MPA-DSP. User s Guide and Programmer s Reference North Broadway New Ulm, MN B Telephone:

Transcription

1 MPA-DSP User s Guide and Programmer s Reference 2101 North Broadway 0901 New Ulm, MN B Telephone: MTS Systems Corporation 2000 Fax:

2 A Summary of Changes to the DSP User's Guide and Programmer's Reference, P/N: Rev B Entire Manual Revised chapter arrangement per Steve Haselius as follows: New Chapter Old Chapter None None None Title Page Bumped Rev level to B. Changed print date. Chapter 1 Added the following statement to the features section on page 1-4: "Sixteen registers that can be changed on-the-fly via ASCII Terminal." Updated the features section on page 1-4 to include all the amplifiers available including all 230 and 460 V models. Chapter 2 Added the following note to page 2-1: Contact Custom Servo Motors' Applications Group if your application exceeds the normal temperature range. Updated mounting dimensions to include all available models of 230 and 460 V amplifiers. Added the mechanical footprint for the optional EXS and inductors. Updated the wiring diagram with Expansion I/O Option to include the input and output information.

3 Chapter 3 Chapter 4 This is the old chapter 3. Added the following statements to page 4-1: "There are three different printed circuit board styles on the MPA DSP amplifiers. Determine which style your system has before setting switches and jumpers." Added sections for each of the three models of PCBs. Showing jumper and switch settings, locations, and adjustments. Chapter 5 This is the old chapter 8. Moved the section titled "AC Power Wiring Notes" to the first page. Updated the voltage requirements information and the wire gauge and input proection information to include all models of 230 and 460 V amplifiers available. Added the information on grounding on pages 5-5 to 5-8. Chapter 6 This is the old chapter 4. Changed wiring diagram on page 6-2 to include 8" motors. Updated stator wiring gauge information to include all 230 and 460 V amplifier information. Added sections titled "Shunt Loads" "Thermal Characteristics", "EXS Option", "Shunt/Amplifier Wiring", and "External Inductors" to this chapter from the amplifier manuals. Chapter 7 This is the old chapter 5. Added I/O wiring diagram on page 7-1. Added section titled: "Interface Signal Descriptions". Chapter 8 This is part of the old chapter 5; from the section titled: "Expansion I/O Option" to the end of the chapter. Added the following note to page 8-1: See IO_TYPE software definition. Made minor labeling and note changes to the diagram on page 8-4. Added Expansion I/O Connection diagram on page 8-9. Added section titled" Expansion I/O Installation and Removel".

4 Chapter 9 This is the old chapter 6. Added the following note to the wiring diagram on page 9-1: Made minor changes to a couple functions throughout the chapter. Added the following functions: get_posn_scale Chapter 10 This is the old chapter 7. Added the following note to the wiring diagram on page 10-1: Chapter 11 This is the old chapter 16. Added the following note to page 11-1: At power up, the red RESET LED should be ON for approximately one second. All LEDs should then be OFF with the exception of the green POWER LED, which should always be ON. Added a column titled "Status" to the table on page 11-2.

5 Chapter 12 This is the old chapter 17. Added the following note to page 12-1: There are a couple of important questions that will help in troubleshooting your system. Is this a start-up problem (installation) or has the system been working? If the system was working, was something changed? Does the problem occur immediately after powerup, or does the motor have to be running for the problem to occur? Made minor changes to the "LED Symptoms" section. Added step 3 to the symptom: "High bus LED turns on." on page Added step 4 to the symptom: "Motor LED turns on." on page Added step 1 to the symptom: "Feedback LED turns on." and deleted the next two steps on page Made minor changes to the "LED Sumptoms - Expansion I/O" section. Made minor changes to the "Non-LED Symptoms" section. Added the note and symptom "Serial Communication with the MPA DSP amplifier does not work or fails intermittently". on page Chapter 13 This is the old chapter 18. Made changes to include specifications for all 230 and 460 V amplifiers. Appendix B Updated the table on page B-1 to include information for all 230 and 460 V amplifiers.

6 1 B E F O R E I N S T A L L A T I O N Application This manual is designed to help in the installation and operation of the MaxPlus Amplifier with Digital Signal Processor (MPA DSP) Controller. Unpacking and Handling Instructions Avoid subjecting the MPA DSP to mechanical or thermal shock while unpacking. The MPA DSP should be allowed to reach room temperature before proceeding with installation. 1-1

7 Warranty and Service The MPA DSP is warranted to be free from defects in workmanship and materials for a period of 18 months from the original shipment by MTS Automation Divisions, or 12 months in service, whichever comes first. During the warranty period, a defective MPA DSP will be repaired or replaced as outlined below. Before requesting return authorization, please try to verify that the problem is within the MPA DSP and not with external devices. To arrange for repair or replacement, please contact: MTS Automation Division Customer Service (507) Monday Friday, 8:00 5:00 Central Time You must provide the model and serial number from the labels on the MPA DSP and the reason for returning the unit. You will be issued a return authorization number which must be marked on the return shipment and on all correspondence. Service Under Warranty Return your defective unit, freight prepaid, and it will be repaired and returned within two weeks of receipt via regular UPS, freight prepaid. Upon request, a factory-repaired replacement unit will be sent via regular prepaid UPS, within four working days. Next day shipment for overnight delivery, freight collect, is available at an expediting charge of $100. The defective unit is to be returned via regular UPS, freight prepaid, upon your receipt of the replacement. Non-Warranty Service Return your defective unit, freight prepaid, and it will be repaired on a time and material basis and returned within three weeks of receipt. OR contact your local distributor or MTS Automation Divisions Customer Service for a factory-repaired exchange unit, which is available at a flat rate price, assuming the defective unit is in repairable condition and is returned freight prepaid. Next day shipment for overnight delivery, freight collect, is available at an expediting charge of $100. General Provisions Except as specifically modified by this warranty statement, all MTS Automation- Divisions Conditions of Sale and Warranty shall apply. 1-2

8 Symbols Used in This Manual The following symbols are used in this manual to identify different kinds of information: NOTE This symbol indicates a note that gives you important additional information.!! CAUTION WARNING This symbol indicates that caution must be used to avoid losing valuable data or causing minor damage to equipment. This symbol indicates that extreme care must be used to avoid causing personal injury or equipment damage. 1-3

9 Introducing the MPA DSP MTS Automation Division MPA DSP is a DC servo amplifier with a built-in, high performance, DSP based two axis digital controller. The drive has the capability of running either in a host based system or as a stand-alone unit. The amplifier for the first axis is built in, and the command output/encoder feedback allow the user to connect an external amplifier to control the second axis of motion. Features of the MPA DSP include: Single axis MTS Automation Division amplifier design. Two independent axes of motion control with ratio capabilities. DSP technology design to provide optimal servo performance. State feedback control algorithm. Sampling period/servo loop update period of 200 µs. RS232 communications for program download, system status, and online operation. Eight Kbyte non-volatile RAM allows storage of up to four programs and 16 register values. Eight user-definable inputs. Two user-definable outputs. Expansion I/O Option that converts the eight user definable inputs and two user-definable outputs to 24 user definable inputs and 14 user definable outputs. Start, Stop, Reset, and two program select inputs. Fault output. Available with 7, 9, 10, 15, 25, 35, 50, and 75 amp output servo amplifiers. 105 to 260 Vac input for the 230 V amplifiers and 200 to 520 Vac input for the 460 V amplifiers. MPA_DSPW program (runs under Microsoft Windows ) for creating and downloading applications. 1-4

10 Block Diagram MPA DSP Optional Host Computer Axis One Amplifier RS232 Serial Port Optional External Amplifier Axis One and Axis Two Controller Command Output Axis Two Amplifier Encoder Feedback 1-5

11 MPA DSP features

12 2 M O U N T I N G Environment! CAUTION The ambient temperature must not exceed 45 C (113 F). If the Controller is mounted in an enclosure, the temperature inside the enclosure must not exceed 45 C (113 F). The atmosphere must be non-corrosive, dust-free, and with less than 90% humidity. 2-1

13 Mounting Procedure The MPA DSP is designed for vertical mounting, using four screws. Take the following steps to mount the unit: 1. Drill and tap four holes (1/4 20) in the vertical mounting surface, as shown in this figure: 2.0 (Clearance).31 LEFT SIDE VIEW FRONT VIEW C B C A Model A (Inches) B (Inches) C (Inches) D (Inches)* MPA DSP MPA DSP MPA DSP MPA DSP MPA DSP MPA DSP MPA DSP MPA DSP * This measurement applies only if you are using the MPA DSP Expansion I/O Option. 2. Insert two screws in the lower pair of holes in the mounting surface. Do not tighten these screws. 3. Mount the MPA DSP by sliding it onto the two screws. 4. Insert two screws through the upper pair of holes in the mounting surface. 5. Tighten all four screws. 2-2

14 Preparing for Wiring Routing Cables Connections are made to the terminal strips on the MPA DSP unit. Wires and cables connected to terminal strips are routed right and left of the Controller. Leave enough slack in terminal connections so that the removable terminal strips can be removed and replaced without rewiring. The removable terminal strips are rated for wire up to 12 AWG. Up to two wires can be inserted in each terminal wire clamp. Connection details are shown and described in the following chapters of this manual. Allowance must be made for incoming power, digital input/output connections (including serial port), and transducer connections, as shown in this figure. Be sure that the ac power cable and the motor power cable are physically isolated from the other cables. With Standard I/O RESOLVER INTERFACE MOTOR POWER SERIAL PORT AC POWER I/O INTERFACE Continued on next page 2-3

15 Preparing for Wiring (continued) With Expansion I/O Option MPA DSP EXPANSION I/O RESOLVER INTERFACE MOTOR POWER SERIAL PORT AC POWER I/O INTERFACE 2-4

16 cables, routing 203 connections, terminal strips 203 environment, mounting 201 mounting environment 201 mounting procedure 202 procedure for mounting 202 procedures for wiring 203 routing cables 203 terminal strip connections 203 wiring procedures

17 3 I N T E R N A L A D J U S T M E N T S This chapter explains how to set the switches inside the MPA DSP.! WARNING Turn off all power (both ac power and any external supplies) to the MPA DSP before setting switches. Setting switches with the power on can cause equipment damage and a safety hazard.! CAUTION Do not remove anti-static packaging materials from the MPA DSP until you are ready to install it. Anti-static wrist or ankle bands should be attached before touching the circuit card to avoid static discharge, which can damage circuit components. Except where necessary, avoid touching components or conductive paths on the circuit card. 3-1

18 Setting Switches-DSP01.PCB There are two 4-position DIP switches inside the MPA DSP. The following tables show the definitions and standard settings of the switches. Switch 1 Position ON OFF ON OFF ON OFF ON OFF *Standard Configuration NOTE Low = sinking current. High = no current flow. Function Start input set to active LOW* Start input set to active HIGH Stop input set to active LOW* Stop input set to active HIGH Reset input set to active LOW* Reset input set to active HIGH Fault output set to active LOW Fault output set to active HIGH* Switch 2 Position Function 1 2 ON OFF Four-Pole Brushless Motor OFF ON Six-Pole Brushless Motor* ON ON Eight-Pole Brushless Motor OFF OFF Brush Motor Position 3 ON OFF Position 4 ON OFF Function Enables torque linearization (Sine wave motors)* Disables torque linearization (Trapezoid wound motors) Function Activates FAULT output upon RESet input* FAULT output not activated upon a RESet input *Standard Configuration 3-2

19 Switch Locations ON OFF S1 ON OFF S2 3-3

20 Setting Switches-DSP02.PCB There are two 4-position DIP switches, one 8-position DIP switch, and six jumpers inside the MPA DSP. The following tables show the definitions and standard settings of the switches. Switch 1 NOTE Position ON OFF ON OFF ON OFF ON OFF *Standard Configuration NOTE Low = sinking current. High = no current flow. Function Start input set to active LOW* Start input set to active HIGH Stop input set to active LOW* Stop input set to active HIGH Reset input set to active LOW* Reset input set to active HIGH Fault output set to active LOW Fault output set to active HIGH* Switch 2 Position Function 1 2 ON OFF Four-Pole Brushless Motor OFF ON Six-Pole Brushless Motor* ON ON Eight-Pole Brushless Motor OFF OFF Brush Motor Position 3 ON OFF Position 4 ON OFF Function Enables torque linearization (Sine wave motors)* Disables torque linearization (Trapezoid wound motors) Function Activates FAULT output upon RESet input* FAULT output not activated upon a RESet input *Standard Configuration 3-4

21 Switch 3 Position Function 1 ON Lead adjustment Resp would have more affect 2 ON Lead adjustment Adds major damping to velocity loop 3 ON TAC Filter.047 mic 4 ON TAC Filter.022 mic 5 ON TAC gain 6 ON TAC gain 7 ON TAC gain 8 ON Activates analog velocity loop Switch 3-5, 6, and 7 TAC Gradient Settings S3-5 S3-6 S3-7 TAC Gradient (Volts/1000 rpm) OFF OFF OFF 4.78 OFF OFF ON 4.14 OFF ON OFF 3.53 OFF ON ON 2.90 ON OFF OFF ON OFF ON ON ON OFF ON ON ON.641 Jumper Position Function JP1/JP2 JP1: IN JP2: OUT 14 Bit Mode JP1/JP2 JP1: OUT JP2: IN* 12 Bit Mode JP3/JP4 JP3, JP4: REMOVED* Using external supply for I/O JP3/JP4 JP3, JP4: INSTALLED Using internal 12 volts for I/O (Not recommended for use) JP5 JP5: REMOVED Uses input 8 as a registration input 1 JP5 JP5: INSTALLED* Uses input 8 as a true input 1 JP6 JP6: 1-2 (N position)* Routes the Marker pulse into the DSP to be used as a marker 1 JP6 JP6: 2-3 (non-n position) Routes the registration input into the DSP to be used as a marker 1 * Standard Configuration 1 See schematic later in chapter. Continued on next page 3-5

22 Setting Switches-DSP02.PCB (continued) Switch Locations JP3 JP4 JP5 ON OFF S1 BAL S3 LD RESP CUR GND ON OFF JP1 JP2 DSP BOARD ON OFF S2 JP6 N 3-6

23 Input 8 (prox switch) JP5 To input circuitry on DSP (Input 8 used as a standard input) N To DSP Marker Interrupt input JP6 Index marker input from servo motor Mark LED The configuration of JP5 and JP6 allow the user to input a high-speed input (interrupt flag) to the DSP. Standard configuration uses input 8 as a standard input. By moving JP6 to the non-n position, input 8 is routed to the interrupt flag circuitry of the DSP. DSP software commands such as FLAG_MARK, WAIT_UNTIL_FLAG, REPEAT_UNTIL_FLAG, and GOTO_IF_FLAG can now be used for high speed position registration calls. 3-7

24 Setting Switches-DSP03.PCB Switch 1 There are two 4-position DIP switches, one 8-position DIP switch, and 12 jumpers inside the MPA DSP. The following tables show the definitions and standard settings of the switches. Position ON OFF ON OFF ON OFF ON OFF *Standard Configuration Function Start input set to active LOW* Start input set to active HIGH Stop input set to active LOW* Stop input set to active HIGH Reset input set to active LOW* Reset input set to active HIGH Fault output set to active LOW Fault output set to active HIGH* NOTE Low = sinking current. High = no current flow. Switch 2 Position Function 1 2 ON OFF Four-Pole Brushless Motor OFF ON Six-Pole Brushless Motor* ON ON Eight-Pole Brushless Motor OFF OFF Brush Motor Position 3 ON OFF Position 4 ON OFF Function Enables torque linearization (Sine wave motors)* Disables torque linearization (Trapezoid wound motors) Function Activates FAULT output upon RESet input* FAULT output not activated upon a RESet input *Standard Configuration 3-8

25 Switch 3 Position Function 1 ON Lead adjustment Resp would have more affect 2 ON Lead adjustment Adds major damping to velocity loop 3 ON TAC Filter.047 mic 4 ON TAC Filter.022 mic 5 ON TAC gain 6 ON TAC gain 7 ON TAC gain 8 ON Activates analog velocity loop Switch 3-5, 6, and 7 TAC Gradient Settings S3-5 S3-6 S3-7 TAC Gradient (Volts/1000 rpm) OFF OFF OFF 4.78 OFF OFF ON 4.14 OFF ON OFF 3.53 OFF ON ON 2.90 ON OFF OFF ON OFF ON ON ON OFF ON ON ON.641 Continued on next page 3-9

26 Setting Switches-DSP03.PCB (continued) Jumper Position Function JP1/JP2 JP1: IN JP2: OUT 14 Bit Mode JP1/JP2 JP1: OUT JP2: IN* 12 Bit Mode JP3/JP4 JP3, JP4: REMOVED* Using external supply for I/O JP3/JP4 JP3, JP4: INSTALLED Using internal 12 volts for I/O (Not recommended for use) JP5 JP5: REMOVED Uses input 8 as a registration input 1 JP5 JP5: INSTALLED* Uses input 8 as a true input 1 JP6 JP6: 1-2 (N position)* Routes the Marker pulse into the DSP to be used as a marker 1 JP6 JP6: 2-3 (non-n position) Routes the registration input into the DSP to be used as a marker 1 JP7 JP7: OUT Normal configuration 2 JP8/JP9 JP8: IN JP9: IN 4096 Counts per revolution JP8: OUT JP9: IN 2048 Counts per revolution JP8: IN JP9: OUT 1024 Counts per revolution JP8: OUT JP9: OUT 512 Counts per revolution JP10 JP10: OUT Disables lead gain compensation (only affective when using analog velocity loop S3-8) JP11 JP11: OUT With JP7 IN, will not allow the command signals to be swapped between axis one and axis two 2 JP11: IN* With JP7 IN, will swap axis one and two command signals along with the encoder signals 2 JP12 JP12: OUT* Will use input 7 as a standard input 3 JP12: IN Will switch input 7 from being a standard input to the DSP, to a means of disabling the bridge board which drives the motor 3 * Standard Configuration 1,2,3 See schematics on next page. 3-10

27 Switch Locations JP4 JP3 JP10 JP5 ON OFF S1 ON OFF BAL S3 LD RESP CUR GND JP1 JP2 DSP BOARD JP8 ON OFF S2 JP7 JP9 JP6 N JP12 JP11 Continued on next page 3-11

28 Setting Switches-DSP03.PCB (continued) Input 8 (prox switch) JP5 To input circuitry on DSP (Input 8 used as a standard input) N To DSP Marker Interrupt input JP6 Index marker input from servo motor Mark LED The configuration of JP5 and JP6 allow the user to input a high-speed input (interrupt flag) to the DSP. Standard configuration uses input 8 as a standard input. By moving JP6 to the non-n position, input 8 is routed to the interrupt flag circuitry of the DSP. DSP software commands such as FLAG_MARK, WAIT_UNTIL_FLAG, REPEAT_UNTIL_FLAG, and GOTO_IF_FLAG can now be used for high speed position registration calls. 3-12

29 Physical Axis 1 Encoder Axis 1 encoder feedback to DSP Physical Axis 2 Encoder Axis 2 encoder feedback to DSP Physical Axis 1 Cmd Axis 1 command to DSP Physical Axis 2 Cmd Axis 2 command to DSP JP7 JP11 NOTE Physical Axis 1 Encoder and Physical Axis 1 CMD is the axis/amplifier with the DSP board installed on it. Physical Axis 2 Encoder and Physical Axis 2 CMD is the second axis and is connected to the INTERFACE connector on the front of the MPA-DSP amplifier. Continued on next page 3-13

30 Setting Switches-DSP03.PCB (continued) There are two applications where JP7 and JP11 need to be reconfigured. The first is to run in RATIO mode where axis two is the master, and axis one is the slave axis. The second application is to run in dual loop control where axis one controls the motor commutation/velocity loop, and axis two is an external encoder, used for the position loop. The MPA_DSPW software supports a RATIO (); command. However, it only allowed axis one to be the master axis, and axis two had to be the slave axis. The ratio command would not support axis two as the master, and axis one as the slave. Referring to the above block schematic, if a jumper is installed in JP11 (default) and JP7, then the two axes are reversed. This would allow the ratio command to use axis two as the master, and axis one as the slave. Now instead of referring to the MPA-DSP as axis one, and the external amplifier as axis two, these must be swapped. Now the MPA-DSP will be referred to as axis two (slave), and the external is now referred to as axis one (master) in the MPA_DSPW software. There are some applications as in large rotary or linear tables, that are susceptible to gear backlash or excessive slack in the drive train. The MPA-DSP amplifier can be configured in a dual-loop mode to control this type of application. The MPA-DSP will use the servo motor and the resolver feedback for the internal loop to control the table. The external encoder attached to the table makes up the outer loop, used for positioning. To use the MPA-DSP in this configuration, JP7 must be installed, and JP11 must be removed. Referring to the above simplified schematic, the installation of JP7 will swap axis one and axis two feedback, and the removal of JP11 will not swap the command signals between axis one and axis two (as in the first application). When JP7 is installed, the external encoder (connected to the interface connector on the MPA-DSP) is now routed into, and is now axis one feedback. 3-14

31 (Standard) JP7 Removed (Ratio) JP7 Installed JP11 Installed JP11 Installed or or Physical axis 1 DSP amplifier Software axis 1 Master Physical axis 2 amplifier Software axis 2 Slave Physical axis 1 DSP amplifier Software axis 2 Slave Physical axis 2 amplifier Software axis 1 Master Encoder Encoder (Dual Loop) JP7 Installed JP11 Removed Encoder Physical axis 1 DSP amplifier Software axis 1 Continued on next page 3-15

32 Setting Switches-DSP03.PCB (continued) Jumper JP12 allows digital input #7 to be configured as a bridge disable. When JP12 is removed, and the drive is reset via the RES input, the DSP processor is reset, and the bridge is disabled. When JP12 is installed, input #7 will disable the bridge only, yet the processor will continue program execution. IN7 \ JP12 Bridge Board Reset DSPRES \ RESet \ DSP PROCESSOR RESET 3-16

33 DIP switch definitions 302, 304, 305, 308, 309, 3010, 3016 locations 303, 306, 3011 DIP switches, setting 302, 304, 305, 308, 309, 3010, 3016 location of DIP switches 303, 306, 3011 setting DIP switches 302, 304, 305, 308, 309, 3010,

34 4 C O N N E C T I N G T H E R E S O L V E R A N D M O T O R S T A T O R Feedback Connector The connector labeled FEEDBACK is used for connecting the amplifier to the resolver feedback and motor thermostat. The following diagrams show wiring to this connector, with wire colors included for typical MTS Automation-Custom Servo Motors cables: 2 Four-Pole Motors SHIELD SHIELD THERM GND THERM SWITCH SIN GND SIN COS GND COS REF GND REF CLEAR BLK/WHT BLU/WHT BLUE YELLOW BLACK RED YEL/WHT RED/WHT 100% SHIELDED MOTOR AND RESOLVER CONNECTOR FOR 2 FOUR-POLE MOTORS E R S G H F U N J E R S G H F U N J REF SIN THERMOSTAT NOTE Shield wire is connected to pin J for 2 four-pole motors. Continued on next page 4-1

35 Feedback Connector (continued) 3, 4, and 6 Six-Pole Motors SHIELD SHIELD THERM GND THERM SWITCH SIN GND SIN COS GND COS REF GND REF CLEAR BLK/WHT BLU/WHT BLUE YELLOW BLACK RED YEL/WHT RED/WHT 100% SHIELDED RESOLVER CONNECTOR FOR 3, 4, 6, AND 8 SIX-POLE MOTORS E R S G H F U N D E R S G H F U N D REF SIN THERMOSTAT NOTE Shield wire is connected to pin D for 3, 4, and 6 six-pole motors. The resolver cable should be 100% shielded. The resolver wiring should not be run adjacent to any non-shielded high voltage wires, such as the motor wires (RST). If the wires cannot be separated, then the RST motor leads should also be 100% shielded. It is recommended that the factory cable sets be used. 4-2

36 Motor Power Connections Motor Connector The connections labeled R, S, T, and GND are the motor power connections used for connecting the amplifier to the motor stator. The following diagram shows wiring to these connections, with wire colors included for typical MTS Automation- Custom Servo Motors cables: GND (FRAME) MOTOR R T S D C B A D C B A GREEN BLUE BLACK RED GND T S R Stator Wiring Gauge NOTE The resolver connector is part of the motor connector on 2 four-pole motors. Amplifier Size Minimum Wire Gauge MPA DSP MPA DSP MPA DSP MPA DSP MPA DSP MPA DSP MPA DSP 50 6 MPA DSP 75 4 A GND connection is used to connect the motor frame to earth ground. The stator wiring insulation must be able to withstand 600 volts peak. If a shielded cable is not used, it is recommended that the R, S, T, and GND wires be twisted. If the resolver feedback wiring is to be run adjacent to the R, S, and T motor wires, then the motor wiring should be 100% shielded. Use of factory cable sets for the stator wiring is recommended. Minimum wire size may vary based on insulation types. Check local codes and the wire manufacturer s product information for specifications. 4-3

37 amplifier connecting to motor thermostat 401 connecting to resolver feedback 401 connector, feedback 401 feedback connector 401 motor power connections 403 motor stator, connecting to amplifier 401 resolver cable 402 connecting to amplifier 401 wiring 402 RST motor leads 402 stator wiring gauge

38 5 C O N N E C T I N G I / O I/O Power All digital I/O on the Outputs/Inputs connector are optically isolated. Power for the isolation circuitry must come from an external power supply, preferably the same supply that is used to power the external circuitry. To connect the isolation circuitry to an external supply, connect the external Voltage (ground) to the EXT input, and the external +Voltage to the +EXT input on the I/O connector. The voltage range for external supplies is 14 to 26 volts dc. 5-1

39 I/O Signal Descriptions The MPA DSP drive includes the following digital I/O: Eight user-definable general purpose inputs, or 24 inputs with the optional expansion I/O. Two predefined program select inputs Predefined start and stop inputs Predefined reset input Two user-definable general purpose outputs, or 14 outputs with the optional expansion I/O. Predefined fault output IN1 through IN8 (IN1 through IN24 with Expansion I/O): User Definable Inputs The user definable inputs are general purpose inputs that are accessed through software. The following functions are used to test the state of the inputs: GOTO_IF_INPUT, REPEAT_UNTIL_INPUT, and WAIT_UNTIL_INPUT. See Chapter 14 for more information about using these functions. PRG1 and PRG2: Program Select Inputs Program select inputs are hardware inputs used for selecting the program to be run. The corresponding software function is PROGRAM_SELECT (see Chapter 14). The following table shows the correlation between the program select inputs and the program number that will be executed: STOP: Stop Input STRT: Start Input PRG2 PRG1 Program Number Selected LOW LOW 0 LOW HIGH 1 HIGH LOW 2 HIGH HIGH 3 Activating the stop input causes the commanded velocity going to the amplifiers to go to zero and quits the execution of the running program, if any. Note that if you want to disable the amplifier for the second axis, the reset (enable) input on that axis should be wired into the same circuit as the stop input. The corresponding software function is STOP_ALL. The STOP_MOTION function, along with the PROGRAM_QUIT_EXECUTION function, can also be used to accomplish the same result. (See Chapter 14). The start input causes the program selected by the program select inputs to begin execution. The corresponding software function is RUN_PROGRAM (see Chapter 14). Continued on next page 5-2

40 I/O Signal Descriptions (continued) RES: Reset Input The reset input resets both the amplifier electronics and the DSP processor card. While the reset input is active, the amplifier output electronics are also disabled. After the reset signal goes away, the MPA DSP is ready to begin executing a program (commanded either by software or hardware). The corresponding software function is RESET (see Chapter 14). OUT1 and OUT2 (OUT1 through OUT14 with Expansion I/O): User Definable Outputs The two user definable outputs are general purpose outputs that are accessed through software. The OUTPUT_ON and OUTPUT_OFF functions are used to turn the outputs on and off (the outputs are active low, turning them on makes them sink current). See Chapter 14 for more information about using these functions. FLT: Fault Output The fault output indicates that a fault has been detected by the drive. When a fault has been detected, the output of the amplifier is disabled and the fault output becomes active. The sense of the fault output can be set with S1-4 : ON = set to active LOW (sinking current), OFF = active HIGH (no current flow). 5-3

41 Standard I/O Inputs Inputs are normally active low, although the Start, Stop, and Reset inputs can be set to active high with switch S1. Input Specifications Parameter Specification Digital Inputs Quantity 13 (8 user programmable) Type Active low, current sinking Voltage Sense Active low * Input ON Voltage +EXT = 14 V +EXT = 15 V +EXT = 24 V +EXT = 26 V (Vdc maximum) 2.0 V 3.0 V 12.0 V 14.0 V Input ON Current 3.6 ma minimum (current out of input) Input OFF Voltage +EXT = 14 V +EXT = 15 V +EXT = 24 V +EXT = 26 V (Vdc minimum) 10 V 11 V 20 V 22 V Input Off Current 0.5 ma maximum (current into input) Propagation delay 100 µs Isolation 1500 V minimum * Requires external device which is active low, current sinking. Note: Input will be off when left open (internally pulled to +EXT voltage). Internal Diagram The following diagram shows the internal structure of a typical input on the Input/Output connector. External Internal +EXT Optocoupler* 2700 ý INPUT *Vf (on) for the optocoupler is 1.1V max 5-4

42 Standard I/O Outputs Output Specifications Parameter Specification Digital Outputs Quantity 3 (2 user programmable) Type Active low, current sinking Voltage Sense Active low Output ON Voltage 0.5 Vdc maximum Output ON Sink Current 20 ma maximum (current into output) Output Off Leakage Current 100 µa maximum (current out of output) Propagation Delay 100 µs Isolation 1500 V minimum Internal Diagram The following diagram shows the internal structure of a typical output on the Input/Output connector. Internal External Optocoupler 10 Ký +EXT OUT 2700 ý 100 Ký EXT 5-5

43 I/O Connections Connection Diagram The following diagram shows how a typical application may use the I/O connections on the MPA DSP drive. Connections to expansion I/O use the same method. External Power Supply 14 to 26 Vdc EXT EXT+ FLT OUT2 OUT1 + LED LED LED IN8 IN7 IN6 IN5 IN4 IN3 IN2 IN1 PRG2 PRG1 RES STOP STRT 5-6

44 Expansion I/O Option The MPA DSP Expansion I/O Option consists of a circuit card mounted to the MPA DSP amplifier that converts the eight user-defined general purpose inputs and the two user-defined general purpose outputs to 24 user-defined general purpose inputs and 14 user-defined general purpose outputs. Features of the MPA DSP Expansion I/O Option include the following: Twenty-four user-defined general purpose inputs. Fourteen user-defined general purpose outputs. Optical isolation using external dc power. Current sinking inputs. Current sinking outputs. Diagnostic status LEDs for all I/O points. Diagnostic status LED for I/O power. Built-in static protection on all I/O points. Single-pole filtering on all inputs. Removable terminal strips for all I/O and power connections. NOTE When the expansion I/O board is plugged into the MPA DSP, the standard eight inputs and two outputs cannot be used. 5-7

45 5-8 Connector Locations, LEDs, and Jumpers J7 J8 J9 J10 J11 Diagnostic LEDs OUT9 OUT10 OUT11 OUT12 OUT13 OUT6 OUT7 OUT8 OUT1 OUT2 OUT3 OUT4 OUT5 OUT14 Diagnostic LED External Power X2 X1 EX +EX INP9 INP10 INP11 INP12 INP13 INP14 INP15 INP16 INP17 INP18 INP19 INP20 INP21 INP22 INP23 INP24 INP1 INP2 INP3 INP4 INP5 INP6 INP7 INP8 Expansion Inputs Expansion Outputs

46 Expansion I/O Jumpers There are two jumpers located on the MPA DSP Expansion I/O Option. Jumper X1 is used to select the source of the dc power used for the optical isolation circuits. Jumper X2 is used to select the source of the ground used for the optical isolation circuits. Source indicates which power input is used, for example, EX, +EX on the expansion I/O card or EXT, +EXT on the MPA DSP Input/Output connector. Jumper Position Source of Expansion I/O Isolation Power X1 1 2 Expansion I/O +EX pin* X1 2 3 MPA DSP +EXT pin * Factory setting. Jumper Position Source of Expansion I/O Isolation Ground X2 1 2 Expansion I/O EX pin* X2 2 3 MPA DSP EXT pin * Factory setting. Internal Schematic The following schematic shows how the jumpers are connected internally: +EXT Pin EXT Pin 2 Amp Fuse MPA DSP Amplifier +EX Pin EX Pin Expansion I/O Card X2 2 3 X1 Power for Expansion I/O Interface Common for Expansion I/O Interface 5-9

47 Expansion I/O Optical Isolation Power The MPA DSP Expansion I/O Option requires the use of an external dc power supply, 14 to 26 Vdc. The same supply can be connected to both the amplifier external connections and the expansion I/O external connections or it can be connected to the amplifier connections and jumpered to the expansion I/O connections as follows: J11 External Power Supply 14 to 26 Vdc _ + -Ex +Ex Amplifier NOTE -Ex +Ex Jumpers X1 and X2 are set 1-2 (factory setting). J11 Expansion I/O External Power Supply 14 to 26 Vdc _ + -Ex +Ex Amplifier NOTE -Ex +Ex Jumpers X1 and X2 must be set

48 Expansion I/O Inputs Input Specifications Connections J7, J8, and J9 contain the connections for inputs 1 through 24. The twenty-four input connections are electrically similar. Parameter Specification Digital Inputs Quantity 24 Type Active low, current sinking Voltage Sense Active low Input ON Voltage +EXT = 14 V +EXT = 15 V +EXT = 24 V +EXT = 26 V (Vdc maximum) 2.0 V 3.0 V 12.0 V 14.0V Input ON current 3.6 ma maximum (current out of input) Input OFF Voltage +EXT = 14 V +EXT = 15 V +EXT = 24 V +EXT = 26 V (Vdc minimum) 10 V 11 V 20 V 22 V Input OFF current 0.5 ma maximum (current into input) Propagation delay 100 µs Isolation 1500 V minimum NOTE All inputs are active low, current sinking. Internal Diagram The following diagram shows the internal structure of a typical input. External Internal INPUT LED R +EX Voltage C R Optocoupler to DSP R The input circuit consists of a static suppression diode, LED indicator, single-pole RC filter, and input optocoupler. Continued on next page 5-11

49 Expansion I/O Inputs (continued) Input Connection Diagrams The following diagrams show typical connections for an input when using an external power supply. MPA DSP Expansion I/O INPUT Switch External Power Supply 14 to 26 Vdc + EX +EX MPA DSP Expansion I/O PLC Current Sinking Output INPUT + External Power Supply 14 to 26 Vdc + EX +EX 5-12

50 Expansion I/O Outputs Output Specifications Connectors J10 and J11 contain the connections for outputs 1 through 14. The 14 output connections are electrically similar. Parameter Specification Digital Outputs Quantity 14 Type Active low, current sinking Voltage Sense Active low Output ON Voltage 1.0 Vdc maximum Output ON Sink Current 25 ma maximum (current into output) Output OFF Leakage Current 100 µa maximum (current out of output) Propagation Delay 100 µs Isolation 1500 V minimum NOTE All outputs are active low, current sinking. Internal Diagram The following diagram shows the internal structure of a typical output. +EX Voltage Internal External LED From DSP Optocoupler Driver R OUTPUT The output circuit consists of a static suppression diode, LED indicator, output driver, and output optocoupler. Continued on next page 5-13

51 Expansion I/O Outputs (continued) Output Connection Diagrams The following diagram shows typical connections for an output using an external power supply. MPA DSP Expansion I/O OUTPUT Relay IN4003 Typical OUTPUT R + EX +EX External Power Supply 14 to 26 Vdc MPA DSP Expansion I/O PLC Input OUTPUT + + EX +EX External Power Supply 14 to 26 Vdc 5-14

52 connecting I/O 501 expansion I/O jumpers 509 optical isolation power 510 Expansion I/O Option 507 fault output, definition of 503 I/O connections 501 digital 502 power 501 signal descriptions 502 input specifications expansion 511 standard 504 isolation circuitry external power supply 501 internal power supply 501 jumpers, expansion I/O 509 optical isolation power, expansion I/O 510 output specifications expansion 513 standard 505 program select inputs, definition of 502 reset input, definition of 503 start input, definition of 502 stop input, definition of 502 user definable inputs, definition of 502 user definable outputs, definition of 503 voltage range, external power supplies

53 6 C O N N E C T I N G A S E C O N D A M P L I F I E R Basic Wiring When running two axes, the MPA DSP functions as a controller for the second axis and an external amplifier is used to power the second motor. This section describes how to connect the MPA DSP to the second amplifier. The connector labeled INTERFACE contains the signals required to interface to the amplifier for the second axis. The following diagram shows the basic wiring to connect axis two of an MPA DSP to a MTS Automation Divisions MPA amplifier. MPA DSP Amplifier I/O Connector OUT2 15 Interface Connector MPA Amplifier (Physical Axis 2) J1 I/O Connector 1 RESET GND 14 ANA +ANA GND COM +COM +5 GND /M M /B B /A A Red/Wht Yellow/Wht Black/Wht Blue/Wht Yellow Blue Red Black 6 GND 10 COM 9 +COM P1 Encoder Connector NOTE ANA is the current outputof the drive. For all MPA DSP amplifiers, except the MPA DSP 75 and MPA DSP 100, the scaling is: 5 volts DC = the continuous rated current of the drive. 10 volts DC = peak rated current of the drive. For the MPA DSP 75 and the MPA DSP 100, the scaling is: 10 volts = peak rated current of the drive. 5 volts DC = 1/2 the peak rated current of the drive. +ANA is the velocity output of the drive. Factory default set to volts per 1000 rpm. See Switch 3 setup for different TAC Gradient settings Reference Cable Model #ENC-XXX Part # XX Encoder Cable only. (Note: XX=length, consult factory) NOTES 1. Cables should be shielded, twisted pair. 2. Minimum wire gauge for these connections is 24 AWG. The MPA P1 encoder connector is a 9 pin D connector Continued on next page 6-1

54 Basic Wiring (continued) The preceding diagram shows OUT 2 of the MPA DSP connected to the reset input of the MPA amplifier. It is highly recommended that this or a similar configuration be used because it makes the amplifier for axis 2 power up in a disabled state until the MPA DSP starts running a program (the output from the amp is in a disabled state when first powered up). It also helps make the second amplifier fail safe because it will be disabled if the amplifier s J1 I/O connector becomes disconnected. When the output is used to control the amplifier s reset (enable) input, set the amplifier to be in a reset condition when the reset input is high (which occurs when the input is open). This corresponds to setting switch S2-1 to OFF on the MPA-03 amplifier, or setting S3-1 to OFF on other MPA amplifiers. Now the program residing in the DSP has the ability to enable and disable the amplifier by using the OUTPUT_ON and OUTPUT_OFF instructions. Alternatively, OUT 1 may be used to the same effect. If desired, the amplifier s FAULT output may be connected to an input on the MPA DSP. By monitoring the amplifier s FAULT output, the MPA DSP can make determinations about the source of errors. The MPA DSP may also monitor limits for axis 2, which may be used to help determine the cause of fault conditions. Typical connections are shown in the following diagram. MPA DSP Amplifier MPA Amplifier (Physical Axis 2) I/O Connector IN8 IN7 IN6 IN5 IN4 IN3 IN2 IN J1 I/O Connector 3 LIM 2 +LIM 5 FAULT TO +LIM SWITCH TO LIM SWITCH NOTES 1. Minimum wire gauge for these connections is 24 AWG. Continued on next page 6-2

55 Basic Wiring (continued) Because the MPA DSP processor executes the velocity loop for the second axis, the amplifier connected to the second axis must be configured to run in the torque mode. If it is run in the standard (velocity) mode, optimal control cannot be achieved. Refer to the amplifier manual to configure it for the torque mode. When first powered up and configured for the torque mode, the motor connected to the second axis amplifier will not produce significant torque and the motor shaft can be turned. If the amplifier connected to the second axis is configured in the velocity mode, the motor shaft will be stiff.! WARNING Whenever an energized motor shaft is turned, care must be taken to ensure that personal injury or equipment damage will not occur if the motor suddenly spins. Because tuning an amplifier adjusts the amplifier s velocity loop, tuning the external amplifier for axis two is not required and will have no effect on the operation of the axis. However, the current limit adjustment on MPA series amplifiers will still affect the amount of current that the amplifier will put out. Refer to the amplifier manual for instructions on setting this pot. 6-3

56 second amplifier, wiring 601 wiring to a second amplifier

57 7 C O N N E C T I N G T H E S E R I A L P O R T The 9-pin D socket type connector, labeled SERIAL on the MPA DSP drive, is a serial port that is used for downloading programs and monitoring the MPA DSP status with a PC (personal computer). Wiring to a PC The serial interface to a PC is a 3-wire, RS232 electrical interface. The following figures show the typical connections to 9- and 25-pin connectors on a PC. MPA DSP 9 Pin Serial Connector DB-9S Reference Cable Part # XX (Note: XX=length, consult factory) Host PC 9 Pin Serial Connector Transmit 2 Red 2 Receive Receive 3 Black 3 Transmit Ground 5 Clear 5 Ground Shield 1 4 DTR NOTES 1. Cables should be shielded, twisted pair. 2. Minimum wire gauge for these connections is 24 AWG. The MPA P1 encoder connector is a 9 pin D connector DSR RTS CTS MPA DSP 9 Pin Serial Connector DB-9S Host PC 25 Pin Serial Connector Transmit 2 3 Receive Receive 3 2 Transmit Ground 5 7 Ground Shield 1 The baud rate is pre-configured for use with the MPA_DSPW interface used for developing programs and monitoring the status of the MPA DSP. 7-1

58 connecting serial port 701 serial port definition of 701 wiring to a PC

59 8 C O N N E C T I N G A C P O W E R AC Voltage Requirements The MPA DSP is designed to run with an ac input voltage with the following requirements: Voltage Range Frequency Range Input Current Output Current MPA DSP-07 MPA DSP * MPA DSP 10 MPA DSP Vac Vac Vac Vac Hz Hz Hz Hz 10 A continuous (single-phase) 11 A continuous (single-phase) 7 A continuous (three-phase) 12 A continuous (single-phase) 18 A continuous (single-phase) 7 A continuous 9 A continuous 10 A continuous 15 A continuous Voltage Range Frequency Range Input Current Output Current MPA DSP-25* MPA DSP * MPA DSP 50* MPA DSP Vac Vac Vac Vac Hz Hz Hz Hz 30 A continuous (single-phase) 18 A continuous (three-phase) 42 A continuous (single-phase) 26 A continuous (three-phase) 60 A continuous (single-phase) 35 A continuous (three-phase) 55 A continuous (three-phase) 25 A continuous 35 A continuous 50 A continuous 75 A continuous *Single-phase or three-phase power can be used. A branch circuit disconnect must be provided in front of the drive. The following table shows the current rating required for the disconnect and the minimum wire gauge needed for the ac power input: AC Input Wiring Gauge and Input Protection Amplifier Size One-Phase Minimum Wire Gauge Three-Phase Minimum Wire Gauge One-Phase Protection (Amps) Three-Phase Protection (Amps)

60 AC Power Wiring Notes AC power wiring must be consistent with any local or national electric codes, and be able to withstand the voltage/current ratings applied. Minimum wire size may vary based on insulation types. Check local codes and the wire manufacturer s product information for specifications. The GND terminal must be connected to earth ground. A dc bus fuse is provided on each drive as a means of protecting the circuit boards from catastrophic failures. These fuses are substantially larger than needed. In the event that this fuse opens, the amplifier must be serviced by a factory technician. The ac power supply should be free of transients due to other electrical equipment. Additional line conditioning equipment may be necessary if the ac line is subject to transients, sags, or brownouts. 8-2

61 ac voltage requirements

62 9 I N S T A L L I N G T H E M P A _ D S P W I N T E R F A C E System Requirements Computer: Operating System: Disk Drive: Memory (RAM): IBM-PC/AT 286, or higher truly compatible computers. Microsoft Windows version 3.1 or higher. Minimum of one hard disk drive. The minimum RAM required to operate the MPA_DSPW interface is based on the minimum amount of memory that your Windows mode requires. Installation Before you can use the MPA_DSPW interface, you must run the MPA_DSPW setup program from Windows or it will not work properly on your computer. You cannot just copy the files from the floppy disk to your hard disk. The files on the distribution disk are compressed to save space. The setup program decompresses those files and builds them on your working disk. You must have Windows up and running to do the installation. Next, take the following steps: 1. Make Program Manager the active window. 2. From the Program Manager window, select File, then select Run. Continued on next page 9-1

63 Installation (continued) This command opens the "Run" dialog box. 3. Insert the MPA_DSPW install disk in your floppy drive. Next, specify which drive will run the MPA_DSPW install program by typing one of the following in the command line: A:INSTALL (for Drive A) or, B:INSTALL (for Drive B). Leave the Run Minimized box unselected, and click the OK command button (or press ENTER). NOTE You can condense the first three steps into one step by typing: WIN a:install or, WIN b:install at the DOS prompt. Continued on next page 9-2

64 Installation (continued) 4. The following window will appear on the screen: Wait approximately 30 seconds (this may vary depending on the computer speed) for the setup program to initialize itself and run the SETUP1.EXE file. The SETUP1.EXE file is compressed as SETUP1.EX_ on the distribution disks. 5. The following window appears as the SETUP1.EXE file starts to run: You will be prompted by a dialog box to enter the desired location for the MPA_DSPW interface. This is the location that you want your MPA_DSPW files to be placed. It will suggest a drive and directory of "C:\MPA_DSP". Continued on next page 9-3

65 Installation (continued) If you want the MPA_DSPW interface files installed on a different drive or directory, just click the pointer to the right of the characters you want to change, backspace over the ones you want to erase, then type in the new destination. After you have selected the destination path, choose the Continue command button or press the <ALT+C> keys on the keyboard to proceed with installation. You can exit at this point by choosing the Exit Setup command button or by pressing the <ALT+E> keys on the keyboard. The MPA_DSPW setup program will decompress the necessary files and place them into your directory. The status of the operation will be displayed as the setup program proceeds. If the MPA_DSPW interface came on more than one disk, you will be prompted by a dialog box to insert the next disk. The MPA_DSPW setup program installs the MPA_DSPW.EXE interface and the MPA_DSP.DAT file into the directory suggested by the user. It will also install example files into the directory suggested by the user \EXAMPLES subdirectory. Continued on next page 9-4

66 Installation (continued) The MPA_DSPW setup program automatically adds a group called "Custom Servo Motors Inc." that contains two items: the MPA_DSPW.EXE interface and a Readme file. It also builds an icon for the MPA_DSPW interface. Continued on next page 9-5

67 Installation (continued) 6. The MPA_DSPW setup program will notify you that the installation is completed. Press the <ENTER> key or click the OK button to complete the installation. 7. The MPA_DSPW interface is installed and ready to use. Double click on the MPA_DSPW icon and try it out. 9-6

68 installing the MPA_DSPW interface 901 MPA_DSPW installing 901 system requirements

69 1 0 R U N N I N G T H E M P A _ D S P W I N T E R F A C E How to Start Up The installation process, as described in Chapter 9 of this manual, should first be completed. Next, take the following steps: 1) Start the Windows operating system on the computer. Typically, this is done by typing WIN at the DOS prompt. When Windows comes up, a group containing the MPA_DSPW interface should appear. If this group is not present, it is either covered up by something else on the screen, or the path for Windows was not entered correctly during the installation process. 2) Next, double click on the Custom Servo Motors Inc. group. The group window will open up and the MPA_DSPW icon will appear 3) Finally, double click on the MPA_DSPW icon. The MPA_DSPW interface will start to run. An alternate, one-step, method can also be used to start the Windows operating system and begin running the MPA_DSPW interface: At the DOS prompt, type WIN MPA_DSPW <ENTER>. Continued on next page 10-1

70 Running the MPA_DSPW Interface (continued) Troubleshooting the Start Up If the MPA_DSPW interface did not start up after you clicked on the MPA_DSPW icon, check the path that the Windows operating system uses to power up the MPA_DSPW interface. To check that the path is correct, take the following steps: 1) Make the MPA_DSPW icon the current icon. 2) Make Program Manager the active window. 3) From the Program Manager window, select File, then select Properties. Continued on next page 10-2

71 Running the MPA_DSPW Interface (continued) Troubleshooting the Start Up (continued) This command opens the Properties window. Check that you have a correct path on the Command Line box and on the Working Directory box. 4) Type MPA_DSPW.EXE in the Command Line box and include the path. For example, if the MPA_DSPW.EXE is located in a directory named C:\MPA_DSP, you would type C:\MPA_DSP\MPA_DSPW.EXE. 5) Next, type the name of the directory where the MPA_DSP.DAT (data file for the MPA_DSPW interface) is located into the Working Directory box. The directory you specify here becomes the current directory while the MPA_DSPW interface is running. Under normal conditions (after installation of the MPA_DSPW interface), the MPA_DSP.DAT data file is located in the same directory as the MPA_DSPW interface. For example, if the MPA_DSP.DAT is located in a directory named C:\MPA_DSP, you would type C:\MPA_DSP in the Working Directory box. 6) Leave the Run Minimized box unselected and click the OK command button (or press ENTER on the keyboard). 10-3

72

73 MPA_DSPW running 1001 start up 1001 running the MPA_DSPW interface

74 1 1 U S I N G T H E M P A _ D S P W I N T E R F A C E The MPA_DSPW interface is similar to many Windows based programs. When the MPA_DSPW interface is first powered up, the main MPA_DSPW window is displayed. An About window overlaps the main MPA_DSPW window. The About window appears for a duration of two seconds, then it disappears. The main MPA_DSPW window contains important elements that are your tools for working with this interface. Most windows have certain elements in common, such as a title bar. Not all windows, however, have every element. Parts of the Main MPA_DSPW Window The following illustration shows some important parts of the main MPA_DSPW window, followed by a brief description of each part. Control Menu Box Mouse Pointer Title Bar Minimize Button Maximize Button Pull-Down Menu Bar Window Border Tool Bar Insertion Point Text Area Vertical Scroll Bar Help Bar Window Corner Horizontal Scroll Bar When first powered up, the cursor will be in the editor screen. To move from one area to another, move the mouse cursor to the area you wish to make active and click the left button. Continued on next page 11-1

75 Using the MPA_DSPW Interface (continued) Control Menu Box Located in the upper-left corner of each window. The control menu is most useful if you use your keyboard with this interface. By using control menu commands, you can resize, move, maximize, minimize, and close windows, and switch to other Windows applications. If you use a mouse, you can perform these tasks by clicking and dragging. The control menu bar can be accessed by pressing Alt + Space key or by clicking the mouse in the area. Title Bar Displays a title for the window. After the MPA_DSPW interface is powered up, the main MPA_DSPW window title, MPA_DSPW - Version X.X, is displayed. The title for the main window will change according to the user input. The title will show "MPA_DSPW - " along with the name of the file that is active. If a window is displayed on top of another window, the title bar for the active window (the one in which you are working) is a different color or intensity than other title bars. Continued on next page 11-2

76 Using the MPA_DSPW Interface (continued) Pull-Down Menu Bar Contains a list of pull-down menu items. A pull-down menu item contains a list of commands or actions you can perform with this interface. The pull-down menu items are displayed across a single horizontal line. If more items are added than can be displayed on a single line, multiple lines will be used. You can select a pull-down menu item and then choose a sub item from it to instruct the MPA_DSPW interface to perform actions. The following figure shows the File menu item selected from the pull-down menu bar. Continued on next page 11-3