3 axis controller user manual
Contents
1. wintec 3 axis controller User manual 2002 Twintec Twintec controller user manual 3 axis controller user manual 2002 Twintec All rights reserved No parts of this work can be reproduced in any form without a written permission of the author The products to who references are made in this manual can be trademark of the respective proprietary The author assume no responsability for errors or omissions or for damage caused by the usage of the informations contained in this document and by the usage of the products to who it refer In no case the author can be responsible of damage caused directly or indirectly by this document Printed novembre 2002 at Gravina di Catania Italy 3 axis controller user manual Contents a fF O N A O N A Introduction Introduction Controller Manual 2d aia Diada 2 Hardware General description a alo eee 3 Connections description mmmemmemenenmenmennennmennnnemenenenemenents 5 Electrical characteristics iio ii nd cu E aav ad uud cad di disais t s 7 Status INGICATONS eiiis re reg meRORENUNM ias 7 frr M 7 Controller connector iia deste eter sens entendait uncle red nes a de cents Software Command SYMAX que 8 IE CIR Reus 8 Move MOVE desneelptem yes Set the contour angle 200520 cniin ns aai goes es ases SEE nda Pop ELT ada AcE in wan2. EMI id re O el 3 748 OOO 1 peos 295 Pi 4 L U CE IP 4 et L L 3 axis controller LL veeteertentt ss reer eee ee ee eee ee Eurocard board 100X160 mm connector DIN 96 poles LED indicators for power execution and error Power supply 5V 200 mA 3 AXIS interpolated 2 serial port RS232 19200 38400 BPS e RS 485 19200 a 38400 Communication protocol RS232 Hardware Handshake via CTS RTS 8 user input CMOS 5V 8 user output OPEN COLLECTOR max 100 mA Inputs for HOME and LIMIT for all axis STOP input STOP with deceleration and acceleration at restart CONTOURING with adjustable angle Battery for data retention 6 month Configuration buffer for startup Input and output commands Timing commands Drawing of the controller 2002 Twintec Hardware RAM ROM CPU OUT icp 01090 pwr Hoe FT ERR Gu B e Su D 0000 i 2 E Fr pnt ols m Seo E TI En He OF V RS485 INPUT Led indicators descripition e PWR POWER LED e ERR ERROR AND STOP LED e STAT STATUS LED 2002 Twintec 3 axis controller user manual 2 2 Connections description In the following table the name of the signals VCC GND PULSEO PULSE1 PULSE2 DIRO DIR1 DIR2 UIO UIZ UOO UO7 UO Com HOMEO HOME1 HOME2 LIMO LIM1 LIM2 RXD TXD CTS RTS ANA1 ANA2 PULSES DIR3 5V supply Ground Step output X
3. In the controller there is a receive buffer that allow the same to execute work of hours without interruptions The communication handshake is managed by the CTS and RTS control signals 4 2 Communication The communication with the controller is established with RS232 the line parameters are Bit 8 Stop bit 1 Parity None Baud rate 19200 bps The cable to use is a simple direct MF DB9 The flow control signals are RTS and CTS Note in absence of those signals an overwriting of the buffer can occur with severe consequence for the correct excecution The RS 485 is optional and is reserved for future or custom usages 4 3 Speed and acceleration The speed in a system composed by three axis is done with the following he s p formula Fm Ux y Fz here V is the speed and vx vy vx are the component speeds The controller calculate the component speeds for any axis to make the final desired speed that can be set with the SVv command where v is the speed in cm s The acceleration of a system is the variation of the velocity with the time this parameter is set in cm s in the controller The controller have two command for the setting of these parameters read the 2002 Twintec Operation principles paragraphs set the speed e set the acceleration for a detailed esplanation of these commands When the controller have to move at a defined position it start to send pulse with an increasing frequency unti
4. 2002 Twintec Hardware Nota Not all the signals are disponible on that connector Signals present UO common UO 0 3 UI 0 3 PULSE 0 1 2 DIR 0 1 2 LIM 0 1 2 STOP HOME 0 1 2 GND VCC ANA 1 2 3 Software 3 1 Command syntax All commands are of two characters and a list of parameters delimited by a comma the command terminator is the semi colon MC100 100 100 Spaced are discarded by the controller MC 100 100 100 The interpreter is case insensitive mc 100 100 100 Follow the description of the commands the syntax limits and error condition 3 2 List of commands 3 2 1 Move Syntax MV X Y Z Purpose Move the axis at the specified position with acceleration and deceleration Parameters X Y and Z Example MV 100 100 400 Limits 8388608 8388608 Errors Missing parrameter parameter out of limit Note The position are in step and are absolute 3 2 2 Move contour Syntax MC X Y Z Purpose Move the axis at the specified position inside a path If the angle between the vector and the previous one is greater than the angle of contour the controller will decelerate ifin move and then accelerate to begin this position motion 2002 Twintec 3 axis controller user manual see the paragraph for the vector execution Parameters X Y e Z Example MC 100 100 400 Limits 8388608 8388608 Errors Missing parrameter parameter out of limit Note The po
5. 536 Errors Missing parrameter parameter out of limit 3 2 9 Execute home Syntax EHx y z Purpose Bring the axis at the home position seeking the specified switch At the end of the command the internal position is 0 0 0 Parameters x y z 0 mean no seek 1 mean seek the switch Example EH 1 1 0 Seek the home switch for the x and y axis Limits 0 1 2002 Twintec 3 axis controller user manual Errors Missing parrameter parameter out of limit 3 2 10 Set the position Syntax SP x y z Purpose Setthe logical position without making any move Parameters x y z Example SP 1000 1000 0 Limits Errors Missing parrameter parameter out of limit command received in excecution phase Note This command have to be executed carefully the command will be refused if the controller is excecuting vectors 3 2 11 Configure Syntax CF tipo p1 p2 p2 These commands are for configuration that are retained even when the controller power is not present Configure HOME Syntax CF 1 X y Z Purpose Set how the controller search the Home switch at the reset Parameters x y z Default value 0 0 0 Example CF1 0 0 Limits 0 1 Note This command have no immediate effect but it configure the controller to seek or not the home switch at the reset If we send the command CF 1 1 1 0 at the next reset the controller will seek the switch that are set to one Configure Axis resolution
6. Step output Y Step output Z Direction output X Direction output Y Direction output Z User inputs User outputs Common snubber for outputs Home input X Home inputY Home input Z Limit Input X Limit input Y Limit input Z Data input rs232 Data output rs232 Clear to send rs232 Request to send 232 Analogic input 0 5V Analogic input 0 5V Step output optional Direction output optional The following table show the drawing of the connector front view and the coresponding pin and signal 2002 Twintec Hardware a32 b32 c32 caa a31 b31 c31 2 9 9 a30 GND b30 GND c30 GND y a29 b29 c29 De a28 b28 ANA c28 ANA2 A a27 b27 c27 So a26 LIMO b26 c26 HOMEO 6 0 0 a25 STOP b25 LIM 1 c25 o 606 a24 LIM2 b24 HOME c24 c 9 0 a23 b23 c23 HOME2 c o g a22 CTS b22 C22 99909 a21 ITXD b21 RTS c21 UIO E a a20 RXD b20 UH c20 Ul6 3 i 6 5 a19 UI7 b19 UI5 c19 UIS looo a18 UI2 b18 c18 Ul4 o 00 a17 b17 GND c17 GND o 0 0 a16 b16 GND c16 c 9 a a15 Dir O b15 Dir 1 c15 Dir 2 aaa al4 PulseO b14 Pulse1 c14 Pulse2 o 9 q a13 b13 c13 GND B RS a12 GND b12 GND c12 died ait GND bli c11 Pulse3 D E a10 b10 c10 Dir3 G B a9 b9 c9 o 0 o a8 b8 c8 o 60 0 a7 b7 c7 coo a6 UO2 b6 UO1 c6 UOO oc aa ab UO5 b5 UO4 c5 UO3 gt T a4 UO Com b4 UO7 c4 UO6 0 8 a3 GND b3 GND c3 GND a2 VCC b2 VCC c2 VCC a1 VCC b1 VCC c1 VCC Here the serial connector Connetto
7. Syntax CF 2 x y z Purpose Set the axis resolution for the three axis in step mm Parameters x y z Default value 40 40 40 Example CF2 40 40 80 2002 Twintec Software 4 4 1 Limits 1 400 Note this command have effect on the speed calculation Configure Home Speed Syntax CF3 f Purpose Setthe home frequency Parameters f frequency Valore predefinito 1000 Example CF2500 Limits 100 10000 Operation principles This chapter describe the operation principle of a positioning system General Principles Block diagram of a positioning system SWITCH FOR LIMIT HOME AND STOP 3 AXIS CONTROLLER TWINTEC STEPPER MOTORS 12 USER OUTPUTS RELE ETC 2002 Twintec 13 3 axis controller user manual The controller is the headt of a positioning system It perform the following tasks e Generate the direction signals and step frequencies to the drivers to move the motors at the desired position Activate the outputs Wait a status at an input Perform the timing between two command Transmit informations about the position and the status Acquire the Stop status Acquire the Limits status e Seek the Home switch to put the axis in this position The actions above mentioned can be performed by comunicating trhough the serial PC line with defined commands than will be executed by the controller in the sequence that are been transmitted
8. e 9 controller signals 5 E execute home 10 general description 3 general principles 12 green led 7 H home 10 indicators 7 input 10 input wait 10 Introduction 2 L led 7 M Move 8 Movecontour 8 output 10 output setting 10 timing wait 10 vectors execution yellowled 7 speed andacceleration 13 15 2002 Twintec 17 3 axis controller user manual NOTE 2002 Twintec
9. e enlacen Set the speed Set T ACCEIBTATION RETE cda iia Activate OUP 1 PAPA Wait an input Wait a time Execute home Set the position en me Operation principles General Principles cedere LEID reed uice telas i ii ene usen dete 12 COMMUNICATION ava dai P 13 Speed and cceleratlori 5 5 e Re hier ed Ye Y cm oo E TY ced A 13 Vector S execuliol rimini imu net aia 15 Index 2002 Twintec Introduction 1 Introduction 1 1 Controller manual This manual destinated to the controller users is divided in 4 sections to make more easy the arguments reading We choose to not limit the manual to the simple thecnical description of the controller but to explain any argument providing where possible examples and pictures than can give to the reader further informations for a correct use of the controller and a better understanding of it functionality Further informations can be found on our website http www twintec it Twintec di Ribaudo Michele Via Monti Arsi 13 95030 Gravina di Catania ITALY Tel 39 95 7253415 2002 Twintec 3 axis controller user manual 2 2 1 vs n amp Hardware General description
10. l it reach the final speed and continue with this speed until it reach the position calculated for the deceleration The following diagram show how the curve of the velocity for a single vector assume a trapeziodal form The vertical axis representthe speed and the orizontal the time 1 8 1 6 1 4 1 2 0 8 0 6 0 4 0 2 0 0 2 0 4 0 6 If the length of the vector is too small to reach the final velocity the form of the curve is a triangle 1 8 1 6 1 4 1 2 0 8 0 6 0 4 0 2 0 0 1 0 2 0 3 0 4 The correct setting of these two parameters speed and acceleration allow to reache optimal performances relating the speed and the positioning accuracy It is necessary to consider the kind of work to execute before set these two parameters The step loss can be a consequence of the incorrect setting of a speed or an acceleration It is a good practice to refer with the caracteristics of the motor to find the correct values 14 2002 Twintec 15 3 axis controller user manual 4 4 Vector s execution To explain how the controller perform the axis positioning it is necessary to introduce the concept of a vector and the path In the following diagram we can see a path composed of 4 vectors To make that path we have to send to the controller 4 position command We suppose that the controller start from the position 0 0 0 and all vectors are on the same level so the Z value is 0 List of co
11. mmands Position diagram 100 MC20 20 0 MC40 30 0 80 MC60 90 0 MC80 20 0 60 40 20 0 0 20 40 60 80 100 If the contouring angle is set to 23 default value the execution of that path is done with 3 accelerations and 3 decelerations This because the angle between the first and the second vector is less than 23 while the angle between the second and the third vector and between the third and the fourth is greater than 23 The sequence will be the following 1 accelerate from the 0 0 0 position until reach the final speed reach the position 20 20 0 and it continue in the direction of the 40 30 0 position decelerate until it reach teh 40 30 0 position accelerate in the direction of the 60 90 0 position decelerate until it reache the 60 90 0 position accelerate in the direction of the 80 20 0 position decelerate until it reach the final position 80 20 0 NOARON f we want to execute the move with an acceleration and a deceleration every vector independently of the angle we have to use the MV command instead of the MC one 2002 Twintec Index 16 a ip Index position 11 position set 11 rinciple 12 A ip p acceleration 9 ine acceleration setting 9 redled 7 angle 9 S axis resolution 11 das 5 C speed 9 characteristics 7 communications 13 speed setting 9 configuration 11 syntax 8 configure 11 E connection 7 Hur 40 connection description 5 connections 5 connector 7 contour angl
12. re DB9 RS 232 Related signals 2 RXD Data receive PC 3 TXD Data transmit PC 4 6 Shortened DTR DSR 5GND Ground 7CTS Clear to send PC 8 RTS Request to send PC and the RS 485 connector RS 485 connector Related signals 1 GROUND 2BUSA 3BUSB O 2002 Twintec 7 3 axis controller user manual 2 3 Electrical characteristics Power supply 5V 200 mA max Input home and limits Normaly closed CMOS 5 V with pull up da 10 KOhm User input pull up 10KOhm User output Open collector max 100 mA Step and dir output Open collector without pull up Ouput IC ULN2803 Input IC 74HC244 2 4 Status indicators The LED indicators are three GREEN LED indicate the power is on 2 RED LED Have three states e OFF nessun errore e FLASHING The STOP is Pressed e ON A limit have benn reached 3 YELLOW LED have two states e 1 sec Flashing The controller is in the stand by state e 1 2 sec flashing The controller is executing commands 2 5 Accessory 2 5 1 Controller connector This board allow the connection of the controller with detachable connectors It comprise a 5V stabilized power so the input can be 9 15 V cc On the back there is a LED that indicate the power presence and is possible to add a DB9 connector whenever the one on the controller will result in an unfavorable position 00000000 Power supply 9 15 V CC 200 mA
13. sition are in step and are absolute 3 2 3 Set the contour angle Syntax SIA Purpose Setthe contour angle see the paragraph for the vector execution Parameters Contour angle in degree Example SI 25 Limits 0 360 Errors Missing parrameter parameter out of limit 3 2 4 Set the speed Syntax SVV Purpose Setthe speed for the next vectors see paragraph Speed and acceleration Parameters V Speed in cm s Example SV 2 5 Limits 1 2 20 Errors Missing parrameter parameter out of limit 3 2 5 Set the acceleration Syntax SAA Purpose Set the acceleration in cm s see paragraph Speed and acceleration Parameters A acceleration in cm s Example SA5 5 Limits 1 2 40 Errors Missing parrameter parameter out of limit 2002 Twintec Software 10 3 2 6 Activate output Syntax EO bit value Purpose Set the user output at the specified value Parameters bit number 0 7 value 0 1 Example EO 7 1 Limits 0 7 0 1 Errors Missing parrameter parameter out of limit 3 2 7 Wait an input Syntax WI bit valore Purpose Wait a specified value on a user input bit Parameters bit number 0 7 value 0 1 Example WI 7 1 Limits 0 7 0 1 Errors Missing parrameter parameter out of limit 3 2 8 Wait a time Syntax EW tempo Purpose Wait for the specified time in ms Parameters time in ms Example EW 1000 wait a second Limits 10 65
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