YAPSC:10V : The glue between Step/dir and +/-10V servo amp

[MaX-MoD]

Hello everybody,

Got a nice industrial servo amp taking analog command, and want to use it with MACH3 ou EMC2 with STEP/DIR? You are at the right place!


Yesterday I successfully tested my first proto of YAPSC:10V. Whereas it still lack some documentation it is ready for production, I am getting pro made PCBs and components order soon.
This board is based on a dsPIC30F4012, and uses a modified code from Lawrence Glaister's dspicservo.

On top of that, it is Open Source (GPL) so you can modify it to your needs!

FEATURES :

• Takes position feedback from quadrature encoder on the servo (resolvers cannot be used directly but some amps can output quadrature signals from the resolver feedback)
• Compatible with both torque and speed controlled amps
• Takes STEP/DIR command from PC
• ENABLE signal from PC can disable the amp
• Output amplitude can be selected from +/-0V to +/-10V, to feed +/-10V or +/-5V amps
• Jumper selected TTL or differential quadrature encoder input
• FAULT input from the servo amp
• Reset/ENABLE output to the servo amp
• One additional input for future use
• Programmable max error limit : 0 (disabled) to 32768
• PID tuning program for linux, windows (and probably Mac OS) : YTT (under development)
• STEP/DIR input multiplier (allows faster speed)
• 1MHz max step and encoder rate!
• etc.

NOTE: There is NO power stage on this controller! It is specially designed to control those industrial speed or torque drivers.


CODE, SCHEMATICS AND PCB :
here (3.6MB file)

PICTURES :
3D view from KICAD
PCB
first proto in test

VIDEO :
This is a sneak preview to show how fast and accurate it actually is. The servo is a 0.5KW (~3/4hp) 3 phases servo from Seidel driven by a Digifas 7200 and YAPSC:10V. It's quite impressive knowing it goes from 0 to 2000 rpm in less than 0.3 seconds!
STEP/DIR input is from EMC
"http://youtube.com/watch?v=x_aorBS_nAY"]http://youtube.com/watch?v=x_aorBS_nAY

NOTE (legal part):
You can compile the dsPIC's firmware with the free student version of MPLAB C30 compiler. In that case, any other use than research/study is strictly forbidden (limitation due the compiler's student licence).
Yet zip contains the project compiled with a full licence of MPLAC C30 compiler so the only limitations is from the GPL licence (read included gpl-3.0-standalone.html for more infos)
I will take no responsability in case of personal injuries or material damages! This project comes without any warranty and support! ...altough I will be pleased to answer you questions


That's all folks!

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[keebler303]

MaX-MoD

Looks great. Please let us know when you have the chance to get an english manual written, my French isn't quite up to the task.

Thanks
Matt

[A.A]

What about the power stage of this controller ? if some one is not having a nice industrial servo amp.

[MaX-MoD]

I am translating the manual to English in my free times, so it cannot go very fast...


A.A, this board has no power stage, it is specially designed to control those analog input industrial drivers.
But I have another project, YAPSC:V2, wich will include power stage.

[jalessi]

MaX,

I have some brand new Sanyo Denki BL Super PV 30 amp drives.

Model PV1A030SGDNP50

http://www.motiononline.com/PDF%20Fi...COS_Manual.pdf

I beleive it is a either Devicenet "CAN" or Sercos Interface.

Do you think you could adapt your interface so these drives would be able to take Step and Direction commands?

Jeff...

[MaX-MoD]

Jeff, I fear SERCOS interface is a lot more complicated that analog output. I should be able to do it but the problem is that it will take me so much time I cannot afford...
I don't know if regular PC's UART (com port) are physically adapted for SERCOS link, but maybe the easier thing to do is to write a HAL driver for EMC that would output SERCOS commands on the serial port (or maybe on a fiber optic Ethernet card), because it seems that SERCOS takes directly velocity&position commands.

Or maybe the IDN80 "torque command value" is enough to control the amp...
In that case, maybe a simple fiber optic transmitter linked to YAPSC:10V and a some modification to the code could be enough?
But SERCOS technical description isn't free nor easy... good luck


Regards,
Max

[keebler303]

Max

I ran your french manual through google page translator and it does a decent job. Maybe that would save you some time on getting the english version done. It may be more trouble than its worth as there is a lot of literal translation which is not correct. There is a lot of talk about food for the MOSFETs.

Keep up the good work
Matt

[tecfacet]

hello max ...

are boards available? i would like to get a few to test.

i also would like to build a step/direction servo power amp.

please contact me at tecfacet@yahoo. com

take care.

roger

[nhatson.elec]

Dir Max

about jumper P7, P8, P9 . when it need conect to 2,5V?
your encoder interface can direct connect to ac servomotor encoder? (replace for 26ls32 chip?)

thanks

regards

[MaX-MoD]

P7-9 should be placed for single-ended TTL encoders; otherwise the input is similar to 26ls32 chips : Differential line

More infos in the upcoming manuel.

[mactec54]

Hi MaX-MoD

A much needed Glue as you put it Step/Dir to Analog good job

Get it all finished MaX before doing any changes for anybody or it will never get done I have seen many come & go because the requests for change over take the main unit to get done

So guys let him get it out Here in the market place before you request change for your needs

[KCrouch]

Hi,
I downloaded the zip file and tried to open the schematic. There is a message that says that the following files can't be found. They are missing from the zip.
optocoupler-2.lib
linear4.lib
cap-vishay-153clv.lib
ref-packages.lib
HD15_B.lib
connect.lib
Can You add them to the zip or send them to me at kcrouch@comcast.net please.
Thanks,
Kenny

[MaX-MoD]

Hello,

I kinda know what you are talking about mactec54... I learnt it the hard way


Keny, the missing libraries are part of library.oshec.org/compressed/all.tar.gz (not quite usefull but absolutely necessary when using kicad!) so I won't include them to the zip.

Besides, I got an answer from GoldPhoenix (among others, but it was the best offer I received). Fast respond and short production delays, seems good. Anybody here knows about them?

Regards,
Max

[MaX-MoD]

Here is the first shot of the manual.
Most signals are described, but there is still some work to do on the software and physical description side.

I need your help : is my english OK and is the description clear and understandable?

I am French and know by heart this project, so I may miss to give some capital informations or write some "franglais"

Any advice would be very appreciated

Also I have more infos about PCB price : 15$ each, including shipping
I can also mount all components if it can help : 60$ mounted and tested.


Best regards,
Max

[KCrouch]

Max,
Great work on the manual in english. I found very few things needing changes:
4.2 box data still in French and incomplete, 6.0 Enco (der), 6.2 Encodeur change to Encoder,box below 6.2 still has more to go.
But excellent in general, Your English is very good indeed.
Kenny

[MaX-MoD]

I am happy to hear that Kenny. Thank you for the advice.
Yet I still have some work to do

I'll post the finished manual in the next few days.

Best regards,
Max

[marcelovx23]

maybe i will need six of you boards, i live on mexico, how i can contact you? and you use paypal?

[MaX-MoD]

Hello marcelovx23,

Yes I use PayPal and you can send me a PM me or mail me. You will find my email adress in the manual (post )
(I don't give it on the forum, I really hate this spam crap)


Talking about the manual, I uploaded the updated version.
Last thing required, the board's physical description : connectors, leds etc.
But I have a hard time converting .ps files to .eps under windows...
whereas it is trivial under linux, it seems really hard under windows!


PS: Oddly, I cannot edit my first post... Is that normal???


Best regards,
Max

[MaX-MoD]

Now that's better I think!
latest version of the manual

The only think I have left to add is the example application scheme.
I'll do it newt week.

[MaX-MoD]

Hello,

the PCBs have just arrived this morning! Now I start assembling the first boards.


Also there was times to times a bug with the configuration save/restore function, I fixed it up and it now works as expected.
I updated the source and .hex, You will fin it in the following zip.
I also added modified ingenia's bootloader YAPSC:10V is compatible with.


Code & gerber
EN manual
French manual