Analog Servo Module ASM-4030/4020 User’s Operation
Analog Servo ModuleASM-4030/4020User’s Operation ManualVersion 2.06Release Date 7.28.01
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60 8VHU 0DQXDODocument Revision 2.06 .October 2000.Great effort has been made to provide accurate and current information within this manual,although, errors occasionally go undetected. If you discover an error, please bring it to ourattention so we may correct it. Anitech Systems, Inc. will not be held responsible for anyinaccuracies or omissions, or any consequences resulting from them.Anitech Systems, Inc. reserves the right to make revisions to its hardware and software productswithout notice.Anitech Systems, Inc. assumes no responsibility or liability for the use of any of these productsand makes no representation, expressly or implied that the use of its products will be suitable toall applications.The Media Pro 4000 system in not intended for direct control in safety critical applications. Itshould be used in conjunction with a Programmable Logic Controller where safety is an issue.The data in this document incorporates proprietary rights of QLWHFK 6\VWHPV ,QF 25021 Anza Drive, Valencia, CA 91355 USAPhone (661) 257-2184 Fax (661) 257-2025Email Mail@Anitech-Systems.comWeb http://www.Anitech-Systems.comAny party accepting this document does so in confidence and agrees that it shall not beduplicated in whole or in part, nor disclosed to others, without the explicit consent of ANITECHSYSTEMS, Inc.5HYLVLRQ ' QLWHFK 6\VWHPV ,QF LLL
60 8VHU 0DQXDOContentsCONTENTS. IVPREFACE . VIRELATED PUBLICATIONS. VISYSTEM REQUIREMENTS . VIIGETTING STARTED . VIIOPERATING ENVIRONMENT . VIIIWARRANTY . VIIISERVICE OPTIONS. VIIISECTION 1 – INTRODUCTION . 11.11.21.3MODULE DESCRIPTION . 1PURPOSE AND INTENDED USE . 3SPECIFICATIONS . 4SECTION 2 – PREPARATION FOR USE. 52.12.22.3UNPACKING AND INSPECTION . 5INSTALLATION CONSIDERATIONS. 5USER-CONFIGURABLE JUMPERS AND OPTIONS . ut Range Selection . 8Output Voltage / Current Selection. 9Feedback Voltage Range Selection. 10Feedback Power Selection . 11Typical Jumper Examples . 12Additional Jumper Installation Details . 14ASM-4020 Jumpers . 15ASM-4030 Jumpers . 16Compliance Selection Jumpers. 17SECTION 3 – INSTALLATION. 193.13.23.3COMPLIANCE MODES. 19TYPICAL INSTALLATION EXAMPLE DIAGRAMS. 21KEYING AND CONNECTOR INFORMATION . 243.3.13.3.23.3.33.3.43.4Open-Loop Connector Pinout . 25Compliance Connector Pinout. 26Dual Unipolar Compliance Feedback Pinout. 27Practical Application Pinout . 28SUPPORT TOOLS AND PART NUMBERS. 293.4.1Field Connector Kit . 30SECTION 4 – MODULE OPERATION. 314.14.24.34.44.5NORMAL OPERATIONS . 31FAULT CONDITIONS . 31INDICATORS . 32TROUBLESHOOTING . 33MAINTENANCE . 36SECTION 5 – PROGRAMMING . 375.15.2MODULE PROGRAMMABLE FUNCTIONS . 37SOFTWARE CONFIGURATION . 445.2.15.2.25.2.35.3LYASM Tune. 44ASM Config . 45ASM Download. 45SUPPORTED COMMAND FORMATS . 46 QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO5.4APPLICATION EXAMPLE .475.4.15.4.25.4.3Load Status Command Syntax . 49Port Status Available . 50Board Status Available . 51SECTION 6 – APPENDIX.536.1SAVING FILES FROM A WEB PAGE WITHOUT DISPLAYING - .536.2POWER SPECIFICATION FOR CONTINUOUS NORMAL OPERATION .546.3DOWNLOADING NEW VERSION OF FIRMWARE TO A MODULE .55GLOSSARY .585HYLVLRQ ' QLWHFK 6\VWHPV ,QF Y
60 8VHU 0DQXDOPrefaceWelcome to the Media Pro ASM-4030/4020User’s Operational Manual. Highlighted in thismanual are the component features, installation, configuration, software operation,programming reference, examples of typical applications, and technical support information.This document is provided so users of the Media Pro 4000 can gain an understanding of thesystem design and implementation techniques. It is assumed the reader has a basic knowledge oftypical show elements and their control requirements. In addition, a basic understanding ofprogramming concepts will help the user understand Anitech System’s powerful English basedMedia Pro Control Language (MPCL).For specific information about other Media Pro 4000 products, please refer to the applicableuser manual or on-line help system.Related PublicationsThe following documents contain additional information concerning ASI Media Pro 4000products. To obtain a copy of any of the documents listed below, contact ASI or visit ourwebsite.DocumentABM – 4010AOM – 4010APC – 4020ASM – 4030/4020DSM – 4020HMR – 4000ICM – 4020IMC – 4020/4010IOM – 4020LCM – 4020SEM – 4020TCM – 4020VMR – 4000YL QLWHFK 6\VWHPV ,QF DescriptionAllen Bradley Remote Input/Output Module (RIO)Analog Output Module - 16 ChannelAnimation Programming ConsoleAnalog Servo Module - 8 Channel /4 Channel with ComplianceDigital Sound Module with PCMCIA socketHorizontal Module Rack - 5 SlotIntelligent Control ModuleIntegrated Module ControllerInput/Output Module - 16 Bit (24vdc)Lighting Control Module (DMX 512)Serial Expansion Module - 8 Channel (RS-232)Time Code Module (SMPTE)Vertical Module Rack - 18 Slot5HYLVLRQ '
60 8VHU 0DQXDOSystem Requirements¾¾¾¾¾IBM PC compatible computer running Windows 95 / 98 environment with 1 serial port at19.2Kbps.The PC should be at least Pentium 90 MHz, with a minimum of 16 Mbytes of Ram.The recommended minimum system is Pentium 400MHz or faster with 32M RAM and aserial port at 115.2Kbps.An EPP 1284-1994 compatible parallel port is required for animation and isrecommended for all other operations, but not required. Downloads for Animation andDSM sound files are much faster over the EPP parallel port.Approximately 12 Mbytes of disk space are required for the MP4000/APU4000 software.In addition, we recommend a minimum of 30 Mbytes storage for each show’s applicationfiles. This size will vary depending on the show configuration and the size of the soundand animation files that may be required.Getting StartedThe Media Pro 4000 Software is provided on a set of floppy disks. To installthe files, follow these directions: Place disk 1 into the floppy drive. Open the Explorer and browse FLOPPY[A:] Double click on SETUP .EXE Follow the on-screen installation instructions. The default directory C:\MP4000 will be created and placed on thedesktop. To enter the program, browse the directory and double click MP4000.EXE Current versions of the MP4000 software place an icon on the desktop,earlier versions (1998) do not.5HYLVLRQ ' QLWHFK 6\VWHPV ,QF YLL
60 8VHU 0DQXDOOperating EnvironmentAll Media Pro Products are manufactured to the highest standards. With proper care andmaintenance, they should provide many years of trouble-free service.To ensure that your equipment has the longest life possible, it should be placed in an area withgood ventilation and low humidity, out of direct sunlight and away from heat sources or lamps.Never expose equipment to moisture of any sort. Always maintain a dust, dirt and smoke freeenvironment.Always remember that high temperature is the enemy of all electronic equipment.Environmental Conditions:Recommended Operating:Storage Temperature:Relative Humidity:10 to 32 C (40 - 90 F)-40 to 60 C (-4 - 140 F)0 to 95% (Without Condensation)WarrantyAnitech Systems warrants this product to be free of manufacturing defects for 1 year fromthe date of purchase. At Anitech System’s discretion, Anitech Systems will repair or replacea module that fails due to manufacturing defects.The warranty does not cover shipping charges or modules damaged due to improperconfiguration, misapplication, misuse, abuse, accidents, or shipping damage.Service OptionsObtain a Return Materials Authorization by contacting Anitech Systems.The contact information for customer support )257-2025Non-Warranty Modules Returned for Repair Charges will be based on parts used, labor, and shipping charges. Make sure the product isproperly packed and insured. Anitech Systems is not responsible for damage that occursduring shipment.YLLL QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO1.1This manual is a technical reference for the Analog Servo Module, ASM-4030and ASM-4020. It contains specifications, diagrams and instructions to helpwith the implementation of systems using this product. Most of theinformation in the manual refers to both models, exceptions and specialconsiderations are noted where applicable.,QWURGXFWLRQ1Section 1 – IntroductionModule DescriptionThe Analog Servo Module, ASM-4030/4020, is a multi-channel “analog servo” device,providing for closed-loop servo operation of eight channels, or closed-loop compliantoperation of four channels, (assigning a second channel for the force feedback). TheASM-4030 has the additional feature of Dual Force Feedback Compliance. Open-loopoutput is also possible. The module uses a high-speed DSP to calculate the position loopand force feedback from the digitized inputs at several thousand times per second.5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDOFigure 1-1. Analog Servo ModuleASM-4020 Shown48 Pin DIN FieldConnector- Feedback Inputs- Analog ServoOutputsGreen LED(1 of 8 Channels)Indicates Negative OutputSignal on that ChannelRed LED(1 of 8 Channels)Indicates Positive OutputSignal on that Channel12.288 MHz DSP96 Pin DINBackplaneConnectorFLASH Memory forCode andParameter StorageDual Port RAM for Media Pro BackplaneCommunication InterfaceGreen LEDCommunicationsIndicator QLWHFK 6\VWHPV ,QF Red LEDProgramming &Maintenance ForceIndicator5HYLVLRQ '
60 8VHU 0DQXDO1.2Purpose and Intended Use555,QWURGXFWLRQThe ASM-4030/4020 provides eight ports (channels) that can be configured forAnalog Voltage or Current Output (Open-Loop)Closed Loop Servo (Voltage or Current Output)Closed Loop Servo with Compliance (Voltage or Current Output)There are no quantity restrictions for the ASM-4030/4020 in any Module Rack.This module is supported by the MP4000 Software utilities. The module can bedownloaded with performance parameters for each channel’s servo personality. Once theservo channels are tuned using the MP4000 utility software, each channel’s controlleddevice can be moved to a position from an event in a Media Pro cue or data from ananimation file.The module supplies on each channel: 10vdc to power Linear Resistive Transducers, or 24vdc to power Force Feedback Amplifiers, or position sensors.The module accepts 0 to 5vdc, 0 to 10vdc, -5 to 5vdc, and /- 10vdc positionfeedback signals; and -5 to 5vdc, /- 10vdc, and dual 0 to 10vdc force feedbacksignals.The module outputs 0 to 10vdc, 20ma, 50ma, 100ma, /- 10vdc, /- 20ma, /- 50ma, /-100ma.5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 1.3555555555 8VHU 0DQXDOSpecificationsEight configurable Ports.Position & Force Transducer Power Supply: 10vdc or 24vdc.12-bit Analog Output:Unipolar 0 to 10vdc, 20ma, 50ma, 100ma;Bipolar /- 5vdc, /- 10vdc, /- 20ma, /- 50ma, /- 100ma.5512-bit Feedback Inputs: 0 to 5vdc, 0 to 10vdc, /- 5vdc,& /- 10vdc.Closed Loop Servo control.Closed Loop Servo Compliance Control.Programmable Linear Gain, Integral Gain, Velocity Gain, Acceleration,Deceleration, Maximum Velocity, E-Stop Home Position, Ease-In Velocity,Compliance Linear Gain, Compliance x2 Gain, Analog Calibration Constants,Offset, Stroke1 Amp Fuse (DC-DC Converter)3 Amp Fuse (24vdc for Transducer Power) QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO22.1Section 2 – Preparation for UseThis section details the physical layout and configuration of the Analog ServoModule. It describes the jumpers that need to be set on the board for variousapplications.Unpacking and Inspection3UHSDUDWLRQ IRU 8VHInspect the shipping carton immediately upon receipt for evidence of mishandling duringtransit. If the shipping carton is severely damaged or water-stained, request that the carrier’sagent be present when the carton is opened. If the carrier’s agent is not present when thecarton is opened and the contents are damaged, keep the carton and packaging materials forthe agent’s inspection.It is suggested that all salvageable shipping cartons and packing material be retained forfuture use in the event the product must be shipped.2.2Installation Considerations Choose which connector to use (see section 3.3 Keying and Connector Information for moreinformation). For the ASM to operate, 24vdc needs to be supplied to the Constant and / or E-Stop Bus onthe backplane to allow the output to respond to position data.¾ Jumper E64 must be set to the powered Constant or E-Stop Bus on the backplane. If E/S Home Position is enabled, in order for the ASM module to work properly,24vdc must be supplied to the Constant Bus, and Jumper E64 must be set to theConstant Bus.When The E-Stop bus is powered, the ASM will servo the port to the position data.When the E-Stop bus is off, the ASM will servo the port to the E-Stop HomePosition. (See the Rack Module Manual for more information on the 24vdc power busses).5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDO2.3 User-Configurable Jumpers and OptionsThe diagrams on these pages provide information for the user-configurable jumpers andoptions. The configurations for many of the jumpers are the same for the ASM-4030 and theASM-4020. There are a few jumpers that are specific to the different models and they arelabeled, be certain to set the jumpers carefully. There are additional jumpers on the ASM4030 for the COMPLIANCE SELECT. Refer to the following diagrams:Figure 2-1a. ASM – 4020Input RangeselectionOutput V / maselectionOutputunipolar mperE67E69E70E72 QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDOFigure 2-1b. ASM-4030OUTPUTRange ltage/Current3UHSDUDWLRQ IRU de SelectConst / E-StopE64GroundingPinsE67, E72WatchDogE69I/O MapBoot OnlyMD1E705HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDO2.3.1 Output Range SelectionEach channel must be configured to designate the input voltage that will be used. There are4 different configurations possible for each channel. Refer to the physical layout diagram forjumper pin locations. The Jumpers are placed on the pins according to the chart below,figure 2-2.Figure 2-2. Output Range SelectionLow11Low22High33High11Low2NOT ConfiguredLow12LowUnipolar 0/ 10v1Low2High323High1LowBipolar /-5v212LowBipolar /-10vSee also figure 2-3 “Output Voltage / Current Selection” on the following page of thismanual for additional information. QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO2.3.2 Output Voltage / Current SelectionEach channel must be configured to select the output voltage and current that will be used.There are 5 different configurations possible for each channel. Refer to the physical layoutdiagram for jumper pin locations. The Jumpers are placed on the chart illustrated 23,43UHSDUDWLRQ IRU 8VHFigure 2-3. Output Voltage / Current 6880 – 450 ohm Load0 – 180 ohm Load12121212357434357434680 – 90 ohm Load68VOLTSNOTE: When using current output, the Output Range jumper (refer to figure 2-2) must beset to Bipolar /- 10v5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDO2.3.3 Feedback Voltage Range SelectionEach channel must be configured to select the correct feedback voltage range for the type ofpower input being used. There are 5 possible configurations possible for each channel.Refer to the physical layout diagram for jumper pin locations. The jumper options areillustrated below:Figure 2-4. Feedback Voltage Range SelectionGAINREF11223344GAIN 2,3GAIN 3,4GAIN 3,4GAIN 1,2 & 3,4GAINREFREF111122223333444450 to 5vGAIN50 to 10vGAINREFREF11112222333344445-5 to 5v QLWHFK 6\VWHPV ,QF REF 2,3REF 3,4REF 4,5REF 1,2 & 4,55NotConfiguredGAIN0 to 5v0 to 10v-5 to 5v-10 to 10v5-10 to 10v5HYLVLRQ '
60 8VHU 0DQXDO2.3.4 Feedback Power SelectionEach channel must be configured to select the correct voltage for the type of power input isbeing used. There are 3 possible configurations for each channel. Refer to the physicallayout diagram for jumper pin locations.Note: Be certain to have these jumpers installed correctly before installing, it is especiallycritical in the Dual Unipolar Compliance Mode.3UHSDUDWLRQ IRU 8VHThe jumper options are illustrated below:Figure 2-5. Feedback Power SelectionFB Drive 10v24v NotConfigured10vdc24vdcFB Supply5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDO2.3.5 Typical Jumper ExamplesFor each channel, there are several jumper pins to set. Following are two examples of typicalapplications. For Non-compliance mode, only one set of jumper-pins needs to be configured,see figure 2-6. For Compliance mode, there are two sets of jumper-pins to be configured, seefigure 2-7.Figure 2-6. Typical for Closed Loop Servo without ComplianceOutput RangeGAINLowHighLowOutput RangeREF11112122224343331443572 /- 10v Output Current / VoltageFeedback Input Range QLWHFK 6\VWHPV ,QF 6850 to 10v Feedback10VDC50 MA Output5HYLVLRQ '
60 8VHU 0DQXDOFigure 2-7. Typical for Closed Loop Servo with CompliancePort 0 Jumper-pin configurationGAINLowHighLowOutput Current / VoltageFeedback Input RangeOutput RangeREF1111212222343433356144783UHSDUDWLRQ IRU 8VHOutput Range520 to 10v Feedback /- 10v50 MA Output10VDCPort 1 Jumper-pin configurationOutput RangeGAINLowHighLowOutput Current / VoltageFeedback Input RangeREF112233145HYLVLRQ 1 12 32124343 54 76852 /- 10vOutput Range-10 to 10 Feedback' Output not configured24VDC QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDO2.3.6 Additional Jumper Installation DetailsE64Power Bus SourceDC/DC INPConst 24VFor normal operation, put a shunt over pins 1 – 2.(Factory Configured).12ESTOP 24V3E66 and E68DC PowerFor normal operations, DC-DC converter installed.For NON-ISOLATED operations, no DC-DC converter installed.E66 and E68 pins 1 – 2, are soldered at the factory.E69Watchdog1For normal operation, put a shunt over pins 1 – 2.(Factory Configured).WATCHDOG23EMULATORE70I/O Map – Boot Only – Md1I/O MAP12BOOT ONLY 34MD165For normal operation: I/o Map pins 1 – 2, open, no shunt Boot Only pins 3 – 4, open, no shunt. MD1pins 5 – 6, open, no shunt.(Factory Configured)E71DAC ResetFor normal operation, put a shunt over pins 1 – 2.(Factory Configured).123 QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO2.3.7 ASM-4020 JumpersThe following jumper configurations pertain to the ASM-4020 ONLY.E72Boot Flash ProgramVCC BOOT42 RSTFLASH3 12PROGFor normal operations, put a shunt over pins 2-4(Factory Configured).3UHSDUDWLRQ IRU 8VH1E67Analog/Digital GroundFor normal operation, put a shunt over pins 1 – 2.(Factory Configured).125HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDO2.3.8ASM-4030 JumpersThe following jumper configurations pertain to the ASM-4030 ONLY.E7224V RETFor normal operation, put a shunt over pins 1 – 2. This is true in thefollowing modes: Servo, Servo Bipolar compliance, Unipolar, Bipolar,Unipolar compliance.12For Dual Unipolar Compliance mode, no shunt across pins 1 – 2.12E67Analog/Digital Ground1For normal operation, put a shunt over pins 1 – 2.(Factory Configured).2 QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO2.3.9 Compliance Selection JumpersValve – Place the shunts in the Valve position when using the following modes:¾¾¾¾¾UnipolarBipolarServoServo with Bipolar complianceServo with Unipolar compliance¾3UHSDUDWLRQ IRU 8VHSensor – The only reason to place the shunts in the Sensor position, is when using this mode:Dual Unipolar Compliance ModeNOTE: JUMPERS MUST BE SET CORRECTLY FOR COMPLIANCE MODE.FAILURE TO DO SO WILL RESULT IN DAMGE TO THE ASM!There are three things to consider when configuring the Module for Dual UnipolarCompliance:The Compl’t Select switch set correctlyRefer to figure 2-5 (Feedback Power Jumper) before installing the board.Correct physical wiring of the power (refer to figure 3-3d).VALVECOMPL’TSELECT2SENSOR¾¾¾468The jumpers for Dual Compliance mode correspond to the following ports pairs:¾¾¾¾E73E74E75E76Port 1Port 3Port 5Port 7Silkscreen reference 2Silkscreen reference 4Silkscreen reference 6Silkscreen reference 8Position the shunt over the pins of the appropriate set of jumpers for the port being configured incompliance mode.5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
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60 8VHU 0DQXDO3Section 3 – InstallationThis section describes the configuration and connection details for the AnalogServo Module. It includes examples of typical applications.The ASM-4030 and ASM-4020 have the same configurations for the Servo, ServoBipolar compliance, Unipolar, Bipolar, and Unipolar compliance modes. Themajor difference is the configuration of the Dual Unipolar Compliance mode, which is onlyavailable on the ASM-4030.3.1 Compliance ModesCompliance uses additional feedback that is applied according to the equations in the ASMfirmware and the parameters supplied by the user that tends to reduce the output signal. Thereare two different modes of compliance available, single compliance and dual compliance. Thedifference between single and dual feedback is that the dual feedback has two feedback inputsand is only available on the ASM-4030. Refer to the following diagrams.,QVWDOODWLRQFigure 3-1a. Single Feedback Compliance DiagramServoDesired irmwareOutput5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDOFigure 3-1b. Dual Feedback Compliance DiagramServoDesired fferentiationDigitalIntegrationComplianceFeedback 1FirmwareComplianceFeedback 2(ASM-4030 Only)Output QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO3.2 Typical Installation Example DiagramsTo install the ASM-4030/4020, power down the system and refer to the following diagramsfor typical installation examples:,QVWDOODWLRQFigure 3-2a. ASM Resistive Position FeedbackFigure 3-2b. ASM Active Position Feedback5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDOFigure 3-2c. ASM Active Force FeedbackFigure 3-2d. ASM Valve Output, Series Coil QLWHFK 6\VWHPV ,QF 5HYLVLRQ '
60 8VHU 0DQXDO,QVWDOODWLRQFigure 3-2e. ASM Valve Output, Parallel CoilFigure 3-2f. ASM Dual Force/Pressure Feedback ComplianceFeedback Power Feedback Power -D6Compl FB 1 B6Compl FB 1 -B8D8P1PressureTransducerCompl FB 2 Z6Compl FB 2 -Z8P2NOTE: Jumpers must be positioned correctly, refer to section 2.5HYLVLRQ ' QLWHFK 6\VWHPV ,QF
60 8VHU 0DQXDO3.3 Keying and Connector InformationKeying is optional for the field connector (P1). To utilize keying the ASM key pin(s) shouldbe inserted at the intersection between column d & b and between rows 2 & 4.Note: If the key pin(s) are installed in the female field connector, the ASMs male connectormust have holes drilled at the appropriate places for the connectors to mate.Figure 3-3a. ASM-4030/4020 Keying InformationRear View, Looking at ASM-4020 Male ContactsThe Key is located at the intersection betweencolumn d & b, & between row 2 & 4.d b2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 Legend:32 {z{{{{{{{{{{{{{{z{ QLWHFK 6\VWHPV ,QF {{{{{{{{{{{{{{{{Front View, Looking at Field Connector Female ContactsThe Key is located at the intersection betweencolumn d & b, & between row 2 & 4.zz ContactKey Hole Locationunused position Legend:{{{{{{{{{{{{{{{{ z{b d{2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 z{{{{{{{{{{{{{{32 ContactKey Pin Locationunused position5HYLVLRQ '
60 8VHU 0DQXDO3.3.1 Open-Loop Connector PinoutThe pinout for the field connector (P1) is described in figure 3-2b. It is the same pinout for theASM-4030 and ASM-4020, in open-loop applications. In open-loop configuration the modulecan have a maximum of eight channels configured. This example shows the channel/portrelationship if every port is being used fo
The Analog Servo Module, ASM-4030/4020, is a multi-channel “analog servo” device, providing for closed-loop servo operation of eight channels, or closed-loop compliant operation of four channels, (assigning a second channel for the force feedback). The ASM-4030 has the additional feature of D
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A Course on Rough Paths With an introduction to regularity structures June 2014 Errata (last update: April 2015) Springer. To Waltraud and Rudolf Friz and To Xue-Mei. Preface Since its original development in the mid-nineties by Terry Lyons, culminating in the landmark paper [Lyo98], the theory of rough paths has grown into a mature and widely applicable mathematical theory, and there are by .
