FiveCo FMod-IPAXESCTRL Manuel utilisateur
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3 Axes
Ethernet Control Board
FMod-IPAXESCTRL
H:1.1 / F:1.11
User’s Manual
Version 1.1
FMod-IPAXESCTRL User Manual v.1.1
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Version: 1.1
Last revision: May 10, 2005
Printed in Switzerland
Copyright 2002-2005 FiveCo Sàrl. All rights reserved.
The contents of this manual may be modified by FiveCo without warning.
Trademarks
Windows® is a registered trademark of Microsoft Corporation.
Ethernet® is a registered trademark of Xerox Corporation.
Java® is a registered trademark of Sun Microsystem.
Warning
This device is not intended to be used in a medical, life-support or space product.
Any failure of this device that may cause serious consequences should be prevented by implementation of
backup systems. The user agrees that protection against consequences resulting from device system
failure is the user's responsibility.
Changes or modifications to this device not explicitly approved by FiveCo will void the user's authority to
operate the device.
FMod-IPAXESCTRL User Manual v.1.1
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Revision history
Revision Date Author Note Firmware
version
Applet
version
Win32
application
version
1.0 16.11.04 XG - First revision history
Since 1.8 1.3 -
1.1 21.04.05 XG - Add IP SUBNETMASK register (0x13)
- Add TCPCONNECTIONSOPENED register
(0x1A)
- Easy change IP with broadcast
- Add relative coordinate with relative zero
- Add AXISxPOSITIONOFFSET registers
(relative offset)
Since 1.11 1.6 -
FMod-IPAXESCTRL User Manual v.1.1
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Table of Contents
1. Package and operating conditions ...........................................................................5
Package contents.........................................................................................................5
Operating conditions ..................................................................................................6
2. Overview................................................................................................................7
Connection architecture (Ethernet)............................................................................8
Board Layout ..............................................................................................................9
3. Quick start ............................................................................................................10
Power and network ..................................................................................................11
Changing IP address ..................................................................................................12
4. Hardware..............................................................................................................13
Power supply ............................................................................................................13
LCD Display..............................................................................................................14
Keyboard ..................................................................................................................15
Trackball ...................................................................................................................16
LEDs .........................................................................................................................17
SOS button...............................................................................................................18
5. TCP/UDP Server ..................................................................................................19
General.....................................................................................................................19
TCP-HTTP port (# 80) ............................................................................................20
TCP & UDP Control port (# 8010).........................................................................21
Checksum calculation................................................................................................23
6. Java Applet............................................................................................................24
Overview..................................................................................................................24
Main Panel ................................................................................................................25
Board’s communication settings Panel.......................................................................26
Keyboard settings panel ............................................................................................27
LCD text Panel .........................................................................................................29
Modes & Axes settings Panel ....................................................................................30
7. Reference zero absolute/relative...........................................................................31
8. Registers management ..........................................................................................32
Memory Organization...............................................................................................32
Full Register Description ...........................................................................................33
FMod-IPAXESCTRL User Manual v.1.1
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1. Package and operating conditions
Package contents
1 Axes Ethernet Control board : FMod-IPAXESCTRL
This manual
(optional) Power Supply :
Power over Ethernet IEEE802.3af Hub-injector
(110-240 VAC, 50/60Hz -> +48v, 350 mA)
FMod-IPAXESCTRL User Manual v.1.1
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Operating conditions
Operating temperature -20 — 70 °C
Supply voltage Vcc 7-48 VDC
Input capacity (Power +,-) ~220uF, ~50mOhm ESR
Power consumption (~0.8W) 65mA when idle @ Vcc 7 V
Without LCD & Trackball 25mA when idle @ Vcc 24 V
15mA when idle @ Vcc 48 V
Power consumption (~1.2W) 150mA when idle @ Vcc 7 V
With LCD & Trackball 45mA when idle @ Vcc 24 V
25mA when idle @ Vcc 48 V
FMod-IPAXESCTRL User Manual v.1.1
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2. Overview
The FMod-AXESCTRL is a board used to control a
maximum of 3 DC-motorized axes (card FMod-
IPDCMOT or FMod-IPECMOT). The main interest in this
card is its communication protocol (Ethernet: TCP/IP-
HTTP) which allow it to be connected to a standard
Ethernet network. In addition, the board follows the IEEE
802.3af standard which allows it to be powered through
the Ethernet cable (PoE-Powered Device).
The FMod-IPAXESCTRL board works without the use of
a computer (PC or Mac). It communicates independently
with the selected FMod-IPxxMOT devices (motor control
cards) through the Ethernet network. It can even be easily
configured using its internal web-pages (http server
onboard) with any standard web-browser.
A (4x20char) LCD can be connected to locally display
information and a trackball + keyboard are the available
inputs to handle the axes.
LCD display
4*20 character
Keyboard 4 Leds
FMod-PAXESCTRL
4*4 buttons •Peripherals management
or •http server
4*2 buttons
•IEEE 802.3af power supply
Trackball
Quadrature signal
This schema shows all peripherals connectable to the board.
The trackball, the LCD screen and the Keyboard (4x20)
FMod-IPAXESCTRL User Manual v.1.1
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Connection architecture (Ethernet)
The scheme underneath is showing the connection diagram of
the FMod-IPAXESCTRL board. The user interacts with the
MMI (Man Machine Interface), e.g. the LCD, the Keypad and
the Trackball; connected to the Axes control card. This card is
connected together with the Motor control cards (FMod-
IPDCMOT48/1.5) to a standard/industrial Ethernet Switch
(available on the market from 30.- USD) and be used in
applications like XYZ-Tables, as an example.
•The axes control board and the motor control boards are
connected together to an “Ethernet 10BaseT compliant
Switch”, the communication between them is done through
the UDP-IP protocol.
•An optional computer (PC, Mac, …) can be connected to the
same network (to the Ethernet 10BaseT compliant Switch) in
order to configure the parameters of the axes control card
•The same Switch used to connect the FMod-IPAXESCTRL and
the FMod-IPDCMOT48/1.5 can be connected to the Internet
network (under an ADSL modem/router or a professional
Router) and therefore the system will become accessible from
everywhere (remote).
Note : It is also possible to connect directly the FMod-IPAXESCTRL to one FMod-
IPDCMOT48/1.5 motor control card through a simple Ethernet Cross Cable (not using
the switch). In this case the system will only be able to control one (1) motor/axis.
FMod-IPAXESCTRL User Manual v.1.1
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Board Layout
JP3 SOS button
J1 IN Power +
IN Power -
J7 Ethernet RJ45
J4 Keyboard 2x4
Keyboard 4x4
J5 Trackball
J3 LEDs indicator
J8 LCD display
75.7
69.5
64.3
∅
3.2
70.5
Height max: 20mm
FMod-IPAXESCTRL User Manual v.1.1
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3. Quick start
This section is intended to help users to quickly plug the
module into their system and establish a connection between
the computer used for the initial configuration and the card.
Detailed information about hardware and software is
described further in this document.
You can find the board factory communication settings on the
label on the board or on the box.
This device is not intended to be used in a medical, life-support or space product. Any failure
of this device that may cause serious consequences should be prevented by implementation
of backup systems. The user agrees that protection against consequences resulting from
device system failure is the user's responsibility. motion@fiveco.com / www.fiveco.com
FMOD-IPAXESCTRL
INPUT(supply) : 7-48V DC, 1.5 W
MAC: 00-50-C2-30-8x-xx / IP : 169.254.5.1
The MAC Address is the 48bits unique identifier on Ethernet
networks. The IP Address can be modified. The complete
procedure is described further in this manual.
Note: If the module has already been configured and the IP address has
been changed to an unknown value, you can retrieve back an SOS
IP address (on label) by pressing the “SOS button” during the
normal operation of the card.
FMod-IPAXESCTRL User Manual v.1.1
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