1. R. Frahm ESO Instrumentation Software Workshop 2008 - 1 R. Frahm RMC Motor Controller

2. R. Frahm ESO Instrumentation Software Workshop 2008 - 2 RMC Motor Controller “Controller Area Network”: Fieldbus, developed by Bosch 1983 ISO11898 Standard (CAN specification 2.0A/B: 11-bit IDs/29-bit IDs) 2 wire serial bus (CAN_L, CAN_H + GND): transmit one bit inverted Connects “nodes” linearily with a unique ID (64 per channel) “Multi-Master”: each node can send data any time, priorities are set by message ID’s (there may be only one sender per ID) Realtime ability, low cost, interference resistance (CRC..) Each CAN message contains unique ID, 0-8 data bytes, CRC, control data Messages are broadcast: nodes check by the ID if data is interesting CANBus Basics

3. R. Frahm ESO Instrumentation Software Workshop 2008 - 3 RMC Motor Controller Communication protocol, based on CAN Normed in EU: EN 50325-4, hosted by “CAN in Automation” (CiA) “Object Dictionary” (=database) is used as the interface between the SW application and one CAN node. Normally described as an ASCII file as a “electronic datasheet” (EDS file). SDOs (Service data objects) used to modify the “object dictionary” PDOs (Process data objects) used to transmit real-time data Fixed CANOpen device profiles: CiA401 (IO), CiA402 (motors),… CANOpen layer in VLTSW: “canstack” CANOpen

4. R. Frahm ESO Instrumentation Software Workshop 2008 - 4 RMC Motor Controller VLT Standard CAN Hardware ESD CAN2 CAN Controller Beckhoff Buscoupler + modules Single channel RMC CAN Controller: ESD CAN4/CAN2 board, 500 kBit baudrate -> 130m cable length

5. R. Frahm ESO Instrumentation Software Workshop 2008 - 5 RMC Motor Controller RMC Hardware: Pre-production version!  ESO custom development, started in 2002  Intended to replace the 10 year old MACCON controller in a transparent way  Offers all features of the MACCON controller + some new features (brake handling, torque mode, velocity controller, polynomial control loop)  Small flexible module, size 100x100x50 mm (single channel), 4 channel version available (MAC4 compatibility)  Includes Motion Controller, Amplifier and Digital IO for one DC motor (MACCON setup: MAC4 INC/SSI/STP + VME4-SA Amplifier + ACROMAG Digital IO)  No stepper motors yet  Motion (position/velocity) control: selectable PID or polynomial controller  Supports DC motors up to 4 A motor current  Supports Incremental and absolute SSI encoders  CANOpen interface, including object dictionary, compatible to DSP-402 standard

6. R. Frahm ESO Instrumentation Software Workshop 2008 - 6 RMC Motor Controller RMC Hardware: Pre-production version! Tachometer Upper/Lower Limit HOME, Stop, Aux Incremental/SSI Encoder CANBus DB9 connector Motor +/- GND

7. R. Frahm ESO Instrumentation Software Workshop 2008 - 7 RMC Motor Controller RMC Hardware: Pre-production version! Current Limit Potentiometer NODE ID: S1 + (S2 * 0x10) Status of limit switches/HOME CAN status/CAN error/STOP signal/ “in Position” flag

8. R. Frahm ESO Instrumentation Software Workshop 2008 - 8 RMC Motor Controller How to use a RMC in new SW projects Recommended new SW modules (older versions part of VLTSW2008, but some SPRs fixed) CANSTACK 1.8. (CANOpen stack for the ESD VME-CAN4 board) CANRMC 0.12. (device driver for the RMC) CANMCON 0.12. (SW layer between RMC and MCM, comparable to “mac4”, offers a standardized API), statically linked within MCM MOTEI 2.55. (new panels for RMC configuration, some changes to other panels, e.g. TORQUE mode) User Manuals (already part of VLTSW2008) VLT-MAN-ESO-17210-0600: “MCM User Manual”, Issue 2.0 VLT-MAN-ESO-17210-0669: “MOTEI User Manual”, Issue 2.0

9. R. Frahm ESO Instrumentation Software Workshop 2008 - 9 RMC Motor Controller How to use a RMC in new SW projects ModuleMCM without RMCMCM with RMC MOT1332213947 MOTCI63856583 SDL395Dito MAC48445Dito VME4SA4143Dito CANMCON010552 MCM791310129  SUM: 4060354194 + Drivers: CANRMC + Drivers: CANSTACK 2493 4565 + MOTEI1270017739

10. R. Frahm ESO Instrumentation Software Workshop 2008 - 10 RMC Motor Controller How to use a RMC in new SW projects Add a new OLDB point for the motor, using the new DB class motDXXRI for a RMC DC motor with incremental encoder: #define motMOTORROOT :MCM:MRMC #define motMOTORTYPE motDXXRI #define motMOTORNAME MRMC #include "motor.db" Use (at least) the MCM module versions previously listed Add the modules CANSTACK and CANRMC to your bootScript with vccEnv Change the canrmc.boot file locally for the creation of the required “/canrmc ” devices Test and configure your motor using MOTEI

11. R. Frahm ESO Instrumentation Software Workshop 2008 - 11 RMC Motor Controller How to use a RMC in new SW projects