AXES CONTROL UNIT MT2ETH AND MT2ETHMS USER MANUAL
Contents
1. v T K SER MANUALS gt 5 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 Fase A Fase A Fase B Fase B Picture 17 4 lead motors NOTE The physical direction of the motor with respect to the direction input will depend upon the connection of the motor windings To switch the direction of the motor with respect to the direction input switch the wires on either phase A or phase B outputs 25 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 Z http www ipses com e mail info ipses com lt a 2 ES car boro Po f SE 5 TECHNICAL FEATURES Power supply 7 15Vdc regulated Consumption 250mA 12Vdc motors and auxiliary output consumption Output current MT2ETH 0 6A phase 1 2 of peak MT2bETHMS max 0 75A phase 0 85A of peak Interface 10base T Ethernet 45 connector Auxiliary output open collector max 200mA Board dimensions 7b X I5 X 15 205 x 295 x 0 59 inch maximum high 0 20 mm 0 78 inch Motor movement MT2ETH half step MT2ETHMS programmable from the whole step up to 1 8 of full step 26 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax2. command then the system has to be switched off and back on Sets a new password The password can be any combination of alphanumeric characters with a maximum of sixteen characters This command will be immediately effective the new password will be requested at the next connection but it will be no kept if the system is powered down without saving the configuration parameters using the m command Moves the axes a and b relative movements where a and b are movement values in half or micro steps both values must be between 2 147 483 647 and 2 147 483 647 It is possible to ignore the b parameter to move only the first axis For the MT2ETH version Sets the duty cycle of the motor driving when the motors are stopped braking action The a parameter sets the X axis duty cycle the b parameter sets the Y axis Both values must be between 0 no braking action and 100 maximum of braking action Too high values must be set very carefully to avoid overheating motors and system For the MT2ETHMS version Activates or deactivates the braking action with PWM current control when the motor is not running The a and b parameters relative respectively to X axis and Y axis can have a value of 0 no braking action or 1 braking action actives Requests the braking action set by the user Sets the current position on X axis The n parameter must be between 2 147 483 647 and 2 147 483 647 Sets the current position on Y axis The
3. IPSES S r l T Mn at E asm UE S E Research and development office 4 a Via Suor Lazzarotto 10 X P s E 2 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 Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com 9 2 PSES Suy v T 6 S 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 Fax 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 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 9 2 PSES e vex 4 ol w Vr boot ENGINEERING PROBLEM REPORT Problem describer Name IPSES s r l Via Suor Lazzarotto 10 Company Cesate MI Italy Fax 39 02 700403170 Product
4. 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 700403170 5 5 http www ipses com e mail info ipses com elechonicti N7 Ci P SES Product code MT2ETH AND MT2ETHMS Rel 01 04 0004 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 439 02 39449519 39 02 320629547 Fax 39 02 700403170 e mail info ipses com support Q ipses com 45 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 pran certs http www ipses com e mail info ipses com 4 3 i el
5. 39 02 700403170 pran http www ipses com e mail info ipses com 9 PS ES echoes tf MT2ETH AND MT2ETHMS A 5 USER MANUAL 2 PS ES electronics 75 m 5 W Jii e NI 0 77 WWW e ee MTZETH 4 uud mir os 537 735 _ NUN 22 62 a Zi 7 EN HIBRZE a 1 MSS D4 D A M D m ee a E TIIT e 16 mm MT2ETH card dimensions 27 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 2 5 5 http www ipses com e mail info ipses com elecho A Po T 6 iC gt IPSES BOX On demand all MT2 stepper motor control cards are available on box with power pack included Picture 18 shows 2 5 Picture 18 a front and b rear panel of 2 box Breadth height and length of the box are respectively 158 mm 85 mm and 170 mm 6 2 x 3 3 x 6 7 inches On the rear side there is the socket to link the box to the electrical network 230Vac 50 60Hz On the front panel there are the general power switch an RJ45 socket to link the device to the Ethernet network four LED
6. 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com OD IPSES electronic 57 4 MT2ETH AND MT2ETHMS IPSES lt USER MANUAL VC scientific electronics Picture 28 shows the notification of a device error message To re enable the operative conditions press Close error Picture 28 device error message example 36 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 Fam http www ipses com e mail info ipses com gt IPS ES v electronics EX Po SE REMOVAL To correctly remove the software follow the instructions listed below O O X Ps fuldrese d My Computer Vies nformati JE Ped or rere programs 1 From Desktop click My Computer icon and choose Control Panel G ano asetti Ag Mr Places D ME Details Computer 2 Click Add or Remove Programs from the resource list displayed 3 From program installed list select MT2 Demo and proceed removal with Change Remove 37 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 2 5 5 fce ric elechonict 15 iut lt gt PSES LABVIEW LIBRARY LabVIEW development tool gives the feasibility of MT2 device re
7. MT2ETHMS connectors IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 439 02 700403170 PS E S http www ipses com e mail info ipses com o WM af S p 5 T 6 iC S gt IPSES CONNECTION P1 auxiliary exit pint positive voltage limited by using a resistor pin2 open collector towards GND P2 power supply pint positive voltage pin2 GND J4 RJ45 Ethernet connector pint RX pin2 RX pin3 TX TX O MPEIH TRETHMS J11 X axis pint Phase pint Phase A Phase A pin2 Phase B pin3 Phase B pin3 Phase A pin4 Phase B Phase B J12 Y axis pint Phase pint Phase Phase A Phase B pin3 Phase B pin3 Phase A Phase B pin4 Phase B To connect motors to J11 and J12 use 3 81 mm Phoenix Contact connectors for MT2ETHMS version and 2 54 AMP connectors with its female crimp terminals for MT2ETH version Through jumper J10 it is possible to set the voltage on of auxiliary output it can has a value of 5Vdc or the same value as the motor supply 5Vdc Motors Vcc The card is equipped with two limit home detectors for each axis when both detectors are used it is possible to limit the run of each axis between two fixed points J13 is used for limiting home run of the X axis J15 is used for limiting home run of the
8. Y axis The input connectors pinout is the same for both axes and is the following 2 Rs code 220 4670 or Distrelec code 141128 3 Rs code 293 0048 or Distrelec code 114606 Rs code 293 0098 or Distrelec code 114661 18 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 439 02 700403170 http www ipses com e mail info ipses com A PS ES i 4 o el e pint e pin2 e pin3 e e pind e pin6 e pin7 e pin8 e pin9 e pinto USER MANUAL Cy MT2ETH AND MT2ETHMS di PSES cientilic electronics positive power supply out 5Vdc without current limitation to supply a possible external detection logic for negative run detection positive power supply out for infrared LED of the negative run detector for optical limit home detectors input for the negative run limit home detector negative power supply out for infrared LED of the negative run detector for optical limit home detectors GND positive power supply out 5Vdc without current limitation to supply a possible external detection logic for positive run detection positive power supply out for infrared LED of the positive run detector for optical limit home detectors input for the positive run limit home detector negative power supply out for infrared LED of the positive run detector for optical limit home detec
9. a parameter must be between 2 147 483 647 and 2 147 483 647 Moves the Y axis to a b position absolute position in half steps or micro steps The b parameter must be between 2 147 483 647 and 2 147 483 647 Wo Requests the current position Requests current firmware version and the serial number of the instrument The answer will be an ASCII string similar to MT2 ETH MS relx x S Nyyyyyy where x x represents the firmware version of the device and yyyyyy is the serial number For every kind of request sent such as Cx etc the device will return the property information string followed by lt CR gt and lt LF gt control characters 13 and 10 in decimal notation respectively IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA 5 5 http www ipses com e mail info ipses com Cerrar 5 T 6 C of eenma S PSES The movement and axes speed setting commands for instance p and sx can be executed only when the concerned axis 15 stopped The position request command returns the current coordinates as an x y couple where x and y are the absolute coordinates in half steps or micro steps In case of unknown position the character is returned The speed request messages return the current speed for the selected axis as a number representing the movement time in ms for each half step or micro st
10. for motor speeds and resolutions of both axes The software errors are generated as shown in Picture 24 where is represented an error occurred after a failed communication to the device Picture 24 error message The re enabling of the application functionalities is suborder to the Reset condition The Setup button opens a new window see Picture 25 which allows to declare the numbers of steps X step revolution ratio and Y step revolution ratio necessary for a complete motor revolution one for each axis These values are automatically updated at the window closure forced by Exit Setup Set default restores the default values Picture 25 setup window 33 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 PS ES http www ipses com e mail info ipses com nic electronics 7 T PYOU ors Advanced runs homonym subroutine as shown in Picture 26 where user can see the low level dialogue to the active device Chosen instruction in command and associated parameter par X and par Y are communicated to the device when Run Send is set Run read allows answer in the appropriate fields info device par X 1 par Y or status to interrogations selected in question MoveXYForward zi rr r2 x Ld Picture 26 Advanced subroutine window The surrounded green area on front panel see Picture 23 refers about device status throug
11. fullest extent permitted by law In the absence of applicable 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 439 02 700403170 i http www ipses com e mail info ipses com 9 2 PSES E 1 bct e clenific electron vex 4 ol scientie electronics s WARNING ELECTRICAL DEVICES COULD DAMAGE EQUIPMENT OR PROPERTY OR CAUSE PERSONAL INJURY This guide contains instructions and technical features of the MT2ETH AND MT2ETHMS Read with attention before attempting to install It is the responsibili
12. ipses com e mail info ipses com 9 2 PSES eechorci sche ntific electronics S OS Picture 9 mechanics limit switches commutation The End of run signal can be received by optical sensors The following Picture 10 shows the functioning of optical sensors The LED lights an element with a beam for example a phototransistor than this enlightened element changes its electrical properties The phototransistor gives a conductive path but it does not if the beam is interrupted by the interposition of an opaque object Opaque object LED Phototransistor Picture 10 optical limit switch The next Picture 11 indicates the linkage with J13 connector when a phototransistor output sensor is used Pin2 Pin3 Pin7 8 Pind Pin5 Ping Pin10 Picture 11 phototransistor output sensor linkage with J13 pins are shown for X negative positive End of run detection To utilize a phototransistor output sensor J6 must be removed 21 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 439 02 700403170 pran gt 5 http www ipses com e mail info ipses com vex 4 ol Ss 5 T SERMANUAL 4 IPSES Better reliability in home position reading performances is achievable with electronic logic equipped optical sensors In Picture 12 the scheme of electr
13. n parameter must be between 2 147 483 647 and 2 147 483 647 Perpetual motion of the X axis when n gt 0 or omitted forward movement starts when n 0 backward movement starts e fyn hy lt Available only for MT2ETHMS version Sets the motors movement mode a for the X axis and b for the Y axis e n 0whole step nc 2 1 4ofstep e n 1 half of step n 3 1 8 step Only for MT2ETHMS shows the motors movement mode Stops immediately the movement of both axes 9 8 PSE orth IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com ji af my gt PF d i y SS D cientilic electronics T EO mane Stops the movement on the X axis Stops the movement on the Y axis LEN Deactivates auxiliary output no Activates auxiliary output Activates auxiliary output for 3 seconds Saves the configuration parameters in the internal non volatile memory saved data are TCP IP address telnet port password braking action motor speed movement mode and checksum Moves the axes to position a b a and b are the absolute positions in half steps or micro steps Both a and b values must be between 2 147 483 647 and 2 147 483 647 Disconnects the device from the telnet session The current movements will be
14. 2ETHMS JA Po j USER MANUAL Q PS ES Schone eiectronics GENERAL FEATURES MT2ETH and MT2ETHMS are small size low power control devices which can control two stepper motors unipolar or bipolar and their respective limit home detection sensors two for each axis with programmable polarity The motor control and the device configuration are achieved through Ethernet interface ETHERNET managed by the TCP IP communication protocol To avoid connections without authorisation the access is protected by a password which can be set by the user The motor rotation speed can be easily configured independently to answer user needs Moreover the device has an auxiliary output with a dedicated control for its activation The MT2ETHMS version is equipped with a PWM current control on the motor phases and can reach a movement precision of 1 8 of step CONNECTION AND LOGIN The default TCP IP address of the device is 192 168 0 15 the telnet port used is number 23 most servers use this port for telnet connection These values can be changed through a specific command When a connection is established the system will ask for a login password the default password is ipses but it can be set by the user Shorting the J8 jumper see further it is possible to restore all the default values TCP IP address telnet port login password motor speed braking action ramp and connection timeout since the removal of that jumper afterw
15. CTION 8 LEAD MOTORS ttt 23 MOTOR CONNECTION 6 LEAD MOTORS 24 MOTOR CONNECTION 4 LEAD MOTORS 25 TECHNICAL FEATURES EE 26 28 DEMO SOFTWARE ttt E tto 30 LABVIEW LIBRARY ttt 38 PPA UN CIS NNI RR RET 40 OTHER AVAILABLE MODELS ttt ttt 41 42 SUPPORT ttt ttt ttt ttt 43 PROBLEM REPORT ttt ttt ttt toco 43 ENGINEERING PROBLEM REPORT ttc 44 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 lt 9 gt IP 5 5 i http www ipses com e mail info ipses com e SERMANUAL 7 IPSES REVISION HISTORY Manual revision history Revision Change description Date 01 00 0000 First version Released Mancuso C January 2004 November 2004 Captions and Limit switch examples Box Demo December 2006 software and LabVIEW Library paragraphs Updated Demo software and LabVIEW Library Rivolta A January 2009 paragraphs Inserted Product codes paragraph June 2009 J7 use November 2009 April 2010 by optical sensors June 2015 6 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 AA 2 5 5 http www ipses com e mail info ipses com 14 eL ji af Cerner etc horn MT2ETH AND MT
16. IPSES eec IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 c http www ipses com e mail info ipses com 4 scientific electronics 5 v Oo TSERMANUAL PSES active control device by selecting a different S N list item or to abort the demo software by pressing the Quit button that substitutes the Stop button under this condition Reset position makes the actual position equivalent to zero displacement Position X axis displacement along X is zero of resolution or Degrees define the relative positive or negative displacement enabled by Move Forward or Move Back commands respectively Free Run allows perpetual motion of the X axis while Stop Run arrests it Speed can be declared in resolution per second or similarly to the displacement in degrees per second Set Speed updates the current speed values Absolute X position 1 and Absolute X position 2 set the amount of two absolute displacements referred to zero position Move commands allow these movements There are analogue controls for Y motor control The lower panel area surrounded in orange in Picture 23 includes the commands for the simultaneously movement of both axes either in relative and absolute terms Aux On enables the auxiliary output of the card while Aux Off disables it The indicators surrounded in violet in Picture 23 show the current settings
17. WWwW ipses com gt PSES scientific electronics AXES CONTROL UNIT MT2ETH AND MT2ETHMS USER MANUAL Rel 01 04 0004 Hardware code MT2ETH AND MT2ETHMS CONCEIVING PLANNING DEVELOPMENT IN SCIENTIFIC ELECTRONICS Suy 5 T 6 iC S gt IPSES 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 15 believed to be accurate as of the date of publication however 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 Laz
18. ailable axes control cards with serial interface RS232 see the MT2 and MT2MS systems and with USB interface see the MT2USB and MT2USBMS 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 the box configuration For further information please visit the website http ww ipses com MT2 MT2MS 2 CR HG MIN M mc 19 n d Lh pe m Vei bal S AU TT PED oo Saar 77 MT2USB MT2USBMS 41 IPSES S r l 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 elechonici Suy v T 6 S 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
19. amp 5 voss 5 m 5 29 IPSES S r l Suor Lazzarotto 10 20020 Cesate ITALY Tel 39 02 39449519 Fax 439 02 700403170 http www ipses com e mail info ipses com 7 i gt PS ES elect IPSES 71 scientific electronics DEMO SOFTWARE MT2 Demo is a demo software which allows MT2 device control testing from PC Displayed Virtual control panel has intuitive functionalities which make you easy understand how it works INSALLATION To install the software on your PC execute Setup exe and follow instructions displayed Default destination folder of the executable file MT2 Demo exe is C Program Files MT2 Demo EXECUTION Execute MT2 Demo exe Virtual control panel is displayed as showed in Picture 19 MT2 amp Stepper Motor Control Panel Ss L gt Picture 19 virtual control panel IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY 30 Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com scheni c electronics 3 d a l l o MT2ETH AND MT2ETHMS 415 PS ES USER MANUAL 1 scbentific electronics m CONNECTION TO MT2 DEVICE To start dialogue with MT2 device select your card version in model selection Specific connection parameter fields will be displayed for Ethernet models User must indicate addre
20. ards the memorized values will be considered effective 28 Telnet 192 168 0 15 INT2ETH 1 8 200402 Copyright 2664 by IPSES s r l 1 2 gt Login wip Login incorrecttt ipses HMT2ETH rel 1 6 268462 Copyright 2884 by IPSES s r l lt www ipses com gt Picture 1 login password request 7 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 2 5 5 http www ipses com e mail info ipses com SA elecho OS c oun REMOTE CONTROL COMMUNICATION PROTOCOL The communication of the MT2ETH and MT2ETHMS is established via Ethernet interface operating through a TCP IP telnet connection There is no need to connect the card to a Personal Computer any PC capable of connection to an Ethernet based network will suffice It is also possible to connect the system to internet through a router The protocol is case sensitive The following commands are implemented Changes the system TCP IP address as usual the new address has to be written as a set of four bytes divided by a dot 0 x 255 To make the change effective the new configuration parameters have to be memorized m command then the system has to be switched off and back on Changes the device telnet port The x parameter has to be between 0 and 65 535 To make the change effective the new configuration parameters have to be memorized
21. connectors It is also possible to use an open collector auxiliary output see P1 connector to communicate with a PLC or to activate externally control electronic systems Pin4 1 Pin 4 Pin 1 Pin 1 P2 Pin 2 m MIT T n md 56 or Ad SEO J4 Picture 6 MT2ETH connectors 16 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 EY PS ES http www ipses com e mail info ipses com electronica f warm gt PS ES scientific electronics MT2ETHMS CONNECTION INSTRUCTIONS The device needs a supply for the motors driving see P2 connector in Picture 7 which can range from 7 up to 15V Besides it is possible when necessary to connect a limit home detector to the card two for each motor see J13 and J15 connectors It is also possible to use an open collector auxiliary output see P1 connector to communicate with a PLC or to activate externally control electronic systems Pin 4 w lt L I Lie sji yi FS Epi A3967SL8 a Were lun tint E 2E 2 war 1 2022 080 120 EJ 23680227 AA UR 0 5 Pin 1 Pin 1 Pin 2 Pin 2 Picture 7
22. cs py FUNCTIONALITIES Virtual control panel is structured to make you easy understand implemented functions 2 iss MT2 amp Stepper Motor Control Panel Info device MT2USB v1 6f S N 700828 model selection Working connection MT2_USB_D2XX 9 9 S N list 2 5 Status MT 200828 A Home Reset Position Position X Absolute position 1 Absolute X Current speed resalution sec 300 of resolution position 2 ry r gy J 10 Speed F Set Speed 1 Move Current X resolution Half step Current speed resolution sec 300 100 res sec Current Y resolution Half step Position 3 92 i X o AEN position 2 Speed 45 Ji 100 Set Speed 3 100 Relative Move All Absolute Move All Stop Run All Reset Positio Absolute Y of resolution position 1 X Number of resolution set J 92 Y Number of resolution set J 32 Picture 23 active panel The blue boarded area in Picture 23 includes controls and commands for setting and for the movements of X and Y axes respectively Consider controls and commands for the X axis Home command moves the motor of the X axis to home position during the execution of a home command for serial and USB version different from Ethernet ones no more commands are received by the device But it is possible to change the 32 gt
23. e VI Ends the communication with the MT2 card MT2 Library is provided with a help file MT2 Help chm MT2 Help chm The help explains deeper the functions in the library i MT2 Help chm information of which are available in LabVIEW too gives structural description of all the eleven functions Graphical representations are realized so that the user may easily understand how they work in the tool in which they were build Next picture displays the help of the library 38 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 IP S E S http www ipses com e mail info ipses com elec E ut Do T 5 cmm 2 scientific electronics Write Command vi Intro MT2_Appiication x Start dialogue This VI allows user to send command to MT2 device Commands have to be Close dialogue sent in the string to write The cluster ID protocol encloses communication Send Command protocol description The cluster ID protocol duplicate is a duplicate of the ary cluster ID protocol The device index address the related device in D2XX ew hima or SERIAL VCP or TCP IP dialogue mode depends on protocol previously opened The error im reports any error occurred before the running of Write Command VI The error out reports any errors occurred included errors from this VI GetBitMode Connector Pane string to write clust
24. el connection An 8 lead motor in a parallel configuration offers a more stable but lower torque at lower speeds Thanks to the lower inductance there will be higher torque at higher speeds Fase A Fase A Fase B Fase B Picture 14 parallel connection 23 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 P http www ipses com e mail info ipses com 9 2 PSES cientilic electronics 0005 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 Non connesso Fase B Fase B Non connesso Picture 15 half coil configuration Full coil configuration The full coil configuration on a 6 lead motor should be used in applications where higher torque at lower speeds is desired This configuration is also referred to as full copper Fase A J Non connesso Fase A Fase Non connesso Picture 16 full coil configuration 24 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 fy http www ipses com e mail info ipses com 9 PSES
25. ep All the positions and the movements are expressed in half steps for MT2ETH card or in whole half 1 4 and 1 8 of full steps for MT2ETHMS version depending on the configuration of the i parameter The speed is always referred to half steps per second in the case of MT2ETH version and in whole steps s half steps s 1 4 of full steps s or 1 8 of full steps s in the case of MT2ETHMS card depending on the configuration of the i parameter The status request message forces the device to return a byte 2 hex characters in ASCII code representing the actual status of the unit Return message interpretation table bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 error Auxiliary output activated Y axis home position reached Y axis home position reached X axis home position reached X axis home position reached Movement of the Y axis Movement of the X axis positive movements negative movements positive movements negative movements 2 Gm on If the error bit is high i e if it answers with a code like 81 then another error code is added after a comma for example 81 02 More than one error code can be active at the same time The possible error codes are bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Internal error irreversible Buffer overflow Invalid Checksum of the stored data in the non volatile memory Invalid data stored in the non volatile memory Error dur
26. er ID protocol duplicate device index cluster ID protocol error in Controls and Indicators 259 string to write Picture 29 LabView functions help MT2_Library is available on demand 39 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 Ba P S E S http www ipses com e mail info ipses com elechonics electronics ww T S cms PRODUCT CODES MT2ETHMS box Two axes control system with MT2ETHMS card and power supply integrated in a case MT2Library LabVIEW 7 1 and further version library for MT2 card series MC connect Bundle of 2 MC male connectors for motors 2 AMP connectors for limit home detectors for MT2USB MT2USBMS MT2 MT2MS and MT2ETHMS AMP connect Bundle of 2 AMP connectors for MT2ETH for motors and limit detectors 40 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 A 5 http www ipses com e mail info ipses com Chart eect hor i Sus 5 T SER MANUALS 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 av
27. ggested to use resistors with tolerance less than 2 The correct sense resistor value can be found using the following formula or the table on the next page 0 5 sense m 14 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 PS E S http www ipses com e mail info ipses com sclentic electronics o Here below there is a resistor value table in which are reported powers and minimum maximum current values W W 1 1 0 Q 1 5 O 4 W 18 4 W 2 2 62 205 mA 250 mA 27 4 W 33 4 W 39 Q 4 W 4 7 4 W 100 mA 120 mA 5 6 4W 100 680 4W W 8 2 Q he s L PL s Pee n mn OD Ol os omms 100 4 W The board is equipped with four 1 202 W resistors On request it is possible to have resistors with other values 15 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 f P S E S http www ipses com e mail info ipses com elec ho scientie electronics Sus N T S 2 CONNECTION INSTRUCTIONS The device needs a supply for the motors driving see P2 connector in Picture 6 that can range from 7 up to 15V Besides it is possible when necessary to connect a limit home detector to the card two for each motor see 13 and J15
28. h the stylized LEDs when a LED lights up the condition described by the label on its side happens in this case OFF becomes ON The labeling descriptions are different between serial USB and Ethernet version Picture 27 shown these differences IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY 34 Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com nio scenic electronics 4 3 i EX wee bee Error Y Pos UNKNOWN X Pos UNKNOWN Aux OFF Y Limit Switch OFF X Limit Switch OFF Motor OFF Ready 4 Device error Unknown Y axis position Unknown X axis position Auxiliary output active Y axis home position reached X axis home position reached Motor moving Device ready a P USERMANUAL IPSES 7 scientific electronics Error Aux OFF Y Positive Limit Switch OFF Y Negative Limit Switch OFF X Positive Limit Switch OFF X Negative Limit Switch OFF Motor Y OFF Motor Y OFF Device error Auxiliary output active Y positive end of run signal presents Y negative end of run signal presents X positive end of run signal presents X negative end of run signal presents Y axis motor moving Y axis motor moving b Picture 27 a status LEDs for serial or USB devices b status LEDs for Ethernet devices 35 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel
29. ing the Home position search Out of range parameter e g set movement time is more than 1 000 ms Illegal command e g an absolute movement request when the positions are unknown or during movement syntax error All the errors are reset after the state request command Differently from MT2 MS and MT2USB MS versions with the Ethernet cards it is possible to sent any other request during the execution of the home procedure 10 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 439 02 700403170 fo http www ipses com e mail info ipses com 9 PSES elechonict cientilic electronics Su Y T S cms MT2ETH CARD LEDs D13 D6 TL i TOT ons 73 Tm 2 An RNC 8 15 SEA d Picture 2 MT2bETH card LEDs e D2 green established link on the Ethernet port e D3 yellow X activity on the Ethernet port e D4 packets collision on the Ethernet port e 05 green user on line authenticate D6 red movement in progress 07 auxiliary output activated 08 red error use the u command to identify it e 013 green powered 11 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 439 02 39449519 Fax 39 02 700403170 Ed PS ES http www ipses com e mail info ipses co
30. m electronica el f IPSES MT2ETHMS LEDs D4 Weor0 D3 8205131 DM a h s LET OB y ees ue T D dor D13 hy NTC Y Of L 1 4 LI 6 m a e a am 99 ES pm ent Picture 3 MT2ETHMS card LEDs DS D2 green established link on the Ethernet port D3 yellow X activity on the Ethernet port e D4 red packets collision on the Ethernet port 05 green user on line authenticate D6 red movement in progress D7 auxiliary output activated D6 red error use the u command to identify it e 013 green system powered IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY 12 Tel 39 02 39449519 Fax 439 02 700403170 PS 5 http www ipses com e mail info ipses com electronics cientilic electronics N7 morcm MT2ETH CONFIGURATION INSTRUCTIONS Through the jumpers placed on the card it is possible to program the following function modes e jumper J5 if inserted it enables the automatic search for home position at power up e jumper J sets the polarity of the limit detection sensors It defines the logical high or low trigger level signal e jumper JT forbids the axe
31. mote control This control can be achieved through the use of the eleven functions implemented in LabVIEW 7 1 and included in the library MT2 Library thanks to these functions you do not have to know the details of the communication protocol and the application development is quick and easy The functions have two development levels MT2 Low Level Communication llb contains the six functions through which MT2 Application llb is possible to manage the connection with the MT2 card 2 leve MT2 Application llb contains the other five functions realized through the use of the previous ones these higher level functions allow the assignment of the commands recognized by the device Use MT2 Application llb tor application development while MT2 Low Level Communication llb tor maximize performances Closes the connection established with one of the available Close_Device vi protocols Opens the connection with one of the available protocols Write amp Read vi Sends and receives ASCII characters MT2 Low Level Communication llb Sends ASCII characters 00 ASCII characters Sets the values of two more output LIII as open collector valid only for USB versions Reads the values of two more output configured as open collector valid only for USB versions Write_ Wite Command Command SeiBitMode vi GetBitMode vi Close dialogu
32. normally executed Disable acceleration deceleration ramp Enable acceleration deceleration ramp default value r Requests the currently set of acceleration deceleration ramp Sets the movement time in ms of the X axis for each half step or microstep The n parameter must be between 1 and 1 000 Default value is 10 WARNING If you are moving simultaneously the two axes due to resources absorbed during this process the minimum value only in this case must be set as equal to or greater than 25 Sets out the movement time in ms of Y axis for each half step or microstep The n parameter must be included between 1 and 1 000 Default value is 10 WARNING If you are moving simultaneously the two axes due to resources absorbed during this process the minimum value only in this case must be set as equal to or greater than 25 Requests the currently set movement speed for the X axis Requests the currently set movement speed for the Y axis Disable Telnet Timeout default value Sets the value o telnet timeout The n parameter must be included between 3 and 3600 seconds By default timeout is disable When timeout is enable the device if connect close the connection if any char will be receive during a time equal the timeout value Requests the currently telnet timeout value State request see forward how the state is represented Moves the X axis to an a position absolute position in half steps or micro steps The
33. onic logic equipped with optical sensors is shown the beam interruption by the interposition of an opaque object is detected by a power supplied system control pin X negative and X positive give power supply Pins Pin7 Pin8 Pin4 Pin5 Ping Pin10 Picture 12 electronic logic equipped optical sensors linkage with J2 pins are shown for X negative positive End of run detection To use this kind of sensor J6 must be inserted WARNING The maximum input voltage for pin3 and pin8 must not exceed 5Vdc For higher voltage the components of the board may damage irremediably 22 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com GA 2 PSES cents elechonict Sus 5 T S gt IPSES MOTORS CONNECTION The MT2ETH and MT2ETHMS cards can control both two bipolar and two unipolar stepper motors i e 8 and 4 lead motors and 6 lead centre tapped motors Here the possible different motor connections are shown MOTOR CONNECTION 8 LEAD MOTORS Series connection A series motor configuration would typically be used in application where a higher torque at lower speeds is required since this configuration has the most inductance the performance will start to degrade at higher speeds Picture 13 series connection Parall
34. s indicating working connection motor movement error condition and aux out activation and two DB25 standard connectors to be used to connect to the motors The pinout of the 25 poles connector is the following pin13 pin1 positive power supply out 5Vdc without current limitation to supply a possible external detection logic for negative run detection positive power supply for infrared LED for optical limit detection input for the negative run limit home detector negative power supply out for infrared LED of the negative run detector for optical limit home DB25 connector pin detectors GND positive power supply out 5Vdc without current limitation to supply a possible external detection logic for positive run detection 28 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 5 ES http www ipses com e mail info ipses com alechonici Cy MT2ETH AND MT2ETHMS di PS ES USER MANUAL ave scientific electronics positive power supply out for infrared LED of the positive run detector for optical limit home detectors input for the positive run limit home detector negative power supply out for infrared LED of the positive run detector for optical limit home detectors AUX OUT positive voltage limited by using a resistor AUX OUT open collector to GND EBENEN NG m N amp m N
35. s movement to go beyond limit home detection negative and positive run When the jumper is inserted the system always stops the motor when during a negative or positive movement the end of run position is achieved e jumper J8 restores the default software configuration TCP IP address telnet port password and so on J7 J6 J5 1 m m o d RINT n 4 u TART Picture 4 MT2ETH programmer jumpers 13 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 an http www ipses com e mail info ipses com wht E PS ES LAJ Po f vem O BEES scientific electronics MT2ETHMS CONFIGURATION INSTRUCTIONS Through the jumpers placed on the MT2ETHMS shown in Picture 5 it is possible to program the same function modes described in the previous page for the MT2ETH version ss LU en xr E J8 I5 En T UR ER e iiir nid PCS 4 a gt lt 2 A eu J7 0 8 ON 102022 PQ80 120 c 23BB0227KA 16 ee Rsense Y J5 Picture 5 2 configuration jumpers and sense resistors Through the four sense resistors it is possible to set the nominal current of the connected motors It is su
36. ss es IP port s and password s as shown in Picture 20 It is not possible to manage different model cards at the same time Connect starts connection while Exit close the Demo software Picture 20 a selection parameters fields for serial protocol communication VCP and b selection parameters field for Ethernet protocol communication If the connection procedure successfully pass the fictitious LED Working connection turns on The S N list menu lists all connected devices and Info device field gives information about firmware version and serial number of the current selected board as shown in Picture 23 All the panel commands are activated If the selected model is a micro stepper version on the front panel will be showed also the selector controls to define the movement resolution of each motors Press Set Resolution to apply the current settings Picture 21 controls to set motors resolution As shown in Picture 22 for all Ethernet models fields and commands to modify the TCP IP protocol access parameters such as address port and password will be activated 19216800015 Se Te Picture 22 controls to modify the TCP IP protocol connection parameters 31 IPSES S r l Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 439 02 700403170 PS ES http www ipses com e mail info ipses com ice nac electonict MT2ETH AND MT2ETHMS USER MANUAL b QDIPSES electroni
37. tors GND BE CAREFUL Do not connect or disconnect the motor or any of its phases when the card is powered 19 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 439 02 700403170 http www ipses com e mail info ipses com Q 2 5 5 elechonict v T 6 K lt lt gt IPSES LIMIT SWITCH EXAMPLES The next Picture 8 shows the implementation scheme of MT2ETH MT2ETHMS 13 connector for limit switch signal acquisition along X axis J15 is analogous for Y axis 5V any 5 ToT gt PIN2 PINS MOVE MENT PINS END_LIMIT_DETECT PINS 3 PINIB MOVE MENT Picture 8 implementation scheme of J13 connector J15 is analogous During motors running MT2ETH and MT2ETHMS read home position reached when pin3 for X negative movement and pin8 for X positive movement of J13 connector change their electric potential J6 sets the limit switch polarity if inserted the End of run signal is active when GND is applied otherwise if J6 is not inserted the End of run signal is active when the voltage is set at 5V In case of mechanics limit switches for normally opened N O ones J6 must be inserted for normally close N C ones J6 must not 20 IPSES S r l Via Suor Lazzarotto 10 20020 Cesate MI ITALY Tel 39 02 39449519 Fax 39 02 700403170 http www
38. ty of the technician to undertake all the safety rules 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 Suor Lazzarotto 10 20020 Cesate Ml 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 439 02 39449519 Fax 39 02 700403170 gt 1 http www ipses com e mail info ipses com 9 E PSES eechoruci 5 T 6 SER MANUALS gt 5 5 REVISION 6 GENERAL AA 7 CONNECTION AND LOGIN 7 REMOTE CONTROL COMMUNICATION PROTOCOL 8 MT2ETH CARD LEDS secesssssssssssssccsssessscssscceesssnssssesssscessssnsssscnseusesssensssensqvsesssersssensescesssensssensunsssensesssnenucessensessenenuessees 11 MT2ETHMS CARD LEDS 12 MT2ETH CONFIGURATION INSTRUCTIONS 13 MT2ETHMS CONFIGURATION INSTRUCTIONS 14 MT2ETH CONNECTION INSTRUCTIONS ttc 16 MT2ETHMS CONNECTION INSTRUCTIONS 17 CONNECTION 18 LIMIT SWITCH EXAMPLES acccccccossssssscccsccsssssssssccseccsssssssssccceecenssssnssscennevenssssnsssseneeesnsssnsssscnaessssanssssenaeessssssssssenevveesse 20 MOTORS CONNECTION 23 MOTOR CONNE
39. zarotto 10 20020 Cesate MI ITALY Tel 439 02 39449519 Fax 39 02 700403170 http www ipses com e mail info ipses com 9 Ed PSES el vex 4 ol 5 T 6 SER MANUALS Q7 2 5 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 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
Download Pdf Manuals
Related Search