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RMU

Version 1.1

User Manual

MKS Instruments, Inc. Control & Information Technology Products Group 3350 Scott Blvd Bldg 4 Santa Clara CA 95054 Main: 408.235.7620 Fax: 408.235.7625

Revision 0212/04

RMU User Manual Version 1.1.6

2 of 2 © MKS Instruments CIT Products 2004, All rights reserved

Copyright

This manual and the software described in it are copyrighted with all rights reserved. Under the copyright laws, this manual and software may not be copied, in whole or part, without the prior written consent of MKS Instruments. The same proprietary and copyright notices must be affixed to any permitted copies as were affixed to the original. This exception does not allow copies to be made for others whether or not sold, but all of the materials purchased may be sold, given, or loaned to another person. Under the law, copying includes translating into another language or format. © MKS Instruments - CIT Products Group, 2003

3350 Scott Blvd Bldg 4 Santa Clara, CA 95054

Preface

About this manual This manual is designed to serve as a guideline for the installation, set up, operation and basic maintenance of the RMU Remote Monitoring Unit. The information contained within this manual, including product specifications, is subject to change without notice. Please observe all safety precautions and use appropriate procedures when handling the RMU product and its related software. This manual covers all versions V1.1.X. The latest version at time of revision is noted in the page header.



Table of Contents 1 GENERAL INFORMATION..................................................................................................................................4

1.1 CONVENTIONS USED IN THIS USER MANUAL ..................................................................................................................... 4

2 INSTALLATION AND SETUP..............................................................................................................................5

2.1 SHIPPING BOX CONTENTS.................................................................................................................................................. 5 2.2 RMU INTERFACE DESCRIPTION......................................................................................................................................... 5 2.3 INSTALLATION ................................................................................................................................................................... 6 2.4 WIRING AND HARDWARE CONFIGURATION ....................................................................................................................... 7

2.4.1 Power Supply Wiring................................................................................................................................................ 7 2.4.2 I/O Wiring ................................................................................................................................................................ 8 2.4.3 Digital Input Interface Example............................................................................................................................. 11 2.4.4 Analog Input Interface Example............................................................................................................................. 11

2.5 COM PORT CONFIGURATION............................................................................................................................................ 12 2.6 ETHERNET CONNECTOR................................................................................................................................................... 13 2.7 STATUS LED’S ................................................................................................................................................................ 13 2.8 RESET SWITCH................................................................................................................................................................. 13

3 NETWORK CONFIGURATION..........................................................................................................................14 3.1 CONNECT TO THE RMU VIA A SERIAL TERMINAL SESSION ............................................................................................. 14

4 RMU EMBEDDED LINUX OS ............................................................................................................................16 4.1 FLASH MEMORY CONTENTS ............................................................................................................................................ 16

4.1.1 Boot Loader............................................................................................................................................................ 16 4.1.2 The Initrd File System ............................................................................................................................................ 16 4.1.3 Kernel..................................................................................................................................................................... 16 4.1.4 Linux Console......................................................................................................................................................... 17 4.1.5 Embedded Web Server............................................................................................................................................ 17

4.2 DEVELOPMENT TOOLS:.................................................................................................................................................... 18 4.3 EXAMPLE APPLICATION: “HELLO WORLD” .................................................................................................................... 18 4.4 EXAMPLE APPLICATION: ANALOG AND DIGITAL I/O ...................................................................................................... 19 4.5 EXAMPLE APPLICATION: SERIAL COM PORTS................................................................................................................ 22

APPENDIX A - RMU SPECIFICATIONS ...................................................................................................................27

APPENDIX B - MODEL CODE DESCRIPTION.........................................................................................................28

WARRANTY ...............................................................................................................................................................29



1 General Information

The RMU is a compact, embedded Linux PC with integrated industrial I/O. The unit can be purchased with OS only for User integration of logic and 3rd party programs, or with MKS SenseLink™ data collection and monitoring software.. Different hardware platforms exist, which cover the most common range of inputs:

• Analog Inputs • Digital I/O • RS-232/RS-485 • Ethernet

For a complete list of models at the time of this printing, see Appendix A.

1.1 Conventions used in this User Manual

Warning The WARNING sign denotes a hazard to personnel. It calls attention to a procedure, practice, condition, or the like, which, if not correctly performed or adhered to, could result in injury to personnel.

Caution The CAUTION sign higlights information that is important to the safe

operation of the BlueBox, or to the integrity of your files. .

Note THE NOTE SIGN DENOTES IMPORTANT INFORMATION. IT CALLS

ATTENTION TO A PROCEDURE, PRACTICE, CONDITION, OR THE LIKE, WHICH IS ESSENTIAL TO HIGHLIGHT.

On screen buttons or menu items appear in bold and cursive. Example: Click OK to save the settings. Keyboard keys appear in brackets. Example: [ENTER] and [CTRL] Pages with additional information about a specific topic are cross-referenced within the text. Example: (See page xxx)



2 Installation and Setup

2.1 Shipping Box Contents • RMU Product • Power supply removable terminal block • I/O removable terminal block (on units with I/O)

2.2 RMU Interface Description

COM2 & COM3 Serial Port

10BaseT Ethernet Port

COM Port Configuration Switches

Power LEDs

Power Terminal Block

Reset Switch

I/O Status LEDs

COM1 Serial Port

I/O Terminal Block I

I/O Terminal Block II (Double Slot Units only)



2.3 Installation The RMU mounts on a standard 35mm DIN rail. Make sure there is sufficient top and bottom clearance for ventilation, to maintain an ambient operating temperature of 0°C to 50°C.

To install, slide the Top Clip over the DIN rail, and gently press down on the RMU until the Bottom Clip snaps into place. To remove, use a flat-blade screwdriver to gently pry the Quick Release Tab until the Bottom Clip disengages from the DIN rail.

Quick Release Tab (pry in direction of arrow)

All dimensions in millimeters.

Bottom Clip

Top Clip

35mm DIN Rail

10075



2.4 Wiring and Hardware Configuration The RMU uses removable terminal blocks with quick-connect wire termination. Each terminal accepts up to one #26 (14 AWG) wire. Insulation stripping length is 10 mm. Each terminal block also has a screw attachment feature to secure it to the unit. To install a wire, use a small (2 mm) flat-blade screwdriver to depress the Wire Tension Clip. Insert the stripped wire end into the Wire Termination Hole and remove screwdriver to engage the Wire Tension Clip. To remove a wire, use a screwdriver to depress the Wire Tension Clip and gently pull on the wire (Weidmuller p/n 1691120000)

2.4.1 Power Supply Wiring Connect an external 9-30VDC power supply to the 3-terminal Power Terminal Block (Weidmuller p/n 1748280000)

Power Terminal Block

PIN TERMINAL SIGNAL 1 + +VDC 2 Earth Chassis Ground 3 - VDC Common

Terminal Block Mounting Screws

Wire Tension Clip

Wire Termination Hole



2.4.2 I/O Wiring The RMU has a 28-pin I/O Terminal Block. Each I/O configuration has unique pin assignments, which are shown in the following tables. The incoming power from the Power Terminal Block is available as a reference voltage on the I/O Terminal Block. Model: 4AI-DIF, 4DI / 4AI-Current, 4DI

PIN LABEL DESCRIPTION PIN LABEL DESCRIPTION

28 O4 Digital Output 4 (relay contact N.O.) 27 04C Digital Output 4 (relay common)

26 O3 Digital Output 3 (relay contact N.O.) 25 O3C Digital Output 3 (relay common)



20 I4(-) +24VDC common 19 I4(+) Digital Input 4 (sinking, active low)




12 COM +24VDC common 11 24V +24VDC


8 AI4(-) Analog Input 4 (negative input) 7 AI4(+) Analog Input 4 (positive input)




Model: 8AI-SE, 4DI

PIN LABEL DESCRIPTION PIN LABEL DESCRIPTION










10 ACOM Analog common 9 24V +24VDC

8 AI8 Analog Input 8 7 AI4 Analog Input 4






Model: 16AI-SE, 8DI I/O Terminal Block I PIN LABEL DESCRIPTION PIN LABEL DESCRIPTION















I/O Terminal Block II PIN LABEL DESCRIPTION PIN LABEL DESCRIPTION

















Model: 8AI-DIF, 8DI / 8AI-Current, 8DI I/O Terminal Block I PIN LABEL DESCRIPTION PIN LABEL DESCRIPTION















I/O Terminal Block II PIN LABEL DESCRIPTION PIN LABEL DESCRIPTION

















2.4.3 Digital Input Interface Example The RMU has four 24VDC sinking inputs. Each input is activated upon a contact closure to DC COM, or a DC COM reference. Each input can also drive a 2-wire proximity switch or similar sensor that is powered by leakage current. Connect the input as shown below.

2.4.4 Analog Input Interface Example The RMU has four 0 -10V analog inputs, 12-bit resolution. Each is factory configured for either a differential input or a single ended input. Units can also be ordered in 0-20mA current mode for each analog input.

AI1+

AI1-

~ANALOG SIGNAL

0-20mA JUMPER

500Ω

For single-ended inputs, only one connection per AI is required. Connect the bottom signal to ACOM as an analog reference.

The 24V and DC COM are connected internally to the RMU power connection.

OPTOCOUPLER INPUT

I1+

I1-

SWITCH OR

SENSOR

COM

≈

24V

COM

24V



2.5 Com Port Configuration Set the COM Port Configuration Switches to the desired COM Port settings. COM Port 1 is RS232 only. COM Ports 2 & 3 are switch selectable for RS232 or RS485. You must power-cycle or reset the RMU

after changing a switch setting.

COM Port Configuration Switches COM PORT SWITCH POSITION A POSITION B

1 1 RS232 DISABLED 2 2 RS232 RS485 3 3 RS232 RS485

COM Serial Port Connector Pin-Out (DB9 Male Connectors)

COM 1 COM 2 COM 3 PIN SW1=A SW1=B SW2=A SW2=B SW3=A SW3=B

RS232 RS232 RS485 RS232 RS485 1 CD -- -- -- -- -- 2 RXD -- RXD -- RXD -- 3 TXD -- TXD -- TXD -- 4 -- -- -- -- -- -- 5 SGND -- SGND SGND SGND SGND 6 -- -- -- RX485(+) -- RX485(+)7 RTS -- -- RX485(-) -- RX485(-)8 CTS -- -- TX485(+) -- TX485(+)9 -- -- -- TX485(-) -- TX485(-)

COM Port 1 RTS and CTS signals are always enabled. If RS232 handshake signals are not required, you must still connect RTS to CTS together at COM Port 1. When configured for RS485, COM Ports 2 and 3 can operate in either a 2-wire mode (half-duplex) or 4-wire mode (full-duplex). For 2-wire operation, you must externally connect RX485 (+) and TX485 (+) together, and externally connect RX485 (-) and TX485 (-) together. The RMU internally disables the TX485 transmitter between transmissions, allowing other RS485 devices access to the 2-wire network.



2.6 Ethernet Connector The 10BaseT Ethernet Port uses a standard shielded RJ45 connector. This is a 10Mbps Ethernet port.

2.7 Status LED’s The two green Power LEDs are lit when the internal 3.3V and 5V power supply voltages are operating within their normal tolerances. The RMU has eight additional green status LEDs. The four DIN LEDs (I4, I3, I2, I1) indicate the ON/OFF state of the four digital inputs. The four DOUT LEDs (O4, O3, O2, O1) indicate the ON/OFF state of the four digital outputs. The LED is lit when the corresponding input or output is ON.

2.8 Reset Switch The RMUTM has a momentary push-button reset switch. Press this switch to perform a hardware reset. The switch is recessed to avoid accidental resets. Use a small screwdriver or paper clip to gently depress the switch.



3 Network Configuration The RMU network settings configure the 10BaseT Ethernet port. The following are factory-default Ethernet settings. Customer specific units can be set with other, unique IP Address Settings. RMU

Parameter Setting IP-Address 192.168.1.2 Subnet AMsk 255.255.255.0 Default Gateway none

Telnet to the unit with the following login “root:root”. In order to read or change the network settings of an unknown unit, you can connect to the RMU via a serial terminal session (see section below).

3.1 Connect to the RMU via a Serial Terminal Session Connect your laptop or pc to COM2 of the RMU using a standard null-modem cable. Using a terminal program such as Microsoft® HyperTerminal or Tera Term Pro you can now connect to the console port of the RMU. Connection parameters are as follows:

Parameter Value Baudrate 9600 Data bits 8 Parity None Stop bits 1 Flow Control None

• Once the null modem cable (serial) is connected to com 2 then power up the sense link to establish the connection.

• After boot up, you must press <Ctrl + C> in order to get the # prompt • Once connected the IP-Address can be changed by using the net command:



4 RMU Embedded Linux OS The RMU contains sixteen megabytes of FLASH memory. The first six megabytes contain:

1. Boot Loader (UBoot) 2. Initrd File System and data files image (compressed) 3. Linux Kernel (version 2.4.24) (compressed)

The next ten megabytes contain the Journaling Flash File System (JFFS2) that is used to store application programs and data.

4.1 Flash Memory Contents

4.1.1 Boot Loader The major functions of the boot loader are:

1. Interact with the console (RMU COM2) to start the boot process 2. Uncompress and copy the Linux Kernel to the DRAM 3. Uncompress and copy the Initrd File system to the DRAM to be used as the root file system (“/”).

The Initrd File system will be stored in DRAM as a ram disk files system /dev/ram0. 4. Start the Kernel.

4.1.2 The Initrd File System Initrd is a ram based file system that consists of the following folders: bin dev etc ftp home lib lost+found mnt opt proc sbin tmp usr var The mnt is located in Flash memory. All others are mounted to the RMA disk, thus any changes or additions to the file system will be lost when the system is rebooted.

4.1.3 Kernel When the kernel starts executing, it will run the shell script /etc/rc.sh. The rc.sh script does the following:

1. Sets the Real Time Clock 2. Mounts the /mnt/ffs JFFS2 file system 3. Starts networking by executing the shell script /mnt/etc/rc.network 4. Initializes hardware specific features by executing the shell script /mnt/etc/rc.hardware 5. Starts the xinetd services (telnet and ftp) 6. Starts the application programs by executing the shell script /mnt/ffs/etc/rc.application



4.1.4 Linux Console The RMU Linux kernel is configured to use COM2 as its keyboard and console. The following BusyBox commands are supported by the keyboard/console: Built-in commands: basename busybox break cat cd chgrp chmod chown chroot clear cmp continue cp cut date dd df dirname dmesg du echo env eval exec exit export expr false find free grep gunzip gzip halt head help hostname id ifconfig init insmod kill killall klogd ln logger login ls lsmod makedevs md5sum mkdir mknod mkswap more mount msh mv newgrp pidof ping pivot_root printf ps pwd rdate read readonly reboot reset rm rmdir rmmod route sed set sh shift sleep sort stty swapoff swapon sync syslogd tail tar tee telnet test times touch tr trap true tty umask umount unname update usleep vi wait wc wget which whoami which whoami xargs yes zcat [ The BusyBox command documentation can also be found at http://www.busybox.net/.

4.1.5 Embedded Web Server RMU Applications innately use an MKS web server which is running as a default. An Additional BOA web server is also installed. BOA documentation can be found at http://www.boa.org/. In order to use the BOA web server, it needs to be started and configured. Edit “/mnt/ffs/etc/rc.application”



4.2 Development Tools: To build applications to run on the RMU, acquire the DENX Software Engineering Embedded Linux Development Kit (ELDK) 2.1.0. The ELDK provides cross compilation tools to allow the user to develop RMU applications on ELDK supported host platforms. The ELDK 2.1.0 Tools can be obtained from DENX at http://www.denx.de. To correctly interface with the RMU kernel and the associated runtime libraries, it is imperative that the application code be build with ELDK 2.1.0 tools. Downloading and Running Applications:

1. Use FTP on the host system to download the application executable to the RMU /mnt/ffs file system.

2. Telnet to the RMU to run the application. Login “root:root”. To autostart the new application, telnet to the RMU and add the application to the startup script /mnt/ffs/etc/rc.application.

4.3 Example Application: “Hello World” On the host, create, compile and link the “Hello World” program

1. Create a hello.c file (on the host) containing the following text: #include <stdio.h> void main() printf("\nHello World\n");

2. Compile and link the file using the following ELDK commands: /opt/eldk/usr/bin/ppc_8xx-gcc -c -o hello.o hello.c /opt/eldk/usr/bin/ppc_8xx-gcc –s hello.o –o hello

Create a test folder on the RMU

1. From the host, Telnet to the RMU (login as root with the password root) 2. Use the mkdir /mnt/ffs/testdir command to create a folder on the RMU

Download the executable from the host to the RMU

1. From the host, ftp the executable to the RMU by using the following command: ftp <your RMU IP address>

2. Login as root with the password as root 3. Use the ftp command bin to make sure the transfer will be in binary mode 4. Use following ftp command to transfer the Hello World executable to the RMU’s

/mnt/ffs/testdir folder put hello /mnt/ffs/testdir/hello

Make the downloaded file executable 1. Using Telnet, use the cd /mnt/ffs/testdir command to change locations to RMU test directory 2. Use the chmod +x hello command to make the hello file executable



Run the program

1. Using Telnet, use the ./hello command to run the program 2. Observe the “Hello World” output.

Make the program run when the RMU is (re)booted 1. Using Tenet, edit the file rc.application and add the following line

/mnt/ffs/testdir/hello 2. Using the RMU Console, enter a Control C to stop all the applications 3. Enter the command reboot or cycle the RMU power to reboot the RMU 4. Observe the Hello World output

4.4 Example Application: Analog and Digital I/O The RMU uses a memory mapped I²C board for Analog and Digital Inputs and Digital Outputs. The application programmer can use the following function (prototype) calls to access the RMU Digital and Analog I/O pins:

Basic I/O functionality 1. int iox_open(); 2. void iox_close(); 3. int iox_read(u_char addr, uint offset, char *buf, uint len); 4. int iox_write(u_char addr, uint offset, char *buf, uint len); Setup and configuration 1. int iox_reset(u_char addr); 2. int iox_get_configuration(u_char addr, u_char *config); Get Digital Inputs, Get/Set Digital Outputs and Get Analog Inputs 1. int iox_set_do(u_char addr, uint bit_num, int value); 2. int iox_get_do(u_char addr, uint bit_num, int *value); 3. int iox_get_do_internal(u_char addr, uint bit_num, int *value); 4. int iox_get_di(u_char addr, uint bit_num, int *value); 5. int iox_get_ai_raw(u_char addr, uint ai_num, int *value); 6. int iox_get_ai(u_char addr, uint ai_num, float *value);

Performance Considerations The iox_get and iox_set function call get or set one value per call. For better real time performance, the iox_read and iox_write calls allow the programmer to get and set multiple analog or digital values in one call. The following is an example of reading four analog inputs:

unsigned short pVal[4]; double pValues[4]; int nCount = iox_read(0x50, IOX_AI_ADDRESS(0), (char*)pVal, 8); if (nCount == 8) for (int i=0; i<4; i++)



pValues[nVal++] = (double)pVal[i] / 409.6; else ... RMU IOX Demo Program The following demonstration program uses some of the supplied RMU IOX Lib Function calls. A soft copy of the program and the associated lib are available on request. /* * RMU iox_demo.c * * The purpose of the program is to show how to read MKS RMU IOX analog * and digital inputs and how to set digital outputs. * * This example pgm is a simple 5.0VDC Set Point Controller with 10% * hysteresis. * If the RMU Analog Input AI1 goes below 4.75 VDC then Close * RMU Digital Output O1 relay. * If the RMU Analog Input AI1 goes above 5.25 VDC then Open * RMU Digital Output O1 relay. * If the RMU Digital Input Pin I1 is or goes high then the demo * will terminate. * * This program is for demonstration purposes only. * */ #include <stdio.h> #include <stdlib.h> #include <string.h> #include <signal.h> #include <sys/time.h> #include <unistd.h> #include <ctype.h> #include "iox_lib.h" #include "iox_dev_comm.h" /* Base address of the I2C IOX board */ #define IOX_ADDRESS 0x50 /* Input/Output Bit Addresses for Digital and Analog I/O */ #define IOX_O1_OUT 7 #define IOX_I1_IN 7 #define IOX_A1 0 /* function to handle a Control-C Signal */ void abort_sig_handler( int nSID ) printf( "Terminating application...\n" );



iox_close(); /* Close the /dev/i2c device */ exit( 0 ); int main() int enableTest; // Value of the D0 Input pin uint ai_val; // Raw Input Voltage (counts) float ai_voltage; // Floating Point Voltage int do_o1_state = IOX_DIO_OFF; // Digital Output O1 state int loopCounter = 0; // Loop Counter for debug /* Open the /dev/i2c device */ if ( iox_open() < 0 ) printf( "--- ERROR: Cannot open /dev/i2c\n" ); return 0x0100; /* Call the abort function to handle a Control-C Signal */ signal( 2, abort_sig_handler ); /* Read the Digital Input enable pin I1 */ /* Pgm terminates when this pin is high */ iox_get_di( IOX_ADDRESS, IOX_I1_IN, &enableTest ); /* Set the Digital Output Control pin O2 to 0*/ iox_set_do ( IOX_ADDRESS, IOX_O1_OUT, IOX_DIO_OFF ); printf( " ** Starting IOX Demo Pgm **\n\n" ); /* Loop while the I1 Input Pin is low */ while ( enableTest == 0 ) /* Read the Analog Input */ iox_get_ai_raw( IOX_ADDRESS, IOX_A1, &ai_val ); /* Convert the raw alanog value of 0-4095 value to a 0-10VDC floating point value */ ai_voltage = ai_val / 409.6; /* Is the voltage higher than 5.25VDC*/ if (( ai_voltage > 5.25 ) && ( do_o1_state == IOX_DIO_ON )) /* Open the O1 output relay */ do_o1_state = IOX_DIO_OFF; iox_set_do ( IOX_ADDRESS, IOX_O1_OUT, IOX_DIO_OFF ); /* Is the voltage lower than 4.75VDC */ if (( ai_voltage < 4.75 ) && ( do_o1_state == IOX_DIO_OFF )) /* Close the O1 output relay */



do_o1_state = IOX_DIO_ON; iox_set_do ( IOX_ADDRESS, IOX_O1_OUT, IOX_DIO_ON ); /* Debug Prints */ //printf( "Loop %d, ai_val %x, ai_voltage %f, do_o1_state %x\n", //loopCounter++, ai_val, ai_voltage, do_o1_state ); /* Delay 100ms */ usleep( 100*1000 ); /*read the Digital Input enable pin*/ iox_get_di( IOX_ADDRESS, IOX_I1_IN, &enableTest ); /* Demo Complete - Close the /mnt/i2c file */ iox_close(); printf( "\n\n** Demo complete **\n\n" ); return 0; For clarity and simplicity, the demo program does not check the return codes of the IOX Lib functions.

4.5 Example Application: Serial COM Ports The RMU supports three Serial Communication Ports (COM1-3). An application program can connect to and transmit on or receive from any of the ports. As can be seen in the RMU COM Port configuration documentation, two of the ports support Asynchronous Serial RS-232 or RS-485 and the other port (COM1) supports RS-232 Serial Communications with Hardware Flow Control. RMU COMx Port Demo Program The following demonstration program shows how to read and write characters to a RMU Serial COM Port. A soft copy of the program and the associated lib are available on request. /* * RMU com_demo.c * * The purpose of the program is to show how to do simple * read/write I/O to the RMU COM1 Serial Port. * * This example program prompts and displays the value of one of * the RMU Analog Inputs. Connect a dumb terminal (9600, 8, np) or * a PC terminal emulator pgm ( minicom or hyperterm ) to RMU COM3. * Use the RMU console or a telnet session to start the program. * The program prompts the user for an Analog Input Port and will



* then display the associated voltage. The user may enter the * 'q' key to terminate the program. * * This program is for demonstration purposes only. * */ #include <stdio.h> #include <sys/ioctl.h> #include <fcntl.h> #include <termios.h> #include <unistd.h> #include <stdlib.h> #include <string.h> #include <signal.h> #include <ctype.h> #include "iox_lib.h" #include "iox_dev_comm.h" /* Base address of the I2C IOX board */ #define IOX_ADDRESS 0x50 #define TRUE 1 #define FALSE 0 ///////////////////////////////////////////////////////// /* Open the RMU COM1 port for I/O */ int OpenComm(char *szDevice, int nBaud) int nBaudRate; int nFD = -1; struct termios ts; /* Use the standard POSIX termios structure to configure a RMU COMx Port - for details see POSIX documentation */ switch (nBaud) case 150 : nBaudRate = B150; break; case 300 : nBaudRate = B300; break; case 600 : nBaudRate = B600; break; case 1200 : nBaudRate = B1200; break; case 2400 : nBaudRate = B2400; break; case 4800 : nBaudRate = B4800; break; case 9600 : nBaudRate = B9600; break; case 19200 : nBaudRate = B19200; break; case 38400 : nBaudRate = B38400; break; case 57600 : nBaudRate = B57600; break; case 115200 : nBaudRate = B115200; break; default : nBaudRate = B19200;



memset(&ts, 0, sizeof(ts)); ts.c_cflag = nBaudRate | CS8 | CREAD | CLOCAL; ts.c_iflag = IGNBRK | IGNPAR; ts.c_cc[VMIN] = (cc_t)1; ts.c_cc[VTIME] = (cc_t)1; /* Open the device */ if ((nFD = open(szDevice, O_RDWR)) == -1) return -1; /* Set the configuration values */ if (ioctl(nFD, TCSETS, &ts) < 0) close(nFD); return -1; return nFD; ////////////////////////////////////////////////////////// /* function to handle a Control-C Signal */ void abort_sig_handler( int nSID ) printf( "Terminating application...\n" ); iox_close(); /* Close the /dev/i2c device */ exit( 0 ); ///////////////////////////////////////////////////////// int main() char szHeaderStr[] = "Display Analog Pin Value 1-4 or q to quit\r\n"; char szPromptStr[] = "Analog Pin # "; char szErrorStr[] = " Input Out Of Range - 1-4"; int nFD = OpenComm("/dev/ttyS1", 9600); /* COM3 */ char buf[20]; int buf_len; float fAnalogValue; int nErrorFlag = FALSE; char outputBuf[20]; int nRC; /* Call the abort function to handle a Control-C Signal */ signal( 2, abort_sig_handler );



/* Clear the input and output buffers */ memset(buf, 0, sizeof(buf)); memset(outputBuf, 0, sizeof(outputBuf)); /* Check to see if the COM3 open failed */ if (nFD == -1) perror("Cannot open \"/dev/ttyS1\"\n"); return 0x01; /* Open the /dev/i2c device to read the Analog Ports */ if ( iox_open() < 0 ) printf( "--- ERROR: Cannot open /dev/i2c\n" ); return 0x0100; /* Output carrage return line feed(s) */ write (nFD, "\n\r\n\r", 4); /* Display the header on COM1 */ if (write(nFD, szHeaderStr, sizeof(szHeaderStr)) != sizeof(szHeaderStr)) perror("Error writing to \"/dev/ttyS1\"\n"); /* Loop until the pgm is killed or user inputs 'Q' */ while(1) nErrorFlag = FALSE; /* Prompt for Analog Port Number */ if (write(nFD, szPromptStr, sizeof(szPromptStr)) != sizeof(szPromptStr)) perror("Error writing to \"/dev/ttyS1\"\n"); /* Get one char input */ buf_len = read(nFD, buf, sizeof(buf)); /* Echo the input */ write(nFD,buf,buf_len); /* Process the input */ switch (buf[0]) case '1': /* RMU AI1 */ iox_get_ai( IOX_ADDRESS, 1, &fAnalogValue ); break; case '2': /* RMU AI2 */ iox_get_ai( IOX_ADDRESS, 2, &fAnalogValue ); break; case '3': /* RMU AI3 */



iox_get_ai( IOX_ADDRESS, 3, &fAnalogValue ); break; case '4': /* RMU AI4 */ iox_get_ai( IOX_ADDRESS, 4, &fAnalogValue ); break; case 'q': case 'Q': close(nFD); exit(0); default: write(nFD,szErrorStr, sizeof(szErrorStr)); nErrorFlag = TRUE; /* Convert and display the output */ if ( nErrorFlag == FALSE ) nRC = snprintf(outputBuf, 15, " %fVDC", fAnalogValue); if (nRC > 0 ) write(nFD, outputBuf, nRC); /* Output carrage return line feed(s) */ write (nFD, "\n\r\n\r", 4); For clarity and simplicity, the demo program does not check the return codes of some of the function calls.



Appendix A - RMU SPECIFICATIONS Processor CPU 32-bit RISC Power PC, 50MHz CPU Memory 32MB SDRAM Flash 16MB Data Collection Memory 7MB Flash (part of 16MB Flash) Real Time Clock Lithium battery-backed Communications Ethernet Port 10BaseT, RJ45 connector with EMI filter, LED indicators RS232 Port TXD, RXD, RTS, CTS signals; DB9 connector RS232/RS422/485 Ports Switch selectable RS232 (TXD, RXD) or RS422 (4-wire); DB9 connector Serial Baud Rates 300bps to 115Kbps (38.4Kbps maximum with all 3 ports operating continuously). Analog Input Channels 8 S.E. / 16 S.E. / 4 DIFF / 8 DIFF Resolution 12-bit Input Range 0-10V / 0-20mA Over Voltage 15 VDC (max) Input Impedance 70MOhm Digital Inputs Input Lines 4 / 8 Input Voltage 24VDC (internally supplied) ON current level >2mA OFF voltage level <1mA Minimum ON voltage 6VDC Maximum OFF voltage 18VDC Maximum current 30mA Digital Outputs Output Lines 4 / 8 Type dry contact relay, 1 amp maximum General Power Supply 18VDC to 28VDC Power Consumption 10W typical, 25W maximum Dimensions LxHxW 103 x 100 x 50 mm (Single Slot) / 103 x 100 x 75 mm (Double Slot) Operating Temperature 0C to 50C Storage Temperature -40C to 85C CE pending UL/CSA pending



Appendix B - Model Code Description The model code of each RMU™ defines the features of the unit for hardware, software and other options:

XXXX Hxx Sxx Px Product Type H/W S/W Options Product Type TWSL RMU ™ with TOOLweb™ ToolSide interface (blue/white) RMIO RMU with RMU™ application software (black) H/W (Hardware)

H/W H00

2

H00

3

H00

4

H00

5

H00

6

H00

7

H00

8

H00

9

Details

Model Description 4AI-D

IF, 4

DI

8AI-S

E, 4

DI

16A

I-SE

, 8D

I

8AI-D

IF, 8

DI

4AI-D

IF 1

6bit,

4D

I

4AI-C

urre

nt, 4

DI

8AI-C

urre

nt, 8

DI

Gat

eway

I/O Slots 1 1 2 2 1 1 2 0

Serial COM Ports 3 3 3 3 3 3 3 3 (2) RS232, (1) RS232/485 hardware selectable

Analog inputs, differential, voltage 4 8 0 - 10V, 12 bit

Analog inputs, differential, voltage, 16 bit 4 0 - 10V, 16 bit

Analog inputs, single-ended, voltage 8 16 0 - 10V, 12 bit

Analog inputs, differential, current 4 8 4 - 20mA, 12 bit

Digital inputs 4 4 8 8 4 4 8 0 active low, opto-coupler input

Digital outputs 4 4 8 8 4 4 8 0 relay dry contact output, normally open S/W (Software) S004 RMU™ for single slot I/O unit S00x Various software builds and customer specific versions Options P0x Various serial protocol and customer specific functionality Consult factory for specific application requests



WARRANTY MKS Instruments, Inc. (MKS) warrants that for two years from the date of shipment the equipment described above (the “equipment”) manufactured by MKS shall be free from defects in materials and workmanship and will correctly perform all date-related operations, including without limitation accepting data entry, sequencing, sorting, comparing, and reporting, regardless of the date the operation is performed or the date involved in the operation, provided that, if the equipment exchanges data or is otherwise used with equipment, software, or other products of others, such products of others themselves correctly perform all date-related operations and store and transmit dates and date-related data in a format compatible with MKS equipment. THIS WARRANTY IS MKS’ SOLE WARRANTY CONCERNING DATE-RELATED OPERATIONS.

For the period commencing with the date of shipment of this equipment and ending two years later, MKS will, at its option, either repair or replace any part which is defective in materials or workmanship or with respect to the date-related operations warranty without charge to the purchaser. The foregoing shall constitute the exclusive and sole remedy of the purchaser for any breach by MKS of this warranty.

The purchaser, before returning any equipment covered by this warranty, which is asserted to be defective by the purchaser, shall make specific written arrangements with respect to the responsibility for shipping the equipment and handling any other incidental charges with the MKS sales representative or distributor from which the equipment was purchased or, in the case of a direct purchase from MKS, with the MKS-CIT home office in Santa Clara, CA

This warranty does not apply to any equipment, which has not been installed and used in accordance with the specifications recommended by MKS for the proper and normal use of the equipment. MKS shall not be liable under any circumstances for indirect, special, consequential, or incidental damages in connection with, or arising out of, the sale, performance, or use of the equipment covered by this warranty.

THIS WARRANTY IS IN LIEU OF ALL OTHER RELEVANT WARRANTIES, EXPRESSED OR IMPLIED, INCLUDING THE IMPLIED WARRANTY OF MERCHANTABILITY AND THE IMPLIED WARRANTY OF FITNESS FOR A PARTICULAR PURPOSE, AND ANY WARRANTY AGAINST INFRINGEMENT OF ANY PATENT.

rmu user manual - mks instruments · rmu version 1.1 user manual mks instruments, inc. control...

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