS i A A EE we ee nn mm HAL s pre er au T S HGND AA ev POWER se Tr i 4 Inon ISOLATED son as PAM arten mE k A A eh m OM es urn mern m gt i E peres m lt PCOM p Seen e ern ISOLATED i PUL SE pi CENE 3 ES EXTERNAI BACKPLANE LOB IL N o ov NON ISOLATED EXTERNAL AERE E pe gt me A 150i AT TON a a aD SUPPLY O HP 3852 734 u ma i i a ig M i Gere aie i SA y I eseme in bol COUNTER i i Bike dm SUE UNE o y me i RE Eo eee gt STBY PULSE i i i a RESPICE gt NDIR OUTPUTS I Ei en Jj i ii ee aa 328 pues FETE i y gt NON ISOLATED OUTPUTS bol las CO UA NE MAA i j ario A bhas i eee DER n nn a QDB di m QUADRE TORE re QDB INPUTS I j COUNTER a a a ai QDA i CRON pur ds MC bere M M M M M QDA OPTICAL i OD u lt 4QDI ENCODER mn en ee en ee lt Q01 4 na QPWR OUTPUTS TO o m gt
42. efore setting up any of the HP 44714A hardware WARNING SHOCK HAZARD Only qualified service trained personnel who are aware of the hazards involved should install remove or configure any accessory Before touching any installed accessory turn off all power to the mainframe extenders and to all external devices connected to the mainframe extenders or accessories POSSIBLE OPERATOR INJURY For safety consider all accessory channels to be at the highest potential applied to any channel WARNING POSSIBLE OPERATOR INJURY OR EQUIPMENT DAMAGE The terminal module TEST jumper J581 must be set to the NORM position when application wiring is connected A test pattern of pulses is output by the TEST command when the TEST jumper is in the TEST position An application connected to the module under test conditons can cause uncontrolled motion damaging the equipment and or injuring the operator CAUTION STATIC SENSITIVE Use clean handling techniques when handling the accessory Do not install an accessory without the metal covers attached Setting Up the HP 447144 Hardware 2 1 The HP 44714A accessory physically consists of a component module and a terminal module as shown in Figure 2 1 All hardware set up and wiring is ha performed on the terminal module You connect the terminal module to the component module and install the entire component module terminal module accessory in a frame The HP 44714A connects to the m
43. equency to a frequency that the motor can stop at without advancing a step due to inertia This type of pulse train is called a trapezoidal motion profile The PROFILE command is used to define a trapezoidal motion profile to ensure that the frequency of pulses is not faster than that which the motor can respond to The frequency specified can be interpreted as motor velocity The profile dictates a minimum frequency maximum frequency and the rate of change when going from one frequency to another within the minimum and maximum Also defined is the width of the pulses generated This motion profile dictates the pulse train generated by the MOVE and SUSTAIN commands A specified frequency not within the min max window will cause an error to be generated Figure 3 2 shows typical trapezoidal motion profiles and Figure 3 3 illustrates the use of the PROFILE command in a program controlling a stepper motor 3 8 Programming the Stepper Motor Controller Pulse Output PROFILE FREG Setting Conflicis scaling Motor Motion The min max and slope parameters impose certain operating restrictions You cannot operate at a frequency less than min or greater than max and a slope of 0 will not allow the frequency to be changed A settings conflict error is generated if you specify parameters in the PROFILE command which conflict i e specifying a pulse width larger than the period of the max frequency This section lists examples of PROFILE command
44. ered sequentially starting with Update 1 When a new Edition is created all Updates associated with the previous Edition are merged into the manual Each new Edition or Update also includes a revised copy of this printing history page Many product updates and revisions do not require manual changes and conversely manual corrections may be done without accompanying product changes Therefore do not expect a one to one correspondence between product updates and manual updates Edition 1 Part Number 44714 90001 JULY 1987 RESTRICTED RIGHTS LEGEND Use duplication or disclosure by the Government is subject to restrictions as set forth in subdivision D Y3 li of the Rights in Technical Data and Computer Software clause at 52 227 7013 Hewlett Packard Company 3000 Hanover Street Palo Alto California 94304 JULY 1987 Herstellerbescheinigung Hiermit wird bescheinigt daf das Ger t System LLL MP 3852A I in bereinstimmung mit den Bestimmungen von Postverf gung 1046 84 funkentst rt ist Der Deutschen Bundespost wurde das Inverkehrbringen dieses Gerates Systems angezeigt und die Berechtigung zur berpr fung der Serie auf Einhaltung der Bestimmungen eingeraumt Zusatzinformation fur Me und Testger te Werden Me und Testger te mit ungeschirmten Kabeln und oder in offenen Me aufbauten verwendet so ist vom Betreiber sicherzustellen da die Funk Entst rbestimmungen unter Betriebsbedingungen an seiner Grunds
45. eutet put Du a ar 4 3 PULSE O AAA YA pa 4 3 GIN DEX a ne Fee ERI AN MP 4 3 OPOS MARNE EEE 4 3 OL ADE npo MM EL EAE E 4 3 SUANDBY tasa 4 3 SUSTAIN oe eese sese eranl 4 3 TEST paved sce D NUI EIE 4 3 Appendix A SPECIFICATIONS IntrOductionaa eh hon m v m a n n a nw 4 tous ee m m n m u a a n 7 wou a 4 u ws Chapter 1 This manual contains the following 6 e e Chapter 1 Introduction summarizes manual contents and gives a description of the HP 44714A 3 Channel Stepper Motor Controller Pulse Output accessory including a block diagram Chapter 2 Setting Up the HP 44714A Hardware provides information on 1 How to set Jumpers connect wires to and install the accessory terminal module to the component module and 2 How to install the accessory into the HP 3852A mainframe or HP 3852E extender frame Chapter 3 Programming the HP 44714A provides information on programming the Stepper Motor Controller Pulse Output You can find programming examples with simplified examples of hardware connections needed in conjunction with the HP 44714A commands used in the programs An alphabetical listing of all HP 44714A commands and a grouping by function is provided in the Command Summary section of this manual A detailed description of the commands with prerequisites for using the command parameter definition programming examples and power on and default conditions can be found in the HP 38
46. h the way you intend to use the accessory The PROFILE command is described for the specified use under each application heading The remaining PULSE MOTOR DRIVER SET UP COMMANDS are discussed under each application heading as they apply to that application L m eee ur A TT PI PF APETITO PA AAACN ri PP IV TIWA EHV rower ON After power on or when the HP 44714A is reset all interrupts are disabled da Additionally command parameters are set to that listed below It is only necessary to execute a command to change a parameter from the power on state STANDBY mode AUTO sense HI PULSE mode SS PSTP__sense NDIR___sense LO LO li li PROFILE mode FREQ min Hz max 250 Hz siope 500 Hz sec pulse width SOE 6 sec 50 microsec PSCALE scale factor 1 0 DELAY time 0 000 seconds TRIG mode AUTO HALT mode LO HARDLIM Pim sense LO Nlim sense LO 3 2 Programming the Stepper Motor Controller Pulse Output QSCALE QIN DEX gfactor 1 0 mode OFF A summary of error messages that are generated by the HP 44714A is provided in this section The error number and a description of each message is given ERROR 89 90 91 92 93 94 MESSAGE ACCESSORY BUSY NO ACTION DEFINED MUST STOP TO CHANGE DIRECTION NOT VALID IN WIDTH MODE TERMINAL CARD TEST JUMPER SET CANNOT MOVE WHILE STANDBY ON Programming the
47. he safety protection features built into this instrument have been impaired either through physical damage excessive moisture or any other reason REMOVE POWER and do not use the instrument until safe operation can be verified by service trained personnel if necessary return the instrument to a Hewlett Packard Sales and Service Office for service and repair to ensure that safety features are maintained wre NA An A A A ii rr Ni PPP A A A enel vi LINE I ON Static Sensitive Devices NOTE CAUTION WARNING Symbols Used On Products And In Manuals AC line voltage input receptacle Instruction manual symbol affixed to product Warns and cautions the user to refer to respective instruction manual procedures to avoid personal injury or possible damage to the product Indicates dangerous voltage terminals connected to interior voltage exceeding 1000 volts Protective conductor terminal Indicates the field wiring terminal that must be connected to earth ground before operating equipment protects against electrical shock in case of fault Clean ground low noise Indicates terminal that must be connected to earth ground before operating equipment for single common connections and protection against electrical shock in case of fault Frame or chassis ground Indicates equipment chassis ground terminal normally connects to equipment frame and all metal parts Affixed to product containing static se
48. ion is divided into two parts to help you effeciently program your application either way e Programming For Stepper Motor Control e Programming For General Purpose Pulse Output Each section shows the Pulse Motor Driver Set Up Commands set up for the type of application the HP 44714A is used in Examples of Output Commands are given in each part for the application described Additionally some command groups are intended for stepper motor control but can be used in general purpose pulse applications i e limit commands position commands and quadrature counter commands A listing of all commands for the HP 44714A plug in accessory is provided in the last section of this manual titled Command Summary Below is a summary of the commands by functional group o PULSE MOTOR DRIVER SET UP e LIMIT COMMANDS COMMANDS HARDLIM STANDBY HALT PULSE PROFILE POSITION COMMANDS PSCALE POS POS e OUTPUT COMMANDS DONE MOVE SUSTAIN e QUADRATURE COUNTER TRIG COMMANDS DELAY QSCALE HALT SGL QINDEX QPOS e INTERRUPT COMMANDS ENABLE INTR DISABLE INTR Programming the Stepper Motor Controfler Pulse Output 3 1 ELLE A PURI A HOO MIRI PHA N EEE T A AAA AH IN Are TR A H PA EH NOTE The PROFILE command has parameters that are specified to profile frequency for a stepper motor controller and to profile pulse width when used for pulse output use You can program more effecientiy by going to the part of this programming section that deals wit
49. iting Motor Motion 0000 3 17 Hard Tats dcs ka oC ODER ota CA ae 3 17 Halt Input s sn a ie p en dis 3 17 Setting and Monitoring Position With the Internal CONME sao NP 3 18 Loading a Position Value Into the COUME Sa ee is MEETS 3 18 Asking For the Position Value 3 19 Asking For the Status of a Move 3 19 Monitoring Motor Shaft Movement With the Quadrat re COURT els eds 3 20 Scaling the Quadrature Counter 3 21 Indexing the Quadrature Counter 3 21 OINDEX ONCE v a Ca aig one t ope 3 21 OINDBA SOL ciao eel owe REEL EE 3 22 Asking For Quadrature Counter Value 3 22 Programming For General Purpose Pube Dll picador C kn peta isi learn 3 23 Setting Up the Pulse Outptut 3 23 Defining a Pulse Profile 3 25 PROFILE WIDTH Setting Conflicts 3 26 Pulse Output Commands ses 3 26 SUSTAIN Command ce ne Ra 3 26 TRIG Command rer TM 3 27 DELAY Omen ics ka apa a 3 27 Selecting Interrupts ci oce rer 3 28 Enabling Interrupts ENABLE INTR 3 28 Disabling Interrupts DISABLE INTR 3 28 STANDBY COMmmand se sesseoeo 3 29 Chapter 4 COMMAND SUMMARY DEL Lectt ti beat ebat au A 4 DISABLE INTR cos 4 1 DO E AM pak dude ip es 4 2 ENABLE INTR nonan annarar 4 2 A Se en nee 4 2 INIA 4 2 MOVE tersa trineos ias 4 2 todas 4 2 A EEE 4 2 PROFILE 0 ccc cccccucecsucsuceveuetaes 4 3 A tate kote ee pen d
50. its of your application Limit switches supply an input for the negative limit and positive limit and connect to the NLIMn and PLIMn inputs respectively The HARDLIM command sets the logic sense that indicates a hard limit has been reached Figure 3 4 shows hard limit inputs requiring LO sense The power on PLIM and NLIM sense is LO and the HARDLIM command is not needed to set this sense If HT sense were required on channel 02 slot 4 send OUTPUT 709 HARDLIM Hi USE 402 A halt input is available to connect a halt switch to manually stop pulses Figure 3 4 shows a halt switch connected to the HALTn input that requires a LO sense to be set HALT LO is the power on mode If a HI sense is required if the HALT switches 5V to the HALTn input send OUTPUT 709 HALT HI USE 402 to set the sense high for channel 02 on a module in slot 4 Programming the Stepper Motor Controller Pulse Output 3 17 NEGATIVE N E Y E P k 2 is i d s 2d ETE NEGATIVE LIMIT SWITCH mera Loading a Position Value into the Counter CHANNEL v STEPPER MOTOR _ GEAR POSITIVE ei 10 20 30 40 f LE T f d er a A PIVE er UIMIT Tr e Y SLIDING BAR SWITCH ann p ne une nn HALT SWITCH EN sith aici aliia ee A man 1 NLIMg EC A UNT CHANNEL INPUTS HP 44714A STEPPER MOTOR ds CONTROLLER PULSE OUTPUT AAA a n PEPE AAA The internal counter not the quadrature c
51. mber and allows you to determine position in units of distance instead of quadrature counts This scale factor called gfactor is stored in the local processor that controls the indicated channel The power on default is 1 0 When a QPOS command is executed the value returned will be scaled by the gfactor and must be interpreted in the units of the gfactor EXAMPLE Set the scale of the channel 02 slot 4 quadrature counter to be 0 5 OUTPUT 709 QSCALE 0 5 USE 402 COMMAND DISCUSSED QINDEX mode USE ch The quadrature counter is indexed with the QINDEX command To index the counter means to reset it to zero and specify when counting is to commence Indexing can be turned off with the OFF option The power on state is OFF You have two other options for indexing ONCE and SGL The default is SGL G e send QINDEX without an option and QINDEX SGL is set The quadrature counter is reset when the command is executed but the counter does not begin counting until the first index pulse is recieved An encoder that outputs a pulse every revolution causes the counter to begin counting on the first pulse and all following index pulses are ignored A home position switch can be set at the zero position to provide the index pulse and initiate counting The following example illustrates this Example Reset the channel 02 slot 4 counter and initiate counting when the motor passes through the home position A home position
52. nels are isolated from each other PVCC PSTP NDIR and STBY outputs on each channel have a common return Between outputs PSTP NDIR STBY and common PCOM 15V Between channeis 42V Between channel and ground 42V Stepper Motor Configurations Two outputs per channel PSTP amp NDIR These outputs can be configured in one of two modes e PSTP outputs pulses NDIR determines direction e PSTP pulses for one direction e g CW NDIR pulses for other direction e g CCW u LL Maximum Resolution Pulse Rate 10 kHz 2 5 uHz Pulse Rate of Change 1 MHz sec 25 mHz sec Pulse Width 65 535 msec 1 psec Pulse Width Rate 1 sec sec 1 psec sec of Change 1 sec sec 1 usec sec An average pulse rate can be selected to this resolution but period elements will be based on a 1 psec time base Specifications A 1 Jitter Aecuracy COANE mha rn rr ra SE EE EI WE NANT HT NEE PC ane an kn n d SY CYT RIVET HH DANN NH He Pulse rate 1 asec 0 01 Pulse width 1 psec 0 01 200 nsec Applies te non isolated outputs otherwise 0 01 1 usec Total number output pulses channe in MOVE mode 2 147 483 647 Input Characteristics Quadrature counter e TTL compatible e 5V 180 mA or O to 15 V with an external power supply available e Differential inputs 0 to 15V are filtered for noisy environments The minimum time interval between any pulse edge on channel ODA to any pulse edge on channel ODB of
53. ns which are discussed further in the section titled Setting the Pulse Mode and Sense There are six groups of commands used for stepper motor control They are listed below with a brief description of the activities in each group i PULSE MOTOR DRIVER SET UP a Set the STANDBY mode logic sense set up for the type of driver used b Set the PULSE mode set up for the type of driver used c Set the trapezoidal motion PROFILE specific to your type of motor d Set the motion scale specific to your application 2 PULSE OUTPUT COMMANDS a Stepping a fixed number of times b Stepping the motor indefinitely until commanded to hait 3 4 Programming the Stepper Motor Controller Pulse Output setting the Motor Drive Power Turn Off Mode and Sense 3 INTERRUPT COMMANDS optional a Enable interrupts generated by the HP 44714A b Disable interrupts 4 LIMITS SET UP optional a Set the hard limits using limit switches b Set the emergency halt limit using a limit switch 5 POSITION SET UP optional a Loading the current position value into memory b Querying the current position value 6 QUADRATURE COUNTER SET UP optional a Setting the counter motion scale b Setting the counter index c Querying the counter position value The pulse output must be set to be compatible with the type of motor driver assembly used This requires setting the PULSE mode and logic sense to control step direction or step step motor driver
54. nsitive devices use anti static handling procedures to prevent electrostatic discharge damage to components NOTE Calls attention to a procedure practice or condition that requires special attention by the reader CAUTION Calls attention to a procedure practice or condition that could possibly cause damage to equipment or permanent loss of data WARNING Calls attention to a procedure practice or condition that could possibly cause bodily injury or death vil oun TABLE OF CONTENTS Chapter 1 INTRODUCTION Manual Contes unidad di 1 1 Accessory DESCTIDION ur aaa ru 1 2 Getting A Coe e e eS XA 1 3 Define Your Application 1 3 Set Up the HardWaf es ooo even konnen 1 3 Program the Accessory osse seen a 1 3 Chapter 2 SETTING UP THE HP 44714A HARDWARE Warnings and Cautions yas co 04 is ds 2 1 Hardware Set Up Steps O through CD esses 2 2 Setting the TEST Jumper 2 2 2 Setting Terminal Module Jumpers 2 4 Why Use an External Power Supply 2 5 PUUD Resistors casa soe d aD ERES Rb d aeos 2 6 Wiring the HP 44714A Terminal Module 2 7 3 Wiring the Pulse Outputs 2 8 3 Wiring the External Power Supply 2 8 Additional Wiring for Stepper Motor COMO ah ERA b e ea et ake oi pont Hee Pod 2 9 4 Limit and Halt Switch Inputs 2 9 5 Quadrature Counter Inputs and DIUTDUES cu ee Er dote dop
55. on Commands or Quadrature Counter Commands Three groups of commands actively used in general purpose pulse output are 1 PULSE SET UP a Set the pulse mode establish outputs the pulses will appear at b Set the pulse width profile and period 2 PULSE OUTPUT COMMANDS a Sending pulses indefinitely until commanded to halt Programming the Stepper Motor Controller Pulse Output 3 23 3 INTERRUPT COMMANDS a Enabling the HP 44714A to interrupt b Disabling the interrupts G Up COMMAND DISCUSSED the Pulse Ou tput PULSE mode PSTP sense NDIR__sense USE ch VALID ENTRY PARAMETER mode SD or SS PSTP sense HI LO LH or HL HI LO LH or HL NDIR sense Setting up the pulse output establishes the output terminals that pulses appear at PSTPn and NDIRn and whether the pulses are to be low high low or high low high 1 The SD step direction mode causes all pulses to appear at the PSTPn output while the NDIRn output is one logic level for positive numbers and the other logic level for negative numbers specified in an output command You specify which level is high and which is low with the PSTP__sense and NDIR__sense See Figure 3 7a Low high low pulses are set by declaring the HI or LH option for the PSTPn__sense parameter LO or HL causes high low high pulses The NDIRn sense parameter sets the sense for the NDIRn output which will indicate positive numbers specified in an output comm
56. ontroller Pulse Output STANDBY Command EXAMPLE The following program segment and subroutine enables and services an HP 447144 interrupt for slot 4 channel 00 OUTPUT 709 USE 400 Slot 4 Channel 00 OUTPUT 709 PROFILE WIDTH 1E 3 10E 3 5E 3 20E 3 Set width profile OUTPUT 709 ON INTR CALL INTRUPT Call the subroutine on interrupt OUTPUT 709 ENABLE INTR SYS lEnable the system interrupt OUTPUT 709 ENABLE INTR Enable the HP 447144 interrupt OUTPUT 709 SUB INTRUPT Subroutine INTRUPT OUTPUT 709 BEEP lAction taken on interrupt OUTPUT 709 ENABLE INTR Reenable HP 447144 to interrupt 1 OUTPUT 709 SUBEND IEnd of servicing subroutine OUTPUT 709 SUSTAIN 2E 3 linterrupts and beeps when 2 mS reached OUTPUT 709 WAIT 10 Wait OUTPUT 708 HALT SGL Interrupts and beeps when pulses halt 1 An enabled interrupt that is serviced is disabled and must be reenabled to be able to interrupt again COMMAND DISCUSSED STANDBY modelisensel USE ch The primary purpose of the STANDBY command is to set up the STBYn output for powering down a stepper motor between moves However the STBYn output may find application in general purpose pulse output where STBYn changes state when a pulse train is present The opposite state 1s present when no pulses are output When you specify the STANDBY mode ON and the logic sense HI the STBYn output will be high when no pulses are output When a MOVE or SUSTAIN command is executed
57. ounter of the HP 44714A counts the number of pulses that is generated by commands The counter applies the scale factor and records a position Distance as in the MOVE command specified as a positive number corresponds to positive motor motion and that specified as a negative number corresponds to negative motor motion By accounting for positive or negative motor motion counting the pulses generated and applying the scale factor the counter can keep track of where motor position should be COMMAND DISCUSSED POS pos value USE chi The POS command is used to load a position value into the counter corresponding to a reference location the motor is currently set at This value can be any number from 2 147 483 648 to 2 147 483 647 specified in the units of the PSCALE command For example in Figure 13 you step the motor until the pointer aligns with 0 and load 0 with the POS command or align the pointer with 10 and load 10 with the POS command etc The internal counter will keep track of the pulses causing positive motor motion and those causing negative motor motion use the scale factor and keep the position counter updated with current position 318 Programming the Stepper Motor Controller Puise Output Asking For the Position Value Asking For the Status of a Move NOTE The internal counter does not monitor the motor shaft motion like the quadrature counter does but indicates where the position should
58. quest 1 degree move Note 2 ICounter returns 2 IRequest 1 degree move Note 2 iCounter returns 2 Request 1 degree move Note 2 Counter returns 4 Note 2 As illustrated in the previous example using the REL option the smallest move per step with the ABS option is also 2 the counter will only count in increments of the scale factor which is 2 In the first MOVE the request to move to the 1 degree position is divided by the scale factor of 2 The result of 0 5 is rounded up to to 1 and the motor moves one step The scale factor of 2 degrees step causes the counter to increment to 2 The second MOVE request places the motor at 2 degrees the counter is already at 2 and no move takes place The third MOVE request is for 1 degree which places the motor at 3 degrees As in the first move only a 2 degree move can be made and a move of 1 degree is 0 5 steps which rounds up to 1 step incrementing the counter by 2 to a total of 4 3 10 Programming the Stepper Motor Controller Pulse Output Pulses l MIN FREQ 100 Hz MAX FREQ 800 Hz SLOPE 200Hz SEC PWIDTH PULSE WIDTH 25uSEC Hz SLOPE 200Hz SEC o de a MOVE X AND MOVE 4X ILLUSTRATED MIN 100 Un TIME MOVE X MOVE 4x PROF I LE FREQ 100 100 Hz SLOPE O ALL PULSES AT MIN FREQ MAX 800 gt ne NO TIME ETER ITUR PWA Ae LE Ui LAT rat airi WA AA AAA LA m Ty PROFILE FREQ 809 800 100 25E 6 Hz ALL PULSES AT 890Hz MIN MAX
59. s If you intend to power down a motor when it is idle you must set the correct mode and logic sense for the STANDBY command to make the STBY output compatible with your motor driver The motion PROFILE and scale factor are also defined for pulse set up COMMAND DISCUSSED STANDBY mode sense USE ch The STANDBY command controls the operating mode and logic sense of the STBYn outputs of the HP 44714A It is needed only if you intend to us the STBYn output to signal the motor driver to partially or completely remove power from the motor after a move has taken place This will reduce the load on the power supply when it is not needed and reduce the generation of heat when the motor is sitting idle The STANDBY command has three modes OFF ON and AUTO The sense parameter can be HI or LO At power on the mode is AUTO and the sense is HI If the STANDBY command is executed without a mode or sense specified the default is ON with the sense as previously set When you specify the STANDBY mode AUTO and the logic sense HI the STBYn output will be high when the motor is to be idle When a MOVE or SUSTAIN command is executed and triggered the STBYn output goes low to allow the motor to be powered up before the pulses are applied to step the motor After completing the move the STBYn output goes high after a delay to remove power The ON and OFF options cause the Programming the Stepper Motor Controller Pulse Output 3 5 controller to enter
60. sense a high on this output will set the motor driver for positive stepper motor motion 1f nothing is declared here the sense defining positive motion is the same as set for PSTPn Programming the Stepper Motor Controller Pulse Output 3 7 2 The SS step step mode causes pulses intended for positive motor motion to appear at the PSTPn output while pulses intended for negative motor motion will appear at the NDIRn output Direction of motion is specified by using a positive or negative number in the MOVE or SUSTAIN command See Figure 3 1c The PSTPn sense parameter defines low high low or high low high pulses for PSTPn as in the SD mode The NDIRn sense parameter defines the sense for NDIRn If the NDIRn sense is not declared it is the same as that declared for PSTPn Figure 3 3 illustrates the PULSE command used in a program controlling a stepper motor Defining COMMAND DISCUSSED a Motion Profile PROFILE FREQ min max slope pwidth USE ch PARAMETER MEANING FREQ frequency profile versus pulse WIDTH profile used for pulse output min minimum frequency max maximum frequency slope rate of change between frequencies pwidth pulse width of all pulses generated Stepping motors operate more efficiently by starting step pulses at a frequency the motor can respond to from the idle state and ramping to a higher frequency where the motor will not miss a pulse To stop the motor it is more effecient to ramp down from the higher fr
61. setting conflicts and describes why the command will cause an error COMMAND SYNTAX SETTINGS CONFLICT PROFILE FREQ 100 800 0 25E 6 siope 0 min to max freq range unattainable PROFILE FREQ 0 800 0 25E 6 min 0 slope 0 no pulses can be generated PROFILE FREQ 0 0 0 25E 6 min max slope 0 no pulses can be generated PROFILE FREQ 0 1000 500 2E 3 pwidth larger than period of max frequency PROFILE FREQ 500 100 200 2E 3 min gt max COMMAND DISCUSSED PSCALE scale factor USE ch The PSCALE command specifies the distance one step of the motor caused by one pulse will generate This distance can be a negative or positive number specified in any units you desire inches feet angle of rotation etc You can specify moves including profiles in units of distance instead of number of pulses when you use the PSCALE command The default scale factor is 1 0 Each channel has a local processor which stores the scale factor for that channel You must declare a scale factor for each channel where the default factor of 1 0 is not wanted The scale factor of the PSCALE command affects the PROFILE POS and POS commands Scaling motor motion with the PSCALE command is illustrated in Figure 3 3 Sending Pulses To a Motor NOTE When the PSCALE scale factor is specified as something other than 1 round off errors can occur in the count contained in the position counter This is especially true when a scale factor larger th
62. ssory in the siot You ll hear a click when the accessory locks and pull on the ring to remove the terminal module The component module will remain in the slot 2 To remove the component module place your right forefinger in the hole in the top rail of the com ponent module and your left forefinger on the slot latch in the bottom rail of the component module 3 Press down on the slot latch while pulling firmly on the component module BE CAREFUL you can easily pinch your left forefinger between the siot latch and the bottom plastic rail of the component module Figure 2 9 installing Removing an Accessory Initial After installing the component and terminal modules for the HP 44714A Checks tum on power for the mainframe and enter the ID command from the front panel At power on following the ID command a 3 Channel Stepper Motor Controller Pulse Output accessory with terminal module returns 44714A while the accessory without the terminal module returns 447XXX If the terminal module is removed after the power on sequence subsequent ID commands will continue to return 44714A Setting Up the HP 44714A Hardware 2 13 A if the HP 44714A does not return 44714A as previously described first ii verify that you have mainframe firmware revision 3 0 or greater Do this by entering the IDN command and the mainframe returns the revision code Also verify you have addressed the correct slot and that the
63. strument will execute its programming instructions when properly installed on that instrument Hewlett Packard does not warrant that the operation of the instrument or software or firmware will be uninterrupted or error free LIMITATION OF WARRANTY The foregoing warranty shall not apply to defects resulting from improper or inadequate maintenance by Buyer Buyer supplied software or interfacing unauthorized modification or misuse operation outside of the environmental specifica tions for the product or improper site preparation or maintenance NO OTHER WARRANTY IS EXPRESSED OR IMPLIED HEWLETT PACKARD SPECIFICALLY DISCLAIMS THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE EXCLUSIVE REMEDIES THE REMEDIES PROVIDED HEREIN ARE BUYER S SOLE AND EXCLUSIVE REMEDIES HEWLETT PACKARD SHALL NOT BE LIABLE FOR ANY DIRECT INDIRECT SPECIAL INCIDENTAL OR CONSE QUENTIAL DAMAGES WHETHER BASED ON CONTRACT TORT OR ANY OTHER LEGAL THEORY ASSISTANCE Product maintenance agreements and other customer assistance agreements are available for Hewlett Packard products For any assistance contact your nearest Hewleti Packard Sales and Service Office Addresses are provided at the back f of this manual iv HEWLETT a nn PACKARD WARNING CAUTION and NOTE Symbols Some labels on the HP 3852A HP 3853A and plug in accessories include an international warning s
64. t PONTE hE oa ae fs aea ke Raw eee 3 23 H HALT E d A b u A an nn 3 14 Halting pulse output 2 222220 3 14 3 17 HALT awileh nme ne 2 9 Hard Imst vdd e Xon ER eee e 3 17 HARD Mansion rinda 3 17 1 indexing the quadrature counter 3 21 Minal A eda Ros deg esae n pa cds 2 13 Internal counter ue roe OP Rp a 3 18 Interr pts selecting c aw w aa ses a RC na 3 16 L Enix Switch ANDES sshd dans cr RR X e ds 2 9 M DN tase eae ad uas tere eae 3 12 INDEX P PN Pa ta Marla T dE yan cis a a T 3 18 PORTA at vs Sg XQ WAN META Y RISE 3 19 Power on teset state isses 3 2 Power TIO Eoo cc 4 sein d wee pa e e n REY SE 3 5 PROFILE vs te ti anan e a ef rs thus 3 8 3 25 PSCALB oculo dia EE SE EA mate fon a 3 9 Pull up resistors setting value 2 6 PULSES uota wa vox adco EN coe nae e ete 3 7 3 24 Puise motor driver Sef UD eo o 3 5 Pulse set up general purpose 3 24 Pulse outputs WIIN 2 0 6 2 8 Pulse profile defining 3 24 Q OPN DE ila de Ge kdk vive os 3 2 ORS tas busco Road ob va on ve i do d as 3 22 OSCALBC iive vapeur eee 3 21 Ouadrabure couJ BT uox aa Adi 3 20 S Scaling motor motion 00 3 9 Sending Dulses 4 3 ise tb Le Cr Rd bs eis 3 11 Stepper motor control programming 3 4 STANDBY o us zuo I aren d ee a 3 5 3 29 SUSTAIN ura ale ka ayo wade aw NO REA n 3 12 3 26 T Terminal module Lo wu ay eR ox eC 2
65. t cksgrenze eingehalten werden Manufacturer s declaration This is to certify that the equipment Loss FR 38924 is in accordance with the Radio Interference Requirements of Directive FTZ 1046 84 The Ger man Bundespost was notified that this equipment was put into circulation the right to check the series for compliance with the requirements was granted Additional information for Test and Measurement Equipment If Test and Measurement Equipment is operated with unscreened cables and or used for measurements on open set ups the user has to assure that under operating conditions the Radio Interference Limits are still met at the border of his premises NOTICE The information contained in this document is subject to change without notice HEWLETT PACKARD MAKES NO WARRANTY OF ANY KIND WITH REGARD TO THIS MATERIAL IN CLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE Hewlett Packard shall not be liable for errors contained herein or for incidental or consequential damages in connection with the furnishing performance or use of this material Hewlett Packard assumes no responsibility for the use or reliability of its software on equipment that is not furnished by Hewlett Packard This document contains proprietary information which is protected by copyright AII rights are reserved No part of this document may be photocopied reproduced or translated to another language without
66. t the velocity or pulse width specified The velocity or pulse width must be within the min and max limits specified in the PROFILE command Syntax SUSTAIN velocity or width INOWAIT USE ch Initiates a pass fail self test Syntax TEST slot Determines how a move specified by a MOVE or SUSTAIN command is triggered The move is not initiated until triggered syntax TRIG mode USE ch Command Summary 4 3 NIE men Introduction 2453 HP 44714A Specifications ef o w 9 t on o P a anman L d S BOR m wm 4 o 4 0 0 A w o The specifications for the HP 44714A are the performance characteristics of the module which are certified These specifications are listed in this appendix and are the performance standards or limits against which the module is tested Any changes in specifications due to manufacturing changes design or traceability to the National Bureau of Standards will be covered in a manual change supplement Qutput Characteristics lrapezoidal motion profiles e Continuous stream of pulses SUSTAIN e Set number of pulses MOVE PULSE OUTPUT TERMINALS PVCC 5 to 42V relative to PCOM PSTP Positive Step output channel NDIR Negative Direction output channel STBY removes power when no output PCOM common return Supplied by the user isolated operation or supplied by the module non isolated operation Isolation Chan
67. tandards of design manufacture and intended use of the instrument Hewlett Packard Company assumes no liability for the customer s failure to comply with these requirements GROUND THE INSTRUMENT To minimize shock hazard the instrument chassis and cabinet must be connected to an electrical ground DO NOT OPERATE IN AN EXPLOSIVE ATMOSPHERE Do not operate the instrument in the presence of flammable gases or fumes Operation of any electrical instrument in such an environment constitutes a definite safety hazard KEEP AWAY FROM LIVE CIRCUITS Operating personnel must not remove instrument covers Component replacement and internal adjustments must be made by quaiified maintenance personnel Under certain conditions dangerous voltages may ex ist even with the instrument switched off To avoid injuries always disconnect input voltages and discharge circuits before touching them DO NOT SERVICE OR ADJUST ALONE Do not attempt internal service or adjustment unless another person capable of rendering first aid and resuscitation is present DO NOT SUBSTITUTE PARTS OR MODIFY INSTRUMENT Because of the danger of introducing additional hazards do not install substitute parts or perform any unauthorized modification to the instrument Return the instrument to a Hewlett Packard Sales and Ser vice Office for service and repair to ensure that safety features are maintained DO NOT GPERATE DAMAGED INSTRUMENT Whenever it is possible that t
68. terminal module is installed If these items are verified and the correct display is not returned refer to the HP 3852A Assembly Level Service Manual for service procedures Hardware set up is now complete The accessory s parameters are set to their power on reset state which is listed in the beginning of Chapter 3 Programming the Stepper Motor Controller Pulse Output 244 Setting Up the HP 44714A Hardware Power On Reset State cele 3 2 Limiting Motor Moll isc 3 17 STANDBY ori 3 2 Hard Tims ace eit D EUR CRAS GE 3 17 PULSE ora ee eee ere aed ere 3 2 Hat DU Ce cse e O DL ach 3 17 PROFILE S eraat eeu A 3 2 Setting and Monitoring Position With the PSG ALE esc kat NOR ud bec a edo D 3 2 Internal COUN caus aia it wa Seve aS 3 18 DELAY oun eda ee dcl enia p RE ds 3 2 Loading a Position Value Into F L c MENT UNE TET 3 2 tHe C Guille o eei Lv IA RS OE REN a 3 18 HALTE o aa 3 2 Asking For the Position Value 3 19 PAA Meta npa ERA PCS SOUS deca a n 3 2 Asking For the Status of a Move 3 19 CO ALE Su bat asiste ki ak e n e aeri flat 3 3 Monitoring Motor Shaft Movement With the JINDE og 2 ais ak Ac AHORA 3 3 Quadrature Counters va sike we EC e 3 20 Error Message SUMmAFY reve eee ee Ana Scaling the Quadrature Counter 3 21 Indexing the Quadrature Counter 3 21 Programming For Stepper Motor Control 3 4 OINDEX ONG Eevee vaksen e ton P do d 3 21 Pulse
69. the You make your field wiring connections to the HP 44714A terminal HP 44714A module after you have set the jumpers for each channel If you are using Termin al the HP 44714A for stepper motor control you may have more field wiring M O dul e to the terminal module because of limit halt and quadrature counter inputs which are not used for general purpose pulse output The PSTP NDIR and STBY pulse ouputs are used in both applications and so are the PVCC and PCOM external power supply inputs for isolating the pulse outputs Information for these inputs and outputs is presented first You then find information for using the limit halt and quadrature counter inputs for stepper motor control Setting Up the HP 44714A Hardware 2 7 NOTE Connectors on the terminal module will accept wire sizes up to a maximum of 18 AWG 18 AWG 1 02 mm diameter and 0 823 mm cross sectional area Wiring the Connections of the PSTP NDIR and STBY pulse output lines are Pulse Outputs dependent on your application Connections for stepper motor control will be dependent on the type of step motor driver used Connections for general purpose pulse output depend on the device being driven ird dn dd bae dl M MAN ul PAN TA PAPE Pp dd kh dd Mad M dd Mar dd dd al AAA BWA TP PP PP PP PPP Y rr iil sh il Mal nd VA NAL VE PA AHN PET OP TPN A NOTE If you are controlling stepper motors refer to the installation instructions supplied with the motor driver you are using
70. troller Pulse Output Triggering a MOVE or SUSTAIN Command The SUSTAIN command sends pulses continuously When triggered the command causes pulses to be generated indefinitely until a SUSTAIN 0 command is executed and triggered or a HALT SGL command is executed The start of pulses accelerate to the sustaining velocity at the rate of frequency change specified in the PROFILE command If the sustaining velocity is greater than the maximum frequency specified in the PROFILE command the velocity will not exceed the maximum frequency specified A new SUSTAIN command that is triggered with a different sustaining velocity will cause the motor to accelerate or decelerate to the new velocity as specified by the PROFILE command The actual frequency generated will be limited by the minimum and maximum specified in the PROFILE command The exception is SUSTAIN 0 which cause the pulses to decelerate to the specified minimum and stop No frequencies below the minimum will be generated For example if the current frequency is zero and a frequency above the minimum is requested the generated pulses will begin at the minimum frequency and ramp to the requested frequency Likewise if the next frequency requested is 0 the frequency will ramp down to the minimum and then stop NOTE A SUSTAIN command with a velocity less than the PROFILE min parameter will cause pulses to be generated at the min velocity A SUSTAIN command with a velocity
71. ulse width siope rate of change going from one width to another period period or repetition rate of pulses A pulse profile specifies a pulse width range minimum to maximum and a rate of change for going from one width to another You also control the period of the pulses with the pulse profile This pulse profile dictates the pulse train generated by the SUSTAIN command SUSTAIN initiates the pulses when triggered and specifies the pulse width while the period is controlled by the PROFILE command Figure 3 8 shows a typical trapezoidal pulse profile Programming the Stepper Motor Controller Pulse Output 3 25 ACCELERATION SEOPE PULSE WIDTH DETERMINES THE RATE AT WHICH THE PULSE WIDTH INCREASES DECELERATION SLOPE DETERMINES THE RATE AT WHICH THE PULSE WIDTH DECREASES MAX PULSE WIDTH poem MIN PULSE WIDTH e TIME 3852P A14 F 18 Figure 3 8 Typical Trapezoidal Pulse Width Profile Used By the SUSTAIN Command PROFILE WIDTH A settings conflict error is generated if you specify parameters in the Setting PROFILE command which conflict i e specifying a period smaller than the Conflicts max pulse width This section lists examples of PROFILE command setting conflicts and describes why the command will cause an error COMMAND SYNTAX SETTING CONFLICT PROFILE WIDTH 1E G 10E 6 0 1E 3 slope 0 min to max width range unattainable PROFILE WIDTH O 10E 6 0 1E 3 min 0 slope
72. ymbol triangle with subscripted number which refers the reader to the manuals for further information This table shows the warning symbols used for the HP 3852A 3853A and plug in accessories Refer to the manual set for specific information on WARNINGS CAUTIONS or NOTES referenced with a warning symbol Symbol HP 3852A WARNING CAUTION and NOTE Symbols Meaning Shock hazard originating outside the instrument field wiring Treat ail channels as one circuit for safety purposes Maximum number of certain plug in accessories to be installed into an HP 3852A or HP 38534 If High Speed F T multi piexers are used with the HP 44702A B ribbon cable may be connected Location Analog Extender Connector on Power Suppiy Modules Terminal modules on plug in accessories Component module covers on plug in accessories Inside terminal modules on plug in accessories Metal cover on component modules of plug in accessoiies HP 44701A HP 44702AIB HP 44727 AIBIC plug in accessories HP 44711A 44712A 44713A referenced on HP 44702A and HP 44702B A PACKARD rm err AR Of PA fA LTT a ts rere errs nnn EII rne ni an r A aa SAFETY SUMMARY The following general safety precautions must he observed during all phases of operation service and repair of this instrument Failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety s

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