Chapter 4. Appendices
4.1 Memory Address Table
Addr | Comp | Function | Notes |
00 | Sensor type | 00=ESP 01-3T; 04=CMG1; 08=ESPC | |
01 | E/W | Locked | 0=unlocked; 1=locked |
02 | N/S | Locked | |
03 | Z | Locked | |
04 | Button delay | FF for no delay; 40 for 7 second delay | |
05 | Button delay | × location 04: set to 50 for 7 seconds | |
20 | E/W | Mass High limit 'C' | The mass is considered centred when the mass position output is between these two values |
21 | Mass Low limit 'C' | ||
22 | Mass High limit 'B' | Small pulses will be used for centring when the mass position output is between these two values | |
23 | Mass Low limit 'B' | ||
24 | Mass High limit 'A' | Medium pulses will be used for centring when the mass position output is between these two values. Large pulses used when mass position output is beyond High limit 'A'. | |
25 | Mass Low limit 'A' | ||
26 | CENTRE time-out | ||
27 | LOCK time-out | ||
28 | Base time-out | For centring | |
29 | Small pulse | ||
2A | Medium pulse | ||
2B | Large pulse | ||
2C | Backlash | ||
2D | Motor “OFF” time | ||
2E | LOCK current limit | ||
2F | Base current limit | For centring | |
30 | UNLOCK current limit | ||
31 | Invert mass position polarity | ||
32 | Enabled | ||
40 | N/S | Mass High limit 'C' | The mass is considered centred when the mass position output is between these two values |
41 | Mass Low limit 'C' | ||
42 | Mass High limit 'B' | Small pulses will be used for centring when the mass position output is between these two values | |
43 | Mass Low limit 'B' | ||
44 | Mass High limit 'A' | Medium pulses will be used for centring when the mass position output is between these two values. Large pulses used when mass position output is beyond High limit 'A'. | |
45 | Mass Low limit 'A' | ||
46 | CENTRE time-out | ||
47 | LOCK time-out | ||
48 | Base time-out | For centring | |
49 | N/S | Small pulse | |
4A | Medium pulse | ||
4B | Large pulse | ||
4C | Backlash | ||
4D | Motor “OFF” time | ||
4E | LOCK current limit | ||
4F | Base current limit | For centring | |
50 | UNLOCK current limit | ||
51 | Invert mass position polarity | ||
52 | Enabled | ||
60 | Vertical | Mass High limit 'C' | The mass is considered centred when the mass position output is between these two values |
61 | Mass Low limit 'C' | ||
62 | Mass High limit 'B' | Small pulses will be used for centring when the mass position output is between these two values | |
63 | Mass Low limit 'B' | ||
64 | Mass High limit 'A' | Medium pulses will be used for centring when the mass position output is between these two values. Large pulses used when mass position output is beyond High limit 'A'. | |
65 | Mass Low limit 'A' | ||
66 | CENTRE time-out | ||
67 | LOCK time-out | ||
68 | Base time-out | For centring | |
69 | Small pulse | ||
6A | Medium pulse | ||
6B | Large pulse | ||
6C | Backlash | ||
6D | Motor “OFF” time | ||
6E | LOCK current limit | ||
6F | Base current limit | For centring | |
70 | UNLOCK current limit | ||
71 | Invert mass position polarity | ||
72 | Enabled |
Note: ASE-ESP-0004 boards loaded with PIC firmware that has checksum “BFCA” have a firmware bug which requires special steps while programming. See section 4.4 for details.
4.2 CMG-3T and CMG-3ESP parameter requirements
Motors | Instrument | Parameter File |
Old-type Minimotor/Faulhaber with silver bodies | CMG-3T | 3t30prams.txt |
CMG-3ESP | espparams2.txt | |
CMG-3ESPC | espc.oldmotors.txt | |
CMG-3ESP with Auto-lock | AutLokESP.txt | |
Intermediate Maxon (stepped/waisted motor to gearbox junction), part number 365048 | CMG-3T | 3tnewmot2.txt |
CMG-3ESP | espnewmotors2.txt | |
New Maxon (straight through, no waist at motor to gearbox junction) part no 144421 | CMG-3T | 3tmax3fast.txt |
CMG-3ESP | espnormmax3.txt | |
CMG-3ESPC | espcmax3.txt |
Note: Other variants are also in existence. For information on these and all 360-second response instruments, contact Andy Hynes (ahynes@guralp.com) or Peter Matthews (pmatthews@guralp.com).
4.3 Common Parameter files
AutolokESP | espc old motors | espparams2 | 3tnewmot2 |
w208c208c w21732173 w22d022d0 w23302330 w24d824d8 w25282528 w263c263c w27402740 w28702870 w290f290f w2a192a19 w2b322b32 w2c052c05 w2d962d96 w2e4b2e4b w2f3c2f3c w304b304b w408c408c w41734173 w42d042d0 w43304330 w44d844d8 w45284528 w463c463c w47404740 w48704870 w490f490f w4a194a19 w4b324b32 w4c054c05 w4d964d96 w4e4b4e4b w4f3c4f3c w504b504b w608c608c w61736173 w62d062d0 w63306330 w64d864d8 w65286528 w663c663c w67406740 w68706870 w690f690f w6a196a19 w6b326b32 w6c056c05 w6d966d96 w6e4b6e4b w6f3c6f3c w704b704b w00010001 w01000100 w02000200 w03000300 w31013101 w32ff32ff w51005100 w52ff52ff w71017101 w72ff72ff | w208c208c w21732173 w22d022d0 w23302330 w24bc24bc w25442544 w263c263c w27402740 w28702870 w290a290a w2a0f2a0f w2b322b32 w2c052c05 w2dc82dc8 w2e4b2e4b w2f3c2f3c w304b304b w408c408c w41734173 w42d042d0 w43304330 w44bc44bc w45444544 w463c463c w47404740 w48704870 w490a490a w4a0f4a0f w4b324b32 w4c054c05 w4dc84dc8 w4e4b4e4b w4f3c4f3c w504b504b w608c608c w61736173 w62d062d0 w63306330 w64bc64bc w65446544 w663c663c w67406740 w68706870 w690a690a w6a0f6a0f w6b326b32 w6c056c05 w6dc86dc8 w6e4b6e4b w6f206f20 w704b704b w00080008 w01000100 w02000200 w03000300 w31003100 w32ff32ff w51015101 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 | w20902090 w21702170 w22d222d2 w232e232e w24bc24bc w25442544 w263c263c w27402740 w28802880 w290f290f w2a192a19 w2b322b32 w2c052c05 w2dc82dc8 w2e4b2e4b w2f3c2f3c w304b304b w40904090 w41704170 w42d242d2 w432e432e w44bc44bc w45444544 w463c463c w47404740 w48804880 w490f490f w4a194a19 w4b324b32 w4c054c05 w4dc84dc8 w4e4b4e4b w4f3c4f3c w504b504b w60906090 w61706170 w62d262d2 w632e632e w64bc64bc w65446544 w663c663c w67406740 w68806880 w690f690f w6a196a19 w6b326b32 w6c056c05 w6dc86dc8 w6e4b6e4b w6f3c6f3c w704b704b w00000000 w01000100 w02000200 w03000300 w31013101 w32ff32ff w51005100 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 | w208c208c w21732173 w22d022d0 w23302330 w24d824d8 w25282528 w265a265a w27402740 w28702870 w29042904 w2a042a04 w2b0c2b0c w2c052c05 w2dd02dd0 w2e4b2e4b w2f3c2f3c w304b304b w408c408c w41734173 w42d042d0 w43304330 w44d844d8 w45284528 w465a465a w47404740 w48704870 w49044904 w4a044a04 w4b0c4b0c w4c054c05 w4dd04dd0 w4e4b4e4b w4f3c4f3c w504b504b w608c608c w61736173 w62d062d0 w63306330 w64d864d8 w65286528 w665a665a w67406740 w68706870 w69046904 w6a046a04 w6b0c6b0c w6c056c05 w6dd06dd0 w6e4b6e4b w6f3c6f3c w704b704b w00010001 w01000100 w02000200 w03000300 w31003100 w32ff32ff w51015101 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 |
ESPnewMotors2 | 3Tmax3fast | 3TMaxon3 | ESPnormMAX3 |
w20902090 w21702170 w22d222d2 w232e232e w24bc24bc w25442544 w263c263c w27402740 w28802880 w290f290f w2a192a19 w2b322b32 w2c052c05 w2dc82dc8 w2e4b2e4b w2f3c2f3c w304b304b w40904090 w41704170 w42d242d2 w432e432e w44bc44bc w45444544 w463c463c w47404740 w48804880 w490a490a w4a0f4a0f w4b324b32 w4c054c05 w4dc84dc8 w4e4b4e4b w4f3c4f3c w504b504b w60906090 w61706170 w62d262d2 w632e632e w64bc64bc w65446544 w663c663c w67406740 w68806880 w690a690a w6a0f6a0f w6b326b32 w6c056c05 w6dc86dc8 w6e4b6e4b w6f206f20 w704b704b w00000000 w01000100 w02000200 w03000300 w31013101 w32ff32ff w51005100 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 | w208c208c w21732173 w22d022d0 w23302330 w24d824d8 w25282528 w265a265a w27402740 w28802880 w29052905 w2a082a08 w2b102b10 w2c052c05 w2dd02dd0 w2e4b2e4b w2f222f22 w304b304b w408c408c w41734173 w42d042d0 w43304330 w44d844d8 w45284528 w465a465a w47404740 w48804880 w49054905 w4a084a08 w4b104b10 w4c054c05 w4dd04dd0 w4e4b4e4b w4f224f22 w504b504b w608c608c w61736173 w62d062d0 w63306330 w64d864d8 w65286528 w665a665a w67406740 w68806880 w69056905 w6a066a06 w6b076b07 w6c066c06 w6dd06dd0 w6e4b6e4b w6f3c6f3c w704b704b w00010001 w01000100 w02000200 w03000300 w31003100 w32ff32ff w51015101 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 | w208c208c w21732173 w22d022d0 w23302330 w24d824d8 w25282528 w265a265a w27402740 w28802880 w29052905 w2a082a08 w2b102b10 w2c052c05 w2dd02dd0 w2e4b2e4b w2f222f22 w304b304b w408c408c w41734173 w42d042d0 w43304330 w44d844d8 w45284528 w465a465a w47404740 w48804880 w49054905 w4a084a08 w4b104b10 w4c054c05 w4dd04dd0 w4e4b4e4b w4f224f22 w504b504b w608c608c w61736173 w62d062d0 w63306330 w64d864d8 w65286528 w665a665a w67406740 w68806880 w69036903 w6a036a03 w6b056b05 w6c056c05 w6dd06dd0 w6e4b6e4b w6f3c6f3c w704b704b w00010001 w01000100 w02000200 w03000300 w31003100 w32ff32ff w51015101 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 | w20902090 w21702170 w22d222d2 w232e232e w24bc24bc w25442544 w263c263c w27402740 w28802880 w29062906 w2a0c2a0c w2b122b12 w2c052c05 w2dc82dc8 w2e4b2e4b w2f3c2f3c w304b304b w40904090 w41704170 w42d242d2 w432e432e w44bc44bc w45444544 w463c463c w47404740 w48804880 w49064906 w4a0c4a0c w4b124b12 w4c054c05 w4dc84dc8 w4e4b4e4b w4f3c4f3c w504b504b w60906090 w61706170 w62d262d2 w632e632e w64bc64bc w65446544 w663c663c w67406740 w68806880 w69046904 w6a066a06 w6b106b10 w6c056c05 w6dc86dc8 w6e4b6e4b w6f206f20 w704b704b w00000000 w01000100 w02000200 w03000300 w31013101 w32ff32ff w51005100 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 |
3T30PRAMS | ESPCmax3 | ||
w208c208c w21732173 w22d022d0 w23302330 w24d824d8 w25282528 w263c263c w27402740 w28702870 w290f290f w2a0f2a0f w2b282b28 w2c052c05 w2d962d96 w2e4b2e4b w2f3c2f3c w304b304b w408c408c w41734173 w42d042d0 w43304330 w44d844d8 w45284528 w463c463c w47404740 w48704870 w490f490f w4a0f4a0f w4b284b28 w4c054c05 w4d964d96 w4e4b4e4b w4f3c4f3c w504b504b w608c608c w61736173 w62d062d0 w63306330 w64d864d8 w65286528 w663c663c w67406740 w68706870 w690a690a w6a0f6a0f w6b286b28 w6c056c05 w6d966d96 w6e4b6e4b w6f3c6f3c w704b704b w00010001 w01000100 w02000200 w03000300 w31003100 w32ff32ff w51015101 w52ff52ff w71017101 w72ff72ff | w208c208c w21732173 w22d022d0 w23302330 w24bc24bc w25442544 w263c263c w27402740 w28702870 w29032903 w2a062a06 w2b102b10 w2c052c05 w2dc82dc8 w2e4b2e4b w2f282f28 w304b304b w408c408c w41734173 w42d042d0 w43304330 w44bc44bc w45444544 w463c463c w47404740 w48704870 w49034903 w4a064a06 w4b104b10 w4c054c05 w4dc84dc8 w4e4b4e4b w4f284f28 w504b504b w608c608c w61736173 w62d062d0 w63306330 w64bc64bc w65446544 w663c663c w67406740 w68706870 w690a690a w6a0f6a0f w6b326b32 w6c056c05 w6dc86dc8 w6e4b6e4b w6f206f20 w704b704b w00080008 w01000100 w02000200 w03000300 w31003100 w32ff32ff w51015101 w52ff52ff w71017101 w72ff72ff w04040404 w05070507 |
4.4 Special instructions for “BFCA” firmware
ASE-ESP-0004 boards loaded with PIC firmware that has checksum “BFCA” have a firmware bug which requires special steps while programming. On these boards, locations 04 and 05 must be treated separately because, if once programmed, it becomes impossible to program other memory locations.
The work-around is to write FF to locations 04 & 05 while an on-board link is connected. This enables normal parameter reading & writing actions to be performed. Then, once finished, reprogram locations 04 and 05 with the desired values (typically 40 and 50, respectively).
To proceed:
With the programming cable connected as described in the main procedure, turn off the 12V supply to the board.
Ensure that the programming cable is in “Data Load” mode with the in-line switch in the '1' position.
Temporarily make a link over either LK6 or LK8 (a pair of metal tweezers is ideal for this).
Turn on the 12V supply to the board, wait a couple of seconds and then remove the link from LK6/LK8.
Enter the following commands via the emulator window:
w04ff04ff
w05ff05ffCycle the 12V supply off and on again.
Locations 04 and 05 should now contain data FF. This can be checked with the commands
R04
to which the system will respond with
?R
04EE at 04 = FF
CTRL = FF
Guralp SOH version 3.13 3EA
V Mass position = 0
N Mass position = 0
E Mass position = -1
U : unlock, L : Lock, C : centreand
R05
to which the system will respond with
?R
05EE at 05 = FF
CTRL = FF
Guralp SOH version 3.13 3EA
V Mass position = 0
N Mass position = 0
E Mass position = -1
U : unlock, L : Lock, C : centreIf not, repeat the steps above.
Carry out all other required programming steps, avoiding changing locations 04 and 05.
Finally, program locations 04 and 05 with the commands
w04400440
w05500550Cycle the 12V supply. The board should now be usable in the normal fashion.
4.5 Programming cable schematic
The programming cable is built from a USB-to-TTL converter, FTDI part number TTL-232RG-VSW5V-WE.
