User manual

Barrett Technology, Inc.

BA4-310 System User Manual Version 1.1

Table 2 - Header Designations on Motion Control Board

Motor Axes 0-1 Header P6

Motor Axes 2-3 Header P7

Motor Axes 4-5 Header P4

Motor Axes 6-7 Header P5

User I/0 Header P1

3.2.2 Hardware Address / Memory Mapping

The DSP is mapped into the I/O space of the host CPU. Starting with the base I/O address the

board uses 16 addresses in the computers I/O space. The default base address is 0x300. Set the

Base Switch SW 1 located on the top of the PCX/DSP to an unused address according to the

following table:

Table 3 - Base Switch SW1

Address87654321

240 00100100

260 00100110

280 00101000

2A0 00101010

300 00110000

310 00110001

330 00110011

340 00110100

360 00110110

The base address is crucial to successful communication with the motion control board. This

address should be written down for future reference.

3.2.3 Install Motion Control Software

Install the Motion Engineering Control software by inserting WAM Software CD and running

the program <CD Drive>:\MEI Software\DSP_SeriesRel2509_Win95.exe. Install into the

<drive>:\mei directory.

After installation, copy the file Medcl80l.lib into the new directory <drive>:\mei\2509\libs.

Install the Barrett Technology software by unzipping the file located in the <drive>:\Barrett

Software\ directory into the root directory of the host computer. If the drive letter is not “c”,

torque ripple compensation will not be possible until the drive letter in the header files is

changed and the software is recompiled.