MEI DSP Series User manual

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SM
View
Instra

Version 1.5 - 1997
DSP Series
Motion Controller
Installation Guide
Mar 2002
33 South La Patera Lane
Santa Barbara, CA 93117
ph [phone]
fax [phone]
[email protected]
For the following MEI motion controllers:
CPCI Bus ISA Bus PC-104 Bus STD Bus
CPCI/DSP PCX/DSP 104/DSP SERCOS/STD
PCI Bus LC/DSP 104X/DSP STD/DSP
PCI/DSP SERCOS/DSP SERCOS/104 VME Bus
V6U/DSP
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

DSP Series Motion Controller
Installation Guide
Mar 2002
Part # M001-0001 rev. B
Copyright 2002, Motion Engineering, Inc.
Motion Engineering, Inc.
33 South La Patera Lane
Santa Barbara, CA 93117-3214
ph 805-681-3300
fax [phone]
e-mail: [e-mail]
website: http://www.motioneng.com ftp site: ftp.motioneng.com
This document contains proprietary and confidential
information of Motion Engineering, Inc. and is protect-
ed by Federal copyright law. The contents of the docu-
ment may not be disclosed to third parties, translated,
copied, or duplicated in any form, in whole or in part,
without the express written permission of Motion En-
gineering, Inc.
The information contained in this document is subject
to change without notice. No part of this document
may be reproduced or transmitted in any form or by
any means, electronic or mechanical, for any purpose,
without the express written permission of Motion En-
gineering, Inc.
All product names shown are trademarks or registered
trademarks of their respective owners.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

CONTENTS
i
1QUICK START
For Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
For Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Motion Developer’s Support Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
How to Contact Us . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
VERSION.EXE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Firmware Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
2CONFIGURE &
INSTALL BOARD
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
STCs and Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
For the PCX, CPCI, STD, 104X & V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
For the 104 & LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
For the PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Cable Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
I/O Port Address Space for PC-based Architectures . . . . . . . . . . . . . . . . . . . . . . . 2-4
Base I/O Address Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
PCX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
CPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
No Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Accessing the CPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
No Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Accessing the PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Connect Cables/ InsertBoard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
STD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
SERCOS/STD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
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C
ONTENTS
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Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
104X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
SERCOS/104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Set the Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
SERCOS/DSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Locate Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Set Base I/O Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Set the Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Connect Cables/Insert Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
3TESTCONTROLLER’S
I/O ADDRESS
Using Motion Console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Using SETUP.EXE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Using CONFIG.EXE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Other CONFIG Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
4CONNECTSTCSTO
AMPS/MOTOR/ENCODER
PCX, STD, 104X, CPCI & V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Connections to Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Brush Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . . 4-3
Connections to Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Closed-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Connections for Dual-Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Encoder Integrity Checking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Broken Wire & Illegal State Detection . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
LC, 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Connections to Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
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C
ONTENTS
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Brush Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . . 4-12
Connections to Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Closed-loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
Connections for Dual-Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Connections to Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Brush Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . . 4-17
Connections to Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Closed-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
Connections for Dual-Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Connections for Encoder Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
5CONNECTSTCSTO
DISCRETE I/O
Dedicated and User I/O Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Opto-Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
(PCX, V6U, 104X, CPCI, STD only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Analog Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
(PCX, CPCI, STD, V6U Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Low Pass Filters on Analog Inputs (V6U only) . . . . . . . . . . . . . . . . . . . . 5-4
8254 Counter Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
(PCX, CPCI, STD, V6U Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Home and Limit Switch Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
PCI/DSP Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Opto-Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Opto-Circuit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
Dedicated I/O - PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Amplifier Enable Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
In_Position Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Amplifier Fault Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Home and Limit Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Bi-Directional User I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Analog Input Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
6TESTSYSTEM
Closed-Loop Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Step 1: Connect Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Step 2: Test Encoder Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Step 3: Connect the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
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C
ONTENTS
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Step 4: Manually Turn the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Step 5: Verify Motor/Encoder Phasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Step 6: Exercise the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Step 7: Tune the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Open-Loop Stepper Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Step 1: Connect Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Step 2: Manually Turn the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Step 3: Exercise the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
AMOREABOUTWIRING
Wiring Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1
Velocity/Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1
Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1
Brush/Brushless Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-2
Step-and-Direction Controlled Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . .A-2
Wiring Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-3
Open-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-3
Direction Pulse Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-4
Closed-Loop Step Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-4
BMOTIONCONSOLE REFERENCE
Controller List Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Open Axis Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-6
CSETUP.EXE
Intro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-2
For DOS, Win 3.x & Win 95/98 Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
To Load the SETUP Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Saving Default Parameters to the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
Functional Grouping by Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
SETUP Menus & Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5
File Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Load Defaults from File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Save Defaults to File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
DOS Shell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
About . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7
Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7
Configure Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8
I/O Base Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8
Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-9
Axis Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-11
Limit Switch Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13
Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14
Reset (F9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-14
Status Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-15
Position Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-15
Axis Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-15
Dedicated I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-16
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Motion Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-17
Point-to-Point Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-17
Graphic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-18
DTUNING
Intro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-2
The Digital Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-3
Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-5
Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-6
Derivative Gain (Kd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-9
Integral Gain (Ki) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-12
Velocity Feed-Forward (Kv) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-13
Acceleration Feed-Forward (Ka ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-14
Offset (Ko) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-14
Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-14
Friction Feed-Forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-15
Integration Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-15
Tuning Closed-Loop Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-16
Step 1: Set Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-16
Step 2: Set the Derivative Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-16
Step 3: Iterate Steps 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-16
Step 4: Set Integral Gain (Ki ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-16
Step 5: Set Velocity and Acceleration Feed-Forward . . . . . . . . . . . . . . . . . .D-17
Tuning Closed-Loop Steppers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-18
Step 1: Set Proportional Gain (Kp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-18
Step 2: Set Velocity & Acceleration Feed-Forward Gains (Kv, Ka) . . . . . . .D-18
Step 3: Set the Integral Gain (Ki) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .D-19
ECONNECTIONS&
SPECIFICATIONS
Motor Signal Header Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
PCX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
CPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
STD, 104X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-4
LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-4
Dedicated & User I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-5
PCX, CPCI, STD & V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-5
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
104, LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-8
Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
PCX, CPCI, STD, 104X, V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9
CPCI/DSP Rear I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-11
Notes for CPCI Rear I/O Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-14
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-14
104, LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-16
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-18
Power Consumption Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-18
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PCX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-19
CPCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-20
PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-21
STD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-22
SERCOS/STD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-23
V6U . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-24
104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-25
104X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-26
SERCOS/104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-27
LC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-28
SERCOS/DSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-29
LED Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-30
FOPTOCONREFERENCE
Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .F-2
Switch S1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
Switches S2, S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .F-4
Screw Terminal Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5
For Axes 0, 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5
For Axes 2, 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-6
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-7
Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-8
Circuit Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .F-9
Connect an OptoCon Input to a Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-9
Connect an OptoCon Input to an Open Collector Driver . . . . . . . . . . . . . . . F-10
Connect an OptoCon Output to an Amplifier Enable Input . . . . . . . . . . . . . F-11
Using an Internal Pull-Up Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-11
Using an Internal Pull-Down Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . F-12
Connect an OptoCon Output to a Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-13
INDEX
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CHAPTER 1 QUICK START
If you are familiar with motion controller connections, Quick Start offers a fast and easy instal-
lation procedure. If you are less familiar with motion controller connections, follow the proce-
dures in Chapters, 2 - 6, which contain wiring diagrams and more detailed installation
procedures.
If you have Windows NT, 95/98 or 3.11, then Motion Console is available for set-up procedures
(the Microsoft Win32S extensions are available at no charge from Microsoft). Motion Console
provides a powerful means to set-up, configure, test and debug motion control systems that use
MEI controllers.
If you use only DOS, then see Appendix C, SETUP.EXE for set-up procedures.
For Servo Motors 1-2
For Step Motors 1-3
Motion Developer’s Support Program 1-4
How to Contact Us 1-4
VERSION.EXE 1-5
Firmware Versions 1-5
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ForServo Motors
For Servo Motors
1. Set the controller I/O address (0x300 is the default) using the on-board dip switches.
2. Install the controller in the computer.
3. Make sure the amplifier is turned off. Connect the encoders to the controller.
4. Install the MEI software as described in the release note included with the distribution.
Run Motion Console (located in the Motion Engineering program group under Start).
5. In the Hardware Summary window, Click Add Controller (go to PCI tab if using PCI/
DSP or CPCI controller).
In the dialog box, enter a name for the controller.
If a controller’s address is different from the default, enter an address.
6. In the Axis List, double-click on an axis to open the Axis Operation window for that
axis. Verify encoder operation by manually turning the motor shaft for the axis. As
you turn the shaft, the Actual field in the Position Status display should change.
7. In the Axis Operation window, set the PID to zero by entering “0” in Kp, Ki, and Kd
fields of the Tuning Parameters controls.
8. In the Axis Operation window, click the Clear Position and Clear Fault buttons.
9. Verify all motor and amplifier wiring, turn on and enable the amplifier. If the control-
ler’s amp enable output is connected to the amplifier, you must configure the amp en-
able logic (in the Dedicated I/O window). Next, to activate the amplifier, in the Axis
Operation window click Enable in the Amplifier group.
If the amplifier is in torque mode, you should be able to turn the motor shaft by hand.
If the amplifier is in velocity mode, the motor shaft should be stiff. For more informa-
tion, consult the amplifier manufacturer’s documentation.
10. Verify the encoder phasing by entering positive and negative values in the Offset field
of the Tuning Parameters display. Start at 10 and increase the offset until the motor is
turning slowly. The Actual field in the Position Status section should display increas-
ing values. If you enter a negative value in Offset, Actual should display decreasing
values.
Ifpositiveoffset does not result inincreasingencoder counts, then the encoderphasing
is incorrect.
Set the Offset to 0, turn off the amplifier and host computer, and exchange the A and
B encoder leads. Repeat this procedure starting again with a 10 value in the Offset field
to verify proper phasing.
11. Continue to exercise and tune the system as described in Appendix D, Tuning Closed-
Loop Systems.
CPCI & PCI
Users: Because the CPCI and PCI controllers comply with the PCI Plug and Play specification, they do not have any on-board DIP switches. Instead, a soft-
ware utility (included in your distribution) checks the address that the sys-
tem assigns to the CPCI and PCI controllers. Refer to Section, PCI on
page 2-10, for more information.
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ForStepMotors
For Step Motors
1. Set the controller I/O address (0x300 is the default) using dip switches.
2. Install the controller in the computer and connect the step drive.
3. Make sure the step drive is turned off.
4. Install the MEI software as described in the release note included with the distribution.
Start Motion Console (located in the Motion Engineering program group under Start).
5. Click Add Controller in the Hardware Summary window (go to PCI tab if using PCI/
DSP or CPCI/DSP controller). Enter the name of the controller in the dialog box. Mo-
tion Console uses the default address 0x300 for the controller.
6. Choose the axis in the Axis List and click the Configure Axis button. On the Axis Con-
figuration property page, configure the axis as Stepper, Open Loop, Unipolar. Click
Close. If using an encoder, choose Close Loop and follow the instructions for phasing
encoders in “For Servo Motors” (begin with step 7).
Note!
The Step output rate defaults to Slow (0-20 kHz). For greater step output, choose Me-
dium(0-80kHz), Fast (0-325 kHz) orSuperfast(0-550 kHz) in the AxisConfiguration
property page.
7. In the Axis Operation window, click the Clear Position and Clear Fault buttons.
8. Turnon the step drive.Verify all motor anddrive wiring, turn on thedrive, and enable
the drive. If the controller’s amp enable output is connected to the drive, you must
configure the amp enable logic in the Dedicated I/O window. Then click Enable in the
Amplifier group in the Axis Operation window to activate the amplifier.
If the drive is in torque mode, you should be able to turn the motor shaft by hand. If
the drive is in velocity mode, the motor shaft should be stiff. For more information,
consult the amplifier manufacturer’s documentation.
9. Command a trapezoidal motion by entering position, velocity, and acceleration values
in the Axis Operation window.
10. Verify that the motor turns one rotation when the appropriate number of steps are com-
manded.
CPCI & PCI
Users: Because the CPCI and PCI controllers comply with the PCI Plug and Play specification, they do not have any on-board DIP switches. Instead, a soft-
ware utility (included with your distribution) checks the address that the
system assigns to the CPCI and PCI controllers. Refer to Section, PCI on
page 2-10, for more information.
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MotionDeveloper’sSupportProgram
Howto ContactUs
Motion Developer’s Support Program
Motion Engineering takes technical support seriously. We want your system to work! To con-
tinuetoprovidethe best possible applications support, we have createdtheMotionDeveloper’s
Support Program. Participation in the Motion Developer’s Support Program is required in or-
der to receive applications support. Contact MEI for additional information.
MEI’s Motion Developer’s Support Program ensures that your critical project will receive the
utmost applications support for timely problem resolution and faster development.
The Motion Developer’s Support Program includes:
One year of 24 hour/day, 7-day/week application technical support by telephone, e-mail,
and/or fax (weekends and holidays included)
Priority access to application engineers with reponse in the same business day
Updated Motion Developer’s Kit - provided on CD-ROM. This includes MEI’s DSP Se-
ries development tools, libraries, and sample code for Windows NT, Windows 95/98, and
Windows 3.x with the current MEI features, functions, and bug fixes
One year of software maintenance and updates for MDK software, tools, libraries, and
sample applications code.
How to Contact Us
Support is available through our corporate office:
Software Updates
MEI periodically releases new software/firmware versions. New features are implemented,
performance enhanced and new applications developed. The latest firmware/software releases
are available on our FTP site at ftp://ftp.motioneng.com. These files are password protected,
please contact MEI for information.
The DSP controller has non-volatile memory space to store the firmware and configuration pa-
rameters. All of the DSP Series controllers are compatible with the latest firmware and soft-
ware versions. Firmware can be easily downloaded to the controller with CONFIG.EXE.
Future Controller Purchases
Motion Engineering ships the DSP Series controllers with the latest software, firmware, and
on-board programmable logic. When building multiple machines we recommend that you save
a configured version of your firmware to a diskette. The next time that you build a machine,
load the firmware (from diskette) to the DSP Series controller (use the CONFIG program).
This method is easiest.
We are constantly adding new features and improving the capability of our controllers. The
hardware and on-board programmable logic are revised to meet the increasing demands. All
future hardware/programmable logic revisions are backwards compatible with older software/
firmware revisions, and future new features can be enabled with the latest versions of software/
firmware.
24-hour support [phone]
Fax [phone]
e-mail [email protected]
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MotionDeveloper’sSupportProgramVERSION.EXE
VERSION.EXE
The VERSION program reads the current firmware version number and hardware identity
from the DSP Series controller and displays them on the screen. The firmware version and op-
tion numbers can be read directly from your application code with the functions
dsp_version(...) and dsp_option(...).
Firmware Versions
MEI always ships the DSP Series controllers with the latest software and firmware. The firm-
ware, software, and Motion Console all have a version check built into the code. If the library
version is incompatible with the firmware version, controller status will be listed as “bad” in
Motion Console’s Controller List and the controller will be inaccessible.
If you wish to use an earlier version of the firmware on a newly purchased controller, or if you
have an older controller and want to use a new firmware version, run the CONFIG program as
described in the section in CONFIG.EXE Board Configuration Program, or use the Motion
Console application.
Note that current firmware versions are available 24 hours a day on Motion Engineering’s FTP
site (ftp.motioneng.com). Files for downloading are located in the /pub directory. These files
are password protected, please contact MEI for information.
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2-1
CHAPTER 2 CONFIGURE&
INSTALL BOARD
Overview
Basically, there are 4 steps to installing DSP Series controllers:
1. Set an I/O address for the controller that does not conflict with any peripheral devices.
2. Set the Interrupt Request Level (IRQ) for the controller (optional).
3. Install the controller in computer.
4. Verify communication using Motion Console. (SERCOS controllers must be initial-
ized before verifying communications. See DSP Series C Programming Reference for
more information).
Detailed instructions for each of these steps are organized by individual controllers.
Product
PCX 2-6
CPCI 2-8
PCI 2-10
STD 2-11
SERCOS/STD 2-13
V6U 2-15
104 2-19
104X 2-21
SERCOS/104 2-23
LC 2-25
SERCOS/DSP 2-27
Warning! MEI motion controller boards are sensitive electronic devices and require handling
with proper ESD protection. Please do not touch the controller’s bus interface.
CPCI & PCI
Users: Because CPCI & PCI controllers comply with the PCI Plug and Play specifi- cation, they do not have any on-board DIP switches. The system assigns the
address and IRQ resources to each device at bootup. The software utility
Motion Console, supplied with the distribution CD-ROM, returns the
resources assigned to the controller.
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STCsand Cables
ForthePCX, CPCI, STD, 104X&V6U
STCs and Cables
We recommend using STC modules to provide quick and easy screw terminal connections to
the controller’s signals. Basically, you connect the controller to the STC modules using ribbon
cables, and then you connect the rest of the system to the STC modules (using discrete wires).
STC's mount on standard DIN rail.
For the PCI, connect the controller to the STC modules using high-density shielded, twisted
pair cables, and then you connect the rest of the system to the STC modules (using discrete
wires). STC’s mount on standard DIN rail.
Using STCs with ribbon cables provides your system with a clean and reliable interface. All
ribbon cables are tested at the factory.
For the PCX, CPCI, STD, 104X & V6U
For the 104 & LC
STC-20 - Connection module for analog inputs, 1 required per controller.
STC-26 - Connection module for motor axes, 1 required for 2 motor axes.
STC-50 - Connection module for I/O lines, 1 required for each I/O header.
STC MODULES
FORPCX, CPCI,
STD, 104X, V6U
CBL-20 - Analog input ribbon cable, 1 required per controller.
CBL-26 - Motor axes ribbon cable, 1 required for every 2 axes.
CBL-50 - I/O ribbon cable, 1 required for every I/O header.
CABLES
FORPCX, CPCI,
STD,104X, V6U
STC-50 - Connection module for I/O lines, motor and encoder feedback.
One required for every 2 axes.
STC MODULE
FOR104, LC
OptoCon - Optically isolated Screw Terminal Connection module. Pro-
vides optical isolation for dedicated and user I/O. The OptoCon is a pin
compatible replacement for the STC-50. One required for every 2 axes.
OPTOCON
FOR104, LC
CBL-50 - Ribbon cable.
CBL-100 - 100 pin high density male connector (Hirose) that mates to a
100 pin high density female (Hirose, #HIF6100-1.27R) connector and
breaks out into 2 standard 50-pin ribbon cables required for 104 and LC.
CABLES
FOR104, LC
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STCsand CablesForthePCI
For the PCI
Cable Connectors
When installing MEI ribbon cables (ribbon cables are not used with the PCI controller), notice
that the connectors (one at each end) are different. The non-strain relieved connectors fit into
the headers on the controller. The strain relieved connectors fit into the STC modules.
STC-D50 - Connection module for User I/O, 1 required per controller.
STC-136 - Connection to four axes of I/O, 1 required for per controller.
STC MODULES
FORPCI
CBL-68 - Shielded cable for I/O connections, 2 required per controller.
CBL-50V - Shielded cable for User I/O connections, 1 required per
controller
CABLES
FORPCI
Non-Strain Relieved Connector
(Connects to controller) Strain-Relieved Connector
(Connects to STC module)
CABLECONNECTORS
Ribbon
Cable
STC-xx
DSP
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I/OPortAddress Space forPC-basedArchitectures
Base I/OAddress Usage
I/O Port Address Space for PC-based Architectures
The DSP is mapped into the I/O space of the host CPU. The base I/O address is the first address
of a 16 byte contiguous block of addresses. Starting with the base I/O address, the controller
uses 16 address locations in the host computer's I/O space. All data transfers between the host
computer and controller are done through this memory window.
The next table shows a typical mapping of I/O Port address space for PC-based architectures.
(This does not include CompactPCI. See section CPCI on page 2-8).
Base I/O Address Usage
Communicationbetween the host CPU and the DSPSeries controller occurs through a memory
window. The start of this memory window is set by the address switch SW1 (for all DSP con-
trollers except V6U). The DSP Series controllers use 6 addresses on the ISA/104/STD bus (see
next table).
Warning!The controller must not share this I/O space (the 16 address locations) with any
other devices.
Table 2-1 Typical Mapping of I/O Port Address Space
Hex Address Typical Uses Hex Address Typical Uses
200 - 20F Game Control Adapter 300 - 31F Prototype Card
210 - 237 Not Used 320 - 32F XT Hard Disk
238 - 23F Bus Mouse 330 - 377 Not Used
240 - 277 Not Used 378 - 37F Printer Port
278 - 27F Second Printer Port 380 - 3AF SDLC
280 - 2AF Not Used 3B0 - 3BF Mono & Printer
2B0 - 2DF EGA 3C0 - 3CF EGA
2E0 - 2E7 GPIB 3D0 - 3DF CGA
2E8 - 2EF Extra Serial Port 3E0 - 3E7 Not Used
2F0 - 2F7 Not Used 3E8 -3EF Extra Serial Port
2F8 - 2FF Serial Port 2 3F0 - 3F7 Disk Drive Controller
3F8 - 3FF Serial Port 1
Table 2-2 6 Addresses on the ISA/104/STD bus
Address Description Read/Write Size
0x300 Address Low 8-bit Write Only
0x301 Address High 8-bit Write Only
0x302 Data Low 8-bit Read/Write
0x303 Data High 8-bit Read/Write
0x304 Set/Reset Flip-Flop 8-bit Write Only
0x305 (Clear Reset) Flip-Flop 8-bit Write Only
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I/OPortAddress Space forPC-basedArchitectures
Base I/OAddress Usage
Figure 2-1 Host/DSP Communications over ISA/104/STD Bus
Communication occurs in 2 steps.
1. First the address is set by writing to 0x300 and 0x301 with two 8-bit writes. This “con-
nects”the ISA bus data linestothe specified location in thecontroller’s internal memory
map.
2. Next, the data is read/write on addresses 0x302 and 0x303 with two 8-bit read/writes.
Host/DSP
Communications
ISA/104/STD
BUSRAM
DSP Address Low Byte
DSP Address High Byte
DSP Data Low Byte
DSP Data Low Byte
Set/Reset DSP Flip-Flop
Clear Reset DSP Flip-Flop
HOSTI/O SPACE DSP SERIESCONTROLLER
Address
Data
Ablock of1/0addresses
Memory Window For DSP
0x300
0x301
0x302
0x303
0x304
0x305
0x309
0x30F
0x310
Host writes address to DSP
Host reads or writes data to DSP
1
2
1
2
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PCX
LocateSwitches
PCX
Locate Switches
Figure 2-2 PCX Address and IRQ Switch Locations
Set Base I/O Address
Use the SW1 dipswitch on each controller to set the base I/O address.
Set the Interrupts
The DSP Series controllers can generate interrupts to the host CPU. SW2 connects the control-
ler’s interrupt circuitry to one of the host CPU’s IRQ lines.
To use one of the IRQ lines, you must configure switch SW2. Configure switch SW2 for the
interrupt, (IRQ2, IRQ3, ...) that you want the PCX to use.
Table 2-3 Base Address Switch SW1
Address 8 7 6 5 4 3 2 1
240 on on OFF on on OFF on on
250 on on OFF on on OFF on OFF
260 on on OFF on on OFF OFF on on = low
270 on on OFF on on OFF OFF OFF OFF = high
300 on on OFF OFF on on on on Default
310 on on OFF OFF on on on OFF
320 on on OFF OFF on on OFF on
330 on on OFF OFF on on OFF OFF
340 on on OFF OFF on OFF on on
350 on on OFF OFF on OFF on OFF
360 on on OFF OFF on OFF OFF on
370 on on OFF OFF on OFF OFF OFF
ON ON
Base I/O Address
Interrupts IRQ Select
PCX
PCX SWITCHES
SW 2 SW 1
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