R356 Manual - Lin Engineering
Contents
1. Responses from Controller The SILVERPAKC23 and R356 respond to commands by sending messages addressed to the Master Device in most cases is your PC It always assumes it has an address of zero 0 The master device should parse the communications on the bus continuously for responses starting with O It is not recommended for example to look for the next character coming back after issuing a command because glitches on the bus when the bus reverses direction can sometimes be interpreted as characters After the O the next is the status character which is a collection of 8 bits These bits are Bit 7 Reserved Bit6 Always set Bit5 Ready Bit it is set when the unit is ready to accept a command Bit 4 Reserved Bit 3 2 1 O represent the error codes No error A Initialization error B Bad command illegal command was sent C Bad operand out of range operand value N A Communication error internal communication error N A G Not initialized controller was not initialized before attempting a move N A I Overload error system could not keep up with commanded position 10 N A 11 K Move not allowed 12 N A 13 N A 14 N A 15 O Command overflow unit was already executing a command when another command was received WOANADUBRWNF OO m Example of initialization error response The Upper nibble only takes on values of 4 or 6 in Hex An initialization error has a response of 1 in the lower ni2. to your PC and saving the special mode n96 in program memory storage zero 1 2 First connect to your PC and save n96 in storage zero 1sOn96R Next connect the positive side of a TTL square wave for step pulses to Pin 11 Blue white wire Refer to R356 Manual page 8 DB 15 Pin Assignments Connect a 5VDC supply to Pin 4 Yellow wire Tie together the negative pin of the step pulse to the negative 5VDC supply This becomes your signal ground Change direction of rotation on the fly by connecting or disconnecting Pin 3 White green wire to the signal ground that was just created in Step 4 Moving commands via RS485 will override step pulses RMS Technologies Version 1 12 Page 16 9 28 2014
3. 2 and the position correction mode n8 Or 1n9R will be jog mode n1 and position correction mode n8 RMS Technologies Version 1 12 Page 8 9 28 2014 Command Case Operand Example Description Sensitive POSITION CORRECTION ENCODER OPTION ONLY 1 2 1NiR Special Modes 1 Encoder with no index default Motor will home to the opto sensor 1 pin 7 2 Encoder with index Homes to the index aC 1 65000 1aCi00R When in position correction mode set distance allowed to move before the motor corrects using encoder feedback See Appendix 1 1000 10 6 1aE12500R Set Encoder ratio This sets the ratio between the encoder ticks rev and the microsteps rev for the motor See Appendix 1 au 1 10 6 1au10000R Set Overload Timeout This sets the number of times the move is retried in case a move stalls See Appendix 1 irR This will recover the encoder after there has been a timeout due to an overload timeout on the encoder See Appendix 1 PROGRAM STORAGE amp RECALL s 0 15 1s1A10000A Stores a program Program 0 is executed on power OR up Total of 14 commands max per string when storing but if not storing you can send 256 characters max e 0 15 1e1R Executes the Stored Programs 0 15 You can execute one program within a program i e LsOV500j2e1R and 1sigP1O00M500G5e2R and 1s2f1Z100000R This example will power on execute spee
4. Commands List for SilverPak 23C Integrated motor control drive SilverPak 23CE Integrated motor control drive encoder R356 Stand Alone control drive encoder Version 1 12 RMS Technologies Version 1 12 Page 1 9 28 2014 Thank you for purchasing the SILVERPAKC23 integrated motor and controller driver with optional encoder feedback SILVERPAKCE23 or the R356 stand alone controller driver with encoder feedback product This product is warranted to be free of manufacturing defects for one year from the date of purchase Technical Support for RMS Technologies By Telephone 877 301 3609 Mon Fri 8 00 a m 5 00 p m On the Web www rmsmotion com Our technical support group is glad to work with you in answering your questions If you cannot find the solution to your particular application or if for any reason you need additional technical assistance please call technical support at 877 301 3609 PLEASE READ BEFORE USING Before you begin ensure there is a suitable DC Power Supply Do not disconnect the DB 15 cable while power is still being applied to the controller This will damage the board The minimum voltage for the controller is 12 0 volts Under any circumstances do not exceed 40 VDC DISCLAIMER The information provided in this document is believed to be reliable However no responsibility is assumed for any possible inaccuracies or omissions Specifications are subject to change without notice RMS Te
5. DT protocol uses the for a start character 30 ASCII 0 this is the address of the recipient for the message 60 This is the status character here 60 is no error 31 31 These two bytes are the actual answer in ASCII It will indicate the status of the 4 inputs in the form of 4 bits Bit O switch 1 Bit 1 switch 2 Bit 2 opto 1 Bit 3 opto 2 03 This is the ETX or end of text character It is at the end of the answer string OD This is the carriage return character OA This is a line feed A program that receives these responses must continuously parse for O and take the response from the bytes that follow 0 The first Character that comes back may be corrupted due to line turn around transients and should not be used as a timing mark RMS Technologies Version 1 12 Page 12 9 28 2014 Example 1 1gP1000D1000G10R will move motor 1000 steps counterclockwise then 1000 steps clockwise it will repeat the loop for 10 times Always begin a program with the forward slash 1 Address of controller Check the dial on top of the unit g Beginning of loop All commands within g and G will repeat P1000 Move counterclockwise 1000 steps D1000 Move clockwise 1000 steps G10 End loop Repeat 10 times R Run this command string Example 2 1s0gH01A100H01A0GOR will store a program to memory and run upon power up This program will move 100 steps 90 for a 1 8 step motor when you press a pus
6. Mode 1n6R Uses all 4 inputs to combine the two modes RMS Technologies Version 1 12 Page 13 9 28 2014 Homing Sensor The Z command is used to initialize the motor to a generally known amount of steps a maximum of 10000 steps 400 default steps When issued i e 1Z5000R the motor will turn towards zero at a maximum step of 5400 until the home opto sensor is interrupted If issued a 1ZOR motor will only move 400 steps to find opto sensor If the sensor is already interrupted and 1Z5000R was issued the motor will move in the opposite direction until the sensor is un cut again At this time the motor moves towards home in the same way described above When sensor is cut motor stops motion and current position is reset to zero Speed is set by V i e 1V4000Z5000R The Z command is used in conjunction with Pins 6 and 7 An appropriate optical sensor must be attached to Pins 6 and 7 in order for the homing command to work properly The Z command allows the motor to rotate until Pin 7 Input 3 goes from low to high 23C CE Opto Sensor Connection RMS Technologies Version 1 12 Page 14 9 28 2014 APPENDIX 1 Encoder Usage The SILVERPAKCE23 and R356 can do closed loop position correction The encoder connects to the board internally Position Correction Mode Position correction mode when enabled will issue steps to the motor until the encoder reads the correct position Once enabled positions are given in Quad
7. amp ACCELERATION V 0 2431 1V2000R In Position Mode this sets the Top Speed of the Motor in usteps sec During velocity mode speed can be changed on the fly during rotation L 0 65000 1L5000R This sets the Acceleration factor psteps sec2 L Value x 6103 5 i e 1L1R takes 16 384 Seconds to get to a speed of V 100000 usteps sec Default is L 1000 default speed V 305175 usteps sec so default acceleration 6103500 usteps sec It should take 0 05 seconds to get to top speed RMS Technologies Version 1 12 Page 6 9 28 2014 Command Case Operand Example Description Sensitive SETTING CURRENT m 0 100 im50R Sets the running current on a scale of 0 to 100 of the max current 3 0A Default setting is m25 h 0 50 1h20R Sets the Hold Current on a scale of 0 to 50 of the max current 3 0 Amps Default setting is h10 LOOPING amp BRANCHING g 1gP10G5R Beginning of a repeat loop G 0 30000 1gP10GOR End of a repeat loop Loops can be nested up to 4 levels A value of 0 causes the loop to be infinite M 0 30000 1M2000R Delay for M milliseconds H 01 1gHO2P100 Halt the current command string and wait until 11 00G20R condition specified 02 The example will wait for switch two 2 to close 0 12 and then proceed to execute P10000 03 13 01 Wait for low on input 1 Pin 13 04 11 Wait for high on input 1 Pin 13 14 02 Wait for low
8. and The Switch Inputs 1 and 2 become the Jog Inputs Press input 1 to rotate CW for a given distance B Press input 2 to rotate CCW for a given distance B If also in position correction mode B will be in microsteps and not encoder counts Bit1 1n2R Enable Limit The opto input 3 pin 7 becomes one limit switch for rotating CW using P command The opto input 4 pin 14 becomes the other limit switch for rotating CCW using D command Use 1POR to rotate towards the limit switch Can be combined with other commands like 1POP500R rotate continuously until input 3 is low then move 500 more steps Bit2 1n4R Enable Continuous Jog Mode Continuous run of motor while switch is depressed Velocity is given by the V command Note that the jog mode allows moves below zero which will be interpreted by any subsequent A command as a large positive number If this is undesirable please use the z command to define zero position to be some positive number so that underflow will not occur Bit3 1n8R Enables Position Correction Mode See Appendix 1 Bit4 1n16R Enabled Overload Report Mode See Appendix 1 BitS 1n32R Enable Step And Direction Mode A value of 1 for this mode or enable Dual Encoder Mode if value of 0 i e 1n96 lt CR gt 96 32 64 Enables step and dir mode and slaves the motor to it See Appendix 2 Bit6 1n64R Enable Motor slave to encoder step dir Note 1n10R will enable limit n
9. bble Therefore the response is 41 or 61 in Hex which corresponds to the ASCII characters of upper case A and lower case a depending on if the devices I busy or not respectively Example of invalid command response The Upper nibble only takes on values of 4 or 6 in Hex An invalid command has a response of 2 in the lower nibble Therefore the response is 42 or 62 in Hex which corresponds to the ASCII characters of upper case B or lower case b depending on if the device is busy or not respectively Example of Operand Out of Range response The Upper nibble only takes on values of 4 or 6 in Hex An invalid command has a response of 3 in the lower nibble Therefore the response is 43 or 63 in Hex which corresponds to the ASCII characters of upper case C or lower case c depending on if the device is busy or not respectively RMS Technologies Version 1 12 Page 11 9 28 2014 Example of Overload Error Response The Upper nibble only takes on values of 4 or 6 in Hex An invalid command has a response of 9 in the lower nibble Therefore the response is 49 or 69 in Hex which corresponds to the ASCII characters of upper case I or lower case i depending on if the device is busy or not respectively Understanding Response Example Response to the command 1 4 FF RS485 line turn around character It s transmitted at beginning of a message 2F ASCII Start character The
10. chnologies reserves the right to make changes without further notice to any products herein to improve reliability function or design RMS Technologies does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others There are known issues involving the Halt command i e HO1 when stored in memory location zero Upon power up the remaining command string after the Halt command might be executed if the user types in a new command If memory location zero is not being used the user is advised to always clear everything in memory by typing 1 9 Otherwise the user may terminate the remaining command string in the buffer by issuing a 1T Special Symbols Indicates a WARNING and that this information could prevent injury loss of property or even death in extreme cases RMS Technologies Version 1 12 Page 2 9 28 2014 SilverPakC23 SilverPakCE23 and R356 Commands User Manual Product SILVERPAKC23 SILVERPAKCE23 R356 Version 1 12 Date 9 28 2014 1 00 New User Manual 1 01 Corrected m to be 3 0Amps not 2 0Amps 1 02 Added extra note about step amp direction mode 1 03 Removed c command 1 04 Updated pinouts updated encoder info o command range updated wording of Z command 1 05 Added example for Opto and Jog Mode and added B command 1 06 2 28 2007 Standardizat
11. d of 500 2x microstep and execute program 1 move 1000 steps and pause 0 5 seconds 5 times then execute program 2 which will home the motor in the opposite direction PROGRAM EXECUTION R 1iR Run the command string that is currently in the execution buffer Always end commands with R X Repeat the current command string MICROSTEPPING j 2 4 8 16 1j256R Adjusts the resolution in micro steps per step 32 64 128 256 o 1400 1650 Allows user to correct any unevenness in microstep default size Adjusts audible noise and should be executed 1500 while motor is running Should only be adjusted in small increments and should not exceed 1650 and should not be set below 1400 RMS Technologies Version 1 12 Page 9 9 28 2014 Command Operand Example Description Case Sensitive ON OFF DRIVERS OUTPUTS J 0 3 On Off Driver Turns on or off the two outputs I O s are bidirectional It s a two bit Binary value 3 11 Both Drivers On 2 10 Driver2 on Driver1 off etc Drivers output 3VDC max Driveri Pin 10 Driver2 Pin 2 QUERY COMMANDS The following commands are queries and cannot be cascaded in strings or stored They can be executed while other commands are still running 1 0 Returns the current motor position 1 1 Returns the current Start Velocity 1 2 Returns the current Slew Speed for Position mode 1 3 Returns the current Stop Speed 1 4 Retu
12. h button input 1 pin 13 And it will return to its original position when pressing the button a second time This loop will repeat infinitely Always begin programs with a forward slash 1 Address of Controller Check the dial on top of the unit sO Store to program 0 defined as running upon power up Beginning of loop Anything between g and G will repeat HO1 Halt commands until a low O is seen on input 1 Push button is pressed A100 Then move 100 steps absolute position HO1 Halt again until a low O is seen on input 1 Pin 13 Push button AO Move back to Position 0 GO End loop Repeat infinitely type 1T to terminate R Run commands To execute program type 1eOR Or power down and power up Only program 0 will start upon power up To terminate out of this infinite loop type 1T Example 3 Enable Pulse Jog Mode 1B10000n1iR Now use inputs 1 amp 2 to move 10 000 CW or CCW Enable Opto Limit Mode 1n2R 1n2gPODOGOR This will rotate the motor in the positive direction infinitely until it hits a switch then it will rotate in the negative position infinitely until it hits the other switch This will repeat continuously Use inputs 3 amp 4 Enable Pulse Jog Mode and Opto Limit Mode 1n3R Uses all 4 inputs to combine the two modes Enable Continuous Jog Mode 1n4R Now use inputs 1 amp 2 Pull to ground for movements go high to stop motion Enable Opto Limit Mode and Continuous Job
13. ion of manuals 1 07 4 13 2007 Velocity range explanation of commands more in detail 1 08 07 17 2007 Updated response codes 1 09 7 01 2008 Added R356 details Updated Appendix 2 1 10 8 17 2009 Updated Z command max value ni mode B command and Appendix 1 for encoder use Lalal 9 28 2014 Updated Appendix 2 step dir info RMS Technologies Version 1 12 Page 3 9 28 2014 TABLE OF CONTENTS DT Protocol syntax 5 Running two or more motors together 5 Default Values 5 List of Commands 6 HOMING amp POSITIONING 6 VELOCITY amp ACCELERATION 6 SETTING CURRENT 7 LOOPING amp BRANCHING 7 POSITION CORRECTION ENCODER OPTION ONLY 9 PROGRAM STORAGE amp RECALL 9 PROGRAM EXECUTION 9 MICROSTEPPING 9 BAUD CONTROL 10 Responses from Controller Error Bookmark not defined Understanding Response 12 Homing Sensor 14 APPENDIX 1 15 Encoder Usage 15 Position Correction Mode 15 Overload Report Mode 16 APPENDIX 2 16 STEP AND DRIVE MODE 16 RMS Technologies Version 1 12 Page 4 9 28 2014 DT Protocol syntax The DT Protocol allows the unit to be commanded over a simple serial port Start Address Commands Run End of a string Character ES Command strings R lt CR gt To Access Drivers 10 16 use the following Driver Command A colon B semi colon C lt less than D equals E gt greater than F question mark 0 at sign Running two or more motors together Mot
14. ologies and provide us with your motor part number and we can look up the encoder CPR for you Second Set the Error in Quadrature Encoder Ticks allowed before correction begins 1aC5OR default is 50 Motor will move 50 encoder ticks away from desired position before position correction takes place If aC is set to too small of a value the motor may oscillate back and forth trying to locate the exact position Use a larger aC value Third Set the Overload Timeout Value This is the number of re tries allowed under a stall condition 1au10000R default is 10 Fourth Enable the Feedback mode Zero the positions prior to enabling the feedback mode 1zZ0R Issue 1n8R to enable the feedback mode Borel gt RMS Technologies Version 1 12 Page 15 9 28 2014 Overload Report Mode Overload report mode when enabled will compare the encoder value to the commanded position at the end of a move and report an error if the two values do not match within the range given by aC When this error occurs the drive will exit from any loops or strings it may be executing Overload report mode is enabled by 1n16R and requires the encoder ratio to be entered correctly via the aE command Issue a 1zR to zero both the encoder and position counter just prior to issuing i1ni6R Only the Position Correction mode or the Overload Report mode may be turned on at one time Notes 1 When any command is received by the drive it will always resp
15. on input 2 Pin 5 12 Wait for high on input 2 Pin 5 03 Wait for low on input 3 Pin 7 13 Wait for high on input 3 Pin 7 04 Wait for low on input 4 Pin 14 14 Wait for high on input 4 Pin 14 e Halted operation can also be resumed by typing 1R e If it is desired to stop motion rather than to wait for the input and move one can use input 2 pin 5 to stop motion of a PO or DO command 1POR and close input 2 to ground to stop motion S 01 1gS02A1000 Skip command will skip the command following it if 11 OAOG20R the input is high or low 02 12 Useful for executing different programs based ona 03 high or low signal on an input 13 04 01 Skip next instruction if low on input 1 Pin 13 14 11 Skip next instruction if hi on input 1 Pin 13 02 Skip next instruction if low on input 2 Pin 5 12 Skip next instruction if hi on input 2 Pin 5 03 Skip next instruction if low on input 3 Pin 7 13 Skip next instruction if hi on input 3 Pin 7 04 Skip next instruction if low on input 4 Pin 14 14 Skip next instruction if hi on input 4 Pin 14 Can be used to escape loops by going to other stored programs RMS Technologies Version 1 12 Page 7 9 28 2014 Command Case Sensitive Operand Example Description n 0 4095 1n2R Sets Modes Interpret as combination of Binary Bits BitO 1n1R Enable Pulse Jog Mode Jog distance is given by B command Velocity is given by V comm
16. ond with its status The drive will only accept a command when it is not busy This status byte received must be checked to ensure that the unit was not busy and that the command was accepted This is especially important when position correction mode is enabled because the drive may be attempting to correct position all by itself and will reject an externally received command if it is busy in the middle of a correction move When position correction mode is enabled 1n8R then the drive will keep retrying any stalled moves and will NOT halt any strings or loops upon detection of a stall During position correction mode 1T will halt any move but there is a possibility that the drive may instantly reissue itself a position correction command especially if it is fighting a constant disturbance It may be necessary to issue a 1n0R to positively halt a move in progress Position correction mode is inhibited if the encoder underflows and goes negative but will automatically resume if a move is made into the positive range If position correction is required at the zero point please redefine zero to be a slightly positive number with the z command Eg 1z10000R If the encoder ratio is changed from its default of 1000 the allowed max position will be decreased from 2 31 by the same ratio APPENDIX 2 STEP AND DIRECTION MODE The SilverPak23C SilverPak23CE or R356 controllers can be configured as a driver only by first connecting it
17. ors 1 and 2 A Motors 3 and 4 GP Motors 5 and 6 E Motors 7 and 8 G Motors 9 and 10 a Motors 11 and 12 K Motors 13 and 14 M Motors 15 and 16 O Motors 1 2 3 and 4 Q Motors 5 6 7 and 8 U Motors 9 10 11 and 12 y Motors 13 14 15 and 16 J close bracket n For all motors underscore Example CA5000R will move motors 3 and 4 to Absolute Position 5000 Default Values Function command Description Running Current m 25 of 3 0 Amps 0 75 Amps Holding Current h 10 of max current 0 30 Amps Step Resolution j 256x Top Velocity V 305175 PPS microsteps sec Acceleration L L 1000 6103500 usteps sec Position 0 Microstep smoothness 0 1500 Outputs J Both are turned off inputs 1 amp 2 Baud Rate 9600 bps RMS Technologies Version 1 12 Page 5 9 28 2014 List of Commands Command Case Sensitive Operand Example HOMING amp POSITIONING Description Z 0 max 1Z10000R Home amp Initialize the motor Motor will turn towards 0 until the home opto sensor is interrupted If already interrupted it will back out of the opto and come back in until re interrupted Current motor position is set to zero Speed of homing is set by V In the example the motor will take 10000 steps to find the home sensor If sensor is still not found after 10000 steps it will stop motion Only op
18. rature encoder counts of the encoder not in microsteps If the motor stalls during a move then this mode will reattempt the move until the encoder reads the correct number or until it has tried a certain number of times and times out the au command NOTE The Z command for homing and B command for ni mode will still be in terms of microsteps and not encoder counts All other movement commands like P D and A are in encoder counts First Set the Encoder Ratio Encoder ratio Microstep 200 steps rev CPR 4 1000 This must be a whole number after you multiply by 1000 For example a 1 8 motor set to 256x microstepping with a 1000 count encoder Encoder ratio 200 256 1000 4 1000 12800 Set encoder ratio 1aE12800R If Encoder Ratio is Unknown Follow these steps 1 Issue a 1nOR to clear any special modes 2 Issue a 1zOR to set position of encoder and controller to zero 3 Issue a 1A100000R and ensure the move completes at a velocity that does not stall Issue a 1 0 to read current position This should be 100000 Issue a 1 8 to read the encoder position Issue a 1aEOR which auto divides these two numbers Issue a 1 aE which read backs the encoder ratio computed This value is a rough guide and may be a few counts off due to inaccuracies in the motor position and run out of the encoder but use the EXACT number that was returned and set it with a laEXXXXR Or please contact RMS Techn
19. rns the status of all four inputs 0 15 representing a 4 bit binary pattern Bit 0 Input 1 Pin 13 Bit 1 Input 2 Pin 5 Bit 2 Input 3 Pin7 Bit 3 Input 4 Pin 14 1 5 Returns the current Velocity mode speed 1 6 Returns the current step size 1 7 Returns the current o value 1 8 Returns the Encoder Position can be zeroed by z command 9 1 9 Erases all commands program stored in EPROM except for the any settings such as current microstepping velocity acceleration and any other settings NEN N N AJwIN e O ON N INIO U1 1 Recalls current command executed To see what currently stored in a specific program run the program and issue the 1 example 1e2R 1 amp 1 amp Returns the current Firmware revision and date Q 1Q Query current status of the controller 0 No Error 1 Initialization error 2 Bad Command 3 Operand out of range T 1T Terminate current commands p 1p66 Sends out the number 66 or any number placed after p mostly used for confirmation of when a move is done For example 1P1000p66R will send out the number 66 when the motor has moved 1000 steps Any number can be used after p BAUD CONTROL b 1b19200R Adjustable baud rate 9600 This command will usually be stored as program zero 19200 and execute on power up Default baud rate is 9600 38400 RMS Technologies Version 1 12 Page 10 9 28 2014
20. to 1 pin 7 can be used with this O max 1z65536R Sets current position without moving motor Works accurately when new position is divisible by 1024 0 max 1A10000R Move Motor to Absolute position i e moves to the 10 000 step Issuing A10000 again will NOT move the motor because it is already at that value Oori 1f1R Sets polarity of direction of home sensor default is 0 O max 1P10000R Move Motor relative number of steps in positive direction A PO command rotates motor infinitely which enters into Velocity Mode Any other finite number will set the mode to be in Position Mode O max 1D10000R Move Motor relative number of steps in negative direction Note Motor will not run in the negative direction if the position is at 0 You can use the z command to set the 0 position to be further away in the negative direction OR you can use the F command F1 prior to the P command to reverse direction of rotation A DO command rotates motor infinitely which enters into Velocity Mode Any other finite number will set the mode to be in Position Mode 0 max 1B1000R Sets the distance for pulse jog mode see n command 1TR Terminate current command 0 1 1F1R Reverses the positive direction to be negative The P and D command will switch directions Default is 0 2431 1 Max value is 2431 1 2 147 483 647 VELOCITY
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