Lsf-0573 Rev B Interface

7/27/2019 Lsf-0573 Rev B Interface

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MOOG INDUSTRIAL CONTROLS DIVISIONTEL 716/655-3000

800/272-MOOG

MOOGREAL TIME FIREWIRE / ETHERNET INTERFACE

INDUSTRIAL CONTROLS DIVISION (ICD)INTERFACE DEFINITION MANUALFOR MOTION BASES

Document No.: LSF-0573

Revision : Rev B.

Date: 17 October 2005

CAUTIONUSE OF THE MOTION BASE, OTHERTHAN IN ACCORDANCE WITH THEINSTRUCTIONS HEREIN OR OTHERSPECIFIC WRITTEN DIRECTIONS FROMMOOG, WILL INVALIDATE MOOG'S

OBLIGATIONS UNDER ITS WARRANTY.REFER TO MOOG WARRANTY (PAGET/P-2) FOR COMPLETE PROVISIONSTHEREOF.


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T/P-1

MOOG INDUSTRIAL CONTROLS DIVISIONTEL 716/655-3000

800/272-MOOG

WARNING

THE MOOG MOTION SYSTEM INVOLVES THE INTERFACE OFELECTRONICS, MECHANICS AND COMPUTER TECHNOLOGY. THIS

MANUAL OUTLINES THE PROCEDURES REQUIRED FOR SYSTEM

OPERATION.

UNDER NO CIRCUMSTANCES SHOULD AN OPERATOR ATTEMPT TO

OPERATE THE SYSTEM WITHOUT TRAINING AND FULL

UNDERSTANDING OF SYSTEM OPERATION.

SHOULD THERE BE ANY QUESTIONS REGARDING THE

INFORMATION PRESENTED HEREIN PERSONNEL SHOULD CONTACT

MOOG INC. FOR CLARIFICATION.

MOOGPhone: (716) 655-3000

(800) 272-MOOGDocument No.: LSF-0573Revision: Rev B


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WARRANTY T/P-2

LSF-0573 MoogRev. B ICD INTERFACE DEFINITION MANUAL

WARRANTY

Moog warrants that each item of its manufacture shall at the time of installation, conformto applicable specifications and drawings, and be free from defects in material andworkmanship. Design, essential performance, or other provisions expressly stated to begoals or objectives shall not be deemed to be requirements subject to this Warranty.

Unless otherwise specified, Moogs obligation under this Warranty shall be limited torepair or replacement, at Moogs option, of any item which within twelve months fromdate of installation is proven to Moogs satisfaction to have been nonconforming at thetime of installation. As a condition of this Warranty, Buyer shall notify Moog in writing ofany claimed nonconformance immediately upon discovery and shall return the item toMoog for inspection. Moog shall not be responsible for any work done or repairs madeby others at any time. Disassembly by anyone other than persons authorized by Moogwill void the terms of this warranty.

Moog shall not be responsible for the performance of any product which incorporatesitems manufactured by Moog unless such performance is expressly designated asMoogs responsibility under the terms of the written agreement between Moog andBuyer.

Moog shall not be liable for improper use, installation, accidents, operation or

maintenance of items manufactured by Moog, nor for any damage resulting

therefrom or from negligence on the part of the Buyers employees or agents.

Moog shall not be responsible for any consequential or incidental damages

occasioned by failure of any item supplied by Moog, or by failure of any item in

which a component manufactured by Moog is incorporated.

Unless previously agreed in writing, Moog shall not provide field repairs, modifications,or any other field service under this Warranty.

Moog shall not be responsible for the performance of any product which incorporatescomponent parts manufactured by Moog unless such performance is expresslydesignated as Moogs responsibility under the terms of the written agreement betweenMoog and the customer.

THE WARRANTIES CONTAINED HEREIN ARE EXCLUSIVE AND ARE GIVEN INLIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED OR STATUTORY,INCLUDING THE IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR APARTICULAR PURPOSE, AND ALL OTHER OBLIGATIONS AND LIABILITIES.


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WARRANTY T/P-3


THIS PAGE INTENTIONALLYLEFT BLANK


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TABLE OF CONTENTS TC-4


CHAPTER 1. DOCUMENT OVERVIEW .............................................................................11.1 PURPOSE.................................................................................................................11.2 SCOPE......................................................................................................................11.3 LIST OF ACRONYMS...............................................................................................21.4 REFERENCED DOCUMENTATION.........................................................................2

CHAPTER 2. PHYSICAL INTERFACES ............................................................................12.1 DISCRETE INPUTS..................................................................................................12.2 DISCRETE OUTPUTS ..............................................................................................12.3 OTHER AVAILABLE INTERFACES..........................................................................2

CHAPTER 3. MOTION CUEING SOFTWARE (OPTIONAL)..............................................13.1 PURPOSE.................................................................................................................13.2 MOTION CUEING SOFTWARE................................................................................13.3 MDA INPUT DATA ....................................................................................................23.4 MDA TUNING FILE ...................................................................................................3

CHAPTER 4. MBC/SCC COMMUNICATIONS PROTOCOL..............................................14.1 PURPOSE.................................................................................................................1

4.2 COMMUNICATIONS PROTOCOL SUMMARY.........................................................14.3 SCC - MBC COMMUNICATIONS PROTOCOL ICD .................................................2

4.3.1 Communications Protocol ICD Special Effects Options...................................94.4 MBC TO SCC COMMUNICATIONS PROTOCOL ICD ...........................................11

CHAPTER 5. RUNNING THE MOTION BASE ...................................................................15.1 PURPOSE.................................................................................................................15.2 PROCEDURE TO INITIATE COMMUNICATIONS WITH BASE...............................15.3 RUNNING THE MOTION BASE................................................................................2

CHAPTER 6. FAULT CONDITIONS ...................................................................................16.1 PURPOSE.................................................................................................................16.2 FAULT STATES........................................................................................................1

APPENDIX A.ETHERNET COMMUNICATIONS PROTOCOL ...........................................1A.1 ETHERNET INTERFACE............................................................................................1

APPENDIX B.FIREWIRE COMMUNICATIONS PROTOCOL.............................................1B.1 FIREWIRE INTERFACE..............................................................................................1B.2 PURPOSE.................................................................................................................1B.3 FIREWIRE COMMUNICATIONS DESCRIPTION.....................................................2


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TABLE OF CONTENTS TC-5




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CHAPTER 1 DOCUMENT OVERVIEW 1-1


CHAPTER 1. DOCUMENT OVERVIEW

1.1 PURPOSE

The purpose of this manual is to provide the Moog Motion System integrator and/or

system programmer with the required information necessary to connect the SystemControl Computer (SCC) to the Motion Base Computer (MB / MBC). This manualoutlines the correct method to provide proper communication between these twocomponents. It also describes the optional Motion Drive Algorithm (MDA) software usedfor motion cueing. If information beyond the scope of this manual is required contact:

Moog Inc.Industrial Controls Division Sales and MarketingEast Aurora, N.Y. 14052Telephone (716) 655-3000

(800) 272-MOOG

For information regarding system installation, mechanical specifications anddimensions, scheduled maintenance, and operation refer to the Users Manual, asreferenced in section 1.4REFERENCED DOCUMENTATION

1.2 SCOPE

This document describes the standard electrical interface provided with the Real TimeInterface motion base. The interface information is provided for the designer of thesystem controller, and programming information is included for the designer /programmer of the system controller.

The function of the interface is to provide commands to all six actuators in the form ofdirect actuator lengths, in degrees of freedom (roll, pitch, heave, Longitudinal, yaw,lateral) or in acceleration rates as required by the motion cueing (MDA) mode. It alsoallows commands for various other MB functions as well such as Buffets, MB Feedback,Discrete I/O information and Fault Status.

The Real Time interface also allows the customer to sequence the base through acomplete motion profile cycle, and to obtain status and diagnostic information from theMB.


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CHAPTER 1 DOCUMENT OVERVIEW 1-2


1.3 LIST OF ACRONYMS

The following list of acronyms are used in the Motion System Interface DefinitionManual:

CG Center of GravityCMD CommandCOMM CommunicationDOF Degrees of FreedomENBL EnableGND GroundHz HertzI/O Input/OutputLSB Least Significant ByteMB Motion Base (Moog platform)MBC Motion Base Computer

MDA Motion Drive AlgorithmMENGD Motion Engaged SignalMSB Most Significant ByteSCC System Control Computer (Customer Equipment)STP Shielded Twisted Pair

1.4 REFERENCED DOCUMENTATION

The following documents are referenced in this manual:

MOOG Industrial Controls, User's Manual6DOF5000E6DOF25000E6DOF25000H


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CHAPTER 2 PHYSICAL INTERFACES 2-1


CHAPTER 2. PHYSICAL INTERFACES

2.1 DISCRETE INPUTS

Two discrete inputs are available to the system controller, START and STOP. The

customer, if desired, may use the inputs, but the functions they provide are duplicatedby commands available on the serial interface. These inputs are optically isolated+24vdc logic inputs that can be configured in one of the following manners:

USER INPUT 1: This input has no effect on the real-time motion base; however,it is used on the ride-storage version. These contacts must remain open in orderto cycle the real time system.

USER INPUT 2: identical to the DISENGAGE command (refer to the serialinterface description). These contacts must be closed in order to run the base. Ifthese contacts are opened while the base is running, a smooth return to home

position is initiated.

Refer to the Users Manual for connection information.

2.2 DISCRETE OUTPUTS

Three discrete outputs are available to the system controller, FAULT, MENGD (MotionEngaged), and HOME. The customer, if desired, may use these outputs, but theinformation they provide is duplicated by data on the serial interface. The outputsindicate the following conditions:

FAULT: Closure indicates "no fault" condition.MENGD: Closure indicates safe condition (base not powered).

SETTLED: Closure indicates the motion base is at home.

Refer to the Users Manual for connection information.


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CHAPTER 2 PHYSICAL INTERFACES 2-2


2.3 OTHER AVAILABLE INTERFACES

The Motion Base Computer also has connections for the following optional customer-supplied equipment

Keyboard, Mouse (Optional Equipment): A DIN connector is provided for hookupof a standard PC compatible keyboard. The keyboard allows the user to provideinput to the MBC

Monitor (Optional Equipment): A 15 Pin DB connector is provided for hookup of astandard VGA computer monitor. The computer monitor provides a means for theMBC to display information to the user

E-stop (Optional Equipment). A connector is provided for hookup of usersupplied E-Stop switches. The E-stop circuit must be closed in order for the

base to operate. Control of the E-stop circuit is the customer's

responsibility.

Customer-installed warning light (Optional Equipment): A connector is provided

for hookup to a user-supplied Warning Lamp. Refer to the Users Manual forconnection information.


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CHAPTER 3 MOTION CUING SOFTWARE (OPTIONAL) 3-1


CHAPTER 3. MOTION CUEING SOFTWARE (OPTIONAL)

3.1 PURPOSE

The purpose of this section is to provide the user with some insight into the Motion DriveAlgorithm (MDA). The MDA generates realistic motion cues used to simulate vehiclemotion.

3.2 MOTION CUEING SOFTWARE

Motion control logic, motion drive algorithms, or washout filters as they are commonlyknown, attempt to generate the most accurate cues possible within the physicalconstraints of the motion system. Typically, the inputs to the washout filters are thevehicle specific forces (defined as vehicle acceleration minus gravity) and the vehicleangular velocities, since it is generally agreed that these are the elements of motion thatare sensed by humans. The inputs are typically scaled and then high pass filtered toblock the low frequency content that would produce large simulator displacements. Torepresent sustained lateral and longitudinal specific forces, tilt coordination is used. Tiltcoordination is a method of using gravity to represent the vehicle specific force by tiltingthe cab. Tilt coordination must be done slowly so that the simulator occupant does notperceive a rolling or pitching sensation.

Motion drive algorithms are set up to receive a time series of vehicle specific forces andangular velocities and send the appropriate position commands to a motion base. Thealgorithm needs no prior knowledge of what the specific time series will be (although thealgorithm typically needs to be tuned for a family/range of time series). In this wayoperator in the loop simulation can be performed with the algorithm calculating in real-time the appropriate motion of the base to provide a near optimum cue.

Moogs motion drive algorithm (MDA) is designed to generate the most accurate motioncues possible within the physical constraints of the motion system. A tuning file,configured by Moog personnel is used to select the various parameters for the MDA(refer tosection 3.3). Multiple tuning files can be developed for a single motion base.Selection between tuning files is performed at initialization by the host computer. Theinputs to the MDA are the vehicle linear accelerations, vehicle angular accelerations,angular velocities, and vehicle orientation. Each channel of input is scaled and limitedbased on parameters in the tuning file. Using the vehicle inputs the vehicle specific

forces are calculated automatically by the MDA. In addition the MDA translates thespecific forces from the CG of the vehicle to the motion base centroid. The offset vectorfrom CG to motion base centroid is also specified in the tuning file.


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The MDA has two modes of operation. The personnel configuring the MDA select theoptimum mode for a specific application. The first is the Classical Mode, which filtersthe three channels of angular velocity and three channels of specific force using a set ofsix 2 pole, 2 zero filters. In addition a set of two low pass filters, with tunable breakfrequencies are used to control tilt coordination. All filter parameters are adjustable in

the tuning file. The second mode, *OverTiltTM

Mode provides an advanced form of tiltcoordination, fully coordinating the linear and angular motion of the motion base toprovide optimum specific force cues; both high frequency and sustained specific forcecues. In the *OverTiltTM Mode, performance of adaptive type algorithms is easilyachieved without their complex tuning requirements or resultant instabilities. There areonly three parameters required to tune specific force for the *OverTiltTM Mode:maximum excursion, maximum specific force, and maximum tilt rate. The *OverTiltTMMode provides motion base prepositioning based on the current input acceleration. Italso provides smooth adjustments in the commanded specific force to avoid large falsecues due to the motion base reaching its excursion limits.

In both the Classical and *OverTiltTM

Modes, tuning parameters control severaladditional features: offset of the tilt coordination axis (to move from motion centroid tooperators head), independent gravity scaling and limiting (which provides greaterstability when used in aircraft simulation or entertainment), direct correlation of vehicleorientation to motion base orientation (which provides increased performance whenused in ground vehicle simulation), and tilt coordination rate and acceleration limiting.

3.3 MDA INPUT DATA

The inputs to the MDA mode are as follows (Note that additional detail concerning MDAmode inputs is provided in Section 4.3 SCC To MBC Communications Protocol ICD)

a) Vehicle Euler Angles (radians): The Euler angles define a transformation withorder yaw->pitch->roll moving from Global to local coordinates.

b) Vehicle Angular Velocity (radians/second): The vehicle angular velocity is theangular velocity of the vehicle with respect to the global frame EXPRESSED in thelocal coordinate system of the vehicle.

c) Vehicle Angular Acceleration (radians/second/second): The vehicle angularacceleration is the angular acceleration of the vehicle with respect to the globalframe EXPRESSED in the local coordinate system of the vehicle.

d) Vehicle Linear Acceleration (meters/second/second): The vehicle linearacceleration is the linear acceleration of the vehicle with respect to the global frameEXPRESSED in the local coordinate system of the vehicle.


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The velocities and accelerations follow the SAE coordinate system: Z Down, X Forward,and Y out the right side of the vehicle. Roll, pitch, and yaw velocities and accelerationsare defined as right hand rule about the x, y, and z axes respectively.

3.4 MDA TUNING FILE

In the MDA mode, different tuning files may be selected by placing the SET_MDA_FILEcommand in the command word. This causes the MB to select a different tuning file, if itexists. The tuning files are named MDxxx.IN, where xxx is a one to three digit number.The default value is 101 (65 hex). Other values are selected by setting the appropriatehex value in the Command Word and sending the SET_MDA_FILE command.

Note: Moog and Realtime Technologies do not permit customer modification of tuningfiles without proper training.

*OverTilt is a trademark of Realtime Technologies, Inc.


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CHAPTER 4 MBC-SCC COMMUNICATIONS PROTOCOL 4-1


CHAPTER 4. MBC/SCC COMMUNICATIONS PROTOCOL

4.1 PURPOSE

This section defines the interface protocol between the System Control Computer(SCC) and the Motion Base Computer (MBC). Please note the following regarding theinformation presented in this section:

All leg length measurements are referenced from the actuator fully retractedposition.

All data values referenced in the following tables are stored and/or transmitted asLSB first.

Buffets for all axes are direct position inputs either in meters (m) or radians (rad).This data is summed downstream of the transform calculations and added toeach axis after the final actuator output command has been generated.

Grey areas in the tables represent optional data

SAE Coordinate system and right hand rule:

o X = Forwardo Y = Right Wingo Z = Downo Roll about Xo Pitch about Yo Yaw about Zo Euler Angle Transformation Order (Global to Local): Yaw, Pitch, Roll

4.2 COMMUNICATIONS PROTOCOL SUMMARY

Message Number Message Source Destination

100 DOF Command Mode System Control Computer Motion Base Computer

101 Length Command Mode System Control Computer Motion Base Computer

102 MDA Command Mode System Control Computer Motion Base Computer

103 Playback Mode System Control Computer Motion Base Computer

Message Number Message Source Destination

200 Motion Base Status Response Motion Base Computer System Control Computer


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4.3 SCC - MBC COMMUNICATIONS PROTOCOL ICDThe following tables identify the System Control Computer (SCC) to Motion BaseComputer (MBC) communication protocol interface definition.

Message Header Data Path SCC to MBC

ByteSize

Description Type Units Range/Value/Notes

4 Packet Length(Not Including Header)

UINT_32 Bytes 56 to 152

4 Packet Sequence Count UINT_32 Number

4 Reserved for future use UINT_32 Number

4 Message ID UINT_32 Number Note 4.3-1

Message DOF Command Mode DataID 100

Path SCC to MBC

ByteSize


4 Motion Command Word UINT_32 Number Note 4.3-2

4 Status Response Word UINT_32 Number Note 4.3-4

4 DOF Roll Command REAL_32 Radians

4 DOF Pitch Command REAL_32 Radians

4 DOF Yaw Command REAL_32 Meters

4 DOF Longitudinal (X) Command REAL_32 Meters

4 DOF Lateral (Y) Command REAL_32 Radians

4 DOF Heave (Z) Command REAL_32 Meters

4 Special Effects Active Command UINT_32 Number Note 4.3-3

Message Length Command Mode Data

ID 101

Path SCC to MBC

ByteSize




4 Actuator Length A REAL_32 Meters

4 Actuator Length B REAL_32 Meters

4 Actuator Length C REAL_32 Meters

4 Actuator Length D REAL_32 Meters

4 Actuator Length E REAL_32 Meters

4 Actuator Length F REAL_32 Meters



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Message MDA Command Mode DataID 102

Path SCC to MBC

ByteSize




4 MDA Command Word UINT_32 Number Note 4.3-5

4 Roll Angle REAL_32 Radians

4 Pitch Angle REAL_32 Radians

4 Yaw Angle REAL_32 Radians

4 Roll Rate REAL_32 Rad/Sec

4 Pitch Rate REAL_32 Rad/Sec

4 Yaw Rate REAL_32 Rad/Sec

4 Roll Acceleration REAL_32 Rad/Sec2

4 Pitch Acceleration REAL_32 Rad/Sec2

4 Yaw Acceleration REAL_32 Rad/Sec2

4 Longitudinal (X) Acceleration REAL_32 M/Sec2

4 Lateral (Y) Acceleration REAL_32 M/Sec2

4 Vertical (Z) Acceleration REAL_32 M/Sec2


Message Playback Mode Data

ID 103

Path SCC to MBC

ByteSize





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Note 4.3 1:DOF Command Mode Data:

Message ID = 100Indicates the following data words contain the data defined in the DOF Command Mode Data.

Length Command Mode Data:

Message ID = 101Indicates the following data words contain the data defined in the Length Command Mode Data.

MDA Command Mode Data:Message ID = 102

Indicates the following data words contain the data defined in the MDA Command Mode Data.

Playback Mode Data:Message ID = 103

Indicates the following data words contain the data defined in the Playback Mode Data.


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Note 4.3 2:

The Command State message is sent from the System Control computer to the Motion Base Computer. It is

used to command the motion base to change from its current state to the requested state. Its contents aredefined as follows:

COMMAND_NULL = 0COMMAND_ENGAGE = 1COMMAND_DISENGAGE = 2COMMAND_RESET = 3COMMAND_START = 4

COMMAND_NULL: (Normal Operating Mode)No command update

COMMAND_ENGAGE: (Valid only in IDLE state)Makes the Motion Base ready to run. After the MBC receives the COMMAND_ENGAGE command from the SCC,the Motion Base Computer software powers and enables the motor controllers and then moves the base up to itsstarting position. This is defined by the six Actuator or six DOF commands received at the time the

COMMAND_ENGAGE message was received. At this point the Motion Base machine state becomes ENGAGED,and the SCC can now control the platform position and base movement by sending Length/DOF/MDA commanddata to the MBC. Prior to reaching the ENGAGED state, the MBC disregards (throws out) any command dataupdates it receives from the SCC. This is done to avoid any abrupt motions.

* In order to ENGAGE the base, the Motion Base machine state must be in IDLE, which implies that the base mustbe in the SETTLED position.

* The Motion Bases starting position can be defined as follows:- Length mode: All leg lengths must be set within the software extend and Retract limits.- DOF mode: All DOF commands such that the resultant leg lengths fall within the software extend

and Retract limits.

COMMAND_DISENGAGE: (Valid in STANDBY and ENGAGED)When received, causes the Motion Base to return to the SETTLED position under power. Power is then removed

from the motors.

COMMAND_RESET: (InValid in STANDBY, ENGAGED and SETTLE states only)Used to recover from any FAULT state. This command also restores normal operation after the INHIBIT commandis received

COMMAND_START: (Valid only in ENGAGED state)Used only in Playback Mode. Initiates start of motion after reaching ENGAGED state


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Note 4.3 3:

No Optional Commands:Option = 0

Indicates that we have finished reading in all the command data.

Direct Displacement DOF Command:Option = 1

Indicates that following data words contain the data defined in the Direct Displacement DOF Command (Notapplicable with Message ID 101).

Direct Displacement Length Command:Option = 2

Indicates that following data words contain the data defined in the Direct Displacement Length Command.

Buffet Command:Option = 3

Indicates that following data words contain the data defined in the Buffet Command(Not applicable with Message ID 101).

Buffet (White Noise)Command:Option = 4

Indicates that following data words contain the data defined in the Buffet (White Noise) Command (Not applicablewith Message ID 101).

Vehicle Center of Gravity Command:Option = 5

Indicates that following data words contain the data defined in the Vehicle Center of Gravity Command.


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Number of data words (1 - 10)

d31 d0

BYTE 0BYTE 1BYTE 2BYTE 3

X X X X X X XXX X X X X X XXX X X X X X XXX X X X X X XX

d0

d1

d2d3

d4

d5d6

d7

d8

d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.3- 4 - Status Response Information Word

d15 to d8

MDA Tuning File

(0 to 255)

(0x0 to 0xFF)

Update Rate (Samples per Second)

Feedback Mode

1XXX = LengthX1XX = DOF

Feedback Mode

XX1X = CG

0000 = NONEXXX1 = Data

X = Dont Care

MSB

MSB

MSB

MSB

LSB

LSB

LSB

Miscellaneous Options

Miscellaneous Options

d8 sync Bit

0 = First Message

1 = Second Message

UPDATE_RATE: (Valid in POWER_UP and IDLE states only)Sets the rate used by the MBC to read platform position commands from the SCC when the MBC is commanded toENGAGE. Range: 30 to 1000Hz. Value is encoded in the 2 most-significant bytes of the command word.

MDA_FILE: (Valid in POWER_UP and IDLE states only)Sets the tuning file name to be used by the MBC. Since the tuning files are named MDxxx.IN, only the three-digitvalue xxx (range: 0255; 0x00-0xFF) needs to be encoded in the command word. This value is encoded in themost-significant byte of the command word.


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d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8

d9

d10

d11

d12

d13

d14

d15

d16

d17

d18d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.3-5 - MDA Command Word

1 = Freeze Base (Neutral Position)

Spare

Freeze


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4.3.1 Communications Protocol ICD Special Effects Options

The following tables identify the communication protocol interface definition for theSpecial Effects options. These options are typically added to the end of the standardMBC-SCC messages.

Message Special Effects Option 1: Direct Displacement DOF Command

ByteSize


4 Special Effect DOF Cmd - Roll REAL_32 Radians

4 Special Effect DOF Cmd - Pitch REAL_32 Radians

4 Special Effect DOF Cmd - Yaw REAL_32 Radians

4 Special Effect DOF Cmd -Longitudinal

REAL_32 Meters

4 Special Effect DOF Cmd - Lateral REAL_32 Meters4 Special Effect DOF Cmd - Heave REAL_32 Meters


Message Special Effects Option 2: Direct Displacement Length CommandName

ByteSize


4 Special Effect Direct DisplacementCommand Leg A

REAL_32 Meters

4 Special Effect Direct Displacement

Length Command Leg B

REAL_32 Meters

4 Special Effect Direct DisplacementLength Command Leg C

REAL_32 Meters

4 Special Effect Direct DisplacementLength Command Leg D

REAL_32 Meters

4 Special Effect Direct DisplacementLength Command Leg E

REAL_32 Meters

4 Special Effect Direct DisplacementLength Command Leg F

REAL_32 Meters



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Message Special Effects Option 3: Buffet CommandName

Byte

Size

Description Type Units Range/Value/

Notes

4 Total Number of Sine Waves (S) UINT_32 Number 0 to 10

4 Frequency of Sine Wave (S)

(0 F n)

REAL_32 Hz

4 Amplitude of Sine Wave in X Body

(0 F n)

REAL_32 m/sec2

4 Amplitude of Sine Wave in Y Body

(0 F n)

REAL_32 m/sec2

4 Amplitude of Sine Wave in Z Body

(0 F n)

REAL_32 m/sec2


Message Special Effects Option 4: Buffet (White Noise)CommandName

4 Total Number of Buffet Waves (S) UINT_32 Number 0 to 2

4 Special Effect Buffet Noise

Amplitude X Axis (0 F n)

REAL_32 Meters


Amplitude Y Axis (0 F n)

REAL_32 Meters


Amplitude Z Axis (0 F n)

REAL_32 Meters


Message Special Effects Option 5: Vehicle Center of GravityName

4 Center of Gravity X REAL_32 Meters

4 Center of Gravity Y REAL_32 Meters

4 Center of Gravity Z REAL_32 Meters



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4.4 MBC TO SCC COMMUNICATIONS PROTOCOL ICD

The following tables identify the Motion Base Computer (MBC) to System ControlComputer (SCC) communication protocol interface definition.

Message Header Data Path MBC to SCC

ByteSize


4 Packet Length(Not Including Header)

UINT_32 Bytes 72 to 328

4 Packet Sequence Count UINT_32 Number

4 Reserved for future use UINT_32 Number

4 Message ID UINT_32 Number 200

Message Status Response

ID 200

Path MBC to SCC

ByteSize


4 Machine Status Word UINT_32 Number Note 4.4-2

4 Discrete I/O Word UINT_32 Number Note 4.4-3

4 Latched Fault Data Word 1 UINT_32 Number Note 4.4-4



4 Optional Status Data UINT_32 Number Note 4.4-1

Message Option 1: DOF Response Path MBC to SCC

ByteSize


4 DOF Roll Command REAL_32 Radians

4 DOF Pitch Command REAL_32 Radians

4 DOF Yaw Command REAL_32 Meters

4 DOF Longitudinal (X) Command REAL_32 Meters

4 DOF Lateral (Y) Command REAL_32 Radians

4 DOF Heave (Z) Command REAL_32 Meters



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Message Option 2: Length Response Path MBC to SCC

ByteSize


4 Actuator Length A Feedback REAL_32 Meters

4 Actuator Length B Feedback REAL_32 Meters

4 Actuator Length C Feedback REAL_32 Meters

4 Actuator Length D Feedback REAL_32 Meters

4 Actuator Length E Feedback REAL_32 Meters

4 Actuator Length F Feedback REAL_32 Meters


Message Option 3: Data Response Path MBC to SCC

ByteSize


4 Number of Optional FeedbackMessages (N) UINT_32 Number 1 to 10

4 Optional Feedback A

(0 F 9)

REAL_32

4 Optional Feedback B

(0 F 9)

REAL_32

4 Optional Feedback C

(0 F 9)

REAL_32

4 Optional Feedback D

(0 F 9)

REAL_32

4 Optional Feedback E

(0 F 9)

REAL_32

4 Optional Feedback F(0 F 9)

REAL_32


Message Option 4: VectorfromthePointofReferencetotheCG

Path MBC to SCC

ByteSize


4 Center of Gravity X REAL_32 Meters

4 Center of Gravity Y REAL_32 Meters

4 Center of Gravity Z REAL_32 Meters



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Note 4.4 1:

No Optional Commands:Option = 0

Indicates that we have finished reading in all the Response data.

DOF Response:Option = 1

Indicates the following data words contain the data defined in the DOF response message.

Length Response:Option = 2

Indicates the following data words contain the data defined in the Length response message.

Data Response:Option = 3

Indicates the following data words contain the data defined in the Data Response message.This data is user selectable from the Motion Base computer.

Center of Gravity Response:

Option = 4AvectorfromthePointofReferencetotheCG. Thisvectorissubtractedfromtheoffsetvectordefinedinthe.infile.ThevaluesareX,Y,Z(metersandthestandardcoordinatesystem).


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Encoded Machine State

0000 = Power Up0001 = Idle

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8

d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-2 Status Information Word

Motion Mode

MDA Tuning File Number 0 to 255(0x00 to 0xFF Hex)

Update Rate (Samples per Second)

Feedback Mode

Encoded Machine State Motion Mode

10 = Length01 = DOF

Feedback Mode

00 = Local

0010 = Standby0011 = Engaged0100 = Disengage1000 = Fault 11001 = Fault 21010 = Fault 31011 = Disabled

10 = Length

01 = DOF

11 = MDA

1100 = Inhibited

11 = DOF/ Length

00 = NONE


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Base at HomeLocal (Maintenance) Mode

Start Input ActiveE-Stop Input Active

Stop Input Active

1 = True

d31 d0


X X X X X X XXX X X X X X XXXXXXXX XXXXXXXXXX

d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-3: Discrete I/O Information Word


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UPS Battery Low

Host Communication Timeout

Pressure Low Alarm

Tank Level Low

Pressure High Alarm

1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-4: Latched Fault Data Word 1 - HYDRAULIC SYSTEM

Temperature Low Alarm

Temperature High Alarm


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UPS Battery Low


1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-4: Latched Fault Data Word 1 - 6DOF25000E SYSTEM

Low Snubber Pressure

Home Switch Fault

Regen Resister Overtemp

RTH Battery Test

RTH Battery Monitort (48V)

RTH Interlock

RTH Battery Low


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UPS Battery Low


1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-4: Latched Fault Data Word 1 - 6DOF5000E SYSTEM

Home Switch Fault

RTH Battery LowRTH Battery Test

RTH Interlock


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1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-4: Latched Fault Data Word 1 Drawbridge Option

Interlock 1

Interlock 5Interlock 6



Interlock 12

Interlock 7

Gate Switch 1Gate Switch 2

Interlock 2

Interlock 3

Interlock 4


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1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-5: Latched Fault Data Word 2 6DOF25000E SYSTEM

PLC to PC Interlock

PC to PLC Interlock

PC to IFB Interlock

IFB to PLC Interlock

PLC Communication Timeout

Lost AC Power

MCC Drive Fault

DSP Drive Fault

DBEN Fault

PLC to IFB Interlock

E-STOP

Drive Communication

Overall Drive Fault


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1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB


PLC to PC Interlock

PC to PLC Interlock

300 VDC Power Supply Fault

IFB to PLC Interlock

300 VDC Bus Active

PLC Communication Timeout

Lost AC Power

MCC Drive Fault

DSP Drive Fault

DBEN Fault

PLC to IFB Interlock

E-STOP

Drive Communication

Overall Drive Fault


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Acceleration Fault

1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB

Note 4.4-6: Latched Fault Data Word 3 HYDRAULIC SYSTEM

Velocity Fault

Envelope Extend Limit

Error Reading Position Feedback

Envelope Retract Limit

Bore Pressure Fault

Rod Pressure Fault

Extend Limit Switch


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Acceleration Fault

1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB


Velocity Fault




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Acceleration Fault

1 = Fault

d31 d0



d0

d1

d2

d3

d4

d5

d6

d7

d8d9

d10

d11

d12

d13

d14

d15

d16

d17

d18

d19

d20

d21

d22

d23

d24

d25

d26

d27

d28

d29

d30

d31

LSBMSB


Velocity Fault




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THIS PAGE INTENTIONALLY

LEFT BLANK


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CHAPTER 5 RUNNING THE MOTION BASE 5-1


CHAPTER 5. RUNNING THE MOTION BASE

5.1 PURPOSE

The purpose of this chapter is to provide a general overview of the sequence of eventsthat occur while running the Motion Base. Additional information on this subject matter

can be found in the Users Manual.

5.2 PROCEDURE TO INITIATE COMMUNICATIONS WITH BASE

Provide the connection between the Motion Base computer and the System Control

Computer as described in the Appendices.

The following flow chart is presented as a guide only to describe proper communication

between the SCC and motion base computer. Refer to Figure 5-1, CommunicationsFlow Chart.


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5.3 RUNNING THE MOTION BASE

It is best to power the MB computer before starting communications at the SCC. TheMB software starts in the POWER-UP state then transitions to the IDLE state. TheSTOP contacts must be closed. No movement of the base is possible in the POWER-

UP and IDLE states. Refer toFigure 5-2, MBC State Diagram.

The SCC engages the motion base as follows:

The MB must be in the IDLE state;The SCC sends the ENGAGE command;The SCC will see the MB state change from IDLE to STANDBY.

In the STANDBY state, power is applied to the amplifiers after a few seconds the baseis moved to the start position. Upon reaching the start position, the MB entersENGAGED state.

In the ENGAGED state, the MB moves the platform depending on the actuatorcommand data from the SCC.


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Figure 5.1 Communications Flow Chart

START

Monitor for 40 byte Response from

Motion Base.

Received Response from MotionBase?

FLOW127.VSD

Page-1

Is the Motion Base in IDLE State?

YES

Is the Motion Base in FAULT3

State?

NO

YES

AP

NO

YES

STOP

Start Timer to Wait for Motion Base to

Enter IDLE State.

(Approximately One Second)

Determine why Motion

Base is not in IDLE State.

Establish proper

communications with

Motion Base. Check fault

conditions.

Motion Base State is

still POWER-UP.

Waiting for Motion

Base to enter IDLE

state.

Has TimerExpired?

NO

STOP

YES

NO

Start sending STATUS commands to

Motion Base at least twice per second.

Reset Motion Base Computer.

Diagnose Motion Base Fault condition.


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A

NO

YES

C D

Start Timer to Wait for Motion Base to

Enter ENGAGED State.

(Approximately 5 - 10 seconds)

Has Timer

Expired?NO

STOP

YES

Check fault conditions to

determine why Motion

Base is not in ENGAGED

State.Is the Motion Base in ENGAGED

State?

NO

YES

B

Continue sending STATUS commands

to the Motion Base. Set up DOF

command data buffer with all DOFs at

zero except heave= -0.094835m

Send ENGAGE command to Motion

Base. Send ENGAGE command only

once. Do this only after passengers are

loaded and secured on Motion Base.

(Motion Base moves in response to this

command)


to the Motion Base at least twice per

second.

Monitor for 40 byte Responses from

Motion Base.

Received Response from Motion

Base?


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C

NO


State?

Send RESET Command to try and

clear the fault. Diagnose FAULTCondition. Start over.

YES

D

F

B


State?YES

STOP

NO

P

Reset Motion BaseComputer. Diagnose

FAULT Condition.

Motion Base State isstill IDLE. Waiting

for Motion Base to

enter ENGAGED

state.

Continue sending STATUS commandsat least 2x per second. Set DOF

command data as required for desired

platform movement.

Monitor for 40 byte Response fromMotion Base.

E G


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FLOW127.VSDPage-4

F

YES

NO

P

Received Response from Motion

Base?

Is the Motion Base in ENGAGED

State?

E

NO

G

NO


clear the fault. Diagnose FAULT

Condition. Start over.


State?

YES

Is the Motion Base in FAULT1State?

YES

H

YES

I


clear the fault. Diagnose FAULTCondition. Start over.

Motion Base Returned to PARKING,

POWER-UP, IDLE or FAULT3 State.

Diagnose for FAULT or error

Conditions.

NO


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FLOW127.VSDPage-5

I

J

Is the Motion Base in PARKING

State?

L

NO


State?

YES

P

Ride Finished?

H

NO

YES

Send PARK command to Motion Base.


to the Motion Base at least 2x per

second.

Monitor for 40 byte Response from

Motion Base.

YES

NO

K


clear the fault. Diagnose FAULT



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Monitor for 40 byte Response fromMotion Base.

Received Response from MotionBase?

Is the Motion Base in IDLE State?

YES

NO

NO

Start Timer to Wait for Motion Base toEnter IDLE State

(Approximately One Second)

Determine why Motion

Base is not in IDLE State.Diagnose FAULT

conditions.

Has TimerExpired?

NO

STOP

YES

FLOW127.VSDPage-6

NM


State?

YES

NO

Motion Base State isstill ENGAGED.

Waiting for MotionBase to enter

PARKING state.

K LP J


to the Motion Base at least twice persecond.

YES

O

Send RESET Command to try andclear the fault. Diagnose FAULT



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FLOW127.VSDPage-7

NM O

Run Another Ride?

STOP

NO

Motion Base Parked and Returned toIDLE State. Motion Base ready for

Next Ride.

NO



YES

STOP

Motion Base State isstill PARKING.

Waiting for MotionBase to enter IDLE

state.

NO

YES

YES

P


to the Motion Base at least 2x persecond.

Reset Motion BaseComputer. Diagnose

FAULT Condition.

Send RESET Command to try andclear the fault. Diagnose FAULT



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MotionBase State Machine

Active

Initialize

Ready

Standby

Engaged

Parking

None

InitializeComplete

Cleanup

DrivesReady

Engage

AtStart

Disengage

Disengage

ShutDown

Fault

Fatal

Reset

CleanUpComplete

ShutdownShutdown

PowerUp

MoveToStart

Leveling

Halting

None

Halt

MoveToHome

Level

AtHome

Cleanup

PhaseMode

PhaseMode

Disengage

Figure 5-2 MBC State Diagram


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CHAPTER 6 FAULT CONDITIONS 6-1


CHAPTER 6. FAULT CONDITIONS

6.1 PURPOSE

The purpose of this chapter is to identify the various fault states that may exist on theMB. The MB operating software continuously monitors the status of the system and willreport any fault conditions that it finds. Detailed descriptions of each fault can be found

in the Users Manual.

6.2 FAULT STATES

The MB operating software categorizes the different types of fault conditions that mayexist into two different states. The fault states are identified as FAULT1 and FAULT2.Should a fault condition occur during the operation of the MB, the operating software willgo into one of the above states. The SCC should continuously monitor the MB

response to determine the present state of the MB. If it is determined that the MBoperating software is in a FAULT state then the SCC should take the necessary actionto recover from the fault condition.

NOTE:

FAULT1 the MB will enter SETTLE state and return home automatically. The faultcondition will be logged in the log file, and displayed on the MB display. To recover froma FAULT1 state, the SCC need not do anything.

FAULT2 is the most common fault classification. After a FAULT2 condition occurs, the

MB will automatically attempt to return to its home position using battery power. Torecover from a FAULT2 state, the SCC must issue a RESET command to the MB.


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CHAPTER 6 FAULT CONDITIONS 6-2




52/55

Appendix A ETHERNET COMMUNICATIONS PROTOCOL A-1


APPENDIX A. ETHERNET COMMUNICATIONS PROTOCOL

A.1 ETHERNET INTERFACE

The Motion Base Computer standard interface is Fast Ethernet. This interface servesas the primary communications channel between the MBC and the SCC. The EthernetInterface is based on the IEEE 802.3 industry standard for 100Base-Tx standard at 100Mbits/sec baseband CSMA/CD Local Area Network.

An RJ-45 connector is provided for STP (shielded twisted pair) connections. Theconnector pinout is shown in Figure B-1. Note that the customer provides the matingRJ-45 male connector and associated cable.

Figure B-1: Ethernet RJ-45 Connector (Female)

25 Pin D Connector (Female): Customer provides 25 pin D mating male connector.

Pin # Signal Name Signal Description

2 ENGAGED Output Motion Base Engaged

15 ENGAGED Return 1 FAULT Output Motion Base Fault

14 FAULT Return

17 ENABLE Input Enable Motion Base

4 ENABLE Return

6 RETURN HOME Input Return Motion Base to Home

19 RETURN HOME Return

5 + 24 V_PS 24 Volt Power Supply (Fused at 3 Amps)

3 GND Common

18 AT HOME Output Motion Base at Home

3 START input Used only for ride storage bases.

16 START return Should always be open for realtime operation.

Figure B-2: System Controller Connector

A.2 PURPOSE

87

654321

RD-

RD+TD-TD+

1

11

1

2

1


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Appendix A ETHERNET COMMUNICATIONS PROTOCOL A-2


This chapter provides information regarding the Ethernet communications protocolbetween the SCC and MBC. Command frames are transmitted to the MBC at 30 to1000 frames per second as part of a UDP datagram.

A.3 ETHERNET COMMUNICATIONS DESCRIPTION

The Ethernet link described herein uses the User Datagram Protocol (UDP) tocommunicate between the SCC or host computer and the MBC or motion basecomputer. UDP provides a simple datagram-based process-to-process communicationmechanism. UDP accepts messages addressed to a particular port on a particular host,then attempts delivery, using datagrams to transport messages between the hosts.UDP only guarantees correct delivery when messages are delivered. The MBrecognizes packets having a frame type of DIX-Ethernet.

Generally, the communication runs in three steps:

1. INIT: Setup of communication (generate sockets, etc.).2. RUN: Communication runs, SCC and MBC sending/receiving messages.3. END: Stopping the communication and removing all the objects.

After the communication has been activated, i.e., the MBC has generated a datagramsocket (UDP protocol including a port number), the SCC can send data to the MBC.The process within the SCC requires the IP address and port number back from theMBC. Port values from 0 to 32767 may be selected

The MBC stores data in host byte order (LSB first). The SCC sends data in networkbyte order (MSB first) to the MBC. The MBC converts the data to host byte order before

using it. The MBC will convert data to network byte order before sending the reply to theSCC.


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Appendix B FIREWIRE COMMUNICATIONS PROTOCOL B-1


APPENDIX B. FIREWIRE COMMUNICATIONS PROTOCOL

B.1 FIREWIRE INTERFACE

The Motion Base Computer is available, with an optional 400Mbps IEEE-1394 OHCIcompliant Firewire Interface. This interface serves as the primary communicationschannel between the MBC and the SCC.

Three standard six-pin connectors are provided for the Firewire connection betweenthe MBC and the SCC. The connector pinout is shown in Figure A-1. Any connectormay be used to connect the MBC to the SCC. The connectors are located on the rearof the computer chassis. Note that the customer provides the mating Firewire maleconnector and associated cable.

Figure A-1: Firewire Connector (Female)

B.2 PURPOSE

This chapter provides information regarding the Firewire communications protocolbetween the SCC and MBC.


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Appendix B FIREWIRE COMMUNICATIONS PROTOCOL B-2

B.3 FIREWIRE COMMUNICATIONS DESCRIPTION

The Firewire protocol described herein uses asynchronous stream transfers to providecontrol of the motion base. Firewire provides for peer-to-peer transfers of data betweena requester and a responder.

The Firewire bus was designed for easy insertion and removal of components. Thisapplication requires that there be only two nodes on the bus: the Motion Base Computer(MBC) and the system control computer (SCC). This is especially important due to theuse of asynchronous transfers, which require acknowledgements other devices on thebus will reduce the available bandwidth for data transfers.

If another device is to be plugged into the Firewire bus, it should be done while the baseis not moving (not in ENGAGED state). This is because the Firewire bus resets andreconfigures itself when a node is added or removed, and the MBC software maydeclare a fault. NOTE: The motion base code is designed to operate with only one

other device (the customers SCC) on the firewire.

After the bus has been configured (both MBC and SCC are powered and running theapplication software) the SCC can send command words to the base. The commandwords are used to set the motion base operating mode (length, dof, mda), select tuningfiles for motion cueing, set command transfer rate, and select type of response datarequired (length or/and DOF).

Once the base is configured and ready to run, the SCC sends the ENGAGE commandword. The MBC moves to the start position (refer to the ENGAGE commanddescriptions). While moving to the start position, actuator lengths are under the MBC

software control. Once the start position is reached, the motion base is controlled bythe command data which the MBC receives from the SCC. The base will continue tomove as commanded by the SCC until one of the following events:

A fault

The SCC commands SETTLE

SCC (10 communication cycles are missed)

Data transmitted within the data blocks is in big-endian format. This means that theSCC must change the byte order of data if the SCC uses little-endian data storage.

Lsf-0573 Rev B Interface

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Transcript of Lsf-0573 Rev B Interface