user`s guide - Animatics Corporation
Contents
1. foal SmartMoter 6 RXD6 TXD7 oo SmartMoter 7 RXD7 TXD8 SmortMotor amp RXD amp There are two very important things to note and keep in mind when using the DIN RS232 The first is that all of the SmartMotors are effectively connected in parallel In the typical RS 232 sys tem each node is connected in a series daisy chain where each node passes information sequentially down the chain Each node takes a finite amount of time to receive and re transmit the message it receives resulting in a total system propagation delay that grows with each node that you add to the chain If the nodes are in parallel as in the case of the DIN RS232 the time delay is minimized and is independent of the number of SmartMotors used Nothing is for free however as this means that you have to ensure that no SmartMotor is talking at the same time as another All of the SmartMotors are effectively connected in parallel The second thing to note is that while both the host RS 232 and RS 485 channels can fully communicate with the SmartMotors neither channel can communicate with or monitor the other Both host channels however always see what the SmartMotors are transmitting The SmartMotors connect to the DIN RS232 via standard pitch terminal blocks These are opti cally isolated from both the host serial channels and power distribution circuitry Each set of ter minal blocks is connected as follows Animatics Corporation Fax 408 748 82. is enabled If the LED is dark the interface is not getting power SmartMotar 1 i SmortMotor Z SmartMotor 3 a SmartMetor 4 SmartMotor 5 SmartMotor 6 The fused power distri bution circuit is rated for 20 RMS amperes total SmartMstor 7 SmartMotor B hic Animatics Corporation Fax 408 748 8725 Tel 408 748 8721 www animatics com Animatics Peripheral Expansion Bus user s manual 6 The expansion bus does not directly connect to any circuitry on the DIN RS232 The Animatics Expansion Bus provides a con venient way to connect several SmartMotors and their DIN rail mount expansion modules without using any additional cable Every Animators DIN rail mount expansion module has two expansion bus connectors for receiving signals from modules on either end of it The bus passes through the module without any direct connection to any SmartMotor I O or expansion module function To make use of the bus it has to be connected to some SmartMotor I O or expansion bus card through the jumpers Expansion Connector p to next module di hs 15 J4 d3 nz FIP 2 2 2 O o OOOO na Its primary purpose is to pass signals fr
3. 2 and one for RS 485 While the RS 485 and RS 232 circuits share the same signal ground they are optically isolated both from the eight SmartMotor serial channels and power distribution circuitry The RS 232 interface uses a standard three wire hook up for a nine pin D subminiature connector It is pinned for a standard 9 pin male female RS 232 cable not a null modem cable RS 252 COMMON R5 232 RECEME Unlisted pins have no connection Cam RS 232 TRANSMIT The RS 485 interface is set to be a slave by default This means that the interface is always listening if nothing is being trans mitted from a SmartMotor In other words the lines are floating inputs You may notice a pushbutton switch and LED next to the RS 485 connector If this button is pressed the LED will either light or go dark If the LED is lit green the RS 485 is biased with with on board pull up pull down and terminating resistors as shown in the schematic Unlisted pins have no connection The RS 485 interface is set to be a slave by default This means that the interface is always listening if nothing is being trans mitted from a SmartMotor In other words the lines are floating inputs You may notice a pushbutton switch and LED next to the RS 485 connector If this button is pressed the LED will either light or go dark If the LED is lit green the RS 485 is biased with with on board pull up pull down and terminating resistors as shown in the s
4. 725 Tel 408 748 8721 www animatics com user s manual 5 eoon booted RS 232 Conneclions N Tx Rx v ane at 1 Enotle Disable LED m e eae lt Enoble Disable Switch Ld e You must connect all four of these signals to the SmartMotor in order for the communications to operate properly Each SmartMotor interface is equipped with a disable switch If the LED just above this switch is red the SmartMotor is powering the interface circuit but communi cation both into and out of the SmartMotor is disabled If the LED is green communications is enabled If the LED is dark the interface is not getting power SUPPLY INPUT POWER RETURN 20 48 VOC 20 Amps Mkximum Fused Power Distribution The DIN RS232 is equipped with a fused power distribution circuit The DIN RS232 ships with eight 250VAC 8 ampere slow blow fuses installed These are sufficient to handle many applications but careful analysis should be made to verify that they are adequate for your application The fused power distribution circuit is rated for 20 RMS amperes total A schematic of the fused power distribution is given on the right Each SmartMotor interface is equipped with a disable switch If the LED just above this switch is red the SmartMotor is power ing the interface circuit but communication both into and out of the SmartMotor is dis abled If the LED is green communications
5. D i The DIN RS232 has three primary functions g Isolated parallel RS 232 interface pila Fused power distribution a s i e Animatics peripheral expansion bus lz 5 g a z a K 5 i S id ag iF a ajia 2 fA OL i De Isolated RS 232 Chonnels T Enable Disable LED Indicators Enable Disable Switches If one DIN RS232 is used the RS485 bias RS 252 Host Connection switch has to be enabled for RS232 or RS485 RS 485 Host Connection communication If more than one DIN RS232 is used only one of the DIN RS232 needs to have the RS485 bias switch enabled RS 485 Bias Switch and Indicator Absolute maximum ratings are levels beyond which damage may occur The ratings for the DIN RS232 are given below Absolute maximum fused power bus voltage 48VDC Absolute maximum fused power bus current 20A RMS Absolute maximum 5VC to any motor port 5 5VDC Absolute minimum 5VC to any motor port 0 3VDC Absolute maximum RS 232 input voltage 20VDC Recommended 5VC motor port voltage 5 0 25 VDC Typical 5VC motor port operating current 35 mA DC Animatics Corporation Fax 408 748 8725 Tel 408 748 8721 www animatics com Isolated Parallel RS 232 Interface The DIN RS232 provides an interface between either a RS 232 or RS 485 host and up to eight SmartMotors More SmartMotors can be hooked up by adding more DIN RS232 units The connection to the host is through one of two connectors one for RS 23
6. DIN RSese user s guide i ANIMATICS ining the Future in Motion Control UG DIMRS232 rev 6 03 DiN RS232 N aers manual E Overview FUSED POWER DISTRIBUTION The DIN RS232 is a DIN rail mount breakout j x t for SmartMotor RS 232 communications It 3 eee ae eee ee a allows a single master to communicate with up Zj O to eight SmartMotors over RS 232 without the Els a j elas loss of bandwidth typical of daisy chain propa 3 i O k gation Since this operation is nearly identical go al z to the operation of a RS 485 bus the DIN E A 7 al RS232 can also accommodate an RS 485 E 1O a l z master Hereafter the SmartMotor version 3 a and 4 products will simply be referred to as the ee t SmartMotor The DIN RS232 provides an z GY 3 interface between either an RS 232 or RS 485 z KOR i host and up to eight SmartMotors via an opto os Oj z isolated parallel bus The connection to the A SmartMotors is not in daisy chain eliminating ee 2 G z long propagation timing delays The DIN INDIVIDUALLY RS232 also provides a fused power distribu ISOLATED E Gy z tion bus and the Animatics peripheral expan RS 232 gl a a sion bus CONNEC TIONS p jei z Or 3 2 le z a
7. a If you are using the RS 485 port the SMI terminal needs to be set up appropriately To do this click on Setup on the menu bar followed by Configure Host Port A dialog box entitled Set Host Communications Port will pop up Near the upper right corner of the dialog box click on the radio button labeled RS 485 Close the dialog box by clicking the OK button This procedure sets up SMI to not expect any character echoes in all functions such as terminal communica tions and user program download Animatics Corporation Fax 408 748 8725 Tel 408 748 8721 www animatics com DIN RS232 N ers manual EJ It is important to note that the parallel nature of the DIN RS232 requires that the SmartMotors be addressed individually This is easily done with the enable disable switches at each of the SmartMotor interfaces by the following procedure e Disable all of the SmartMotor channels all of the LEDs should be red or dark e Enable the channel of the SmartMotor you wish to address The LED on that channel should be green e Set the address this is typically done with the ADDR or ADDR commands download ing a program that contains the address or writing to the data EEPROM that is read by the user program e Repeat the above until all addresses are set Storing the address in the data EEPROM is possible only in SmartMotor versions 4 15 4 41 4 75 and later An example of a user code fragme
8. chematic 919 Ohm Due to the nature of RS 485 the biasing resistors or their Due to the nature of RS equivalent must exist somewhere in a RS 485 communication 485 the biasing resis bus The terminator is required in particularly noisy environ tors or their equivalent ments or high baud rates If these resistors are absent inter mittent or continuous communication errors may result In many cases RS 485 transceivers that are designed as mas ters or hosts already incorporate this biasing but not the ter minating resistor must exist somewhere in a RS 485 communica tion bus The RS 485 interface is also a three pin hookup in a D sub miniature connector As there is no generally accepted stan dard for RS 485 in a 9 pin D sub the pins were selected to avoid accidental damage in the case the RS 232 plug is insert ed into the RS 485 connector or vice versa RS 485 COMMON eeaeeun j ee RSIS RS 485 RS 485 Animatics Corporation Fax 408 748 8725 Tel 408 748 8721 www animatics com DiN RS232 N aers manual EJ The RS 232 and RS 485 host interfaces are connected in parallel with each TXD1 other and all of the SmartMotors A block diagram of this communications o SmartMoter 1 function of the unit is given below RXD1 TXD 2 oad SmartMoter 2 RXD2 TXD3 oo SmartMoter 3 RXD3 1XxD4 Ld SmoartMoter 4 RXD4 TX DATA RX DATA TXD5 o SmartMotor 5 RXD5 TXD6
9. nt that does this is given below EPTR 12 Set the data EEPROM pointer to 12 There is nothing special about the number 12 It is just a location in the data EEPROM VLD aaa 1 Load a single 32 bit value from the EEPROM into the variable aaa ADDR aaa Assign the value of aaa to be the SmartMotor s address This program needs to be in each SmartMotor user program After loading the program into each you would have to put the correct address value into the data EEPROM at location 12 of each SmartMotor You would do this by the following command sequence EPTR 12 aaa 1 VST aaa 1 Note that the command aaa 1 sets the address of the motor to be 1 If you wanted it to be 5 you would have typed aaa 5 instead For further details about the serial communications command and protocol statements please refer to the SmartMotor Users Guide Animatics Corporation Fax 408 748 8725 Tel 408 748 8721 www animatics com
10. om other modules through if necessary Expansion Connector ts next module Animatics Corporation Fax 408 748 8725 Tel 408 748 8721 www animatics com Application The diagram below shows a typical connection between a PLC to three SmartMotors F J 16 dol ce E SmertMotor 2 GoL OOC oe O it c CY JO T Power Common O E BE OC oe POWER SUPPLY Smartmotor Power I e 7 f an Power to SmartMotor 1 Power Conon E E Power to SmartMotor 2 Power Common Power to SmariMotor 5 The commands you would use to communicate with the SmartMotor are the same ones you Care is needed to would normally use From the SMI terminal screen the command ensure that none of the 2RP SmartMotors transmit at still causes SmartMotor 2 to report its position back to the host the same time Care is needed to ensure that none of the SmartMotors transmit at the same time You would not for example ever issue ORP from the SMI terminal as this would tell all the SmartMotors to report their positions at the same time The result would be a tangle of bus collisions and unin telligible dat
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