Tektronix M5000 User manual
Hardware
Model 5000
Hardware Guide
81830 Rev. B / 8-98
WARRANTY
Hardware
Keithley Instruments, Inc. warrants that, for a period of one (1) year from the date of shipment (3 years for Models 2000, 2001, 2002, and 2010), the Keithley
Hardware product will be free from defects in materials or workmanship. This warranty will be honored provided the defect has not been caused by use of the
Keithley Hardware not in accordance with the instructions for the product. This warranty shall be null and void upon: (1) any modification of Keithley Hardware that is made by other than Keithley and not approved in writing by Keithley or (2) operation of the Keithley Hardware outside of the environmental specifications therefore.
Upon receiving notification of a defect in the Keithley Hardware during the warranty period, Keithley will, at its option, either repair or replace such Keithley
Hardware. During the first ninety days of the warranty period, Keithley will, at its option, supply the necessary on site labor to return the product to the condition prior to the notification of a defect. Failure to notify Keithley of a defect during the warranty shall relieve Keithley of its obligations and liabilities under
this warranty.
Other Hardware
The portion of the product that is not manufactured by Keithley (Other Hardware) shall not be covered by this w arranty, and Keithley shall hav e no duty of obligation to enforce any manufacturers' warranties on behalf of the customer. On those other manufacturers’ products that Keithley purchases for resale, Keithley
shall have no duty of obligation to enforce any manufacturers’ warranties on behalf of the customer.
Software
Keithley warrants that for a period of one (1) year from date of shipment, the Keithle y produced portion of the software or firmw are (Keithley Software) will conform in all material respects with the published specifications provided such Keithley Software is used on the product for which it is intended and otherwise in
accordance with the instructions therefore. Keithley does not warrant that operation of the Keithley Softw are will be uninterrupted or error-free and/or that the
Keithley Software will be adequate for the customer's intended application and/or use. This warranty shall be null and v oid upon an y modification of the K eithle y
Software that is made by other than Keithley and not approved in writing by Keithley.
If Keithley receiv es notification of a K eithle y Software nonconformity that is co v ered by this warranty during the w arranty period, K eithle y will review the conditions described in such notice. Such notice must state the published specification(s) to which the Keithley Software fails to conform and the manner in which
the Keithley Software fails to conform to such published specification(s) with sufficient specificity to permit K eithle y to correct such nonconformity. If Keithley
determines that the Keithley Software does not conform with the published specifications, Keithley will, at its option, provide either the programming services
necessary to correct such nonconformity or develop a program change to bypass such nonconformity in the Keithley Software. Failure to notify Keithley of a
nonconformity during the warranty shall relieve Keithley of its obligations and liabilities under this warranty.
Other Software
OEM software that is not produced by Keithley (Other Software) shall not be covered by this w arranty, and Keithley shall hav e no duty or obligation to enforce
any OEM's warranties on behalf of the customer.
Other Items
Keithley warrants the following items for 90 days from the date of shipment: probes, cables, rechar geable batteries, diskettes, and documentation.
Items not Covered under Warranty
This warranty does not apply to fuses, non-rechargeable batteries, damage from battery leakage, or problems arising from normal wear or failure to follow
instructions.
Limitation of Warranty
This warranty does not apply to defects resulting from product modification made by Purchaser without Keithley's express written consent, or by misuse of any
product or part.
Disclaimer of Warranties
EXCEPT FOR THE EXPRESS WARRANTIES ABOVE KEITHLEY DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING
WITHOUT LIMIT ATION, ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A P ARTICULAR PURPOSE. KEITHLEY DISCLAIMS ALL WARRANTIES WITH RESPECT TO THE OTHER HARDWARE AND OTHER SOFTWARE.
Limitation of Liability
KEITHLEY INSTRUMENTS SHALL IN NO EVENT, REGARDLESS OF CAUSE, ASSUME RESPONSIBILITY FOR OR BE LIABLE FOR: (1) ECONOMICAL, INCIDENTAL, CONSEQUENTIAL, INDIRECT, SPECIAL, PUNITIVE OR EXEMPLARY DAMAGES, WHETHER CLAIMED UNDER
CONTRACT, TORT OR ANY OTHER LEGAL THEORY, (2) LOSS OF OR DAMAGE TO THE CUSTOMER'S DATA OR PROGRAMMING, OR (3) PENAL TIES OR PENALTY CLAUSES OF ANY DESCRIPTION OR INDEMNIFICATION OF THE CUST OMER OR O THERS FOR COSTS, DAMAGES, OR
EXPENSES RELATED TO THE GOODS OR SERVICES PROVIDED UNDER THIS WARRANTY.
Keithley Instruments, Inc. • 28775 Aurora Road • Cleveland, OH 44139 • 440-248-0400 • Fax: 440-248-6168 • http://www.keithley.com
CHINA: Keithley Instruments China • Yuan Chen Xin Building, Room 705 • 12 Yumin Road, Dewai, Madian • Beijing 100029 • 8610-62022886 • Fax: 8610-62022892
FRANCE: Keithley Instruments SARL • BP 60 • 3 Allée des Garays • 91122 Palaiseau Cédex • 33-1-60-11-51-55 • Fax: 33-1-60-11-77-26
GERMANY: Keithley Instruments GmbH • Landsberger Strasse 65 • D-82110 Germering, Munich • 49-89-8493070 • Fax: 49-89-84930759
GREAT BRITAIN: Keithley Instruments, Ltd. • The Minster • 58 Portman Road • Reading, Berkshire RG30 1EA • 44-1189-596469 • Fax: 44-1189-575666
ITALY: Keithley Instruments SRL • Viale S. Gimignano 38 • 20146 Milano • 39-2-48303008 • Fax: 39-2-48302274
NETHERLANDS: Keithley Instruments BV • Avelingen West 49 • 4202 MS Gorinchem • 31-(0)183-635333 • Fax: 31-(0)183-630821
SWITZERLAND: Keithley Instruments SA • Kriesbachstrasse 4 • 8600 Dübendorf • 41-1-8219444 • Fax: 41-1-8203081
TAIWAN: Keithley Instruments Taiwan • 1FL., 85 Po Ai Street • Hsinchu, Taiwan • 886-3-572-9077 • Fax: 886-3-572-9031
Model 5000
Hardware Guide
©1998, Keithley Instruments, Inc.
All rights reserved.
Cleveland, Ohio, U.S.A.
Second Printing, August 1998
Document Number: 81830 Rev. B
Manual Print History
The print history shown below lists the printing dates of all Revisions and Addenda created for this manual. The Revision
Level letter increases alphabetically as the manual undergoes subsequent updates. Addenda, which are released between Revisions, contain important change information that the user should incorporate immediately into the manual. Addenda are numbered sequentially. When a new Revision is created, all Addenda associated with the previous Revision of the manual are
incorporated into the new Revision of the manual. Each new Revision includes a revised copy of this print history page.
Revision A (Document Number 81830)................................................................................................... July 1996
Revision B (Document Number 81830).............................................................................................. August 1998
All Keithley product names are trademarks or registered trademarks of Keithley Instruments, Inc.
Other brand and product names are trademarks or registered trademarks of their respective holders.
Safety Precautions
The following safety precautions should be observed before using
this product and any associated instrumentation. Although some instruments and accessories would normally be used with non-hazardous voltages, there are situations where hazardous conditions
may be present.
This product is intended for use by qualified personnel who recognize shock hazards and are familiar with the safety precautions required to avoid possible injury. Read the operating information
carefully before using the product.
The types of product users are:
Responsible body is the individual or group responsible for the use
and maintenance of equipment, and for ensuring that operators are
adequately trained.
Operators use the product for its intended function. They must be
trained in electrical safety procedures and proper use of the instrument. They must be protected from electric shock and contact with
hazardous live circuits.
Maintenance personnel perform routine procedures on the product
to keep it operating, for example, setting the line voltage or replacing consumable materials. Maintenance procedures are described in
the manual. The procedures explicitly state if the operator may perform them. Otherwise, they should be performed only by service
personnel.
Service personnel are trained to work on live circuits, and perform
safe installations and repairs of products. Only properly trained service personnel may perform installation and service procedures.
Exercise extreme caution when a shock hazard is present. Lethal
voltage may be present on cable connector jacks or test fixtures. The
American National Standards Institute (ANSI) states that a shock
hazard exists when voltage levels greater than 30V RMS, 42.4V
peak, or 60VDC are present. A good safety practice is to expect
that hazardous voltage is present in any unknown circuit bef ore
measuring.
Users of this product must be protected from electric shock at all
times. The responsible body must ensure that users are prevented
access and/or insulated from every connection point. In some cases,
connections must be exposed to potential human contact. Product
users in these circumstances must be trained to protect themselves
from the risk of electric shock. If the circuit is capable of operating
at or above 1000 volts, no conductive part of the circuit may be
exposed.
As described in the International Electrotechnical Commission
(IEC) Standard IEC 664, digital multimeter measuring circuits
(e.g., Keithley Models 175A, 199, 2000, 2001, 2002, and 2010) are
Installation Category II. All other instruments’ signal terminals are
Installation Category I and must not be connected to mains.
Do not connect switching cards directly to unlimited power circuits.
They are intended to be used with impedance limited sources.
NEVER connect switching cards directly to AC mains. When connecting sources to switching cards, install protective devices to limit fault current and voltage to the card.
Before operating an instrument, make sure the line cord is connected to a properly grounded power receptacle. Inspect the connecting
cables, test leads, and jumpers for possible wear, cracks, or breaks
before each use.
For maximum safety, do not touch the product, test cables, or any
other instruments while power is applied to the circuit under test.
ALWAYS remove power from the entire test system and discharge
any capacitors before: connecting or disconnecting cables or jumpers, installing or removing switching cards, or making internal
changes, such as installing or removing jumpers.
Do not touch any object that could provide a current path to the
common side of the circuit under test or power line (earth) ground.
Always make measurements with dry hands while standing on a
dry, insulated surface capable of withstanding the voltage being
measured.
Do not exceed the maximum signal levels of the instruments and accessories, as defined in the specifications and operating information, and as shown on the instrument or test fixture panels, or
switching card.
When fuses are used in a product, replace with same type and rating
for continued protection against fire hazard.
Chassis connections must only be used as shield connections for
measuring circuits, NOT as safety earth ground connections.
If you are using a test fixture, keep the lid closed while power is applied to the device under test. Safe operation requires the use of a
lid interlock.
If a screw is present, connect it to safety earth ground using the
wire recommended in the user documentation.
!
The symbol on an instrument indicates that the user should refer to the operating instructions located in the manual.
The symbol on an instrument shows that it can source or measure 1000 volts or more, including the combined effect of normal
and common mode voltages. Use standard safety precautions to
avoid personal contact with these voltages.
The WARNING heading in a manual explains dangers that might
result in personal injury or death. Alw ays read the associated infor mation very carefully before performing the indicated procedure.
Instrumentation and accessories shall not be connected to humans.
Before performing any maintenance, disconnect the line cord and
all test cables.
To maintain protection from electric shock and fire, replacement
components in mains circuits, including the power transformer, test
leads, and input jacks, must be purchased from Keithley Instruments. Standard fuses, with applicable national safety approvals,
may be used if the rating and type are the same. Other components
that are not safety related may be purchased from other suppliers as
long as they are equivalent to the original component. (Note that selected parts should be purchased only through Keithley Instruments
to maintain accuracy and functionality of the product.) If you are
unsure about the applicability of a replacement component, call
technical support for information.
To clean the instrument, use a damp cloth or mild, water based
cleaner. Clean the exterior of the instrument only. Do not apply
cleaner directly to the instrument or allow liquids to enter or spill
on the instrument.
The CAUTION heading in a manual explains hazards that could
damage the instrument. Such damage may invalidate the warranty.
About this manual
Quality control
Keithley Instruments manufactures quality and versatile products, and we want our documentation to reflect that same quality. We take great pains to publish manuals that are informative and
well organized. We also strive to make our documentation easy to understand for the novice as
well as the expert.
If you have comments or suggestions about how to mak e this (or other) manuals easier to understand, or if you find an error or an omission, please fill out and mail the reader response card at
the end of this manual (postage is prepaid).
Conventions
Procedural
Keithley Instruments uses various conventions throughout this manual. You should become
familiar with these conventions as they are used to draw attention to items of importance and
items that will generally assist you in understanding a particular area.
WARNING
CAUTION
NOTE
When referring to pin numbering, pin 1 is always associated with a square solder pad on the
actual component footprint.
A warning is used to indicate that an action must be done with great
care. Otherwise, personal injury may result.
A caution is used to indicate that an action may cause minor equipment damage or the loss of data if not performed carefully.
A note is used to indicate important information needed to perform an
action or information that is nice-to-know.
Notational
A forward slash (/) preceding a signal name denotes an active LOW signal. This is a standard
Intel convention.
Caret brackets (<>) denote keystrokes. For instance <Enter> represents carriage-return-withline-feed keystroke, and <Esc> represents an escape keystroke.
Driver routine declarations are shown for C and BASIC (where applicable).
Hungarian notation is used for software parameters. In other words, the parameter type is
denoted by a one or two letter lower case prefix:
c character, signed or unsigned
s short integer, signed
w short integer, unsigned
l long integer, signed
dw long integer, unsigned
For example, wBoardAddr would be an unsigned short integer parameter.
An additional p prefix before the type prefix indicates that the parameter is being passed by reference instead of by value. (A pointer to the variable is being passed instead of the variable
itself).
For example, pwErr would be an unsigned short integer parameter passed by reference.
This notation is also used in BASIC although no distinction between signed and unsigned vari-
ables exists.
In BASIC, all parameters also have a type suffix:
$ character, signed or unsigned
% integer, signed or unsigned
& long integer, signed or unsigned
Routine names are printed in bold font when they appear outside of function declarations, e.g.,
ReadStatus.
Parameter names are printed in italics when they appear outside of function declarations, e.g.
sControls.
Constants are defined with all caps, e.g., ALL_AXES. Underscores {_} must be replaced by
periods {.} for use with BASIC.
Combinational logic and hexadecimal notation is in C convention in many cases. For example,
the hexadecimal number 7Ch is shown as 0x7C.
C relational operators for OR and AND functions — “| |” and “&&” — are used to minimize the
confusion associated with grammar.
Table of Contents
1 Introduction and Installation
Description of the 5000 ...................................................................................................................................... 1-2
Technical specifications ..................................................................................................................................... 1-2
Installation .......................................................................................................................................................... 1-3
Power .......................................................................................................................................................... 1-3
W7, board base address............................................................................................................................... 1-3
W9 to W11, clock speed select .................................................................................................................. 1-5
W8, interrupt select .................................................................................................................................... 1-6
W1 to W6, opto power (bus) ...................................................................................................................... 1-7
Connector pinouts ...................................................................................................................................... 1-8
2 Operation and Programming
Theory of operation ............................................................................................................................................ 2-2
Loading the Axis A counter ....................................................................................................................... 2-2
Port locations ...................................................................................................................................................... 2-3
Addressing an onboard port ....................................................................................................................... 2-3
Programming ...................................................................................................................................................... 2-4
Reading from an onboard port ................................................................................................................... 2-4
Writing the controller internal registers ..................................................................................................... 2-4
Writing to an onboard port ......................................................................................................................... 2-4
Reading the stepper controller status port .................................................................................................. 2-5
Reading the state buffer .............................................................................................................................. 2-5
Sync latch ................................................................................................................................................... 2-5
Reset latch .................................................................................................................................................. 2-6
Command buffer ................................................................................................................................................. 2-6
Operating mode selection ........................................................................................................................... 2-6
Control mode selection .............................................................................................................................. 2-8
Data register selection ................................................................................................................................ 2-9
Output mode selection .............................................................................................................................. 2-10
User-accessible registers .................................................................................................................................. 2-11
Register descriptions ................................................................................................................................ 2-11
i
3 Interrupt Control
Description of interrupt control ......................................................................................................................... 3-2
Interrupt Request Rgtr (IRR), In-Service Rgtr (ISR) ................................................................................ 3-3
Priority Resolver (PR) ............................................................................................................................... 3-3
Interrupt Mask Register (IMR) .................................................................................................................. 3-3
Interrupt Output (INT) ............................................................................................................................... 3-3
PIC operation ..................................................................................................................................................... 3-4
Interrupt sequence, 80
End-of-Interrupt command ........................................................................................................................ 3-4
Completing an interrupt ............................................................................................................................. 3-5
Operating modes ................................................................................................................................................ 3-5
Fully nested mode ...................................................................................................................................... 3-5
Special mask mode .................................................................................................................................... 3-5
Specific rotation (specific priority) ........................................................................................................... 3-5
Automatic rotation (equal priority) ............................................................................................................ 3-5
Non-vectored mode (poll command) ......................................................................................................... 3-5
PIC programming .............................................................................................................................................. 3-6
Initialization Command Words (ICW) ...................................................................................................... 3-6
ICW1 format and description .................................................................................................................... 3-7
ICW4 format and description .................................................................................................................... 3-7
Operation Command Words (OCW) ......................................................................................................... 3-8
OCW1 format and description ................................................................................................................... 3-9
OCW2 format and description ................................................................................................................... 3-9
OCW2 commands ..................................................................................................................................... 3-9
OCW3 format and description ................................................................................................................. 3-10
x
86/80
x
88 mode .................................................................................................... 3-4
A Typical Operation Procedures
Initialization flow chart .................................................................................................................................... A-2
Setting speed data ............................................................................................................................................. A-3
High speed preset mode .................................................................................................................................... A-4
Constant speed preset mode ............................................................................................................................. A-5
High speed continuous mode ............................................................................................................................ A-6
Constant speed continuous mode ..................................................................................................................... A-7
High speed return to home ............................................................................................................................... A-8
Constant speed return to home ......................................................................................................................... A-9
Speed change during operation ...................................................................................................................... A-10
Additional operating parameters .................................................................................................................... A-11
B Typical High Speed Preset Mode Calculations
Typical high speed preset mode calculations .................................................................................................... B-2
Determine R2 to R7 from given values ..................................................................................................... B-3
Example 1 .................................................................................................................................................. B-4
Example 2 .................................................................................................................................................. B-5
C PC I/O and Interrupt Mapping
PC I/O map ........................................................................................................................................................ C-2
ii
D Software Read/Write Technique
Software read/write technique ........................................................................................................................... D-2
E T ech Bulletins and Application Notes
Optimizing the scale factor, n ............................................................................................................................ E-2
F Revision History
Revision/ ............................................................................................................................................................ F-2
Revision A .......................................................................................................................................................... F-2
Revision B .......................................................................................................................................................... F-2
Revision C .......................................................................................................................................................... F-2
Revision D .......................................................................................................................................................... F-2
Revision E .......................................................................................................................................................... F-3
Revision F .......................................................................................................................................................... F-3
Revision G .......................................................................................................................................................... F-3
Revision H .......................................................................................................................................................... F-3
G Introduction to the Model 9011 Motion Simulator
Features ............................................................................................................................................................. G-2
Application ........................................................................................................................................................ G-2
General description ........................................................................................................................................... G-2
Technical specifications .................................................................................................................................... G-2
Operation ........................................................................................................................................................... G-3
Servo systems ............................................................................................................................................ G-3
Stepper systems ......................................................................................................................................... G-3
Encoders .................................................................................................................................................... G-3
Pin assignments ................................................................................................................................................. G-4
Common applications for the Model 9011 ........................................................................................................ G-5
H Circuit Diagrams
iii
List of Illustrations
1 Introduction and Installation
Figure 1-1 Model 5000 functional block diagram ....................................................................................................... 1-2
Figure 1-2 5000 board layout ....................................................................................................................................... 1-4
Figure 1-3 Clock speed select jumpers ........................................................................................................................ 1-5
Figure 1-4 Interrupt select jumper ............................................................................................................................... 1-6
Figure 1-5 Opto power select jumpers ......................................................................................................................... 1-7
Figure 1-6 Optoisolation on the 5000 .......................................................................................................................... 1-8
Figure 1-7 J1 pins allocated by axis ............................................................................................................................. 1-9
2 Operation and Programming
Figure 2-1 Acceleration profile .................................................................................................................................. 2-12
Figure 2-2 Deceleration profile .................................................................................................................................. 2-13
3 Interrupt Control
Figure 3-1 PIC block level diagram ............................................................................................................................. 3-2
Figure 3-2 PIC initialization sequence ......................................................................................................................... 3-6
Figure 3-3 PIC ICW format ......................................................................................................................................... 3-7
Figure 3-4 PIC OCW format ....................................................................................................................................... 3-8
G Introduction to the Model 9011 Motion Simulator
Figure G-1 Analog or ± PWM application .................................................................................................................. G-5
Figure G-2 Pulse and direction .................................................................................................................................... G-6
Figure G-3 Using the 9011 to isolate encoder problems ............................................................................................. G-6
Figure G-4 Stepper system .......................................................................................................................................... G-7
Figure G-5 Driving a servo amplifier .......................................................................................................................... G-7
Figure G-6 Driving a stepper motor system ................................................................................................................ G-8
v
List of Tables
1 Introduction and Installation
Table 1-1 Voltage requirements for the 5000 ............................................................................................................. 1-3
Table 1-2 Selecting the base addresss ........................................................................................................................ 1-3
Table 1-3 Selecting the clock speed with W9 to W11 ................................................................................................ 1-5
Table 1-4 Selecting the PC bus interrupt request........................................................................................................ 1-6
Table 1-5 Selecting opto power .................................................................................................................................. 1-7
Table 1-6 Connector J1 pin definitions ...................................................................................................................... 1-9
2 Operation and Programming
Table 2-1 Onboard port map ...................................................................................................................................... 2-3
Table 2-2 Command mode selection .......................................................................................................................... 2-6
Table 2-3 Operating mode selection ........................................................................................................................... 2-7
Table 2-4 Data register selection ................................................................................................................................ 2-9
Table 2-5 Controller register reference .................................................................................................................... 2-11
3 Interrupt Control
Table 3-1 Interrupt code ............................................................................................................................................. 3-4
C PC I/O and Interrupt Mapping
Table C-1 PC I/O map ................................................................................................................................................ C-2
Table C-2 PC interrupt map ....................................................................................................................................... C-3
G Introduction to the Model 9011 Motion Simulator
Table G-1 Model 9011 connector definitions ............................................................................................................ G-4
Table G-2 9011 Connections for common applications ............................................................................................. G-5
vii
1
Introduction and Installation
1-2 Introduction and Installation Model 5000 Hardware Guide
Description of the 5000
The 5000 Stepper Motor Controller card allows a PC/XT/AT compatible computer to control
three independent stepper motor drivers. This allows you to perform complex motion control
profiling routines.
Each axis of control provides five limit inputs — two stop limits, two deceleration limits, and
one home limit. Outputs include pulse/direction and hold. The pulse/direction output allows a
rate of up to 240,000 pulses per second. All inputs and outputs are optically isolated to minimize
noise at the card cage and protect the card from induced voltage transients.
Operation of the 5000 is controlled through user-accessible internal registers. Data registers
enable specification of the following values: number of steps, low speed rate, high speed rate,
acceleration rate, deceleration rate, and rampdown point. Intelligent controller chips (one per
axis) enable programmable velocity profiling, including direction. You may select from four programming modes and eight operating modes.
Figure 1-1 shows a functional block diagram of the Model 5000.
Figure 1-1
Model 5000 functional block diagram
CLOCK
SELECT
STEPPER
CONTROL
C
T echnical specifications
Compatibility:
Card Dimensions:
Operating Range:
Voltage:
Mating Connectors:
STEPPER
CONTROL
B
OPTO
STEPPER
CONTROL
A
PIC
PROGRAMMABLE
INTERRUPT
CONTROLLER
1 RQ2 - 1 RQ7
D0 - D7
A0 - A9
DATA
BUFFER
ADDRESS
DECODE
ISOLATOR
OPTO
ISOLATOR
OPTO
ISOLATOR
CONTROL
BUS
PC/XT/AT compatible computers
13.13 x 4.200 x 0.500 inches
0 degrees to 70 degrees C
Refer to Table 1-1
37 Pin D Sub (J1) Amp 206802-1
Ansley 609-37D
Berg 66167-237
MOTOR A PULSE & DIRECTION
MOTOR A LIMITS
MOTOR B PULSE & DIRECTION
MOTOR B LIMITS
MOTOR C PULSE & DIRECTION
MOTOR C LIMITS
I OR
I OW
RST DRV
CLK
AEN
Model 5000 Hardware Guide Introduction and Installation 1-3
Table 1-1
Voltage requirements for the 5000
Voltage Nominal Current Maximum Current Notes
PC Bus: +5V
PC Bus: +12V
1.3A
0
2.5A
0
Using bus +5V to
power optos
Installation
Power
PC Bus: +5V
PC Bus: +12V
Auxiliary: +5V
Auxiliary: +12V
Auxiliary: +5V
Auxiliary: +12V
Figure 1-2 shows the 5000 layout with jumper and connector locations. Jumpers consist of
unshrouded headers and shorting connectors. The jumper options are explained below.
T o determine the correct jumper configuration for the system, follo w the guidelines gi ven belo w.
The † symbol indicates default jumper locations.
The 5000 requires +5 volts from the PC Bus. Motor power must come from an external supply
capable of supplying motor current plus approximately 300mA of opto current. Provisions are
made to supply opto current from the PC Bus. However, using voltage from the PC Bus to drive
the optoisolators eliminates isolation. Therefore, it is not recommended for permanent use.
1.0A
0.4A
0.4A
0
0
0.4A
2.0A
0.8A
0.8A
0
0
0.8A
Using bus +12V to
power optos
Using auxiliary +5V to
power optos
Using auxiliary +12V
to power optos
W7, board base address
Jumper W7 determines the upper 4-bit nibble of the board I/O address according to Table 1-2.
Hex switches SW1 and SW2 determine the lower 8 bits of the address, with SW2 representing
the most significant nibble (MSN) and SW1 representing the least significant nibble (LSN).
Since the card occupies two successive I/O ports, only the even settings of the LSN switch are
used.
Table 1-2
Selecting the base address
W7 I/O Address
(1-2)
(2-3)
† Default setting.
Note: This jumper determines the upper 4-bit
nibble of the board I/O address.
3xxh†
2xxh
1-4 Introduction and Installation Model 5000 Hardware Guide
Figure 1-2
5000 board layout
J1
W1
W2
W3W5
W4
W6
123
U1
U2U3
U6U15
U21
U27
U7U16 U12
U22
U8U17
U23
U28
W7
3
1
U4U5U25
W8
212
111
SW1SW2
U9U18 U13
U10U19
U11U20 U14
U24
U26U30
U29
U39
U33
U40
U34U41
U35U42
U36
U43
U31
U37
U32
U38
W11 W9W10
Note: Passive devices are not shown to improve clarity.
Model 5000 Hardware Guide Introduction and Installation 1-5
W9 to W11, clock speed select
Figure 1-3
Clock speed select jumpers
U37
U38
W11
W10
U39
U40
U41
U42
Note: Jumpers are viewed with the bus edge connector down and to the right.
W9
U31
U32
U33
U34
U35
U36U43
Figure 1-3 shows the physical locations. W9 – W11 (W11 — Axis A, W10 — Axis B, and
W11 — Axis C) are used to select the base clock rate (f
troller. The f
rate supplied to each controller determines the available step rate. It is also
clock
) used by each stepper motor con-
clock
used in the formula in Appendix B to determine the actual pulse rate. Select a clock rate from
Table 1-3.
Table 1-3
Selecting the clock speed with W9 to W11
W9, W10, W11 Frequency (MHz)
(1-2)
(3-4)
(5-6)
(7-8)
† Default setting.
Note: To obtain the maximum rate of 240,000 pulses per second, use the default clock
setting. These jumpers select the base clock rate used by axes A to C.
0.625
1.25
2.50
5.00†
The default setting, 5MHz, may be altered to allow slower step rates. Examples and formulas for
setting defaults are shown in Section 2 and Appendix E of this manual.
1-6 Introduction and Installation Model 5000 Hardware Guide
W8, interrupt select
Figure 1-4 shows the physical location. W8 selects the PC Bus interrupt request line used for
interrupt operation according to Table 1-4.
Figure 1-4
Interrupt select jumper
W6
W4
U6
U7
1
2
3
W2
W1W3W5
U8
U9
U10
U11
SW1SW2
W7
1
3
U2U3
U4U5
2
1
W8
U1
12
11
J1
Table 1-4
Selecting the PC bus interrupt request
W8 Interrupt Request Description
(1-2)
(3-4)
(5-6)
(7-8)
(9-10)
(11-12)
† Default setting. For applications not requiring interrupts, you may remove the strap
from W8.
Note: The requests listed are defaults in most PC systems.
IRQ2
IRQ3
IRQ4
IRQ5
IRQ6
IRQ7
unused†
unused
Serial Port Card
unused
Diskette Adapter Card
Parallel Port Card
Model 5000 Hardware Guide Introduction and Installation 1-7
W1 to W6, opto power (bus)
Figure 1-5
Opto power select jumpers
W6
W4
W2
W5
W3
W1
W7
U2
Note: Jumpers are viewed with the bus edge connector down and to the right.
J1
Table 1-5
Selecting opto power
Axis Jumper Strap Description
W1
A
W2
W3
B
W4
W5
C
W6
Note: You can select from either internal or external opto power.
(1-2)
(2-3)
(1-2)
(1-2)
(2-3)
(1-2)
(1-2)
(2-3)
(1-2)
+12V
+5V
Ground
+12V
+5V
Ground
+12V
+5V
Ground
Figure 1-5 shows the physical locations. W1 through W6 are pro vided for customer con v enience
during development (W1, W2 — Axis A; W3, W4 — Axis B; W5, W6 — Axis C). They enable
the use of bus power for the optoisolators according to Table 1-5.
These jumpers allow the bus to supply voltage required by the output side of the optoisolators on
all lines interfacing with the connector at the rear of the card. Howev er, this is not recommended
because damaging spikes can be induced on the output interface and will conduct through the
computer power supply. These jumpers should be removed. Use an external voltage source to
power the output side of the optos. To use voltage supplied by the motor, connect the positive
connection to the power pins on the I/O connector and the negative connection to the ground
pins on the I/O connector.
1-8 Introduction and Installation Model 5000 Hardware Guide
Current limiting resistors protect the output side of the optoisolators. Resistors must be calculated as follows:
V 1.5–
Rn
-----------------=
I
where: I = 10mA
The 5000 is set up at the factory to run at 5V. To run at 12V (assuming 12V is really 13V, worst
case), Rn will be:
13 1.5–
------------------- 1150Ω=
0.010
The next standard 10% value is 2.2K. R3–R12 are all ready at 2.2K, so they can be held at that
value.
Change RP3, RP5, and RP7 from 680 ohms to at least 1.2K. Use at least
1
W resistors to reduce
/
4
Mean Time Between Failures (MTBF).
Connector pinouts
The following subsection contains connector pinout information. Suggested mating connector
part numbers are listed in paragraph technical specifications . Table 1-6 shows the pin definitions
for connector J1.
These are active low inputs for use with normally open switches. To use normally closed
switches or optointerrupter modules, ICs — U22, U24, and U26 — must be changed from
74LS244 to 74LS240 . These ICs are socketed to make this change easy. Figure 1-6 shows the
optoisolation method used on the 5000. Figure 1-7, partitioned by axis, and Tables 1-6 and 1-7
show the pinout of connector J1.
Figure 1-6
Optoisolation on the 5000
AXIS A. PINS 4, 5, 6, 22, 23, 24
B. PINS 10, 11, 12, 28, 29, 30
C. PINS 16, 17, 18, 34, 35, 36
Note: Limits, Home, Rampdown, and INS are optoisolated.
AUXILIARY POWER
AUXILIARY GROUNDAUXILIARY GROUND
Model 5000 Hardware Guide Introduction and Installation 1-9
Figure 1-7
J1 pins allocated by axis
AXIS
A
1
19
37 20
AXIS
C
Note: The view is looking into the connector.
AXIS
B
Table 1-6
Connector J1 pin definitions
Pins
Name DescriptionAxis A Axis B Axis C
1 7 13 Auxiliary +12V 12V input optoisolator supply
unless W1, W3, and W5 are
jumpered to use PC Bus power (this
is not recommended)
2 8 14 Direction Direction output
/3 /9 /15 User definable OTS signal output (see output Data
Register Selection)
/4 /10 /16 +Limit Limit input (+) direction
/5 /11 /17 Home Home input
/6 /12 /18 –Limit Limit input (–) direction
20 26 32 Pulse
Pulse output (approx. 50% duty
cycle)
21 27 33 Hold Active output when motor stopped
/22 /28 /34 Input/External INS signal (see Controller Status
Port)
/23, /24 /29, /30 /35, /36 ±Rampdown When activated during a mo ve in the
(±) direction, respectively , the motor
ramps down to starting velocity.
Continues to run at starting velocity
until deactivated or move complete.
25 31 37 Auxiliary Ground Ground input optoisolator supply
unless W2, W4, and W6 are
jumpered to use PC Bus power (this
is not recommended).
Note: A forward slash (/) preceding a signal name denotes an active LOW signal.
2
Operation and
Programming
2-2 Operation and Programming Model 5000 Hardware Guide
Theory of operation
The 5000 is intended for use with a pulse and direction input stepper motor driver. The 5000 is
capable of a step rate of 240,000 pulses per second, which makes it ideal for microstepping
applications.
Three independent intelligent stepper controllers produce profiled outputs optimized for each
axis. All parameters can be changed on the fly , and the up and down ramps can be programmed
independently. Each controller handles a full complement of limit inputs. The controllers can be
operated in either a polled or an interrupt configuration. In a polled configuration, the status of
each controller is read to determine when the motion is complete. In an interrupt configuration,
each controller generates an interrupt when the end of the motion is complete. Complex profiles
are possible by varying the profile parameters during operation.
T o minimize the use of PC port space, the 5000 uses an indirect addressing scheme. Only two I/O
addresses are occupied by the 5000 on the PC Bus. The location of these ports is determined by
W7 (see Section 1) and the two rotary hex switches — SW2 and SW1. The address port is the
even, or lowest port, while the data port is the odd, or highest.
To write to a port, you must first write to the indirect port address at the even I/O port and either
read or write the odd (data) port. See Table 2-1 for port definitions.
Each controller occupies four indirect ports as indicated in the indirect address list. In addition,
each controller has eight internal registers (R0 through R7). Table 2-2 describes the function of
each register . Each register is accessed by first writing a Data Re gister Selection command to the
command buffer of the respective controller. Register data are then written to the indirect
address. The example below shows the steps necessary to access a typical register.
Loading the Axis A counter
1. Write the indirect address of the Axis A command register (00h) to the board indirect address
port ( x 00h).
2. Write the Data Register selection command for the counter register (80h) to the indirect data
port ( x 01h).
3. Write the indirect address of Axis A register bits (0-7) buffer (01h) to the board indirect
address port.
4. Write the least significant byte of the 24-bit counter value to the indirect data port.
5. Write the indirect address of Axis A register bits (8-15) buffer (02h) to the board indirect
address port.
6. Write the next significant byte of the 24-bit counter value to the indirect data port.
7. Write the indirect address of Axis A register bits (16-23) buffer (03h) to the board indirect
address port.
8. Write the most significant byte of the 24-bit counter value to the indirect data port.
While this procedure may seem complicated, you can reduce the number of steps by using the
supplied driver functions on the companion software disk.
The status of each controller can be accessed by reading from the indicated indirect address
using the bit assignments explained below. Additional status information is available by reading
the state buffer at the indicated indirect address.
Register values can be calculated using the formula in paragraph User-accessible registers . If
you have already installed the software into a working subdirectory, this is a trivial task. Use
program PRO5000.EXE located in the subdirectory where you loaded the software utilities.
Model 5000 Hardware Guide Operation and Programming 2-3
The operation of each controller is determined by the values loaded into its internal registers and
the commands sent to the command register. For an explanation of these commands see paragraph Command buffer .
Port locations
The 5000 uses indirect addressing. Two consecutive I/O addresses are used, and read and write
access to different ports onboard the 5000 requires a write/read or a write/write sequence. This
procedure may be simplified if the supplied drivers are used. Bus ports occupied by the 5000 are
as follows:
A0 Port
01Address
Data
Addressing an onboard port
1. Write the address of the desired onboard port to the address port.
2. Write a byte to, or read a byte from the data port. For register assignments, see Table 2-1.
Table 2-1
Onboard port map
Indirect Address I/O Read I/O Write
00h Axis A Status Axis A Command Buffer
01h Axis A Counter (0-7) Axis A Register (0-7)
02h Axis A Counter (8-15) Axis A Register (8-15)
03h Axis A Counter (16-23) Axis A Register (16-23)
04h-07h Axis A Image Axis A Images
08h Axis B Status Axis B Command Buffer
09h Axis B Counter (0-7) Axis B Register (0-7)
0Ah Axis B Counter (8-15) Axis B Register (8-15)
0Bh Axis B Counter (16-23) Axis B Register (16-23)
0Ch-0Fh Axis B Image Axis B Images
10h Axis C Status Axis C Command Buffer
11h Axis C Counter (0-7) Axis C Register (0-7)
12h Axis C Counter (8-15) Axis C Register (8-15)
13h Axis C Counter (16-23) Axis C Register (16-23)
14h-17h Axis C Image Axis C Images
18h not used Sync Latch (responds to all)
19h-1Fh not used Sync Latch Images
20h not used Reset Latch
2-4 Operation and Programming Model 5000 Hardware Guide
Table 2-1
Onboard port map (cont.)
Indirect Address I/O Read I/O Write
21h-27h not used Reset Latch Images
28h PIC 1 A0 Read PIC 1 A0 Write
29h PIC 1 A1 Read PIC 1 A1 Write
2Ah-2Fh PIC 1 Images PIC 1 Images
30h Axis A State Buffer not used
31h-37h Axis A State Buffer Images not used
38h Axis B State Buffer not used
39h-3Fh Axis B State Buffer Images not used
40h Axis C State Buffer not used
41h-47h Axis C State Buffer Images not used
Note: Write the desired register address through the address port, and read or write the data through the data port.
Programming
Reading from an onboard port
Writing the controller internal registers
This section explains how to access the controller registers, how to read the status port, how to
simultaneously start the controllers, and how to execute a hard reset.
1. Write the address from Table 2-1 for the desired onboard register to the address port.
2. Read the data from the data port.
1. Write the address from Table 2-1 for the desired controller command buffer to the address
port.
2. Write the register select command (8
data register selection in paragraph Command buffer .
3. Write the address from Table 2-1 for the register bits to be written for the selected controller to
the address port.
4. Write the data to be loaded into the internal register to the data port.
×
h for the desired internal register to the data port (see
Writing to an onboard port
1. Write the address from Table 2-1 for the desired onboard register to the address port.
2. Write the data to be written to the data port.
Model 5000 Hardware Guide Operation and Programming 2-5
Reading the stepper controller status port
Reading the controller status port gives the following information: (INT = interrupt output,
INS = general purpose input signal).
Status Port
D6 D2D4 D0D7 D3D5 D1
1: -LIMIT ACTIVE
1: +LIMIT ACTIVE
1: HOME ACTIVE
1: R0 (COUNTER)=0
0: INS SIGNAL=HIGH
1: INS SIGNAL=LOW
1: CONSTANT PULSE RATE
1: DURING PULSE OUTPUT
1: DURING INT SIGNAL ACTIVE
(END OF MOTION)
Reading the state buffer
Sync latch
Reading the auxiliary status gives the following information:
State Buffer
D6 D2D4 D0D7 D3D5 D1
1: R0 (COUNTER)=0
1: DECELERATING
1: SLEW OR CONSTANT PULSE RATE
1: ACCELERATING
NOT USED
The Sync Latch provides a means of synchronizing the start of motion on all three axes at the
same time. Under normal conditions, the motion starts as soon as the output mode selection
command is issued. If you want to start all three axes simultaneously, Sync Latch can first be
used to disable all three axes. All three controllers, or any combination of the three, can then be
programmed for the desired motion and given the desired output mode selection command.
Motion will not begin until the Sync Latch value is written to enable the desired controllers. By
doing this, all three controllers can be started by writing a single bit. The Sync Latch is defined
as follows:
Sync Latch
D6 D2D4 D0D7 D3D5 D1
AXIS A
AXIS B
AXIS C
NOT USED
MASTER CLOCK ENABLE
For each bit of the Sync Latch, 0 = enabled, and 1 = disabled. Master Clock Enable (bit D7)
must be LOW for any clock to operate. This enables a one-bit change to synchronize all controllers. On power-up, all clocks are enabled.
2-6 Operation and Programming Model 5000 Hardware Guide
Reset latch
This latch gives you the ability to hard reset any controller on the 5000. Individual bits are
defined as follows:
Reset Latch
D6 D2D4 D0D7 D3D5 D1
AXIS A RESET
AXIS B RESET
AXIS C RESET
NOT USED
For all bits, 0 = Reset, 1 = Enabled.
Command buffer
Data bits — D6 and D7 — select 1 of 4 different command modes from the Command Buffer.
Command Buffer
D6 D2D4 D0D7 D3D5 D1
Table 2-2
Command mode selection
D7 D6 Command Mode
0 0
0 1
1 0
1 1
Note: Command modes are selected from the
command buffer.
Operating Mode
Control Mode
Data Register
Output Pulse Mode
Operating mode selection
COMMAND
COMMAND MODE SELECT
(SEE TABLE 2-2)
The operating mode initiates motion and selects the registers used to determine speed (FL, FH1,
FH2), the type of profile (ramp or constant speed), and the motor stopping position.
Operating Mode
0D2D4 D00D3D5 D1
COMMAND (SEE TABLE 2-3)
0: INT OUTPUT INACTIVE
1: INT ACTIVE AT END OF MOTION
Model 5000 Hardware Guide Operation and Programming 2-7
Table 2-3
Operating mode selection
D4 D3 D2 D1 D0 Operating Mode Command
0 1 0 0 0
1 0 0 0 0
1 0 0 0 1
1 0 0 1 1
1 0 1 0 1
1 0 1 1 1
1 0 1 0 0
1 1 0 0 0
1 1 1 1 1
† Causes motion to begin.
Note: This mode initiates motions and selects the register used.
Soft Reset
Constant FL Speed†
Constant FH1 Speed†
Constant FH2 Speed†
High FH1 Speed†
High FH2 Speed†
Rampdown
Stop Immediately
Ramp Down and Stop
Bit D5 enables/disables INT which occurs at the end of motion. When D5 = 1, INT output will
go active at the end of motion, and could cause PIC 0 to interrupt the CPU. When D5 = 0, INT
output will remain inactive.
Soft Reset. This command must be issued at the beginning of every profile routine.
Constant FL Speed. This command will cause the controller to generate pulses at a constant
rate determined by the value in the R1 Register. The other two constant speed commands (FH1
and FH2) operate identically with FH1 or R2 and FH2 or R3 registers to determine the pulse
rate.
High FH1/FH2 Speed Command Register. The High FH1/FH2 speed command will cause the
controller to generate pulses starting at the FL rate and will accelerate to the FH1/FH2 rate.
Rampdown. This command will cause the pulses out of the controller to decelerate from the
FH1(R2) or FH2(R3) pulse rate (depending on which pulse rate command was active prior to the
Ramp-Down Command) to the FL(R1) pulse rate.
Stop Immediately. This command will cause the pulses out of the controller to stop immediately.
Ramp Down and Stop. This command will cause the pulses out of the controller to decelerate as
described in the rampdown command, then once FL(R1) pulse rate is reached, the pulses out of
the controller will stop.
Loading...