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FC-4 specifies mapping rules for several legacy upper-layer protocols and allows Fibre Channel to carry data from other networking protocols and applications. This hierarchical structure is depicted in Table 2-2.

This second PICBASIC program is far more versatile. The user can modify programmed parameters (time delay) as the program is running using one of the four switches connected to port A. Pressing switch 1 (SW1) lengthens the delay pause between steps in the sequence and subsequently makes the stepper motor rotate slower. Pressing SW2 has the opposite effect. If you press SW3,

Try This: If you hook two motors together, when you turn one of them by hand, the other one turns by magic (Fig. 11-6). Well, by electricity, though Sir Arthur C. Clark once said that any su ciently advanced technology is indistinguishable from magic. The di erence is in how well we understand what we are seeing.

the program halts the stepper motor and stays in a holding loop for as long as SW3 is closed (or pressed). Rotation direction, CW or CCW, is controlled with SW4. Pressing SW4 reverses the stepper motor direction. The direction stays in reverse for as long as SW4 is pressed (or closed).

Layer FC-4

The system shown in Fig. 11-6 is a form of servomechanism, or servo. A servo is a system that provides controlled motion at a distance, typically using feedback. The generator/motor pair is crude, but the output motor does mirror any motion from the input generator. A true servo system would mirror the input position even in the face of resistance, using an internal

Stepper motor controller Symbol TRISB = 134 Symbol TRISA = 133 Symbol PortB = 6 Symbol PortA = 5 symbol ti = b6 ti = 100 start: pause ti pause ti pause ti Poke TRISB,0 poke portb,1 poke portb,2 poke portb,4 poke portb,8 Initialize TRISB to 134 Initialize TRISA to 133 Initialize portb to 6 Initialize porta to 5 Initial ti delay Set PORTB lines output Step 1 Step 2 Step 3 Step 4 Jump to check switch status Reverse motor rotation sequence Step 1 Step 2 Step 3 Step 4 Jump to check switch status Peek the switches If SW1 is closed, increase ti If SW2 is closed, decrease ti Stop motor Go forward Delay Delay Delay Delay Switch status

feedback loop to measure the actual position and update the mechanism as needed. Radio-controlled vehicles of all kinds rely on servos to control their steering and throttle. These R/C servos consist of a tiny motor and gear train, a feedback sensor on the output shaft, and a circuit to control it all. The servo is given power and a control signal, and the circuit uses feedback from the position sensor to keep the output shaft at the commanded position. Servos are handy because they move the feedback circuit into the motor itself. This is like taking a control function out of the brain and putting it into a neural re ex. The re ex loop is shorter and faster, and it can happen without having to bother the higher-level systems. A stepper motor is a motor that moves in short, controlled steps instead of in a continuous spin. In a continuous motor, the commutator reverses the current to provide constant rotation. A stepper motor doesn t do that for you. An external circuit is needed to reverse the elds and cause the next step. Stepper motors are good for accurately positioning the motor and then holding that position. Stepper motors are often used in robots because of this ne level of control.

pause ti goto check start2: pause ti pause ti pause ti pause ti goto check Check:

Typical Use SCSI III, IP, ATM, HIPPI, VI (a clustering protocol) Login server, name server, management server, time server Dedicated connections with acknowledgment of delivery

11

poke portb,8 poke portb,4 poke portb,2 poke portb,1