programmable step motor controller smsd-8.0
Contents
1.2. Coordinates 1 CREA Pott Coordinates 1 eae Ae Close Ee Img 10 SMC_Program control via simple panel Img 11 SMC_Program program assembling In the simple control panel window img 10 check the box 1 coordinate 1 img 14 SMC_Program ver 3 0 4E File Port settings Program settings Info 7 Cee le 23 Img 14 If the program is in the simple control mode image 10 input motor operation parameters steps number speed acceleration direction and press the button write to record parameters to the controller and press the button start to start motion according to the recorded command sequence Or press the button Write and start to record new parameters and start motion at the moment If the program is in the programming control mode image 11 add to the command list 1 Start loading to the coordinate 1 4 2 Add commands to assemble the operation algorithm 3 End loading on 4 Press the button send under the command list Commands list and description are in the section 8 Commands and in the SMC_Program manual After the commands sequence operation algorithm is recorded into the controller there are two possibilities to continue control by the SMC_Program or to use the controller in standalone mode To start program executing in the standalone mode press the Start button or contact Start and GND at the controller frame When Direct control
3. SMART MOTOR DEVICES www stepmotor biz PROGRAMMABLE STEP MOTOR CONTROLLER SMSD 8 0 Manual SMSD 80 001 1 Product designation Programmable step motor controller SMSD 8 0 is designed to operate with stepper motor with maximum current per phase up to 8 0 Amp There are four control modes provided programmable manual simple driver or synchro 2 Functions and possibilities e Recording the operation algorithm from a computer to EEPROM of the unit as a sequence of commands e Reading the saved algorithm from the EEPROM to a computer e The unit can operate and be controlled by computer direct control or in a standalone mode e In the manual mode the unit receives analog signal SPEED voltage signal 0 5VDC internal or external potentiometer and digital signals DIR and EN e Inthe simple driver mode the unit receives signals STEP DIR OVDC low level and 15VDC high level and digital signal EN e In the sychro mode unit receives quadrature phase signal e For synchronized operation of several units and other devices there are 3 digital inputs and one output relay are provided e There is zero positioning function provided only in controller mode start zero search by a command or by a signal on the digital input Stop zero searching movement as input signal is received The function provides homing by an individual input e The unit stops motor motion as r
4. is used command start loading to the coordinate 1 End loading are not used You need to check the box Direct control in Programming control mode and command is executed as soon as it is written in command window Saving execute program with other terminal program with RS 232 communication function Set the port number check in the windows device manager image 9 set port parameters according to the section 3 Input required commands sequence using the ASCII codes table 5 6 section 8 8 Commands Commands in the programmable mode should be byte serial character serial transferred Every command should be completed with the ending character The ending character instead of cancels previous bytes transfer whole string There is the commands list in the table 5 The SMSD 8 0 controller receives and checks every command after receiving the ending character Controller sends to the communication port a reply after receiving every command successful or error commana All possible controller replies are presented in the table 6 Table5 Ne Command Standalonemode Directcontro ae aa fe controller is in the loading mode a o a S memory Start or stop the commands sequence executing l After receiving this command the motor will sto 3 ST Start if the controller in the programmable standby mode 8 j i immediately the previous command is considered sto
5. Finding home position button HOME 12 and duplicate terminals HOME COM 16 and terminals for home sensor 0 COM 17 Internal preset potentiometer SPEED 15 to adjust speed in the manual mode and terminals for an external potentiometer connection 22 to control motor speed in manual mode LEDs for indication of the controller status 7 Switches SW1 SW4 to set the current of the motor windings Switch SW5 to set the automatic reduction of holding current Switch SW6 SW7 to set the microstepping mode Switch SW9 SW10 to set the operation mode Terminals for connection control signals DIR STEP 10 and digital signal EN 9 Programmable relay 8 Programmable inputs IN1 CON 19 IN2 COM 20 USB plug for a computer connection 11 SMSD 8 0 Stepmotor Controller Img 1 SMSD 8 0 controller scheme 5 Assembly and connection Please learn this manual carefully before connection and assembly Please wire just when power is off Do not attempt to change wiring while the power is on Please provide a reliable contact in connection terminals During wiring please observe the polarity and wire management Assembly and connection order 1 Connect the SMSD 8 0 controller with stepper motor switches and electric DC power supplier according to one of schemes shown down in images 2 5 2 Connect if it is necessary the
6. by pressing the Home button or input signal Home connect Home and Com e Turn to the other operation mode manual or simple driver modes see section 6 and table 4 Program executing mode blink red color LED indicator The SMSD 8 0 controller turns to the program executing mode and start motion algorithm from the standby mode in case of e Start button pressed or input activated connect Start and Com e Arrival the control command ST The SMSD 8 0 controller turns back from program executing to the standby mode in case of e Executing program completed e Arrival the control command ST e Reset button pressed or input activated connect Reset and Com Waiting for an external signal submode blink red color LED indicator The SMSD 8 0 controller turns to this submode during program executing as per the command WH or WL waiting for an external signal The controller suspends program executing till receiving active signal to input IN1 or IN2 As the signal arrives to IN1 or IN2 as per the command the controller resumes program executing Commands loading to the controllers memory light both LED indicators The SMSD 8 0 controller turns to this mode from the standby mode as receives the command LD In the commands loading mode the controller accepts the executing commands only table 5 After arriving the command ED the controller
7. NPN switch connection example Motor connection The SMSD 8 0 controller provides operation with 2 or 4 phase stepper motors 4 6 or 8 wires Winding connection examples are in the table 1 Connect step motor wires to A A B and B terminals of SMSD 8 0 Table 1 Scheme 1 Scheme 2 Scheme 3 Scheme 4 8 wires stepmotor connection 4 phases Scheme 1 serial connection Scheme 2 parallel connection 6 wires stepmotor connection 2 phases with midpoint taps Scheme 3 4 wires stepmotor connection 2 phases without midpoint taps Scheme 4 6 Before starting 1 Make sure the power supply is turned off 2 Make assembly and connection according to paragraph 5 3 Choose the suitable current and set microsteps SW1 SW4 according to table 2 Table 2 pea SOI afar fer eo are eo sa or ot or of on on or or orf or on for on on am or on or or fon or on Fon on on on on on on 4 Choose suitable microstepping mode and set micro switches SW6 SW7 according to table 3 Microstepping mode en 5 Set the switch SW5 for automatic reduction of holding current SW5 ON gt 100 SW5 OFF gt 70 6 Choose suitable operation mode and set micro switches SW9 SW10 according to the table 4 Table 4 Table 3 If the unit is powered the new operation mode is applied after RESET by button or input signal 7 Check wiring once again and turn on the power supply 7 Ope
8. SMSD 8 0 controller to a computer by an interface USB cable Connection schemes The connection examples are in the images 2 5 The switch connection example is in the image 6 SMSD 8 0 sh Direction change Stepmotor Controller sensor Start button Alarm sensor External potentiometer SPEED with K full resistance 10kOhm U U Power supply Img 2 Manual mode connection example Start button ___ HOME 0 sensor Start button Input signal IN1 Input signal IN2 Reset button SMSD 8 0 Stepmotor Controller Alarm sensor i Logic signals source 2 U U Power supply Img 3 Driver mode connection example SMSD 8 0 Stepmotor Controller Alarm sensor Controlled ee __ _ __ yo __ 8 device Power supply Img 4 Controller mode connection example Channel A 5V Encoder SPEED COM Encoder Img 5 Encoder connection example for synchro mode operation Img 6
9. command Table 6 Program executing completed Communication Error check port parameters 9 LED Manual mode SW9 OFF SW10 ON The SMSD 8 0 is powered step motor is stopped light green color LED indicator Step motor is rotating blink green color LED indicator EN signal is active blink both LED indicators Driver mode SW9 ON SW10 OFF Light green color indicator After RESET do not light both LED indicators Synchro mode SW9 ON SW10 ON The SMSD 8 0 is powered step motor is stopped do not light both LED indicators Step motor is rotating light green color or red color LED indicator it depends on the direction of rotation Controller mode SW9 ON SW10 ON Standby mode red color LED indicator The SMSD 8 0 controller goes to the standby mode in one of the next cases e After program executing completed e After program executing was stopped by command ST1 e After power on if microswitches SW9 On and SW10 On e After Reset button or input activated if microswitches SW9 On and SW10 On In the standby mode the SMSD 8 0 controller wait for one of the next event e Arrival one of the control commands from a computer table 6 accepted commands are LD RD ST e Start executing program by pressing the button Start or input signal Start connect Start and Com e Start searching for a limit switch zero position
10. to input IN2 if this command is received when the motor is stopped continuous motion will begin till signal to input IN2 if this command is received while driving from this moment the motor will start continuous movement with the current speed till signal to input IN2 Continuous movement till signal to input IN1 if this command is received when the motor is stopped continuous motion will begin till signal to input IN1 if this command is received while driving from this moment the motor will start continuous movement with the current speed till signal to input IN1 Continuous movement till signal to input O zero limit switch if this command is received when the motor is stopped continuous motion will begin till signal to input 0 if this command is received while driving from this moment the motor will start continuous movement with the current speed till signal to input 0 MVddd 1 to Move to ddd steps 10000000 N me MH Indefinite movement till signal to input IN2 ML Indefinite movement till signal to input IN1 Indefinite movement till signal to input 0 zero limit switch HM E i Pause min 1ms max 10000000ms After receiving this command the motor will stop and wait for ddd ms and then will continue to execute the 24 Pause for ddddd ms max 100000000 remaining steps If in pause time the commands MV MVddd MH ML HM a received they are executed imme
11. TEP and DIR inputs according to the oscillogram in the image 8 gt 10 us min 3V STEP max 0 8V min 3V DIR max 0 8V EN Clean contact Img 8 STEP and DIR input signals One step or microstep executes as front edge of the voltage pulse Direction is determined by the outpacing phase The motor can be stopped by the active signal on the EN input clean contact power is removed from the motor windings Controller mode There are two possible variant of operation in this mode Direct control it gives the possibility to control the step motor in real time Stand alone mode for a standalone operation the executing program should be saved via USB virtual RS 232 after that the USB cable can be disconnected For virtual RS 232 communication the special driver USB RS 232 should be installed to the computer Please save on computer hard drive the installation pack CP210x_VCP_Win2K_XP_S2K3 zip which is supplied with the controller SMSD 8 0 Unpack and execute the exe file Please follow the instructions during the installation progress As a result when the controller is connected to the PC the additional program COM port appears CP2102 USB to UART Bridge Controller The availability and the number of new port can be checked in windows device manager Device Manager Joe Windows XP On the desktop right click on My Computer and click Properties or open the Control Panel and double click the Sy
12. ard motion this direction if this command was received while driving the remaining steps are processed in the direction according this command Reverse if the motor is stopped the start of the motion will be Reverse carried out in the opposite direction if this command was received while driving the remaining steps are processed in the opposite direction 4 AL ddd Acceleration ddd min 1000 max 1000 Speed if the motor is stopped the start of the motion will be carried out with this speed if acceleration is used this Speed ddd command sets the final speed if there is no acceleration this speed will be used as start speed if this command was received while driving the remaining steps are processed with this speed Ela Start speed This command is used only for starting motion and only when acceleration is used AL 0 SSddd 1 to 2000 SF Continuous motion if the motor is stopped this command starts perpetual MV Continuous movement motion if this command was received while driving continuous Backward motion me m e UI 1 O motion with current speed begins Motion on number of steps min 1pul 10000000pul if this command was received when the motor is stopped the motor will make ddd steps and stop if this command was received while driving the motor will make ddd steps and stop previous command will be considered complete Continuous movement till signal
13. diately and previous command is considered complete 25 1 to 255 JPddd to create endless cycle JPddd to create endless cycle Indefinite pause wait for a signal to input IN1 if this command is received when the motor is stopped next command will be executed after signal on the input Indefinite pause wait for a signal to input IN1 IN1 if this command is received while driving from this moment the motor is stopped waiting for a signal to input IN1 the previous command is considered complete Elndefinite pause wait for a signal to input IN2 if this command is received when the motor is stopped next command will be executed after signal on the input Indefinite pause wait for a signal to input IN2 IN2 if this command is received while driving from this moment the motor is stopped waiting for a signal to input IN2 the previous command is considered complete In direct control controller checks the value of acceleration The motor is stopped if while starting motion SD SS AL lt Qor AL 0 acceleration and start speed will be ignored and the motor will start operation with the speed SD The motor rotates if SD Seur AL lt 0 where S Current speed or AL 0 acceleration will be ignored and the motor will change its speed stepwise and remaining steps will be done with the speed SD Reply Description The command successfully accepted Interrupting or command execution by sending another
14. eceives a signal on an Enable input 3 Technical characteristic Common characteristics Number of controlled stepper motors 1 Maximum output current per phase 8 0 Amp Minimum output current per phase 1 5 Amp Microstepping modes 1 1 2 1 4 1 16 Pulse frequency in programmable and manual modes 1 10000 Hz Voltage input 24 72 VDC Maximum overall dimensions 140x121x44 mm Inputs DIR STEP simple driver mode e High voltage level 3 15 VDC e Low voltage level 0 0 8 VDC e Input resistance no less 1 0 KOhm Digital inputs EN IN1 IN2 START RESET HOME 0 e Contact to COM Communication interface USB virtual COM RS232 e baud 9600 e bits 8 e parity even e stop bit 1 Additional output 5 VDC e Voltage 4 5 6 5 VDC e Maximum load current 20 mAmp Environmental Conditions Ambient Temperature 25 40 C Humidity 90 RH or less upon condition 25 C Condensation and freezing none Pressure 650 800 mm of mercury 4 Construction SMSD 8 0 is designed as a circuit plate with electronic elements installed on a heat sink plate and covered with a metal case Besides electronic components there are indicating and control elements connection terminals and connectors on the board img 1 Terminal screws for step motor windings 1 and power supply 2 Control buttons START 13 RESET 14 and duplicate terminals START COM 18 and RESET COM 21
15. p if the commands sequence is executing complete Start loading to the operational buffer LB If this command is received while driving the motor is stopped and turned off Read the command sequence from the operational buffer 5 If this command is received while driving the motor is stopped and turned off 6 SBddd Pe Start the commands sequence of the operational buffer executing ddd sets how many times the program from the operational buffer should be executed from 1 to 255 If it is necessary to stop program executing use ST command Complete executing commands sequence After accepting l Complete executing commands sequence After accepting this command the controller records all transferred f 7 ED i this command the controller record all commands to commands into the memory and turns to the standby operational buffer and turns to the standby mode mode Set the address pointer in O Begin start a new algorithm the previous sequence is Begin start a new algorithm in the bufer the previous cleared sequence is cleared Set enable turn on the motor Set disable turn off the motor Forward motion if the motor is stopped the start of the motion will be in this direction if this command was received while driving the remaining steps are processed in the direction according this command Backward motion if the motor is stopped the start of the motion will be in 10 11 Forw
16. ram folder carefully check for windows vista and windows 7 FFF Chose port number Sle E23 SMC_Program ver 3 0 4E File Piee Program settings Info Chose port a E T mm 1 steps Img 12 Img 9 It is necessary to set port properties in SMC_Program Menu Port settings gt Chose port image 12 chose the connected port number and press Ok image 13 23 SMC_Program ver 3 0 4E 2 SMC_Program ver 3 0 4E File Port settings Program settings Info File Port settings Program settings Info 1E 2m oop OM E 1E 20 3m Eg Units Macura6 1 mm 1 warog Units Scale 1 mm 1 steps Steps Steps C Other units C Other units Motion Mode for smsd 3 0 only Movement 200 f Full step Start commands recording 1 coordine 3 Program begin Set Enable Start speed 2000 steps sec aa Speed 10000 steps sec Maximum speed 200 Forward Acceleration 500 500 pected Move 7000000 steps Pause for 100000 ms r lo I Permanent motion C Microstepping 3 Elia le l bt lE Le x eE Velocity Direction oO Start speed Reverse Acceleration Deceleration Write and Start Move 7000000 steps C Acceleration 0 Stop Close relay Send f No acceleration Start Write Clear all X Clear current string gt elo ls gt e st je lu LE Lv fe Simple control mode C Programming control mode Simple control mode f Programming control mode
17. ration modes Manual mode The speed is adjusted by the internal potentiometer SPEED or external potentiometer or analog signal 0 5VDC Speed value is saved when leaving this mode and it is restored when re entry this mode When the external potentiometer is used it is necessary to set the minimum speed with internal potentiometer SPEED fully counter clockwise and connect external potentiometer with full resistance 10kOhm to terminals 5V SPEED COM img 2 or connect contacts of analog signal source to terminals SPEED COM To change direction it is necessary to set signal DIR high level or low level To start motion you need to push START button or use START COM terminals To stop motion you need to push START button once more or RESET button in this case power is removed from the motor windings If EN signal is used high level motor is stopped low level motor continues motion Driver mode Connection example is in the image 3 One step or microstep executes as front edge of the voltage pulse on the STEP input Direction switches by changing voltage level on the DIR input The motor can be stopped by the active signal on the EN input clean contact power is removed from the motor windings max 0 8V min 3V DIR max 0 8V a EN Clean contact Img 7 STEP and DIR input signals Synchro mode Connection example is in the image 5 The unit receives quadrature phase signal on the S
18. record all received executing commands to the memory and turns to the standby mode Reading commands from the controller light both LED indicators The SMSD 8 0 controller turns to this mode from the standby mode The sequence of executing commands from the controller memory transfers to the computer as the controller receives the command RD After the commands transferred the controller turns back to the standby mode Temporary stop mode blink both LED indicators The SMSD 8 0 controller turns to this submode during program executing as receives the signal EN The controller suspends program executing while the signal is active As the signal turns to inactive the controller resumes the program executing 10 Delivery in complete sets The stepper motor controller SMSD 8 0 1 pcs SMC_Program can be delivered on a CD or by e mail 1 pcs Manual SMSD 80 000 1 pcs Switch Hall effect SM8 31010NA as an option extra cost on a request 1 pcs 11 Warranty Any repair or modifications are performed by the manufacturer or an authorized company The manufacturer guarantees the failure free operation of the controller for 12 months since date of sale when the operation conditions are satisfied section 3 The manufacturer sales department address Smart Motor Devices OU Tallinn Science Park Tehnopol M ealuse st 4 Tallinn 12618 Estonia Phone 372 6559914 e mail mail stepmotor biz url http Awww stepmotor biz
19. stem icon In the System Properties window click the Hardware tab In the Hardware tab click the Device Manager button image 9 This COM File Action View Help Gp 4 HOPE port should be used for communication with SMSD 8 0 controller The port properties should J Bluetooth Devices be set in a terminal program according to the table 1 As a terminal program SMC_Program ji 3 Suga or some other software software should provide RS 232 ASCII communication can be used Display adapters 3 DVD CD ROM drives gj Human Interface Devices 4 IDE ATA ATAPI controllers amp IEEE 1394 Bus host controllers 5 gt Keyboards Mice and other pointing devices E Monitors E Network adapters LY Ports COM amp LPT CP210x USB to UART Bridge Controller COMS F ECP nopt nprHTepa LPT2 F NetMos PCI ECP Parallel Port LPT1 F NetMos PCI Serial Port COM3 F NetMos PCI Serial Port COM4 Nocneg oBaTeNbHbIK nopT COM1 SM Processors lt amp SCSI and RAID controll Sound video and game controllers Storage volumes System devices Universal Serial Bus controllers The program is available and supplied with the SMSD 8 0 controller Saving execute program with SMC_Program The program should be copied to the hard drive of the computer Unpack the program pack SMC_Program doesn t require registration and installation The write read operations should be allowed in the prog
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