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USER MANUAL REVISION PORTS ETC DCB

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1. ok oO 250 Ale C 5 O 46 9 0 amp MIEL 4 13 5 Os Ols 5 O 0 Io 0 0 57 0 oC 3 3 Hm La Lb 56 Gn U 8 0545 y y 4 70 5 20 gt m 5 58 O 5 Ea m 2222 0 75 4 SLOTS 10 32 MOUNTING HARDWARE NOTE ALLOW 0 5 INCH CLEARANCE ON ALL CONNECTORS FOR EXTERNAL WIRING ww stepcontrol com Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC 2 Communication Interface Advanced Micro Systems Inc www stepcontrol com IPAE USER MANUAL REVISION PORTS ETC RS 422 Hardware AMS communication protocol is an RS 422 design that uses RS 485 rated circuits This interconnect is comparable to a LAN configuration The hybrid design merges the best of both EIA specification
2. 5 Character Code Ctrl Char Dec Hex Code Dec Hex Char Dec Hex Char Dec Hex Char 00 00 NUL 32 20 64 40 96 60 A 01 01 33 21 65 41 A 97 61 a 02 02 5 34 22 66 42 98 62 b AC v 03 03 ETX 35 23 67 43 99 63 AD 04 04 EOT 36 24 68 44 100 64 05 05 ENQ 37 25 69 45 JE 101 65 e AF 4 06 06 38 26 amp 70 46 F 102 66 f G 07 07 BEL 39 27 71 47 G 103 67 g H 08 08 BS 40 28 72 48 H 104 68 h 09 09 41 29 73 49 105 69 J 10 0A LF 42 2A 74 4A 106 AK 3 11 OB VT 43 2B 75 4B K 107 6B k AL 9 12 0 FF 44 2C 76 4 L 108 6C 1 AM 2 13 CR 45 2D 77 40 109 6D m AN 14 50 46 2 78 4E N 110 6E n O Yi 15 OF SI 47 2F 79 4F 111 0 P 16 10 DLE 48 30 0 80 50 P 112 70 p Q 4 17 11 DCI 49 31 1 81 51 Q 113 71 q AR t 18 12 DC2 50 32 2 82 52 R 114 72 r AS 19 13 DC3 51 33 3 83 53 S 115 73 5 AT 20 14 52 34 4 84 54 116 74 t U 21 15 53 35 5 85 55 U 117 75 u AV 22 16 SYN 54 36 6 86 56 118 76 AW t 23 17 ETB 55 37 7 87 57 119 77 w X t 24 18 CAN 56 38 8 88 58 xX 120 78 x AY 25 19 57 39 9 89 59 Y 121 79 y AZ 26 SUB 58 3A 90 5A Z 122 7 lt 27 1B ESC 59 3B 3 91 5B 123 7B 28 1C FS 60 lt 92 5C
3. Command Function Type NV Bytes Mnemonic Data Data 2 Result Range Range Where Command Keystroke Function Functional description of command Type Immediate Direct execution Program Executable in stored program Global All axis present Default Initial parameter setting Hardware Auxiliary I O NV Bytes Storage requirements in program Mnemonic Single character prefix used in multi axis protocol prefixed by axis name assignment in party line mode Data 1 Affected parameters Range Valid numerical range of parameter s Data 2 Same as Data 1 as required Result Information returned as a result of command execution or examination Note a comma separates two parameters Command Function Type NV Bytes Terminate Operation Immediate N A E S C Mnemonic Data 1 Data 2 Result Name Esc Char None None Echo ESC Global Abort Terminate any active operation and cause the controller to revert to the idle state waiting for a new command Output drivers or ports are NOT affected Stepping and position counter update will cease immediately without deceleration The lack of deceleration can cause mechanical overshoot The controller will echo a character Command Function Type NV Bytes Soft Stop Immediate Program 1 Mnemonic Data 1 Data 2 Result Name None None None Soft Stop If moving decelerate immediately to a
4. The following locations are accessible through the NV memory read write commands Decimal Description 0 127 User program or data storage 128 191 Shadow program area 160 Trip routine 192 226 Unused 227 Configuration byte 228 Internal initial status byte Do NOT modify 229 Divide factor D 230 1 Initial velocity low and high bytes 1 232 3 Pointer value I 234 5 Slew speed V low and high bytes 236 7 Pointer value V 238 Low speed jog value B 239 High speed jog value B 240 Acceleration ramp factor K 241 Deceleration ramp factor K 242 244 Trip Point low mid and high bytes 245 Port value for trip data 246 Resolution 247 Name 248 256 2047 User program or data storage 256 511 Branch area power up commands 1600 20472 User program power up commands Committed only when specific command is being used otherwise used as general purpose storage Locations 247 thru 255 are protected from the Clear command Most of the data contained in these locations is in binary and should not be tinkered with valid command exists at location 1600 through 2047 it will be executed on power up www stepcontrol com Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Default Table The following default values are written to NV memory after the Clear C 1 command Parameter Value Ini
5. 2 Signal Comment Pin Signal Comment 1 J2 1 Not used 1 Not used 2 GND Power Gnd 2 GND Power Gnd 3 RX Data in 3 RX Data in 4 TX Data out 4 TX Data out 5 TX Data out 5 TX Data out 6 RX Data in 6 RX Data in 7 5V Power for serial adapter 7 N C Not used 8 PARTY Enable party line or single 8 PARTY Enable party line or single All signals on J1 and J2 are interconnected except for the 5 volt power which is not supplied to 2 7 There are two basic types of serial adaptors available 1 A passive adapter model SIN 9 that allows an RS 232 interconnect suitable for single axis usage Party line is not possible with the SIN 9 Daisy chain protocol is possible but not recommended 2 A microprocessor based adaptor model SIN 11 that features a dual UART RS 232 to RS 422 converter at different baud rates and character buffers used for multi axes applications The necessary handshake is built in thus the sometimes expensive and time consuming software interface is avoided The serial communications is full duplex at 9600 baud If you are using a SIN 9 the proper handshake MUST be implemented in the host computer to avoid loss of characters This protocol is echoed characters If your operating system or application software is not capable of character by character transmission a SIN 11 is necessary A complete description of the serial interface specifications and oper
6. i Go The SMC 26X2 can view all ports as inputs and outputs restricted by contention with external hardware Any output port can be modified then subsequently used in conjunction with the L G 2048 or A129 read command The SMC 26X2 has an additional feature of implementing a wait till function The standard loop tests the condition every 2 3ms If the unique address is 2048 the controller executes a tight loop at this instruction monitoring the specified condition When the condition is met program execution continues This feature is helpful in situations where the condition may be of short duration This command is usable only in NV memory program execution Following is an example of this command PO Enter program mode 10 4 Stay at location 0 until port 3 is low then go to next command in program 1000 Move 1000 steps in the plus direction Exit program mode Ue www stepcontrol com Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Hardware Options Default Immediate Program 2 Mnemonic Data 1 Data 2 Result Name a d Options None lower case L Invert Limit Polarity Create Step and Direction Outputs This command permits option control and permits inverting the sense polarity of the limit switch inputs and can re define two outputs as a step and direction output L
7. 4 40 4 41 i lower case Restart Special Trip 4 41 J Jump to Address a 1 5 4 41 K ELE 4 42 lower case Trip Output sss esent nnne nnn 4 43 L Loop rm 4 44 lower case L Invert Limit Polarity Create Step and Direction 5 4 45 M Move at a Constant 4 46 O Set OHOID Leere ec ree 4 46 P a e rei Re EHE ee ERR 4 47 List Program Note Use in dumb terminal single line mode 4 47 R Index Relative to th nennen estne 4 48 S SAVO 4 48 nit ie eene ER 4 49 BENE Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Set Slew 10 4 50 WY WANE Em 4 50 w lower case W Pre energize 4 51 4 52 Z FREAD POSILOT ite RR EE e 4 52 Read NV 4 53 Read Limits Hardware 4 53
8. ENABLE CONTROL MODE 0 32 2 FIND HOME SPS 40 36000 DIRECTION _ 0 1 3 GO ADDRESS 0 2048 TRACE 0 1 919 RESOLUTION MODE TABLE 0 5 2 INITIAL VELOCITY SPS 40 36000 3 5 RESTART SPECIAL TRIP NEXT TRIP 8388607 PORT 0 63 5 Je ADDRESS 0 2048 N 1 TIMES 0 255 i 9 RAMP SLOPE ACCEL 0 255 DECEL 0 255 3 TRIP OUTPUT VALUE NEXT TRIP 8388607 PORT 0 63 5 le e LOOP ON PORT ADDRESS 0 2048 CONDITION 0 8 4 INVERT LIMIT STEP DIR OPTIONS 0 255 2 5 MOVE CONST VEL SPS 36000 919 0 SETORIGIN STEPS 8388607 4 leje PROGRAM MODE ADDRESS 0 2047 I le 0 QUERY PROGRAM ADDRESS 0 2047 jo INDEX TO POSITION POSITION 38388607 i lefe STORE PARAMETERS TRIP POINT POSITION 8388607 VECTOR 0 255 i RESERVED _ 13 SLEW VELOCITY SPS 40 36000 WAIT DELAY 0 01 SEC 0 65535 3 ele PRE ENERGIZE 0 01 sec 0 255 2 EXAMINE PARAMETERS DISPLAY POSITION CONTINUE 0 1 9 Program address ranges are 0 192 256 2047 Address 2048 is used as a special case and 128 192 is high speed shadow RAM The 40 to 36 000 SPS range refer to 2X speed models Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC
9. y COMPLETION Constant Velocity Cycle From 2nd M Command ACCELERATION CONTINUES UNTIL VELOCITY IS REACHED SOFT STOP INTERRUPT SOFT STOP EXECUTE AND RESULT ENTRY 2 X X N ENTRY 1 PENDING 1 Execution Times The time for a complete cycle between command entry and result is variable depending on number of data bytes command type and motion in process One receipt of the line feed most commands execute in less than one millisecond The exceptions are Instruction Execute Time SPS 3 4 ms CO Reset defaults 60 ms C Clear memory block 1500 ms S Store 60 ms Read Write 1 1 ms Index and R 5 10 ms Advanced Micro Systems Inc www stepcontrol com IB USER MANUAL REVISION PORTS ETC 3 Memory Parameters www stepcontrol com Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Non Volatile Memory Details The SMC 26 uses the X24C16 a 2048 byte EEPROM A worst case of 4 bytes per instruction yields a capacity of 500 commands These devices are rated to retain data for 100 years As with all EEPROMS the number of times it may be re programmed is limited Each time a cell is written a small number of electrons are trapped in the dielectric After many write cycles the dielectric becomes less effective and the cell cannot retain its charge The write life cycle endurance rating is const
10. Higher step rates may be possible on some products Contact AMS for details Step and Direction Inputs J5 A 10k pull up resistor allows open collector circuits to be used The Inputs will withstand in excess of 24 volts Pin Signal 6 Ground common with the power supply input 11 Step Pulse Input 12 Direction Input The recommended step input is a negative going pulse 5 volt TTL or CMOS Encoder Inputs J5 Optional encoder circuitry can be specified with the DCB 264 E option With this option the step input pins 11 and 12 change to industry standard quadrature A and B inputs The quadrature clocks derived from optical or magnetic encoders when applied to the A and B inputs are converted to step and direction signals The number of steps per encoder revolution are equal to four times the number of slots on the encoder The motor will directly follow any changes in the encoder position Note If the encoder produces steps too fast the step motor can stall if it is physically unable to follow the abrupt changes in rate and or direction A 10k pull up resistor allows open collector circuits to be used The inputs will withstand in excess of 24 volts Pin Signal 6 Ground common with the power supply input 7 5 volts Can be used to power an encoder with low current requirements 11 Encoder Phase A 12 Encoder Phase B Advanced Micro Systems Inc www stepcontrol com
11. value to a stop completing the index 9 If another index is not commanded for the settling period power down the motor if auto power down is enabled This command may be implemented within a program It is very useful when used in conjunction with the Origin command Following is an example PO Enter program mode Set origin and counter to 0 1000 Move to position 1000 relative to 0 Exit program mode Command 5 Function Type NV Bytes Save Parameters to NV Memory Immediate 1 Mnemonic Data 1 Data 2 Result Name S None None None S Save The following parameters are saved in the NV memory and will be recalled as defaults during power on reset NV memory addresses 128 through 191 shadow RAM Initial velocity Slew velocity V Divide factor D Ramp slope K Jog speeds B Resolution mode H Auto power down Limit polarity 1 10 Name for party line use 11 Trip point settings All of these parameters are saved a block from the working registers in the SMC 26X2 Frequent use of this command should be avoided as memory longevity may be affected www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Set and Enable Trip Point Default Program 5 T Mnemonic Data 1 Data 2 Result Name T n Position 8 388 607
12. Index in Plus Direction Step in the positive direction for the specified step count The motor will ramp up slew and then ramp down per the previously set parameters The range is 0 to 16 777 215 The position counter will overflow at 8 388 607 The motion sequence is 1 Wait until any previous motion is finished 2 Energize the motor winding as required 3 Start stepping at the rate of the initial velocity 1 4 Accelerate using a profile defined by the fixed table that approximates straight line acceleration and a slope set by the command 5 Accelerate until the slew speed as specified by the command is attained 6 Motion continues at the slew speed until the deceleration point is reached 7 Decelerate determined by the second value to a stop completing the index 8 If another index is not commanded for the settling period power down the motor if auto power down is enabled Command Function Type NV Bytes Index in Minus Direction Immediate Program 4 Mnemonic Data 1 Data 2 Result Name n Steps 0 16 777 215 None None Index in Minus Direction Same as command only in the opposite direction Command Function Type NV Bytes Read Moving Status Immediate Program 1 A Mnemonic Data 1 Data 2 Result Name None None Status Read Moving Status The host may use this command to determine the current moving
13. Plus DITeCtIOr oe ERE ota d ze qe RE EY 4 54 Index in Minus Direction AEE 4 54 Read MOVING Status vx ater et p 4 54 V Write to NV etl e eed 4 55 Selective Termination sessi esee einen tans 4 55 9 PAO O SIU m M 5 56 SUIMIMAUY ai aussis 5 57 ASCII Character 5 58 About Step Motor Current 5 59 AMPS and Wire Count and Power esses 5 61 Application Dare rea RR TR da EAR ER VERE ORE va 5 63 V1 10 Double Speed Characteristics sessi eene nnne 5 63 Decay 5 63 Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC EE Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC 21 1 Hardware Advanced Micro Systems Inc www stepcontrol com 1 1 USER MANUAL REVISION PORTS ETC Congratulations on your purchase of DCB 264 Stepper Motor Driver Controller Board DCB 264 will provide years of reliable accurate and cost effective motion control As with all AMS products the DCB 264 is backed by over three decades of manufacturing excell
14. Q List Program Note Use in dumb terminal single line mode List program stored in non volatile memory using the format Address Instruction Value 1 Value 2 The values will be displayed only if applicable to the particular instruction type Twenty instructions are displayed at a time Use the lt CR gt key to list more commands without pause ESC quits and any other key single steps the listing Advanced Micro Systems Inc www stepcontrol com EZ USER MANUAL REVISION PORTS ETC Command R Function Type NV Bytes Index Relative to Origin Immediate Program 4 Mnemonic Data 1 Data 2 Result Name R n Position 8 388 607 None None R Index Relative to Origin Move with ramping relative to the 0 origin The target position has a range of 8 388 607 steps from the 0 origin The motion sequence is 1 Wait until any previous motion is finished 2 Read the current position then calculate the distance to the new target position 3 Energize the motor winding 4 Start stepping at the rate of the initial velocity I 5 Accelerate using a profile defined by the fixed table that approximates straight line acceleration and a slope set by the command 6 The acceleration continues until the slew speed as specified by the V command is attained 7 Motion continues at the slew speed until the deceleration point is reached 8 Decelerate determined by the second
15. sisse esent ennt tanen 2 19 SIEG mU 2 20 AXIS Name ASSIQRnmoent testo idee HE FER 2 21 NV Memory Programing orcii seinen eene ennt nnne 2 22 Party Line and Daisy Chain Line Commands 2 23 Memory 3 28 Non Volatile Memory 3 29 Memory 3 30 I EILEEN 3 31 TUDO R 3 31 COMMANA A 4 32 Command Format Description 4 33 ESC Global pea en curae be gi ule 4 33 Sont SOD 4 33 NG OSCE 4 34 A Port Read Wirile ies cse dere pena be opas hare Eee debe cua hne 4 34 B Set Speeds 4 35 b lower case Fast and Slow Decay seen 4 35 C Clear and Restore NV Memory sisse einn nnne nnns nn 4 36 D Divide 000004 2 45 0000000000000 4 37 PEE 4 37 Em 4 38 G GO E 4 39 Step Resolution
16. Because the step rate is actually measured the decay detection functions for external step pulse input Slow decay provides smooth operation with reduced resonance s at slow to medium speeds Fast decay will generally enhance high speed operation at speeds above 200 300 RPM The actual settings usually must be determined empirically see Addendum About Step Motor Current and tailored to the specific design Multiple variables that interact include Operating step speed range Step resolution Motor size and characteristics Load inertia and load damping affects e Supply voltage Motor current setting Acceleration and deceleration rates Once the optimal settings are determined they will apply to future production provided all remains constant Command Function Type NV Bytes Clear and Restore NV Memory Immediate N A C Mnemonic Data 1 Data 2 Result Name C n 0 8 None Version C Clear and Restore NV Memory Previously stored programs are erased Using a 1 forces complete NV memory initialization with factory default values with erasure of all previously stored programs This MUST be done when new NV memory is installed or existing memory is corrupted Frequent use of this command should be avoided as memory longevity may be affected The C 0 command simply reads the last stored values into the working registers www stepcontrol com lAdvanced Micro Systems Inc US
17. 124 7C 29 1 GS 61 3D 93 5D 125 7D AA A 30 1E RS 62 3E gt 94 5E 126 TE f v 31 1F US 63 95 5F 127 Meek www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC About Step Motor Current There is much confusion regarding the operation of step motors Depending on your application the step motor offers several advantages over servo motor designs including lower cost and simplicity The step or stepper or stepping motor is a digital synchronous motor with a pre designed number of steps per revolution The most common motor has 200 full steps per revolution Simple driver electronics can subdivide these steps into step or more complex microsteps Step Motor Characteristics e The positional repeatability of each full or half step is very close to exact While microsteps are repeatable they tend to be somewhat non linear The torque is maximum at zero speed The motor shaft RPM exactly correlates with the steps per second Torque decreases with speed eventually to zero or a stall condition Resonance at certain speeds can cause undesired stalls or erratic operation There is little difference between today s step motor and the first generation of 60 years ago The magnetic materials and torque have been improved yet it remains a simple reliable workhorse of industrial motion control Over time most improvements have been made to the drive
18. Some uses for this could be illuminating a LED signaling a sequence is complete or operating a valve PO Enter program mode 1000 Move 1000 steps in the plus direction WO Wait for move to finish Turn port 4 W 500 Wait 500 milliseconds AO Turn off port PO Exit program mode Command Function Type NV Bytes Wait n Milliseconds Immediate Program 3 W Mnemonic Data 1 Data 2 Result Name w n 10 ms 0 255 None None w lower case W Pre energize The w command is a pre energize command that can insure that motor current has built up when a step command is executed while in the holding current state This parameter is useful under certain conditions and should be zero off if possible The following conditions might require pre energize time 1 Automatic current setback E command is in effect 2 If the delay between consecutive motion commands exceeds 1 second 3 If the initial speed command specified is too high 4 If the acceleration requirements are excessive When the auto current setback is used motor current will be reduced after approximately one second of idle time When a new motion command R M F etc is executed the windings are re energized almost instantly with the first motor step Thus the motor must rapidly change from a relaxed position to the next step This pre energize insures a delay after turn on The
19. 12 Change ports 4 and 5 to step and direction outputs 1000 Move the DCB 264 and the stand alone driver 1000 steps in the plus direction Exit program mode Advanced Micro Systems Inc www stepcontrol com EZS USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Move at Constant Velocity Immediate Program 3 M Mnemonic Data 1 Data 2 Result Name M SPS 40 36 000 None None M Move at a Constant Velocity The or sign determines direction during the move at constant velocity function The motor will ramp up or down to a constant velocity Motion will continue at the given speed until a new velocity is entered The specified slew speed is in steps per second Ramp parameters may be modified prior to each velocity command allowing different ramp slopes The direction is specified by the sign preceding the velocity The SMC 26X2 has the capability of decelerating from full speed in one direction then accelerating to full speed in the opposite direction with this single command Motion may be terminated by 1 The M 0 command 2 Soft stop command or interrupt 3 Abort ESC interrupt without deceleration The default initial velocity is used at the first invocation of the command The following commands modify effective speeds and resolutions 4 Divide 5 Ramp factor 6 Step Resolution An example of this command within a program in conjunction with the Loo
20. and 1 Added axis BLC 51 3 Interconnect cable Cat5 3 ft 1 System TERM 2 Terminator plug included with SIN 11 Assembly Drawing poo E 00000 e 9 S 4 09 ya 5 az JL AES N ull 5 c oo i 69 5 a z o joo lt x o oo gt 9S 1 o wuoooooo o 0 142 28 2 jor 699 0 2 69 P3 e Ses es eiTe ERN P4 o VLLL 9o fo e PH1A 24 S 9 E PH1B 5V allo fof of 9 i 9999 9 el lo O PH2A JOG 2 9 5 2 085 29 ple JOG 1 us o B B 2 o e Ee 24 40 VDC STEP ENC A o 9 GND B BONES 720000000 GO SUPPLY o 1555555 LIooooooo O ooo ooooo oO pooooooo ooooo r La Lb Go Ss Gn V 9 999 9 a lt lt E 55525 co w mt 0 gt gt a gt ce c 2 eta 5 33 EE gt 9494 lt www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Out of the Box Quick Start The DCB 264 is supplied with mating motor power supply and I O connectors The SIN n chosen serial adapter i
21. line containing multiple commands Once the line is received it is processed starting with the first character received Assuming that there are two controllers named and A typical command string to a system could be A 1000 B 1000 amp W AZ BZ This would cause both axes to move the specified number of steps wait until motion is stopped then read back the two positions Communication Modes There are three methods protocols used to send and receive command and data from an AMS controller axis 1 Dumb Communications Mode This is accomplished by connecting one single axis to the computer Commands can be typed in and the controller will execute them The designer can also enter program sequences into the NV memory and execute them Virtually every capability can be explored It is a human friendly interface and NEVER a computer controlled operation Serial adapters used SIN 9 or SIN 11 At start up 1 Hit the SPACE BAR key to sign on In Dumb communications mode you can do a number of useful things e Assign name character not necessary if using daisy chain The dumb terminal mode must be used for name assignment it cannot be done in Party Line mode Tweaking speed and acceleration parameters Experimenting with commands Development of program sequences Storing motion sequences for non hosted applications Note Single axis mode should never be used in a computer or PLC hosted application
22. 2 Issue the Z CR command The position 1000 should be displayed NV Memory Programming The above examples were samples of immediate commands The following is a sample sequence used to store a sequence in the non volatile memory Note that when programming the sequence is immediately written to non volatile memory without any additional action required to save it This example starts at location 0 of NV memory Other segments can reside at any free location Enter Remark PO CR Place in Program mode Insert instructions at location 00 Address 0 O0 lt CR gt Set Origin to zero 1 R10000 CR Move 10 000 steps in the direction relative to Origin 6 W 0 lt CR gt Wait until complete 9 R 10000 lt CR gt Move 10 000 steps in the direction relative to Origin 14 W00 CR Wait until complete 17 J1 3 lt CR gt Jump to address 1 3 times 21 R500 CR Move 500 steps in the direction relative to Origin 26 PO CR End Program Now list the stored program Q CR Query command Verify the Program The controller will respond with 0 1 10000 00 W 0 9 R 10000 00 14 W 0 17 J 1 3 21 R 500 00 26 Execute the Program Enter Remark G0 1 lt gt Programs start executing at location zero If the Trace option is on it will display each instruction prior to execution Note This same program can also be triggered by pulsing the Go input and the program can be terminated at any time
23. 8868 USER MANUAL REVISION PORTS ETC Power Supply and Motor Connection J4 Connector J4 provides the power supply input and motor phase drive outputs The recommended power supply is an unregulated DC design with voltage and current ratings appropriate for the driver The on board 5 volt is for logic power For maximum motor speed performance the motor should have a low voltage higher current low inductance and the power supply voltage as high as possible NEVER exceeding the DCB 264 input ratings Pin Signal Type Gnd Ground 24 to 40Vdc PH 3 Phase 2 B PH 2 Phase 2 A PH 1 Phase 1 B 0 1 Di NB Typical Wiring Diagrams for Step Motors See About Step Motor Current in the Addendum for more information High Torque High Speed High Speed mle 3C PHA 5 4 PH 3 3 2 GND GND GND 1 GND Bipolar Series Bipolar Parallel Bipolar 50 Copper FIGA FIGB FIG Fig A Series winding for higher torque and lower current The inductance is 4 times that of the parallel mode reducing the maximum obtainable speed Fig B Parallel winding for better high speed performance but requires higher drive current A 4 wire motor is the same as an 8 wire motor but it is connected in either parallel or series internally Some motors can be rewired at the factory Fig C
24. A 6 wire motor is a variation of the 8 wire series configuration where the center taps are available The 6 wire motor can be used in series mode but cannot be connected in parallel A compromised 50 copper connection can be used producing higher speed with reduction of torque Note NEVER connect or disconnect the motor when the power is ON Wait at least two minutes after turning off the power before connecting or disconnecting the motor This will allow proper dissipation of voltage from the unit Failure to do so may cause damage and void the warranty ooooooo 5 gj Lc Baud Rate Jumpers B1 B2 219 0000000 666600 60000 1699 oo 5 Baud rates for the DCB 264 be configured as follows Pin O z n Connections Baud Rate Comment NC 9600 Factory setting Enn umpers lookin own 460k at front of DCB 264 B2 38 6k www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Specifications Electrical Output Current 4 0 Amps Chopping 20 2 Supply 24 to 40 Motor Step Resolution 1 8 1 4 1 2 Full Wave
25. Chain terminates the entry cycle and initiates execution Cycle 2 Execution The command is processed In the case of two consecutive action commands execution will be delayed until any previous completion cycle has been completed Cycle 3 Result The result cycle outputs any numerical result required by the command 1 the position The result type is signed numerical data preceded by space padding and followed by a Carriage Return and Line Feed If the result does NOT produce numeric data then the Carriage Return Line Feed output indicates execution is complete Cycle 4 Completion The completion phase is required for any Action command cycle The following are Action commands Action Command Completion Cycle GO Until last instruction is complete Step Resolution Until previous action complete Constant Speed Until previous ramp is complete Find Home Until home is found Relative Move Until full index is complete Step Index Until full index is complete Step Index Until full index is complete During the completion cycle except for any non action command such as Read Position may be executed The controller has the capability to queue up another action command during the completion cycle resulting from a preceding action command The execution and result cycle of this Pending command is delayed until the completion phase is complete This interval
26. Home switch actuation point is reached and the Homing function is complete www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Normally Closed Home Switch The Find Home step velocity using a normally closed Home switch actuation from logic low to high will always be the 1 initial velocity parameter setting Once the Home switch is actuated all motion ceases and the Homing function is complete The following table illustrates the possible combinations of switch motion Home Switch Parameter Direction of Motion Normally Open High to Low 70 Negative Normally Closed Low to High 0 Positive Normally Open High to Low 1 Positive Normally Closed Low to High 1 Negative This command may be implemented within a program Following is an example PO Enter program mode F 1000 1 Find the home switch in the 1 direction at a step rate of 1000 SPS Exit program mode Command Function Type NV Bytes Execute Program Immediate Program 3 G Mnemonic Data 1 Data 2 Result Name G a t 0 192 256 2048 Trace 0 1 None G Go The Go command is used to execute a user programmed sequence starting at location a Most programs will start at 0 however you may wish to start at another address The address MUST begin at a stored instruction address 1 go to data produces unpredictable results If t is a o
27. by hitting the ESCape key APP www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Edit Program Example It is desired to change instruction number 21 from 500 steps to 5 000 steps Enter Remark P21 lt CR gt Edit instruction 21 R5000 Move 5 000 steps in the direction relative to Origin ESCape Terminates Edit mode Party Line and Daisy Chain Line Commands Note If a SIN 11 is used then the following rules will not apply because these adapters will perform the necessary handshake The SMC series controllers incorporate a buffered UART input capable of receiving and holding ONE character at a time The controller must read this character before another one is received otherwise the UART will be over run resulting in missed character errors The handshake method used is a simple echo of the received character The host computer MUST ALWAYS wait for the echo Fixes such as insertion of delays between characters may seem to work but will ultimately fail Beware that many PLC manufacturers do not provide the serial software flexibility required for your application to make the proper communication The SIN 11 adapter provides handshaking functions and other features to make life simpler and reduce software development time Some Rules 1 The first character of a command MUST be the name character assigned to the axis 2 The command line terminator MUST be a Line Feed
28. character 3 The name must be preceded by an LF presumably the terminator for the previous command 1 lt LF gt n lt LF gt Note An LF be generated using Ctrl Enter key combination on a PC The first Line Feed resets the command buffer for all axes The controller then tests the character immediately following a Line Feed If this character matches the assigned name the axis will interpret the following characters up to 12 as an input command If the axis does NOT detect a proper name and command then the data is simply echoed back to the terminal The designated controller re issues the Line Feed after processing the command If the command is of the type that results in a data output such as Z then the data result will be inserted before the Line Feed The Line Feed does NOT indicate that a move or other time consuming command is finished but only initiated The terminal can interrogate the motion status using the appropriate command to determine if a function is complete Editing features are NOT supported in daisy chain or party line operation Note the commands Control C and ESCape do NOT require the use of and will NOT be qualified by a name prefix All devices will respond The party line sequence can be sent using the dumb terminal Caution must be used because any typo s cannot be corrected with a backspace as is possible in the single axis mode You must c
29. constant limits the amount of flux hence torque when step to step time is short Advanced Micro Systems Inc www stepcontrol com 29 USER MANUAL REVISION PORTS ETC C Adapting Available 6 Wire Motors 3 A 6 wire motor is equivalent to the 4 wire series motor O 3 In practice the two coil ends are connected while no connection is made to the center tap 6 Wire Motor Half Copper or 50 Winding The maximum speed be increased by using the coil To do this connect the driver between the center tap and one end of the winding The tradeoff is a loss of torque The RMS current is the manufacturer s unipolar amperage rating with the same wattage per phase Often a 6 wire design is being upgraded or the size features availability or cost dictate the 6 wire motor Some characteristics can make the motor impossible to use Many motors are rated at voltages in excess of 5 volts This means that 10 volts is necessary in the series 100 copper 6 Wire Half Copper configuration Aside from having excessive inductance proper chopper operation dictates operation from voltage sources much higher than the motor rating The minimum recommended value for VMM DC supply is 2 times the winding rating the higher the better until excessive heating occurs or insulation breakdown The Empirical Method for Fine Tuning Your System The empirical method is the best approach for fine tunin
30. is called the PENDING PERIOD During this PENDING PERIOD the only input accepted is the one character interrupt abort command limit switches soft stop input and hard stop ESCape External indication of PENDING PERIOD end execution and result cycle of the pending instruction is the carriage RETURN or Line Feed in the party line mode The GO command is regarded as a command that has a continuous pending Instructions Queued period Interrupt Commands Interrupt commands are single character commands that will interrupt the operation in process as follows Abort Any action command may be terminated using the ESCape character Advanced Micro Systems Inc www stepcontrol com 95 USER MANUAL REVISION PORTS ETC Process Resulting Action Command line input Clear input buffer Program mode Exit without inserting END Action command Terminate all motion HARD STOP Program execution Terminate execution Hard Stop If more then one process is active then ALL are aborted Abort is Global all axis halt Soft Stop The Soft Stop can be either a command Immediate mode or a single character interrupt Program mode The Soft Stop operates only when motion resulting from action commands or instructions is taking place Soft Stop Interrupt After velocity deceleration the process is terminated Process Resulting Action Pending period Decelerate and cancel pending
31. of the stepper motor to J4 pin 4 5 Connect phase 2B of the stepper motor to J4 pin 3 6 Turn both potentiometers SIN and COS to their full counterclockwise position Ammeter Circuit Stepper Motor MDA 990 3 4 AMP DC Meter Phase A Phase B Driver Outputs The shunt is usually internal to the meters Two meters are preferred but the balance LED allows use of only one Set Current Using Ammeter 1 Apply power to the DCB 264 2 Sign on the DCB 264 with the SPACE BAR 3 Enter the E32 command This will set both SIN and COS to the peak value now 0 4 Turn the SIN potentiometer clockwise until the desired amperage reading on the ammeter is obtained Do not exceed the maximum current rating of 3 75 amps At this point the phase balancing LED will be off 5 Turn the COS potentiometer clockwise until the phase balancing LED just turns on ii www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Set Current Without Using Ammeter The SIN and COS potentiometers each have ten equidistant marks that can be used to set the output current to the motor The first mark in the full CCW position represents zero output current Each incremental adjustment in the CW direction adjusts the current approximately 1 10 of the maximum output current rating of the product Example Current Adjust Potentiometer Adjustment _ Indicator 1 3362 3 Follow the same pro
32. power supply input Full 1 2 1 4 1 8 microstep to 40k SPS e 2k bytes of non volatile memory Limit Home Go and Stop inputs e Step Direction and Jog inputs e Encoder Input Option Serial communication 1 32 axes e Adjustable run current pot e Programmable hold current setback Programmable acceleration and deceleration ramp Constant velocity commands Heat sink mounted e Mating connectors included e Free demo software Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC Required Hardware for Operation Qty Unit Model Description 1 Axis DCB 264 Driver Controller Board 1 System User defined 24 to 40Vdc power supply 1 Axis SIN 9 RS 232 serial adapter single axis 9 pin or 1 System SIN 11 Intelligent serial adapters
33. ramp acceleration and deceleration time The K command is used to adjust the ramp slope during the motor acceleration or deceleration An internal lookup table defines the profile or shape of the acceleration deceleration curve Depending on the values of initial and slew velocities a number of discrete velocities are used to define the acceleration or deceleration of the motor armature rotation The K value determines how many steps are made at each step rate point on the acceleration curve during ramping Higher K values will increase the dwell time at each discrete point on the acceleration ramp Lower values of K will increase the acceleration rate A value of 0 will eliminate any ramping In practical applications it is typically easier to decelerate a system rather than accelerate a system The separate decelerate parameter feature is a valuable time saver when compared to systems with fixed acceleration deceleration times The following two examples are of ramped indexes each 2000 steps with I 400 V 5000 but different values K50 5 and K5 5 Slew V 5000 Slew V 5000 r o 5 CK 50 5 gt ae z Ke 50 5 a CK 5 5 gt E Dwell 50 steps NE Dwell 5 steps 8 at each point Decel 5 steps 5 steps at each point N at each point gt we ud Nw ul x al Initial Velocity NA Initial Velocity F400 SPS _ X e400 s
34. 00 Change Initial SPS 15 1000 Slew 18G 18 Wait 21P 0 End Program Flag P 128 Trip Routine Start 128 2000 Decelerate and Index 133 W 0 Wait 136 Z Show Position 138 axis name Abort Program where axis name is the selected axis to terminate 140 P 0 End Program Flag 5 Save Code at 128 Issue GO The sequence will complete and show the position that the number of extra steps is due to decelerate ramp plus a few steps of overhead The overstep difference is repeatable Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC 5 Addendum www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Summary MNEMONIC COMMAND DATA RANGE DATA 2 RANGE2 NV P INDEX IN DIRECTION STEPS 1 16 777 215 4 9 INDEX IN DIRECTION STEPS 1 16 777 215 4 leje ABORT TERMINATE 9 SOFT STOP ee SOFTWARE RESET I 1 l READ NV MEMORY ADDRESS 0 2047 NUMBER 0 255 jo WRITE TO NV MEMORY ADDRESS 0 2047 DATA 0 255 jo READ LIMITS HARDWARE LIM HW 0 1 ele READ MOVING STATUS ele SELECTIVE TERMINATE 2 ele PORT R W BINARY 0 128 I2 ele SETJOG SPEEDS SLOW 0 255 HIGH 0 255 3 eo b FAST AND SLOW DECAY DECAY MODE 0 255 2 CLEAR AND RESTORE PAGE 0 9 D DIVIDE STEP RATE DIVIDER 0 255 2
35. 000 Other D values can be used as long as the V SPS value is in range This technique produces a longer ramp slope thus allowing the command values to be reduced FAQ Q When I set the SPS values the X command reads back a different value A The SMC26X2 controller uses integer values for determining the time per step Decay Control Fast decay mode regulates motor current by varying the duty cycle and applying full negative DC bus voltage to the motor windings when OFF Applying full DC bus voltage in this manner causes the motor winding current to change at a rapid rate hence fast decay The fast decay mode of operation permits better current regulation but increases motor heating due to the higher current transients Slow decay mode also regulates motor current by varying the duty cycle but instead shorts the motor windings when OFF i e zero volts vs maximum DC bus voltage The slow decay mode of operation permits higher currents higher torque at lower speeds with less motor heating but also exhibits poor low current regulation Advanced Micro Systems Inc www stepcontrol com
36. 100 This tells the controller to run the program located at address 100 when the step position is 1000 4 Run program Enter the G command Port 4 will turn on and the motor will start moving When the motor position is at 1000 the program will vector to address 100 and run that sequence The number 8 signifying port 4 will appear on the screen Advanced Micro Systems Inc www stepcontrol com EZ USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Set Final Slew Velocity in SPS Default Immediate Program 3 V Mnemonic Data 1 Data 2 Result Name V n SPS 40 gt 36 000 None None V Set Slew Speed This is the maximum speed to be used after acceleration from the initial velocity The maximum speed will be limited by the motor capability and or power driver circuitry The final output velocity is divided by the value of D This value is independent of constant velocity M jog B or home F speeds and is used when indexing absolute or relative R commands If full or half step mode is chosen the acceleration time may become to fast for larger motors This is due to the high speed SMC26X2 microprocessor A D 2 pre scale divider may be required to provide smoother acceleration characteristics Example Assume that the desired running speed is 12 000 full steps per second 3600 RPM The speed be set to 24 000 SPS with D 2 Thus SPS mo
37. 191 the NV memory is always Read not the RAM The data contained at the specified location is output as a decimal value Command Function Type NV Bytes Read Limits Hardware Immediate Program 2 Mnemonic Data 1 Data 2 Result Name 0 1 None Status Read Limits Hardware This command allows the user to examine the status of the various switch inputs The result will contain the state of the limit switch inputs and current phase outputs in binary values as follows Decimal value 128 64 32 16 8 4 2 1 Bit position 7 6 5 4 3 2 1 0 5 26 2 Lb La Hm 5 4 2 P1 Where La Limit a switch Lb Limit b switch Hm Home switch 32 low input 0 52 Ports 1 5 see command 1 Read other inputs This command reads other inputs some of which can be used by external applications under the condition that the SMC 26X2 does not use them For instance if the jog speeds are set to zero the three jog inputs may be used as general purpose inputs Decimal value 128 64 32 16 8 4 2 1 Bit position 7 6 5 4 3 2 1 0 5 26 2 J3 J2 BD Advanced Micro Systems Inc www stepcontrol com Ese USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Index in Plus Direction Immediate Program 4 Data 1 Data 2 Result Name n Steps 0 16 777 215 None None
38. 2 Result Name P a Address 0 2047 None None P Program Mode The command is always used in pairs The first initiates the program mode at the specified address Once in this mode all commands and data are directed into the NV memory for future execution Entering the second P command will terminate the PROGRAM mode and then insert an end of program marker OFFh in the stored program The controller will then return to the COMMAND mode The program mode may also be terminated with the ESCape character causing immediate return to the COMMAND mode without inserting the end of program marker This is useful for editing sections of the program without requiring that all commands be re entered More than one program may exist at different addresses These commands can than be executed via the G address command There are special address ranges that are assigned to various functions Address Function 128 191 Fast shadow RAM 256 511 G 2048 command 1600 Power up routines The program mode may also be terminated with the ESCape character causing immediate return to the COMMAND mode without inserting the end of program marker This is useful for editing sections of the program without requiring that all commands be re entered Command Function Type NV Bytes List Program Immediate N A Q Mnemonic Data 1 Data 2 Result Name Q a Address 0 2047 None Listing
39. Address 0 255 None T Trip Point During motion operations the position counter is continuously updated If the trip point function is enabled the position is continuously compared to the programmed trip position When equality is detected a trip event will be triggered If a program is running a call or Go Sub will be made to the specified address between 1 and 255 Programs located at the specified address can perform almost any function including turning on off ports and setting new trip points A trip point cannot be reentered i e when executing a trip subroutine and a new trip is set as part of the routine the new trip cannot be triggered until the end of the first trip routine Routines located between 128 and 192 will execute faster because of the Shadow RAM feature Trip service routines should not contain index wait or time consuming instructions Disable To turn off the trip function use 0 zero as the address parameter The trip is not currently usable in the encoder mode Example all commands are followed by a lt CR gt 1 Write program to location 0 zero PO Enter program mode at address 0 0 Turn port 4 2 2000 Rotate motor 2000 steps in the plus direction 6 PO Exit program mode 2 Write program to location 100 P100 Enter program mode at address 100 100 A129 Read port states 102 AO Turn port 4 off 104 PO Exit program mode 3 Set Trip Point In dumb terminal mode enter T1000
40. ER agi c 51 x AXIS TERM 2 TO ONE IS SHUT OFF Note Pin 8 Party is not used in products utilizing the N and P commands 2 16 Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Adapters AMS offers adapters suitable for a variety of applications as follows SIN 9 Passive Adapter The SIN 9 adapts RJ45 to DB 9 It is wired directly through with RS 232 levels passing to the appropriate RJ 45 pins These will only interface to one controller Application software must implement special character by character handshake protocol This model supports only operation in Dumb communications mode and cannot be used in Party Line mode These modes are discussed below Also it is not suitable for USB interface its SIN 9 Serial Adapter SIN 11 Intelligent Serial Adapter Recommended The SIN 11 is an intelligent serial line converter that simplifies application software development and improves overall performance Communication between connected controllers and the SIN 11 is 9600 Specific operating instructions are contained in the SIN 11 Users Guide The SIN 11 has a built in microprocessor that offers a number of features Operates as hardware RS 232 to RS 422 adapter e Diagnostic LED s 9600 baud rate DB 9 serial input connector RJ 45 party line connector 5 volt powered from controller 28 character buffers for multiple commands per line Because the SIN 11 eliminates t
41. ER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Divide Speeds Immediate Program 2 D Mnemonic Data 1 Data 2 Result Name D n Resolution 1 255 None None D Divide Speeds All speeds during ramping and slewing are divided by the specified number n The pre scale number may range between 1 and 255 Speeds as low as 4 1 2 steps per minute may be obtained As is increased other parameters internal speeds must be increased to obtain a given output step speed Using a value of 2 is usually necessary to produce smoother acceleration characteristics at Full and Half step modes The specified SPS must be doubled to recover the motor shaft speed D should not be changed while moving The power up settings are stored in NV memory This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter program mode D10 Change the divider to 10 Exit program mode Command Function Type NV Bytes Enable Control Default Immediate Program 2 Data 1 Data 2 Result Name E n 0 32 None None E Enable Control Where specifies the amount of hold current as a fraction of the running current Each step motor winding current is a function of the 3 bit sine and cosine values generated by the SMC 26X2 Current reduct
42. Non Volatile 2 Bytes Position 58 388 607 Baud Ratei eee eue 9600 470k Serial RS 422 4 Wire Full Duplex Signals Min Units RX TX 7 Vdc High Input Voltage Vdc Line Input Current 0 8 mA Party Select 3 Vdc External Terminator Ohms Threshold J3 Input Signals Limits Home Go and Soft Stop J5 Input Signals Ports 1 2 and 3 Jog 1 Jog 2 Jog Speed Step Direction Signals Units VIO Supply 73 7 5 28 V Threshold 25 Input Voltage 0 3 Vdc Input Current 0 5 VIO 10 mA VIO 4 7 volts using internal supply J5 Output Signals Ports 4 and 5 open collector with 10k pull up s to 5 volts LO Signals Min Units Outputs Ports 4 and 5 0 7 Vdc Output Current sink 6 6 Environmental Storage 45 to 85 Degrees C Operating 0 to 55 Degrees C Humidity 0 to 95 non condensing Physical Size in 5 2 x 4 13 x 1 4 Weight 8 OZ Advanced Micro Systems Inc www stepcontrol com gas USER MANUAL REVISION PORTS ETC
43. Ps x TRAVEL DISTANCE IN STEPS Note The default value of K is 5 Accel 5 Decel To modify the ramp slope it is always necessary to enter two 2 data values from 0 to 255 corresponding to the desired slope for motor acceleration vs deceleration The value of can be proportionally changed if the microstep resolution command or Divide Speed D command is increased The command can be issued 1 As part of a setup 2 In an application program 3 As User defined defaults at reset This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter the program mode K 100 50 Change the acceleration ramp to 100 and the deceleration ramp to 50 P Exit program mode Ua www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Next Trip Point Port Output Default Program 5 k Mnemonic Data 1 Data 2 Result Next Trip Name k n Position 8 388 607 Port 0 63 None k lower case K Trip Output Value Actual values are determined by the hardware configuration The latency described in use of the command can be avoided via use of the i and both lower case commands Both of these commands implement a trip mode similar to the T command but there a
44. State Go to P2 P3 HEX 1 1 1 1 0 256 0 1 1 1 1 272 1 0 1 1 2 288 0 0 1 1 3 304 1 1 0 1 4 320 0 1 0 1 5 336 1 0 0 1 6 352 0 0 0 1 7 368 1 1 1 0 8 384 0 1 1 0 9 400 1 0 1 0 416 0 0 1 0 B 432 1 1 0 O 448 0 1 0 0 464 1 0 0 O 480 0 0 0 0 496 The physical input ports are internally inverted as part of the address computation State 1111 is defined as a high or 5v on port 1 through port 4 Commands located in address space between 129 191 will execute much faster Command Function Type NV Bytes Set Step Size Resolution Default Immediate Program 2 Data 2 Result Name H n 0 5 None None H Step Resolution This command selects step size resolution The SMC 26X2 has an internal lookup table of up to 32 bytes corresponding to 1 8 step This specifies which table is to be used Each time this command is executed the values are reset to step 1 and the armature is repositioned to the start phase Initial and final velocities may require appropriate changes The H command sets the phase switching sequence Steps per rev Sequence H Command 1 8 deg Motor Remark 1 8 Micro HO 1600 Highest resolution smoothest 1 4 Micro 800 Resonance reduced or higher resolution Half H2 400 High torque phase on 2 phase on Full H3 200 Highest torque 2 phase on 1 2 Micro H4 400 L
45. USER MANUAL REVISION PORTS ETC DCB 264 USERS GUIDE Revision Date 01 14 2014 Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC 1 2 3 4 Table of Contents laici ios Sn Sagas dn cab sic pate 1 1 Congratulations RR 1 2 Prod ct OVelVIGW ge ea 1 3 Required Hardware for Operation sessi seine innen nnns nt 1 4 ASSCIMDIY Brio 1 4 Out of the Box Quick 1 esses estas 1 5 Serial Interface UT J2 2 etit per REVERSE XE ERE 1 8 LO Connections ARAS anA 1 9 Encoder Input Option 45 1 11 Power Supply and Motor Connection 44 1 12 Baud Rate Jumpers B1 2 1 12 Specifications fe 1 13 Communication Interface essei esses estne itn tn ninth these nates 2 15 amp 422 m 2 16 Other Party Line Signals ssi sisse einen nentes tnnt strana 2 16 oL 2 17 Communication 65 1 20 002 000 000000000000000 siint sitne 2 18 Communications Software
46. ancel with the ESCape and start over Remember ESC is a global abort character Party Line Startup Advanced Micro Systems Inc www stepcontrol com gs USER MANUAL REVISION PORTS ETC The programmer can verify the presence of the axis on power up by 1 Sending a linefeed lt lf gt character 2 Sending a good name character 3 Waiting for echo of same name 4 Sending a If 5 Repeating 2 thru 5 for each axis in system Command Example The following example assumes two controllers are connected with name assignments of and The characters are echoed back to the host as a handshake function The host awaits each individual character Timeout routines should be used to prevent processor hang up Index 1000 steps for axis X Output from Host X 100 0 LF Response from named controller X 1000 LF Index 500 steps for axis Y Output from Host X Response from named controller Y 5 Read Motion Status The returned decimal value xx yy represents the motion status When both least significant bits are zero and with 3 the motion is stopped Output from Host X LF Response from named controller X xx LF Output from Host Y LP Response from named controller Y yy LF Read Position Input from Host X Z LF Response from named controller 2 1000 LF Note Response is the position data requested from axis X The handshake must be character by character c
47. and control electronics 1 microstep solid state components with higher voltage current and switching speeds One insatiable hunger of a step motor is torque output at higher speeds Winding inductance is the villain that limits speed As the windings are switched on the magnetic flux must be built up from current flow in the windings producing mechanical torque Higher step rates reduce the time available for flux to buildup and average current flow is reduced AM23_210_3 4A RMS MOTOR 1000 10000 100000 half steps sec Note The DCB 264 is rated for 40 volts only This reduced current results in reduced torque The rate of current change depends on the voltage applied across it High voltage applied across the coil will shorten the time constant Today s systems strive for low inductance motors and high voltage supplies The above curves show the increased speed that might be obtained with higher supply voltages up to 160Vdc At standstill the average motor voltage is regulated to approximately 3 Vdc A current sense circuit is used to switch off the current when it reaches the set value hence the motor power is regulated These chopper circuits operate at speeds above 20khz well above hearing limits Advanced Micro Systems Inc www stepcontro
48. antly being improved At this time a life in excess of million cycles is available To extend the life of the EEPROM in your device it is necessary to be aware of which commands of the SMC 26 perform writes to the EEPROM and eliminate those which are not needed For example the RESTORE command C 0 will retrieve the parameters from the EEPROM without doing a write If the INITIALIZE command C 1 was chosen the first 256 BYTES of EEPROM are written If you require a sequence of motions to be done without host attention break up the motions into sub groups rather than repeatedly programming the EEPROM Then use the GO from address command to execute the sub groups in the required sequence Note Use the SAVE command sparingly The SMC 26 parameters are set so quickly even in SERIAL mode that you should let the host download them Changing parameters should NOT be done by writing directly to EEPROM The SMC 26 won t recognize that it was changed and may over write them Use the commands available to set parameters Reading on the other hand is non taxing on the EEPROM The DIVIDE factor is readable at 229 OES hex Trying to read and write Initial and Slew velocities from the EEPROM will be confusing as they are stored as timer reload values Use the EXAMINE command in SERIAL mode Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC Memory Map
49. ation is contained in Section 2 Communication Interface Multi axis Serial Interface Connection BLC 51 XX SAAL TEM INTEFFACE INTERCONNECT NAOR ADAPIER CABLE 264 1 264 N www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC LO Connections J3 J5 Two connectors J3 and J5 provide user inputs and outputs All inputs are robust and can withstand voltages in excess of 28 volts VIO is used to operate the input comparator circuitry This is useful for interface to PLC s or unusual sensors The input signal threshold will be approximately 1 2 of VIO 2 5 volts with jumper installed The inputs incorporate pull up resistors 10k nominal to the VIO signal Outputs are 5 volt sinking logic signals with limited several mA current ratings For real world applications they may drive industrial relay connections with isolation Opto 22 power series relays or equivalent TTL compatible 3 to 32 volt DC control are recommended to switch high power loads Typical choices include DC60S03 05 DC and 120D10 120VAC 10 amps stocked by Allied Electronics The same company supplies a line of digital I O models G4 for more elaborate optical input and output applications J3 A seven contact connector provides inputs for the most commonly used signals This connector i
50. cedure described Set Current Using Ammeter but use the indicator marks to obtain the desired current The following table illustrates approximate current settings Adjustment Current Setting Indicator Amps Full CCW 0 1 0 375 2 0 75 3 1 125 4 1 5 5 1 875 6 2 25 7 2 625 8 3 0 9 3 375 Full CW 3 75 Note The run current may be further refined by use of the empirical method for fine tuning see Addendum About Step Motor Current Do s Don ts and Important Notes NEVER connect or disconnect motor wires while power is supplied When using a 6 lead motor be sure to insulate isolate unused wires The physical direction of the motor with respect to the direction input will depend on the connection of the motor windings To reverse the direction of the motor with respect to the direction input switch the wires on phase 1 or phase 2 of the outputs LIVE CONNECTING DISCONNECTING MOTORS WILL CAUSE DAMAGE THAT IS NOT COVERED BY WARRANTY Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC Serial Interface J1 J2 Two RJ 45 connectors provide a connection facilitating multiple axis systems This unique mini drop network allows for a single ASCII character name to be assigned and stored in the integral non volatile memory during the setup procedure
51. ctions are performed in real time The best way to illustrate the power of these commands is with an example Enter as follows PO Start programming mode 0 0 Set position to zero 9 6000 Index 6000 steps 13 WO Force wait till index complete 16 PO End program P 128 Program RAM commands 128 k 400 0 Set new trip at 400 and turn ports off 133 k 600 16 Set new trip at 600 and turn port 5 on 138 12008 Reset origin RAM 128 port 4 on 143 PO End program S Save the shadow RAM program GO Execute program Failure to store the program in shadow memory will result in loss of all commands between 128 and 192 Once they are stored they will automatically reload with every reset The following example further describes the program sequence Address Description 0 O 0 The position counter is reset to zero 4 k 200 8 The initialize command is first used to initialize the real time sequence Assume that the command 200 8 is executed at the beginning of the program The following actions take place 1 Port 4 is set on per data2 see the A command 2 The first trip position is set per Datal 200 3 A special trip program counter PC is set to 128 9 6000 Now the 6000 index command is started When the position matches 200 the command located at 128 is checked for either a or 128 k 200 0 The changes the trip position to 400 and turns all output p
52. delay is not used if the setback timeout from a prior motion is not timed out That is the motor current is still at 100 The drawback is that this function can introduce a substantial start delay The controller will remain in an idle state for the specified time The Wait command if issued while indexing as a result of an R or F command timing will NOT start until the motion has completed NV default 0 The following example program pre energizes the controller to the run current then makes a move PO Enter program mode w 25 Pre energize the controller for 250 milliseconds 1000 Move 1000 steps in the plus direction PO Exit program mode Advanced Micro Systems Inc www stepcontrol com ESSI USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Examine Settings Immediate N A X Mnemonic Data 1 Data 2 Result Display X None None Setting X Examine The Examine command produces two different responses depending on the mode of operation When NOT in the multi axis mode non daisy chain or party line the display is as follows X 5 5 I 400 V 5016 D 1 b 305 Where K Ramp up ramp down I Initial velocity V Slew velocity Dz Divide factor bz Decay Y Resolution mode n Axis name In the multi axis daisy chain or party line mode the data is returned in the following format mm LF mm model 26 Com
53. discussion here relates to bipolar chopper motors Internally standard motors have 4 windings resulting in a total of 8 wire leads Motor manufacturers supply various configurations Leads Application Connection Comment 8 Bipolar series or parallel All 8 leads are available External interconnect can be unipolar cumbersome and untidy 6 Unipolar or bipolar series Can be used with 50 copper reduced torque but increased speed possible 4 Bipolar series or bipolar parallel Series higher torque but reduced speed capability Parallel higher speed with lowered torque 5 Unipolar only Not suitable for bipolar drives See AMS model CCB 25 with programmable phase sequencing Determining the Current Value Question What is the right current value Answer The minimum value to operate reliably As the step motor current is reduced below the rated current the torque output is reduced and eventually the motor will stall The ideal current setting minimizes heating of motor and electronics increases reliability and reduces power supply requirements Motors run more quietly and resonance effects can be reduced One drawback from low current operation is that some microstep size linearity may be reduced but full or half step accuracy is not adversely affected SEXUM www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC AMPS and Wire Count and Power The rated current is specif
54. ence and a commitment to quality and support that guarantees your satisfaction This Technical Reference Guide will assist you in optimizing the performance of your DCB 264 Its purpose is to provide access to information that will facilitate a reliable and trouble free installation This User Guide is organized into the following sections Hardware Communication Interface Memory Parameters Commands and Addendum We recommend that each section be reviewed prior to installation Although the DCB 241 and supporting documentation were designed to simplify the installation and on going operation of your equipment we recognize that the integration of motion control often requires answers to many complex issues Please feel free to take advantage of our technical expertise in this area by calling one of our support personnel at 603 882 1447 to discuss your application Thank You Your AMS Team www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Product Overview The DCB 264 combines efficient bi polar chopper Driver circuitry with AMS powerful SMC 26X2 Microcontroller on a single heat sink mounted board to operate small to mid size stepping motors It is designed for low cost O E M applications yet include many enhanced operating features found in products costing much more Features 4 0 amp phase max chopper drive output SMC 26X2 intelligent controller e Single 24 to 40 volt
55. g the system and can should be used for all AMS products When the best values are determined they can be used in future production providing tolerances are sufficiently close In this sequence index commands must be executed at the actual worst case operating speeds and conditions 1 Reduce the current by CCW rotation of the SIN COS potentiometers by equal increments until operation becomes erratic or undesirable 2 Increase the current gradually until reliable operation is obtained Then increase the current equally by 10 to 20 Both potentiometers must be adjusted by equal amounts Periodically or on completion the E32 command can be issued so that the appropriate SIN COS pot can be adjusted placing the balance LED at the on off threshold Periodically use the sequence to balance the two SIN COS currents In any of these adjustments monitor motor temperature and insure that excessive heating does not occur Larger motors require more time for temperature to stabilize When a low hold current and short run cycle is used heating effects are reduced Optimum amperage is the lowest current where the application indexing is reliable Sometimes higher currents still below the motor ratings will decrease reliability Mews www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Application Notes V1 10 Double Speed Characteristics The X2 speed Version 1 10 and later in
56. g pin J5 9 is held low The values are multiplied by 30 to determine the actual step rate in steps per second Setting values of 0 will disable the jog Speeds are divided by the D value The power up settings are stored in NV memory This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enters program mode BOO Disable jog switches 100000 Move 100000 in the plus direction wo Wait until move is complete B 30 100 Re enable jog switches P Exit program mode Command Function Type NV Bytes Set Slow or Fast Decay Default Immediate Program 2 b Mnemonic Data 1 Data 2 Result Name b 0 255 Speed Threshold None b lower case B Fast and Slow Decay The DCB 264 has been redesigned to add both Slow and Fast decay When there is no motion stopped the decay will always be slow The threshold defines a motor speed where slow decay changes to fast decay during acceleration and switches back to slow decay during deceleration The threshold will occur at an RPM where step resolution is taken into account Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC Threshold Value Threshold 1 2 SPS 1 8 SPS 0 Fast 25 650 2400 50 1300 4800 100 2400 9600 150 3700 14000 200 5000 19200 255 Slow
57. he need for special echoed character software it can be used in Windows applications where either the machine or software is slow and or the operating system prevents direct programming of input or output instructions PARTY LED 128 CHAR RECEIVE MOVING BUFFER RS 232 PARTY LINE SIN 11 Intelligent Serial Line Converter Advanced Micro Systems Inc www stepcontrol com Way USER MANUAL REVISION PORTS ETC There are several commands that the SIN 11 can execute including Scan for controller present required initialization and Wait until motion is complete one or all controllers On power up the SIN 11 all start in the Single Controller mode where characters pass directly between the RS 232 and RS 422 bus However the SIN 11 monitors the ASCII stream for the presence of the special amp character several other trigger characters are also available When the 62 is detected the CPU awakens and performs several actions 1 Isolates input RS232 from output RS422 2 Asserts the party select signal pin 8 to the condition used by many 3 Emits a software reset C to the controllers 4 Emits a P control P to the controllers which places the DCB 261 in party line mode 5 Scans and maps party line controller into memory 6 Reports the named controller as found The SIN 11 is now configured as a line input device that is the host computer can print a complete text
58. ied based on the rated power input watts of a given motor A Basic 8 Wire Motor While never actually used as 8 individual coils virtually all permanent magnet motors have 4 internal coils All common configurations can be constructed from the 8 wire motor Let us assume that each of 4 windings of the 8 wire motor has the following specifications Current 1 amp Resistance 2 0 ohm each of 4 coils Voltage 2 0 volts Inductance 4 4 mH The power per winding is or 2 x 2 x 1 4 watts 9 9 x 4 coils 16 watts total for this motor A Basic 8 Wire Motor These values correspond closely with a NEMA size 23 4 wire motor designs These following examples will configure the basic 8 wire motor into four real life connections 4 Wire Parallel The high speed model implements parallel coil connection Two coils connected in parallel result in the following for each of the two phases Parallel Resistance 1 ohms Parallel Inductance 2 2 mH Current 2 83 amps 8 watts phase Watts per phase 8 x 2 phases 16 watts total 4 Wire Parallel B 4 Wire Series Changing to a series design we have two pairs of two coils connected in series Each has Series Resistance 4 ohms Inductance 17 5 mH The rated current is now 1 amps 4 Volts Watts per phase 8 x 2 phases 16 watts total Note that the series inductance is FOUR times the parallel design Inductance limits the obtainable speed since the time
59. imit Polarity The input levels on the travel limit sensors are inverted allowing source type sensors such as hall effect devices to be used This command cannot swap the limit directions When this bit is set motor travel in either direction is inhibited unless the appropriate limit inputs are forced low Create Step amp Direction Outputs This option converts port 4 to a step output and port 5 to a direction output These signals can be directed to slave driver s to control additional motors if required The step outputs are short negative going pulses The internal option flags are set as follows Flag Data Function 0 1 Invert input limits Both inputs must be held low to allow a move 1 2 Converts output of port 4 and 5 to step and direction signals 2 4 Converts output of port 5 to a hardware moving status signal 3 8 Gentle jog stop jog decel Large overshoot if K is high value Ports 4 and 5 reassignment Flag Limit Polarity Port 4 Port 5 Low input 4 5 1 High input 4 5 2 Low input Step Dir 3 High input Step Dir 4 Low input 4 Mvg 5 High input 4 Mvg The step and direction outputs when used programmatically can be a very powerful command It allows the user to send step pulses and a direction bit to a stand alone driver moving it at the same rate and direction as the DCB 264 An example is as follows PO Enter program mode
60. instruction Program execute Decelerate then terminate execution During PENDING PERIODS that are a result of multiple Constant Velocity commands inter speed ramping deceleration will be delayed until the previous ramp to speed has been completed Jog Speeds Homing Jog input and home speed is a special case of the constant velocity command Inter speed ramping is used if the programmed jog speeds are above the initial velocity Homing does NOT employ a deceleration ramp on reaching the home sensor Note In any mode jogging and command reception are mutually exclusive That is a command canNOT be loaded while jogging and jogging canNOT be performed until the last command is complete A command starts with the reception of the first command character Command Cycle Examples Index Cvcle Resulting From R Commands SOFT STOP RESULT EXECUTION ENTRY lt COMPLETION _ gt Queued Index Cycle Resulting From R Commands www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC 1 SOFT STOP INTERRUPT ENTRY X RESULT COMPLETION 2 1 N M COMPLETION 1 PENDING TIME 2 EXECUTION AND 2 Constant Velocity Cycle Resulting From M Command ABORT 7 SOFT STOP f RESULT EXECUTION y V ENTRY 7
61. ion to the motors is achieved by reducing the binary output values Note that the reduction can only be approximate E Value Hold Current 0 0 windings off 1 25 2 50 3 100 16 50 temp 32 100 temp Windings off prevents generation of EMI RFI noise Note the armature position can shift slightly while in a reduced current mode The 100 value is determined by the external control and driver circuit usually with a potentiometer The E value is stored as a default in the NV memory The calibrate 16 32 values are temporary and are not stored in NV memory Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC The special calibrate mode is designed to assist in current calibration Both phase currents are set to the same values E 16 will set the average RMS value E 32 sets both phases to maximum PEAK value This is a temporary condition over riding the phase value When stepping resumes the phase currents assume their normal values The ESC key will cancel this mode The peak value corresponds to high torque full step values H3 H4 while the RMS can be used with microstep calibration Current set procedure 1 Insert an ammeter in series with phase 1A 2 Rotate both SIN and COS pots fully CCW minimum or off 3 Apply power to driver 4 Enter the E32 command 5 Slowly increase the COS pot until the desired curre
62. key Apply Power Less than 0 1 amp is drawn for metered supplies Depress the SPACE BAR key and the DCB 264 should sign on Troubles 1 Nothing happens 1 Check connections 1b Check for correct COM port Check switches 1d Inspect RJ 45 connectors for bent contacts 2 Garbage characters appear 2a Verify baud rate and serial parameters 2b Check the RJ 45 connectors cable ground continuity Advanced Micro Systems Inc www stepcontrol com pS USER MANUAL REVISION PORTS ETC After Sign on Enter X CR The parameters are displayed The last characters displayed will be n followed by the axis character usually A To change the name Turn off power allow discharge Turn on power Depress the desired name key for instance B Depress the SPACE BAR The DCB 264 will sign on Enter X lt cr gt The new name B is displayed Issue the S lt cr gt save command The name is stored in memory Depress Ctrl C key soft reset followed by the SPACE BAR Sign on occurs Enter X lt cr gt to double check the name Connect the Motor Turn off the power and allow plenty of time to discharge any capacitor Use a voltmeter if necessary 1 Connect phase 1A of the stepper motor to J4 pin 6 2 Connect phase 1B of the stepper motor to one side of the bridge rectifier in the ammeter 3 Connect the other side of the bridge rectifier to J4 pin 5 4 Connect phase 2A
63. l com 5 USER MANUAL REVISION PORTS ETC The following is an abstract from Control of Stepping Motors a Tutorial linked from www stepcontrol com by Douglas W Jones University of lowa Department of Computer Science http www cs uiowa edu jones step index html Small stepping motors such as those used for head positioning on floppy disk drives are usually driven at a low DC voltage and the current through the motor windings is usually limited by the internal resistance of the winding High torque motors on the other hand are frequently built with very low resistance windings when driven by any reasonable supply voltage these motors typically require external current limiting circuitry There is good reason to run a stepping motor at a supply voltage above that needed to push the maximum rated current through the motor windings Running a motor at higher voltages leads to a faster rise in the current through the windings when they are turned on and this in turn leads to a higher cutoff speed for the motor and higher torques at speeds above the cutoff Microstepping where the control system positions the motor rotor between half steps also requires external current limiting circuitry For example to position the rotor 1 4 of the way from one step to another it might be necessary to run one motor winding at full current while the other is run at approximately 1 3 of that current Motor Choice The
64. mand Function Type NV Bytes Read and Display Current Position Immediate 1 7 Data 1 Data 2 Result Name Z Readout Mode 0 1 None Position Z Read Position During motor move commands the value will change depending on the direction of travel The counter is programmable by the O command The 5 26 2 has the option of continuous readout via the serial interface The Z 1 enables this operation Any change in position causes the position data to be sent to the serial output The readout is terminated by a carriage return only The readout mode will be defaulted as if a SAVE command is issued This mode is only practical using single axis protocol The controller is factory set with the following program example PO Enter program mode 1001 Move 1001 steps in the plus direction WO Wait until complete 1000 Move 1000 steps in the minus direction WO Wait until complete Z0 Display step position G00 Go to location 0 and run stored program P Exit program mode IEE www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Read NV Memory Immediate N A Mnemonic Data 1 Data 2 Result Displayed Name Address 0 2047 Sequential Bytes 0 255 Values Read NV Memory The user may display any byte of the 2047 byte external NV memory The address specifies the desired location to access At addresses 128
65. might be more descriptive it can take a longer time to scan Recommended names are upper case A through Z and lower case a through z Non valid names are summarized in the table below Non valid axis names ASCII HEX ASCII HEX 5B 03 5 CR 0 5D LF 0A 5E 40 60 Assign the axis name 1 Reset the controller to cycle power 5 volts or enter control C 2 Type the single case sensitive name character once only 3 Follow the name with a SPACE BAR The sign on message will appear 4 Enter the X CR command The name will show at the end of the echoed line 5 Issue the S lt CR gt store command saves name in NV memory 6 Reset as in step one Advanced Micro Systems Inc www stepcontrol com gl USER MANUAL REVISION PORTS ETC 7 Sign on with the space character 8 Use the X lt CR gt command to verify the proper name The name is now stored in the NV memory Note The controller will accept any character as a name including control characters Two common error characters show up as either a space C heart symbol In either case reset and do it over The unit is ready to operate in the current single axis mode or be switched over to party line mode Simple Command Examples The single axis mode can be used to familiarize the designer with some commands 1 Issue the command 1000 CR The motor should move
66. mmand line may be edited using backspace as characters are typed 2 The line may be canceled using lt ESC gt 3 The command line is limited to 15 characters 4 Only one command may be entered per line 5 A space is optional between the command and first number 6 A space or comma must be used to separate two parameter commands Although not necessary it is desirable to have a motor connected to the driver This provides gratifying feedback Reference the Hardware Section for specific motor connections The motor characteristics should match the drive capability If the motor refuses to move in response to an index such as 1000 steps the control parameters may not be correct This stalling manifests itself in partial movements of the motor shaft and audible sounds Ensure that the load is not too heavy Tweaking parameters like motor current velocities I and V and ramp slope K can usually coax the motor to action Axis Name Assignment Whenever the application is controlled via a host computer the proper protocol handshake MUST be used Either the programmer must write the necessary serial echoed character by character software driver or implement a SIN 11 for the proper handshake In any case a unique name must be assigned and stored in the NV memory EVEN A SINGLE ONE AXIS SYSTEM REQUIRES PARTY LINE OR DAISY CHAIN PROTOCOL AMS software searches for axis names starting with A B C etc While X Y or Z
67. n on with the software version number Vx xx If not enter C Reset and strike the SPACE BAR key again If sign on does not occur a Verify all connections b Check your comport set up Striking the ENTER CR key should result in an echo of characters further indicating communication is established Dumb communications mode you can do a number of useful things Assign name character not necessary if using daisy chain Tweaking speed and acceleration parameters Experimenting with commands Development of program sequences Storing motion sequences for non hosted applications Note Single axis mode should never be used in a computer or PLC hosted applications If the design has a single axis then the daisy chain method can be used with either RS 232 or RS422 Single axis functions are suited for programming using the keyboard with visual screen feedback Examine Command Ia www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC The Examine command X lt CR gt will display a set of parameter values that were last stored into non volatile memory These parameters may be modified using the appropriate commands then stored in non volatile memory as the new defaults Please see the command description in this manual for details The values shown assume there are no input connections or special modes such as inverted limit switches Some Rules 1 The co
68. ne TRACE mode is turned on A display of the current step being executed is produced while the program is running The list format is the same as that of the command The TRACE mode will be in effect until the program execution terminates or until an embedded without the trace attribute is encountered The controller is factory set with the following program example PO Enter program mode 1001 Move 1001 steps in the plus direction WO Wait until complete 1000 Move 1000 steps in the minus direction WO Wait until complete Z0 Display step position G00 Go to location 0 and run stored program P Exit program mode The address range is 2047 depending on NV memory capacity Address locations between 225 and 255 are reserved for parameter storage and may not be used in programs The SMC 26X2 also features a special case for the Go instruction SPECIAL CASE Go If the address is specified as 2048 above the last NV memory address the SMC 26X2 will read the input ports then branch to an address based on the state of input ports 1 through 4 The target address starts at the second page of program memory starting at address 256 with 16 character byte intervals This instruction is analogous to on PORT go to Advanced Micro Systems Inc www stepcontrol com IS USER MANUAL REVISION PORTS ETC Address of Input Port
69. nnector Typical user input circuit A higher VIO i e 24 volts from a PLC with 24 volt drivers would increase the logic threshold to 12 volts providing better noise immunity Output Ports Two user output ports are provided on the DCB 264 utilizing a 5 volt output circuit capable of sinking maximum 16 mA DC 5 Vdc 16 mA max Buffer Typical output circuit The default off condition is non conducting 5 volts when a port is turned on such as the 16 command The output will conduct to zero volts Ground at up to the rated current of 16 mA DC lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Encoder Input Option J5 THIS PRODUCT DOES NOT SUPPORT ENCODER FEEDBACK The DCB 264 is available with step and direction or encoder inputs Depending on the option either step and direction or optional encoder phase A and phase B can be used Several features and cautions must be observed 1 The position counter will follow the input step direction or A B inputs The limit switches function with direction sensitivity The minimum pulse low time is 7 microseconds Stepping occurs on the rising edge of the pulse The direction must be setup prior to the rising step edge Direction must be held for gt 10 microseconds after the rising step edge Motion commands will conflict with these inputs The maximum step rate is 16 000 pulses per second 9o cJ cA
70. nt is obtained Never exceed the maximum drive rating 6 Increase the SIN adjustment until the LED just switches on or off 7 Enter ESC to enter the holding current state Now the currents in both windings will be balanced Note that the E32 setting for a prolonged time can cause excess current hence heating in some motors Command Function Type NV Bytes Find Home Immediate Program 3 Data 1 Data 2 Result Name F n d SPS 40 36 000 Direction 0 1 None F Find Home The special Home algorithm is intended to eliminate mechanical hysteresis typically found in many switches encoders and is generally present in the form of system mechanical backlash The SMC 26X2 microprocessor implements an intelligent homing algorithm whereby home is always approached from the same direction based on the initial logic state of the Home switch and the value 0 or 1 assigned to the d direction byte Normally Open Home Switch The Find Home step velocity using a normally open Home switch actuation from logic high to low is programmable over the entire slew velocity available from 40 36 000 SPS Once the Home switch is encountered the system inertia typically overshoots the exact switch transition point so that the controller changes the direction signal and shifts the step speed down to the initial parameter velocity This direction reversal and speed reduction continues until the exact
71. onfirmation Example the 1000 command Host sends X host waits for X echo Host sends host waits for echo Host sends 1 host waits for 1 echo Host sends 0 host waits for 0 echo Host sends 0 host waits for 0 echo Host sends 0 host waits for 0 echo Host sends LF host waits for L echo Example Read Position Host sends X host waits for X echo Host sends Z host waits for Z echo Host sends LF host waits for LF echo While waiting for the LF the host receives the 1000 data and stores it into the position value Anatomy of Instruction Execution This information is intended to familiarize the programmer with the internal operations involved in executing a command ewe www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC For each MOTION command there are four cycles Entry Execution Result and Completion Other commands have three cycles Entry Execution and Result In the idle state the controller continually tests for jog go or command input The following describes each operation that takes place on receipt of a command Cycle 1 Entry A Serial command and data information is placed in a command line buffer as received Editing is permitted in SINGLE axis mode ESCape aborts operation and returns to idle state A carriage RETURN Line Feed for Daisy
72. orts off high logic voltage This is executed while at the exact 400 position The program counter is advanced to 133 133 k 600 16 This is executed like the previous 128 new trip 600 ports 4 and are turned on and the program counter set to 138 138 1200 8 The restart command performs the same actions as the initial k 200 8 command Port 4 is turned on the trip is set to 200 and program counter is reset to 128 Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC ONE IMPORTANT ADDITIONAL ACTION is performed The position counter is reset to ZERO and causes the repeat of trips 200 400 and 600 Notes 1 The physical motor travel will be 6000 steps even though the position counter has been reset 10 times 2 The cycle will repeat 10 times 3 The position counter ends up at zero Command Function Type NV Bytes Loop on Port Program 4 Data 1 Data 2 Result Name L a c 0 2048 Condition 0 9 None L Loop on Port Loop on Port will test the specified input port for the required condition c If the port is NOT at the required level then the program will jump to the specified address If the address is to a previous instruction then the program will loop until it becomes the specified level The program will then continue to the next step Input ports are available as follows Port Low High
73. ow torque half step Wave H5 200 One phase on full step This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter program mode H1 Change the resolution to step P Exit program mode www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Set Initial Velocity Default Immediate Program 3 Data 1 Data 2 Result Name I n SPS 40 36 000 None None Initial Velocity This parameter sets the initial velocity in steps per second This is the first speed used at the beginning of acceleration It must be slow enough that the motor can start without loosing steps stalling As with all velocity parameters the initial velocity is divided by the divide factor D Using the examine X command displays updated velocities The initial velocity applies to 1 All index commands 2 First execute in constant velocity 3 Decelerate to 0 in constant velocity or soft stop 4 Final phase in home command if home speed is above initial velocity See Default Table in the beginning of this section This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Follo
74. p on Port and Soft Stop commands is as follows PO Enter program mode M 2000 Move at a constant step rate of 2000 SPS L00 Loop to memory address location 0 until port 1 is low Decelerate and stop program execution Exit program mode Command Function Type NV Bytes Set Origin Immediate Program 4 O Mnemonic Data Data 2 Result Name O Position 8 388 607 None None O Set Origin This command sets the internal 24 bit position counter to the specified value Zero position for the RELATIVE mode is 0000 Signed numbers are used Hardware reset clears to 0000 The position counter is incremented or decremented for all motion commands During any index the position counter is used only for trip value comparison This counter may be changed without affecting the distance of travel in process This command may be implemented within a program It is very useful when used in conjunction with the Find Home and Relative Positioning commands Following is an example PO Enter program mode F 10001 Find the Home switch in the 1 direction at a step rate of 1000 SPS Set origin and counter to 0 1000 Move to position 1000 relative to 0 Exit program mode www stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Program Mode On Off Immediate N A Data 1 Data
75. re reset all outputs are set off high The command A 128 will cause ports through 5 to increment in a binary fashion The command A 129 will read and display the port data Port Data 1 2 4 8 16 29 Read Port Reading the port data provides the following result information Data__ Cause 1 Low input present on port 2 Low input present on port 2 4 Low input present on port 3 8 Low input present on port 4 16 Low input present on port 5 www stepcontrol com Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Programming Example The following example program shows how to turn on an output port Some uses for this could be illuminating an LED to signal a sequence is complete or to operate a valve PO Enter program mode A8 Turn on port 4 W 500 Wait 500 milliseconds 0 Turn off all ports PO Exit program mode Note the actual ports usable for output is determined by the hardware design AMS products generally define ports 4 5 amp 6 as outputs Command Function Type NV Bytes Set Jog Speeds Default Immediate Program 3 B Mnemonic Data 1 Data 2 Result Name B nl n2 Slow Speed 0 255 High Speed 0 255 None B Set Jog Speeds These two numbers represent the speeds to use for jog inputs The first is usually a lower speed The second number is used when the high speed jo
76. s If the design has a single axis then the daisy chain method can be used with either RS 232 or RS422 Single axis functions are suited for programming using the keyboard with visual screen feedback EBEN lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC 2 Party Line Mode Party line mode is intended for computer controlled designs A computer usually a PC can address one or more axis using a mini drop network implemented with 5 network cable with RS 422 485 Between and 32 axis are configured as slaves Unlike the Dumb mode a proper character by character echoed protocol is necessary for proper operation The SIN 11 adapter simplifies this protocol Serial adapter used SIN 11 At start up 1 Issue an amp command to enter Party Line mode 2 The host computer interrogates and records axis name s 3 Daisy Chain Mode not recommended for more than axis This older protocol is similar to the party line mode but RS 232 protocol is used Because it involves special wiring of RXD to TXD signals it should only be used with a single axis design When multiple axis are implemented they are less reliable communication speeds are slower and troubleshooting is difficult The only advantage is that the name can be dynamically assigned by the host computer on power up sequence and the computer protocol can be implemented with the lowest cost RS 232 adapters Serial adapter u
77. s and maintains compatibility with EIA RS 422 and features Multi drop serial bus Full duplex connection receive data is one pair of wires and transmitted data a second pair e Zero to five volt differential signals for high speed and robust noise rejection over long distances e Data speeds to 100K baud Up to 32 controllers from one COM port Cable network length to 1200 meters 4000 ft Use for single controller dumb terminal mode RS 422 Connect COMPUTER Communication hardware requires three components 1 A serial adapter RS 232 to RS 422 2 A cable s supplied with adapter 3 A terminator supplied with adapter Other Party Line Signals In addition to the 4 serial data bus wires several other signals exist in the AMS party line interconnect 1 GND pin 2 is common for all devices controller All power supply commons are connected to prevent high common mode voltages Please note that the power common is generally connected to the case return 2 5 Volts pin 7 is available to power the serial adapter from the first controller 3 Party Select pin 8 is used for other products that require this input RS 422 485 BUS DROP SIN 11 RS 232 RS 422 AXIS 1 ADAPTER MODULE AND CABLE SERIAL INPUT PIN 7 45 VOLTS OMITTED INTERCONNECT TERMINATOR REQUIRED FOR CABLE TO AVOID POWER SHARING SERIAL OUTPUT OF THE LAST BETWEEN AXIS WHEN POW
78. s mapped as follows Pin Signal Description 1 Home input Used with the F ind home command J3 2 Limit A input Inhibits motion in direction only Te TE SET EET 0000000 3 Limit B input Inhibits motion in direction only 4 Go input Start stored program sequence at location 0 x 5 Soft Stop input Stop stored program sequence amp Gnd Power common 7 VIO 5V out or VIO input J5 In addition to Jog Step Direction or Encoder three input ports are available that can test and branch to multiple motion sub routines Two programmable outputs are also available to drive solid state relays and other devices Pin Signal Description 1 Port 1 Input 2 Port 2 Input 3 Port 3 Input 4 Port 4 Output 5 5 Port 5 Output 100000000000 6 Gnd Power common 7 5v Vcc logic power 8 Jog 2 Input t 9 Jog Speed Input 2 a 10 Jog 1 Input 11 X Step or Encoder A Input 12 X Direction or Encoder B Input Note Outputs are 5 volt logic with 10k pull up to 5 volts Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC Input Ports Step Direction Ports 1 2 3 Jog 3 Limits Home Go and Soft Stop High Voltage Input 5 Internal Power supply 5 V Pino pViO Pino gt 5 to 6 VDC Internal 6 30 Vdc Comparator 0 4 Input Pino tected GND Pino Co
79. s supplied with a mating cable and terminator if required Equipment Check List 1 A computer with available serial port 2 Installed serial communications software such as Hyperterminal comes with Windows up to XP or AMS Cockpit can be downloaded for free from the AMS web site A DCB 264 A SIN 9 SIN 11 serial adapter SIN 11 recommended A 24 to 40Vdc power supply with adequate output power A compatible stepper motor A DC amp meter with bridge rectifier circuit A cooling fan or heat sink as necessary Small screwdrivers for trim pot adjustment gt WW The DCB 264 will operate at voltages of 12Vdc minimum but it is not recommended due to the lower performance and higher power supply amperage demand Preliminary Settings DCB 264 1 Remove any baud rate jumpers 2 Adjust SIN and COS pots fully counterclockwise minimum current Basic Set up 1 Connect the SIN n adapter to serial input J1 of DCB 264 with RJ 45 cable 2 Connect the SIN n DB 9 end of the serial adapter to the computer RS 232 serial port 3 Connect your power supply to the power connector J4 74 Pin is negative GND J4 Pin 2 is positive VMM Improper power connection will destroy the electronics GND is also connected to the base plate Motor connection is not necessary at this time Configure Serial Communications Full duplex 9600 baud no parity 8 bits 1 stop bit Note lt cr gt is the enter
80. sed SIN 9 At start up 1 The host computer emits axis 1 name receives ending axis name 1 Communications Software AMS offers the AMS Cockpit software that can be downloaded for free from the AMS website to assist customers in the implementation of their projects It is compatible with Windows Operating systems In addition to enabling communication it includes some customized functionality such as the downloading of programs into the non volatile memory of the controller This code is not intended to operate as an end user application program but rather to allow familiarization evaluation and programming of the AMS products AMS Cockpit will work with almost any IBM PC AT compatible computer When using the intelligent serial adapter SIN 11 it is possible to use virtually any program that enables transmitting and receiving of data via the serial port An example is HyperTerminal by Microsoft which is delivered with Windows Operating systems up to XP Unfortunately it is no longer included in Vista and Windows 7 The default baud rate for all AMS products is factory set to 9600 baud When using a third party software to communicate with the controller it needs to be ensured that the port settings are as follows data rate 9600b s data bits 8 stop bits 1 parity none flow control hardware This represents the default for most PC s Serial Interface Using AMS Cockpit 1 Attach the 9 pin connector end of
81. status that exists within the SMC 26X2 A non zero value indicates moving vwww stepcontrol com lAdvanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Write to NV Memory Immediate N A Mnemonic Data 1 Data 2 Result Name a d Address 0 2047 Data 0 255 None Write to NV Memory This command allows the programmer to modify any location in the memory Special step sequences may be entered and all initialization constants may be changed Reference Memory Map in the beginning of this section for specific locations The life expectancy of the NV memory may be affected by this command This command complements the Read NV Memory command Addresses 128 191 in the NV memory are always written to not the RAM Command Function Type NV Bytes Terminate Program Immediate 2 nemonic ata ata esult Data 1 Data 2 Resul Status Name Byte Selective Termination This command pipend vertical dash key Shift can be placed at a point to terminate equivalent to ABORT the program that was started via the G command or hardware GO input The Terminate command may be used to individually ABORT a single axis in multiple axis systems when the global ESC command is not appropriate Program Example PO 00 Set Origin Zero 11 400 Initial SPS 4T 1000 128 Set a Trip 9M 5000 Start Motion 121 10
82. stop using ramp parameters If running a program when this command is entered the program will terminate after deceleration The soft stop may be embedded in a program without causing termination Advanced M Systems Inc www Stepcontrol com 4 33 USER MANUAL REVISION PORTS ETC An example of this command within a program in conjunction with the Loop on Port command as explained later is PO Enter program mode M 2000 Move at a constant step rate of 2000 SPS 100 Loop to memory address location 0 until port 1 is low Decelerate and stop program execution Exit program mode Command Function Type NV Bytes Reset Controller None N A A C Mnemonic Data 1 Data 2 Result Name None None None AC Reset Resets controller to power up condition waiting for start sequence It is analogous to Ctrl Alt Delete reboot the computer All outputs are set high defaults are reloaded from NV memory and position is set to zero Command Function Type NV Bytes Read Write to Ports Immediate Program 2 2 A Mnemonic Data 1 Data 2 Result Name A n 0 129 None Port Data A Port Read Write Input data ranging between 0 and 63 is complemented then output to port through port 6 Port 1 is the least significant bit Binary combinations of bits will turn on more then one port Example A 7 will set ports 1 2 and 3 to an ON condition At hardwa
83. the serial adapter to the desired COM port of your PC AT compatible computer 2 Connect the other end of the cable assembly looks like a telephone connector to the mating connector labeled Serial Input on the AMS device 3 Install a terminator plug TERM 2 into the connector labeled Serial Output of the last axis The controller will work without a terminator plug however reliability may be compromised based on the environment noise and length of the interconnect cables 4 Apply power to the device Reference Hardware Section 5 Start AMS Cockpit after downloading and installing it from the AMS website www stepcontrol com Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC Title Bar gt AMS COCKPIT Version 10 4 SIN 11 Dumb Terminal File Configure Menus 6362 16C 400 v1 10 2559 Analog Option notinstalled Encoder Option notinstalled Reset Control Buttons SIN 11 Recall AMS Home Page Text Product Manuals Window Dumb Terminal Mode RX TX SIN 11 was Found Mode Indicator Action and Status Bar Error Message Bar Footer Main Screen of AMS Cockpit Software Sign On Dumb communications mode single axis mode must be used for name assignment This mode is the default when starting up AMS Cockpit or HyperTerminal Only one axis may be connected to the PC Strike the SPACE BAR key The controller should sig
84. tial Velocity 1 800 SPS Slew Velocity V 10 000 SPS Divide Factor D 1 Ramp Slope 5 Decay threshold b 30 Jog Speeds B 3 20 90 600 Trip Point T Off Mode H 1 4 micro step Auto Power Down E Chop off zero current Limit Polarity H Low assert Auto Position Readout Z Off Name after reset Unchanged User Programs 0 191 Cleared Turbo Ram The SMC 26X2 has a small dedicated memory area called Turbo Ram There are 64 bytes which reside between address location 128 and 192 Instructions written here during program mode use real internal RAM rather than EEPROM in order to achieve these advantages 1 Very fast execution EEPROM access time is 1 Ms or more per byte 2 No wear and tear on the EEPROM 3 The trip service routine executes at address 160 Macros may be downloaded directly into this area and executed as frequently as desired Programs in this area are stored in corresponding NV memory and down loaded at power up making an effective shadow RAM Command behavior between address locations128 and 192 Q List from RAM P Program to RAM 5 Copy to EEPROM Write to EEPROM X Read from EEPROM C1 Clear EEPROM reload register Advanced Micro Systems Inc www stepcontrol com USER MANUAL REVISION PORTS ETC 4 Commands Ue www stepcontrol com Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC Command Format Description
85. tor V D or 24000 2 12 000 SPS With the D 2 divider the full output speed range is approximately 20 to 20 000 SPS See Default Table in the beginning of this section This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter program mode 10000 Change the slew velocity to 10000 SPS Exit program mode Command Function Type NV Bytes Wait Milliseconds Immediate Program 3 W Mnemonic Data 1 Data 2 Result Name W n 10 ms 0 65 535 None None W Wait The controller will remain in an idle state for the specified time The Wait command if issued while indexing as a result of an R or F command timing will NOT start until the motion has completed Wait until motion complete Using this command with zero time can provide an alternate method of determining motion If issued while running at constant velocity the time out will occur without waiting for motion to cease High speed step operation during Wait commands will increase the delay time by as much as 14 times the normal value The result will NOT be available until the delay is complete www stepcontrol com Advanced Micro Systems Inc USER MANUAL REVISION PORTS ETC The following example program makes a move waits for motion to complete then turns on an output port
86. troduces several new characteristics 1 Step rates in excess of 36K steps per second 2 Faster command execution 3 Intelligent current decay control 4 Redirect ports 4 and 5 to Step and Direction outputs mode command 5 Redirect port 4 as a moving output mode command Note that the minimum step rate is now 40 SPS Slower step rates are obtained using the D divide command The I V and M commands now have a range of 40 to 36 000 SPS Values entered below 40 SPS will be limited to approximately 40 SPS Values above 36 000 SPS are accepted and the SPS will increase to a 42 000 SPS ceiling and the acceleration ramp will become non contiguous As with all models the top speed is reduced when trip points are introduced The best resolution is generally 1 4 step default It provides smoother operation with diminished resonances and is a good match with the acceleration ramp Full and Half Step Recommendations The acceleration ramp profile is slightly modified over previous designs to accommodate the increased dynamic range Consequently the number of acceleration points that would be used with full and half stepping are reduced from previous low speed versions This may manifest itself in a tendency to stall during ramp up Using the command D2 divide all rates by 2 may provide a smoother acceleration deceleration To obtain an equal shaft RPM your specified speeds must be doubled i e 5000 becomes V 10
87. wing is an example PO Enter program mode 1100 Change the initial velocity to 100 SPS Exit program mode Command Function Type NV Bytes Restart Special Trip Default Program 5 l Mnemonic Data 1 Data 2 Result Next Trip Name Position 8 388 607 Port 0 63 None i lower case I Restart Special Trip See lower case command Actual values are determined by the hardware configuration Command Function Type NV Bytes Jump to Address Program 4 J Mnemonic Data 1 Data 2 Result Name J a n Address 0 2047 1 Times 0 255 None J Jump to Address a n 1 times This loop command allows repetition of a sequence up to 255 times The address specified MUST be a valid instruction address and is usable only within a program This instruction may NOT be nested because only one jump counter is available for use at any given time This command may be implemented within a program Following is an example PO Enter program mode 1000 Move in the plus direction 1000 steps J03 Go to and run command at location 0 4 times P Exit program mode Advanced Micro Systems Inc www stepcontrol com EZ USER MANUAL REVISION PORTS ETC Command Function Type NV Bytes Set Ramp Slope Time Default Immediate Program 3 K Mnemonic Data 1 Data 2 Result Name nl n2 Accel 0 255 Decel 0 255 None K Ramp Slope Specify the

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