MEI DSPpro Series Manuale utente

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33 South La Patera Lane

Santa Barbara, CA 93117

ph (805) 681-3300

fax (805) 681-3311

[email protected]

www.motioneng.com

DSPpro Series

Motion Developer’s

User Manual

March 2002

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DSPpro Series

Motion Developer’s Manual

Mar 2002

Part # M001-0024 rev. B

Motion Engineering, Inc.

33 South La Patera Lane

Santa Barbara, CA 93117-3214

ph 805-681-3300

fax 805-681-3311

e-mail: technical@motioneng.com

website: www.motioneng.com ftp site: ftp.motioneng.com

This document contains proprietary and confidential

information of Motion Engineering, Inc. and is

protected by Federal copyright law. The contents of

this document may not be disclosed to third parties,

translated, copied, or duplicated in any form, in

whole or in part, without the express written

permission of Motion Engineering, Inc.

The information contained in this document is subject

to change without notice. No part of this document may

be reproduced or transmitted in any form or by any

means, electronic or mechanical, for any purpose,

without the express written permission of Motion

Engineering, Inc.

All product names are trademarks or registered

trademarks of their respective owners.

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Table of Contents i

CONTENTS

INTRODUCTION 1

1.1 Troubleshooting & Technical Support ............................................................1

1.2 Quick Start ........................................................................................................2

1.3 Software Updates .............................................................................................2

1.4 A Note to OEMs.................................................................................................2

QUICK START 3

2.1 Installing DSPpro Controllers...........................................................................3

2.1.1 Hardware Installation ................................................................................................ 3

2.1.2 Software Installation.................................................................................................. 4

2.1.3 Connections & Wiring ............................................................................................... 4

2.2 Tuning your system and verifying basic operation.........................................5

DSPPRO CONTROLLER DESIGN 9

3.1 Architecture.......................................................................................................9

3.1.1 Program Storage .................................................................................................... 10

3.2 Firmware Execution.........................................................................................10

3.2.1 Read All Encoders ................................................................................................. 10

3.2.2 Read Analog and Parallel Input ............................................................................. 10

3.2.3 Calculate Next Trajectory Point ............................................................................. 10

3.2.4 Check for Event Triggers ....................................................................................... 11

3.2.5 Perform Event Actions ........................................................................................... 11

3.2.6 Calculate and Set DAC Output .............................................................................. 11

3.3 Hardware Features .........................................................................................12

3.3.1 Step Motor Control via VFCs ................................................................................. 12

3.3.2 Communication via three words in I/O Space........................................................ 12

HARDWARE INSTALLATION 14

4.0 Memory Addressing (DSPpro-VME) ...............................................................14

4.1 Installing the DSPpro-VME..............................................................................14

4.1.1 DSPpro-VME Dip Switch Locations........................................................................ 14

4.1.2 DSPpro-VME Base Memory Address Switch Settings ........................................... 15

4.1.3 DSPpro-VME Interrupt (IRQ) Switch Settings. ....................................................... 15

4.1.4 DSPpro-VME Board Installation Procedures .......................................................... 15

4.2 Installing the DSPpro-Serial............................................................................16

MEI SOFTWARE 17

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ii Table of Contents

5.1 The SETUP Program (DSETUP.EXE & SSETUP.EXE)....................................17

5.1.1 Overview................................................................................................................ 17

5.1.2 Using SETUP with the DSPpro............................................................................... 17

5.1.3 SETUP Screens..................................................................................................... 21

5.2 The VERSION Program (VERSION.EXE) ........................................................34

5.3 The CONFIG Program (CONFIG.EXE).............................................................35

MOTOR WIRING 37

6.1 Connection Accessories .................................................................................37

6.2 DSPpro-VME Motor Signal Header Locations ...............................................39

6.2.1 DSPpro-VME Motor Signal Pinouts (P4-P7)........................................................... 39

6.3 Motor Signal Header Locations - DSPpro-Serial ..........................................40

6.3.1 DSPpro-Serial Motor Signal Pinouts (P1-P4) ......................................................... 40

6.4 Wiring Servo Motors........................................................................................41

6.4.1 Velocity/Torque Mode............................................................................................. 41

6.4.2 Encoder Input ........................................................................................................ 41

6.4.3 Brush Servo Motors ............................................................................................... 41

6.4.4 Brushless Servo Motors......................................................................................... 43

6.4.5 Step-and-Direction Controlled Servo Motors ......................................................... 44

6.5 Wiring Step Motors..........................................................................................44

6.5.1 Open-Loop Step Motors ........................................................................................ 44

6.5.2 Direction Pulse Synchronization ............................................................................ 46

6.5.3 Closed-loop Step Motors ....................................................................................... 47

6.6 Wiring for Dual-Loop Control .........................................................................48

6.7 Interferometer Input Wiring (DSPpro-VME only) ..........................................48

6.7.1 Excel Precision 1000A Interferometer/Axis Board................................................. 49

6.7.2 Excel 1032B Interferometer Wiring Pin-Out Listing ............................................... 50

I/O WIRING 53

7.1 General ............................................................................................................53

7.2 I/O Wiring - DSPpro-VME.................................................................................53

7.3 I/O Wiring - DSPpro-Serial...............................................................................56

7.3.1 Dedicated I/O Wiring............................................................................................... 56

7.3.2 User I/O Wiring ....................................................................................................... 56

7.4 Home and limit switch wiring (DSPpro-VME only).......................................57

7.5 Dedicated and user output wiring .................................................................58

7.6 Opto-isolation .................................................................................................59

7.7 Analog input wiring ........................................................................................59

7.7.1 DSPpro-VME .......................................................................................................... 59

7.7.2 DSPpro-Serial ......................................................................................................... 59

7.8 8254 Counter wiring - DSPpro-VME.....................................................60

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Table of Contents iii

DEVELOPING YOUR APPLICATION 61

8.0 Overview ......................................................................................................61

8.1 Write the application program....................................................................62

8.2 Testing the Application Program ...............................................................62

8.2.1 Configuring Communications.................................................................................. 63

8.2.2 Using RCONSOLE to Test Your Application (DSPpro-PC only) ............................ 64

8.2.3 Using REMSVR to Test Your Application (DSPpro-VME or DSPpro-Serial).......... 65

8.2.4 Configure DOS startup files .............................................................................. 66

8.3 Committing your application to flash memory..........................................66

8.3.1 Committing your application to the DSPpro-VME or DSPpro-Serial....................... 67

APPENDIX A: CONNECTOR PINOUTS 68

A.1 DSPpro-VME Connector Layout.....................................................................68

A.2 Connector pinouts (DSPpro-VME) .............................................................68

A.3 DSPpro-Serial Connector Layout...................................................................71

A.4 DSPpro-Serial Connector Pinouts .................................................................71

APPENDIX B: SPECIFICATIONS 77

B.1 DSPpro-VME specifications ..........................................................................77

B.2 DSPpro-Serial specifications ........................................................................80

APPENDIX C: TUNING YOUR SYSTEM 83

C.1 General Description ........................................................................................83

C.1.1 The Digital Filter .................................................................................................... 83

C.2 Tuning Parameters.........................................................................................84

C.2.1 Proportional Gain (Kp )........................................................................................... 84

C.2.2 Derivative Gain (Kd ).............................................................................................. 85

C.2.3 Integral Gain (Ki )................................................................................................... 86

C.2.4 Velocity Feed Forward (Kv) .................................................................................. 87

C.2.5 Acceleration Feed-Forward (Ka ) ........................................................................... 88

C.2.6 Integration Limit..................................................................................................... 88

C.2.7 Offset (Ko)............................................................................................................. 88

C.2.8 Shift ....................................................................................................................... 88

C.2.9 Friction Feed Forward ........................................................................................... 89

C.3 Tuning Closed-Loop Servos..........................................................................89

C.3.1 Step 1: Set Proportional Gain (Kp )....................................................................... 89

C.3.2 Step 2: Set the Derivative Gain............................................................................. 89

C.3.3 Step 3: Iterate Steps 1 and 2 ................................................................................ 90

C.3.4 Step 4: Set Integral Gain (Ki ) ................................................................................ 90

C.3.5 Step 5: Set Velocity and Acceleration Feed Forward............................................ 90

C.4 Tuning Closed-Loop Steps............................................................................90

C.4.1 Step 1: Set Proportional Gain (Kp) ....................................................................... 91

C.4.2 Step 2: Set Velocity and Acceleration Feed Forward............................................ 91

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iv Table of Contents

C.4.3 Step 3: Setting the Integral Gain (Ki ) .................................................................... 91

INDEX 92

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Chapter 1: Introduction 1

Chapter 1

INTRODUCTION

This manual describes how to install, wire, and use available development tools for MEI DSPpro

motion controllers. It is intended as a general reference guide for the DSPpro-Serial, DSPpro-PC

and DSPpro-VME and should be used in conjunction with the MEI DSP-Series Motion

Controller C Programming Manual, which documents the specific motion control functions

provided by the MEI standard C function library.

1.1 Troubleshooting & Technical Support

MEI takes technical support seriously. We want your system to work! Our staff of application

engineers are knowledgeable and dedicated to answering questions during the development of

your system. MEI provides technical support 24 hours a day free of charge for 5 years from the

date of your last purchase. Please feel free to call, fax, or e-mail us. We only ask that you take

the time to read the manuals and release notes to make sure that information has not been

overlooked.

Before calling Technical Support, make sure you know which product and what version of

software you are using. The software version is printed on the distribution disks and is displayed

in the SETUP program provided in the DOS, Windows 3.x, and Windows95 software support

disks. If you FAX or e-mail us your program (or code fragments) be sure to include specific

notes about where you are having problems. Also, don’t forget to include your phone and FAX

numbers and e-mail address.

The latest releases of software and firmware are available by anonymous FTP at our Internet site

at ftp://ftp.motioneng.com and on our 24 hour BBS at (805) 681-3313. No special

registration is necessary. The BBS supports baud rates up to 28.8 kbps, No Parity, 8 data bits, 1

stop bit. Files may be uploaded or downloaded. If you upload a file to our FTP site or BBS, be

sure to let us know by phone, FAX, or e-mail.

In addition, product information, recent press releases, and registration forms for MEI-sponsored

technical conferences can be found on our Web site at http://www.motioneng.com.

If you aren’t sure about how to begin developing your application, write down your questions

and/or a specification and FAX them to MEI at (805) 681-3311. We will answer your questions

and/or write a small sample program and FAX or e-mail them to you. We cannot write your

application code for you but we can save you development time by providing sample code.

Also, take a look at the Sample Applications distribution disk; it contains a variety of sample

programs that address common questions. This disk is constantly being updated with new

sample programs and creative solutions. The latest sample applications are available on our FTP

site and the BBS in a file called APPS.ZIP.

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2 Chapter 1: Introduction

Following is a list of our offices should you need to contact us.

Office Phone Fax E-mail BBS

West Coast 805-681-3300 805-681-3311 tech@motioneng.com 805-681-3313

East Coast 508-264-0051 508-264-0057

Midwest 773-631-4992 773-631-4935

Japan (03) 5229-7007 (03) 3235-5655 yam[email protected]

1.2 Quick Start

For developers familiar with motion systems who want to get their motors turning as soon as

possible, we offer the “Quick Start” section. Also, to make it easy to test the hardware and tune

servo systems, a DOS-based SETUP program is provided with the DOS, Windows 3.x, and

Windows 95 software support disks. The SETUP program is designed to be self-explanatory for

experienced developers who prefer to explore and learn on-the-fly.

1.3 Software Updates

MEI periodically releases new software/firmware versions. New features are implemented,

performance enhanced and new applications developed. The latest firmware and software

releases are available on our FTP site at ftp://ftp.motioneng.com as well as the MEI

BBS.

1.4 A Note to OEMs

MEI always ships DSPpro controllers with the latest firmware. When building multiple

machines we strongly recommend that you save a configured version of your firmware to a disk.

Then, the next time you build a machine simply load that firmware (from disk) to the DSPpro

controller using the CONFIG program. This method will give you the greatest control and ease

in building future machines.

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Chapter 2: Quick Start 3

Chapter 2

QUICK START

This chapter offers a fast and easy installation procedure for those already familiar with MEI

controllers, software libraries, and motion controller connections. For more information on MEI

software libraries, please refer to the MEI DSP-Series Motion Controller C Programming

Manual. Those unfamiliar with wiring controllers should see the “Hardware Installation” and

“Motor Wiring” sections of this manual for wiring diagrams and a detailed discussion of

installation procedures.

Depending on your operating system and configuration, you may be able to use one or more

included DOS-based utilities to help you tune your system and verify initial operation. For more

information, refer to section 2.2, “Tuning your system and verifying basic operation.”

2.1 Installing DSPpro Controllers

2.1.1 Hardware Installation

DSPpro-PC

The DSPpro-PC is a board-level controller designed for PC compatible (ISA bus) computers.

1. Open the shipping container and carefully remove its contents. Be sure to observe proper

ESD handling precautions.

2. Turn off the host computer.

3. Select an available ISA expansion slot and remove its expansion cover plate.

4. The default memory location of the DSPpro-PC is 0xD000:0000. If you need to change this,

refer to section 4.1, “Installing the DSPpro-PC.”

5. Remove the anti-static protective cover from the DSPpro-PC bus connectors.

6. Insert the DSPpro-PC in the ISA bus connector and secure the card in place with the screw

from the cover plate.

For detailed hardware installation instructions, please see section 4.1.

DSPpro-VME

The DSPpro-VME is a single, 6U slot, board-level controller designed for VME-based

computers.

1. Open the shipping container and carefully remove its contents. Be sure to observe proper

ESD handling precautions.

2. Turn off the host computer.

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