User Commands Manual (256xstepping 2.0A
Contents
1. inputs are high no motion will occur PROGRAM STORAGE amp RECALL s 0 15 1s1A100 Stores a program Program 0 is executed on power OOAOR up Total of 14 commands max per string when storing but if not storing you can send 256 characters max e 0 15 1e1R Executes the Stored Programs 0 15 You can execute one program within a program i e 1sOV500j2e1R and 1s1gP1000M500G5e2R and 1s2f1Z100000R This example will power on execute speed of 500 2x microstep and execute program 1 move 1000 steps and pause 0 5 seconds 5 times then execute program 2 which will home the motor in the opposite direction PROGRAM EXECUTION R 1R Run the command string that is currently in the execution buffer Always end commands with R X Repeat the current command string Lin Engineering Version 1 14 Page 8 10 29 09 Command Operand Example Description Case Sensitive MI CROSTEPPING j 1 2 4 8 1j256R Adjusts the resolution in micro steps per step 16 32 64 Available resolutions full step 2x 4x 8x 16x 128 256 32x 64x 128x 256x o 1400 1650 Allows user to correct any unevenness in microstep default size Adjusts audible noise and should be executed 1500 while motor is running Should only be adjusted in small increments and should not exceed 1650 and should not be set below 1400 ON OFF DRIVERS OUTPUTS J 0 3 On Off Driver Turns on or off the two outputs I O s ar2. stop motion Homing Sensor The Z command is used to initialize the motor to a generally known amount of steps a maximum of 10000 steps 400 default steps When issued i e 1Z5000R the motor will turn towards zero at a maximum step of 5400 until the home opto sensor is interrupted If issued a 1Z0R motor will only move 400 steps to find opto sensor If the sensor is already interrupted and 1Z5000R was issued the motor will move in the opposite direction until the sensor is un cut again At this time the motor moves towards home in the same way described above When sensor is cut motor stops motion and current position is reset to zero Speed is set by upper case V i e 1V4000Z5000R The Z command is used in conjunction with Pins 7 and 9 An appropriate optical sensor must be attached to Pins 7 and 9 in order for the homing command to work properly The Z command allows the motor to rotate until Pin 7 Input 3 goes from low to high Lin Engineering Version 1 14 Page 12 10 29 09
3. 1f1R Flag polarity Sets polarity of direction of home sensor default is 0 0 231 1P10000R Move Motor relative number of steps in positive direction A PO command rotates motor infinitely which enters into Velocity Mode Any other finite number will set the mode to be in Position Mode 0 231 1D10000R Move Motor relative number of steps in negative direction Note Motor will not run in the negative direction if the position is at 0 You can use the z command to set the 0 position to be further away in the negative direction OR you can use the F command to reverse direction of rotation A DO command rotates motor infinitely which enters into Velocity Mode Any other finite number will set the mode to be in Position Mode 1TR B 0 27 1B1000R Sets the distance for pulse jog mode see n command Terminate current command T F 0 1 1F1R Reverses the positive direction to be negative The P and D command will reverse directions Default is 0 231 2 2 147 483 648 VELOCITY amp ACCELERATION Vv 0 231 1V2000R In Position Mode this sets the Top Speed of the Motor in psteps sec During velocity mode speed can be changed on the fly during rotation Max speed is 2GHz 0 65000 1L5000R This sets the Acceleration factor usteps sec L Value x 6103 5 i e 1L1R takes 16 384 Seconds to get to a speed of V 100000
4. Commands List for Silver pak 17C Integrated motor controls R256 controller driver Version 1 14 Lin Engineering Version 1 14 Page 1 10 29 09 Thank you for purchasing the R256 Controller with Microstepping Driver or the Silverpak 17C integrated motor and controller driver This product is warranted to be free of manufacturing defects for one year from the date of purchase Technical Support for Lin Engineering a distributor for RMS Technologies By Telephone 408 919 0200 Mon Fri 8 00 a m 5 00 p m On the Web www linengineering com Our technical support group is glad to work with you in answering your questions If you cannot find the solution to your particular application or if for any reason you need additional technical assistance please call technical support at 408 919 0200 PLEASE READ BEFORE USING Before you begin ensure there is a suitable DC Power Supply Do not disconnect the DB 9 cable while power is still being applied to the controller This will damage the board Under any circumstances do not exceed 40 VDC DISCLAIMER The information provided in this document is believed to be reliable However no responsibility is assumed for any possible inaccuracies or omissions Specifications are subject to change without notice We reserve the right to make changes without further notice to any products herein to improve reliability function or design We do not assume any liability arising out of the app
5. R will store a program to memory and run upon power up This program will move 100 steps 90 for a 1 8 step motor when you press a push button And it will return to it s original position when pressing the button a second time This will repeat infinitely Lin Engineering Version 1 14 Page 11 10 29 09 Always begin programs with a forward slash 1 Address of Controller Check on the Red Dial of the unit sO Store to program 0 defined as running upon power up g Beginning of loop Anything between g and G will repeat HO1 Halt commands until a low 0 is seen on input 1 Push button is pressed A100 Then move 100 steps absolute position HO1 Halt again until a low O is seen on input 1 Push button is pressed AO Move back to Position 0 GO End loop Repeat infinitely R Run commands To execute program type 1eOR Or power down and power up Only program 0 will start upon power up To terminate out of this infinite loop type 1T Example 3 Enable Pulse Jog Mode 1B10000V51200n1R Set jog distance B speed of V then enable the mode use inputs 1 amp 2 to go CW and CCW by 10 000 steps Enable Opto Limit Mode g1n2DOn0M500P1000GOR Enable the mode rotate until you hit the switch until switch goes high then it will get out of the special modes n0 wait 0 5 seconds and move 1000 steps Enable Continuous J og Mode 1n4R Now use inputs 1 amp 2 Pull to ground for movements go high to
6. Useful for executing different programs based on a 03 high or low signal on an input 13 04 01 Skip next instruction if low on input 1 Pin 2 14 11 Skip next instruction if hi on input 1 Pin 2 02 Skip next instruction if low on input 2 Pin 8 12 Skip next instruction if hi on input 2 Pin 8 03 Skip next instruction if low on input 3 Pin 7 13 Skip next instruction if hi on input 3 Pin 7 04 Skip next instruction if low on input 4 Pin 5 14 Skip next instruction if hi on input 4 Pin 5 Lin Engineering Version 1 14 Page 7 10 29 09 Command Operand Case Sensitive Example Description n 0 4095 1n2R Sets Modes Interpret as combination of Binary Bits BitO 1n1R Enable Pulse J og Mode Jog distance is given by B command Velocity is given by V command The Switch Inputs 1 and 2 become the Jog Inputs Press input 1 to rotate CW for a given distance B Press input 2 to rotate CCW for a given distance B Bit1 1n2R Enable Limit The opto input 3 pin 7 becomes one limit switch normally closed Motor will only rotate using 1DOR command and while switch is low Can only be combined with other commands if you jump in and out of the modes for example 1n2DOnOP10000R Bit2 1n4R Enable Continuous J og Mode Continuous run of motor while switch is depressed Velocity is given by the V command Input 1 will rotate CCW Input 2 will rotate CW when either is low When
7. e Response to the command 1 4 FF RS485 line turn around character It s transmitted at beginning of a message 2F ASCII Start character The DT protocol uses the for a start character 30 ASCII 0 this is the address of the recipient for the message 60 This is the status character here 60 is no error 31 31 These two bytes are the actual answer in ASCII It will indicate the status of the 4 inputs in the form of 4 bits Bit O switch 1 Bit 1 switch 2 Bit 2 opto 1 Bit 3 opto 2 03 This is the ETX or end of text character It is at the end of the answer string OD This is the carriage return character OA This is a line feed A program that receives these responses must continuously parse for O and take the response from the bytes that follow 0 The first Character that comes back may be corrupted due to line turn around transients and should not be used as a timing mark Example 1 1gP1000D1000G10R will move motor 1000 steps counterclockwise then 1000 steps clockwise in a loop for 10 times Always begin a program with the forward slash 1 Address of controller Check with the Red Dial on the unit g Beginning of loop All commands within g and G will repeat P1000 Move counterclockwise 1000 steps D1000 Move clockwise 1000 steps G10 End loop repeat 10 times GO will repeat infinitely type 1T to terminate R Run this command Example 2 lSOgHO1LA1OOHOLAOGO
8. e bidirectional It s a two bit Binary value 3 11 Both Drivers On 2 10 Driver2 on Driverl off etc Drivers output 3VDC max QUERY COMMANDS The following commands are queries and cannot be cascaded in strings or stored They can be executed while other commands are still running 0 1 0 Returns the current motor position 2 1 1 1 Returns the current Start Velocity 2 1122 Returns the current Slew Speed for Position mode 2 13 123 Returns the current Stop Speed 2 4 1 1274 Returns the status of all four inputs 0 15 representing a 4 bit binary pattern Bit O Input 1 Pin 2 Bit 1 Input 2 Pin 8 Bit 2 Input 3 Pin7 Bit 3 Input 4 Pin 5 5 1 5 Returns the current Velocity mode speed 6 1 6 Returns the current step size 7 127 Returns the current o value 2 9 129 Erases all commands program stored in EPROM except for the any settings such as current microstepping velocity acceleration and any other settings 1 Recalls current command executed To see what currently stored in a specific program run the program and issue the 1 example 1e2R 1 amp 1 amp Returns the current Firmware revision and date Q 1Q Query current status of the controller 0 No Error 1 Initialization error 2 Bad Command 3 Operand out of range T 1T Terminate current commands BAUD CONTROL b 1b19200 Adjustable baud rate 9600 R This command will usual
9. lication or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others There are known issues involving the Halt command i e HO1 when stored in memory location zero Upon power up the remaining command string after the Halt command might be executed if the user types in a new command If memory location zero is not being used the user is advised to always clear everything in memory by typing 1 9 Otherwise the user may terminate the remaining command string in the buffer by issuing a 1T Special Symbols Indicates a WARNING and that this information could prevent injury loss of property or even death in extreme cases Lin Engineering Version 1 14 Page 2 10 29 09 R256 Silverpak Commands User Manual Product R256 and Silverpak 17C CE Version 1 14 Date 10 29 2009 Version History Date l 1 00 New User Manual 1 01 Typographical errors 1 02 Added more explanation of commands 1 03 Added the error codes that the board outputs 1 04 Added Understanding Response of the unit 1 05 Typographical errors 1 06 Typographical errors 1 07 9 29 2006 Typographical errors 1 08 2 2 2007 Standardization of all user manuals 1 09 2 6 2007 Updated errors on L command Homing Example 1 10 4 13 2007 Velocity range explanation of commands more in detail 1 11 07 17 2007 Updated response codes 1 12 10 26 2007 Updated Z co
10. lization error response The Upper nibble only takes on values of 4 or 6 in Hex An initialization error has a response of 1 in the lower nibble Therefore the response is 41 or 61 in Hex which corresponds to the ASCII characters of upper case A and lower case a depending on if the devices busy or not respectively Example of invalid command response The Upper nibble only takes on values of 4 or 6 in Hex An invalid command has a response of 2 in the lower nibble Therefore the response is 42 or 62 in Hex which corresponds to the ASCII characters of upper case B or lower case b depending on if the device is busy or not respectively Example of OQperand Out of Range response The Upper nibble only takes on values of 4 or 6 in Hex An invalid command has a response of 3 in the lower nibble Therefore the response is 43 or 63 in Hex which corresponds to the ASCII characters of upper case C or lower case c depending on if the device is busy or not respectively Lin Engineering Version 1 14 Page 10 10 29 09 Example of Overload Error Response The Upper nibble only takes on values of 4 or 6 in Hex An invalid command has a response of 7 in the lower nibble Therefore the response is 47 or 67 in Hex which corresponds to the ASCII characters of upper case I or lower case i depending on if the device is busy or not respectively Understanding the Response Exampl
11. ly be stored as program 19200 zero and execute on power up Default baud rate is 38400 9600 Lin Engineering Version 1 14 Page 9 10 29 09 Responses from Controller in HyperTerminal The SilverpakC respond to commands by sending messages addressed to the Master Device in most cases is your PC It always assumes it has an address of zero 0 The master device should parse the communications on the bus continuously for responses starting with O It is not recommended for example to look for the next character coming back after issuing a command because glitches on the bus when the bus reverses direction can sometimes be interpreted as characters After the 0 the next is the status character which is a collection of 8 bits These bits are Bit 7 Reserved Bit6 Always set Bit5 Ready Bit it is set when the unit is ready to accept a command Bit4 Reserved Bit 3 2 1 O represent the error codes 0 No error 1 A Initialization error 2 B Bad command illegal command was sent 3 C Bad operand out of range operand value 4 N A 5 E Communication error internal communication error 6 N A 7 G Not initialized controller was not initialized before attempting a move 8 N A 9 Overload error system could not keep up with commanded position 10 N A 11 K Move not allowed 12 N A 13 N A 14 N A 15 O Command overflow unit was already executing a command when another command was received Example of initia
12. mmand max value 1 13 8 21 2009 Updated special mode n description and examples 1 14 10 29 2009 Added full stepping Lin Engineering Version 1 14 Page 3 10 29 09 TABLE OF CONTENTS DT Protocol syntax 5 Running two or more motors together 5 Motors land 2 A 5 Default Values 5 List of Commands 6 HOMI NG amp POSITIONING 6 VELOCITY amp ACCELERATION 6 SETTING CURRENT 7 LOOPING amp BRANCHING 7 PROGRAM STORAGE amp RECALL 8 PROGRAM EXECUTION 8 MI CROSTEPPI NG 9 ON OFF DRIVERS OUTPUTS 9 QUERY COMMANDS 9 BAUD CONTROL 9 Responses from Controller in HyperTerminal 10 Understanding the Response 11 Example 1 11 Example 2 11 Homing Sensor 12 Lin Engineering Version 1 14 Page 4 10 29 09 DT Protocol syntax The DT Protocol allows the unit to be commanded over a simple serial port Start Address Commands Run End of a string Character 129 Command strings R lt CR gt To Access Drivers 10 16 use the following Driver Command A colon B semi colon C lt less than D equals E gt greater than F question mark 0 at sign Running two or more motors together Motors 1 and 2 A Motors 3 and 4 oe Motors 5 and 6 E Motors 7 and 8 G Motors 9 and 10 ayer Motors 11 and 12 K Motors 13 and 14 M Motors 15 and 16 og Motors 1 2 3 and 4 Q Motors 5 6 7 and 8 y Motors 9 10 11 and 12 y M
13. otors 13 14 15 and 16 J close bracket For all motors a underscore Example CA5000R will move motors 3 and 4 to Absolute Position 5000 Note When using the multi addressing no response will be returned Default Values Function command Description Running Current m 30 of 2 0 Amps Holding Current h 10 of the run current Step Resolution j 256x Top Velocity V 305175 pps microsteps sec Acceleration L L 1000 6103500 usteps sec Position 0 Microstep smoothness o 1500 Outputs J Both are turned off JO Baud Rate 9600 bps Lin Engineering Version 1 14 Page 5 10 29 09 Command Case Sensitive Operand List of Commands Example Description HOMI NG amp POSITI ONI NG Z 0 231 1Z10000R Initialize the Motor Motor will turn towards 0 until the home opto sensor is interrupted If already interrupted it will back out of the opto and come back in until re interrupted Current motor position is set to zero Speed of homing is set by V In the example the motor will take 10000 steps to find the home sensor If sensor is still not found after 10000 steps it will stop motion N 0 232 1z65536R Sets current position without moving motor 0 232 1A10000R Move Motor to Absolute position i e moves to the 10 000 step Issuing A10000 again will NOT move the motor because it is already at that location Oorl
14. psteps sec Default is L 1000 default speed V 305175 usteps sec so default acceleration 6103500 usteps sec It should take 0 05 seconds to get to top speed Lin Engineering Version 1 14 Page 6 10 29 09 Command Operand Example Description Case Sensitive SETTING CURRENT m 0 100 1m50R Sets the running current on a scale of 0 to 100 of the max current 2 0A Default setting is m30 h 0 50 1h20R Sets the Hold Current on a scale of 0 to 50 of the max current 2 0A Default setting is h10 LOOPING amp BRANCHING g lgP10G5R Beginning of a repeat loop G 0 30000 1gP10GOR End of a repeat loop Loops can be nested up to 4 levels A value of 0 causes the loop to be infinite M 0 30000 1M2000R Delay for M milliseconds H 01 1gH02P100 Halt current command string and wait until 11 00G20R condition specified 02 Example will wait for switch two 2 to close 0 12 03 01 Wait for low on input 1 Pin 2 13 11 Wait for high on input 1 Pin 2 04 02 Wait for low on input 2 Pin 8 14 12 Wait for high on input 2 Pin 8 03 Wait for low on input 3 Pin 7 13 Wait for high on input 3 Pin 7 04 Wait for low on input 4 Pin 5 14 Wait for high on input 4 Pin 5 e Halted operation can also be resumed by typing 1R e Only input 4 can stop motion of a PO or DO command S 01 1gS02A100 Skip command will skip the command following it 11 OOAOG20R if the input is high or low 02 12
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