Au_Controllercoder_Manual 4.12 legacy
Contents
1. disable 1 enable runs at reset power P 00000836 change Encoder position o 0 output a 5 usec pulse on Out5 for each motor step s M slave address A Z or a z using Simple Serial Bus V 1 View extra Encoder data v 1 view each motor step pulses while the motor is stepping 0 off 1 on If on each motor step CW is an m CCW is an M Use for external monitoring of position and speed real time 57 6k Baud limits top speed to 5 500 sps 115k baud limits to 10K 230k baud limits to 20K Character overrun occurs at higher sps so use wisely q quit and return to main command menu Simple Serial Bus connects multiple Au Controllercoders with one host PC serial port or no external computer at all The simple protocol is STX address byte data bytes ETX STX is ctrl B and ETX is ctrl C A normal Au Controllercoder address is M Master default and slaves are A Z Addresses a z are special masters which can control many slaves with or without an external PC email us for information A slave responds to commands only if a matching address and protocol is received You wire the host s transmit to the Receive of one Au Controllercoder its Transmit to the next Au Controllercoder Receive and so on and the last Au Controllercoder Transmit is wired to the Receive of the host See the Au Controllercoder Connections sheet www excitron com 3 of 10 Faster Than Fast Setting Motion Parameters All motor parameters required for sop2. X Measure and calibrate the encoder by rotating the motor exactly one revolution and storing the results in flash memory Flash memory is limited to 10 000 writes and this command is intended to only be run once or perhaps weekly if values have changed significantly Excitron ships all motors with this X command executed x Send the stored flash table of encoder values this includes the heading This command has no typical user purpose and is included for advanced data processing R Recalibrate the motor shaft position by measuring the encoder values You can view the current shaft position via the little i command e 1 0 disables stop and 1 enables it If enabled the Au Controllercoder will cease stepping immediately without deceleration when the encoder detects physical rotation has stopped Encdr value affects sensitivity to stoppage The little c submenu commands are E Encoder value for setting the range of allowed encoder errors A value of zero disables the encoder entirely Lower values of 10 30 tend to stop the motor even when no motor stepping fault has occurred Typically use values of 032 080 which help ensure correct continuing motor stepping yet will stop quickly if a true motor jam occurs If the Encoder is enabled and you do not want the Au Controllercoder to automatically stop the motor if an encoder error occurred then use the main menu command e NOT the c submenu e echo commana If you do not
3. pseudo sinusoidal Acc A Acceleration 0114 to 1000 this is also the 1 step sec value If Acc gt Vsps ACC becomes SPS a2 a 2 acceleration value 00 slowest to 63 fastest value should be 02 for larger motors Brk B Brake 000 to 134 use care with braking values 132 is full on Number N Number of steps 0000000 to 9999999 for larger values use S command for continuous stepping Vsps V Velocity maximum steps per second 00114 to 22 000 limited by A value Trq T Torque percent of full rating 020 to 200 use carefully changing T changes the amperage msec t time delay in milliseconds before or after the motion profile 00000 to 65000 rep r repeat quantity 01 to 255 if gt 100 qty 10 x r While running the remaining number is output pinmode p Input pin to control this motion 0 means to ignore then enter a mode number 00 31 f f run at a flat sps using msps 0 ignore 1 at start 2 at end 3 both for end Acc must be lt msps Fnum F number of steps to run at msps minimum is 0002 according to f Add to N to get total steps msps m minimum sps for running at start or end minimum is 0114 msps must be lt Vsps according to f DU D DU down up change speed on the fly using ADC analog input pin 0 ignore 1 enable SPS_dir sets direction e e enable 1 or disable 0 auto stopping the motor if detected by the Encoder ADC k Analog input value 0 to 1023 for pin modes and for I Profi
4. 080 and 100 are typical Always increase braking values slowly and check heat If you do not need braking torque specify zero braking current by typing B 000 nnn Braking holding current limiting parameter Range of values is 000 and 040 to 100 Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 Power saved by minimizing braking results in greater torque available for motor stepping Higher current results in higher temperatures B 000 also reduces the Au Conitrollercoder power consumption Any reset makes B 000 for Profile 01 only during Command mode the saved B value is unchanged for all other modes P 01 or v restores your B value be careful Home Command You can enable the Au Controllercoder to auto home at startup by setting h under the little c menu to 1 c gt h 0 1 0 disable 1 enable When enabled Motion Profiles 04 and 05 are run to completion You have complete control of the values in these 2 profiles including which direction to rotate and your input sensor pin Suggest setting Profile 05 for backing up a small amount of steps at a lower speed to increase homing accuracy The value of h is displayed with the i command on the Encoder line You can home at any time by sending H which runs Motion Profiles 04 and 05 Note that auto home also runs if Motion Profile Mode is enabled Rotate the motor shaft to position zero if Encoder enabled h thi
5. 13 P 02 is CW and set for mode 12 and you have a switch connected to an input pin then after you start motion profile mode with the Q command the switch position determines direction of rotation You stop the Au Controllercoder from executing motion profiles by typing the reset command Then send a little w to wake it up The Au Controllercoder will execute motion profiles when you again issue the Q command In the normal command mode you can change any motion profile and then save it overwriting any existing motion profile The motor stepping parameters may also be loaded by sending an ASCII text file The format of this file may be any of 3 formats csv comma separated values space separated values or nothing between values An example of a csv format easily created from MS Excel or Notepad is A0200 V04400 B000 N0080000 U12 Note that the order is not important except the U12 command is last which saves the input values to Profile number 12 You may also have CR and or LF after each input command If you send multiple lines you must insert a 300 millisecond delay after each line to allow the Au Controllercoder to finish writing its internal values The Au Controllercoder does not buffer input commands Windows Notepad or similar text editors can be used to capture information via cut and paste or to set parameters Note that eeprom writes require 10ms per character to save data in the Au Controllercoder When running moti
6. Au Controllercoder automatically decreases acceleration as speed www excitron com 5 of 10 Faster Than Fast increases This optimally matches the stepper motor s output torque curve better than a linear speed curve Many interesting combinations exist to create the motion you need for sophisticated control of automatic assembly machines or for motorized products The time command t can be coupled with various input mode commands to produce intelligence and control for almost any application All stepper motors have a natural resonant frequency around 200 to 1 200 SPS If stepped at constant SPS in this speed range the motor may vibrate and lose steps This condition is worse at higher torque settings It is best to accelerate through this range Lower T values reduce resonance and miss stepping You should always run using half step M 1 which helps a great deal When changing from half to full stepping the Au Controllercoder may shift a half step to always be on a full step Power ON Reset The Au Controllercoder has sophisticated power on reset and brownout voltage protection circuitry This protects from power supply glitches and increases the Au Controllercoder s robustness and integrity The Au Controllercoder waits a few seconds for your power supply to stabilize before allowing any motor motion The RESET pin is normally high To reset the Au Controllercoder send a logic low level control to this pin and release A
7. any size unipolar stepper motor even our 110 180 a 25 pound Super size 42 The power supply voltage range for Au86 and Au110 large motors is 9 to 48V while all other Au Conirollercoders operate from 3 3v to 30v Many options are available All Au Controllercoders are upgradeable to new features in the future via firmware updates thus protecting your investment Custom firmware applications are also available just ask the friendly Excitron technical staff What s New Electronic damping on last step taken for precise stepping Built in Optical Encoder for position control see Encoder section Driver Mode is integrated with normal Command Mode so you can have access to all commands while accepting step dir Exciting speed control on the fly by using the IN3 analog input pin Motor torque is increased 10 if half stepping by powering the half step at 1 4 times normal Half stepping is now superior to full stepping New Master Au Controllercoder mode where one Excitron Au Controllercoder sends serial commands to other Excitron Au Controllercoders via our Simple Serial Bus This saves you time space money and complexity by eliminating external PCs PLCs and other expensive Au Controllercoders Command H allows automatically finding home position at power up Command h rotates motor shaft to zero position Analog signals on IN2 and IN3 can trigger 3 Motion Profiles Serial Command Mode sends slave address after
8. each command and before the gt so you can easily see the slave address Switch or Input Profile activations send the profile number and gt Au86 and Au110 have an optional 2 UART for controlling a slave device View each motor step and encoder pulse via serial port using the little c gt v command Also c gt o command sends a 5 microsecond pulse on the output pin Out4 for each motor step Useful for external step measuring and for syncing other Au Controllercoders with exact same motion profile What s Coming Wireless communication Zigbee and internet address 6LOPAN Warning Use caution when operating severe injury can result from the motor rotating Long wires act like antennas and may cause erratic dangerous motion www excitron com 2 of 10 Faster Than Fast Setup Configuration and Power Excitron motor Au Conirollercoders can operate standalone or in various modes The onboard UART serial port is RS232 which contains all the electronics for RS232 6 volts included with every Au Controllercoder is a DB9 female connector You will also need a DC switching regulated power supply with sufficient amperage to drive your step motor The power supply voltage range for Au86 and Au110 large motors is 9 to 28V while all others operate from 3 3v to 28v These and other accessories are available on our web site See Au_Controllercoder_Pins drawing for interface pins The power supply wires should be at l
9. enabled yet Steps 131K shows approximate number of motor steps 131K V sends extra Encoder data Baud1 is the Master Serial Bus baud useable only if m is the controller address Next 2 lines show Revs temporarily disabled Encdr Encoder pulses rev if installed make 0000 if you do not have an encoder or your motor will not run properly Motor motor full steps rev and is fixed for each motor Position number of Encoder pulses rev CW or CCW 99999999 max Shaft physical half step position of the motor shaft relative to your zero location v view motor steps real time on serial port Play is backlash measured by the Au Controllercoder if Encoder enabled and is updated once each time you reverse direction and Encoder pulses occur temporarily disabled See Encoder section The last two lines which are also displayed after i P or v commands are described below Note that this display also defines the quantity of input numbers for each parameter The following table describes each of the column headings and defines the minimum maximum or allowable values for the parameters Heading Command Description these values apply to the motion profile and are all saved when power is off with the U command P P Profile number 01 to 24 D CorW direction of rotation C clockwise or W counter clockwise M M Micro stepping O full or 1 half G G g S ors Go run this motion G single g reciprocal S continuous s
10. have an encoder then set e 0 for each Motion Profile You store the e value for each Motion Profile by using the U command If a physical problem causes a motor stoppage your mechanism may be left in an unknown state Action is needed to remedy the stoppage Subsequent motion may be harmful to people or your mechanism so use Care in all situations All Index features are temporarily disabled www excitron com 8 of 10 Faster Than Fast Excitron Au Controllercoder User Manual v4 12 Additional Command Details The i command provides important information Excitron Corp 01 01 11 v4 12 Au86 118 Controllercodermotor Vs 24 08 firmware date revision Au number volts s baud echo In TQnum degC Vs Steps 131K V Baud1 M 57 6K 1 00 028 021 24 08 0 19 2K Au Controllercoder values Revs Encdr Motor Position Shaft v Play home out 0800 00200 00000000 012 1 000 0 0 Encoder values P DMG Acc a2 Brk Number Vsps Trq msec rep pinmode f Fnum msps DU e ADC 01 C O g 0200 50 000 0004800 03600 012 01000 004 3 010 0100 0125 10 0344 profile values The 2nd amp 3 lines show hardware values s is slave number M a z for master slaves are A Z baud is primary serial port bits sec echo 0 off or 1 on In 1 motion profile set of 3 for Input Profile Mode TQnum is the motor s electrical torque value All Au Controllercoders measure temperature and voltage degc degreeC of the Au Controllercodermotor Vs power supply voltage Not
11. step quantity and acceleration values may define a motion such that the maximum SPS will not be achieved Lower A values self limit the maximum SPS W Counter clockwise motor direction f F m 3 input values that set a flat speed portion at the beginning rear or both of the speed profile The following graph shows examples and variations of acceleration A and little a and using f F and m note that A must be less then V and m Deceleration is a mirror image of acceleration After a certain SPS the Au Controllercoder determines that current limiting is no longer needed and the motor is fully on Torque is then limited by the motor s reluctance The power supply voltage is the largest factor for torque Motor current is rated based on the amount of current that causes the motor to reach 85 degC in 10 minutes If mounted to a relatively large metal plate to dissipate the heat this current rating will increase significantly For intermittent operation which is most stepper motor applications the motor may be over driven up to 2 times its rated power depending on many factors Warning stepper motors require amps of current and overheating and damage can quickly occur Start with low T values then gradually increase while monitoring temperature via the i display Maximum operating temperature is hot to the touch and may burn you Selecting higher torque than allowed may damage the Au Controllercoder You are responsible fo
12. top speed will be limited Non rigid rubber couplers introduce vibration and phase lags which can cause motor stalling Best is to shock mount the motor not the drive parts If your motor just hums without stepping check your A V and T values Use low A acceleration so that your motor with load has time to speed up and to verify correct stepping at lower rates DO NOT increase T while trying to get the motor to spin faster see other notes about T If your Au Controllercoder has manual push buttons push one to see correct rotation Once you verify correct running then increase A and V to suit your purpose Use multiple Motion Profiles for added control For instance with r 250 repeat 2 500 set in three consecutive Motion Profiles then when you run all three profiles the repeat quantity is 7 500 For longer time delays use multiple Motion Profiles with t set to 65000 msec each If 1 2 or 3 Motion Profiles suit your operation without auto repeating then use I Input Profile Mode which trigger once each time that particular input pin goes low And this works well with up to 6 inputs If you need 4 or more profiles and automatically repeating forever is desired then use Motion Profile Q Mode In either mode once started an input pin can control motion An example is I 21 and Profile 22 has p 8 mode 00 Pushing a switch attached to In8 triggers Profiles 21 23 but motion stops at Profile 22 because p 8 mode 00
13. 0114 32 000 9999999 04000 080 00050 001 6 12 0 0002 0100 1 0 0255 l 15 IN6 16 w 1 G 0114 32 000 0000000 03000 080 00000 001 0 00 0 0004 0050 10 0255 17 w 1 G 0114 32 000 0000000 03000 080 00000 001 0 00 0 0004 0050 10 0255 18 C 1 G 0114 32 000 9999999 06000 008 00400 001 7 12 0 0002 0100 1 0 0255 l 18 IN7 19 w 1 G 0114 32 000 0000000 03000 008 00000 001 0 00 0 0004 0050 10 0255 20 W 1 G 0114 32 000 0000000 03000 008 00000 001 0 00 0 0004 0050 10 0255 21 W 1 G 0114 32 000 0000800 02400 070 00700 001 8 12 0 0002 0100 O 0 0255 l 21 INs 22 W 1 G 0114 32 000 0000000 02400 075 00000 001 0 00 0 0002 0100 O00 0255 23 C 1 G 0114 32 000 0000800 02400 060 00700 001 0 00 0 0002 0100 0 0O 0255 24 C 1 G 0114 32 000 0000000 02400 082 00000 001 0 00 0 0002 0100 0 0 0255 Extra line spacing is shown here for clarity These Motion Profiles and pin numbers are the same for all Au Controllercoders The far right column shows the special Motion Profile functions Since the Switchbox has a pot for analog input IN2 and one for IN3 and by setting D 1 then IN4 is used for direction This speed change on the fly works on any Motion Profile that has D 1 Notice that in Profile 12 the same input pin IN4 is set with mode 12 which is run until this pin goes high and this is used to stop motion Why does this work First a switch is wired to IN4 Flipping the IN4 switch low ON triggers the 3 motion profiles then when you flip the switch to hig
14. Faster Than Fast Introduction and Quick Setup Excitron s Faster Than Fast u Cenirellereeeers are fully integrated with our stepper motors to make your motion control simple and easy We pack years of design and plenty of power into ultra small gold plated Au Controllercoders loaded with innovative features They contain all the electronics and power for thousands of motorized applications and they run right out of the box by simply typing w then a G They all have standard RS232 10v for serial port communication to any computer and PLC USB RS232 serial port adaptors are available Various size power and control functions give you the best selection for your project Our Au Controllercoder motor configuration and part number system is also simple Au57 76M is the number for the Ati assembled with our SM57 76M stepper motor Stepper motors rotate one small step at a time and are the best choice because both position and speed can be precisely controlled unlike any other type of motor Our motors can run continuously for 30 years Our experts are happy to assist you in selecting the best Au Controllercoder stepper motor and accessories for your project We also offer linear slides belt sliders actuators rotary tables X Y tables XYZ machines and heavy duty 3 axis milling machines Visit our website for all documents prices and online purchasing For a quick start Make sure the AC DC power supply
15. Pushing your switch again triggers Profile 22 then 23 Optical Encoder Details Excitron Au Conitrollercoders contain an internal Optical Encoder This feature gives you valuable motion feedback by measuring the motor shaft position directly and then you know exactly where the motor rotated Successful motion or jamming is indicated with serial port characters The Au Controllercoder constantly measures the encoder to determine that the motor is indeed physically stepping and validates the Position Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 step counter up to 99999999 steps The absolute Shaft value is also constantly updated real time stored in volatile memory The Optical Encoder contains two Unfortunately an incremental encoder has no idea where it is it can only count pulses which forces you to always find home or find some absolute placement by using an external extra sensor Excitron is a technological market leader in motion control and dynamics You enable and set the Encoder Encdr value with a command on the c submenu and any changes are immediately saved in eeprom memory If enabled the encoder position and shaft position is also sent at the end of each motion example G P 00000912 023 ok ok is sent if no errors were detected otherwise is sent The main menu commands associated with the Absolute Optical Encoder are
16. V If used for digital switch inputs then any value near 0000 is a digital low while any value close to 1024 is a high Use a 10K or 25K ohm potentiometer An internal analog input may exist as Sw2 You specify the pin number and the pin mode with the p command little p Two inputs are expected for example p 3 5 mode 01 13 1 value is the connector pin number 2 value is the mode ranging from 00 to 31 A pin value of 0 will ignore any pin and its mode in that Motion Profile Valid Pin Modes are 00 wait until pin is low then step 01 wait until pin is high then step 09 at power up count pin CTR using Profile 01 repeat value 12 step until pin goes high then stop smoothly 13 step until pin goes low then stop smoothly 14 step until analog pin gt ADC value then stop smoothly 15 step until analog pin lt ADC value then stop smoothly 28 output pin is high at start low after motion profile 29 output pin is low at start high after motion profile Driver and Input Profile Modes restrict some pins as general input For repeat and or reciprocal motions an input triggers only 1 motion not multiple motions I Input Profile Mode The I command enables the input pins to randomly run a set of 3 motion profiles This gives you great standalone operation and can be used in all other modes For example 6 push buttons can select any of 6 positions for 01 10 50 1 00 2 00 and 5 00 inc
17. acefully and the motor slows down according to the acceleration factor you specified o Motor stepping is stopped immediately The motor s inertia may cause erratic motion for a few steps The motor will stop if sufficient D s occur You may also change Vsps on the fly using IN3 analog input pin which is enabled with the D command D 0 1 0 disables 1 enables Vsps on the fly This gives wonderful speed control while running and the adjacent input pin IN4 sets the direction low is CW high is CCW Your A acceleration may be temporarily changed when actual Vsps drops below the original A value Since your N number of steps remains unchanged best to vary speed slightly so that deceleration occurs properly Suggest setting A 01 14 0200 and the gnd acceleration value a 01 these affect the DU incremental speed change Changing Vsps on the fly may cause lost steps when stopping because there are not enough steps are left to decelerate properly The original SPS value remains unchanged After running the motor coils are energized for about half a second to electronic dampen the motor shaft for ultimate step response You may immediately start another run during this half second Braking When the motor is not stepping motor current amps may be applied to create a braking holding torque WARNING high temperatures may occur rapidly with high brake values over 110 Values from 040 to 060 produce little braking and values between
18. cted to a higher voltage 12 and 24 volt being most popular power supply You control precisely the amount of torque in the motor with one simple command T 050 nnn sets the internal percentage of full motor torque A low value for T such as 020 produces low torque Typically use T 040 to 080 Higher values increase torque Start at low values for T and increase the value until your motion is satisfactory Do not increase T without adjusting A a and V first And do not increase T to make the motor run faster At higher speeds the T is not effective it is only effective as the motor spins up and during deceleration See the individual motor data sheets for further guidance After determining the suitable values adjust T up or down for best performance vs heat buildup The Au Controllercoder measures power supply voltage at startup and automatically adjusts the amperage You do not need to adjust T if swapping power supplies Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 r 006 nn_ repeat quantity from 001 to 255 if gt 100 thenr 10 xr The remaining repeat value is output after each motion except the last t 00888 nnnnn time delay either before or after the motor motion Input or then 5 numbers representing milliseconds e g t 00500 defines a 500 millisecond time delay after the motor motion V 04600 nnnnn Velocity maximum SPS Note that the
19. east 20 AWG stranded 18 AWG is best and as short as possible 4 to 12 inches The amount of current into the motor is NOT the power supply current A rough guideline is the power supply watts out to the motor equals the motor watts watts volts x amperes You will need to budget at least twice the motor s watts Power in watts is also defined as amperes X amperes x resistance Excitron s Au Controllercoders can operate at 2 to 3 times the rated value for intermittent operation If the power supply amperage is inadequate the Au Conitrollercoder may pull the power supply voltage low enough to cause a reset of the Au Conirollercoder This is harmless to the Au Conirollercoder but stops your motion If you operate in Motion Profile mode described later then the Au Controllercoder will begin anew at the first motion profile selected by the U command A computer running Hyperterminal RealTerm or an equivalent serial port communications program is required The serial port operates with 8 bits no parity 1 stop bit and 57 600 baud initial Protocol is none no hardware handshaking and just ASCII alphanumerics The Au Controllercoder will echo all characters received by default therefore turn off Echo in your communication program Once setup in standalone mode the RS232 serial port is no longer needed Each Au Controllercoder has an assignable address the default and normal address is M Sending Commands to the Au Contro
20. er using the current Motion Profile Use caution if you change Profiles www excitron com 7 of 10 Faster Than Fast Switches and Input Profile activations give you easy jogging or other semi automatic positioning Since Driver Mode uses two input pins for step direction the corresponding Input Profile Modes are disabled The improved Driver Mode step dir automatically processes active high or low pulses and with no time restrictions Since it is possible to run the motor using an input pin or RS232 serial characters do not send CNC step pulses while the motor is already stepping and vice versa or they will be lost Help Hints and Tips Displays the simple command help The Excitron motors and Au Conirollercoders definitely have the torque range specified and generally torque decreases as speed increases Small burrs chips non flatness or dents on your moving parts can result in the motor stalling The faster you step the worse the effect of the small burr Also be aware that even small machine screws can exert a thousand pounds of force bend heavy steel parts and thus bind up moving parts Tightening a small timing belt can bend steel motor shafts easily due to the leverage action Stepper motors run faster and stronger with direct shaft attachment Best is to slide our motor shaft into a precision bored hole in your part and clamp using a C collar clamp Note that if you re bored hole is off even by 003 your
21. fter any reset Brake is 000 for Profile 01 in Command Mode only the saved eeprom value is unchanged This protects against unplanned heat build up The first motor step after power up or reset is always the same step and 1 3 steps may be needed to sync the Au Controllercoder with the motor s last rotor position The high value filter capacitors in the power supply provide considerable power supply voltage spike attenuation and a 1 4 second hold up time When switching off always wait briefly before unplugging Software Reset and Commands Software reset by sending which restarts the Au Controllercoder as if a power on reset occurred Use this command to terminate Motion Profile and Driver Modes and run serial commands then a little w must be sent to wake up the Au Controllercoder Other special commands are amp STX ctrl B amp an address letter auto sets multiple slave s addresses May have to try this command twice followed by any character besides STX sends slave address 3 s in a row clears Home amp Input Profile mode I to 00 Input Output Pins and Modes You can create very interesting and versatile control of stepper motions by using the input pins and their pinmodes Some control features are stop and go control logic only wait for two inputs to occur sequence external events extended time delays or other ingenious reasons All pins are TTL CMOS compatible 0 to 3 3v and are al
22. h OFF the motor gracefully stops because of pin 4 mode 12 Same pin but two different functions Similarly for the other input pins If you want to run a fixed distance then make N your step quantity and pinmode 0 00 then when you flip the switch up and down the motor runs the number of steps you specified Errata and notes V4 12 Added notes for Input pins triggering Input Profile Mode on page 6 amp 10 v4 12 Fixed baud display and added all bauds to command line Corrected torque values on pg10 v4 11 Fixed issue in v4 06 4 09 where saving g or S value via U command falsely returned s G had no issue v4 10 Fixed internal TQnum value resulting in low torque for larger motors now this value is precise v4 09 Enhanced Encoder new commands h Fixed an issue that the Output OUT5 was cleared if changing to a different Motion Profile workaround is to set c gt o 1 then do not change to another Motion Profile Energy E value 017 as default v4 05 fixed some internal firmware issues only 1 release no errata Excitron Corporation Superior CO USA info excitron com www excitron com 10 of 10
23. hes of travel The I values are set independently of each other and these are the allowable values I 06 or 86 runs Profiles 06 07 amp 08 In2 I 09 or 89 runs Profiles 09 10 amp 11 In3 I 12 runs Profiles 12 13 amp 14 In4 I 15 runs Profiles 15 16 amp 17 In6 I 18 runs Profiles 18 19 amp 20 In7 I 21 runs Profiles 21 22 amp 23 In8 When you type I the Controller sends all 6 current values and waits for you to type enable or disable followed by one of the valid numbers and your new value is auto saved The new analog I Profile Mode for In2 and In3 will trigger their 3 profiles when the analog pin value is lower than the k ADC value you www excitron com 6 of 10 Faster Than Fast specify in the Motion Profile using the k command Example I 86 and k value 0910 Profiles 06 07 amp 08 run when the analog value on In2 pin is lower than 0910 2 9 volts Input pins are active low Once triggered the 3 profiles run to completion even if the input pin is raised high so use caution To run only 1 profile when the input goes low set the remaining 2 profiles with N 0000000 and t 00000 so that they are ignored You may also use an input pin and mode inside the Motion Profile Driver Mode or external encoder disables the corresponding Input Profile Modes Sending 3 s in a row clears I to 00 See page 10 for more details Motion Profiles The Au Controllercoder stores all motor s
24. histicated motion control of your motor are described here in alphabetical order Note that you type only the characters shown in bold The Au Controllercoder displays the equals sign the existing value from 1 to 7 numbers colon and a space most commands A 0100 nnnn Acceleration 1 Vsps 0114 is the minimum and 0120 is typical If A gt Vsps then A is set to Vsps a 18 nn 2 acceleration value to fine tune after 1 000 SPS 00 is slower and 63 is faster acceleration C Clockwise motor direction as viewed from the motor face D 1 n Down up sps on the fly using IN3 analog pin O no 1 enable IN4 input pin sets direction low is CW high is CCW M 0 n Micro stepping full step is O and half step is 1 N 0012000 nnnnnnn Number of steps Use N 0000000 for motion control using inputs or time delay without any stepping Vmax A 0180 a 32 SPS msps 4 time Lt F steps Setting Motor Stepping Torque Motor torque is directly proportional to motor current with some non linearity Torque is defined as Force x Distance and is usually measured in oz in ounce inches The Au Controllercoder uses unique current limiting circuitry for high efficiency and performance for the user Step motor current amps must be limited or excessive heat and amperage can destroy motors and Au Controllercoders Most step motors are rated for 2 to 5 volts so Excitron s current limiting allows them to be conne
25. is off or unplugged Connect the power supply RS232 connector which is a small 2x4 housing to the Au Controllercoder Note the polarizing post must be inserted into the open slot in the motor cover If you have a USB RS232 adapter connect your USB cable between your computer and the Au Controllercoder RS232 DB9 connector PC Software drivers must be installed Turn on your power supply The LED should be ON Start Hyperterminal or any equivalent program with 57 K baud 8 bits and no hardware handshaking Type a little w to wake the Au Controllercoder and it displays Excitron Corp 01 01 11 v4 12 Au42 47M Controllercodermotor Vs 12 20 M gt Enjoy Type G to run the stepper motor Type little i to see all Au Controllercoder information and the motion profile values Change direction C or W Vsps or number of steps N type G and see the difference Type to display a brief command help list The Au Controllercoder is in Command Mode and will respond to any serial command Input Profile Motion Profile and Driver Modes create standalone functionality Feel free to contact us at info excitron com Au57 40M Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 10 Rotary Table MRT10 86 118 450 AuG86 118 5 SM60 86 3 3 1m second Wire Slider WS70 012 Reduction of Hazardous Substances RoHS Statement of Compliance Excitron is a produc
26. le Modes 76 85 or 88 Options e 2 RS232 serial built in on Au86 and Au110 series for connecting to PCs PLCs etc using 10 volt RS232 serial lines e USB RS232 external adapters 1 port 2 port 4 port for USB serial communications e Firmware modifications to reduce or eliminate your external electronics such as PLCs or computers Disclaimer all values and statements contained herein are subject to change without written notice No products manufactured by Excitron may be used for life support equipment Use extreme caution when operating severe injury or death can occur because motors move and rotate Excitron Corporation Superior CO USA info excitron com www excitron com 9 of 10 Faster Than Fast Excitron Au Controllercoder User Manual v4 12 Examples of using I Profile Modes with pin modes You can achieve remarkable and interesting motion by combining I Profile Modes with a pin modes The following example is how we setup the Motion Profiles for use with our Switchbox It explains the simple setup and to offer further help about the differences between I Profile Modes and Input pin modes Please read those sections The following view is obtained from Motor Au Controllercoder Au86 118 by sending the i and v commands then copy paste here M gt i Excitron Corp 01 11 11 v4 12 Au86 118 Controllercodermotor Vs 24 14 s baud echo In TQnum degC Vs Steps 131K V Baudl M 57 6K 1 00 028 021 24 14 0 19 2K Revs Encdr Mot
27. llercoder The format of Au Controllercoder commands is simply send the single letter of the command Important capital and small letters are different If user input is expected after the command is typed the Au Controllercoder responds with the existing value a colon and a space This existing value also shows the exact quantity of numbers to send Then it waits until you send the required quantity of numbers After all input is received the Au Controllercoder will send a LF line feed CR carriage return a variable time delay of 0 9 milliseconds slave address and a prompt gt The gt provides feedback to host computers that the command is complete In other modes the mode character is also sent Do not type Enter key after typing your command type only the command and any characters as specified by the each command Note that the ASCII numbers are fixed field format This means the exact required quantity of alohanumerics must be typed For example to enter a step quantity of 188 steps type N Au Controllercoder sends 0033000 then 0000188 All 7 digits must be entered If you enter fewer digits the command is left waiting for completion Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 All input values are validated to be within the range specified for each command Any input value outside this range results ina being dis
28. mands for retrieving displaying and saving motion profiles are P Q U and v little v For each of these commands simply type the letter of the command The Au Controllercoder responds with a then you type the required numbers If you issue a P Q or v command changes to current parameters are lost unless you save them first by using the U command P nn Display the motion profile specified by nn Q nn yy Quit command mode and start motion profile standalone mode Thereafter at power up or a reset the Au Controllercoder will automatically run the motion profiles you specify with the nn and yy numbers U 08 nn Update and save the current motor parameters to the motion profile specified by nn Example U 08 03 will store the current values in 08 to motion profile 03 v__ View all 24 motion profiles The Au Controllercoder displays a header line followed by 24 data lines Special note for the U command it stores the last G g S or s value executed into the motion profile you specify This is the only command to store the G g S or s value You can enable the Au Controllercoder to auto home at startup by setting h under the little c menu to 1 see Home Command section Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 With a few simple command settings you can create very interesting motion profiles For instance if P 01 is CCW and set for mode
29. on profiles the Au Controllercoder outputs the letter P the profile number and a space followed by the repeat number s counting down and a space if echo is on The life expectancy of the EE memory is 100 000 write commands Q or U Do not exceed this number Driver Mode You set Driver Mode for CNC operation by typing little c then little d 1 and it is saved immediately and the prompt changes to M d gt Setup your favorite CNC program which send steps and direction pulses from a PC LPT1 parallel port or other device The Au Controllercoder steps the motor using 2 external input signals Step and Direction STEP negative or positive going pulse gt 5 usec this is IN7 DIR 0 is CW logic 1 is CCW this is IN8 Driver Mode is now integrated with Command serial mode so that you can also run all serial commands such as ior G The only precaution is if the motor is running using step dir do not run G or any other run command until Driver steps are complete The Au Conirollercoder is CNC ready and runs with almost any CNC PC or PLC program and 3 3 or 5 volt logic An enable signal is not needed because the Au Controllercoder will automatically stop when the STEP pulses cease The Au Conirollercoder serial port is not used for STEP and DIR See the CNC Diagram for more details In Driver Mode internal Torque amperage temperature Full half step Brake and Encoder controls are maintained automatically by the Au Controllercod
30. or Position shaft v Play home out 0060 00200 00000000 012 O 000 0 0 P DMG Acc a2 Brk Number Vsps Trq msec rep pinmode f Fnum msps DU e ADC 01 w 1 G 0080 32 000 0000800 02000 060 00000 001 0 00 O 0100 0100 10 0255 M gt V P DMG Acc a2 Brk Number Vsps Trq msec rep pinmode f Fnum msps DU e ADC 01 C 1 G 0140 32 000 0000400 06000 060 00200 001 O 00 0 0100 0100 1 0 0255 Driver Mode values 02 C 1 G 0114 32 000 0000400 02000 080 00000 001 0 00 0 0100 0100 0O 0 0255 03 C 1 G 0114 32 000 0001600 03000 090 00200 001 0 00 0 0002 0250 0 0 0255 04 W 1 G 0114 32 000 0003000 01000 080 00030 001 0 00 0 0003 0045 0 0 0255 Home values 05 C 1 G 0114 32 000 0000020 00600 080 00200 001 O 00 1 0002 0100 0 0 0255 Home values 06 C 1 G 0114 32 000 9999999 06000 080 00200 001 2 12 0 0002 0100 0 0 0255 I 06 IN2 07 C 1 G 0114 32 000 0000000 03000 080 00000 001 O 00 0 0002 0100 10 0255 08 C 1 G 0114 32 000 0000000 03000 080 00000 001 0 00 0 0002 0100 10 0255 09 W 1 G 0114 32 000 9999999 01800 080 00000 001 3 12 0 0002 0100 0 0 0255 I 09 IN3 10 w 1 G 0114 32 000 0000000 03000 080 00000 001 0 00 0 0004 0050 10 0255 11 w 1 G 0114 32 000 0000000 03000 080 00000 001 0 00 0 0004 0050 10 0255 12 C 1 G 0114 32 000 9999999 02000 060 00200 001 4 12 0 0002 0100 1 0 0255 I 12 IN4 13 w 1 G 0114 32 000 0000000 03000 050 00000 001 O 00 0 0004 0114 0O 0 0300 14 w 1 G 0114 32 000 0000000 03000 052 00000 001 O 00 0 0004 0114 0O 0 0560 15 Ww 1 G
31. played and the default or existing value being used If you send extraneous alphanumeric characters a is displayed and no values change The exception to this rule is that commas spaces carriage returns Enter or CR and line feeds LF are ignored Serial input characters are not buffered After waking up with a little w The Au Controllercoder is ready to accept serial commands The command prompt is M gt or A for example if you changed the Au Controllercoder slave address to A The information command is i which displays all Au Controllercoder parameters and the selected motion profile Commands may be typed in any sequence and the Au Controllercoder remembers your last typed values See the Motion Profile section for how to save your values permanently with the U command Changing Au Controllercoder Configuration The little c command accesses commands for changing the Au Controllercoder operation and features If you change the value it is saved automatically and immediately b 57 6K select baud 1 4 8K 2 9 6K 3 19 2K 4 38 4K 5 57 6K default 6 115 200 7 230 4K Type just one digit of the baud and immediately the baud is changed B 57 6K same as b baud but for optional 2 serial port d driver mode see Driver Mode section for details E 0060 Encoder error range 0000 disable e 1 echo received serial characters if 1 or 3 Echo other slave characters to PC if 2 or 3 h 0 home enable 0
32. r any damage to the Au Controllercoder or motor If the temperature limit is reached the motor ceases running Then the LED blinks once per second and a s x Hi temp message is sent from the serial port where the s x part of the message is the address of the unit sending this message No operations occur until an reset character is received or power www excitron com 4 of 10 Faster Than Fast is cycled Note that this terminates Motion Profile or Driver Modes and the Au Controllercoder is then in Command Mode Stepping the Motor You step the motor with the G g S and s commands G Go step the motor until the specified number of steps are reached g Reciprocating motion same as G and at its completion the motor reverses direction and performs exactly the same motion profile S Step the motor continuously This command ignores the step number entered Only a motor stop command O or o will stop the motor s Sinusoidal motion cyclical step continuously only if f is 2 or 3 This command ignores the step number entered Only a motor stop command O or o will stop the motor run one motor step CW any unsaved changes are discarded run one motor step CCW After you type G g S or s you can send U D O or o U Speed up the motor on the fly The SPS increment is determined by the V value D Slow down the motor on the fly The SPS decrement is determined by the V value O Starts deceleration gr
33. ruly simple commands for friendly use yet versatile and powerful enough to control a sophisticated robotic automatic assembly machine You can quickly change motion parameters to achieve your goal You may opt for higher torque and faster movement after finding that the temperature rise is satisfactory Or you may desire to reduce mechanical noise by varying the acceleration SPS or torque Most step motor documents state that bipolar motors produce more torque than unipolar motors that is not true with our motors and Au Conirollercoders Our proprietary circuitry was first developed and patented in 1976 Improvements continue steadily to maximize motor and Au Controllercoder efficiency which maximizes torque Three modes of operation are available Command Motion Profile Driver and I Input Profile Onboard optical Encoders are optional and available in the near future A full set of parameters for stepping the motor is called a motion profile Twenty four motion profiles are stored and retained even after power is removed A motion profile consists of acceleration stepping at a constant maximum SPS steps per second then deceleration to stop precisely at the number of steps you specified Deceleration is identical to acceleration A time delay before or after motion occurs gives you precise timing control Some key parameters are acceleration maximum SPS steps per second number of steps direction and torque control The Au Con
34. s is not the c gt h command Command Examples and Notes Suppose you wish to rotate the motor for 10 244 steps clockwise half stepping and a maximum SPS value of 1 800 Send N 0000080 0010244 C M 0 1 V 04200 01800 G Note that you do not type gt nor enter with any command the Au Controllercoder provides it The gt prompt is not shown here for clarity The order of the N C M and V commands is not important but the G command is since it starts motor motion The M N and V commands must receive their required exact digit quantity To step the motor again with the same parameters except CCW counter clockwise type Ww G Note that the other commands do not have to be re entered The Au Controllercoder temporarily stores the last values of all parameters and commands Save permanently by using the U command see Motion Profiles section Be aware that the motor and Au Controllercoder will heat up faster while running at slower speeds At SPS over 3 000 depending on power supply voltage the motor s inductance the motor self limits the power and should run cooler A temperatures over 50 degree C may feel hot to human touch but that is ok for motor and Au Controllercoder operation up to the high temperature limit Acceleration maximum SPS torque and other parameters can be optimized for your application An acceleration value of 0120 is a good starting point for half stepping The
35. so 5 volt tolerant They have Schmidt triggers for noise immunity and 30kV static protection You can read your Au Controllercoder pin values and the Input Profile Modes with the J command IPM 86 09 12 15 18 21 Pin In2 In3 In4 In6 In7 In8 out5 1018 1015 1 1 1 1 0 Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 The In is the 2x5 I O connector pin number and the J command also shows the matching Input Profile Mode number useful for the next section Each input pin is normally high 3 3v and can be connected to switches optical mechanical etc or to monitor signals from other electronic devices The correct connection is for one terminal of the switch control connected to ground and the other terminal connected to the input pin Input pins In4 In8 are digital only and have an 8 2K 5 pull up resistor to 3 3 volts Input pins In2 and In3 are digital or analog depending on the pinmodes and have a pull up resistor of 35K 10 The output pin Out5 is normally low 0 volts and can source 1 ma to 3 3 volts or sink 10 ma The 3 3 volt pin 10 can provide 3ma for external circiuitry Do not exceed these current levels or the Au Controllercoder may reset Analog input pins measure voltage levels such as potentiometers with 10 bit resolution The J display is the digital representation of the analog value with a full range from 0000 zero to 1023 3 3
36. t manufacturer and does not melt or produce any of the raw materials sold to our customers Excitron only purchases ROHS parts does not add or expose these materials to any of the hazardous substances lead mercury cadmium hexavalent chromium polybrominated biphenyls polybrominated diphenyl ether listed within the EU RoHS Directive except we use tin lead solder As cited in statements from our vendors the materials sold by Excitron do not exceed allowed levels of these substances because they are exempt and therefore the materials are compliant with the EU RoHS directive www excitron com 1 of 10 Faster Than Fast Key Features This document applies to all Excitron Au Controllercoders See the individual motor Au Controllercoder data sheets for additional details about connector pins The Au Controllercoder performs all calculations and intelligence to automatically step the motor It also contains powerful motor drivers No additional electronic device is needed to control and drive a stepper motor You have the freedom to enter simple motion parameters to create ingenious stepper motor motion profiles Serial communications and control use ASCII alphanumeric characters thus no programming is required all you need is a basic serial interface program like Hyperterminal Your biggest goal is stepping your motor from point A to point B quickly and accurately An Excitron Au Controllercoder allows you to attain this goal with t
37. tepping parameters for each of the 24 motion profiles You can view and edit these profiles individually and then set them to automatically execute from memory upon power up The motion profiles are stored in EE memory and thus retain their values when power is off The major purpose of motion profiles is to allow a standard programmed Au Controllercoder to operate as a standalone unit not needing a PC or external Au Controllercoder Once set up only a power supply is needed With the Q command you specify any of the 24 profiles as the starting profile and a subsequent profile as the last one for example profiles 05 through 12 The Au Controllercoder will sequentially run these motion profiles and automatically repeat after the last one is completed You can easily modify existing motion profiles to fit your own application by entering values for acceleration SPS etc The Au Conirollercoder provides for a broad range of applications All you do is change the profiles You can change motion profiles for designing trouble shooting demonstrating or marketing purposes For example most mechanisms operate at blinding fast soeed the motion profiles can be altered to slow down an interesting movement so that fine details can be observed Since most applications only use less than 5 profiles you can create an entire second range of motion profiles that operate at slow speed You can even offer this feature to your customers The com
38. trollercoder uses unique current limiting circuitry for high efficiency and performance By adjusting the acceleration top SPS and other factors you can minimize the time required for a particular motion A full range of acceleration is provided for any application dog slow to extremely fast SPS can be changed on the fly while the motor is stepping Various input devices such as limit switches and potentiometers may be connected to the TTL CMOS 3 3 volt logic input pins Two input pins accept analog 0 3 3v and converts it to a digital value Au Conirollercoders have one TTL CMOS 3 3v output that you may use to control relays LEDs and equipment proper interfacing is required A single LED provides visual feedback that power is applied and it also indicates motor steps or serial communications One key unique feature is the extremely low supply power for the Au Controllercoder electronics With a 24 v power supply the Au Conirollercoder only dissipates 0 025 watt which is insignificant Excitron Corporation Superior CO USA Excitron Au Controllercoder User Manual info excitron com v4 12 All internal voltages are self generated and thus require only a single voltage supply Built in temperature sensing on Au Conirollercoders safeguards the electronics and motor from thermal burn out the limit is 170 degF Many aspects and limitations in competitor s Au Controllercoders are obsolete Excitron Au Controllercoders drives
Download Pdf Manuals
Related Search