Motorola MVME167 Bedienungsanleitung PDF herunterladen (Seite 23)

Stepper Motor Controller

ICD 13—Standard Controller ICD-13/05 23 of 56

2. The following sends the command ‘VER’ to the card, which the DSP will respond to

by returning the firmware version number. The order in which the characters are

written to the PMAC is important, do not “correct” the operations below in any way.

167-Bug>M F07FA005;BA

F07FA005 00? 45

F07FA007 00? 52

F07FA009 00? 0D.

167-Bug>M F07FA001;BA

F07FA001 00? 56

F07FA003 00? 0.

167-Bug>M F07FA001;BA

F07FA001 0A?

F07FA003 31?

F07FA005 2E?

F07FA007 31?

F07FA009 35?

F07FA00B 44?

F07FA00D 20?

F07FA00E 20?

F07FA011 0D?.

The values which the DSP writes to the buffer are the ASCII codes for ‘1.15D’,

which represents the firmware version for the PMAC card — the minor version

number may vary slightly, so the values at addresses F07FA007 through F07FA00B

could be different. To be able to accept and execute the VER command, the PMAC

DSP must be running correctly and able to communicate via the VMEbus interface.

Having received a command and sent a reply, the DSP is now awaiting an interrupt

acknowledge cycle from the host CPU before it will accept another command. It is not

possible to handle interrupts using the debug monitor, so this is the limit of the testing

which can be performed from the MVME167 without writing additional software.

Further tests including experimenting with direct PMAC commands can be done by

building an RS232 cable and connecting the PMAC directly to a terminal or computer.

The cable needs a 26-way IDC housing at one end which plugs into J4, and an IDC 25

way female D connector at the other, connecting pin 1 to pin 1. The result is a DCE

serial connection, which runs at 9600 baud, 8 bits, no parity, 1 stop bit. These settings

can be changed using jumpers on the board — see the PMAC-VME Hardware Refer-

ence Manual for details.

10.0 Stepper Motor Controller

EPICS provides support for stepper motors using the Oregon Microsystems VME cards.

There are several cards in the family which share a common command language, and

the EPICS driver works with a number of these. The standard card supports 8 channels,

with each channel comprising 8 I/O signals:

• Motor Step and Direction Outputs

• Auxiliary Output

• Positive and Negative Limit Inputs

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