ESO VME4ST BACKPLANE Manuale utente
VERY LARGE TELESCOPE
ESO VME4ST
BACKPLANE
TECHNICAL MANUAL
VLT-MAN-ESO-17130-0992
ISSUE 1
DATE 06-MAR-97
Prepared : J. Brynnel 06-MAR-97 .
Name Date Signature
Approved : W. Nees 06-MAR-97 .
Name Date Signature
Released : M. Ziebell 06-MAR-97 .
Name Date Signature
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06-Mar-1997
VME4ST Backplane technical manual Doc. VLT-MAN-ESO-17130-0992
Change record
Issue Date Part affected Remark
1 6-Mar-97 All First issue
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VME4ST Backplane technical manual Doc. VLT-MAN-ESO-17130-0992
Table of contents
Change record..........................................................................................................................................2
Table of contents......................................................................................................................................3
1. INTRODUCTION................................................................................................................................4
1.1. Scope...................................................................................................................................4
1.2 Reference documents............................................................................................................4
2. OVERVIEW.........................................................................................................................................4
2.1 System ..................................................................................................................................4
3. BACKPLANE LAYOUT .....................................................................................................................7
4. CONNECTIONS..................................................................................................................................8
4.1 MAC4 connector ..................................................................................................................8
4.1.1 /STEP1 - /STEP4 ...............................................................................................9
4.1.2 /DIR1 - /DIR4.....................................................................................................10
4.1.3 /EN1 - /EN4........................................................................................................11
4.1.4 HPWR1 - HPWR4 .............................................................................................12
4.1.5 A,B,Z (Encoder Signals) ...................................................................................13
4.1.6 /DF1 - /DF4 (Drive Fault) ..................................................................................15
4.1.7 FC0-FC2.............................................................................................................16
4.1.8 /STOP.................................................................................................................18
4.1.9 /HOME1 to /HOME4.........................................................................................19
4.1.10 /SP1 to /SP4 and /SN1 to /SN4 ......................................................................20
4.1.11 GND.................................................................................................................21
4.2 VME4ST connector..............................................................................................................22
4.2.1 PH1+ to PH5+, PH1- to PH5-............................................................................23
4.2.2 +VMH, +VML, GNDB......................................................................................24
4.2.3 +5VA, GNDA ....................................................................................................25
4.2.4 /DF1 - /DF4........................................................................................................26
4.2.5 UL+, UL-, LL+ and LL-.....................................................................................26
4.2.6 /EN.....................................................................................................................26
4.2.7 HPWR................................................................................................................26
4.2.8 /STEP .................................................................................................................26
4.2.9 /DIR....................................................................................................................26
4.2.10 LCK+ and LCK -..............................................................................................27
4.2.10.1 Operation without using LOCK inputs............................................28
4.2.10.2 LOCK operation using external contact..........................................28
4.2.10.3 LOCK operation using external current source...............................29
4.2.11 STOP+ and STOP-...........................................................................................29
4.3 Motor connectors CH1 - CH4..............................................................................................30
4.3.1 Motor..................................................................................................................32
4.3.2 Encoder ..............................................................................................................32
4.3.3 Limit switches (UL and LL)...............................................................................32
4.3.4 Reference position switch (HOME) ..................................................................32
4.3.5 VX......................................................................................................................33
4.3.6 +5VA..................................................................................................................34
4.3.7 SPA,SPB ............................................................................................................34
4.4 Motor power supply connection ..........................................................................................35
5. MECHANICAL INSTALLATION.......................................................................................................36
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1. INTRODUCTION.
1.1. Scope.
This document describes the ESO VME4ST backplane. This is a special VME-bus P2
backplane which is used for interconnecting a MAC4-STP stepper motor motion controller
with a VME4ST stepper motor driver (power amplifier).
Field signals necessary for operating the four stepper motor axes, as well as motor power
supply and interlock signals, connect to the rear side of this backplane.
Backplane mechanical installation is described in Sect 5.
All signals connected to/from MAC4-STP motion controller are described in Sect. 4.1.
Signals connected to/from VME4ST amplifier are described in Sect. 4.2.
External signals connection is described in Sect. 4.3 - 4.4
Users only interested in connecting a motor, limit switches etc. should proceed directly to
Sections 4.3 and 4.4.
The document shall also be used as a reference for ESO standardised field wiring for stepper
motor applications in instrument control systems.
1.2 Reference documents.
(RD1) : VLT-MAN-ESO-17130-0991 "ESO VME4ST 4-channel Stepper Motor Driver"
(RD2) : Technical description - “Benutzerhandbuch MAC4-STP”, Maccon GmbH.
2. OVERVIEW
2.1 System
The VME4ST backplane is a part of a (ESO defined and standardised) VME-based Stepper
Motor motion control system consisting of :
* MAC4-STP 4-axes Stepper motor motion controller board,
* ESO VME4ST 4-axes Stepper motor driver board and
* ESO VME4ST Backplane.
These three units form a compact, high performance versatile stepper motor motion control
system. Its prime use is for VLT instrument control system.
As illustrated in fig. 2.1.1, the backplane interconnects the MAC4 motion controller and the
VME4ST power amplifier at VME P2 level. The four controlled functions (mechanical
functions with a motor, encoder as well as status switches) are connected to the back side of
the VME4ST backplane through four (4) identical connectors (one connector for each
function).
Each one of these connectors provides access to all signals related to one function, including
motor, limit, reference and (optionally) encoder signals, thus simplifying field cabling
significantly. See also fig. 2.1.3., where the basic signals of one function are illustrated.
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MAC4/STP Motion Controller
VME4ST Motor Driver
VME4ST Backplane Assembly
To motor function
Fig 2.1.1. MAC4-STP , VME4ST motor driver, and VME4ST backplane.
{
VME
BUS
MAC4
MOTION
CONTROLLER
VME4ST
STEPPER
MOTOR AMP.
VME4ST
P2 BACKPLANE
4-AXES
4-AXES
CH1
CH2
CH3
CH4
LCU CPU
F I
F II
F III
F IV
TO LAN
(ETHERNET)
MOTOR
REFERENCE
(ENCODER)
=
LIMIT SWITCHES
Fig 2.1.2. System block schematics.
Each function has access to signal ground, +5V supply, a user provided voltage supply and
two unallocated signals SPA and SPB (user disposable). Note that in fig. 2.1.3. all signals are
indicated as logical rather than physical connections. For a more detailed description of the
connections, see section 4.
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VME
BUS
MAC4/STP
VME4SA -X1
VME4ST
P2 BACKPLANE FIELD (FUNCTION)
CONNECTOR
(ONE OF FOUR SHOWN)
LIMITS
STEP/BOOST/EN
FAULT
LIMITS
STEP/BOOST/EN
FAULT
REF.POSITION
ENCODER
+5V
MOTOR
STOP/LOCK
P1 P2
P1 P2
+5V
MOTOR P.S.
REF.POS. (HOME)
ENCODER
LIMIT SWITCHES
SPA + SPB
GND
+5V
MOTOR
VX
VX
MOTOR
POWER
J1
CODE CODE
POSITION
J2
Fig 2.1.3. Signal overview. Figure shows logical connections.
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3. BACKPLANE LAYOUT
Spare signalsVx
Motor CH1
Motor CH3
Motor CH2
Motor CH4
Motor power
input
Motor stop
and interlock
MAC4/STP VME4ST
Backplane
address
select
SW1
Fig 3.1 Field (rear) side Fig 3.2. VME-slot side.
Figure 3.1. shows the backplane seen from the VME-chassis rear, or function (field)
connector side. From this side the user has access to the four function connectors CH1-CH4,
screw terminals for connection of User Power Supply Vx, spare signals, motor interlock and
stop signals, and power terminals for connection of motor power supply.
In figure 3.2. (seen from VME-chassis front side) the P2 connectors for MAC4-STP and
VME4ST power amplifier are shown. From this side one can also access the backplane
address setting switches.
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4. CONNECTIONS
In Sect. 4.1 all MAC4-STP motion controller signals, and in Sect. 4.2 all VME4ST amplifier
signals are described.
External signals are described in Sect. 4.3 - 4.4.
4.1 MAC4 connector
Pin # C B A
1/DIR3
2 /DIR1 GND
3 /STEP1 GND
4 /STEP2 /STEP3
5A1+ /STEP4
6 A1- B1+
7 Z1+ B1-
8 Z1- A2+
9 B2+ A2-
10 B2- Z2+
11 A3+ Z2-
12 A3- B3+
13 Z3+ B3-
14 Z3- A4+
15 B4+ A4-
16 B4- Z4+
17 HPWR1 Z4-
18 HPWR2 HPWR3
19 /EN1 HPWR4
20 /EN2 /EN3
21 /DF1 /EN4
22 /DF2 /DF3
23 FC0 /DF4
24 FC1 FC2
25 /DIR2 /DIR4
26 GND /STOP
27 /SN1 /SP1
28 /HOME1 /SP2
29 /HOME2 /SN2
30 /SP3 /SN3
31 /SP4 /HOME3
32 /SN4 /HOME4
Fig 4.1. Pin allocation of MAC4-STP connector on VME4ST backplane (VME chassis rear
view).
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The MAC4 motion controller is connected (see also RD2) to the VME4ST backplane from
the VME-slot side to a (VME P2 connector) DIN 96-pole female connector, see fig 4.1. Only
rows A and C are used.
4.1.1 /STEP1 - /STEP4
Motor step command signal. Open collector type output from MAC4 to power amplifier.
Signals are routed from MAC4 connector to VME4ST power amplifier connector.
If the VME4ST amplifier is enabled, the motor moves one step on each negative edge of this
signal.
Note : In MACCON documentation (RD2), this signal is referenced to as P_OUT1 -
P_OUT4.
MAC4
VME4ST
VME4ST P2 BACKPLANE
MOTOR
CONNECTOR
(ONE AXIS)
P_OUT
/STEP
VME
BUS
/STEP
Fig 4.1.1. /STEP signal connection.
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4.1.2 /DIR1 - /DIR4
Motor direction command signal. Open collector type output from MAC4 to power amplifier.
Signals are routed from MAC4 connector to VME4ST power amplifier connector.
A step pulse from MAC4-STP will result in a motor move in the following direction :
/DIR output : Motor moves :
/DIR output off (High) Negative direction (CCW)
/DIR output on (Low) Positive direction (CW)
MAC4
VME4ST
VME4ST P2 BACKPLANE
MOTOR
CONNECTOR
(ONE AXIS)
/DIR
VME
BUS
Fig 4.1.2. /DIR signal connection.
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