General Setup

The following connections are required

1. RJ45 network connector can go to either IN or OUT connector as the Ethernet controller is setup as a switch.
2. Programming ribbon connector connects to i-Jet.
3. 4 pin power connectors to 24V power supply. Power supply is wired in picture below.
4. USB on the motor is not required.
   1. This is used to configure the network setup. This can be set in the program as shown below in the Socket Setup.
   2. It is also used to load a firmware image

General usage

1. The MAC address on the two motors are set to to 70-B3-D5-96-E0-05 and 70-B3-D5-96-E0-06. If these are not read from the EEPROM they will need to be set in the program.
2. There is a bootloader which is separate to the main code. If the code is set to execute from flashrom in IAR Embedded Workbench it will overwrite the bootloader.
   1. Development should be done using the RAM Debug option.
   2. Once development is complete it can be loaded as an image through the USB.

Socket API

Socket Setup

There are 4 sockets available in firmware. In the supplied firmware Socket1 is used for direct communication to the motor. Socket2 is used for Modbus-TCP communication. They can be reassigned as needed.

There is a 5th socket used only for setup. This socket should not be changed or used.

The IP address, socket type (UDP/TCP) and port numbers are typically set using the USB interface. The values are saved in the EEPROM and recalled on power-up. However, for development purposes, the ethernet and socket information can be set in code

  gNET_ADR[0].ipaddr = 0xC0A80114;
  SOC1_PORT = 10001;
  SOC1Type = TYPE_TCP;
  SOC2_PORT = 502;
  SOC2Type = TYPE_TCP;
  SOC3_PORT = 123;
  SOC3Type = TYPE_TCP;
  SOC4_PORT = 456;
  SOC4Type = TYPE_TCP;

//Additional device data can be set such as
//gNET_ADR[0].gateway
//gNET_ADR[0].mask
//DHCP_ENA - 1/0

Socket Send

Each socket has a function that can be called to send data. Passed arguments are a byte array and length. The array is then copied to the sockets send buffer before setting a flag letting the OS know to send the data.

The default size for the socket send buffers are

UB SOC1TxBuffer[256];
UB SOC2TxBuffer[64];
UB SOC3TxBuffer[64];
UB SOC4TxBuffer[64];

The buffer sizes can be increased as needed. They are found in net_func.c

The socket send functions are

UB buffer[256];
UB len;
...
SendSOC1(buffer, len);          //send out on Ethernet
...

Socket Receive

Each socket has a function that is called when data is received. This function has the length of the received data. The received data is in the sockets received buffer.

The default size for the socket receive buffers are

UB SOC1RxBuffer[256];
UB SOC2RxBuffer[64];
UB SOC3RxBuffer[64];
UB SOC4RxBuffer[64];

The buffer sizes can be increased as needed. They are found in net_func.c

The socket receive functions are

static void ReceiveSOC1(UH len)
{
  putDataToMotor(SOC1RxBuffer, len);
}

Motor Data

There are two structs used used in the transmit and receive of motor data. 

1. Receive data from the motor - MotorInfoStruct
2. Transmit data to the motor - MotorControlStruct

The structs are then passed as arguments to motor_SetControl and motor_GetInfo

Receiving Motor Info Data

The following struct is located in motorcontrol.h

typedef struct
{
  //DO not change this order. Used in memcopy with CSI structure
  long CPUTime;								
  long ActualPosition;						
  long TargetPosition;						
  unsigned short MotorStatus;				
  short PercentActualCurrent;
  short PercentOverloadTorque;
  short AnalogIn;
  unsigned char DigitalIN;
  unsigned char Temperature;
  short DCVoltage;
  unsigned short usReserved;
  unsigned char MotionGeneratorDisplay;
  unsigned char ErrorCode;  
  //not in mem structure
  long ActualSpeed;
}MotorInfoStruct;

A local copy of the struct can be updated using the following function

MotorControlStruct MotorControlMDB;
MotorInfoStruct MotorInfoMDB;
void timer125us_tsk( void )
{
  UB SpeedCounter=0;
  while(1)
  {
    P_EX_INPUT5 = ~P_IN1;
    P_EX_INPUT6 = ~P_IN4;
    P_OUT1 = ~P_EX_OUTPUT3;
    ScanIO();
    if(SpeedCounter == 200)             //update speed every 25ms.
    {
      UpdateSpeed();
      SpeedCounter=0;
    }
    SpeedCounter++;
    
    //Testing functions below
    motor_GetInfo(&MotorInfoMDB);
    motor_SetControl(&MotorControlMDB);
    slp_tsk();
  }
}

Sending Motor Control Data

The following struct is located in motorcontrol.h

typedef struct
{
  //DO NOT change this order. Used in memcopy with CSI structure
  long TargetPos;
  long TargetSpeed;
  short TargetTorque;
  unsigned short TargetAcc;
  unsigned short TargetDec;
  unsigned char ControlWord;
  unsigned char MotionGenerator;
  unsigned char DigitalIO;  
}MotorControlStruct;

A local copy of the struct can be used to update the struct transmitted to the motor using the following function

MotorControlStruct MotorControlMDB;
MotorInfoStruct MotorInfoMDB;
void timer125us_tsk( void )
{
  UB SpeedCounter=0;
  while(1)
  {
    P_EX_INPUT5 = ~P_IN1;
    P_EX_INPUT6 = ~P_IN4;
    P_OUT1 = ~P_EX_OUTPUT3;
    ScanIO();
    if(SpeedCounter == 200)             //update speed every 25ms.
    {
      UpdateSpeed();
      SpeedCounter=0;
    }
    SpeedCounter++;
    
    //Testing functions below
    motor_GetInfo(&MotorInfoMDB);
    motor_SetControl(&MotorControlMDB);
    slp_tsk();
  }
}

Writing Motor Registers

There are additional registers on the motor for setting up parameters such as home routines, inputs, outputs, resolution, etc. These registers can be written to with the function motor_SetRegister. There is a queue size of 16 registers. 1 register is written each 100us.

static ER_RET modbusWriteRegisters(void)
{
  UH mdbAddr;
  long value;
  UB numRegisters;
  char str[32];
  
  numRegisters = ModbusMessage.numRegisters>>1;
  for (int i = 0; i < numRegisters; i++)
  {
    mdbAddr = ModbusMessage.startingAddress + (i<<1);
    memcpy(&value, &ModbusMessage.data[i<<2],4);
    value = swapLongBytes(value);
    
    motor_SetRegister(modbusToMotorRegisters(mdbAddr),value);

    if(Get_LogData())
    {
      sprintf(str, "MDB W:%d=%d\r\n",mdbAddr,value);
      putStringToLog(str);
    }
  }

  return ER_OK;
}

Reading Motor Registers

There are additional registers on the motor for setting up parameters such as home routines, inputs, outputs, resolution, etc. These registers can be read with the following function

static long GetMdbRegisterData(UH addr)
{
  long res = 0;
  addr = modbusToMotorRegisters(addr);
  motor_GetRegister(addr, &res);
  return swapLongBytes(res);    //modbus uses MSB on 16bit values.
}

Testing the Motor

The motor can be controlled to target positions by setting the following in the MotorControlStruct passed.

//First set the motion generator to 3.
MotionGenerator = 3

//Set all targets
TargetPos = 100000
TargetSpeed = 10
TargetTorque = 1250
TargetAcc = 10
TargetDec = 10

//set the controlword= 1 to start the motion
ControlWord = 1

//at any point change the speed, acceleration or position to change the profile
TargetPos = -10000	//run to absolute -10000