Robots S

The switches are in OFF condition when the knob is pulled versus the board edge.
Invalid
combinations disable the board.
A2.1 - MICROSTEP PROGRAMMING BY HOST COMPUTER The microsteps/step rate can also be
remotely changed by using the three logic inputs available on the J3 connector (pins 4,12 and
15) that corresponds, respectively, to SW1, SW2, SW3. The interaction between logic signals and
hardware switches is shown in fig. 4.
Figure 7. Remote microstepping programming
To operate the logic pins of the J3 connector, the three internal switches must be in the OFF
state.
A3 - CURRENT REDUCTION AT REST Phase current can be reduced when the motor is stopped if
SW6 is open. Current reduction is operative about 1 second after the last clock pulse.
GS-D500A
8/10
A4 - SETTING OF THE DIRECTION POLARITY The rotation direction signal must be applied at pin
J3-3. The direction (CW or CCW) depends on the status of the direction signal as shown in the
following table:
DIR. SIGNAL ROTATION
HIGH CCW
LOW CW
A5 - PHASE CURRENT PROGRAMMING The phase current can be programmed by means two on-
board trimmer called R42 and R43 (see mechanical drawing). R42 programs the current in phase
AB, while R43 programs the current in phase CD.
A6 - MIDRANGE STABILITY A particular circuitry is implemented on the board to avoid midrange

oscillations. This circuit is inserted on the current control loop when SW5 is OFF.
A7 - CURRENT SELECTION IN MICROSTEP/CONSTANT CURRENT SWITCHING (SW4)
When the board is used to drive a motor in microstep mode, an automatic switching from
sinusoidal/cosinusoidal current to constant current is performed when the sinusoidal output
waveform exceeds 500Hz. The constant output current can be chosen to be 0.707 of the peak
current or the peak current: this possibility is given by SW4. (See fig. 8).
SW4 OFF 0.707 x Ipeak
SW4 ON Ipeak
Figure 8. Current selection by SW4
An histeresys is inserted on the 500Hz threshold to avoid unwanted oscillations.
GS-D500A
9/10
A8 - OUTPUT OVERLOAD AND SHORT CIRCUIT PROTECTION
To prevent permanent damage to the GS-D500A, three protections have been implemented
against overload and short circuits between: - output to output - output to ground When one of
these adverse conditions occurs, the driver of the output H-bridges is disabled for about 500ms
and the condition is signaled by the FAULT signal.
A9 - FAULT SIGNAL
The FAULT signal is available at pin J3-13. When a fault is present, pin 13 goes low versus pins
6,7. Whenever the FAULT signal is activated, the led provided in the front edge of the module is
switched ON. The FAULT signal is active (low) when: - the supply voltage is lower than 12V - the
heatsink temperature is higher than 90C - an output overload is present - a disable is active.
How well the system does it:
Worst-case execution time
Average execution time
Throughput
Predictability
Capacity
Safety
Reliability
Functional
requirements
are modeled
as use cases,
sequence diagrams,
activity diagrams or
statecharts
QoS Requirements are
modeled as constraints
10 Real-Time UML Telelogic AB
System Use Cases
Use Cases Are Not ..
A functional decomposition model of the system internals thats HOW
They do not capture HOW in any way
They do not capture anything the Actor does outside of the System
How do I capture HOW?
Use Object Model Diagrams to capture Static Structure
Use Sequence Diagrams and State Diagrams (or Activity
Diagrams) to capture Dynamic Behavior
Good Example: Cardionada
Bad Example: Cardionada-NADA
Wrong Actors
Assumes a design
Not primary capabilities
Things to avoid
Single messages are not use cases!
Use cases represent a large number of different scenarios

Each scenario has many (possibly hundreds) of messages
Low-level interfaces are not use cases
Low-level interfaces are means to realize use cases
LLIs are subsumed within actual use cases
A use case should map to a reason for the user to interact with
the system, not the means by which it occurs
Detailing Use Cases
By operational example
Use scenarios captured via sequence diagrams
Each scenario capture a specific path through the use case
Partially constructive
Infinite set, so you must select which are interestingly different
Non-technical users can understand scenarios
By specification
Use an informal (e.g. English) and/or formal (e.g. statechart) to
represent all possible paths
Fully constructive
Non-technical readers might not understand formal specs
Use Case Description
Detailing Use Cases: Scenarios
A typical system has one dozen to a few dozen use case
Each use case typically has a few to several dozen scenarios of

interest
Scenarios capture a specific actor-system interaction
protocols of interaction
permitted sequences of
message flow
collaboration of structural elements
show typical or exceptional paths through the use case
Example: Use Case Sequence Diagram
Detailing Use Cases: Statecharts
Detailing Use Cases: Statecharts
Alarm on
Critical Event
How do we describe
structure using UML?
Objects, Classes and Interfaces
An object is a run-time entity that occupies memory at some specific
point in time
Has behavior (methods)
Has data (attributes)
A class is a design-time specification that defines the structure and

behavior for a set of objects to be created at run-time.
Specifies behavior implementation (methods)
Specifies data (attributes)
An interface is a design time concept that specifies the messages a
class receives (provided) or uses (required)
Specifies behavior only (operation implementation)
May have virtual attributes (no implementation)
May have a protocol state machine (no actions)
An object is one of the common building blocks in a UML model.
Software: It can represent a system, a subsystem or a specific software
element in a concrete programming language.
Systems: It can represent a real-world system, subsystem, or element
Several definitions are available:
An object is a real-world or conceptual thing that has autonomy
An object is a cohesive entity consisting of data and the operations that act
on those data
An object is a thing that has an interface that enforces protection of the
encapsulation of its internal structure
What is an Object ?
Objects can be
Software things
Occupy memory at some point in time
E.g. CustomerRecord, ECGSample, TextDisplayControl

Electronic things
Occupy physical space at some point in time
E.g. Thermometer, LCDDisplay, MotionSensor, DCMotor
Mechanical things
E.g. WingSurface, Gear, Door, HydraulicPress
Chemical things
E.g. Battery, GasMixture, Halothane
System things
Occupy space at some point in time
E.g. PowerSubsystem, RobotArm, Space Shuttle
A Class is the definition or specification of an object
An object is an instance of a class
An object has the attributes and behaviours defined by its class
It is common to have many instances of a class at the same time
Human (class)
Sam(Object)
Phil (Object) Lauren (Object)
Classes
is a instance of
is an instance of
is an instance of

Class Diagram
Structural Diagrams
Diagrams serve many purposes
System model-capture & specification
View aspects of system design
Provide basis for communication and review
Diagrams bring 2 things to the design process
Represent different aspects of design, e.g.
Functional
Structural
Behavioral
Quality of Service
Show aspects at different levels of abstraction
System
Subsystem
Component
Primitive class
Interfaces
UML interfaces specify operations or event receptions
UML Interfaces have no implementation
No methods
No attributes
Classes realize an interface by

providing a method (implementation) of an operation or
specifying an event reception on a state machine
A class that realizes an interface is said to be compliant with that
interface
Classes may realize any number of interfaces
Interfaces may be realized by any number of classes
Interfaces
Relationships allow objects to communicate at run-time
Objects may use the facilities of other objects with an association
There are two specialized forms of association:
Objects may contain other objects with an aggregation
Objects may strongly aggregate others via composition
Classes may derive attributes and behaviours from other classes
with a generalization
Classes may depend on others via a dependency
Relationships
Associations allow instances of classes to communicate at run-time
Instances of associations are called links
Links may come and go during execution
Denotes one object using the facilities of another
Lifecycles of the objects are independent
Allows objects to provide services to many others

Associations
Associations may have labels
This is the name of the association
Associations may have role names
Identifies the role of the object in the association
Associations may indicate multiplicity
Identifies the number of instances of the class that participate in the
association
1..[n | *]
Associations may indicate navigation with an open arrowhead
Unadorned associations are assumed to be bi-directional
Most associations are unidirectional
Associations
Indicated by a hollow diamond
Whole-part relationship
Denotes one object logically or physically contains another
Weaker form of aggregation. Nothing is implied about
Navigation
Ownership
Lifetimes of participating objects
Aggregation
Indicated by containment or a filled aggregation diamond
Whole both creates and destroys part objects
Composite is a higher level abstraction than the parts
Allows the class model to be viewed and
manipulated at many levels of abstraction
Stronger form of aggregation
Implies a multiplicity of no more than one
with the whole
Forms a tree with its parts
Composition
Composition Example
Keypad Display
System
FrontPanel
Button LED
Acquisition Filter Measurement
AcquisitionSubsystem
11
11
84
111
11
System
:AcquisitionSubsystem
:FrontPanel
AcquisitionSubsystem
:Acquisition
:Filter
:Measurement
FrontPanel
:Keypad
:Display
Keypad
:Button
:LED
4
Two ways
to show
composition
Relationships
Dependencies
A dependency can be used when a
class has no direct relation to
another class, but depends on it in
some way.
A Dependency stereotype (<<>>)
details how one item is
dependent on the other
One class may depend on
another to build an executable
from code with a <<usage>>
dependency
A Use Case may depend on a
class that realizes its required
functionality
Measurement ErrorManager
LinkList
T
Library Collection
Iterator
<<Usage>>
<<Friend>>
<<Bind>>
Advanced Structural Concepts
Advanced Structural Concepts
Flows
Structure Classes
Ports
Information Flows
Information flows are an abstract view of collaboration
Information items represent data
Similar to data flow diagrams
Non-constructive
No sequence is shown
Information Flows are details with data elements known as Flow
Items
Flow Items can be primitive types, records containing other items, or
even classes
Operations and event receptions on the target class will realize
information flow
Information flow items will be parameters or return values of the
operations
Item Flows
Structured Classes
A structured class is a class that is composed of parts
The structured class is responsible for the creation and destruction of its
parts
The structured class owns the parts via composition
Aactive classes for SO

FEATURES 100V Operating Supply Voltage 5A/phase peak current 5, 25, 125 microsteps/step Full
step and half step operation User selectable phase current 90 out of phase chopping to save
power consumption Galvanic isolation Full output protection against short-circuits Thermal and
undervoltage protection Step clock in excess of 200kHz Fault indication output Special circuit to
reduce midrange instability
DESCRIPTION The GS-D500A is a member of the SGS-THOMSON family of stepper motor driver
modules and boards. It drives motors in full step, half step and microstep mode. On top of that if
offers an unusually large number of features that allow a complete control of the
electromechanical characteristics of the motion system to obtain optimum performance. The

powermos output stages offer both low conduction and commutation losses for increased
efficiency; this, combined with a complete protection scheme, results in an extremely rugged
unit suitable for harsh environment operation.
ABSOLUTE MAXIMUM RATINGS
Symbol Parameter Value Unit
Vs DC Supply Voltage 110 V Vss DC Logic Supply Voltage 13 V lph Output Current per Bridge 6
Apk
l iLogic Input Current 30 mA Vis Isolation Voltage 500 V Tstg Storage Temperature Range 20 to
+85 C Thop Operating Heatsink Temperature +85 C
Note: Absolute maximum ratings are limit values above which the unit can be permanently
damaged * Thermal protection intervention @ Th > 90C
This datasheet has been downloaded from http://www.digchip.com at this page
ELECTRICAL CHARACTERISTICS (Tamb = 25C and Vs = 24V unless otherwise specified)
Symbol Parameter Test Conditions Min Typ Max Unit
Vs DC Supply Voltage 12 100 V
Vss DC Logic Supply Voltage 11.5 12 12.5 V
Iph Phase Current per Output* 0.5 5 A
li Logic Input Current 10 mA
Vsl On board Logic Supply Output 4.75 5 5.25 V
Iosl On board Logic Supply Current Output 100 mA
fc Clock Pulse Frequency 200 kHz
* Output Shorts Protection phase-to-phase, phase-to-ground. Note: the unit requires an input
filtering capacitor in the range of 4700 to 10000 F/100V, with low ESR and located as close as
possible to the board.
2/10
Figure 1. Signals timing

GS-D500A
3/10
Figure 2. Block diagram
GS-D500A
4/10
MECHANICAL DATA (dimensions are in millimeters)
GS-D500A HARDWARE AVAILABLE COMMANDS
SW1, SW2, SW3 Microsteps/step programming
SW4 Phase peak current selection
SW5 Midrange stabilization ON/OFF
SW6 Current reduction at rest
R42 Phase AB current programming
R43 Phase CD current programming
GS-D500A
GS-D500A CONNECTORS PINS DESCRIPTION
CONNECTOR J1 J1-1 Phase A output J1-2 Phase B output J1-3 Phase C output J1-4 Phase D
output J1-6 Ground
CONNECTOR J2 J2-1 Motor Supply Voltage J2-3 Auxiliary Supply Voltage (+12V) J2-2,4 Ground
CONNECTOR J3 Pin Function J3-1 Step clock isolated input (see fig. 3): this is a logic input
that performs the step function, i.e. on every transition of this input the motor is moved one
step in the proper direction. J3-2 Direction isolated input (see fig. 4): the logic state applied to
this pin decides the rotation direction of the motor shaft.
J3-4 Microsteps/step rate remote programming (SW1). J3-5 On board +5V output J3-6,7 Return
path for on board +5V output
J3-8 Disable input (see fig. 6): a logic high level applied to this input causes the power driver
outputs to float. This condition allows the manual positioning of the system. Care must be used
when this input is activated because the detention torque is lost. J3-9 Optocoupler supply
voltage J3-10 Zero current control isolated input (see fig. 5): when activated the phase current is
reduced to zero
J3-12 Microsteps/step rate remote programming (SW2) J3-13 Fault logic output (see fig. 9): this
ouput is at a low logic level whenever an anomalous condition is detected. J3-15
Microsteps/step rate remote programming (SW3)
Figure 3. Stepclock input circuit Figure 4. Direction input circuit
5/10
GS-D500A
6/10
Figure 5. Zero current input circuit Figure 6. Disable input circuit
A - GS-D500A DESCRIPTION The GS-D500A is a complete subsystem to drive stepper motors

either in full step or microstep mode. A very large number of auxiliary functions has been
included to allow extreme simplicity and flexibility in use. Particular care has been devoted to
protections, so that the GS-D500A can be safely used in very harsh environments. In addition to
the obvious function to drive the motor phases in a chopping mode, the following functions
have been implemented: - Sine/cosine generation - Selection of three different microsteps/step
rates
- Selection of full/half step drive - Programming of peak phase current to optimize the torque
- Automatic phase current reduction at rest (selectable) - Full protection against short-circuit
between phase-to-phase and phase-to-ground - Thermal and undervoltage protection
- Galvanic isolation of 3 input signals (clock, direction, zero current). - Fault indication output -
On board auxiliary voltages generation - Midrange stability circuitry (selectable)
As a result, the GS-D500A can provide up to 5A per phase and, in its simplest application, just
three command signals are required: step clock, direction, disable.
GS-D500A
7/10
A1 - SUPPLY VOLTAGE
THE POWER SUPPLY MUST BE TURNED OFF WHEN PLUGGING OR UNPLUGGING THE BOARD
The supply pins are: J2-1 for Motor Supply Voltage J2-3 for Auxiliary Voltage J2-2,4 for Ground
rail
The other supply voltages needed by the boards are internally generated. If an undervoltage
condition is detected (Vs < 10V) the GS-D500A is automatically disabled and a led is activated.
The Motor Supply voltage is in the range from 12 to 100V, the Auxiliary voltage from 11 to 13V.
At power-on the Auxiliary Supply voltage must be applied before the Motor Supply voltage,
while at power-off the Motor Supply voltage must be removed before the Auxiliary voltage.
A2 - FULL-STEP/HALF-STEP/MICROSTEP PROGRAMMING BY HARDWARE The number of

microsteps per step is field programmable. The digitized sine and cosine functions, required by a
microstepping control, are stored in a Lock-Up-Table inside the GS-D500A. Two options are
provided for the proper microsteps/step rate selection. Three switches (SW1, SW2, SW3) are
available on the front edge of the board. The full-step/half-step/microstep mode is defined by
the following table.
SW1 SW2 SW3 MODE
OFF ON OFF Half step
ON ON OFF 125 microsteps/step
ON OFF ON 25 microsteps/step
OFF ON ON 5 microsteps/step
ON ON ON Full step
The switches are in OFF condition when the knob is pulled versus the board edge. Invalid
state.
GS-D500A
8/10
following table:

HIGH CCW
LOW CW

SW4 ON Ipeak
GS-D500A
9/10
A9 - FAULT SIGNAL
Figure 9 - FAULT signal output circuit
GS-D500A
10/10
Information furnished is believed to be accurate and reliable. However, SGS-THOMSON

Microelectronics assumes no responsibility for the consequences of use of such information nor
for any infringement of patents or other rights of third parties which may result from its use. No
license is granted by implication or otherwise under any patent or patent rights of SGS-
THOMSON Microelectronics. Specification mentioned in this publication are subject to change
without notice. This publication supersedes and replaces all information previously supplied.
SGS-THOMSON Microelectronics products are not authorized for use as critical components in
life support devices or systems without express written approval of SGS-THOMSON
Microelectronics.
1994 SGS-THOMSON Microelectronics All Rights Reserved
SGS-THOMSON Microelectronics GROUP OF COMPANIES Australia - Brazil - China - France -

Germany - Hong Kong - Italy - Japan - Korea - Malaysia - Malta - Morocco - The Netherlands
Singapore - Spain - Sweden - Switzerland - Taiwan - Thailand - United Kingdom - U.S.A.

Apk

2/10
GS-D500A
3/10
GS-D500A
4/10
GS-D500A
output J1-6 Ground
reduced to zero
5/10
GS-D500A
6/10

rates
GS-D500A
7/10
A1 - SUPPLY VOLTAGE
rail

SW1 SW2 SW3 MODE
ON ON ON Full step

state.
GS-D500A
8/10
following table:
HIGH CCW
LOW CW

SW4 ON Ipeak
GS-D500A
9/10

A9 - FAULT SIGNAL
GS-D500A
10/10

Microelectronics.


Apk

2/10
GS-D500A
3/10
GS-D500A
4/10

GS-D500A
output J1-6 Ground
reduced to zero
5/10
GS-D500A
6/10

rates
GS-D500A
7/10
A1 - SUPPLY VOLTAGE
rail

SW1 SW2 SW3 MODE
ON ON ON Full step
state.
GS-D500A
8/10
following table:
HIGH CCW
LOW CW

SW4 ON Ipeak

GS-D500A
9/10
A9 - FAULT SIGNAL
GS-D500A
10/10

Microelectronics.


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The switches are in OFF condition when the knob is pulled versus the board edge.

Figure 7. Remote microstepping programming

DIR. SIGNAL ROTATION

A6 - MIDRANGE STABILITY A particular circuitry is implemented on the board to avoid midrange

A7 - CURRENT SELECTION IN MICROSTEP/CONSTANT CURRENT SWITCHING (SW4)

SW4 OFF 0.707 x Ipeak

An histeresys is inserted on the 500Hz threshold to avoid unwanted oscillations.

A8 - OUTPUT OVERLOAD AND SHORT CIRCUIT PROTECTION

How well the system does it:

Worst-case execution time

Average execution time

QoS Requirements are

10 Real-Time UML Telelogic AB

System Use Cases

11 Real-Time UML Telelogic AB

Use Cases Are Not ..

A functional decomposition model of the system internals thats HOW

They do not capture HOW in any way

How do I capture HOW?

Use Object Model Diagrams to capture Static Structure

Use Sequence Diagrams and State Diagrams (or Activity

Diagrams) to capture Dynamic Behavior

12 Real-Time UML Telelogic AB

Good Example: Cardionada

13 Real-Time UML Telelogic AB

Bad Example: Cardionada-NADA

Not primary capabilities

14 Real-Time UML Telelogic AB

Single messages are not use cases!

Use cases represent a large number of different scenarios

Low-level interfaces are not use cases

Low-level interfaces are means to realize use cases

LLIs are subsumed within actual use cases

the system, not the means by which it occurs

15 Real-Time UML Telelogic AB

Detailing Use Cases

Use scenarios captured via sequence diagrams

Each scenario capture a specific path through the use case

Infinite set, so you must select which are interestingly different

Non-technical users can understand scenarios

Use an informal (e.g. English) and/or formal (e.g. statechart) to

represent all possible paths

Non-technical readers might not understand formal specs

16 Real-Time UML Telelogic AB

Use Case Description

17 Real-Time UML Telelogic AB

Detailing Use Cases: Scenarios

A typical system has one dozen to a few dozen use case

Each use case typically has a few to several dozen scenarios of

Scenarios capture a specific actor-system interaction

collaboration of structural elements

show typical or exceptional paths through the use case

18 Real-Time UML Telelogic AB

Example: Use Case Sequence Diagram

19 Real-Time UML Telelogic AB

Detailing Use Cases: Statecharts

20 Real-Time UML Telelogic AB

Detailing Use Cases: Statecharts

21 Real-Time UML Telelogic AB

structure using UML?

22 Real-Time UML Telelogic AB

Objects, Classes and Interfaces

An object is a run-time entity that occupies memory at some specific