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CAN add-on

ADwin

32

ADwin-Gold

USB / ENET, manual version 3.8, October 2005

9 CAN add-on

The add-on

Gold-CAN

is equipped with several additional interfaces that are

configured and operated individually:

– 4 SSI decoders (page 33)

The decoders can be used for the connection of incremental encoders
with SSI interface. All inputs are differential and designed for RS422/485
level (5V).

The decoder inputs are located on the connectors CO1...CO4, where
the inputs of the CO1 add-on can also be found.

– 2 CAN interfaces (page 35)

Depending on your requirements, you can order both interfaces either
as high-speed or low-speed version. Switching in operation is not pos-
sible.

The inputs of the CAN 1 interface are located on the connectors
CAN 1.1 and CAN 1.2, those of the CAN 2 interface on the connector
CAN 2.

– 2 RSxxx interfaces (page 39)

Both interfaces can be configured separately per software to be operat-
ed as RS232 or RS485.

The interface inputs are located on the connectors COM1 and COM2.

The add-on

Gold-CAN

is only available in combination with the Gold-D option.

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Summary of Contents for ADwin-Gold-ENET

Page 1: ...ADwin Gold USB ENET Manual ADwin Gold USB ENET manual version 3 8 October 2005 ...

Page 2: ...3 8 October 2005 Jäger Computergesteuerte Messtechnik GmbH Rheinstraße 2 4 D 64653 Lorsch Germany For any questions please don t hesitate to contact us Hotline 49 6251 96320 Fax 49 6251 5 68 19 E Mail info ADwin de Internet www ADwin de ...

Page 3: ...d Outputs 14 5 3 Time Critical Tasks 14 6 Calibration 18 6 1 General Information 18 6 2 Calibrating 18 7 DA Add On 22 8 CO1 Counter Add On 23 8 1 Hardware 23 8 2 Software 25 8 3 Operating Mode Impulse Event Counting 27 8 4 Operating Mode Impulse Width and Period Width Measurement 29 9 CAN add on 32 9 1 SSI Decoder 33 9 2 CAN Interface 35 9 3 RSxxx Interfaces 39 10 ADwin Gold Boot 43 11 Accessories...

Page 4: ... further information in this documentation or to other sources such as manuals data sheets literature etc C ADwin File names and paths are placed in angle brackets and characterized in the font Courier New Program text Program instructions and user inputs are characterized by the font Courier New Var_1 ADbasic source code elements such as INSTRUCTIONS variables com ments and other text are charact...

Page 5: ...y by appropriately qualified personnel Qualified personnel are persons who due to their education experience and training as well as their knowledge of applicable technical stan dards guidelines accident prevention regulations and operating condi tions have been authorized by a quality assurance representative at the site to perform the necessary acivities while recognizing and avoiding any possib...

Page 6: ... the processor of the ADwin system executes all tasks which require real time in parallel Real time operating system The operating system for the DSP of the ADwin system has been optimized to reach the fastest response times possible It manages parallel processes in a multitasking manner Low priority processes are managed by time slicing Requested high priority processes interrupt all low priority...

Page 7: ... means immediate and full range responds The ADwin system never sends data to the PC without request The data transfer to the PC is always a response to an instruction coming from the PC Thus embedding the ADwin system into various programming languages and standard software packages for measurements is easily made because they have only to be able to call functions and process the return value So...

Page 8: ...of the ADwin Gold Analog outputs The standard version of the ADwin Gold system is equipped with 2 analog outputs optional 8 with an output voltage range of 10V 10V and a 16 bit resolution You can synchronize the output of the voltage of all DACs per software Digital inputs and outputs 32 digital inputs or outputs are available on two 25 pin D Sub connectors They can be programmed in groups of 8 as...

Page 9: ...ounter option with four 32 bit counters which can optionally be used for period width measurement as impulse counters or as up down counters with clock direction or four edge evaluation for quadrature encoders Gold CAN 4 decoders for use with incremental encoders with SSI inter face 2 CAN interfaces both either high speed or low speed and 2 RSxxx interfaces RS232 RS485 This option is available in ...

Page 10: ...ance by taking measures for bleeding off interferences such as connecting the shielding to the enclosure just before entering it The more frequently you earth the shield ing on its way to the machine the better the shielding will be Use cables with shielding on both ends for signal lines Here too you should reduce the bleeding off of interferences via the ADwin Gold aluminum enclo sure by using sc...

Page 11: ...tor male For using the system with an external power supply unit you need the submin iature connector described above The connector is provided by the following manufacturer under the article number 712 299 0406 00 03 Series 712 Franz Binder GmbH Co elektrische Bauelemente KG Rötelstrasse 27 74172 Neckarsulm Phone 49 7132 325 0 www binder connector de Hypertext message URL http www binder connecto...

Page 12: ...n is booted shows that the operating system has been loaded appropriately and that via ADbasic the ADwin sys tem has been connected At the same time the flashing of the LED green col ored now at the ADwin Gold shows that it is ready for operation Programs with ADbasic Programming the ADwin systems is described more detailed in the ADbasic manual Start with the programming examples in the ADbasic T...

Page 13: ...l pull up resistance 10 kΩ Standard instructions For fast and easy programming there are standard instructions available in the compiler ADbasic which enable a user to easily measure or output data see also ADbasic manual Use other instructions only if extremely time critical or special tasks require to do so See also ADbasic manual More detailed information about the analog as well as the digital...

Page 14: ...he earth of the ADwin Gold system with the earth of the computer If you do not operate the PC and the ADwin Gold system in the same place you should not use the power supplied by the PC but an external power supply unit which is earth free in order to avoid influences by different ground reference potentials In addition to the description of the inputs and outputs you will find notes below for the...

Page 15: ...This is in addition to the connections to the positive and negative input Fig 7 Input circuitry of an analog input 16 bit and 14 bit measurements You can convert the signals at the multiplexer outputs optionally with a 14 bit or a 16 bit analog to digital converter ADC see Fig 2 Block diagram of the ADwin Gold You are measuring with the 14 bit ADC very fast max 0 5µs resolution 1 221mV the 16 bit ...

Page 16: ... DAC is allocated to each of the outputs DAC instruction The standard instruction DAC number value checks each of the values if it exceeds or falls below of the 16 bit value range 0 65535 If the value is in the 16 bit value range the indicated value is output on the output number If it is not in the value range the maximum or minimum values are output see also ADbasic manual 5 1 3 Calculation Basi...

Page 17: ...it ADC ULSB 20V 214 1220 7µV The measured 16 bit value of the ADC is returned in the lower word of the reg ister A DAC value which is to be output has to be available there Fig 9 Storage of the ADC DAC bits in the memory In order to compare the measurement values of the 14 bit ADC with the values of the 16 bit ADC the converted value is written left aligned into the lower word of the register at t...

Page 18: ... of the device all connections are configured as inputs CONF_DIO 12 The instruction CONF_DIO 12 configures DIO 15 00 as digital inputs and DIO 31 16 as digital outputs see Fig 10 Only in this configuration will you be able to totally access the inputs and out puts with the instructions DIGIN DIGIN_WORD DIGOUT_WORD SET_DIGOUT CLEAR_DIGOUT About programming under other configurations the following c...

Page 19: ...ions skillfully you may be able to execute faster measurements It is important to set the START_CONV instruction in a sufficient time delay from the SET_MUX instruction in order to consider the multiplexer settling time see also ADbasic manual Instruction Reference Use the waiting times for instance for arithmetic operations and save CPU time Settling time of the multiplexer At a maximum voltage j...

Page 20: ...t Commentary 31 16 15 10 9 8 7 6 5 4 3 2 1 0 20400010 Start conversion All DACs synchronously 1 1 s 1 1 s 0 start conversion s 1 no effect 20400050 Write only to the register DAC 1 x x x x x x x x x x x x digital value to be converted 20400060 Write only to the register DAC 2 x x x x x x x x x x x 20400070 Write only to the register DAC 3 Gold DA x x x x x x x x x x x 20400080 Write only to the re...

Page 21: ...OUT OUT 4 IN OUT IN IN 5 IN OUT IN OUT 6 IN OUT OUT IN 7 IN OUT OUT OUT 8 OUT IN IN IN 9 OUT IN IN OUT 19 OUT IN OUT IN 11 OUT IN OUT OUT 12 OUT OUT IN IN 13 OUT OUT IN OUT 14 OUT OUT OUT IN 15 OUT OUT OUT OUT Applicable instructions DIGOUT_WORD CLEAR_DIGOUT SET_DIGOUT DIGIN_WORD DIGIN Instruction is applicable for DIOnn at Configuration OUT Configuration IN At configuration OUT the register conte...

Page 22: ...ng 14 bit converters connecting cables from the inputs outputs to the reference voltage source and to the measurement device recommended BNC cables 6 2 Calibrating Connect your ADwin Gold system with the computer and configure it accord ing to the program ADconfig exe Calibration has to be made when the ADwin Gold system reaches its operat ing temperature With a power up temperature of the device ...

Page 23: ...f you close the program with Exit the new settings remain With Undo Exit you undo all inputs and you exit the calibration program that means the original settings are transferred to the ADwin Gold system Diagram displays in a graph the accuracy of the current calibration setting You print a protocol of the settings with Print Calibration Calibrate the converters in the order you like only with ref...

Page 24: ... DMM to the selected out put Connect the voltage source or a calibrated DAC output to the selected input Adjust the offset value at the scroll bar in such a manner that your digi tal multimeter displays 10 V Set your voltage source to 0 V The setting of the ADC to this value is made automatically Adjust the offset value at the scroll bar in such a manner that the set point at the ADC is displayed ...

Page 25: ...rview window Step 4 With Print Calibration you can print a protocol of the specified calibra tion data In the open window you can enter different information which will be presented in your printout for a later allocation to the protocol With Print you start printing the program automatically returns to the overview window In the protocol you will find the calibration settings of all inputs and ou...

Page 26: ...nnected to the pins of the DSub socket ANALOG OUT Fig 15 Pin assignment of the DA add on Programming and calibration You program and calibrate the additional DACs like the DAC 1 and DAC 2 see chapter 5 1 chapter 6 and ADbasic manual standard version Gold D Option CONN 4 female 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 DAC 8 DAC 7 DAC 6 DAC 5 GND DAC 8 GND DAC 7 GND DAC 6 GN...

Page 27: ... counter values into the latch LATCH The following modes are possible 1 Clock and direction A positive edge at CLK increments or decrements the counter values by one The signal at DIR determines the counting direction 0 decrement 1 increment 2 Four edge evaluation Every edge of the signals phase shifted by 90 degrees at A CLK and B DIR causes the counter to increment decre ment The counting direct...

Page 28: ...ut to a specified potential Connect the positive input to 5V and the negative input to GND Counter inputs with TTL operation mode for Gold Gold D single ended mode not available with Rev B2 with Gold only with Gold D only Counter inputs with differential operation mode CONN 1 male 13 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 14 DIO 0 DIO 2 DIO 4 DIO 6 DIO 8 DIO 10 DIO 12 DIO 14 C...

Page 29: ...structions Please configure the counters according to the following order 1 Disable specified counter CNT_ENABLE 2 Set operating mode CNT_MODE CNT_SET CNT_INPUTMODE CNT_SE_DIFF 3 Clear counter CNT_CLEAR 4 Enable counter CNT_ENABLE Instruction Function CNT_CLEAR Clear counter CNT_ENABLE Disable or enable counter please note the already running counters CNT_GETSTATUS Read out status register counter...

Page 30: ...he following rules for programming a Process the read 32 bit value only with variables of the type INTEGER or LONG ADbasic then keeps internally the read bit pattern unmodified and automatically considers the transition from the positive to the negative range of numbers Then you get Count direction b The count direction up or down can reliably be derived from the Sign of the difference new counter...

Page 31: ... is counted incremented or decremented up to a maximum frequency of 20 MHz The direction is derived from a high signal count up or low signal count down at the DIR input direction This signal can be static for a fixed count direction or dynamic for changing directions Programming example Control Registers 32 bit Counter 32 bit Latch A CLK EN CLR CLK ADwin GOLD bus Data Data DIR CLR DIR CNT_CLEAR C...

Page 32: ...shorter than 50 ns Impulse widths or pause durations shorter than 100 ns are not incremented Changing the phase shift will have an effect on the maximum input fre quency If it differs from 90 degrees the maximum input frequency of 5 MHz decreases for instance to 45 degrees at 2 5 MHz Programming example Control Registers 32 bit Counter 32 bit Latch A CLK EN CLR A ADwin GOLD bus Data Data B CLR DIR...

Page 33: ...ram of the CO1 add on in the mode period duration measurement In this mode the counter values are latched into Latch A at every positive edge and the previous data are overwritten The pulse width will be derived from the counter value difference multiplied by the period duration of the reference clock Programming example Control Registers 32 bit Counter 32 bit Latch A CLK EN CLR Data Data LATCH DI...

Page 34: ... example Control Registers 32 bit Latch B 32 bit Counter 32 bit Latch A CLK EN CLR ADwin GOLD bus Data Data Data LATCH DIR Up ref CLK to fref switches of other counters Divider 4 fref switch G 20 MHz CNT_CLEAR CNT_SET CNT_MODE Bit 1 CNT_ENABLE 4k7 initialization disable counters clear counter s mode internal reference clock with 20 MHz or 5 MHz reference frequency input CLR LATCH as LATCH input en...

Page 35: ... out Latch B Counter 3 x x x x x 20400234 Read out Latch A Counter 4 x x x x x 20400238 Read out Latch B Counter 4 x x x x x 20400300 Enable counter x x x x x 0 Disable counter x 1 Enable counter 20400304 Set counter inputs to TTL or differential mode in pairs only y x x counter inputs 1 2 y counter inputs 3 4 x y 0 TTL single ended x y 1 differential 20400310 Clear counter x x x x x 0 No influenc...

Page 36: ...O1 CO4 where the inputs of the CO1 add on can also be found 2 CAN interfaces page 35 Depending on your requirements you can order both interfaces either as high speed or low speed version Switching in operation is not pos sible The inputs of the CAN 1 interface are located on the connectors CAN 1 1 and CAN 1 2 those of the CAN 2 interface on the connector CAN 2 2 RSxxx interfaces page 39 Both inte...

Page 37: ...on CO Power in is supplied at the connectors CO1 CO4 for example for an external incremental encoder Please note The negative inputs U1in are galvanically connected with GND via a common line the negative inputs U2in have such a connection too Setting the properties The following properties of the decoders can be set via software Clock rates With SSI_SET_CLOCK clock rates of approx 40kHz up to 1MH...

Page 38: ...tart of conversion m 0 initialize value PAR_9 0 FOR n 1 TO 32 Go through all possible 32 bits m SHIFT_RIGHT PAR_1 32 n AND 1 XOR m PAR_9 SHIFT_LEFT m 32 n OR PAR_9 NEXT n PAR_2 0 Enable next conversion ENDIF Fig 27 Listing Conversion of Gray code into binary code Programming The functionality of the decoders is easily programmed with ADbasic instruc tions The instructions are in the include file A...

Page 39: ...e enclosure Power supply Low speed only The low speed version requires an external power supply of 12V DC to run the CAN controller The power must be supplied for each interface separately Bus Termination High speed only If the CAN interface functions as the physical termination of a high speed CAN bus it must be terminated with a 120Ω resistor only the first or the last CAN node CAN nodes which a...

Page 40: ... are parameters in a defined bit length The parameters 0 211 1 or 0 229 1 result from the bit length Message objects The controller stores each message incoming or outgoing in one out of 15 message objects The message objects can either be configured to send or to receive messages Message object 15 can only be used to receive messages After initializing the CAN controller all message objects are n...

Page 41: ...nt bits if you have an 11 bit identifier it is 11111111100b In this example the comparison of bit 2 is responsible for the assignment of the messages because the bits 3 10 of the compared identifiers are identical 0 and the bits 0 and 1 are not compared because they are set to zero in the global mask not relevant Setting the bus frequency The CAN bus frequency depends on the configuration of the c...

Page 42: ...ontrol the message input polling You can enable the interrupts of several message objects Which object has caused the interrupt can be seen in the interrupt register 5Fh It contains the number of the message object that caused the interrupt If the interrupt flag new message flag is reset in the message object the interrupt register will be updated If there is no interrupt the register is set to 0 ...

Page 43: ...which are not positioned in an end location must not be terminated For the termination there is if required for the chosen circuit type a voltage of 5V provided at pin 6 9 3 1 Setting the interface parameters Each interface has an input and an output FIFO with a length of 64 bytes each The settings of the interface parameters are made separately for each channel using the controller register Below...

Page 44: ... some common Baud rates and their divisors Fig 30 RS xxx Baud rates Special features of RS485 Via a RS485 interface more than 2 participants can communicate with each other Contrary to the RS232 interface With RS485 interfaces a bus can be set up Consider the following There is no handshake because a handshake is only possible between 2 participants The interface must know if it should write to th...

Page 45: ...t the interfaces with each other REM befor starting the program INCLUDE adwpext inc DIM DATA_1 1000 AS LONG Transmitted data DIM DATA_2 1000 AS LONG Received data DIM lauf AS LONG Control variable INIT FOR run 1 TO 1000 Initialization of the transmit ted data DATA_1 run run AND 0FFh NEXT run REM Initialization of the interfaces REM 9600 Baud not parity bit 8 data bits REM 2 stop bits RS232 witout ...

Page 46: ...bus REM until it receives the value 55 Now the interface REM becomes active and sends the value 44 INCLUDE adwgcan inc DIM ret_val val AS LONG INIT RS_RESET REM Initialization of the interfaces REM 38400 Baud no parity bit 8 data bits REM 1 stop bit RS485 software handshake RS_INIT 1 38400 0 8 0 3 RS_INIT 2 38400 0 8 0 3 RS485_SEND 1 1 Send interface 1 RS485_SEND 2 0 Receive interface 2 EVENT val ...

Page 47: ...out processes and only with the file ADwin9 btl the system will only be booted after power up but no pro cesses can be executed With the installation of the ADwin Developer Software from the supplied ADwin CD ROM the utility program for the boot loader ADethfl1ash is auto matically copied You should have a CDROM version 3 00 2735 or a later ver sion Use the program ADethflash exe for an ADwin Gold...

Page 48: ... Ampere The power supply unit is rated for the highest load and maximum expansions of the ADwin Gold Please pay attention to the fact that the USB Ethernet cables are sufficiently shielded in order to avoid interferences in the data lines Interferences have to be passed before entering the chassis via GND ground See also chapter 3 Operating Environment 12Software You are programming the ADwin Gold...

Page 49: ... CO1 1 7 Idle current Ethernet Interface Iidle USB Ub 10V 1 3 A Ub 12V 1 1 Ub 35V 0 4 Ub 12V Gold DA 1 5 Ub 12V Gold CO1 1 1 Power up current Ethernet Interface Ipower on Enet Ub 12V 2 1 Ub 12V Gold DA 3 1 Ub 12V Gold CO1 2 1 Valid operation ranges Temperature Tchassis 5 60 C Relative humidity Frel no condensation 0 80 Storage Temperature T 20 70 C Connectors DSUB connectors Metric ISO threads UNC...

Page 50: ...IO per DIO line 35 mA ITOTAL all DIGIN or all DIGOUT via VCC GND 70 EVENT Input Edge recognition pos VT Low VCC 5V 1 65 1 9 2 15 V Switching hysteresis VT VT 0 4 0 9 Input current IIH VI 2 7V 20 µA IIL VI 0 4V 50 Analog Inputs Outputs Parameters Symbol Conditions min typ max Unit Inputs Number 2 8 via multiplexer differential Input resistance Ri 323 4 330 336 6 kΩ Overvoltage Uin max ON OFF 35 V M...

Page 51: ... 16 bit Number 2 with DA add on 8 Output voltage Uout 10 9 999695 V Settling time tsettle 2V jump 3 µs FSR a 20V 10 Permissible current 25 mA Integral non linearity INL 2 LSB Differential non linearity DNL 1 Offset Drift 1 ppm K Error Adjustable Gain Drift 3 ppm K Error Adjustable a Full Scale Range Analog Inputs Outputs Parameters Symbol Conditions min typ max Unit Processor Parameters Symbol Con...

Page 52: ...ency fref 20 MHz Prescaler by 4 fref 4 5 Accuracy and Drift 100 ppm Counter inputs differentiala Differential input thresh old voltage VTH 10V VCM 13 2V 200 200 mV Input hysteresis VTH 10V VCM 13 2V 40 mV Range of common mode voltage VCM 10 13 2 V Differential slew rate 0 33 V µs Permissible differential input voltage for each input 3 9 V Counter inputs single endedb with Schmitt trigger Edge reco...

Page 53: ...16 bit x x x x x x x x x x x x x x 20400120 Read out register and start conver sion ADC 1 14 bit x x x x x x x x x 0 0 x x x 20400130 Read out register ADC 1 14 bit x x x x x x x x x 0 0 x x x 20400140 Read out register ADC 2 14 bit x x x x x x x x x 0 0 x x x 20400190 Write only into register DAC 7 x x x x x x x x x x x x digital value to be converted x 204001A0 Write only into register DAC 8 x x...

Page 54: ... counter CNT_CLEAR x x x x x 0 no effect x 1 clear counter x x x 20400320 Latch counter CNT_LATCH x x x x x 0 no effect x 1 latch counter x x x 20400330 Select counter input CLR or LATCH x x x x x 0 CLR input x 1 LATCH input x 20400340 Impulse event counter or pulse width period duration measurement x x x x x 0 external clock input x 1 internal reference clock 20MHz 5MHz x 20400350 4 edge evaluati...

Page 55: ...ta connection to PC no longer via link but via Ethernet or USB All analog inputs and counter inputs are only available with differential operation mode B3 Nov 2003 Additional TTL counter inputs for single ended operation mode for use as alterna tive to counter inputs for differential operation mode New option Gold D with DSUB connectors instead of BNC sockets B4 Dec 2003 Several enhancements B5 Ma...

Page 56: ...th CONF_DIO 17 Fig 14 Hardware addresses of the control and data registers for the digital inputs outputs 17 Fig 15 Pin assignment of the DA add on 22 Fig 16 Block diagram of the Gold CO1 counter add on 23 Fig 17 Pin assignment of the CO1 add on 24 Fig 18 Pin assignment counter voltage supply Gold D 25 Fig 19 Instructions of the Gold CO1 counter add on 25 Fig 20 Circle for the interpretation of co...

Page 57: ...on 28 Gold CO1 23 impulse width measurement 29 operating modes 23 E Earthing 6 Encoder 28 Event CAN bus 38 input resistor 9 rising edge 14 F Four edge evaluation 28 G Gain factor kV 13 I impulse width measurement 29 Inputs analog voltage range 12 digital 14 open 9 Installation of hardware 7 order of 7 start 1 M Multiplexer 11 N non linearity 14 O Outputs analog voltage range 12 digital 14 P power ...

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