SD02B 2A Stepper Motor Driver User`s Manual V1.2
Contents
1. A Graphical User s Interface GUI comes together with the source code is provided for user to implement stepper motor control using a computer a To begin users have to choose either Vin or Vmotor power supply at voltage selector Then connect Vmotor and or Vin and Gnd to power source Please refer to chapter 3 Product Specification and Limitations for details Figure below shows that SD02B is connected to a 12V Sealed Lead Acid battery and Vmotor is choosen as the power source Created by Cytron Technologies Sdn Bhd All Rights Reserved Cy tron ROBOT HEAD to TOE Technologi ecnnologie Product User s Manual SD02B b Figure below shows the setup of SD02B to a stepper motor a p 3 LEET g ty m es d erea poMat j amp 0 o Reset gt Cytron S www com nig iS a c To interface with a computer simply connect UCOOA 4 pin connector to SD02B and the USB end to PC as shown in the following figure Please note that the TX and RX pins between SD02B and UCOOA are cross connected Connect to PC Laptop bih LEFFE i iS PN i ig ET ITF G i ae ea E r i nE i a ae ii l Ct AI J igh pF i E i j i bu a 3 r 7 Et Tapt my kim isg tro pps di T o Created by Cytron Technologies Sdn Bhd All Rights Reserved Cy tron ROBOT HEAD to TOE2. Created by Cytron Technologies Sdn Bhd All Rights Reserved ROBOT HEAD to TOE Product User s Manual SD02B Cytron Technologie 7 GETTING STARTED Please refer to PR7 DIY project from Cytron website for details example of using SDO2B This DIY project also shows the method to write a program to control SD02B through the Signal Input pins on SD02B The link to PR7 DIY project is http www cytron com my PR7 asp This section will show how to get started with SD02B and connect to UART communication 1 example is using SD02B with computer and 2 example is using SD02B with Microcontroller 7 1 Using SD02B with computer After installation of SD02B GUI and UCOOA driver user is ready to use SD02B with computer laptop a Setup SD02B according to steps in 5 4 2 Connect UCOOA to SD02B another end of UCOOA to PC b Power up SD02B When power is connected power indicator LED will turn ON c Click SD02B GUl exe to start control stepper motor Before the SD02B GUI is able to control stepper motor on SD02B connection must be made Click on COM port choose the last COM port click connect Ss D02B GUI ver 11 Ss COM Ports Micro Stepping Track Encoder COM13 1 10 2000 n 9600 Micro Stepping Reset Track DISCONNECT Set Speed Request Encoder COM13 is connected Set New Baudrte g C J reer Control Panel Set Acceleration Status ON OFF tal Speed 8 M eee Final Speed 80
3. Single Supply Mode and Dual Supply Mode Voltage Selector is provided to choose either Single Supply Mode Vmotor or Dual Supply Mode Vmotor and Vin If user selects Vmotor Vmotor will supply power to both stepper motor and SD02B circuit Otherwise if Vin is selected Vmotor will supply power to stepper motor and Vin will supply power to SD02B circuit Voltage selector Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 4 BOARD LAYOUT r4 F i re iets i r E a He L i opp An E r Pi i T m A ah Cyron cam my I H G F E Heat sink with fan B Comnector to stepper motor G C Stepper motor coil power indicator 4 LEDs Manufacturing test point UART communication A A heat sink with fan to dissipate the heat generated by SDO2B B A 2510 6 ways connector for user to connect particular stepper motor Please solder the wire properly by referring to chapter 5 Hardware Installation C 4 yellow LEDs acting as indicator for stepper motor coil These LEDs will indicate which coil is being powered at a moment D Manufacturing test point for SD02B The header pin is not soldered since it is meant for production test point Please DO NOT connect or shorted any of these pins E UART communication between SD02B and microcontroller circuit or PC s Serial Communication Interface SCI
4. Technologie g Product User s Manual SD02B d Please refer to documents named USB Driver Installation Guide included in UCOOA package for driver installation e After plugged in UCOOA to computer and installed the driver user is ready to test the functionality of SD02B using SD02B GUI 5 5 Enable and Disable the driver Current consumed by the stepper motor may raises to over 2A at certain conditions It is depending on the stepper motor s ratings stepping speed micro stepping mode and at which step the motor brakes As stated in the Absolute Maximum Rating in chapter 3 Product Specification and Limitations the typical current per phase is rated at around 1A Running at any value above 1A continuously may cause the driver to be overheated and automatically cut off the circuit for protection Hence it is more advisable to turn off the motor instead of leaving it in braking condition stall state For controlling SDO2B using signal input pins providing a low logic OV to EN pin allows user to shut off the driver and get into power saving mode When stepper motor is idle it can be in stall state provide torque and draw current or off state free do not draw current By default this pin is disabled For controlling SD02B through UART the OFF command will do the same job Just send an F to SD02B and it will turn off the motor and get into power saving mode Please refer to section
5. Cytron Technologie SD02B 2A Stepper Motor Driver User s Manual V1 2 July 2013 Inftanation contained inthis publication regarding device applicators and the like is intended through suggestion only and maybe superseded by updates It w yow respersibibbr to enmane that your appleston meet with your specficahors Mo reprsentahonorvarranthy is given and no lability i assumed by Cybon Technologies Incorporated with respect to the accuracy or use of such wiformaton or minngermert of patents or other intellectual properhy nzhts arsine from such we or otheraise Use of Cyton Technologies s products as cervical components in hfe srpportsystens is not aathormed except with express written approval by Cyrhon Technologies Ho leerses are comeyed inplicitlyor otheraise under arny intellectial property rights Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B Index 1 Introduction and Overview 1 0 Introduction of SDO2B 1 1 System Overview 1 2 General Description Packing List Product Specification and Limitations Board Layout 10 Installation hardware 12 5 1 Connecting Driver to a Stepper Motor 12 5 2 Connecting to microcontroller using Signal Input Pin 14 5 3 Connecting to switches without microcontroller 15 5 4 Connecting to microcontroller through UART 16 5 4 1 Connecting SD02B to controller 16 5 4 2 Connecting SD02B to computer 18 5 5 Enable and Disable the driver 20 6 Installation
6. smuss co Brake eS Accel Rate 100 re ee Cytron SS YO Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B d Once the status is connected user is free to control stepper motor using SD02B e If you wish to communicate at higher baudrate you may select the desired baudrate from the list and click on Set New Baudrate button This will change the baudrate at both the GUI and SD02B Press Reset button on SD02B will change the baudrate to its default value which is 9600 f By using SD02B GUI user may on off the motor run brake the motor set the stepping speed change direction reset track request the encoder value number of steps accelerate the stepper motor from a specified initial speed to a final speed at desired acceleration rate and choose among 2 5 10 microstepping mode or nonmicrostepping mode g Since the GUI VB net source code is provided user can refer to the source code and modify it or write a new program to create own GUI for own application The GUI is written with Microsoft Visual Basic 2008 Express Edition Any version older than this may not be able to open the project file If it is the case user needs to install the newer version or recreate the VB net project in older version Created by Cytron Technologies Sdn Bhd All Rights Reserved Cy tron ROBOT HEAD to TOE Technologie Prod
7. 7 3 SD02B UART Protocol for details Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron ROBOT HEAD to TOE Technologi gie Product User s Manual SD02B 6 INSTALLATION SOFTWARE There are 2 options of sample software being provided for SD02B The simplest way is to use the sample GUI program which can be run without the need to be installed on the computer while another option is the sample program for PIC18F4520 to control two stepper motors through two SDO02Bs 6 1 Sample Program for Computer To ease user in using SD02B Cytron Technologies has developed a SD02B GUI using VB net for user to control SD02B from computer through a COM Port If your computer doesn t have a COM Port you may use Cytron s UCOOA USB to UART Converter for the interfacing between SD02B and your computer s USB port The following steps will guide user to run SD02B GUI and use it l Extract the zipped filed named SDO2B GUI zip This file can be downloaded from Cytron website www cytron com my 2 Double click on SD02B GUI exe to run the SD02B GUI The window shown as below may prompt out click Run Open File Security Warning The publisher could not be verified Are you sure you want to run this software Name SDO2ZB GUI exe Publisher Unknown Publisher Type Application From C Documents and Settings JolizaiDesktop Run Cancel Always ask before opening this file This file does not have
8. A P5 4 eal p ay pepovopee Cm ff Ay ih at i i a aA ive IILI eek r ohne tok SD02B comes with 1 x SD02B board with every component is soldered properly and tested before board is shipped e 16x 2510 iron pin e 2x 2510 06 female connector e x 2510 04 female connector e User s Manual and sample source codes in VB net and PIC C language can be downloaded from www cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 3 PRODUCT SPECIFICATION AND LIMITATIONS Signal Input Pins Function Description Label Vmotor Motor Supply Vmotor is one of SD02B power sources If users choose Voltage Vmotor as power source for circuit in Single Supply Mode Vmotor will supplies power to both stepper motor and SD02B circuit Although SD02B provides protection against wrong polarity for this input user must ensure the voltage and polarity of connection are correct before providing the power so that SD02B can function correctly GND System Ground Common ground for both logic operation and stepper motor power source Stepping Pulse Input to drive the stepper motor This pin is TTL CMOS Input Pin logic 5V and OV Each pulse logic change from 0 to 1 will drive the stepper motor Istep SDO2B has 2 5 10 micro stepping Stepper Motor Input for stepper motor to rotate CW clockwise or CCW Rotating counterclockwise This pin
9. Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B F A push button acting as reset button to SD02B If this button is pressed SD02B will be reset to initial stage Please DO NOT pressed this button during operation G A push button to activate self test on SD02B When it is pressed and hold SD02B will start to drive stepper motor If power supply is connected and voltage selector is selected correctly LEDs at C will illuminate sequentially H A small green LED to indicate status of power If power is connected and voltage selector is selected correctly this LED will light ON I Voltage selector to select either Single Supply Mode or Dual Supply Mode for the power source J A 25106 ways connector to power source and or host Please refer to chapter 5 Hardware installation for details Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 5 INSTALLATION HARDWARE 5 1 Connecting Driver to a Stepper Motor Most unipolar stepper motor comes with 5 or 6 wires As shown in the following left figure there will be 2 wires 1 and 2 which act as the common terminal for coil a and coil b If these 2 wires 1 and 2 are not used it will become bipolar stepper motor as shown in figure on the right 1 ri a Unipolar stepper motor Bip
10. Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B Request Encoder Value a Host sends command E 1 byte to SD02B to request encoder value Encoder value is the number of steps upon reset b After sent command to request encoder value SD02B will send 1 byte for higher 8 bits current encoder value and another 1 byte for lower 8 bits current encoder value to the host For example host receives 110101102 for higher 8 bits current encoder value and 011101102 for lower current encoder value fi 1fo i1fofifijo 1 Receive higher 8 bits o i 1 t o 1 f1 0 2 Receive lower 8 bits _ c To get higher 8 bits in 16 bits current encoder value save the higher 8 bits into al6 bits variable and rotate shift 8 times Save the first received amp bits itt 16 bits variable shift 1 time shift 2 time shift 3 time shift 4 time shift 5 time shift 6 time ath shift time shift 8 time higher amp bit c After rotated shifted to the left for 8 times user will get first received 8 bits at the 8 most significant bits MSB x don t care Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B d AND the 16 bits variable with OxFF00 L1OLOLIOXXXXXXXX2 AND 11111111000000002 11010110000000002 e After received higher 8 bits encoder value host will receive the lower 8 bi
11. Not familiar with UART communication Fret not sample source code for UART control is provided for PIC18F4520 C language Arduino and VB net Support up to 1A per phase Smoother stepper motor rotation with 2 5 and 10 micro stepping Able to drive stepper motor from 3V to 40V 8V to 24V compatible for driver circuit supply voltage 5V logic level compatible inputs Detect up to 20kHz pulses at PULSE input pin However the maximum speed a stepper motor can step is also depending on the motor s performance For stepper motors available in Cytron store the max stepping speed can be up to 2 4kHz without load free run e Enable Disable pin for low power consumption mode Heat sink with fan for fast thermal release e UART baud rate and micro stepping mode are saved in the non volatile flash memory Factory default is baud rate 9600 micro stepping mode 10 O O O Dimension 10cm x 6cm Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 1 1 System Overview SD02B is the enhanced version from SDO2A One of the additional features for SD02B compare to SDO2A is the UART interface UART is provided in SDO2B for easier communication between user s circuit microcontroller Arduino and SD02B Besides user s circuit computer PC or Laptop is ready be used for UART communication with SDO2B By using UART function in SD02B user is abl
12. b 1 10 micro stepping means every step of the stepper motor is further divided into 10 micro steps For a stepper motor with 1 8 step 1 micro step will rotate the motor shaft 1 8 10 0 18 if 1 10 micro stepping mode is chosen It is goes the same for 1 5 and 1 2 micro stepping Non micro stepping mode will step the motor shaft at its original value which is 1 8 Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 8 WARRANTY Product warranty is valid for 6 months Warranty only applies to manufacturing defect Damage caused by miss use is not covered under warranty Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan 1A Taman Universiti 81300 Skudai Johor Malaysia Tel 607 521 3178 Fax 607 521 1861 URL www cytron com my Email support cytron com my sales cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved
13. of steps Stepper motor is ideally suited for precision control This motor can operate in forward reverse with controllable speed from a microcontroller through a transistor driver circuit There are various kinds of stepper motor Some example are variable reluctant stepper motor permanent magnet stepper motor bipolar unipolar stepper motor bifilar stepper motor and hybrid stepper motor For more description of stepper motor user is advice to refer to Wikipedia at http en wikipedia org wiki Stepper motor This driver SD02B is to drive stepper motor in bipolar method SD02B is designed to drive stepper 1n2 5 or 10 micro steps This will offer smoother rotation of the stepper motor Of course the step angle will depend on the specification of stepper motor being drive As an example if the stepper motor being drive is 1 8 per step and use 1 10 micro stepping the smallest step 1 pulse is 0 18 This will offer much better resolution step Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE g Product User s Manual SD02B 2 PACKING LIST Please check the parts and components according to the packing list If there are any parts missing please contact us at sales cytron com my immediately Stepper o Motor c is _ _ p E iii a eS fai Cone a wit Jia e B Reset Cyron F www cytron com my SES gt ae as E a
14. only has one hardware UART we have to generate another additional UART using software approach to control the second SD02B a The sample program can be downloaded from Cytron website www cytron com my in SD02B product page b Extract the file named Dual UART sample program zip c There are 4 files available for the user 18F sample program mcp MPLAB project file 18F sample program mew MPLAB workspace file 18F4520 dual uart sample c source code in C language and 18F sample program hex HEX file For immediate testing user may load 18F sample program hex to PIC18F4520 and plug into microcontroller board which was being completed in step c d The sample program is based on SK40B startup kit We will discuss about how to control two SD02Bs and two stepper motor using a SK40B through UART interface e Ensure the hardware interface for microcontroller to SD02B is setup properly Besides the power for stepper motor is also needed Please refer to section 5 4 for example connection of SD02B to microcontroller through UART interface f Power indicator LED on SD02B will turn ON when power is supply to microcontroller board g Please refer to 18F4520 dual uart sample c for details on method to send receive command to SD02B h User must install MPLAB and C18 Compiler if user wants to modify and compile this sample program The free MPLAB and C18 Compiler for PIC18 MCU can be obtained from Microchip official website
15. software 21 6 1 Sample Program for Computer 21 6 2 Sample Program for PIC18F4520 25 I Getting Started 26 7 1 Using SD02B with computer 26 7 2 Using SD02B with microcontroller 28 7 3 Using SD02B with Arduino 33 7 4 SD02B UART Protocol 34 NY A nA A U W AOG A N 8 Warranty 41 Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B INTRODUCTION AND OVERVIEW 1 0 Introduction of SD02B SD02B is the enhanced version from SD02A SD02B is designed to drive unipolar or bipolar stepper motor The board incorporates most of the components of the typical applications With minimum interface the board is ready to Plug and Play Simply add in power and a few push buttons this driver is ready to drive unipolar or bipolar stepper motor SD02B will actually drive stepper motor in bipolar method However since unipolar stepper motor can also be used as bi polar stepper motor thus this driver can be used to drive both unipolar and bipolar stepper motor This stepper motor driver has been designed with capabilities and features of New Now comes with UART interface for easier communication between the user s circuit or PC and SD02B By using the new UART control user can o On Off Run Brake and change motor s rotation direction Set motor speed Request for encoder value Track an encoder value and brake the motor Set new baud rate for the driver
16. that the relationship between the speed value and actual stepping frequency is non linear X axis Stepping Frequecy Hz Y axis Speed Value 18000 16000 14000 12000 10000 8000 6000 4000 2000 0 10 20 30 40 50 60 70 80 90 100 125 150 175 200 225 Stepping Frequency Hz versus Speed Value Accelerate stepper motor a Host needs to send a packet of data Each packet consists of 4 bytes The data need to be sent 1 byte by 1 byte i 1 byte Send command A ii 2 byte Send initial speed iii 3 byte Send final speed iv 4 byte Send acceleration rate b After sent A host needs to send 1 byte of initial speed followed by 1 byte of final speed and 1 byte of acceleration rate c All initial speed final speed and acceleration rate range from 1 to 255 If SD02B receive 0 the speed is assumed as 1 d Initial speed and final speed received by SD02B will be compared to determine which value is greater than the other one If initial speed lt final speed SD02B will perform acceleration and if initial speed gt final speed SD02B will perform deacceleration e For acceleration rate 1 is the slowest rate and 255 is the fastest rate This means when SD02B received as acceleration rate stepper motor will accelerate deaccelerate very slow and if 255 is received as the acceleration rate stepper motor will accelerate deaccelerate very fast Created by Cytron Technologies Sdn Bhd All Rights Reserved
17. GUI will show COMxx is connected s SDO2B GUI ver 1 1 Micro Stepping CONNECT i e button has P DISCONNECT changed to COM13is connected DISCONNECT we Se ae ey Click to Set New Baudrate GEL disconnect arta Set Acceleration intial Speed B Final Speed 80 Accel Rate 100 Track Encoder 2000 Reset Track Request Encoder Acquire Encoder Status w Cytron Technologies 8 Now SD02B GUI is ready to control the stepper motor using SDO2B User may on off the motor run brake the motor set the stepping speed change direction reset track request the encoder value number of steps accelerate the stepper motor from a specified initial speed to a final speed at desired acceleration rate and choose among 2 5 10 microstepping mode or non microstepping mode using this GUI Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron ROBOT HEAD to TOE Technologi ecnnologie Product User s Manual SD02B SD02B GUI ver1 1 Description Select COM port Disable or enable micro Set encoder value to stop stepping User may choose stepper motor Stepper micro steppi Des tor will brake when eae hii aah mIcro stepping types mo SEE TS encoder reach the value Disconnect N Disconnect COMTS amp connected Set New Baudrate Control Panel Cyth on ONES ON OFF Set speed Set acceleration for Request current GOIBRAKE for s
18. a valid digital signature that venties its publisher ou should only run software from publishers you trust How canl decide what software to run 3 Ifthe program is unable to be executed the latest NET Framework may be needed to be installed It is downloadable from Microsoft official website Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 4 A window as shown in the figure below pops up zE D02B GUI ver11 COM Ports Micro Stepping Track Encoder 1 10 2000 9600 Micro Stepping Reset Track CONNECT Set Speed Request Encoder Not connected a Set New Baudrate 4 i Acquire Encoder Control Panel Set Acceleration Status ON maed 8 E a Final Speed oo STATUS G0 Accel Rate 100 CW CCW Accelerate C ytron 5 ytror 5 Before any setup can be done please ensure hardware installation of SD02B is being setup correctly and power to stepper motor is connected If you are using UC00A UC00A s driver must be installed 6 After hardware installation choose the correct COM Port Normally the extra virtual COM port will be the largest number port after driver installation Select it The default baud rate for SD02B is 9600 Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 7 Click the Connect button and SD02B
19. control two SD02B thus two stepper motors through one hardware UART and one software UART using Microchip MPLAB C18 C Compiler Libraries Since most midrange PICs only have one hardware UART so one software UART is used for the second UART interface This sample code shows how to generate an additional UART using software approach Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 5 4 2 Connecting SD02B to Computer Another concern in controlling stepper motor using a computer is the hard work needed to get started However with SD02B interfacing with a computer is as easy as 1 2 3 Normally user will need to develop a RS232 level shifter for communication to serial port This generates extra work Furthermore laptop and computer nowadays have phase out the serial port and replaced it with USB With these reasons an USB to UART converter UCOOA have been developed by Cytron Technologies Simply plug SD02B to UCOOA and USB port of computer PC or Laptop install the driver for the first time only and it will create a virtual COM port in your computer and is ready to communicate with SDO2B User may refer to UCOOA User s Manual for hardware and software installation So no extra work is needed to control SD02B using a computer And of cause you may connect more than one UCOOA to your computer and control more than one SD02B at the same time
20. controller using Signal Input Pin Typical application would require a microcontroller to generate pulses and control the direction Following figure shows an example of SD02B connected to microcontroller The above example shows that the PULSE pin is being connected to RC2 of PIC16F877A SDIZB Votor FAN amp HEAT SINK i Vad RAUANI RBS RANAN RH RAJANI REJ RAA RRI zm RASIANS EBI r RB Lae ji This pin has the function to generate pulses using Compare mode Please refer to source code of PR7 from Cytron Technologies website for details of using Compare mode Please note that if you are using PR7 to control SD02B the voltage selector for SD02B should select Vmotor because the Vcc pin for PR7 only supplies 5V to Vin This is lower than the minimum voltage required for Vin which is 8V Please refer to chapter 3 Product Specification and Limitations for details The link to PR7 DIY Project 1s http www cytron com my PR7 asp Direction and EN pin can be connected to any digital I O of PIC16F877A However both these pins must be configured as output from the controller Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 5 3 Connecting to Switches without microcontroller User may also use switches to generate pulses and control the direction of stepper motor Here is an example of SD02B connected to
21. e to have more extensive control of the motor driver and stepper motor User can leave most part of the motor control algorithm to SD02B and let it takes care of the encoder supervisory job It saves much software resources on the host For example by sending some commands SD02B is able to accelerate the stepper motor from the specified initial speed to final speed at desired acceleration rate While the stepper motor is accelerating the host may take care of other routines In order to know the stepper motor has been accelerated to the final speed the host can send another command to check the status of SDO2B Besides host can brake the stepper motor at the desired step by just sending a command together with a 16 bit encoder value send in two 8 bit values to SD02B and let it counts the steps for you Besides that the UART baud rate and micro stepping mode are stored in the non volatile flash memory Those settings only need to be configured once and will remain the same even though the power has been turned off Please refer to section 7 3 SDO2B UART Protocol for the UART commands and descriptions Created by Cytron Technologies Sdn Bhd All Rights Reserved Cy tron ROBOT HEAD to TOE Technologie Product User s Manual SD02B 1 2 General Description Driving stepper motor is common necessity in most robotic project A stepper motor is a brushless synchronous electric motor that can drive a full rotation into a large number
22. hen each phase has a center tap wire a The center tap wire should have half the internal resistance of the full phase The easiest option is to use a multimeter to find the two pairs of wires that have the maximum resistance b Connect each phase to the SD02B and ignore the polarity for now User has Created by Cytron Technologies Sdn Bhd All Rights Reserved Cy tron ROBOT HEAD to TOE Technologie Product User s Manual SD02B a 50 chance of guessing right Press Test button on SD02B The stepper motor should rotate in CCW counterclockwise by looking at the motor shaft If it is in the opposite direction switch either phase X and X or Y and Y effectively reversing directions Press Test button on SD02B The stepper motor should rotate in CCW counterclockwise by looking at the motor shaft If it is in the opposite direction switch either phase X and X or Y and Y effectively reversing directions d In case the stepper come with five coil wires then each phase share the same common wire SD02B will only drive 2 coils which are la to 1b and 2a to 2b Following pictures show typical connection from SD02B to Unipolar and Bipolar stepper motors Unipolar Stepper motor 6 wires Bipolar Stepper motor 4 wires Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron ROBOT HEAD to TOE Technologi ecnnologie Product User s Manual SD02B 5 2 Connecting to Micro
23. ilofijofijlijlojofifijijofil i o o lililoli lol o ol lioj mh am sie alee ies ete shift 4 time sah ities shift 7 time d After rotated shifted 8 times AND the value with OxOOFF and save it into an 8 bits variable 01110110110101102 AND 00000000111111112 000000001 10101102 11010110 higher 8 bits e To get lower 8 bits AND the same 16 bits encoder value with OxOOFF and save it into another 8 bits variable 11010110011101102 AND 00000000111111112 00000000011101102 011101102 lower 8 bits f Send T to SDO2B first Then send the higher 8 bits followed by the lower 8 bits Created by Cytron Technologies Sdn Bhd All Rights Reserved Cy tron ROBOT HEAD to TOE Technologie Product User s Manual SD02B Set UART Baudrate a The default baudrate for SD02B is 9600 However user can define new baudrate for UART communication after the host and SD02B is connected at 9600 Host needs to send U to set new baudrate for communication with SDO2B b The standard baudrates for SD02B are 9600bps 19200bps 38400bps and 57600bps After sent the first command host has to send the 8 bit value to SD02B according to the explanation below The values are the multipliers for 9600 1 x 9600bps 9600bps 2 ix 9600bps 19200bps 4 x 9600bps 38400bps 6 x 9600bps 57600bps Send this amp bit value to SD02B i i set the new desired baudrate c However it is possible for user to operate SDO2B a
24. is TTL CMOS logic 5V and Direction OV The direction is depends on the connection sequence of Input Pin stepper motor wires to SDO2B For example DIR 0V CW DIR 5V CCW EN Stepper Driver Input pin to enable SD02B This pin is TTL CMOS logic 5V Enable Pin and OV 5V will enable the motor driver further hold the shaft of stepper motor while OV will disable the motor driver and release the shaft of the stepper motor By default the driver is disabled for power saving Vin Circuit Supply Vin is another power source for SD02B If users choose Voltage Vin aS power source for circuit in Dual Supply Mode Vin will supplies power to SDO02B circuit and Vmotor will supplies power to stepper motor Although SD02B provides protection against wrong polarity for this input user need to ensure the voltage and polarity of connection are correct before providing the power so that SD02B can function correctly Single Supply Mode and Dual Supply Mode are designed to support stepper motor with wider range of supplies If the stepper motor being used is rated between 8 to 20V Single Supply Mode can be used If the stepper motor is rated below 8V or above 20V Dual Supply Mode must be chosen However stepper motor with ratings beyond 3 to 40V is not support in any mode Please refer to Absolute Maximum Rating tables in the next page for further Information Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Tech
25. n Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B SDPO motor FAS amp HEAT SOSA be ed i Winter Lr Ai PULS TR EN Vin FAN amp HEATSINK Sample connection to control 2 SD02B using software and hardware UART Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B e Select Vmotor using the mini jumper at SD02B s voltage selector To supply power to SD02B user has to connect SD02B Vmotor to SK40B positive power supply pin and GND to SK40B negative power supply pin In this case we use a 12V Sealed Lead Acid battery to supply SK40B Once power is ON power indicator LED on both SK40B and SD02B will turn ON y eo soc sco SSscaani ae it e 3 Pe yTRON SK40B s Saar an Eme ke a U y a e s v 7 Motor tor ee ara 0 e ND y F 7 a lt N a z Oat i a e i ca i a le i l RDL L ti M ote wu cytron Com my t4 K ee c oe cs oe Jogy er SBSkaNS55 7 EE i g A wo m 2 E Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron ROBOT HEAD to TOE Technologie Product User s Manual SD02B f Next connect the stepper motors to SDO2Bs o A gt i oof y e ie Sui g Now press the SW on SK4OB to
26. nologie ROBOT HEAD to TOE Product User s Manual SD02B UART Pins Function Description T SD02B UART This is SD02B s UART receive pin It should be Receive Pin interfaced to 5V logic UART It should be connected to host s transmit pin RX SD02B UART This is SD02B s UART transmit pin It should be Transmit Pin interfaced to 5V logic UART It should be connected to host s receive pin X GND System Ground Common ground for both logic operation and also stepper power source Not Connected Leave this pin disconnected Absolute Maximum Rating Output Current per phase Ihas 2 1 a 2 Case Operating Temperature Te 7 0 3 Storage Temperature Tsa 8 0 For momentary peak current Driving at this condition may trigger overheat or over current cut off 4 Vmotor Voltage 2 8 s v 5 Vmotor Current 253 ouf A No Min Dual Supply Mode Vmotor amp Vin 6 Vmotor Voltage 4 3 v 7 VinVoltage J 2 J 8 v 8 Vmotor Current 235 om A 9 VinCurent o6 ou A Single Supply Mode Vmotor Vmotor supplies power to both stepper motor and SD02B circuit Dual Supply Mode Vmotor and Vin Vmotor supplies power to stepper motor and Vin supplies power to SD02B circuit Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Tachnolog ROBOT HEAD to TOE ecnnorogie Product User s Manual SD02B
27. olar stepper motor Before connection can be made please determine the correct wiring for stepper motor In general 2 phase stepper motors can have 4 5 or 6 wire leads not including any optional encoder lines The best solution is to obtain the pin out from the motor manufacturer If user does not have access to the pin out then the following procedure will help in determine wiring of the 2 phases stepper motor Some stepper motors have a motor case ground that can be tied to the ground of the system It is usually a black wire and it will add one additional wire to the overall count 4 coil wires 1 casing ground 5 wires total 1 e Ifthe stepper has four coil wires a Each of the two phases X and Y should have the same resistance when measured with a multi meter When measuring the resistance across one wire from each of the two phases between X and Y the resistance should be infinite because the circuit is open Locate the two pairs of wires that represent the two phases and both pairs of wires will have similar internal resistance b Connect each phase to SD02B and ignore the polarity for now User has a 50 chance of guessing right c Press Test button on SD02B to rotate the motor It should rotate in CCW counterclockwise by looking at the motor shaft If the motor rotates in the wrong direction switch either phase X and X or Y and Y effectively reversing directions 2 Ifthe stepper has six coil wires t
28. s Sdn Bhd All Rights Reserved Cytron ROBOT HEAD to TOE Technologie g Product User s Manual SD02B a Sample schematic on above shows a PICI6F877A interface to SDO2B No restriction to what type or brand of microcontroller can be used as long as it has UART Peripheral b User needs to connect the RX and TX pin to microcontroller These two pins should be cross connected to microcontroller In other words RX on SDO2B should be connected to microcontroller s transmitter pin TX while TX on SD02B should be connected to microcontroller s receiver pin RX For details connection please refer to sample schematic above To begin users have to choose either Vin or Vmotor power supply at voltage selector Then connect Vmotor and or Vin and Gnd to power supply at a voltage according to the specification of the stepper motor used and make sure the voltage is within the voltage range of SD02B Vmotor and or Vin Please refer to section 3 Product Specification and Limitations for details d Power up the microcontroller board and SD02B Once the power is supplied to SD02B the 3mm green LED should light ON e The hardware interface for SD02B to microcontroller is ready However in order to control stepper motor from microcontroller user is required to write a program for the microcontroller to send commands through its UART according to SD02B UART protocol f User may refer to PIC18F4520 sample program provided to
29. switches SDO2B Vmnoetor GND FU LSE Above figure shows the sample connection using switches to control SD02B and drive a stepper motor S1 act as pulses generator S2 will control the direction of stepper motor while S3 will disable SDO2B if pressed Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 5 4 Connecting to Microcontroller through UART A new feature for SD02B is the UART interface for easier communication between a host user s circuit or PC and SD02B By using the UART control user can on off run brake and change motor rotation direction in a simple commands Beside that user can request for encoder value tracks the encoder value and brakes the motor at desired steps count accelerate the motor from a specified initial speed to a final speed at desired acceleration rate Here is an example connection of SD02B to Microchip PIC16F877A through UART 5 4 1 Connecting SD02B to Microcontroller For microcontroller to interface with SD02B only 3 connections are needed They are TTL UART Universal Asynchronous Receiver and Transmitter transmit TX and receive RX pins together with the system ground Gnd SDO28 a Water il GND PULSE FAN amp HFAT SINK MCL pp LAGAND RAMAN I HAAN RA WANS oe ji RANANS AGA REMVAKG REDANT Ydd Wee osc Created by Cytron Technologie
30. t the value green Send lt T gt lt Higher 8 i istote sena ooon ea J s e Se ee ee initial speed 1 byte 1 255 re Send CAs moal Speed gt lt Fnal Ardbyte send Final speed 1 byte T Speed gt Acceleration Rate gt Ath bste Acceleration rate 1 byte 1 255 Slowest il 1 to fastest 255 iste send 1000 os U0 n 1 byte 1 9600bps 2 19200 4 i 38400 6 57600 Reenert ame ONO vawe sera roooon 67 Accelerating and J receive status byte lower 6 bits AcceleratomwDeacceleraton istote send wono 77 m To select normal stepping mode or micro Eri 1 byte 1 po micro stepping 2 1 2 micro stepping 5 1 5 micro stepping 10 1 10 micro stepping stepping mode Default mode is micro Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B On Off Run Brake CW CCW and Reset Encoder Value Host sends 1 byte command to SD02B to On Off Run Brake CW CCW and reset encoder Value Set Stepper Motor Speed a Host sends S to SD02B to set stepper motor s speed b After sent the first command host need to send 8 bit speed value to SDO2B The speed value is from 1 to 255 If SDO2B receives 0 the speed is assumed as 1 However the speed for each stepper motor is different It is depend on the resolution step of stepper motor c Please note
31. t a baudrate other than the standard baudrates given but the success of the attempt is not guaranteed For example you can try to send 3 to SD02B to get the baudrate of 9600 x 3 28800bps Request current status a Host sends C to request current status for On Off Go Brake CW CCW micro stepping and acceleration b Host will receive byte current status From the 8 bit 1byte received only the lower 6 bits is used to indicate the current status The status bits and its definition are shown below 7 6 5 4 3 2 1 1 fofolofofojiti 7 6 5 4 3 2 1 O Ofo i ifijoji jo 0 off 0 deacceleration on 1 acceleration send comand C to request current status receive byte but current status is lower 6 bits 0 brake 0 accelerate deactivated 20 accelerate activated 0 CW 0 micro stepping activated CCW gt TF micro stepping deactivated Created by Cytron Technologies Sdn Bhd All Rights Reserved Cy tron ROBOT HEAD to TOE Technologi ecnnologie Product User s Manual SD02B 1 10 1 5 or 1 2 Micro stepping and Non micro steppin a Host needs to send M and followed by 1 byte value which indicates the stepping mode to SD02B Any values other than the given ones will be ignored by SDO2B no micro stepping 2 micro stepping 1 5 micro stepping Send this 8 bit value to SD02B 1 10 micro stepping to choose the stepping mode ma nN N
32. tepper stepper motor User encoder value CW CCW motor may accelerate or de accelerate Request control stepper motor status if user use 1 10 micro stepping with motor 1 80 per step it needs 3600 180 2000 steps for 1 full 3600 rotation If the diameter of the wheel is Sem so the distance for stepper motor to travel in 1 full 360 rotation is 2 Sem 2 15 7 lem Means if we track encoder by sending 2000 to SDO2B it will stop the motor when it traveled 15 7lem For wheel with different size and stepper motor with different resolution oo step the distance for the wheel to travel is different at 2000 encoder value User need to calculate own encoder value by referring to the formulae given above Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 6 2 Sample Program for PIC18F4520 Driving stepper motor is common necessity in most robotic project based on the embedded system which uses microcontroller Considering this reason Cytron Technologies has also developed the sample source code for PICI8F microcontroller using MPLAB C18 C Compiler This sample program is developed for PIC18F4520 If user uses different PIC microcontroller user may need to modify the sample program based on that particular microcontroller by referring to its datasheet released by Microchip Technology Inc The sample program will control two SDO2Bs Since this PIC
33. test the program Every time the switch is pressed SK40B sends some commands to either one SD02B or both SDO2Bs Please refer to sample program 18F4520 dual uart sample c file for the description Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron 5 ROBOT HEAD to TOE Product User s Manual SD02B 7 3 Using SD02B with Arduino We have created a sample sketch for Arduino to communicate with SD02B through UART The hardware connection diagram is shown in the figure below The sample code can be downloaded from SD02B s product page You can download Arduino Software IDE from http www arduino cc 12V Power Supply Battery or AC DC Adaptor g Recommended Arduino Main Board Connection for Arduino and Cytron SD02B Stepper Motor Driver Power Supply a sw stepper Motor Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B 7 4 SD02B UART Protocol If you are using the UART protocol to control SD02B both computer and microcontroller are actually sending serial command to SD02B This section explains the protocol for send receive commands Istbyte send 01000110 istene T sena fovoornn f Set stepper motor direction to clockwise poe eo number of steps upon reset max 65535 Send lt E gt Received Higher 8 Track encoder value and brake the motor a
34. ts encoder value from SD02B Save the lower 8 bits encoder value to another 16 bits variable f AND the 16 bits variable with OxOOFF XXXXXXXX011101102 AND O00000000111111112 000000000011101102 g To get 16 bits encoder value Exclusive OR the two 16 bits variables and store it to a 16 bits variable Encoder value 11010110000000002 XOR 00000000011101102 11010110011101102 54902 16 bits encoder value Track encoder value a Host needs to send command 3 bytes of commands to SD02B to track encoder value When the steps counted are equal to the value sent by host SD02B will brake the stepper motor I 1 byte Send command T to track encoder and brake motor ii 2 byte Send higher 8 bits encoder value iii 3 byte Send lower 8 bits encoder value b 2 byte and 3 byte sent to SD02B are 16 bits encoder value for encoder tracking number of steps to go before SD02B brakes the stepper motor For example if user wants stepper motor to brake when encoder value equals to 54902 Host needs to send this value 11010110011101102 to SDO2B Higher 8 bits is to be sent before the lower 8 bits encoder value higher amp bit encoder value lower amp bit encoder value 16 tit encoder value Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B c To get higher 8 bits rotate shift the 16 bits value 8 times to the right al
35. uct User s Manual SD02B 7 2 Using SD02B with PIC microcontroller This section will show the example of using PICI8F4520 as host to control two SDO02Bs through UART interface The sample program is based on SK4O0B startup kit This sample program is developed for PIC18F4520 If user uses different PIC microcontroller user may need to modify the sample program based on that particular microcontroller by referring to its datasheet released by Microchip Technology Inc This sample program will control 2 SD02B through 1 X hardware UART and 1 X software UART a Since the sample program will control 2 SD02B so two SD02Bs are used Other devices are 1 x SK40B 2 x stepper motor WEA AE he b Setup SK40B with PIC18F4520 Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytron Technologie ROBOT HEAD to TOE Product User s Manual SD02B c Load 18F sample program hex to PIC18F4520 using UICOOA User may refer to UICOOA user s manual on how to load program into a PIC User may use other programmer to load the program Connect to q power source d For communication between these two SD02Bs and SK40B the following connections are required i First SD02B RX to SK40B RC6 TX ii First SD02B TX to SK40B RC7 RX iii Second SD02B RX to SK40B RB4 TX iv Second SD02B TX to SK40B RB5 RX v Both SD02B GND to SK40B GND Created by Cytron Technologies Sd
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