Documentation for General Mechatronics 6 axis PCI motion control card.

Add GM.tx to the project and include it to Mastar_HAL.txt and Master_Integrator.txt. GM.txt was added also to the following files in order to compile pdf and html documentation: docs.xml, Submakefile, index.tmpl. Images which are linked by GM.txt were added to /drivers/images. Also a one line description was added to intro.txt about the new card.
author: Bence Kovacs <bence.kovacs@generalmechatronics.com> 2012-10-26 18:56:38 +0200
committer: Bence Kovacs <bence.kovacs@generalmechatronics.com> 2012-10-26 18:56:38 +0200
commit: 076239ec49db0e38f58e133055b5e295e99be015 (patch)
tree: ab396cca600fd251f561e4ee67c0aeff8c245724
parent: 1764a195548a68aa1c57ba349720744a6c28324a (diff)
download: linuxcnc-076239ec49db0e38f58e133055b5e295e99be015.tar.gz
linuxcnc-076239ec49db0e38f58e133055b5e295e99be015.zip
15 files changed, 875 insertions, 0 deletions
diff --git a/docs/src/Master_HAL.txt b/docs/src/Master_HAL.txt
index ea5c8da3f..c06b95f7e 100644
--- a/docs/src/Master_HAL.txt
+++ b/docs/src/Master_HAL.txt
@@ -73,6 +73,8 @@ include::drivers/pluto_p.txt[]
 
 include::drivers/servo_to_go.txt[]
 
+include::drivers/GM.txt[]
+
 include::common/GPLD_Copyright.txt[]
 
 // = Index
diff --git a/docs/src/Master_Integrator.txt b/docs/src/Master_Integrator.txt
index 5ed394658..b2c7cf241 100644
--- a/docs/src/Master_Integrator.txt
+++ b/docs/src/Master_Integrator.txt
@@ -83,6 +83,8 @@ include::drivers/servo_to_go.txt[]
 
 include::drivers/shuttlexpress.txt[]
 
+include::drivers/GM.txt[]
+
 :leveloffset: 0
 
 = Advanced Topics
diff --git a/docs/src/Submakefile b/docs/src/Submakefile
index 361d2a198..a3c12359d 100644
--- a/docs/src/Submakefile
+++ b/docs/src/Submakefile
@@ -140,6 +140,7 @@ DOC_SRCS := \
 	drivers/AX5214H_fr.txt \
 	drivers/AX5214H_pl.txt \
 	drivers/VFS11.txt \
+        drivers/GM.txt \
 	drivers/GS2.txt \
 	drivers/GS2_de.txt \
 	drivers/GS2_es.txt \
diff --git a/docs/src/docs.xml b/docs/src/docs.xml
index 63f425d48..cb7884ae8 100644
--- a/docs/src/docs.xml
+++ b/docs/src/docs.xml
@@ -60,6 +60,7 @@
 <doc name="drivers_pico_ppmc" title="Pico PPMC Driver"/>
 <doc name="drivers_pluto_p" title="Pluto-P Driver"/>
 <doc name="drivers_servo_to_go" title="Servo-To-Go Driver"/>
+<doc name="drivers_GM" title="General Mechatronics Driver"/>
 <doc name="common_GPLD_Copyright" title="Copyright and Documentation License"/>
 
 <doc name="common_overleaf" title="Overleaf Text"/>
diff --git a/docs/src/drivers/GM.txt b/docs/src/drivers/GM.txt
new file mode 100644
index 000000000..06deeeac5
--- /dev/null
+++ b/docs/src/drivers/GM.txt
@@ -0,0 +1,865 @@
+= General Mechatronics Driver
+
+[[cha:gm-driver]] (((General Mechatronics Driver)))
+
+General Mechatronics PCI card based motion control system
+
+For detailed description, please refer to the http://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System integration manual].
+
+The PCI motion control card is based on an FPGA and a PCI bridge 
+interface ASIC. A small automated manufacturing cell can be controlled, 
+with a short time system integration procedure. The following figure 
+demonstrating the typical connection of devices related to the control 
+system:
+
+*  It can control up to six axis, each can be stepper or CAN bus 
+   interface or analogue servo.
+ 
+*  GPIO: Four time eight I/O pins are placed on standard flat cable headers.
+
+*  RS485 I/O expander modules: RS485 bus was designed for interfacing 
+   with compact DIN-rail mounted expander modules. An 8-channel digital input, 
+   an 8-channel relay output and an analogue I/O (4x +/-10 Volts output and 8x 
+   +/-5 Volts input) modules are available now. Up to 16 modules can be 
+   connected to the bus altogether.
+   
+*  20 optically isolated input pins: Six times three for the direct 
+   connection of two end switch and one homing sensor for each axis. And 
+   additionally, two optically isolated E-stop inputs.
+
+image::images/GMsystem.png[align="center", scaledwidth="70%",alt="GM servo control system"]
+
+Installing:
+----
+loadrt hal_gm
+----
+
+During loading (or attempted loading) the driver prints some useful 
+debugging messages to the kernel log, which can be viewed with dmesg.
+
+Up to 3 boards may be used in one system.
+
+The following connectors can be found on the PCI card:
+
+.PCI card connectors and LEDs(((pci-card connectors)))[[fig:PCI-card-connectors]]
+
+image::images/GM_PCIpinout.png[align="center",scaledwidth="70%"]
+
+
+== I/O connectors
+
+.Pin numbering of GPIO connectors(((pin-numbering-gpio)))[[fig:pin-numbering-gpio]]
+
+image::images/GM_IOpinout.png[align="center"]
+
+.Pinout of GPIO connectors[[table:gpio-pinout]](((gpio-pinout)))
+
+[width="40%", options="header", cols="5*^"]
+|========================================
+| 9     | 7     | 5     | 3     | 1
+| IOx/7 | IOx/5 | IOx/3 | IOx/1 | VCC
+|========================================
+
+[width="40%", options="header", cols="5*^"]
+|========================================
+| 10  | 8     | 6     | 4     | 2
+| GND | IOx/6 | IOx/4 | IOx/2 | IOx/0
+|========================================
+
+Each pin can be configured as digital input or output. 
+GM 6 axis motion control card has 4 general purpose I/O 
+(GPIO) connectors, with eight configurable I/O on each. 
+Every GPIO pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.gpio.<nr of gpio con>
+----
+
+,where <nr of gpio con> is form 0 to 3. For example:
+
+----
+gm.0.gpio.0.in-0
+----
+
+indicates the state of the first pin of the first GPIO 
+connector on the PCI card. Hal pins are updated by function
+
+----
+gm.<nr of card>.read
+----
+
+=== Pins
+
+.GPIO pins[[table:gpio-pins]](((gpio-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins | Type and direction | Pin description
+| .in-<0-7> | (bit, Out) | Input pin
+| .in-not-<0-7> | (bit, Out) | Negated input pin
+| .out-<0-7> | (bit, In) | Output pin. Used only when GPIO is set to output.
+|========================================
+
+=== Parameters
+
+.GPIO parameters[[table:gpio-parameters]](((gpio-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins              | Type and direction | Parameter description
+| .is-out-<0-7>     | (bit, R/W)         | When True, the corresponding GPIO is set to totem-pole output, other wise set to high impedance input.
+| .invert-out-<0-7> | (bit, R/W)         | When True, pin value will be inverted. Used when pin is configured as output.
+|========================================
+
+== Axis connectors
+
+.Pin numbering of axis connectors(((pin-numbering-axis)))[[fig:pin-numbering-axis]]
+
+image::images/GM_AXISpinout.png[align="center"]
+
+.Pinout of axis connectors[[table:axis-pinout]](((axis-pinout)))
+
+[width="40%", cols="^1,<4"]
+|========================================
+| 1  | Encoder A
+| 2  | +5 Volt (PC)
+| 3  | Encoder B
+| 4  | Encoder Index
+| 5  | Fault
+| 6  | Power Enabled
+| 7  | Step/CCW/B
+| 8  | Direction/CW/A
+| 9  | Ground (PC)
+| 10 | DAC serial line
+|========================================
+
+=== Axis interface modules
+
+Small sized DIN rail mounted interface modules gives easy way of connecting 
+different types of servo modules to the axis connectors. 
+Seven different system configurations are presented in the 
+http://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System integration manual] 
+for evaluating typical applications. Also the detailed description of the 
+Axis modules can be found in the System integration manual.
+
+For evaluating the appropriate servo-drive structure the modules 
+have to be connected as the following block diagram shows:
+
+.Servo axis interfaces(((axis-iterface)))[[fig:axis-iterface]]
+
+image::images/GM_AxisInterface.png[align="center", scaledwidth="100%"]
+
+
+=== Encoder
+
+The motion control card has six encoder modules. 
+Each encoder module has three channels:
+
+*  Channel-A
+*  Channel-B
+*  Channel-I (index)
+
+It is able to count quadrature encoder signals or step/dir signals. 
+Each encoder module is connected to the inputs of the corresponding 
+RJ50 axis connector.
+
+Every encoder pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.encoder.<nr of axis>
+----
+
+,where <nr of axis> is form 0 to 5. For example:
+
+----
+gm.0.encoder.0.position
+----
+
+refers to the position of encoder module of axis 0.
+
+The PCI card counts the encoder signal independently from LinuxCNC. 
+Hal pins are updated by function:
+
+----
+gm.<nr of card>.read
+----
+
+==== Pins
+
+.Encoder pins[[table:encoder-pins]](((encoder-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins               | Type and direction | Pin description
+| .reset             | (bit, In)          | When True, resets counts and position to zero.
+| .rawcounts         | (s32, Out)         | The raw count is the counts, but unaffected by reset or the index pulse.
+| .counts            | (s32, Out)         | Position in encoder counts.
+| .position          | (float, Out)       | Position in scaled units (=.counts/.position-scale).
+| .index-enabled     | (bit, IO)          | When True, counts and position are rounded or reset 
+                                            (depends on index-mode) on next rising edge of channel-I. 
+											Every time position is reset because of Index, index-enabled 
+											pin is set to 0 and remain 0 until connected hal pin does 
+											not set it.
+| .velocity          | (float, Out)       | Velocity in scaled units per second. GM encoder uses high 
+                                            frequency hardware timer to measure time between encoder 
+											pulses in order to calculate velocity. It greatly reduces 
+											quantization noise as compared to simply differentiating 
+											the position output. When the measured velocity is below 
+											min-velocity-estimate, the velocity output is 0.
+|========================================
+
+==== Parameters
+
+.Encoder parameters[[table:encoder-parameters]](((encoder-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters          | Type and Read/Write | Parameter description
+| .counter-mode       | (bit, R/W)          | When True, the counter counts each rising edge of the 
+                                              channel-A input to the direction determined by channel-B. 
+			 	 							  This is useful for counting the output of a single channel 
+			 								  (non-quadrature) or step/dir signal sensor. When false, it 
+											  counts in quadrature mode.
+| .index-mode         | (bit, R/W)          | When True and .index-enabled is also true, .counts and 
+                                              .position are rounded (based on .counts-per-rev) at rising 
+											  edge of channel-I. This is useful to correct few pulses 
+											  error caused by noise. In round mode, it is essential to 
+											  set .counts-per-rev parameter correctly. When .index-mode 
+											  is False and .index-enabled is true, .counts and .position 
+											  are reset at channel-I pulse.
+| .counts-per-rev     | (s32, R/V)          | Determine how many counts are between two index pulses. It 
+                                              is used only in round mode, so when both .index-enabled and 
+											  .index-mode parameters are True. GM encoder process encoder signal 
+											  in 4x mode, so for example in case of a 500 CPR encoder it should 
+											  be set to 2000. This parameter can be easily measured by setting 
+											  .index-enabled True and .index-mode False (so that .counts resets 
+											  at channel-I pulse), than move axis by hand and see the maximum 
+						    				  magnitude of .counts pin in halmeter.
+| .index-invert       | (bit, R/W)          | When True, channel-I event (reset or round) occur on falling 
+                                              edge of channel-I signal, otherwise on rising edge.
+| .min-speed-estimate | (float, R/W)        | Determine the minimum measured velocity magnitude at which 
+                                              .velocity will be set as nonzero. Setting this parameter too 
+											  low will cause it to take a long time for velocity to go to zero 
+											  after encoder pulses have stopped arriving.
+| .position-scale     | (float, R/W)        | Scale in counts per length unit. .position=.counts/.position-scale. 
+                                              For example, if position-scale is 2000, then 1000 counts of the 
+											  encoder will produce a position of 0.5 units.
+|========================================
+
+==== HAL example
+
+Setting encoder module of axis 0 to receive 500 CPR quadrature encoder signal and use reset to round position.
+
+----
+setp gm.0.encoder.0.counter-mode 0         # 0: quad, 1: stepDir
+setp gm.0.encoder.0.index-mode 1           # 0: reset pos at index, 1:round pos at index
+setp gm.0.encoder.0.counts-per-rev 2000      # GM process encoder in 4x mode, 4x500=2000
+setp gm.0.encoder.0.index-invert 0
+setp gm.0.encoder.0.min-speed-estimate 0.1 # in position unit/s
+setp gm.0.encoder.0.position-scale 20000   # 10 encoder rev cause the machine to 
+                                             move one position unit (10x2000)
+----
+
+Connect encoder position to LinuxCNC position feedback:
+
+----
+net Xpos-fb gm.0.encoder.0.position => axis.0.motor-pos-fb
+----
+
+=== Stepgen module
+
+The motion control card has six stepgen modules, one for each axis. 
+Each module has two output signals. It can produce Step/Direction, 
+Up/Down or Quadrature (A/B) pulses. Each stepgen module is connected 
+to the pins of the corresponding RJ50 axis connector.
+
+Every stepgen pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.stepgen.<nr of axis>
+----
+
+,where nr of axis is form 0 to 5. For example:
+
+----
+gm.0.stepgen.0.position-cmd
+----
+
+refers to the position command of stepgen module of axis 0 on card 0.
+
+The PCI card generates step pulses independently from LinuxCNC. 
+Hal pins are updated by function
+
+----
+gm.<nr of card>.write
+----
+
+<<<
+
+==== Pins
+
+.Stepgen module pins[[table:stepgen-pins]](((stepgen-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins               | Type and direction | Pin description
+| .enable            | (bit, In)          | Stepgen produces pulses only when this pin is true.
+| .count-fb          | (s32, Out)         | Position feedback in counts unit.
+| .position-fb       | (float, Out)       | Position feedback in position unit.
+| .position-cmd      | (float, In)        | Commanded position in position units. Used in position mode only.
+| .velocity-cmd      | (float, In)        | Commanded velocity in position units per second. Used in velocity mode only.
+|========================================
+
+==== Parameters
+
+.Stepgen module parameters[[table:stepgen-parameters]](((stepgen-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters         | Type and Read/Write | Parameter description
+| .step-type         | (u32, R/W)          | When 0, module produces Step/Dir signal. When 1, it 
+                                             produces Up/Down step signals. And when it is 2, it 
+											 produces quadrature output signals.
+| .control-type      | (bit, R/W)          | When True, .velocity-cmd is used as reference and velocity 
+                                             control calculate pulse rate output. When False, .position-cmd 
+											 is used as reference and position control calculate pulse rate output.
+| .invert-step1      | (bit, R/W)          | Invert the output of channel 1 (Step signal in StepDir mode)
+| .invert-step2      | (bit, R/W)          | Invert the output of channel 2 (Dir signal in StepDir mode)
+| .maxvel            | (float, R/W)        | Maximum velocity in position units per second. If it is set to 0.0, 
+                                             .maxvel parameter is ignored.
+| .maxaccel          | (float, R/W)        | Maximum acceleration in position units per second squared. If 
+                                             it is set to 0.0, .maxaccel parameter is ignored.
+| .position-scale    | (float, R/W)        | Scale in steps per length unit.
+| .steplen           | (u32, R/W)          | Length of step pulse in nano-seconds.
+| .stepspace         | (u32, R/W)          | Minimum time between two step pulses in nano-seconds.
+| .dirdelay          | (u32, R/W)          | Minimum time between step pulse and direction change in nano-seconds.
+|========================================
+
+<<<
+
+For evaluating the appropriate values see the timing diagrams below:
+
+.Reference signal timing diagrams(((refsig-timing-diagram)))[[fig:refsig-timing-diagram]]
+
+image::images/GM_RefSignals.png[align="center", scaledwidth="70%"]
+
+==== HAL example
+
+Setting stepgen module of axis 0 to generate 1000 step pulse per position unit:
+
+----
+setp gm.0.stepgen.0.step-type 0         # 0:stepDir, 1:UpDown, 2:Quad
+setp gm.0.stepgen.0.control-type 0      # 0:Pos. control, 1:Vel. Control
+setp gm.0.stepgen.0.invert-step1 0
+setp gm.0.stepgen.0.invert-step2 0
+setp gm.0.stepgen.0.maxvel 0            # do not set maxvel for step 
+                                        # generator, let interpolator control it.
+setp gm.0.stepgen.0.maxaccel 0          # do not set max acceleration for 
+                                        # step generator, let interpolator control it.
+setp gm.0.stepgen.0.position-scale 1000 # 1000 step/position unit
+setp gm.0.stepgen.0.steplen 1000        # 1000 ns = 1 us
+setp gm.0.stepgen.0.stepspace1000       # 1000 ns = 1 us
+setp gm.0.stepgen.0.dirdelay 2000       # 2000 ns = 2 us
+----
+
+Connect stepgen to axis 0 position reference and enable pins:
+
+----
+net Xpos-cmd axis.0.motor-pos-cmd => gm.0.stepgen.0.position-cmd
+net Xen axis.0.amp-enable-out => gm.0.stepgen.0.enable
+----
+
+=== Enable and Fault signals
+
+The PCI motion control card has one enable output and one fault 
+input HAL pins, both are connected to each RJ50 axis connector 
+and to the CAN connector.
+
+Hal pins are updated by function:
+
+----
+gm.<nr of card>.read
+----
+
+==== Pins
+
+.Enable and Fault signal pins[[table:enable-pins]](((enable-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins                         | Type and direction | Pin description
+| gm.<nr of card>.power-enable | (bit, In)          | If this pin is True,
+
+                                                      * and Watch Dog Timer is not expired
+                                                      * and there is no power fault
+                                                      Then power enable pins of axis- and CAN connectors 
+													  are set to high, otherwise set to low.
+| gm.<nr of card>.power-fault  | (bit, Out)         | Power fault input.
+|========================================
+
+=== Axis DAC
+
+The motion control card has six serial axis DAC driver modules, 
+one for each axis. Each module is connected to the pin of the 
+corresponding RJ50 axis connector.
+Every axis DAC pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.dac.<nr of axis>
+----
+
+,where nr of axis is form 0 to 5. For example:
+
+----
+gm.0.dac.0.value
+----
+
+refers to the output voltage of DAC module of axis 0.
+Hal pins are updated by function:
+
+----
+gm.<nr of card>.write
+----
+
+<<<
+
+==== Pins
+
+.Axis DAC pins[[table:dac-pins]](((dac-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins    | Type and direction | Pin description
+| .enable | (bit, In)          | Enable DAC output. When enable is 
+                                 false, DAC output is 0.0 V.
+| .value  | (float, In)         | Value of DAC output in Volts.
+|========================================
+
+==== Parameters
+
+.Axis DAC parameters[[table:dac-parameters]](((dac-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters     | Type and direction | Parameter description
+| .offset        | (float, R/W)       | Offset is added to the value before 
+                                        the hardware is updated
+| .high-limit    | (float, R/W)       | Maximum output voltage of the 
+                                        hardware in volts.
+| .low-limit     | (float, R/W)       | Minimum output voltage of the 
+                                        hardware in volts.
+| .invert-serial | (float, R/W)       | PCI card is communicating with DAC 
+                                        hardware via fast serial communication 
+										to highly reduce time delay compared to 
+										PWM. DAC module is recommended to be 
+										isolated which is negating serial 
+										communication line. In case of isolation, 
+										leave this parameter to default (0), 
+										while in case of none-isolation, set 
+										this parameter to 1.
+|========================================
+
+== CAN-bus servo amplifiers
+
+The motion control card has CAN module to drive CAN 
+servo amplifiers. Implementation of higher level protocols 
+like CANopen is further development. Currently GM produced 
+power amplifiers has upper level driver which export pins 
+and parameters to HAL. They receive position reference and 
+provide encoder feedback via CAN bus.
+
+The frames are standard (11 bit) ID frames, with 4 byte data length. 
+Tha baud rate is 1 Mbit.
+The position commad IDs for axis 0..5 are 0x10..0x15.
+The position feedback IDs for axis 0..5 are 0x20..0x25.
+
+These configuration can be changed with the modifivation 
+of hal_gm.c and recompiling LinuxCNC.
+
+Every CAN pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.can-gm.<nr of axis>
+----
+
+,where <nr of axis> is form 0 to 5. For example:
+
+----
+gm.0.can-gm.0.position
+----
+
+refers to the output position of axis 0 in position units.
+
+Hal pins are updated by function:
+
+----
+gm.<nr of card>.write
+----
+
+<<<
+
+=== Pins
+
+.CAN module pins[[table:can-pins]](((can-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins               | Type and direction | Pin description
+| .enable            | (bit, In)          | Enable sending position references.
+| .position-cmd      | (float, In)        | Commanded position in position units.
+| .position-fb       | (float, In)        | Feed back position in position units.
+|========================================
+
+=== Parameters
+
+.CAN module parameters[[table:can-parameters]](((can-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters         | Type and direction | Parameter description
+| .position-scale    | (float, R/W)       | Scale in per length unit.
+|========================================
+
+== Watchdog timer
+
+Watchdog timer resets at function:
+
+----
+gm.<nr of card>.read
+----
+
+=== Pins
+
+.Watchdog pins[[table:watchdog-pins]](((watchdog-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins                             | Type and direction | Pin description
+| gm.<nr of card>.watchdog-expired | (bit, Out)         | Indicates that watchdog timer is expired.
+|========================================
+
+Watchdog timer overrun causes the set of power-enable to low in hardware.
+
+=== Parameters
+
+.Watchdog parameters[[table:watchdog-parameters]](((watchdog-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters                          | Type and direction | Parameter description
+| gm.<nr of card>.watchdog-enable     | (bit, R/W)         | Enable watchdog timer. 
+                                                             It is strongly recommended to 
+														     enable watchdog timer, because 
+														     it can disables all the servo 
+														     amplifiers by pulling down all 
+														     enable signal in case of PC error.
+| gm.<nr of card>.watchdog-timeout-ns | (float, R/W)       | Time interval in within the 
+                                                             gm.<nr of card>.read function 
+															 must be executed. The gm.<nr of card>.read 
+															 is typically added to servo-thread, so 
+															 watch timeout is typically set to 3 times 
+															 of the servo period.
+|========================================
+
+== End-, homing- and E-stop switches
+
+.Pin numbering of homing & end switch connector(((pin-numbering-endsw)))[[fig:pin-numbering-endsw]]
+
+image::images/GM_ENDSWpinout.png[align="center"]
+
+.End- and homing switch connector pinout[[table:end-and-homing-switch-connector-pinout]](((end-and-homing-switch-connector-pinout)))
+
+[width="100%", options="header", cols="2*^.^1,11*^.^2"]
+|========================================
+| *25* | *23* | *21*   | *19*   | *17*      | *15*   | *13*   | *11*      | *9*    | *7*    | *5*       | *3*      | *1*
+2+| GND       | 1/End- | 2/End+ | 2/Hom-ing | 3/End- | 4/End+ | 4/Hom-ing | 5/End- | 6/End+ | 6/Hom-ing | E-Stop 2 | V+ (Ext.)
+|========================================
+
+[width="100%", options="header", cols="2*^.^1,11*^.^2"]
+|========================================
+| *26* | *24* | *22*   | *20*      | *18*   | *16*   | *14*      | *12*   | *10*   | *8*       | *6*    | *4*      | *2*
+2+| GND       | 1/End+ | 1/Hom-ing | 2/End- | 3/End+ | 3/Hom-ing | 4/End- | 5/End+ | 5/Hom-ing | 6/End- | E-Stop 1 | V+ (Ext.)
+|========================================
+
+The PCI motion control card has two limit- and one homing switch input for each axis. All the names of these pins begin as follows:
+
+----
+gm.<nr. of card>.axis.<nr of axis>
+----
+
+,where nr of axis is form 0 to 5. For example:
+
+----
+gm.0.axis.0.home-sw-in
+----
+
+indicates the state of the axis 0 home switch.
+
+Hal pins are updated by function:
+
+----
+gm.<nr of card>.read
+----
+
+=== Pins
+
+.End- and homing switch pins[[table:end-and-homing-switch-pins]](((end-and-homing-switch-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins               | Type and direction | Pin description
+| .home-sw-in        | (bit, Out)         | Home switch input
+| .home-sw-in-not    | (bit, Out)         | Negated home switch input
+| .neg-lim-sw-in     | (bit, Out)         | Negative limit switch input
+| .neg-lim-sw-in-not | (bit, Out)         | Negated negative limit switch input
+| .pos-lim-sw-in     | (bit, Out)         | Positive limit switch input
+| .pos-lim-sw-in-not | (bit, Out)         | Negated positive limit switch input
+|========================================
+
+=== Parameters
+
+.E-stop switch parameters[[table:e-stop-switch-parameters]](((e-stop-switch-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters            | Type and direction | Parameter description
+| gm.0.estop.0.in-0     | (bit, Out)         | Estop 0 input
+| gm.0.estop.0.in-not-0 | (bit, Out)         | Negated Estop 0 input
+| gm.0.estop.0.in-1     | (bit, Out)         | Estop 1 input
+| gm.0.estop.0.in-not-1 | (bit, Out)         | Negated Estop 1 input
+|========================================
+
+== Status LEDs
+
+=== CAN
+Color: Orange
+
+*  Blink, during data communication.
+*  On, when any of the buffers are full - communication error.
+*  Off, when no data communication.
+
+=== RS485
+Color: Orange
+
+*  Blink, during initialization of modules on the bus
+*  On, when the data communication is up between all initialized modules.
+*  Off, when any of the initialized modules dropped off because of an error.
+
+=== EMC
+Color: White
+
+*  Blink, when LinuxCNC is running.
+*  Otherwise off.
+
+=== Boot
+Color: Green
+
+*  On, when system booted successfully.
+*  Otherwise off.
+
+=== Error
+Color: Red
+
+*  Off, when there is no fault in the system.
+*  Blink, when PCI communication error.
+*  On, when watchdog timer overflowed.
+
+== RS485 I/O expander modules
+
+These modules were developed for expanding the I/O and function 
+capability along an RS485 line of the PCI motion control card.
+
+Available module types:
+
+*  8-channel relay output module - gives eight NO-NC relay output 
+   on a three pole terminal connector for each channel.
+*  8-channel digital input module - gives eight optical 
+   isolated digital input pins.
+*  8 channel ADC and 4-channel DAC module - gives four digital-to-analogue 
+   converter outputs and eight analogue-to-digital inputs. 
+   This module is also optically isolated from the PCI card.
+
+*Automatic node recognizing:*
+
+Each node connected to the bus was recognized by the PCI card automatically. 
+During starting LinuxCNC, the driver export pins and parameters of all 
+available modules automatically.
+
+*Fault handling:*
+
+If a module does not answer regularly the PCI card drops down the module.
+If a module with output do not gets data with correct CRC regularly, the 
+module switch to error sate (green LED blinking), and turns all outputs 
+to error sate.
+
+*Connecting the nodes:*
+
+The modules on the bus have to be connected in serial topology, with 
+termination resistors on the end. The start of the topology is the PCI 
+card, and the end is the last module.
+
+.Connecting the RS485 nodes to the PCI card(((connecting-rs485)))[[fig:connecting-rs485]]
+
+image::images/GM_RS485topology.png[align="center", scaledwidth="60%"]
+
+*Adressing:*
+
+Each node on the bus has a 4 bit unique address that can be set with a red DIP switch.
+
+*Status LED:*
+
+A green LED indicates the status of the module:
+
+*  Blink, when the module is only powered, but not jet identified, or when module is dropped down.
+*  Off, during identification (computer is on, but LinuxCNC not started)
+*  On, when it communicates continuously.
+
+
+=== Relay output module
+
+For pinout, connection and electrical charasteristics of the module, please refer to the
+http://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System integration manual].
+
+All the pins and parameters are updated by the following function:
+
+----
+gm.<nr. of card>.rs485
+----
+
+It should be added to servo thread or other thread with 
+larger period to avoid CPU overload.
+Every RS485 module pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.rs485.<modul ID>
+----
+
+,where <modul ID> is form 00 to 15.
+
+==== Pins
+
+.Relay output module pins[[table:rs485-relay-pins]](((rs485-relay-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins                | Type and direction | Pin description
+| .relay-<0-7>        | (bit, Out)         | Output pin for relay
+|========================================
+
+==== Parameters
+
+.Relay output module parameters[[table:rs485-relay-parameters]](((rs485-relay-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters          | Type and direction | Parameter description
+| .invert-relay-<0-7> | (bit, R/W)         | Negate relay output pin
+|========================================
+
+==== HAL example
+
+----
+gm.0.rs485.0.relay-0 # First relay of the node.
+gm.0                 # Means the first PCI motion control card (PCI card address = 0)
+.rs485.0             # Select node with address 0 on the RS485 bus
+.relay-0             # Select the first relay
+----
+
+=== Digital input module
+
+For pinout, connection and electrical charasteristics of the module, please refer to the
+http://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System integration manual].
+
+All the pins and parameters are updated by the following function:
+
+----
+gm.<nr. of card>.rs485
+----
+
+It should be added to servo thread or other thread with larger period to avoid CPU overload.
+Every RS485 module pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.rs485.<modul ID>
+----
+
+,where <modul ID> is form 00 to 15.
+
+==== Pins
+
+.Digital input output module pins[[table:rs485-input-pins]](((rs485-input-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins                | Type and direction | Pin description
+| .in-<0-7>           | (bit, Out)         | Input pin
+| .in-not-<0-7>       | (bit, Out)         | Negated input pin
+|========================================
+
+==== HAL example
+
+----
+gm.0.rs485.0.in-0 # First input of the node.
+# gm.0     - Means the first PCI motion control card (PCI card address = 0)
+# .rs485.0 - Select node with address 0 on the RS485 bus
+# .in-0    - Select the first digital input module
+----
+
+=== DAC & ADC module
+
+For pinout, connection and electrical charasteristics of the module, please refer to the
+http://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System integration manual].
+
+All the pins and parameters are updated by the following function:
+
+----
+gm.<nr. of card>.rs485
+----
+
+It should be added to servo thread or other thread with larger period to avoid CPU overload.
+Every RS485 module pin and parameter name begins as follows:
+
+----
+gm.<nr. of card>.rs485.<modul ID>
+----
+
+,where <modul ID> is form 00 to 15.
+
+==== Pins
+
+.DAC & ADC module pins[[table:rs485-dacadc-pins]](((rs485-dacadc-pins)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Pins                | Type and direction | Pin description
+| .adc-<0-7>          | (float, Out)       | Value of ADC input in Volts.
+| .dac-enable-<0-3>   | (bit, In)          | Enable DAC output. When enable is 
+                                             false DAC output is set to 0.0 V.
+| .dac-<0-3>          | (float, In)        | Value of DAC output in Volts.
+|========================================
+
+==== Parameters
+
+.Relay output module parameters[[table:rs485-relay-parameters]](((rs485-relay-parameters)))
+
+[width="80%", options="header", cols="<3,^2,<6"]
+|========================================
+| Parameters            | Type and direction | Parameter description
+| .adc-scale-<0-7>      | (float, R/W)       | The input voltage will be multiplied by 
+                                               scale before being output to .adc- pin.
+| .adc-offset-<0-7>     | (float, R/W)       | Offset is subtracted from the hardware input 
+                                               voltage after the scale multiplier has been applied.
+| .dac-offset-<0-3>     | (float, R/W)       | Offset is added to the value before the hardware is updated.
+| .dac-high-limit-<0-3> | (float, R/W)       | Maximum output voltage of the hardware in volts.
+| .dac-low-limit-<0-3>  | (float, R/W)       | Minimum output voltage of the hardware in volts. 
+|========================================
+
+==== HAL example
+
+----
+gm.0.rs485.0.adc-0 # First analogue channel of the node.
+# gm.0     - Means the first PCI motion control card (PCI card address = 0)
+# .rs485.0 - Select node with address 0 on the RS485 bus
+# .adc-0   - Select the first analogue input of the module
+----
+
diff --git a/docs/src/drivers/images/GM_AXISpinout.png b/docs/src/drivers/images/GM_AXISpinout.png
new file mode 100644
index 000000000..20c56fe8e
--- /dev/null
+++ b/docs/src/drivers/images/GM_AXISpinout.png
diff --git a/docs/src/drivers/images/GM_AxisInterface.png b/docs/src/drivers/images/GM_AxisInterface.png
new file mode 100644
index 000000000..73e992ef1
--- /dev/null
+++ b/docs/src/drivers/images/GM_AxisInterface.png
diff --git a/docs/src/drivers/images/GM_ENDSWpinout.png b/docs/src/drivers/images/GM_ENDSWpinout.png
new file mode 100644
index 000000000..f94b379f3
--- /dev/null
+++ b/docs/src/drivers/images/GM_ENDSWpinout.png
diff --git a/docs/src/drivers/images/GM_IOpinout.png b/docs/src/drivers/images/GM_IOpinout.png
new file mode 100644
index 000000000..6f2d0e192
--- /dev/null
+++ b/docs/src/drivers/images/GM_IOpinout.png
diff --git a/docs/src/drivers/images/GM_PCIpinout.png b/docs/src/drivers/images/GM_PCIpinout.png
new file mode 100644
index 000000000..ebdf2fa2a
--- /dev/null
+++ b/docs/src/drivers/images/GM_PCIpinout.png
diff --git a/docs/src/drivers/images/GM_RS485topology.png b/docs/src/drivers/images/GM_RS485topology.png
new file mode 100644
index 000000000..d9446dd36
--- /dev/null
+++ b/docs/src/drivers/images/GM_RS485topology.png
diff --git a/docs/src/drivers/images/GM_RefSignals.png b/docs/src/drivers/images/GM_RefSignals.png
new file mode 100644
index 000000000..ca4787eac
--- /dev/null
+++ b/docs/src/drivers/images/GM_RefSignals.png
diff --git a/docs/src/drivers/images/GMsystem.png b/docs/src/drivers/images/GMsystem.png
new file mode 100644
index 000000000..6555589ea
--- /dev/null
+++ b/docs/src/drivers/images/GMsystem.png
diff --git a/docs/src/hal/intro.txt b/docs/src/hal/intro.txt
index 6647e5d1c..027b0b51b 100644
--- a/docs/src/hal/intro.txt
+++ b/docs/src/hal/intro.txt
@@ -278,6 +278,9 @@ hal_ax5214h::
      (((hal-ax5214h))) A driver for the Axiom Measurement & Control AX5241H
     digital I/O board
 
+hal_gm::
+    (((hal-gm))) General Mechatronics 6 axis PCI motion controller
+
 hal_m5i20::
     (((hal-m5i20))) Mesa Electronics 5i20 board
 
diff --git a/docs/src/index.tmpl b/docs/src/index.tmpl
index 302b6fa8f..c2081a6e8 100644
--- a/docs/src/index.tmpl
+++ b/docs/src/index.tmpl
@@ -80,6 +80,7 @@
 	<LI><A HREF="drivers/pluto_p.html">Pluto P Driver</A>
 	<LI><A HREF="drivers/servo_to_go.html">Servo To Go Driver</A>
 	<LI><A HREF="drivers/shuttlexpress.html">ShuttleXpress Driver</A>
+        <LI><A HREF="drivers/GM.html">General Mechatronics Driver</A>
 	<LI><A HREF="common/python-interface.html">Python Interface</A>
 	<LI><A HREF="motion/kinematics.html">Kinematics</A>
 	<LI><A HREF="motion/tweaking_steppers.html">Stepper Tuning</A>
author	Bence Kovacs <bence.kovacs@generalmechatronics.com>	2012-10-26 18:56:38 +0200
committer	Bence Kovacs <bence.kovacs@generalmechatronics.com>	2012-10-26 18:56:38 +0200
commit	076239ec49db0e38f58e133055b5e295e99be015 (patch)
tree	ab396cca600fd251f561e4ee67c0aeff8c245724
parent	1764a195548a68aa1c57ba349720744a6c28324a (diff)
download	linuxcnc-076239ec49db0e38f58e133055b5e295e99be015.tar.gz linuxcnc-076239ec49db0e38f58e133055b5e295e99be015.zip