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AXES CONTRO UNIT MT2HC USER MANUAL

1. w V Po f cia Automatic Windows Update procedure 1 Connect the MT2HC to PC using a USB cable Windows operating system will detect a new device showing a message similar to d Found New Hardware MT2LISB Control Unit Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on 2 Inthe following windows found new hardware wizard chose 77170 70 SS Yes this time only and then Next Wait for a complete Can Windows connect to Windows Update to search for download of the driver and its installation software O Yes now and every time connect a device No not this time Found New Hardware Wizard Click Next to continue This wizard helps you install software for CAN Logger 3 Then choose install the software automatically Recommended and then Next Wait for downloading of the driver and its installation If your hardware came with an installation CD 22 or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended Install from a ist or specific location Advanced Click Next to continue Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for of Control Uni
2. R PAP elec hor f eM Po 1 agem E IPSES Sets the steady speed of the motor in step per second where x is the speed for motor 1 y is the speed for motor 2 Note the speed must be set between the starting speed defined by the Sm command and 99999 step s i e S1000 500 sets at 1000 step s the steady speed of the motor 1 and at 500 step s the one of motor 2 Requests the set steady speeds in step per second for the two motors The answer will be in the following format XXXXX YYYYY lt CR gt where 15 the set steady speed for the motor 1 while YYYYY is the one for the motor 2 i e after sending S the system will answer with 01000 00500 that means the speed for motor 1 is 1000 step s while speed of motor 2 is 500 step s Sets the starting speed of motors in steps per second x is the speed for motor 1 while y is the speed for motor 2 Speed must be include between 5 and the steady speed which is set by the S command it cannot be more than 99999 step s i e Sm20 50 sets at 20 step s the starting speed of motor 1 and at 50 step s the starting speed of motor 2 Requests the starting speed in step per second that has be set for the two motors The system answers in the following format XXXXX YYYYY lt CR gt where XXXXxX is the set starting speed for motor 1 while YYYYY is the one of motor 2 i e after sending Sm the system will answer with 00020 00050 that means the starting speed
3. Po IESUS E gt IPSES speed speed HT 41711 1141 1 step 1 10 20 30 40 50 60 70 80 90 100110120130140150 160 0 10 20 30 40 50 60 70 80 90 100110120130140150 160 Picture 3 on the left the speed trend with a movement higher than the number of steps requested by the ramp is shown on the right the pattern with a movement lower than the number of steps of the ramp is shown In case of a request for changing the motion direction before reversing the motion the system will apply the deceleration ramp up to reach the starting speed and then it will reverse the motion by applying the acceleration ramp see Picture 4 speed Svalue RS 50 step step 0 10 20 30 40 50 60 70 80 90 100110120130140150 160 Picture 4 Trend of the speed in case of requesting motion inversion Factory parameter values which can be restored using the MR command are starting speed 25 steps per second for both motors Sm steady speed 200 steps per second for both motors S ramp duration 250 steps for both motors RS Phases disabile when motors are in stop mode F AUXILIARY OUTPUTS the device there two optocuopled outputs which can be managed using the command Their status be verified using alternatively you can also use the lO command The outputs are open collectors which can be connected to a pull up Features of the outputs are the following ones
4. 200 steps negative direction and motor 2 in a position of 1000 steps in positive direction from the home position previously set through H command The use of this command implies position is known IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA p S E S http www ipses com e mail info ipses com 3 a iceniEc f Y pcc PS Po SESS E gt IPSES Moves the motor 1 to the position of x coordinate where x is the absolute position from home position in step x must be include between 99 999 and 99 999 i e after the sending of PX 200 the system drives motor 1 in a position of 200 steps in negative direction from the home position previously set through H command Status of motor 2 is kept unchanged The use of this command implies position is known Moves the motor 2 to the position of y coordinate where y is the absolute position from home position in step x must be include between 99 999 and 99 999 i e after the sending of PY1000 the system drives motor 2 in a position of 1000 steps in positive direction from the home position previously set through H command Status of motor 1 is kept unchanged The use of this command implies position is known Requests the current position The system will answer with the following aXXXXX bYYYYY lt CR gt where a and b indicate the direction positive or negative and XXXXX and
5. Picture 11 Hyper Terminal path The serial communication can be used also with USB devices because the driver provides a virtual serial communication port VCP for each MT2 system connected Through the VCP it can be easily established the serial communication with the board Once the connection is established a name and some other parameters are needed as it can be seen in Picture 12 13 32 IPSES ce ear IPSES S r l Via Lazzarotto 10 20020 Cesate ITALY Tel 39 02 39449519 Fax 39 02 700403170 4 lt http www ipses com e mail info ipses com ef sclentlic electronics N7 5 PO e OQ IPSES Connect To MT2USB COM164 Enter details for the phone number that you want to dial Country region 20122 Connect using COM COM LOMTE4 TCPAP nock Picture 12 HyperTerminal general parameter settings 164 Properties Port Settings Bits per second 9600 Data bits 8 Parity None Stop bits 1 Flow control Hardware Ann salt Hardware Mone Restore Defaults Picture 13 Hyper Terminal serial parameter settings Before getting information by the board it is necessary to view characters sent by user To do that an echo late on what is written has to be set via program properties menu Picture 14 16 33 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax
6. cientilic electronics 57 O 5 IPSES EXAMPLE USING THE DLL D2XX The following code example opens the communication toward the device with 0 and configures transmission parameters reads the firmware version and the serial number command sends the command for moving the X axis 2000 steps and closes the communication Variables definition unsigned long ftStatus 0 ftHandle 0 unsigned long TxBytes 0 RxBytes 0 EventNode 0 BytesWritten 0 BytesReceived 0 char TxBuffer 16 char RxBuffer 256 77 Device Communication to O indexed device and sets its communication parameters ftStatus 0 amp ftHandle if ftStatus FT_OK t else Error on opening procedure t ftStatus FT_SetBaudRate ftHandle 9600 if ftStatus FT_OK t j else t Error on setting baud rate procedure ftStatus SetDataCharacteristics ftHandle BITS 8 STOP BITS 1 PI PARITY NONE y if ftStatus OK t j else Error on setting data characteristics procedure ftStatus FT_SetFlowControl ftHandle FT_FLOW_RTS_CTS NULL NULL if ftStatus FT_OK j else t Error on setting flow control procedure ftStatus FT_SetTimeouts ftHandle 500 300 if ftStatus FT_OK j Error on setting timeout procedure 37 IPSES S r l Via Suor Lazzar
7. 39 02 700403170 JA http www ipses com e mail info ipses com AS El PS ES LC LO MARC elechonict Po f amp I gt IPSES MT2USB 164 HyperTerminal aG Edit View Call Transfer Help New Connection Open Save Save s Page Setup Print Exit Alt F4 Displays the properties of the current session Picture 14 HyperTerminal properties menu MT2USB COM164 Properties Connect Settings Function and keys act as Windows keys Backspace key sends Del Space Ctrl H Emulation Auto detect Terminal Setup Telnet terminal ID ANSI Backscroll buffer lines 500 Play sound when connecting or disconnecting Input Translation ASCII Setup Picture 15 by TAB Settings user can select ASCII Setup 34 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com lt V D 5 5 Po f wroncuseauanual PSES ASCII Sending Send line ends with line feeds Echo typed characters locally Line delay 10 milliseconds Character delay ho milliseconds ASCII Receiving Append line feeds to incoming line ends Force incoming data to 7 bit ASCII Wrap lines that exceed terminal width Picture 16 an example
8. Maximum output voltage 36V Maximum output current 150 mA 24 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com lt wht 2 5 5 o A l T af elechonict sclentlic electronics T O Saou GSES Here below there are the diagrams of two typical connection of external devices toward the MT2HC system In the first case Picture 5a the system directly controls some loads with maximum current of 150mA In the second case Picture 5b the systems is interfaced to a high impedance device for instance the inputs of a PLC Power Supply Picture 5a Connection of auxiliary outputs directly managing of loads The correspondent pins of the DB25 connectors in BOX version are indicated in parenthesis pin14 pin13 Sout far Power Supply Picture 5b Connection of auxiliary outputs connection to a high impedance device The correspondent pins of the DB25 connectors in BOX version are indicated in parenthesis 25 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 pran http www ipses com e mail info ipses com cS E PSES elechorici cientilic electronics 5 Q RIPSES AUXILIARY INPUTS The system is equipped with four optocoupled inputs It is possible to verify their s
9. from 18V to 30V for MT2HC version 100 250 or 140 350Vpc for MT2HC BOX version Motor steady current 1A 2A or 3A phase with PWM control Communication interface USB 2 0 connector type B Auxiliary outputs two outputs Maximum applicable voltage 36V Maximum current on each open collector 150 mA Auxiliary inputs four inputs Maximum applicable voltage 36V LOW logical level lt 1V HIGH logical level gt 2 5V Input impedance 2 5 Kohm about Board dimensions 15 mm x 115 mm 452 x 452 inches Max high 25mm 0 98 inches Box dimensions 203 mm x 133 mm x 279 mm 8 0 x 5 2 x 11 0 inches 31 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 Sa http www ipses com e mail info ipses com UAS 2 PSES LOCHS MARX electronica scientie electronics p T 6 lt CONNECTION EXAMPLE HYPERTERMINAL A typical example of serial connection is represented by HyperTerminal tool which is present in all operating systems Microsoft Windows XP if your PC is equipped with Windows Vista or 7 the program is not included in the operative system distributions but it is easily downloadable from Internet running by menu Start gt All Programs gt Accessories gt Communications gt Hyper Terminal Picture 11 Daniele Barbera F LI k LI k k k LI
10. i e GY 1 sets the perpetual motion in negative direction for the motor 2 The status of perpetual motion for motor 1 is kept unchanged s Stops immediately with no deceleration ramp both motors when they are running Requests the set value for perpetual motion for the two motors The answer will be in the following format a0000X b0000Y lt CR gt where a and b indicate the direction of the set perpetual motion for the two motors for G positive direction for negative direction while X and Y 1 is the perpetual motion is enabled 0 is it is i disabled i e after the sending of G the answer will be 00001 00001 which indicates the perpetual motion is enabled for motor 1 in positive direction and is enabled in negative direction for motor 2 Set the current position as home position for the two motors x is the parameter for motor1 while y is the one for motor 2 The x y parameters can have the following values 1 sets the current position as home position 0 keeps unchanged the home position i e after the sending of H0 1 the system does not modify the home position for motor 1 while it sets the current position as home position for motor 2 Moves the axes to the coordinate position where x and y are the absolute positions from home position in steps Both x and y must be include between 99 999 and 99 999 i e after the sending of 200 1000 the system drives motor 1 position
11. legislation this Guarantee will be the end user s sole and exclusive remedy against IPSES General Provisions IPSES makes no express warranties or conditions beyond those stated in this warranty statement IPSES disclaims all other warranties and conditions express or implied including without limitation implied warranties and conditions of merchantability and fitness for a particular purpose IPSES s responsibility for malfunctions and defects in hardware is limited to repair and replacement as set forth in this warranty statement IPSES does not accept liability beyond the remedies set forth in this warranty statement or liability for incidental or consequential damages including without limitation any liability for products not being available for use or for lost data or software With the exclusion of shipping costs for and from IPSES s development office IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 oe i http www ipses com e mail info ipses com UA 2 PSES E 1 bct ef clenific electron 4 ol sclentlic electronics N 5 o vacuam gt PSES WARNING ELECTRICAL DEVICES COULD DAMAGE EQUIPMENT OR PROPERTY OR CAUSE PERSONAL INJURY This guide contains instructions and technical features of the AXES CONTRO UNIT MT2HC Read with attention before attempting to install It is the responsibility of the technician to undertake all the safety r
12. U command is 1 if the fault condition happens see BOARD DESCRIPTION section for more info about fault condition and it will be reset every time a status request U command is sent All the positions and movements must be understood as measured in full steps as the measured speeds are expressed in full steps per second The acceleration deceleration ramp depends both by the set number of steps duration of the ramp RS command and by the starting speed Sm command and steady speed S command With these three parameters you will have the increase of speed for every step that will be equal to starting speed Sm Steady speed S Duration of ramp RS If there is a request for a movement which is higher than the total number of steps to be dedicated to the ramp the system will reach and keep the steady speed until the deceleration ramp will be activated with a trapezoidal pattern as shown in Picture 3 on the left If there is a request for a movement which is lower than the total number of steps to be dedicated to the ramp the system will assign half of the movement to the acceleration ramp and half to the deceleration ramp without ever reaching the steady speed with a trend always shown in Picture 3 on the right 23 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA S http www ipses com e mail info ipses com LC LO MARC elechonict f V
13. for motor 1 is 20 step s while the one for motor 2 is 50 step s Sets the steady speed of the motor 1 in step per second where x represents the speed for the motor 1 Note the speed must be set between the starting speed defined by the Sm command and 99999 step s i e SX1000 sets at 1000 step s the steady speed of motor 1 while the speed of motor 2 is unchanged Sets the steady speed of the motor 2 in step per second where y represents the speed for the motor 2 Note the speed must be set between the starting speed defined by the Sm command and 99999 step s i e SY500 sets at 500 step s the steady speed of motor 2 while the speed of motor 1 is unchanged Defines the number of steps used for the acceleration deceleration ramp for the motor 1 and 2 respectively Note the number of steps must be positive and less than 99999 or zero to disable the ramp i e RS100 0 sets at 100 steps the number of steps requiered to reach the steady speed from the starting speed of motor 1 and disabile the ramp for motor 2 Requests the number of set steps which are usend for the acceleration deceleration ramp for motor 1 and 2 respectively The system will answer with the following format XXXXX YYYYY lt CR gt where XXXXxX is the set value for motor 1 while YYYYY is the value for motor 2 i e after the sending of RS the answer will be 00100 00001 which means for motor one the number of steps for reach the steady speed form the starting sped so the
14. info ipses com gt PSES electronics 47 gt 1 here elechonici BOY 5 L cs conmo NT gt 1 5 5 PRODUCT CODES Two axes stepper motor control system with PWM current control at 3 and USB interface MT2HC BOX Two axes stepper motor control system with PWM current control at 3 and USB interface equipped with power supply for motors USB A B USB cable for USB cards and systems lenght 1 8m 70 9 inches USB A B ill USB cable with light end for USB cards and systems 40 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 A m 5 S http www ipses com e mail info ipses com Chart glec hor WI v v 5 T wanc usera gt PSES OTHER AVAILABLE MODELS IPSES can realize customized versions of this device to answer to any clients demand Particularly it is possible to have this instrument in any size so as to easily integrate it in any mechanical system and with customized communication protocol There are also available axes control cards and systems with USB interface see MT2USB and MT2USBMS systems serial interface RS232 see the MT2 and MT2MS systems and with Ethernet interface see the MT2ETH and MT2ETHMS systems On request we can conceive and develop system with any communication interface according to our client s specifications For each version on demand is available
15. output 1 are enabled while input 3 and output 2 are disabled 0 J 0 Requests the current firmware version and the serial number of the device The answer wil be an ASCII string similar to MT2HC vX XX XXXX SN YYYYYYY by IPSES srl www ijoses com r where X XX XXXX is the firmware version and YYYYYYY is the serial number c Saves the currently used speed and working mode settinngs in a non volatiole memory 21 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA p S E S http www ipses com e mail info ipses com icheniEc 4 ol w L wroncuseauaal lt gt IPSES Reset in a non volatile memory the factory configuration parameters U 4 Requests the system status The answer will be in the following format FCLAX 000BY lt CR gt where F is 1 if a fault status occurred C is 1 if an invalid command has been sent L is 1 if you have exceeded the limits of the parameters A B are 1 if the position of the relevant motor is unknown X Y are 1 if the relevant motor is running F C L are reset after the U command while A B are reset when an home position is set through H command then X Y are reset if motors are in stop mode Example 1 fault gt U lt CR gt Answer gt 00010 00010 lt CR gt gt G0 1 lt CR gt perpetual motion on motor 2 in positive direction gt U
16. 0 2 D2 1 9 M1A N USB connector MTPWR J5 J6 Picture 1 MT2HC Position of connectors LEDs and Jumpers The board has two connectors blocks one is for motor connection composed by M1A M1B M2A M2B MTPWR and the other one is dedicated to digital I O connection composed by P1 P2 DIPWR DOPWR Motor connections block The motor power supply which must be inlcuded between 18V and 30V is supplied through the MTPWR connector while the Mnm connectors allowed the connection toward the motors phases n identifies the number of the motor 1 for motor one and 2 for motor two and m identifies the motor phase A or B for example connector M1B indicates motor 1 and phase B For further information about motor connections see the MOTOR CONNECTION section Digital I O block The input reference voltage and a possible inputs pull up are both available thanks to DIPWR connector while DOPWR connector make available output voltage reference and outputs pull up 8 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 4 gt S S http www ipses com e mail info ipses com ig gt IF 274 4 ol cientilic electronics 57 5 O 3 macim gt IPSES The four digital inputs are available on P1 and P2 while the two open collector digital outputs are available on P3 connector The input status is showed by LE
17. 00403170 AA S S http www ipses com e mail info ipses com 3 a LC HD PERC qiechonici j S amnem Product code MT2HC Rel 01 01 0002 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 39 02 320629547 Fax 39 02 700403170 e mail info ipses com support Q ipses com IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com 4 3 1 el IPSE electronics
18. 9 02 39449519 Fax 39 02 700403170 a http www ipses com e mail info ipses com S 2i PSES Ww DO Po L SESS E gt IPSES SUPPORT INFORMATION The customer is at liberty to contact the relevant engineer at IPSES S r l directly Telephone 39 02 39449519 39 02 320629547 39 02 700403170 Email support ipses com PROBLEM REPORT The next page is a standard template used for reporting system problems It can be copied and send as a fax Alternative bugs may be reported by emails in this case please insure that the mail contains similar information listed in the Engineering Problem Report form 43 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 ZA http www ipses com e mail info ipses com S 2i PSES ef OAT ol f pc EN Po f SESS E gt IPSES ENGINEERING PROBLEM REPORT Problem describer Name IPSES s r l Via Suor Lazzarotto 10 Company Cesate MI Italy Fax 39 02 700403170 Product Name Version Serial No Report Type bug change request or technical problem Major bug Urgency Minor bug High Change request Medium Technical problem Low Problem Description Reproduction of Problem IPSES s r l Action notes 44 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 7
19. Ds 017 018 019 020 while the output status is showed by LEDs 020 D21 For further information about digital I O see AUXILIARY OUTPUTS and AUXILIARY INPUTS sections Jumpers description J5 and J6 these jumpers allow to set excitation current for motors and threshold current value for fault condition Through C command you can know via software the jumper configuration J5 and J6 configuration Insert J5 Open J6 Excitation current at3A Current value for fault condition at 3 3A Open J5 Open J6 Excitation current at 2A Current value for fault condition at 2 3A Open J5 Insert J6 Excitation current at 1A Current value for fault condition at 1 4A Insert J5 Insert J6 Reserved LEDs description D17 D18 D19 D20 show the input status D21 D22 show the output status D7 green USB connection is activated D2 red motor current gone over the threshold value which has been selected by jumpers J5 and J6 fault error In case of fault error the motor that has caused it is immediately stopped and LED 02 turns on if a status request is send U command D2 turns off 9 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 tt S http www ipses com e mail info ipses com L DIT lt B OS a MT2HC USER MANUAL 2 scientific electronics P BOX DESCRIPTION In Pictu
20. E gt IPSES DRIVER INSTALLATION We recommend to execute the automatic software installation from CD before connecting the device to PC By this way software and USB driver are both installed allowing the PC to automatically identify the device once you connect it If you use the recommend automatic software installation from CD you do not need to follow indications contained in this chapter If you do not use the recommend automatic software installation from CD to connect MT2HC Box to your PC you need to install only the USB IPSES driver that is certified for the most recent Microsoft operating systems Microsoft Windows 2000 family Microsoft Windows XP family x86 Microsoft Windows Server 2003 family x86 Compatibile con Microsoft Windows Server 2003 family x64 Microsoft Windows XP family x64 Microsoft Windows Vista family x86 J Microsoft Windows Vista family x64 MEME CERTIFIED FOR Windows Server 2008 family x86 Windows Windows Server 2008 family 64 gt Windows 7 Windows 7 x64 Windows Server 2008 Release 2 family x64 If your PC has an internet connection you should follow the automatic Windows Update procedure otherwise follow the manual installation procedure from CD 14 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 I http www ipses com e mail info ipses com AS PSES LC LO MARC
21. ITALY Tel 439 02 39449519 Fax 39 02 700403170 Oan http www ipses com e mail info ipses com UAS Ed PSES Qd O Po T AS como UNT c I PSES GUARANTEE IPSES warrants to the end user in accordance with the following provisions that its branded hardware products purchased by the end user from IPSES company or an authorized IPSES distributor will be free from defects in materials workmanship and design affecting normal use for a period of one year as of the original purchase date Products for which proper claims are made will at IPSES s option be repaired or replaced at IPSES s expense Exclusions This Guarantee does not apply to defects resulting from improper or inadequate installation use or maintenance actions or modifications by unauthorized third parties or the end user accidental or wilful damage or normal wear and tear Making a claim Claims must be made by contacting IPSES office within the guarantee period Please contact IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI Italy Tel 39 02 39449519 39 02 320629547 Fax 39 02 700403170 http www ipses com e mail support ipses com Limitation and Statutory Rights IPSES makes no other warranty guarantee or like statement other than as explicitly stated above and this Guarantee is given in place of all other guarantees whatsoever to the fullest extent permitted by law In the absence of applicable
22. Series connection A series motor configuration would typically be used in application where a higher torque at lower speeds is required Because this configuration has the most inductance the performance will start to degrade at higher speeds Phase A Phase A Phase B Phase B Picture 7 series connection 27 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate ITALY Tel 39 02 39449519 Fax 39 02 700403170 A http www ipses com e mail info ipses com UAS 21 PS ES i uic electronica LF Parallel connection 1 1 Cy AXES CONTRO UNIT MT2HC USER MANUAL gt 1 cientilic electronics An 8 lead motor in a parallel configuration offers a more stable but lower torque at lower speeds But because of the lower inductance there will be higher torque at higher speeds Phase A Phase A Phase B Phase B Picture 8 parallel connection MOTOR CONNECTION 6 LEAD MOTORS Half coil configuration This configuration uses 50 of the motor phase windings This gives lower inductance hence lower torque output Like the parallel connection of 8 lead motor the torque output will be more stable at higher speeds This configuration is also referred to as half copper Configurazione full coil Phase A Phase A Not connected Phase B Phase B Not connected Picture 9 half coil configuration The full coil configuration on a 6 lead motor sh
23. abled i e after the sending of F the answer will be 00001 00000 that means when motor 1 will be in stop mode in its phases there will be current while when motor 2 will be in stop mode its phases will be disabled Requests the set value for the excitation current The answer will be in the following format X lt CR gt where X can be 1 2 or 3 depending on J5 and J6 configuration see BOARD DESCRIPTION section i e after the sending of C the answer will be 2 that means the excitation current is 2A and threshold current is 2 3A J5 and J6 are open 20 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA 5 S http www ipses com e mail info ipses com LC HD PARC qiechonici f V Po f SESS E gt IPSES Requests data about current flowing in the x motor phases where x is 1 for the first motor or 2 for the second one The answer will be an array with maximum length of 401 bytes where the first byte is the number of the sample for each phase unsigned 8 bit number followed by the samples of A phase signed 8 bit number and then by the samples of B phase signed 8 bit number The samples have to be multiplied by 0 1101764 to obtain current in ampere i e after the sending of CD1 the answer will be an array of 401 bytes 200 xC8 25 x19 27 x1B 0 x00 25 xE7 25 xEC The first byte indicate that 200 samples for each phase o
24. configuration to see ASCII characters ATTENCTION DO NOT SELECT Send line ends with line feeds Now communication between PC and MT2 board is established with the protocol previous described For example if character is sent by the keyboard followed by ENTER Picture 17 peripheral shall answer with a string similar to the one shown in Picture 18 MT2USB COM164 HyperTerminal File Edit view Call Transfer Help Daw 25 DA Auto detect Auto detect SCROLL CAPS NUM Capture Print echo Picture 17 get firmware version command 35 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate ITALY Tel 39 02 39449519 Fax 39 02 700403170 A http www ipses com e mail info ipses com eechorci WI 4 Cy l Po L f wrancuseauaual 7 PSES 2 HyperTerminal File Modifica Visualizza Chiama Trasferimento 55 28 2 v1 00 0001 SN 2010001 by IPSES srl www ipses com Riley aut 9600 8 N 1 SCORR MAIUSC NUM Acquisisci Eco stampante Picture 18 firmware version string example Typing the commands one after the other you can start working with the MT2HC system using the virtual port 36 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate ITALY Tel 39 02 39449519 Fax 39 02 700403170 A http www ipses com e mail info ipses com lt V D PS ES
25. dicated by the message of completing the found new hardware wizard To end click Finish Lites by IPSES 611 1 Found New Hardware x l Click lo losa tbe wizend USB Serial Port 5 After installation of the hardware described Cm above the new USB Serial Port is detected Follow again instruction from point 2 REMOTE CONTROL COMMUNICATION PROTOCOL Communication of control unit is achieved through a USB interface made up by the driver which is provided with the unit Commands are strings in ASCII code terminated with lt CR gt 0x0D The syntax is case sensitive so it is not possible to use either lowercase or uppercase In case the user chooses to use the virtual COM port available through the driver commands can be directly conveyed with any serial client Windows HyperTerminal for example Moreover application programs may be developed using USB communication functions provided with D2XX DLL The communication parameter are gt Communication rate 9600 baud gt data bits 8 gt parity bit none gt Stop bits 1 gt stream control Hardware CTS RTS In case of choice to use the DLL please refer to FTD2XX DLL DYNAMIC LIBRARY manual by IPSES The following commands are implemented 17 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA 2 S S http www ipses com e mail info ipses com 3 a
26. e for 1 069 Control Uni 3 Then choose install from a list or specific location Advanced and Next Then Set the driver folder path on the CD C If your hardware came with an installation CD 2 or floppy disk insert it now What do you want the wizard to do O Install the software automati Recommended Install from a list or specific location Advanced Found New Hardware Wizard Please choose your search and installation options a G Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed Search removable media flopp Include this location in the search Drivers v Browse Don t search will choose the driver to install Choose this option to select the device driver from a list windows does not guarantee that the driver you choose will be the best match for your hardware 16 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com P 5 ES LC HE PERC qiechonici A f 4 V Po f SESS E gt IPSES Cor New The wizard has estan the soteer tor ee no MT2U5B Control Unit 4 The Successful of the installation is in
27. f the first motor are available the other 200 bytes are the phase samples and the last 200 bytse are the samples of phase B For obtain the current value multiply the sample by 0 1101764 25 x19 0 1101764 2 75A 27 x1B 0 1101764 2 97A 0 x00 0 1101764 0A 25 xE7 0 1101764 2 75A 20 9 1101764 2 24 i e after the sending of CD2 the answer will be an array of 301 bytes 150 x96 25 x19 27 x1B 0 x00 25 xXE7 25 XEC In this case the number of samples for each phase of the motor 2 are 150 formatted the same way as the previous example Sets the value of the digital outputs 1 output enabled 0 output disabled n1 and n2 are referred to the two On1 n2 outputs respectively i e 01 0 output 1 is enabled and output 2 is disabled Requests the status of the outputs and the system will answer in the following format 0000X 0000Y lt CR gt where X and Y values are 1 if the relevant output is enabled 0 if it is disabled i e after the sending of O the answer will be 00001 00000 that means the output 1 is enabled and the output 2 is disabled Requests the status of inputs and outputs and the system will answer in the following format 0XYZT 000AB CR where X Y Z T value is 1 is the pertinent input is enable otherwise is O and A B value is 1 is the pertinent output is enable otherwise is 0 i e after the sending of IO the answer will be 01101 00010 that means inputs 1 2 and 4 and
28. indicate the movement from home position in steps i e after the sending of W the answer will be 00200 01000 that means motor 1 is at 200 steps in negative direction from home position previously set by H command and motor 2 is at 1000 steps in positive The use of this command implies position is known Moves the axes for a run of x and y steps from current position relative movement x and y are the runs in steps both must be included between 99 999 and 99 999 i e after the sending of D 200 1000 the system drives motor 1 in a position of 200 steps in negative direction from current position and motor 2 in a position of 1000 steps in positive direction from current position Allows the phases of the two motors to remain activated when they are in stop mode x is the parameter for motor 1 y is the one for motor 2 The x y parameters can have the following values 1 phases enabled when motor in stop mode 0 phases disabled when motor is in stop mode When pahses are enabled the current is about 1A per pahse so to reduce consumptions and prevents the possibility of overheating i e F1 0 when motor 1 will be in stop mode in its phases there will be current while when motor 2 will be in stop mode its phases will be disabled Requests the set value for the motor phases when the motors are in stop mode The answer will be in the following format 0000X 0000Y lt CR gt where X and Y are 1 if the phases are enabled and 0 if they are dis
29. lt CR gt Answer gt 00010 00011 lt CR gt motor 2 is running FAULT ERROR gt U lt CR gt Answer gt 10010 00010 lt CR gt fault error Motor 2 is stopped Example2 not provided command gt U lt CR gt Answer gt 00010 00010 lt CR gt gt NOEXIST lt CR gt sending a not provided string gt U lt CR gt Answer gt 01010 00011 lt CR gt not provided command Example3 exceeding of parameter limits gt U lt CR gt Answer gt 00010 00010 lt CR gt gt Sm50 100 lt CR gt Setting the minimum speed gt S50 50 lt CR gt Setting the steady speed gt U lt CR gt Answer gt 00110 00010 lt CR gt The steady speed of the second motor is lowen than its minimum speed Example4 motors in running condition gt U lt CR gt Answer gt 00010 00010 lt CR gt gt G0 1 lt CR gt perpetual motion on motor 2 in positive direction gt U lt CR gt Answer gt 00010 00011 lt CR gt motor 2 is running gt GX 1 lt CR gt perpetual motion on motor 1 in negative direction gt G lt CR gt Answer gt 00001 00001 lt CR gt perpetual motion of the two motors in two different directions gt U lt CR gt Answer gt 00011 00011 lt CR gt both motors are running with unspecified directions These flags are enabled at every movement so also with D P PX PY commands Example 5 Unknown position gt U lt CR gt Answer gt 00010 00010 lt CR gt motors are in unk
30. nown positions gt W lt CR gt 22 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA 2 S S http www ipses com e mail info ipses com 3 a T af ic R PAP elec boric tJ O Po T AS como gt I PSES Answer gt 99999 99999 lt CR gt the answer in case of unknown position gt P9000 100 lt CR gt request of movement to absolute position gt U lt CR gt Answer gt 00110 00010 lt CR gt movement not performed invalid limit gt H1 1 lt CR gt setting a new home position gt U lt CR gt Answer gt 00000 00000 lt CR gt motors are in a known position gt W lt CR gt Answer gt 00000 00000 lt CR gt motors are at home position gt P9000 100 lt CR gt request of movement to set coordinates absolute movement these values are to be considered from set home position gt W lt CR gt Answer gt 09000 00100 lt CR gt new current position of the motors gt U lt CR gt Answer gt 00000 00000 lt CR gt system status For each query command sent W Etc the device will respond with the string containing the desired information followed by the inspection character lt CR gt 13 in decimal 0x0D in hexadecimal The fault condition occurs by exceeding the current of 3A in at least one of the motor phases in this condition all the motors are stopped The F flag of the status request
31. o connect motors Each connector has 25 pins the pinout is the following one pin13 pin1 DB25 connectorpin 03 oos Reference fr 07 4 V E T Nc pmo 1 oea M AUUT REF open ooro gt gt AOUT gt O gt 12 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com 7 D IPSES 1c ente ehlechoncti scientie electronics 57 O 3 macim C 1 suggest to connect the USB cable between the system and the only after the power of the device All connections with the exclusion of the four phases of the motor 22 25 shared between the two connector For instance the output AUX OUT 1 is present on pin 15 of the connector of the first motor and on pin 15 of the connector of the second motor ATTENZIONE e Do not connect or disconnect motors or any of their phases when the system is power supplied even though the motor is stop 13 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA S S http www ipses com e mail info ipses com QL 11 elechonict v V BOLT Po f SESS
32. o manage by software the limit home detection sensors and or to interface the unit to a PLC or to other logical devices The motor control and the device configuration are achieved through a USB interface easily managed by the provided driver WHQL certified The driver LES allows user to communicate with the system in two ways or by a virtual COM port or by a specific DLL See the relevant chapters for further information about The motor rotation speed can be easily and independently configured in steps to answer user needs Moreover MT2HC device is equipped with a PWM current control system on the motor phases so to keep the excitation current at the value that best meet your needs 1A 2A or 3A The system MT2HC is available in MT2HC version only board or MT2HC BOX version that include box and internal power supply T IPSES S r l Via Suor Lazzarotto 10 20020 Cesate ITALY Tel 39 02 39449519 Fax 39 02 700403170 A gt http www ipses com e mail info ipses com AS 5 5 eechorci 5 Po SESS E gt IPSES BOARD DESCRIPTION In this section there is a description of the board showing configuration jumpers status LEDs and connectors of the MT2HC board In Picture 1 the position of the items listed above is shown DIPWR P3 P2 DOPWR nd LE 31 Tm D21 D22 12 rere yes ura 017 018 019 02
33. otto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com AS E PSES el LOCHS MARX electronica 4 5 f e L corme gt IPSES else Opening procedure successfully completed j j j Get Info device TxBuffer r ftStatus Write ftHandle TxBuffer sizeof TxBuffer amp Bytes Written if ftStatus 1 Write error j else 1 GetStatus ftHandle amp RxBytes amp TxBytes amp if RxBytes 70 1 ftStatus Read ftHandle RxBuffer RxBytes amp BytesReceived if ftStatus OK 1 successfully reading j else 1 Error reading j j j Send command movement of X axis for 2000 steps TxBuffer D2000 0 r ftStatus FT_Write ftHandle TxBuffer sizeof TxBuffer amp Bytes Written if ftStatus FT_OK Write error else Command sent j Close device FT Close ftHandle 38 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel E LT el 39 02 39449519 Fax 39 02 700403170 5 5 http www ipses com e mail info ipses com ef elechonici OAT ol a wr f 2 1 Co AXES CONTRO UNIT MT2HC USER MANUAL IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail
34. ould be used in applications where higher torque at lower speeds is desired This configuration is also referred to as full copper O 2 Phase A Not connected Phase A MI ITALY Phase B 2 700403170 D ipses com Not connected Phase B 28 lt i gt IPSES cents elechonict J 4 Ww Cy AXES CONTRO UNIT qQ IPSES MT2HC USER MANUAL cientilic electronics Picture 9 full coil configuration 29 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 5 5 http www ipses com e mail info ipses com eres eiechonici DB Po fi nasema 2 IPSES MOTOR CONNECTION 4 LEAD MOTORS 4 lead motors 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance Phase A Phase A Phase B Phase B Picture 10 4 lead motors NOTE The physical direction of motors depends on connection of motor windings To switch the direction of the motor switch the wires on either phase A or phase B outputs 30 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 LA http www ipses com e mail info ipses com cS 2 5 5 Po f fi nasema IPSE TECHNICAL FEATURES Logic power supply The logic is self supplied directly from the computer USB port Motor power supply
35. re 2a the front of MT2HC BOX is shown connectors for motors and USB port are underlined Connector for Motor 1 Led showing USB connection status Connector for Motor 2 Power Switch USB Port Picture 2a MT2HC BOX Position of connectors and USB Port In Picture 2b the rear of MT2HC BOX is shown socket the socket to link the box to the electrical network 100 250V ac or 140 350Vpc and fuse are underlined The fuse is for protection of the 15Vpc outputs which are on the two frontal motor connectors 10 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 5 5 http www ipses com e mail info ipses com i 4 3 i aj J sebentific electronics BOL Reese IPES f Socket to link the box to electrical network Fuse Picture 2b MT2HC BOX rear of the box Also inside the socket to link the box to electrical network there is a fuse on the power supply input for general protection Breadth height and length of the box are respectively 203 mm 133 mm and 279 mm 8 0 x 5 2 x 11 0 inches 11 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 5 5 http www ipses com e mail info ipses com cienie electonici f V Po fi nasema 2 IPSES BOX CONNECTIONS On the front panel see picture 2a in the previous chapter there are two standard DB25 female connectors t
36. set step in the acceleration ramp is 100 while the acceleration ramp for motor 2 is disabled 18 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA p S E S http www ipses com e mail info ipses com wceniEc v y Po f SESS E IPSES Enables or disable the perpetual motion for the two motors x is the parameter for motor 1 y is the parameter for motor 2 Gxy X y parameters can have the following values 1 which set the perpetual motion in positive direction 1 which set the perpetual motion in negative direction and 0 to stop the perpetual motion i e G1 1 sets the perpetual motion in positive direction for motor 1 and in negative direction for motor 2 Enables or disable the perpetual motion for the motor 1 x is the parameter for motor 1 which can have the following values 1 which set the perpetual motion in positive direction 1 which set the perpetual motion in GXx negative direction and 0 to stop the perpetual motion i e GX1 sets the perpetual motion in positive direction for the motor 1 The status of perpetual motion for motor 2 is kept unchanged Enables or disable the perpetual motion for the motor 2 x is the parameter for motor 2 which can have the following values 1 which set the perpetual motion in positive direction 1 which set the perpetual motion in GYy negative direction and 0 to stop the perpetual motion
37. sssensnvcesssessssensce 31 CONNECTION EXAMPLE HYPERTERMINAL ttt 32 EXAMPLE USING THE DLL D2XX ttt ttt 37 BRODUCPCODES 40 OTHER AVAILABLE MODELS ttt 41 CON ACTS E E 42 SUPPORT INFORMATION ttt ttt ttt 43 PROBLEM REPORT ttt 43 ENGINEERING PROBLEM REPORT ttt ttt 44 5 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 tt f S http www ipses com e mail info ipses com LA if f V Po f SESS E gt IPSES REVISION HISTORY Manual revision history Em c Date November 2010 AE board description and commands January 2011 CDx March 201 1 June 2015 6 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 P S S http www ipses com e mail info ipses com NL y he Jt eL ji af elechonict gt O Po T AS como UNT E gt PSES GENERAL FEATURES The system MT2HC is a control axes unit which can control both two bipolar two unipolar stepper motors i e 8 and 4 lead motors and 6 lead centred tapped motors I The system is equipped with four digital optocoupled inputs and two digital optocoupled outputs which can be used t
38. t Driver 4 Installation 15 displayed completed when the window on the left 15 Choose Finish to exit Click Finish to close the wizard Frin i Found New Hardware x USB Serial Port 5 After a window with the message Found New Hardware USB Serial Port is displayed Follow again instruction from point 2 15 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA p S E S http www ipses com e mail info ipses com eechorici f V Po SESS E gt IPSES Manual driver installation procedure 1 Connect the MT2HC board to PC using a USB cable Windows operating system will detect a new device showing a message similar to i Found New Hardware x 2 5 Control Unit Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Windows connect to Windows Update to search for software O Yes this time only CO Yes nowand every time connect a device 2 In the following windows found new hardware wizard chose No not this time and then Next Click Next to continue Found New Hardware Wizard This wizard helps you install softwar
39. tatus using 10 command To use these inputs it is necessary to polarize the optocouplers see the two diagrams below Input features are the following ones Maximum applicable voltage 36V LOW logic level lt 1V HIGH logic level gt 2 5V Input impedance 2 5 Kohm We suggest to connects the inputs according one of the two diagrams shown below Picture 6a in the case the inputs are controlled directly by a voltage Picture 6b in the case the inputs must detect the pressure of a button or an open collector output 10014 Picture 6a Connection of the inputs directly voltage control The correspondent pins of the DB25 connectors BOX version are indicated parenthesis 26 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 pran http www ipses com e mail info ipses com lt L PS ES cere electronica v V Po HESS 1 5 5 1 Ce 1 JHCLIA Fower Supply 36V Picture 6b Connection of the inputs detection of the pressure from switch an open collector output The correspondent pins of the DB25 connectors in BOX version are indicated in parenthesis MOTOR CONNECTION MT2HC can control both two bipolar and two unipolar stepper motors i e 8 4 and 6 lead centre tapped motors Here the possible different motor connections are showed MOTOR CONNECTION 8 LEAD MOTORS
40. the box configuration For further information please visit the website http www ipses com i JM M LS Lag JR 25 eh T x 4 g MT2USBMS MT2 MT2MS MT2ETH MT2ETHMS 41 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 p S S http www ipses com e mail info ipses com elechonici Ww DO Po L SESS E gt IPSES CONTACTS IPSES S r l conceives projects and markets electronic and scientific instruments The customized planning of our devices allows us to answer specific necessities for customers asking for embedded systems IPSES clients enjoy access to a dedicated project engineering team available as needed Our pool consists of highly competent professionals whose experience in this field is extremely strong Thanks to constant updating and technical development IPSES is a leading company combining the dynamism of a young group into the competence and reliability of a qualified staff IPSES S r l T Mn at E 005 E Research and development office 4 im No Via Suor Lazzarotto 10 X P 5 E p 20020 Cesate MI uv E Italy o tel 39 02 39449519 39 02 320629547 fax 39 02 700403170 e mail info Q ipses com http www ipses com 42 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 3
41. ules provided by the law during the installation and the use of this device For any information which is not contained in this guide please contact IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI Italy Tel 39 02 39449519 39 02 320629547 Fax 39 02 700403170 http www ipses com e mail support ipses com 4 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 4 1 http www ipses com e mail info ipses com AS E PSES LOCHS MARX eechoruci us Cf Po T AS como UNT E gt I PSES TABLE OF CONTENTS REVISION HISTORY ceccessssssssscccsccesssssssssccsecesssssssssecsevesssssssssseceecesssssssssecneecessssnssssennsessasensssennesesssnnssssennvesassenssssesuvessen 6 8211 E AAA 7 BOARD DESCRIPTION ANE E E O E 8 BOX DESCRIPTION nenn Enn 10 BOX CONNECTIONS 12 DRIVER INSTALLATION 14 REMOTE CONTROL COMMUNICATION PROTOCOL ttc 17 AUXILIARY OUTPUTS ttt ttt ttt 24 AUXILIARY INPUTS ttt 26 MOTOR CONNEC TION A E A A A E E AE 27 MOTOR CONNECTION 8 LEAD MOTORS ttc 27 MOTOR CONNECTION 6 LEAD 28 MOTOR CONNECTION 4 LEAD MOTORS 30 TECHNICAL FEATURES sscccssssssssssssccsssssssssossscesssenssssessscesssesenssesescesssenssssesesvnsssenssssesuesssssssesenscvcesssen
42. www ipses com gt PSES scientific electronics AXES CONTRO UNIT MT2HC USER MANUAL Rel 01 01 0002 Hardware code MT2HC CONCEIVING PLANNING DEVELOPMENT IN SCIENTIFIC ELECTRONICS WW Po T macna ISIPSES Information provided in this manual is property of IPSES S r l and must be considered and treated as confidential This publication can only be reproduced transmitted transcribed or translated into any human or computer language with the written consent of IPSES S r l Information in this documentation has been carefully checked and is believed to be accurate as of the date of publication however no responsibility is assumed of inaccuracies IPSES will not be liable for any consequential or incidental damages arising from reliance on the accuracy of this documentation Information contained in this manual is subject to change without notice and does not represent a commitment on the part of IPSES The design of this instrument is subject to continue development and improvement Consequently the equipment associated to this document may incorporate minor changes in detail from the information hereafter provided All brand or product names are trademarks or registered trademarks of their respective holders This manual in English is the original version Printed in Italy Copyright 2009 2015IPSES S r l All rights reserved 2 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI

AXES CONTRO UNIT MT2HC USER MANUAL

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