SMCP User Manual - Corthom Systems
Contents
1. The bright side of industry automation SMCP User Manual 2000 2010 OLTOM Engineering AB Email support oltom com Revision 1 9 1 SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 1 21 Table of Contents LONARE ORBE EOI a EPALE zia 3 PMeP2SiINIMMIE agnoloni 4 Gettino Drarted sii aE A a E 5 Usage wth Attached Card 5 Usace with No AttachediGald Laulu lean 6 peleeline Communications Pollici 7 A tosearch offset 7 nei 8 Manually selecting number of Cards e 8 Chanel ni 8 Monual Addresspelechionia acilia 9 Card Addressine and RoUDnD lc A 9 CAUDra On ACU OTS rire teases teks 11 Motor selection check boxes 11 Acceleration E AE 12 Creating a sequence Pile saio T eet twuateecadoases 13 Sequence File Reference uil 15 olbia 15 SS 15 RAD RO RR ROC AO ORE O RR RA O RR A RAR ET 15 RESET RR RR OR III I ee eee O 15 Coi 15 Valeria dille 16 StopMobonzai iatale 16 Celia 16 PRES r A eanranasatandtnetisbuanewaceiacaseinatetaausnaoaatisasnanet antes uasoenasmotuealeeaweneds 16 Sequence Pile Examples lilla 17 Sequence with Detault Names ela 17 Sequence with Calibration and Names ei 18 Sequence Bie Exampl clelia 19 SMEeP MenuReference iaia 20 BAVC saasac ne DICARIRRA IRENE RO IRC III RON ORE OE RIOT RT PIOE COSO ISO FIERI VICO IN OR eee 20 Uliano a ne 20 PRON IMS Asuncion 20 Dicci 21 SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 2 21 In2. Edit sequence To open an existing file chose open in the i card 2 menu Any file opened before will be erased If oe ae the file that was opened before has not been Open file Cti Q saved you will be prompted to do so It s H Save file Ctrl 5 Free possible to open seq files Save file as ala it 04 Currer ALI Speed Import file ie Ro Export file a Pe Print sequence ion mol ting command End program Illustration 11 Opening a sequence file EH OLTOM SMCP Automation Interface file saved File Settings Edit sequence Help Running a sequence There are two ways of running a created sequence P Run sequence Ctrl R ci ro The Step function is often preferred step sequence F2 to begin with By clicking on Step in the E H F Pause sequence FO menu or pushing the F2 key each n command will be executed one at a ha Stop and reset sequence Cirit Paa time This is very useful when checking Spe Loop sequence 4 0 if all the motions are correct since the Ace ATMIpro PSs apa ey A E 4 pace of the motion is easily controlled this way Mew Mew Mew Mew Illustration 12 Illustration 10 Select Step sequence to single step through a sequence for debugging or verification The other way to run the sequence is to choose Run This will execute the whole sequence The sequence can be stopped while running by using the Stop function in the menu se
3. 11 Cia Wait 2 12 CT Shop otion 13 Cla Go 14 CT Wrait 2 15 CT StopMotion 16 CTs Move 1 IN CalibStepU nit CTY tums CalibStepU nit C amp X mm CalibStepU nit C Y cm CalibS peed C Y 2120 CalibS peed Unit CT amp mm 8 CalibS peed Unit C1 turnsy sek CalibS peedU nit CA mmits CalibS peed Unit CAY cms Begin sequence C1 Aamp 1000 C1TX Speed 12 CIX Move 14 Illustration 9 Example of sequence file for two motors with different movement added The sequence file text is shown to the right in the white field and the compiled result is displayed to the left in the yellow field When selecting commands these will automatically appear in the sequence file It is also possible to directly write command in the edit window After editing the sequence file to the right select Edit sequence Compile changes or press F9 Comments can be added All lines beginning with two forward slashes are ignored as comments The yellow field to the left will only display the compiled commands that will be executed When stepping through a sequence the currently executing command will be highlighting in the yellow field The Next two lines are the motors calibration factors after that the next two lines are the calibration units SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 14 21 Sequence File Reference The commands available in a sequence file are listed below Move S
4. If desired a host computer or micro controller can be directly connected to the I2C bus with no RS232 hardware This enables extremely compact systems SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 3 21 SMCP Summary e Easy to use with an intuitive point and click user interface e Automatic card detection SMCP can automatically find all attached OLTOM cards e Manual setup If automatic detection is not used select any number of cards 1 5 and manually assign any address e Point and click to control the stepper motors e Name the motors in the program to match your process or laboratory setup for example as Axis2 insertion rod etcetera e Every motor can be synchronized with any selection of connected motors e Every command including movement and setup such as winding current and names can be saved in a sequence file that can be rerun any time e Create sequences by point and click trial Move the motor and if the motion is correct save the motion to a sequence by a simple click e Single step through sequences to verify that the system behaves as expected When stepping each command being executed is highlighted e Break and stop a running sequence at any point e Sequences are stored as plain text files Use the built in editor or any other text editor to manually edit sequence files e Calibrate individual motor movement with desired units Instead of steps SMCP can be set to count in actual mi
5. 14 CTY A amp 800 CTY Speed 4 CTY Move 2126 LAY Aamp 1 200 Illustration 10 Example of addresses set in a sequence file Two cards are used Motors are named C1X C1Y C2X and C2Y They can be found on addresses 0x41 0x42 0x5D and 0x5E The SMCP program is attached to the port address 0x5C In this case the communications port is on the same card as the motors C2X and C2Y The sequence file contents are displayed in the white field to the right Never change the first two lines in the sequence file They are necessary for compiling of the program The next line tells the program what communication port is to be used The next four lines declare the motors names and what hex addresses they correspond to In this case the motors have been renamed to C1X C1Y C2X and C2Y For each motor controller in the system there will be one line here The next line is ComCard 5C This is the address of the RS232 port of the card that the computer is attached to if this is not correct set the program will not work Be very careful when manually changing address lines SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 19 21 SMCP Menu Reference Save To save the created file choose File Save file in the menu It s possible to save files in seq format This format is a plain text format and the file can also be opened for editing in a text editor EH OLTOM SMCP Automation Interface file saved Open j Settings Help
6. mm instead of 241 steps or 2 turns instead of 879 steps Only fill in the number of steps each of the desired unit corresponds to and the desired unit itself SMCP will then translate between user friendly units and step Select the Summary sequence menu A summary of the data in the system so far displays It is still possible to change the settings described above but they will not be rewritten automatically to this summary What is actually visible in the summary sequence form is the sequence file and the main settings for the system This can be edited in any text editor To have SMCP recognize changes choose the Compile or press F9 Do not change the system settings unless you understand the meaning of all parameters Select actions that the motor s should perform There are two buttons Execute command and Save command With the Execute command the selected command will be immediately executed With the Save command button the command will be saved in the summary sequence file By combining these two buttons it is possible to first test run each command with appropriate changes before saving the final version of the command to the sequence To run or step the sequence of commands choose Compile changes from the menu Compile changes has to be executed before Run every time a sequence has been changed or edited Compile changes also saves the sequence to file If the sequence should be repeated infinitely choose Loop sequence in
7. the menu This menu selection will then be checked When finished creating a sequence the sequence can be run or saved to a file If the same sequence should be used at a later point in time only open the file and choose Run Everything including COM port selection will be present since all the information is stored in the file SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 5 21 Usage with No Attached Card If no system is attached to the computer then you should do the following first 1 Choose the correct communication port by selecting Settings Communication settings from the menu This is not absolutely necessary to do right now but a communication port has to be selected before running the sequence 2 Choose the number of cards that will be used Do this with Settings Number of xx cards in the menu 3 Set the correct address in software that corresponds to the address of the card in the hardware Pressing the New motion button on the card shows you the motor form where this can be done On the bottom of the settings form that is now visible an option button field where the address should be set for each motor can be found 4 Enter sequences like you would with a card attached The only difference is that commands cannot be tried with Execute before being saved to the sequence SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 6 21 Selecting Communications Port For communicating with
8. C port can deliver a packet four ways depending on the destination address in the packet The packet can go to motor 1 motor 2 out of the cards own RS232 port or out on the I2C bus To send packets the SMCP program requires three numbers The address of the destination device for example a motor controller on an OLTOM PWM card The address of the port on the OLTOM card that the computer is attached to Configured automatically by SMCP SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 9 21 The communication port on the computer If the system auto searches for cards and finds at least one card all of the three addresses are set correctly No manual change setup is needed SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 10 21 Calibration factors If the calibration factor is not changed what is written in the text box during stepping motion will be interpreted as the number of steps to move the motor In many applications it might be desirable to write the number of millimeter or turns the motor should move instead of the number of steps The calibration function makes this possible Click the calibration button In the dialog box that appears fill in the number of steps that corresponds to the unit you want For instance If a motion of one turn is desirable fill in 400 if this is the number of steps that is needed for one turn off your motor In the unit text box fill in the word Turns and
9. OLTOM OLTOM SMCP Automation Interface cards SMCP has to be told the port T x 2 File R Settings ngs Edit sequence Hel the card s are attached to Select this i ili communication port when prompted eal Communication settings for this by the program a Autosearch for cards Standard serial RS232 ports are iH F usually numbered 1 or 2 Ifa USB to Free Number of PWWG cards i RS232 converter is used the port I ao Di Number of PWM4 cards in number is usually higher 5 or higher Speed 0 Number of V0 a lo There are two ways selecting a port Acc ramp 3 SOR a mp 9 One is by clicking in the menu on i L Settings Communication settings Mew Options w The other one is to click on SO ST Settings Autosearch for cards In Executing command Executing command both these cases you will be prompted to select a communication port If a sequence is saved the port number will be saved with the sequence file and the same port will automatically be opened when the sequence file is reopened Illustration 1 To set the communications port either select Autosearch for cards or Communications settings La OLTOM SMCP Automation Interface Autosea rch for ca rds File Run Editsequence Help By clicking in the menu on Pw carc Communication settings A Settings Autosearch SMCP Slo Autosearch for cards finds every attached card on the a H spe
10. ames The example below adds calibration factors as well as more suitable names for the motors Yers iom To NrOfCards 1 ComPort 6 Const X axis A Const Y axic ComCard 40 CalibStep X axis 400 CTD Epa aaan O Coeli A a seis Calan Siero Unies e a iim CalibSpeed X axis 400 CalibSpeed Y axis 10 CalibSpeedUnit X axis lurns s CalibSpeedUnit Y axis mm s Begin sequence axis Reset eas r en ax1s Speed 2 Sos Ramp ou0 ax1S Move 10 oso ee S Go axis Wait 4 xi Stonloraon gt lt o o XX XX x XxX x Xx SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 18 21 Sequence File Example EH Total sequence 1 Cis Ramp 1000 Version 1 0 2 CTs Speed 12 Mr flards 2 a CT Move 14 4 CTY Ramp S00 ComPort 6 5 CY Speed 4 B CTY Move 2126 Const C1A 41 CA Ramp 1200 Const CTY 42 o Cy Speed 4 Const C 5D 9 Ce Move 124 Const CeY BE 10 C1 Go 11 Cis Wrait 2 ComUCard 5C 12 Cl StopMotion 13 CT Go CalibStep C1 400 14 Cle alt CalibStep C1 400 15 Cl StopMotion CalibStep C2 400 16 CT Move 1 CalibStep C2Y 400 CalibStepUnit C1 amp mm CalibStepUnit CT Y tums CalibStepUnit C mm CalibStepUnit CAy cm CalibSpeed C14 100 CalibS peed C1Y 400 CalibS peed C24 212 CalibS peed C2Y 21 20 CalibS peed nit CTX mm 8 CalibS peed U rit CIY tums sek CalibS peed Unit C amp mm s CalibS peed Unit CA cms Begin sequence Cis A amp 1000 CIs Speed 12 Ci Move
11. ave grani been made then each motor will Illustration 3 Select number of cards From this menu have a default name consisting ofa it s also possible to rename motors combination of a card number and a motor number The default names can be changed as long as each motor has a unique name Change names by selecting Settings Rename cards from the menu and then double clicking directly on the names of the cards If the New motion button have been clicked on any card it is no longer possible to change names OLTOM SMCP Automation Interface settings Edit sequence Help PMs card 1 Pwa card 2 CIA CTY Free Free Data Cata Current DA Current 4 Speed Speed Aco ramp Aco ramp 9 hew Mew motion motion Egecuting command Illustration 4 Double click the motor name to change tt SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 8 21 Manual Address Selection Card addressing must be Cave command E fully understood if several 4 lt cards are connected on an ramo GOME emoe comnmand I2C bus Read Card Di Current Curent Command sequence Address and Routing below the card data sheet and the OLTOM Card Driver Programming Reference for more detailed information Fortunately SMCP hides most of the addressing complexity from the user If the cards have been correctly configured and connected all that has to be done in SMCP is to select Settings Autosea
12. cified communication port All Free Number of PWM3 cards the card addresses and the setting 0a Number of PWM cards for the attached cards are Current 0 A a Bi Speed Number of VO cards 10 configured automatically ET Note that if a sequence file is Rename cards opened after this action the settings Mew Options i from this file will be used instead motion ILLE TI nee TI Tv melon Executing command Executing command Illustration 2 Select Autosearch to find cards automatically SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 7 21 Manual Setup Manually selecting number of cards By manually selecting the number of f OLTOM SMCP Automation Interface cards in the menu settings Number of PWM83 cards dra Settings ii licia PWM carc Communication settings it is possible to create a software set up without the need of any attached Els Autosearch for cards hardware It s of course very iH H important to really check that the Free Number of PWM cards selections of cards names e a Number of PWM4 cards a addresses movements and so on are Speed 0 Mamberd Mirean I accurate before running the Acc ramp me 3 7 Rename cards sequence on a real hardware system Mew Options al motion pepper p terreni yoy ey rr OT Change name Executing command Executing command If an auto search have been made or a manual selection of cards h
13. does not guarantee any resolution better than seconds StopMotion Syntax examples Cardimokor E opori an Cerco Mi tonotono No parameter is needed for this command It will simply stop the motion Note that no ramp will be used Current Syntax example Cardimoborl Current 0 36 This parameter sets the winding current for each motor It is essential that this is set correctly since the wrong current can harm the stepper motor StartSynch Syntax example Cardinotor t tart oy icles ena If a synchronized action is selected using this command will invoke the synchronized command SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 16 21 Sequence File Examples Sequence with Default Names The example below has the default motor names and no calibration factors yersion 1 0 72 NrOfCards 1 ComPort 6 Consi Conde Cardl motor 1 41 Cardl Motor 2 42 ComCard 40 Cel ose creo motor Colivtsreo tarclemever lai Colite iero im Cale ser Unies Cand lamobene lS CalibSpeed Cardl motor 1 1 CalibSpeed Cardl motor 1 1 Calibspecaunic Card motor I CalibSpeedUnit Cardl motor 1 Begin sequence Cardl motor 1 Reset Cardl motor 1 Current 0 6 Cardl motor 1 Speed 400 Cardl motor 1 Ramp 800 Cardl motor 1 Move 4000 Cardl motor 1 Wait 5 Cardl motor 1 Go Cardl motor 1 Wait 4 Carel moner ana Ol SMCP User Manual OLTOM Engineering AB 2010 11 08 Page 17 21 Sequence with Calibration and N
14. le saved 9 i sequence from the menu to create a xk Help sequence file SW REESE p If the cards and addresses already E erase Cis CTT have been configured the addresses EEH si Compile changes Fo and ports will be seen at the beginning oe Fre of the sequence file l Dats pal Y 1Total sequence If you any data is missing or wrong Current 0 A Curre 2 PWM3 card 1 click to close the sequence window da do 3 PWM3 card 2 Ace ramp 3 Ac apply necessary changes and then a l open the sequence window again New I n ARRESE If sequence file has been saved the vi changes will not appear in the window Executing command 4 ET Ramp 800 In that case manually edit the Illustration 8 To create a sequence select View sequence and recompile by selecting sequence from the Edit sequence menu Compile or press F9 In the example below the motors have been renamed to C1Y C2Y C1X and C2X After all the card settings are ready the summary sequence have been chosen All the data below is automatically written to the file SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 13 21 HE OLTOM SMCP Automation Interface file saved 0 E File Run Settings Editsequence Help Puls card 1 Pi card 2 Cia CTY Cn Cat a EH Total sequence 1 Cis Ramp 1000 Cla Speed 12 a CIA Move 14 4 CTY Ramp 900 E CTY Speed 4 E CY Move 2126 T C2Y Ramp 1200 8 C Y Speed 4 9 Ce Move 1 24 10 CX Go
15. lection When stepping or running through a sequence it is possible to see each step that is being executed in the yellow part of the sequence file window if this window is open and visible By checking the Loop sequence the sequence will start from beginning when it reaches the end SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 20 21 Disclaimer We believe that the information contained herein was accurate in all respects at the time of printing OLTOM Engineering AB cannot however assume any responsibility for errors or omissions in this text Also note that the information in this document is subject to change without notice and should not be construed as a commitment by OLTOM Engineering AB SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 21 21
16. llimeters inches radians degrees turns or any other desired unit e Calibrate motor speed In the same way as movement SMCP can be calibrated to use any desired unit such as meters per second instead of steps per second e SMCP can be run without any hardware attached for creating or editing sequences SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 4 21 Getting Started There are two modes for the OLTOM SMCP program to be in either with card s attached or without With no hardware attached it is still possible to use the program and write sequences and choose card configurations Usage with Attached Card s If there are one or more hardware cards attached to the computer do the following L From the menu choose Settings Autosearch for cards Enter the communication port the card is attached to The program finds the attached cards and shows symbolic pictures of them All addresses are automatically set to the correct values by the program Decide what names the different motors should have Select the Settings Rename cards menu to enable editing motor names After a New motion form have been loaded the ability to change names on motors will be disabled To change a name double click the default name for the motor located just above the blue picture of the motor Click the Calibrate button to calibrate each motor By doing this you can change the units used For example the program can be set to move 2
17. nized motion the Start selected sync radio button C Acceleration ramp must be used When Execute command is pressed all Start selected sync motors with the same synchronization ID will act at the es a same time Si eee ie Action Execute command save command Calibrate Il Illustration 6 To create a sequence select View sequence from the Edit sequence menu SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 11 21 Acceleration An acceleration and retardation ramp can be selected The same ramp will be used both for acceleration and retardation There is one exception if the Go command has been chosen and the movement begins with a ramp it will always end without ramp when the StopMotion command executes If no acceleration ramp is selected the default is to run at constant speed Note that some motors cannot start at full speed and require an acceleration ramp depending on the load Parameters for type 2 The acceleration is given in steps per Acc 0_ steps s second squared Ret o stepsy s EH Select ramp type Illustration 7 Acceleration Ramps Click Type 1 and zero is written in the field this equals no ramp Click Type 2 then type the selected ramp SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 12 21 Creating a Sequence File Select Edit Sequence View EH OLTOM SMCP Automation Interface fi
18. rch for cards from the menu In most cases this will be enough If Autosearch is not used is is easy to manually change address the address Dest adress 5 a B fa i for a card Click on the Dest adress 6 option button for the dip switch so that it matches Illustration 5 To manually set card addresses make sure the the physical card DIP switch settings on the physical card matches the DIP switch Note that for cards with settings in SMCP two or more controllers per card the addresses for all controllers on the card will change when any one is changed A special case is the Ret address selection Ret addresses the card RS232 port Thus instead of routing it to a motor the commands or messages will be sent out on to the RS232 port This feature is used for some OEM versions of the cards if data is needed for feed back and control of third party devices If hardware address selection is incorrect when creating a sequence file a new correct address has to be entered in the editor at a later stage before running the sequence Command sequence Card Addressing and Routing All communication in the between the cards and the host system is by packets much like the Internet TCP IP protocol Each OLTOM card does packet routing selecting which way to forward a packet not addressed to one of the controllers or devices on the card For example a PWM83 card with two motor controllers per card one RS232 and one I2
19. then click OK For every stepping motion from now you only have to fill in how many turns the motor should move and not how many steps This calibration information is saved in the file Another example If your motor is attached to a mechanical system that uses millimeters and 1 millimeter corresponds to 56 steps then write 56 in the factor text box and mm in the unit text box Motor selection check boxes It is very easy to get motors running using the SMCP software When the selected number of motors are visible on screen click the New Motion at the motor that should get a motion A new window appears There are nine different basic motions that can be selected In addition to this four of them can get a synchronization added to the command To use this window put the radio button at the desired function Add the value in the designated field Press E _ Execute command or Save Command depending on the 400 Steps DO m Cardi motor Command RI desired function These buttons are often used a in the way Daci fw Sune that the motion is first tested with the Execute button and di if the motion is the right one push the save button for the f Besetto EE TA tested and now selected motion a Wait number of sec To get a synchronized motion the check box called Synch must be checked A synchronization ID number s E must be added in the text box above To get the Stop motion synchro
20. troduction The OLTOM Stepper Motor Controller Program SMCP is the perfect tool for process or lab automation SMCP makes it possible to control motors in two ways Either with immediate action or by saving a desired motion sequence and replaying the sequence The sequence can be replayed an infinite number of times as an ongoing process or only once The full version of SMCP can simultaneously control several OLTOM cards The SMCP LE edition can only control one card If the cards are linked via an I2C bus a maximum of five cards can be controlled simultaneously For example using the PMW38 card with two separate motor driver per card a total number of 10 stepper motors can be controlled from one computer and one single RS 232 or USB port Synchronized motion between selected motors are possible Commands are sent from SMCP to the cards using short packets with error detection and recovery through packet retransmission This provides reliable communication between the computer and the cards as well as between the cards The motor drivers can operate with various winding currents controlled by software Be sure to read the cooling specification for each PWM card The RS232 communication runs at 115 2 bits per second The I2C bus runs in multi master mode standard at 100 kilobits per second if used Thus it is possible to connect the PMW cards to an existing I2C system Also embedded systems can control the cards directly using the I2C bus
21. yntax examples Cardlmotorl Move 400 Cardlmotorl Move 400 SyncID 1 The move command tells a motor to move Add the number of steps or another value depending on the calibration factors Speed Syntax examples Cardlmotorl Speed 400 Cardlmotorl Speed 400 SyncID 1 The speed command tells the motor by which speed the motor should move Add the number of steps per seconds or another value depending on the calibration factors Ramp Syntax example Ge PC MOOR Ls ine m00 The Ramp command tells you with what acceleration and retardation the motor will use The value is steps per seconds squared Thus how many steps per second the speed will increase every second Reset Syntax example Cardlmotorl Reset to power on state This command will reset the whole card not only one motor to power on state This will initiate that a Power On packet is sent Go Syntax examples Cardlmotorl Go Cardlmotorl Go 400 SyncID 1 The Go command will make the motor go infinite The only thing you need to add is a or a sign to specify the direction of the motor The motor will keep moving until a StopMotion command is sent SMCP User Manual 2010 11 08 OLTOM Engineering AB Page 15 21 Wait Syntax example Cardlmotorl Wait 10 This is a driver and thus a operating system handled command You specify for how many seconds the program should wait until next command is executed You specify number of seconds but the resolution
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