Cito System PC/104 Manuel utilisateur

MillenniumSeries

PC/104MotionControllers

User’sManual

C to Systems

NOTICE

This document contains proprietary and confidential information of Cito Systems, 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 Cito Systems.

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, by any means, electronic or

mechanical, for any purpose, without the express written permission of Cito Systems.

Navigator™ and C-Motion™are trademarks of Performance Motion Devices

Warranty

Cito Systems warrants performance of its products to the specifications applicable at the

time of sale in accordance with Cito Systems' standard warranty. Testing and other quality

control techniques are utilized to the extent Cito Systems deems necessary to support this

warranty. Specific testing of all parameters of each device is not necessarily performed,

except those mandated by government requirements.

Cito Systems reserves the right to make changes to its products or to discontinue any

product or service without notice, and advises customers to obtain the latest version of

relevant information to verify, before placing orders, that information being relied on is

current and complete. All products are sold subject to the terms and conditions of sale

supplied at the time of order acknowledgement, including those pertaining to warranty,

patent infringement, and limitation of liability.

SafetyNotice

Certain applications using semiconductor products may involve potential risks of death,

personal injury, or severe property or environmental damage. Products are not designed,

authorized, or warranted to be suitable for use in life support devices or systems or other

critical applications. Inclusion of Cito Systems products in such applications is understood

to be fully at the customer's risk.

In order to minimize risks associated with the customer's applications, adequate design and

operating safeguards must be provided by the customer to minimize inherent procedural

hazards.

Disclaimer

Cito Systems assumes no liability for applications assistance or customer product design.

Cito Systems does not warrant or represent that any license, either express or implied, is

granted under any patent right, copyright, mask work right, or other intellectual property

right of Cito Systems covering or relating to any combination, machine, or process in which

such products or services might be or are used. Cito Systems' publication of information

regarding any third party's products or services does not constitute Cito Systems' approval,

warranty or endorsement thereof.

iii

Millennium Series PC/104 Motion Controller Manual

RelatedDocuments

Navigator Motion Processor User’s Guide (MC2000UG)

How to set up and use all members of the Navigator Motion Processor family.

Navigator Motion Processor Programmer’s Reference (MC2000PR)

Descriptions of all Navigator Motion Processor commands, with coding syntax and

examples, listed alphabetically for quick reference.

Content

Warranty....................................……….........................………...............................…….iii

Safety Notice ...........................................................................………...................…….. iii

Disclaimer......................................…….........................................….……............…….. iii

Related Documents.............................................................................………................... iv

Table of Contents..............................................................................................………….. v

1. PC/104 Board Installation………………………………………...……7

1.1. Installation Sequence........................................................................................7

1.2. Components List...............................................................................................7

1.3. Required Hardware...........................................................................................7

1.4. Preparing the Board for Installation ….............................................................8

1.4.1. Setting the Host I/O Mode...............................................................9

1.4.2. Setting the Bus I/O Address...........................................................10

1.4.3. Setting the IRQ Level……............................................................11

1.5. 3mc-0x-Bx Connections Summary.................................................................12

1.6. 3mc-0x-BLx Connections Summary…..........................................................12

1.7. 3mc-0x-B/BLx Connections Summary….......................................................13

1.8. 3mc-0x-MSx Connections Summary..............................…............................14

1.9. 3mc-0x-S Connections Summary...................................................................15

1.10. Applying Power.....................................................................................…15

2. Software Installation…………………………………………………..16

2.1. Using EasyMotion Console............................................................................16

2.2. First Time System Verification.......………....................................................17

2.2.1. Step #1 Set the Motor Amplifier Type....................................…..18

2.2.2. Step #2 Initialize Commutation................................………….....18

2.2.3. Step #3 Check Commutation.................................……….…….. 19

2.2.4. Step #4 Set Filter Parameters....................................……….........20

2.2.5. Step #5 Make a Trajectory Move...........................…………....…20

3. Operation……………………………...……………………………….21

3.1. Card Overview.............................………………………………………...…21

3.2. Dual-Port RAM...............................…………………………………………22

3.3. Safety Features.............................………………………………………...…22

3.3.1. Hard Reset....................…………………………………..........…23

3.3.2. Soft Reset....................…………………………………...........…23

3.3.3. External Reset.............................……………………………...…23

3.3.4. Under Voltage Monitor.....................…………………….........…23

3.3.5. Watchdog timer..........................……………………………....…23

3.3.6. Reset Status Monitor..................………………………............…24

3.4. Card ID Number............................……………………………………….…24

4. Connecting Hardware………………………………………………....24

4.1. Motors Output Command Signals..........................……………………....…24

4.1.1. Analog Output Motor Command.............................…………..…24

4.1.2. PWM Output Motor Command............................…………….…25

4.1.3. Pulse and Direction Output Motor Command……………..…….25

4.2. Incremental Encoder.............................…………………………………..…25

4.3. Parallel Feedback Devices.....................…………………………….........…25

4.4. Home and Limit Switches......................…………………………….........…25

4.5. Amplifier Enable Outputs...........................……………………………....…26

4.6. Amplifier Fault Inputs.............................……………………………………26

4.7. Axis Out Signal.............................………………………………………..…27

4.8. General Purpose Digital I/Os.......................………………………….......…27

4.8.1. High power digital I/Os.................……………………............…27

4.9. Analog Inputs.............................………………………………………….…27

4.10. The Synch Signal Connector for Multiple Chip Synchronization……….28

4.11. Serial Transceiver...............................…………………………………...28

5. Appendices……………………………………………………………..30

5.1. Appendix A. PC/104 Motion Controller Electrical Reference.......................30

5.1.1. PC/104 Motion Card Layout................... .............………………30

5.1.2. PC/104 Motion Card Connectors...........................………….......31

5.1.2.1. Motion Processor Synchronization Signal

Connector (J1)…..……………………...………………..31

5.1.2.2. Serial Communication Channel Connector (J2) ..............31

5.1.2.3. Host Interrupt Signal Connector (J3) ...............................32

5.1.2.4. Motion Peripherals Connector (J7) .....................…….....32

5.1.2.5. External Power Supply Connector (J9) ............................33

5.1.2.6. Miscellaneous I/O Signals Connector (J12)………...…..33

5.1.3. PC/104 Motion Controller Jumpers & Switch Block Settings.….34

5.1.3.1. Setting the Host I/O Mode – JP7.............................…….34

5.1.3.2. Setting the Incremental Encoders Input

Signal – JP8 - JP11………………………………….…..35

5.1.3.3. Setting the Committed I/O Signal Voltage Supply

Source – JP12 & JP13………………………..……….…35

5.1.3.4. Setting the High Power Digital Output – JP14 & JP15....36

5.1.3.5. Setting the Analog Input Voltage Reference

Source – JP1 – JP4…...…….….………………………...36

5.1.3.6. Setting the Base Address and the IRQ Level – S1………36

5.2. Appendix B. Outputs to Motor Amplifiers................ ……....................……37

5.2.1. Brushed Servo Motors (MC2100 series)...............................…....37

5.2.2. Brushless Servo Motors (MC2300 series)................................….38

5.2.3. Brush & Brushless Servo Motors (MC2800 series).................….38

5.2.4. Microstepping Motors (MC2400 series).................................…...38

5.2.5. Stepper Motors (MC2500 series)………….............................…..39

5.3. Appendix C. Encoder Inputs.......................................................……………39

5.4. Appendix D. Opto-isolated Committed Inputs...........................................…39

5.5. Appendix F. PC/104 Motion Controller Signal Connections………..…..… 40

5.6. Appendix G. PC/104 Motion Controller Hardware Information.......…….... 42

1 PC/104 Board Installation

In addition to the PC/104 card, the Millennium motion controller includes storage media

(CD) with the C-MotionPlus software library and device drivers. C-MotionPlus is a full-

featured C/C++ language library, which simplifies the development of motion applications

for the Navigator chipsets.

1.1 Installation Sequence

For a normal installation of the Millennium controller, you will need to configure the 3mc-

0x-xx board for the PC system and motor hardware that you will connect it to.

Configuration of the 3mc-0x-xx board is described in detail in the section below entitled

"Preparing the board for installation"

Next you will need to connect your system's motors, encoders, amplifiers and sensors as

desired to operate your motion hardware. A description of the connections that are made for

the various Navigator chipsets is found in the "3mc-0x-xx Connections Summary" sections

[1.5 – 1.9].

The final step to finish the installation is to perform a functional test of the finished system.

This is described in the section entitled "First time system verification".

Once all of the above has been accomplished installation is complete. You can now exercise

your motion system.

1.2 Components List

The Millennium controller set contains the following components:

1) Millennium Controller PC/104 board

2) Storage media with:

• C-MotionPlus library (static and DLL)

• Device drivers

• Millennium Series PC/104 Motion Controller – User’s Manual

• Navigator Motion Processor User's Guide (pdf format file)

• Navigator Motion Processor Programmers Reference (pdf format file)

3) Documentation:

Millennium Series PC/104 Motion Controller – User’s Manual

If any of these components are missing, please contact Cito Systems directly, or your Cito

Systems representative.

1.3 Required Hardware

To install the Millennium series PC/104 motion board, you will need the following

hardware:

1) PC/104 platform: the minimum platform consists of an Intel (or compatible) processor,

80286 or better, 5MB of available disk space, CD-ROM drive. The recommended

platform is an Intel (or compatible) processor, Pentium or better, 5MB of available disk

space, 32MB of available RAM, and CD-ROM drive. The operating system may be

Windows95/98/Me/NT/2000/XP/CE or Linux. An asynchronous serial

communications port is optional for both the minimum and recommended platforms.

2) 1 to 4 pulse and direction, PWM, or analog-input amplifiers. The type of amplifier

depends on the controller’s chipset type.

3) 1 to 4 step motors or servo motors. These motors may or may not provide encoder

position feedback signals depending on the type of chipset being used.

4) Additional connectors, as required to connect the 3mc-0x-xx PC board to the amplifiers

and the servo motors. Dual male 50-pin header-type connectors will be needed to

interface to the 3mc-0x-xx board's signal cable, part number CAB-100_2x50.

1.4 Preparing the Board for Installation

The board provides the following user-settable hardware options:

Option Set using Default

PC/104 bus I/O Address switch bank S1, 1-4 340 (hex)

PC/104 bus IRQ # switch bank S1, 5-8 IRQ disabled

Host interface mode jumper JP7 PC/104 bus

Table 1-1. PC/104 motion controller board default settings.

The host interface mode jumpers will not need to be changed unless it is desired that the

card be operated in serial mode. If operated in serial mode, a special adapter board is

required.

The following diagram shows the location of the jumper JP7:

Figure 1-1. Settable jumpers and connectors

If you need to change the default setting values from the Table 1-1, or are not sure if they

need to be changed, the following sections explain more about these settings.

1.4.1. Setting the Host I/O Mode

The PC/104 motion controller supports two different communication modes. This is shown

in the following table:

Mode Description

PC/104

mode The motion processor accepts instructions and data as full 16-bit words, using

the entire 16-bit data path

Serial port The motion processor accepts instructions through an asynchronous serial

port.

The figure below shows how the JP7 jumper should be installed to select the host mode.

PC/104 mode is the default. Shading indicates the location of the jumper.

serial port PC/104 parallel

1.4.2. Setting the PC/104 bus I/O address

The PC/104 motion card occupies 16 consecutive I/O addresses on the PC/104 bus,

starting at the "base address", and ending at the base address+F (hex). For example for the

default base address, which is 340 (hex), the total used range of addresses is 340 (hex) – 34F

(hex).

The I/O port base address should be chosen so that it doesn’t conflict with any other

devices using addresses in the range 300h-3FFh. Certain of these addresses are reserved for

specific peripherals, as shown in the following table (not all will be present in a given

system):

Portaddress Device

300-377h available

378-37Fh LPT1

380-3Afh usually available

3B0-3DFh VGA

3E0-3E7h available

3E8-3Efh COM3

3F0-3F7h Hard disk controller

3F8-3FFh COM1

Switch block S1, switches 1 - 4 determine the PC/104 bus base address. In the table below

switches, which should be on are indicated as such. A blank space in the table indicates the

switch should be set off (or left).

Address S1-1 S1-2 S1-3 S1-4

300h on on on on

310h on on on

320h on on on

330h on on

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