Cito System PC/104 Manual de usuario
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.
Copyright 2004 by Cito Systems
Navigator™ and C-Motion™are trademarks of Performance Motion Devices
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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.
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Millennium Series PC/104 Motion Controller Manual
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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
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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
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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:
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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:
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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.
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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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Tabla de contenidos
