PCIx Specifications - Pro-Dex, Oregon Micro Systems - #3

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TABLE OF CONTENTS PCIx User’s Manual i TABLE OF CONTENTS 1. GENERAL DESCRIPTION..........................................................................1-1 1.1 INTRODUCTION.....................................................................................................1-1 1.2. SYSTEM OVERVIEW ............................................................................................1-1 2. GETTING STARTED ..................................................................................2-1 2.1. PREPARE FOR INSTALLATION...........................................................................2-1 2.2. TO PREPARE FOR INSTALLATION.....................................................................2-1 2.3. INSTALL THE PCIx INTO A PCI SYSTEM............................................................2-5 2.4. SOFTWARE INSTALLATION ................................................................................2-5 2.5. CONNECT THE STEPPER MOTOR SYSTEM.....................................................2-6 2.6. CONNECT AND CHECKOUT THE SERVO SYSTEM..........................................2-7 2.7. TUNE THE SYSTEM..............................................................................................2-9 2.8. SETTING THE USER DEFAULT CONFIGURATION..........................................2-16 2.9. POWER SUPPLY REQUIREMENTS ..................................................................2-16 3. COMMUNCIATION INTERFACE................................................................3-1 3.1. INTRODUCTION....................................................................................................3-1 3.2. PCI INTERFACE....................................................................................................3-1 3.3. PCI COMMUNICATION THEORY.........................................................................3-2 3.4. PCI ADDRESS SELECTION..................................................................................3-3 3.5. USING INTERRUPTS............................................................................................3-3 3.6. DATA REGISTER ADDRESS SELECTION ..........................................................3-3 3.7. DONE FLAG REGISTER .......................................................................................3-3 3.8. INTERRUPT CONTROL REGISTER.....................................................................3-4 3.9. STATUS REGISTER..............................................................................................3-5 4. CONTROL SIGNAL INTERFACE ...............................................................4-1 4.1. INTRODUCTION....................................................................................................4-1 4.2. GENERAL PURPOSE I/O, LIMIT AND HOME INPUTS.......................................4-1 4.3. CONTROL OUTPUT..............................................................................................4-1 4.4. ENCODER FEEDBACK.........................................................................................4-2 4.5. ENCODER SELECTION AND COMPATIBILITY...................................................4-3 4.6. HOME PROCEDURES ..........................................................................................4-3 4.7. IO68-M ADAPTER MODULE.................................................................................4-5 4.8. EXPLANATION OF ADDITIONAL CIRCUITRY ON THE IO68-M.........................4-6 5. COMMAND STRUCTURE..........................................................................5-1 5.1. INTRODUCTION....................................................................................................5-1 5.2. QUEUES ................................................................................................................5-2 5.3. COMMAND SUMMARY.........................................................................................5-4 5.4. COMMANDS BY SECTION ...................................................................................5-9 5.5. I/O CONTROL COMMANDS ...............................................................................5-14 5.6. SERVO CONTROL COMMANDS........................................................................5-16 5.7. STEP ENCODER CONTROL COMMANDS........................................................5-18 5.8. PROFILE CONTROL COMMANDS.....................................................................5-20 5.9. MOTION GENERATION COMMANDS................................................................5-22 5.10. SYNCHRONIZATION COMMANDS..................................................................5-25 5.11. LOOPING COMMANDS.....................................................................................5-26 5.12. SPECIAL COMMANDS......................................................................................5-27 5.13. COMMAND DESCRIPTIONS ............................................................................5-31 6. HOST SOFTWARE.....................................................................................6-1 7. SERVICE ..................................................................................................7-1 APPENDIX A – LIMITED WARRANTY..............................................................A-1 APPENDIX B – TECHNICAL SUPPORT/REPAIRS..........................................B-1 APPENDIX C - SPECIFICATIONS................................................................... C-1