548 lines
21 KiB
Groff
548 lines
21 KiB
Groff
\# Author Andy Pugh
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\# Issued under the terms of the GPL v2 License or any later version
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.TH SSERIAL "9" "2008-05-13" "LinuxCNC Documentation" "HAL Component"
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.de TQ
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.br
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.ns
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.TP \\$1
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..
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.SH NAME
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hostmot2 - Smart Serial LinuxCNC HAL driver for the Mesa Electronics HostMot2
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Smart-Serial remote cards
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.SH SYNOPSIS
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The Mesa Smart-Serial interface is a 2.5Mbs proprietary interface between the
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Mesa Anything-IO cards and a range of subsidiary devices termed "smart-serial
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remotes".
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The remote cards perform a variety of functions, but typically they combine
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various classes of IO.
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The remot cards are self-configuring, in that they tell the main LinuxCNC
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Hostmot2 driver what their pin functions are and what they should be named.
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Many sserial remotes offer different pinouts depending on the mode they are
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started up in. This is set using the sserial_port_N= option in the
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hm2_pci modparam. See the hostmot2 manpage for further details.
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It is likely that this documentation will be permanently out of date.
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Each Anything-IO board can attach up to 8 sserial remotes to each header
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(either the 5-pin headers on the 5i20/5i22/5i23/7i43 or the 25-pin connectors on
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the 5i25, 6i25 and 7i80). The remotes are grouped into "ports" of up to 8
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"channels". Typically each header will be a single 8 channel port, but this is
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not necessarily always the case.
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.SH PORTS
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In addition to the per-channel/device pins detailed below there are three
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per-port pins and three parameters.
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Pins:
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(bit, in) .sserial.port\-N.run: Enables the specific Smart Serial module.
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Setting this pin low will disable all boards on the port and puts the port in a
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pass-through mode where device parameter setting is possible. It is necessary
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to toggle the state of this pin if there is a requirement to alter a
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remote parameter on a live system.
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This pin defaults to TRUE and can be left unconnected. However, toggling the pin
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low-to-high will re-enable a faulted drive so the pin could usefully be
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connected to the iocontrol.0.user\-enable\-out pin.
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(u32, ro) .run_state: Shows the state of the sserial communications state-machine.
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This pin will generally show a value of 0x03 in normal operation, 0x07 in
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setup mode and 0x00 when the "run" pin is false.
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(u32, ro) .error\-count: Indicates the state of the Smart Serial error handler,
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see the parameters sections for more details.
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Parameters:
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(u32 r/w) .fault\-inc: Any over-run or handshaking error in the SmartSerial
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communications will increment the .fault\-count pin by the amount specified by
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this parameter. Default = 10.
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(u32 r/w) .fault\-dec: Every successful read/write cycle decrements the fault
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counter by this amount. Default = 1.
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(u32 r/w) .fault\-lim: When the fault counter reaches this threshold the Smart
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Serial interface on the corresponding port will be stopped and an error printed
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in dmesg. Together these three pins allow for control over the degree of fault-
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tolerance allowed in the interface. The default values mean that if more than
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one transaction in ten fails, more than 20 times, then a hard error will be
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raised. If the increment were to be set to zero then no error would ever be
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raised, and the system would carry on regardless. Conversely setting decrement to
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zero, threshold to 1 and limit to 1 means that absolutely no errors will be
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tolerated. (This structure is copied directly from vehicle ECU practice)
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Any other parameters than the ones above are created by the card istelf from
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data in the remote firmware. They may be set in the HAL file using "setp" in
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the usual way.
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NOTE: Because a Smart-Serial remote can only communicate non-process data
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to the host card in setup mode it is necessary to stop and re-start the
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smart-serial port associated with the card to alter the value of a parameter.
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HALSO NOTE: in the case of parameters beginning with "nv" (which are stored
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in non-volatile memory) the effect will not be seen until after the next
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power cycle of the drive.
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Unchanged values will not be re-written so it is safe to leave the
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"setp" commands in the HAL file or delete them as you see fit.
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.SH DEVICES
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The other pins and parameters created in HAL depend on the devices detected.
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The following list of Smart Serial devices is by no means exhaustive.
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.TP
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.SH 8i20
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The 8i20 is a 2.2kW three-phase drive for brushless DC motors and AC servo
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motors.
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8i20 pins and parameters have names like
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"hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.8i20.\fI<PortNum>\fR.\fI<ChanNum>\fR.\fI<Pin>\fR", for example
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"hm2_5i23.0.8i20.1.3.current" would set the phase current for the drive
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connected to the fourth channel of the second sserial port of the first 5i23
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board. Note that the sserial ports do not necessarily correlate in layout or
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number to the physical ports on the card.
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Pins:
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.TP
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(float in) angle
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The rotor angle of the motor in fractions of a full
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\fBphase\fR revolution. An angle of 0.5 indicates that the motor is half a turn
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/ 180 degrees / \[*p] radians from the zero position. The zero position is taken to
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be the position that the motor adopts under no load with a poitive voltage
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applied to the A (or U) phase and both B and C (or V and W) connected to \-V or
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0V. A 6 pole motor will have 3 zero positions per physical rotation. Note that
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the 8i20 drive automatically adds the phase lead/lag angle, and that this pin
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should see the raw rotor angle. There is a HAL module (bldc) which handles the
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complexity of differing motor and drive types.
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.TP
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(float, in) current
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The phase current command to the drive. This is scaled
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from \-1 to +1 for forwards and reverse maximum currents. The absolute value of
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the current is set by the max_current parameter.
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.TP
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(float, ro) bus-voltage
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The drive bus voltage in V. This will tend to show 25.6V
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when the drive is unpowered and the drive will not operate below about 50V.
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.TP
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(float, ro) temp
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The temperature of the driver in degrees C.
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.TP
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(u32, ro) comms
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The communication status of the drive. See the manual for
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more details.
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.TP
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(bit, ro) status and fault.
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The following fault/status bits are exported. For further details see the
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8i20 manual.
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fault.U\-current / fault.U\-current\-not
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fault.V\-current / fault.V\-current\-not
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fault.W\-current / fault.W\-current\-not
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fault.bus\-high / fault.bus\-high\-not
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fault.bus\-overv / fault.bus\-overv\-not
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fault.bus\-underv / fault.bus\-underv\-not
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fault.framingr / fault.framingr\-not
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fault.module / fault.module\-not
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fault.no\-enable / fault.no\-enable\-not
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fault.overcurrent / fault.overcurrent\-not
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fault.overrun / fault.overrun\-not
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fault.overtemp / fault.overtemp\-not
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fault.watchdog / fault.watchdog\-not
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status.brake\-old / status.brake\-old\-not
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status.brake\-on / status.brake\-on\-not
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status.bus\-underv / status.bus\-underv\-not
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status.current\-lim / status.current\-lim\-no
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status.ext\-reset / status.ext\-reset\-not
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status.no\-enable / status.no\-enable\-not
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status.pid\-on / status.pid\-on\-not
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status.sw\-reset / status.sw\-reset\-not
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status.wd\-reset / status.wd\-reset\-not
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.TP
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Parameters:
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The following parameters are exported. See the pdf documentation downloadable
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from Mesa for further details
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hm2_5i25.0.8i20.0.1.angle\-maxlim
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hm2_5i25.0.8i20.0.1.angle\-minlim
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hm2_5i25.0.8i20.0.1.angle\-scalemax
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hm2_5i25.0.8i20.0.1.current\-maxlim
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hm2_5i25.0.8i20.0.1.current\-minlim
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hm2_5i25.0.8i20.0.1.current\-scalemax
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hm2_5i25.0.8i20.0.1.nvbrakeoffv
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hm2_5i25.0.8i20.0.1.nvbrakeonv
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hm2_5i25.0.8i20.0.1.nvbusoverv
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hm2_5i25.0.8i20.0.1.nvbusundervmax
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hm2_5i25.0.8i20.0.1.nvbusundervmin
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hm2_5i25.0.8i20.0.1.nvkdihi
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hm2_5i25.0.8i20.0.1.nvkdil
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hm2_5i25.0.8i20.0.1.nvkdilo
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hm2_5i25.0.8i20.0.1.nvkdp
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hm2_5i25.0.8i20.0.1.nvkqihi
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hm2_5i25.0.8i20.0.1.nvkqil
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hm2_5i25.0.8i20.0.1.nvkqilo
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hm2_5i25.0.8i20.0.1.nvkqp
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hm2_5i25.0.8i20.0.1.nvmaxcurrent
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hm2_5i25.0.8i20.0.1.nvrembaudrate
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hm2_5i25.0.8i20.0.1.swrevision
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hm2_5i25.0.8i20.0.1.unitnumber
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.TP
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(float, rw) max_current
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Sets the maximum drive current in Amps. The default
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value is the maximum current programmed into the drive EEPROM. The value must be
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positive, and an error will be raised if a current in excess of the drive
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maximum is requested.
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.TP
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(u32, ro) serial_number
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The serial number of the connected drive. This is
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also shown on the label on the drive.
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.TP
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.SH 7i64
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The 7i64 is a 24-input 24-output IO card.
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7i64 pins and parameters have names like "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.7i64.
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<PortNum>.<ChanNum>.<Pin>", for example hm2_5i23.0.7i64.1.3.output\-01
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Pins:
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(bit, in) 7i64.0.0.output\-NN: Writing a 1 or TRUE to this pin will enable output
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driver NN. Note that the outputs are drivers (switches) rather than voltage
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outputs. The LED adjacent to the connector on the board shows the status.
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The output can be inverted by setting a parameter.
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(bit, out) 7i64.0.0.input\-NN: The value of input NN. Note that the inputs are
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isolated and both pins of each input must be connected (typically to signal and
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the ground of the signal. This need not be the ground of the board.)
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(bit, out) 7i64.0.0.input\-NN\-not: An inverted copy of the corresponding input.
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(float, out) 7i64.0.0.analog0 & 7i64.0.0.analog1: The two analogue inputs
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(0 to 3.3V) on the board.
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Parameters:
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(bit, rw) 7i64.0.0.output\-NN\-invert: Setting this parameter to 1 / TRUE will invert
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the output value, such that writing 0 to .gpio.NN.out will enable the output
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and vice-versa.
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.TP
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.SH 7i76
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The 7i76 is not only a smart-serial device. It also serves as a breakout for a
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number of other Hostmot2 functions. There are connections for 5 step generators
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(for which see the main hostmot2 manpage). The stepgen pins are associated with
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the 5i25 (hm2_5i25.0.stepgen.00....) whereas the smart-serial pins are
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associated with the 7i76 (hm2_5i25.0.7i76.0.0.output\-00).
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Pins:
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(float out) .7i76.0.0.analogN (modes 1 and 2 only) Analogue input values.
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(float out) .7i76.0.0.fieldvoltage (mode 2 only) Field voltage monitoring pin.
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(bit in) .7i76.0.0.spindir: This pin provides a means to drive the spindle VFD
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direction terminals on the 7i76 board.
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(bit in) .7i76.0.0.spinena: This pin drives the spindle-enable terminals on the
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7i76 board.
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(float in) .7i76.0.0.spinout: This controls the analogue output of the 7i76.
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This is intended as a speed control signal for a VFD.
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(bit out) .7i76.0.0.output\-NN: (NN = 0 to 15). 16 digital outputs. The sense of
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the signal can be set via a parameter
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(bit out) .7i76.0.0.input\-NN: (NN = 0 to 31) 32 digital inputs.
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(bit in) .7i76.0.0.input\-NN\-not: (NN = 0 to 31) An inverted copy of the inputs
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provided for convenience. The two complementary pins may be connected to
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different signal nets.
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Parameters:
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(u32 ro) .7i76.0.0.nvbaudrate: Indicates the vbaud rate. This probably should
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not be altered.
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(u32 ro) .7i76.0.0.nvunitnumber: Indicates the serial number of the device and
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should match a sticker on the card. This can be useful for working out which
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card is which.
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(u32 ro) .7i76.0.0.nvwatchdogtimeout: The sserial remote watchdog timeout. This
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is separate from the Anything-IO card timeout. This is unlikely to need to be
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changed.
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(bit rw) .7i76.0.0.output\-NN\-invert: Invert the sense of the corresponding
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output pin.
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(bit rw) .7i76.0.0.spindir\-invert: Invert the senseof the spindle direction pin.
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(bit rw) .7i76.0.0.spinena\-invert: Invert the sense of the spindle\-enable pin.
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(float rw) .7i76.0.0.spinout\-maxlim: The maximum speed request allowable
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(float rw) .7i76.0.0.spinout\-minlim: The minimum speed request.
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(float rw) .7i76.0.0.spinout\-scalemax: The spindle speed scaling. This is the
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speed request which would correspond to full-scale output from the spindle
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control pin. For example with a 10V drive voltage and a 10000rpm scalemax a
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value of 10,000 rpm on the spinout pin would produce 10V output. However, if
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spinout\-maxlim were set to 5,000 rpm then no voltage above 5V would be output.
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(u32 ro) .7i76.0.0.swrevision: The onboard firmware revision number.
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Utilities (man setsserial for details) exist to update and change this firmware.
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.TP
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.SH 7i77
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The 7i77 is an 6-axis servo control card. The analogue outputs are smart-serial
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devices but the encoders are conventional hostmot2 encoders and further details
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of them may be found in the hostmot2 manpage.
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Pins:
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(bit out) .7i77.0.0.input\-NN: (NN = 0 to 31) 32 digital inputs.
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(bit in) .7i77.0.0.input\-NN\-not: (NN = 0 to 31) An inverted copy of the inputs
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provided for convenience. The two complementary pins may be connected to
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different signal nets.
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(bit out) .7i77.0.0.output\-NN: (NN = 0 to 15). 16 digital outputs. The sense of
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the signal can be set via a parameter
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(bit in) .7i77.0.0.spindir: This pin provides a means to drive the spindle VFD
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direction terminals on the 7i76 board.
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(bit in) .7i77.0.0.spinena: This pin drives the spindle-enable terminals on the
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7i76 board.
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(float in) .7i77.0.0.spinout: This controls the analog output of the 7i77.
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This is intended as a speed control signal for a VFD.
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(bit in) .7i77.0.1.analogena: This pin drives the analog enable terminals on the
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7i77 board.
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(float in) .7i77.0.1.analogoutN: (N = 0 to 5) This controls the analog output
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of the 7i77.
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Parameters:
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(bit rw) .7i77.0.0.output\-NN\-invert: Invert the sense of the corresponding
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output pin.
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(bit rw) .7i77.0.0.spindir\-invert: Invert the sense of the spindle direction pin.
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(bit rw) .7i77.0.0.spinena\-invert: Invert the sense of the spindle\-enable pin.
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(float rw) .7i77.0.0.spinout\-maxlim: The maximum speed request allowable
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(float rw) .7i77.0.0.spinout\-minlim: The minimum speed request.
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(float rw) .7i77.0.0.spinout\-scalemax: The spindle speed scaling. This is the
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speed request which would correspond to full-scale output from the spindle
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control pin. For example with a 10V drive voltage and a 10000rpm scalemax a
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value of 10,000 rpm on the spinout pin would produce 10V output. However, if
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spinout\-maxlim were set to 5,000 rpm then no voltage above 5V would be output.
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(float rw) .7i77.0.0.analogoutN\-maxlim: (N = 0 to 5) The maximum speed request
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allowable
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(float rw) .7i77.0.0.analogoutN\-minlim: (N = 0 to 5) The minimum speed request.
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(float rw) .7i77.0.0.analogoutN\-scalemax: (N = 0 to 5) The analog speed scaling.
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This is the speed request which would correspond to full-scale output from the
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spindle control pin. For example with a 10V drive voltage and a 10000rpm scalemax a
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value of 10,000 rpm on the spinout pin would produce 10V output. However, if
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spinout\-maxlim were set to 5,000 rpm then no voltage above 5V would be output.
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.TP
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.SH 7i69
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The 7i69 is a 48 channel digital IO card. It can be configured in four
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different modes:
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Mode 0 B 48 pins bidirectional (all outputs can be set high then driven low to
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work as inputs)
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Mode 1 48 pins, input only
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Mode 2 48 pins, all outputs
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Mode 3 24 inputs and 24 outputs.
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Pins:
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(bit in) .7i69.0.0.output\-NN: Digital output. Sense can be inverted with
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the corresponding Parameter
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(bit out) .7i69.0.0.input\-NN: Digital input
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(bit out) .7i69.0.0.input\-NN\-not: Digital input, inverted.
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Parameters:
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(u32 ro) .7i69.0.0.nvbaudrate: Indicates the vbaud rate. This probably should
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not be altered.
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(u32 ro) .7i69.0.0.nvunitnumber: Indicates the serial number of the device and
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should match a sticker on the card. This can be useful for working out which
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card is which.
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(u32 ro) .7i69.0.0.nvwatchdogtimeout: The sserial remote watchdog timeout. This
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is separate from the Anything-IO card timeout. This is unlikely to need to be
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changed.
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(bit rw) .7i69.0.0.output\-NN\-invert: Invert the sense of the corresponding
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output pin.
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(u32 ro) .7i69.0.0.swrevision: The onboard firmware revision number.
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Utilities exist to update and change this firmware.
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.TP
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.SH 7i70
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The 7I70 is a remote isolated 48 input card. The 7I70 inputs sense positive
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inputs relative to a common field ground. Input impedance is 10K Ohms and input
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voltage can range from 5VDC to 32VDC. All inputs have LED status indicators.
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The input common field ground is galvanically isolated from the communications
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link.
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The 7I70 has three software selectable modes. These different modes select
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different sets of 7I70 data to be transferred between the host and the 7I70
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during real time process data exchanges. For high speed applications,
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choosing the correct mode can reduced the data transfer sizes, resulting in
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higher maximum update rates.
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MODE 0 Input mode (48 bits input data only
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MODE 1 Input plus analog mode (48 bits input data plus 6 channels of analog data)
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MODE 2 Input plus field voltage
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Pins:
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(float out) .7i70.0.0.analogN (modes 1 and 2 only) Analogue input values.
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(float out) .7i70.0.0.fieldvoltage (mode 2 only) Field voltage monitoring pin.
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(bit out) .7i70.0.0.input\-NN: (NN = 0 to 47) 48 digital inputs.
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(bit in) .7i70.0.0.input\-NN\-not: (NN = 0 to 47) An inverted copy of the inputs
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provided for convenience. The two complementary pins may be connected to
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different signal nets.
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Parameters:
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(u32 ro) .7i70.0.0.nvbaudrate: Indicates the vbaud rate. This probably should
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not be altered.
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(u32 ro) .7i70.0.0.nvunitnumber: Indicates the serial number of the device and
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should match a sticker on the card. This can be useful for working out which
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card is which.
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(u32 ro) .7i70.0.0.nvwatchdogtimeout: The sserial remote watchdog timeout. This
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is separate from the Anything-IO card timeout. This is unlikely to need to be
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changed.
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(u32 ro) .7i69.0.0.swrevision: The onboard firmware revision number.
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Utilities exist to update and change this firmware.
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.TP
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.SH 7i71
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The 7I71 is a remote isolated 48 output card. The 48 outputs are 8VDC to 28VDC
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sourcing drivers (common + field power) with 300 mA maximum current capability.
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All outputs have LED status indicators.
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The 7I71 has two software selectable modes. For high speed applications,
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choosing the correct mode can reduced the data transfer sizes, resulting in
|
|
higher maximum update rates
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MODE 0 Output only mode (48 bits output data only)
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MODE 1 Outputs plus read back field voltage
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Pins:
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(float out) .7i71.0.0.fieldvoltage (mode 2 only) Field voltage monitoring pin.
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(bit out) .7i71.0.0.output\-NN: (NN = 0 to 47) 48 digital outputs. The sense may
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be inverted by the invert parameter.
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Parameters:
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(bit rw) .7i71.0.0.output\-NN\-invert: Invert the sense of the corresponding
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output pin.
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(u32 ro) .7i71.0.0.nvbaudrate: Indicates the vbaud rate. This probably should
|
|
not be altered.
|
|
|
|
(u32 ro) .7i71.0.0.nvunitnumber: Indicates the serial number of the device and
|
|
should match a sticker on the card. This can be useful for determining which
|
|
card is which.
|
|
|
|
(u32 ro) .7i71.0.0.nvwatchdogtimeout: The sserial remote watchdog timeout. This
|
|
is separate from the Anything-IO card timeout. This is unlikely to need to be
|
|
changed.
|
|
|
|
(u32 ro) .7i69.0.0.swrevision: The onboard firmware revision number.
|
|
Utilities exist to update and change this firmware.
|
|
|
|
.TP
|
|
.SH 7i73
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|
The 7I73 is a remote real time pendant or control panel interface.
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The 7I73 supports up to four 50KHz encoder inputs for MPGs, 8 digital inputs
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and 6 digital outputs and up to a 64 Key keypad. If a smaller keypad is used,
|
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more digital inputs and outputs become available. Up to eight 0.0V to 3.3V
|
|
analog inputs are also provided.
|
|
The 7I73 can drive a 4 line 20 character LCD for local DRO applications.
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|
The 7I73 has 3 software selectable process data modes. These different modes
|
|
select different sets of 7I73 data to be transferred between the host and the 7
|
|
I73 during real time process data exchanges. For high speed applications,
|
|
choosing the correct mode can reduced the data transfer sizes, resulting in
|
|
higher maximum update rates
|
|
MODE 0 I/O + ENCODER
|
|
MODE 1 I/O + ENCODER +ANALOG IN
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|
MODE 2 I/O + ENCODER +ANALOG IN FAST DISPLAY
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|
Pins:
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(float out) .7i73.0.0.analoginN: Analogue inputs. Up to 8 channels may be
|
|
available dependent on software and hardware configuration modes.
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|
(see the pdf manual downlaodable from www.mesanet.com)
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(u32 in) .7i73.0.1.display (modes 1 and 2). Data for LCD display. This pin may
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be conveniently driven by the HAL "lcd" component which allows the formatted
|
|
display of the values any number of HAL pins and textual content.
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(u32 in) .7i73.0.1.display32 (mode 2 only). 4 bytes of data for LCD display.
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|
This mode is not supported by the HAL "lcd" component.
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|
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(s32 out) .7i73.0.1.encN: The position of the MPG encoder counters.
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|
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|
(bit out) .7i73.0.1.input\-NN: Up to 24 digital inputs (dependent on config)
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|
(bit out) .7i73.0.1.input\-NN\-not: Inverted copy of the digital inputs
|
|
|
|
(bit in) .7i73.0.1.output\-NN: Up to 22 digital outputs (dependent on config)
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|
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|
Parameters:
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|
(u32 ro) .7i73.0.1.nvanalogfilter:
|
|
(u32 ro) .7i73.0.1.nvbaudrate
|
|
(u32 ro) .7i73.0.1.nvcontrast
|
|
(u32 ro) .7i73.0.1.nvdispmode
|
|
(u32 ro) .7i73.0.1.nvencmode0
|
|
(u32 ro) .7i73.0.1.nvencmode1
|
|
(u32 ro) .7i73.0.1.nvencmode2
|
|
(u32 ro) .7i73.0.1.nvencmode3
|
|
(u32 ro) .7i73.0.1.nvkeytimer
|
|
(u32 ro) .7i73.0.1.nvunitnumber
|
|
(u32 ro) .7i73.0.1.nvwatchdogtimeout
|
|
(u32 ro) .7i73.0.1.output\-00\-invert
|
|
|
|
For further details of the use of the above see the Mesa manual.
|
|
|
|
(bit rw) .7i73.0.1.output\-01\-invert: Invert the corresponding output bit.
|
|
|
|
(s32 ro) .7i73.0.1.swrevision: The version of firmware installed.
|
|
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|
TODO: Add 7i77, 7i66, 7i72, 7i83, 7i84, 7i87.
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