1 2010/2/18 Initial release 2 2012/2/11 Added description for timeout operation. Minor edits.
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Introduction
This document is to provide minimum test items which must be
completed before RTEX master product is released on the market.
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Test Items Category Item Checking Description Fig Indication RJ45 connectors Labeling “TX” and “RX” 1 Labeling “LINK” and “COM”. Indication LEDs 1, 2 Checking indicating specification. Physical Layer Schematics and BOM for RTEX portion Using designated parts etc.
Physical Layer Timing signal accuracy Measuring XTXTIM signal accuracy with an oscilloscope. 1 In any order between Master and Slaves, no problems. Protocol Sequence of power-on/off If having problems, the manual must describe the conditions. Checking communication data with the logging tool. Protocol Communication data at start-up 3 During servo-off, actual position must be set to command position. If cabling order changed, no problems. Protocol Change of slave connecting order If having problems, the manual must describe the conditions. Protocol Supported command and sequence Checking command sequence with the logging tool.
Protocol Timeout operation Servo-off is commanded to all servos when timeout detected. 4
Protocol Motion profile Checking wave form with PANATERM
Protocol Continuous motion with max. axes During 2 hours continuous motion, no problems. 5
If software runaway, PHY and ASIC must be reset for safety.
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Fig 2 “COM” LED Operation “COM” LED which has red and green lights should be operated as follows:
Normally Return value of ctrl_mnm1221_m() “COM” LED operation
PH_INIT Disappearance
PH_WAITING Flashing Green PH_PREPARE (0.5s ON, 0.5s OFF) PH_START
PH_RUNNING Solid Green
Error detected Contents of error “COM” LED operation
Flashing Red Timeout in RUNNING state (0.5s ON, 0.5s OFF) Mismatch of slave information Solid Red (e.g. duplicate MAC-ID)
Notes: - Solid Red means that a system reset is necessary to release the error. - For ON, either green or red must be lighted.
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Fig 3 Command at Start-up Time
MNM1221_M_CYCL_START Start (Register in MNM1221)
MAC-ID Valid data
Command Update Period 3 Update 2 1 Counter 0
Command Command 0x00 0x20 (Position) Code data block (NOP)
Command Position 0 (free) Valid data
Servo On Off On
During Servo Off, Command Position
should be set with Actual Position value Note: This time chart shows an example of cyclic position I/F. of Response.
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Fig 4 Operation at Timeout Both controller and servo must detect timeout. If the controller detects timeout, it must command servo-off to the all servos for safety. Thus, at boundary of problem portion, the front servos (below A, B) are stopped by servo-off, and the rear servos (below C, D) are stopped by alarm.
Controller (Master) Servo (Slave)
TX RX A RX TX Controller detects timeout, and commands servo-off. RX Thus servos stop by servo-off. Command servo-off to all servos at timeout. B TX
RX C TX Breaking Servos detect timeout, Down and stop by alarm. RX D TX
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Fig 5 Continuous Motion Continuously operate servos of maximum axes the controller specifies. Method Method Motion profile: Any Duration: 2 hours or more Cable length between controller and servo: 100m or more Cable length between servos: Any Indicating the sum of CRC errors on 7segment LED of all servos (Pr7.00=3), the number should be recorded for reference after the test. Also, the sum of CRC errors the controller detects should be recorded.
Controller Structure Structure 100m or more 100m or more
Servo Servo Servo
Cables: CAT5e STP
Max. axes depends on the controller specification
(Not always 32) - No unusual motion. Criteria Criteria - The controller has not caused alarm. - The number of CRC errors is for reference.
