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Step Motor Controller User's Manual

1. Sealed 44 2 519 606 860 1000 All dimensions mm Tolerances 0 3mm If the Controller is mounted in a closed cabinet a ventilation fan or other form of cooling should be installed The Controller is however protected against overheating by a built in thermo switch which disconnects the driver sta ges at a temperature of approximately 80 C 65 5 2 Physical Dimensions Types SMC24 and SMC26 103 0 3 SEDI DUO DU 4 111 4 000 o 1100000000000 N 167mm 128 5 3HE 106 5 21Te If the Controller is mounted in a closed cabinet a ventilation fan or other form of cooling should be installed Controller is however protected against overheating by a built in thermo switch which disconnects the driver sta ges at a temperature of approximately 80 C 66 5 3 Memory Utilization The permanent memory of the Controller consists of a The memory is 0 5 kbyte 512 bytes in SMC25 SMC26 and 8kbyt
2. CJI Module Interface Types SMC23 24 only The Module Interface fitted to Controllers Type SMC23 and SMC24 consists of 2 optically isolated terminals These are used for connection to all external modu les such as keyboard display modules input output modules etc CW CCW Limit Inputs Types 5 23 24 only The CW clockwise and CCW counter clockwise Limit Inputs are used in applications where it is cru cial that the motor does not advance beyond some predefined mechanical limits On activation of a Li mit Input the motor is immediately halted Together with the User Inputs the Limit Inputs are optically isolated from other circuitry in the Controllers User Power Supply Types SMC24 26 only To enable power to be supplied to external sensors etc Types SMC24 and SMC26 are equipped with a User Power Supply on the rear panel This supply can be adjusted to one of 3 settings to give a volta ge of either 5V DC 24V DC or continuously adju stable from 5 to 30V DC The User Power Supply output supplies a current of 0 5A regardless of voltage level 2 0 Block Diagram of the Controllers Stepper Motor Controller SMC23 26 lt Bidirectional Input Power Supply 15 45V DC 115 230V Ext User Suppl External User Supply SM
3. 1 2 IMPORTANT If the Baud Rate setting has been changed the Controller must be reset by switching the power off and on again for the new Baud Rate to take effect Note that the Baud Rate must also be set to the selected value on the PC or terminal used for communication with the Controller In addition the communication protocol should be set as follows 1 start bit 7 data bits odd parity 1 stop bit A start bit is always used with RS232C V 24 protocol 20 3 4 Command Syntax Interface communication with the Controller must ful fill the following command syntax Address Command Argument Checksum Return Address It is only necessary to specify the Controller Address if more than 1 Controller is connected to the interface multipoint configuration The specified Address is a value in the range 1 7 Command The command character s to be transmitted to the Controller See the Software Description in Chapter 4 for details of the Controller commands Argument The command arguments if any Certain commands such as the K kill or Z Smooth Stop commands have no argument See Software Description Checksum The checksum can be used if long communication lines are used between the Controller and PC or terminal The checksum ensures integrity of data transmission on the interface If an error occurs an error message E1 will be received It is then necessary to re
4. Flow Control Commands This conditional jump command is similar to JC 0 7 if an input level condition is fulfilled a jump is made to a specified program line In contrast to the JC 0 7 command however the JC p jump condition is determined by the level at a specific Input and not by the pattern at all 3 User Inputs The JC p command can be used both with User Input levels and with the Analogue Inputs Command Format JC i n n1 i Specifies the input used for the jump condition A value of i between 1 and 3 specifies the corresponding User Input 1 to 3 A value of i between A1 and A6 specifies the corresponding Analogue Input 1 to 6 n Specifies the Reference Level to be compared with the measured level at the speci fied input n can assigned a value of 0 or 1 If the level at the specified input is equal to the Reference Level the jump is made n1 Specifies the program line to jump to if the jump condition is fulfilled Program Example Line no 5750 R700 C3 500 JC2 0 3 5 Jumps to line 3 if User Input 2 is logic 0 G 0 T1000 A2 4 1 5 Jumps to line 5 if Analogue Input 4 is logic 1 AN Oa 8 WD When the Analogue Inputs are used as logic inputs logic 1 corresponds to voltages gre ater than or equal to 2 5V and logic 0 corresponds to voltages less than 2 5V 48 4 6 Flow Control Commands JCA p n1 This conditional jump command is similar to the
5. Axis Controller T Input Ground Motor Output Phase1 Phase2 15 45V In Output Supply Output 1 Output 2 Output 3 Output Ground Input Supply 4 Input 1 Input2 Input 3 EOT Stop Input Y Axis Controller C Input Ground Motor Output Phase1 Phase2 Reference sensor Ground Reference sensor Power Supply Finish Drill Unit 22 Start 12V Terminal not used 5 6 Application Example for Controller SMC25 Program for Control of the Drilling Application Before programming is started the values of all parameters should be defined Holes are to be drilled in the aluminium block at the following coordinates Hole 1 4013 7387 Hole 2 5164 1949 The coordinates are specified in steps relative to the reference point of the inductive sensors The drill unit is activated by a voltage impulse of 0 1s duration Once the holes have been drilled the drill unit moves to its start position and outputs a constant voltage of 12V to indicate that the drilling operation is com plete The sequence of instructions to be programmed for the application can be described as follows 1 If the start button is activated continue to point 2 2 Go to position 4013 7387 3 Drill hole 4 Goto position 5164 1949 5 Drill hole 6 End Go to point 1 If this procedure is followed the system will wait until the start button is activ
6. put is to be activated Example A2 sets Output 2 to logic 1 The Clear Output command sets a specified User Output to logic 0 The command character is followed by a parameter value of 1 to 3 which specifies which output is de activated Example C1 sets Output 1 to logic 0 The Until command is used to repeat a program segment until logic 0 is applied to a specified input see Electrical Specifications Either the entire program or only a specified segment can be repeated The User Inputs are specified by the parameter values 1 to 3 The Analogue Inputs are specified by the para meter values A1 to A6 e g 50 2 i U3 Repeats program segment from the beginning until logic 0 is applied to User Input 3 Al D25 C1 UA1 Repeats program segment between until logic is applied to Analogue Input 1 43 4 5 v2 Verify VA 1 6 Verify ainput User Interface Commands The Verify command enables the status of User Inputs and Outputs to be determined When the V2 command is sent to the Controller it responds with a V followed by two parameter values between 0 and 7 The first parameter indicates the voltage levels at the User Inputs The second parameter indicates the voltage levels at the User Outputs The status of the Inputs and Outputs is determined from the returned parameters according to the following table Inp
7. 1 H Reset 1 H Reset 2 W1 Wait for Input 1 2 W2 for Input 2 3 A1 Activate Output 1 D10 Wait 1 second C1 Deactivate Output 1 4 G 4013 Move to position 4013 4 G 7387 Move to position 7387 5 Al Activate Output 1 5 Al Activate Output 1 D10 Wait 1 second C1 Deactivate Output 1 6 A2 Activate Output 2 6 W1 Waitfor Input 1 D1 Wait 0 1 seconds C2 Deactivate Output 2 7 W2 Waitfor Input 2 8 1 Activate Output 1 D10 Wait 1 second C1 Deactivate Output 1 9 G 5164 Move to position 5164 10 A2 Activate Output 2 9 G 1949 Move to position 1949 D1 Wait 0 1 seconds 10 W1 Wait for Input 1 C2 Deactivate Output 2 11 W2 Wait for Input 2 12 A1 Activate Output 1 D10 Wait 1 second C1 Deactivate Output 1 13 1 Jump to point 2 13 J1 Jump to point 2 75 27 33 A 33 A 43 acceleration 40 Activate output 43 Addressing 19 Analogue Inputs 14 AO 61 byte 67 C 43 Checksum 22 Clear output 43 CO 62 Command Overview 27 28 29 Command Syntax 21 Communication Rate 20 con 56 Controller Response 26 conversion 56 D 46 DA 46 deceleration 40 Delay 46 E 30 Electrical Specifications 63 64 Error 26 Execute 30 F 30 f 30 Feedback 30 Flow Control Commands 46 47 48 49 50 Forcing pos 30 fuse 7 2 35 Goto 3
8. 3 and 6 are logic 1 2 5 and Analogue Inputs 2 4 and 5 are logic 0 2 5V W 1 3 The Wait For command stops program execution until logic 1 is applied to a W A1 A6 specified input If the command character is followed by a number from 1 to 3 Wait For the specified input is one of the 3 User Inputs If the command parameter is A1 to A6 the spe cified input is one of the 6 Analogue Inputs Example G 372 W1 Pauses program execution until User Input 1 is logic 1 G 46 C1 D20 WA5 Pauses program execution until Analogue Input 5 is logic 1 45 4 6 1 32000 Delay DA n n1 n2 Analog delay J n1 Jump Flow Control Commands The Delay command pauses program execution The command character must be followed by a parameter value between 1 and 32000 which specifies the Delay duration in 1 100 second Example 027 results in a delay of 0 27 seconds The Analog Delay command is used to set a delay in program execution which is determined by one of the Analogue Inputs and can vary from 0 01 to 320 seconds Command Format n Specifies which Analogue Input is used to control the delay n1 n2 Specify the required delay duration n1 is the lower limit and corresponds to the de lay when a voltage of is applied to the specified input n2 is the upper limit and corresponds to the delay when a voltage of 5 10V is applied Example DA2 10 100 Enables a delay of
9. Counter Clockwise Clockwise Limit Limit O000000 In stepper motor systems it is often necessary to set up certain mechanical limits which the motor must not exceed under any circumstances To enable these Limits to be set up the Controller is equipped with 2 inputs CW Clockwise Limit and CCW Counter clockwise Limit One of these 2 inputs depending on the actual di rection of rotation of the motor will stop the motor when the input is activated CCW Limit If the motor is rotating counter clockwise and the CCW Limit Input is activated logic 1 the motor will be stopped The CW Input has no effect during counter clockwise rotation 4 5 30VDC i Supply 15 CW Limit If the motor is rotating clockwise and the CW Limit Input is activated logic 1 the motor will be stop ped The CCW Limit Input has no effect during clockwise motor rotation Note that activation of either of the CW or CCW Limit Inputs will result in instantaneous stop of the motor regardless of any pre set deceleration ramp Inactivation of the motor A special feature of the Controllers enables the dri ver current to the motor to be completely discon nected so that the motor is free to rotate without any mechanical resistance This is done by activating both end of travel inputs CW and CCW simultaneously 2 Connections Connections for SMC23 SMC24 SMC25 and
10. rack or flush mounting 1 2 Controller Connections Front Panel SMC23 and SMC25 E Power Indicator Power Indicator o EE Overloaad 0 Overload 0 Indicator Indicator Interface Settings ec Address Baud Rate Sooo etc RS232C V24 Serial Communication Interface The RS 232 Interface enables the Controller to be connected to a computer or terminal Up to 7 Con trollers can be connected on the same interface bus Motor Output Enables connection of a 2 phase or 4 phase step per motor The output is short circuit protected The motor can be controlled with a speed of 15000 Full Half steps per second RS232C V24 SerialCommunication Front Panel SMC24 andSMC26 Power Supply The Controllers are operated from a single supply voltage from 15 to 45 V DC for Types SMC23 and SMC25 and 115 230V AC for Types SMC24 and SMC26 User Inputs The Controllers are equipped with 4 noise suppressed inputs one of which is reserved for the Stop function The remaining 3 User Inputs can be used for example for connecting inductive sensors or for synchronization with other controllers The inputs are equipped with a Schmidt trigger function and operate in the range 5 30 V The User Inputs are all optically isolated from ot
11. the number of units specified by the motor command is multiplied by the conver sion factor and the motor moves the resulting number of steps If for example a motor must move 2 3456 steps to dose a volume of 1 millilitre the conver sion factor is set to a value of 2 3456 using the command 2 3456 To dose a volume of 450 ml in a subsequent motor command the value 450 is specified The conversion results in 450 2 3456 1055 52 steps The motor will then move 1055 steps and the remainder 0 52 steps will be stored The remainder is used in the next motor operation to correct for the 0 52 dosage steps Example A system requires motor operation of 14 654 steps to dose a volume of 1 ml con 14 654 conversion factor is set to 14 654 steps per millilitre R1 290 A value of 290 is assigned to register R1 R1 The motor is moved to provide a dose of 290 ml The number of steps run is 290 14 654 4249 The step remainder is 0 66 D100 Delay of 1 second 18 Dose 18 ml The number of steps is 18 14 654 step_remainder 264 The new step remainder is 0 432 Note that after a Home operation using the command the step remainder is reset to 0 since the motor is set to its absolute reference point 56 Extended Command Set Types SM 23 24 only PRINTn1 n2 n3 Print command is used to print out the contents of registers to external modules At pre sent print out to 4 external modules is poss
12. Verify Top Rate Motor Commands Example The command t1 4 is used in a program When the program is executed the Controller measures a voltage of 2 5V at Analog Input 1 AN1 This voltage is converted to a frequency of 2 5 x 4000 5 10 1960 Hz 1960 steps second This frequency is then used for the next motor movement The specified value of n2 in the example results in OV corresponding to a frequency of 16Hz and full scale 5 10V corresponding to 4000 2 The Verify Ramp Verify Start Rate and Verify Top Rate commands can be used to verify the current values of the motor parameters R S and T VR returns the value of the Ramp Step steps VS returns the value of the Start Rate S in steps second VT returns the value of the Top Rate in steps second Example A verification of the current Top Rate is required The following command string is therefore sent to the Controller VT carriage return The Controller responds T1000 carriage return Indicating the current Top Rate is 1000 steps second VR VS and VT can also be used to check the value of the motor parameters determi ned by the r n1 n2 s nf n2 and t n1 n2 commands 42 4 5 1 3 User Interface Commands The Activate Output command sets a specified User Output to logic 1 Activate Output The command character is followed by a parameter value of 1 to 3 which specifies which out C 1 3 Clear Output U 1 3 U A1 A6 Until
13. command determines the Top Rate parameter t n1 n2 A D Top Rate n1 specifies the Analogue Input used for controlling a given step frequency n1 can be spe cified in the range 1 6 corresponding to the required Analogue Input 1 to 6 The voltage ap plied to the specified input must be in the range 0 to 5 10V ni Analog Input AN1 AN2 ANS 4 5 0030 n2 specifies the value corresponding to full scale input voltage 5 10 either in terms of steps for the n1 n2 command or in terms of frequency for the s n1 n2 or t n1 n2 com mand n2 can be specified as a value in the range 1 to 10 according to the following table for Ramp Start Rate and Top Rate n2 r n1 n2 s n1 n2 t n1 n2 step step sec step sec 1 100 100 1000 2 200 200 2000 3 300 300 3000 4 400 400 4000 5 500 500 5000 6 600 600 6000 7 700 700 7000 8 800 800 8000 9 900 900 9000 10 1000 1000 10000 A voltage of OV at a specified Analogue Input always corresponds to either 16 steps for the n1 n2 command or 16 steps second for the s n1 n2 or t n1 n2 commands The VR VS and VT commands can be used to verify current parameter settings See the description of these commands for further details continued on following page 41 4 4 continued n1 n2 A D Ramp Step s n1 n2 A D Start Rate t n1 n2 A D Top Rate VR Verify Ramp vs Verify Start Rate VT
14. current Start Rate parameter Returns the current Top Rate parameter 27 4 2 continued User Interface n C n U n VA n VA v2 W n Flow Commands D nnn DA n n1 n2 J n1 JC n n1 JCA p n1 JS n1 RET L nnn Command Overview Activate Until Verify Ainput Verify Wait for Analog Delay Jump Jump Cond Jump Cond Jump Sub Return Loop Activates one of the outputs De activates one of the outputs Repeats program segment until a specified input is activated Returns measures voltage at one of the 6 Analogue Inputs Returns measures the logic levels of the Analogue Inputs Returns status of user inputs and outputs Pauses program execution until a specified input is activated Wait a specified time Wait a specified time controlled by analogue voltage Unconditional jump to a specified program line Conditional jump to a specified program line Conditional jump to a specified program line when specified voltage is applied to Analogue Input Unconditional jump to sub routine Return from sub routine Repeat program segment a specified number of times Command Overview Extended Command Set Valid only for Types SMC23 24 VR 0 510 I 5 7 con n PRINT n1 n2 n3 IF p1 m p2 INPUT n1 n2 n3 AO a o COJ a o Verify Initialize Convert PRINT IF INPUT Activate Deactiv
15. finished 9 Send a start signal to the drill unit 9 Continue when ready signal is received from the X controller 10 Continue when the drill unit is finished 11 Send ready signal to the Y controller 11 12 Go to point 1 12 Go to point 1 Note A dash in the above indicates that the respective Controller is waiting for the other Controller to complete an operation and send a ready signal 74 5 6 Application Example for Controller Type SMC25 Program for Control of X Y Table The basis for the actual program has thus been laid in the above overview and flow chart The actual Controller instructions can then be programmed as shown below Note that the numbers to the left of the columns below refer to the respective step in the above flowchart Note that not all steps in the flowchart can be directly trans lated to a single program command For example each time the X controller sends a ready signal to the Y controller or vice versa 3 program commands are required Each time a ready signal is transmitted between the two Controllers this is accomplished by sending a voltage impulse The impulse duration is set to 1 second since the receiver must be able to register the signal The im pulse is sent by the sender activating its output A delay of 1 second is then made after which the sender deac tivates its output This operation involves the use of 3 program commands A1 D10 X Controller Y Controller
16. string is as follows Reply Code Argument Checksum Carriage Return Reply Code The Reply Code is the actual response to the received command and is one of the following Y Yes The command has been received and will be or has been complied with Busy The Controller is busy with program execution and is not ready to receive the command or query Ready The Controller is ready to execute a command or respond to a query Verify Position or User Input Output status This message will only occur if the Controller is queried about the status See the descriptions of the V1 and V2 commands in Sections 4 3 and 4 5 for further details Error An error has been found in the received command and the Controller is not able to comply with the command This response returns an argument which indicates the type of error as follows E1 Parity Error after receiving one or more characters Checksum Error The received command string was too long E2 The command argument is too long or is unnecessary E3 The working memory is full E4 Unknown command or the Controller is unable to comply with the received command E5 Position Counter has exceeded its maximum of 8 388 607 or 8 388 607 steps the motor has been stopped Error in Parameters R S T E6 Anerror occurred during transmission to or from the Controller s Permanent Memory Argument An argument to the response will only occur with E Error or V Verify mes
17. the Controller to the stepper motor as illu strated above 2 2 Motor Considerations It should be noted that the lower the self inductance of a motor the better since self inductance greatly influen ces the motor driving torque at high speeds The torque is also affected by the current supplied to the motor This is also illustrated by the following equation Applied Voltage Phase Current Phase Inductance Driving Frequency It should be noted that the phase inductance of a motor is dependent on the other phases during operation Indi vidual motor manufacturer s specifications of phase induction are normally measured statically The applied voltage is regulated by the driver so that the phase current is adjusted to the required level In prac tice this means that if a motor with a large phase inductance e g 100 is used the driver cannot supply the required phase current at high speeds high rotational frequencies since the output voltage is limited If a 4 phase motor is used it should be connected as shown below The motor phases should be connected in parallel to result in as low a value of self inductance as possible The phases can also be connected in serial but this will limit the top speed of the motor If the phases are connected in serial the motor will typically provide greater torque at low speeds Connection of 4 Phase Step Motors x 259 PhaseA PhaseB c e gt SMC
18. the motor command is executed p2 If the stop conditions are fulfilled the motor will be stopped If p2 is assigned the character X an unconditional stop is defined and the motor will operate until the specified motor command z n g G n requires it to stop al Specifies the Input used for the start control signal a1 be specified in the range A1 to A6 corresponding to Analogue Inputs 1 6 a2 Specifies the Input used for the stop control signal a2 can be specified in the range A1 to A6 corresponding to Analogue Inputs 1 6 ni Specifies the Start Reference Value The Reference Value is compared with the measured voltage at the specified start Input a1 The Start Reference Value can be set in the range 0 to 255 n2 Specifies the Stop Reference Value The Reference Value is compared with the measured voltage at the specified stop Input a2 The Stop Reference Value can be set in the range 0 to 255 m The operator for comparison between the Reference Value and the measured value at the input s To start stop the motor when the voltage at the respective analogue input is less than the Reference Value the operator should be specifi ed as To start stop the motor when the applied voltage is greater than the Reference Value the gt operator is specified 38 4 4 continued NA p1 p2 Analog Input setup be Motor Commands Since n1 and n2 are specified as values in the range 0 255 and the voltage m
19. transmit the com mand string see following page Return ASCII character 13 The return character tells the Controller that the command string is com plete and interpretation of the command can be initiated 21 3 5 Checksum Facility Electrical noise from sources such as electrical motors is a common occurrence in industrial applications This noise can be completely random in nature and despite effective electrical filtration electrical noise cannot be eli minated completely In applications where it is vital to ensure that the system operates precisely as required it is therefore essential to select a communication rate Baud Rate that is not too high Moreover the interface cable used to connect the Controller to a PC or terminal should not exceed 10m in length A typical command string used for interface communication with the Controller will be of the following form 1 In the above example multipoint communication is used and the command is being transmitted to a Controller which has address 1 The command is being sent to activate output number 3 A3 The communication check sum for transmission of a command is determined as follows First the ASCII value of each character in the command string is determined The ASCII values are then summed and the result divided by 128 The integer result of the division is discarded while the remainder is used as the checksum Calculation of the checksum for the above example is thus
20. 15 06 2 2 Motor Driver Selection of Step Resolution The driver can be configured to operate with either full half 1 4 or 1 8 motor steps It is often an advantage to operate with fractional steps since this increases the resolution per motor rotation Operating the motor with half 1 4 or 1 8 step resolution often eliminates the need for mechanical gearing Another advantage is that resonance problems which are almost unavoidable with full step operation can nor mally be avoided A stepper motor always has a resonance frequency which can vary depending on the motor load and results in loss of torque The Controller can be set to normal NOR or extended EXT step resolution For normal step resolution the jumper is placed in position NOR which makes it possible to switch between Full and Half step operation using the dipswitch If the jumper is placed in position EXT 1 4 or 1 8 step operation can be selected using the dipswitch The jumper is placed between the Power and Overload LEDs You have free access to this jumper on Controllers SMC23 and SMC25 whereas the front panel has to be rem oved to gain access to the jumper on Controllers SMC24 and SMC26 On delivery the step resolution is set to 1 2 step The drawing below shows how the step resolution can be set Selection of extended step resolution Selection of step resolution P PI i i i n im im i 12345678910 1 2step 1 8 Ful
21. 26 provi de a range of easy to use cost effective controllers for stepper motors They combine an advanced motion control indexer and motor drive in a single unit The Controllers can be used as stand alone units or connected to a terminal or personal computer PC via the RS232C V24 interface They are e quipped with inputs and outputs which provide the user with a high degree of flexibility for tailoring configuration to the specific application The Con trollers are ideal for controlling small milling machi nes and drills handling and feeder units etc whe re quick and precise motion control is required wit hout the use of components which are large or costly The SMC23 26 Controller series provides the fol lowing features i N N N N 9 0 0 230V Power Supply e e 15 45V Power Supply e e Storage Registers e External User Supply e Module Interface Extended Memory All Controller Types are available in two versions with 3A and 6A motor drives respectively All Con trollers are equipped with 3 digital User Inputs and 3 digital User Outputs for general use 6 analogue inputs can be used for example when a pressure transducer is used to transmit measurement or control values to the Controller All inputs and outputs for fully overload protected The motor driver is further equipped with short circuit protection which disconnects cu
22. 4 only VR 0 510 The Verify Register command is used to verify the contents of a register Verify SMC23A SMC23B SMC24A SMC24B contain extended memory and there are 510 user registers that can be verified Example VR9 Returns the contents of register R9 I 5 7 The Initialize command is used to save or recall the contents of all user registers Initialize to or from the Controller s permanent EEPROM memory The command is also used to re set erase all user register contents The Initialize command can be used both in Standby Mode and Programming Mode Example I5 Resets erases the contents of all User Registers l6 Stores the contents of all 510 User registers in EEPROM The predefined registers R S T are not stored in EEPROM 17 Recalls the contents of all 510 User Registers from EEPROM 55 Extended Command Set Types SMC23 24 only Conversion command is used to set a conversion factor between the number of steps motor moves and a unit of measurement such as length volume position etc n specifies the number of steps per unit length volume mm ml cm dl etc The conversion factor can be specified as a real number in the range 0 0001 to 1600 0000 with up to 4 decimal points The conversion factor command is inserted at the beginning of a program and stays in effect until any subsequent conversion factor is specified at run time When a motor operation is performed
23. 5 35 Home 35 L 30 IF 59 Inductance 9 Initialize 30 Index INPUT 60 Input Hysteresis 13 Input setup 36 38 39 Interface 17 1 46 1 47 JCA 49 45 50 Jump 46 Jump con 47 K 30 Kill 30 L 50 Lagre 24 Loop 50 Memory 31 67 Modes 25 Module Interface 23 Motor 9 Motor Commands 33 34 35 36 37 38 39 40 Motor Driver 8 Motorcommands 41 Motorkommandoer 42 N 36 38 39 NA 39 Pause 46 PE 31 Physical Dimensions 65 66 PO 31 Position Counter 24 Power Supply 6 PRINT 57 Program 31 Program enter 31 41 R 40 Ramp step A D ramp step 41 Recall prog 32 Relative 33 Reply Code 26 Resonance 10 Return 21 s 41 S 40 Smooth stop 32 76 Speed 40 Start rate 40 A D start rate 41 Steppermotor 40 Stop 15 30 Stop Input 16 System Commands 30 31 32 t 41 T 40 Temperature 32 Top rate 40 A D top rate 41 TP 32 U 43 Until 43 User Inputs 12 13 User Interface 43 44 45 User Output 30 User outputs 11 V1 32 V2 44 VA 44 45 Velocity mode 35 Verify Verify ainput 44 Verify I O 44 Verify pos 32 Verify ramp 42 Verify start rate 42 Verify top rate 42 Verify ainput 45 VR 42 VS 42 VT 42 W 45 X 32 Z 32
24. 5 23 5 23 5 24 5 24 5 25 5 25 5 26 5 26 Step Motor Controller User s Manual VL Industri Elektronik 5 September 1995 LB0038 01GB Revised 14 5 96 CONTENTS LT AINTRODUGCTION ve titer vto 2 1 2 CONNECTIONS 3 2 0 BLOCK DIAGRAM OF THE CONTROLLERS ccceceessssececececeesseausecececeessuececececsesssssseececcsenenssaeeeeeens 6 2 1 POWER SUPPLY TYPES SMC24 AND 5 26 22 2 22041 2 2000010000000000000000000000000000041 7 22 8 2 3 USER INPUTS AND OUTPUTS 11 5 EOE 12 RR 13 2 5 ANALOGUE INPUTS 35 2365 EE aate 14 LIMIT INPUTS eee rr a re 15 234 ONNEC TIONS ise Stn D eo i e 16 3 1 INTERFACE CONNECTIONS cccccccecssssssscecececsesssccecececeessnseaececececsessnaeeeecescsensaaeeecececeessaaeaeeeeeees 17 3 2 INTERFACE ADDRESSING erre iere roe pe ese reser ea esser TEUER Eus 19 3 3 COMMUNICATION RATE cscssccccececsessssececececsessseeesececeeseseaeseeececsesaaece
25. 5 4 4 Motor Commands n1n2 n3n4 The Input Setup command enables a motor to be started or stopped using control Input setup signals at the User Inputs The Input Setup command itself does not start or stop the motor It only determines how the next motor command n g G n will be interpreted and executed Thereafter the In put Setup command is inactive until a new Input Setup command is executed To subsequ ently start or stop the motor using the control signal at a User Input a new Input Setup command must precede the new motor command Command Syntax Stop Input Start Level Start Input ni n2 n3n4 User Input 1 1 Input activated by 0 User Input2 2 1 Input activated by 1 UserInput3 3 22 Function inactive 99 n1 Specifies the User Input 1 3 used to start the motor n2 Specifies the User Input 1 3 used to stop the motor n3 Refers to n1 in that n3 determines the logic level to be applied to the specified User In put in order to start the motor If n3 is set to 0 the motor will start when logic level 0 is applied to the specified User Input If n3 is set to a value between 2 and 9 the start function will be inactive and the motor will start immediately n4 Refers to n2 in that n4 determines the logic level to be applied to the specified User In put in order to stop the motor If n4 is set to 1 the motor will stop when logic level 1 is applied to th
26. C24 26 Only Power 5 d Controller Power Supply RS232C 4 Opto Tx PD Analog Input 1 Analog Input 2 Analog Input 3 1 Analog Input4 Analog Input 5 lt Analog 1 Filter etc 1 Opto O Output E InputSupply Input Input2 mey Input3 EOT 4 Stop Input CW Limit Input CCW Limit Input Input Ground gt Opto ECC Output Supply gt Output 1 1 gt gt Output2 Output3 Output Ground Module Interface m Opto SMC23 SMC24 Only Analog Ground 1 oo Chopper B otor current DNE gt adjustment o B Baud Rate selection GUN I Protocol selection I Checksum selection Overload Full Half Step 1 4and 1 8step 2 1 Power Supply Types SMC23 and SMC25 To ensure powering of the Controllers is as simple as possible the Controllers are supplied from a single 15 to 45V DC supply The Controllers inter nal circuitry ensures the correct supply for the in terface control circuitry etc In the event of incorrectly connected polarity or overload of the power supply voltage the Con trollers are fuse protect
27. Controllers must be set to ON For the remaining Controllers in the multipoint confi guration Tx PD must be set to OFF For point to point communication Tx PD is set to ON on the Controller In order to ensure data integrity during communication it is recommended that the interface checksum facility is used Checksum is enabled by setting the CHS DIP switch to ON For further details see Section 3 5 The DIP switch settings for configuring the interface address on Controllers are given in the following table Point to point Multipoint Multipoint Multipoint Multipoint Multipoint Multipoint Multipoint 8 JH NOOR IMPORTANT f the address switch settings are changed the Controller must be reset by switching off and on the power for the new address to take effect 12345678910 1 2 19 3 3 Communication Rate Baud Rates of 110 to 9600 Baud can be selected for communication using the Controller s RS232C interface The Baud Rate is configured by setting 3 DIP switches as shown in the following table Baud Rate 8 12345678910
28. Isolation Voltage 500 V Max User Inputs 1 3 amp Stop Input Input Impedance 10 kohm Supply Voltage 5 32 V DC Current at 5V 10 mA DC at 12V 20 at 30V 45 Logic 0 at 5V 1 7 VDC at 12V 3 0 at 30V 6 7 Logic 1 at5V 22 7 at 12V 26 5 at 30V gt 16 2 Measured from Supply ground to Interface ground Values valid for Type SMCxxB Continued on following page 63 5 1 Analog Inputs Resolution Input Voltage Max allowable Input Voltage Nominal Offset Error Gain Error Temperature Drift 0 50 C Logic 0 Logic 1 CW CCW Inputs SMC23 24 Input Impedance Logic 0 active Logic 1 inactive 3 0 User Outputs Supply Voltage Rated Output Current per output 1 output activated 25 2 outputs activated 25 C 3 outputs activated 25 C Operating Temperature Range Electrical Specifications Min Y Absolute max time 1 sec 64 Typical 30 700 460 300 45 V N Hoo ul pe RENE eub 3 3 3 5 V DC 30 mA DC mA DC mA DC 50 Units Bit V DC V DC LSB LSB LSB V DC kOhm V DC V DC 5 2 sical Dimen sions Types SMC23 and SMC25 46 5 ME 100 0
29. JC command if the level at a Jump Cond specified input fulfils the jump condition a jump is made to the specified program line In contrast to the JC command however the JCA jump condition is determined by an ana logue voltage level at one of the Analogue Inputs 1 to 6 and not by a logic level Command Format JCA aimn n2 a1 Specifies the Analogue Input used for evaluating the jump condition mn Specifies the Reference Level n with which the measured input voltage is compa red and the operator for the comparison m If m is specified as gt the jump is made if the measured input voltage is greater than or equal to the Reference Value If m is specified as the jump is made if the measured voltage is less than the Reference Value The Reference Level n can be specified in the range 0 to 255 n1 Specifies the program line number to jump to if the jump condition is fulfilled Since n is specified as a value in the range 0 255 and the measured voltage is a value in the range 0 to 5 10V a conversion of voltage to a valid Reference Level value must be ma de when specifying the jump condition The conversion is made as follows Vref 0 02 or Example 50 x Vref A Reference Value of 3 00V is required 50 x 3 00 150 Program Example Line no 0 5450 1 R600 2 D2 3 342 4 JCA3 gt 150 2 5 G 0 Jumps to program line 2 if the voltage Analogue Input 3 is greater than or equ
30. SMC26 Connector DIN41612 Ver B Note that Types SMC24 and 5 26 are equipped with an Internal mains supply No voltage should therefore be connected to P and P Chassis ground 8 5 1 2 5 5 as Module interface 1 73 Module interface 4B 58 1113 0255 n eB 6A zuo o A Power Supply 8B oq 9B 9A 10B 10A 1 11B 12 13B 14 14 Step Motor 15B aa he 16B 17B enh 18 18 1987 0 19 20 User Outputs Lota RS232 Interface olsza 23A 24A 25811 0 25 4 12 lid Limit inputs User Inputs 5 DA 25 Step Pulse Output oa ince ra 30B O O 1 30A Analog Inputs apo o 12199 Inputs olsza 1 _ _1 Terminals used only on Controller Types SMC23 and SMC24 16 3 1 Interface Connections The Controller Interface uses the widespread RS232C standard which provides a great degree of flexibility sin ce all Personal Computers and standard terminals have provision for using this communication standard For operation of the Controller via an RS232C interface the 3 standard RS232 connections Rx Tx and Ground are used In general interface cables should not exceed 10 metres in length but if a longer cable is required the
31. Verify Start Rate Initialize J nnn Jum Verify Top Rate nnn JC n nnn Jump Conditionally Measure Analogue Voltage JSRET Jump Subrouting L nnn Loop 287 BARN Verify Position Counter N NA p1 p2 Input Setup R RS 5 Motor Parameters Mee Show 8 1 Motor Parameters A D ieee 2 U n Untill Activate Output Win Wait 2 Insertcommand on Cin _ Deactivate Output newline in Program E Preset Position Show Temperature _ VR VSNT FindMechanical0 Point Show Ramp FE RST Bc Show Start Rate T m Adjust Motor Parameters ae OT l Show TopRate _ _ Relative Positioning VAIN Show Status atA Inputs mx vi gt Show Position Counter V2 Show I O Status _ 8 EXECUTE MODE 7 5 Stop Program Execution Show Status ExecutionofProgram oe Program Execution Completed 29 4 3 System Commands E Starts program execution The Execute command can also be used to complete a Execute programming sequence The command can be used when the Controller is either in Standby Mode or Programming Mode f nnnnnnn Assigns a specified value to the Position Counter Forcing pos The position can be specified in the
32. a the Controller s RS485 serial interface using the two terminals marked A and B All external module functions are controlled via this interface Up to 31 modules and at least 1 motor controller can be connected to the interface bus The RS485 Interface offers several advantages in that the interface operates with a balanced output and has low impedance In addition the Control ler s RS485 interface is optically isolated from other Controller circuitry The RS485 Interface is protected against transients on the cable connecting the Controller to external modules These factors enable communication at long distances despite the presence of electrical noise It is recommended that twisted pair cable is used for connection between the Controller and other modules on the interface 23 Adress2 KDM10 Keyboard Display module Term switch ON If the communication distance between 2 units in a system exceeds 25 metres the DIP switch marked TERM must be set to the ON on those units which are located more than 25 metres apart See the User Manual for the module in question for details of DIP switch settings Module Addresses In communication systems where several modules are connected together each unit must be assig ned a unique address in the range 1 to 31 The above illustration shows how
33. addresses in a typical system are set Note that care must be taken to ensure no two mo dules use the same address If the module addres ses are not unique the Controller will terminate program execution and an error message will oc cur Note that the Controller s address is the same as that used for RS232 communication See Section 3 2 The address of each module should be set in ac cordance with the instructions given in the respecti ve module s User Manual 4 1 Before the individual software commands scribed in detail it is necessary to describe some general aspects of the Controller software structu re The Controller is equipped with 2 types of storage memory both of which are accessible to the user These are used for storing programs and operatio nal parameters sent from a computer or terminal The first of these storage memories is referred as the working memory in the following pages The Controller s working memory is used during con nection to a computer or terminal The working memory is a volatile memory its contents are de leted when the Controller is switched off The wor king memory can also be used for storing instructi ons during programming The second of the Controller s storage memories is an E PROM i e a non volatile memory which re tains its contents when the Controller is switched off This is permanent memory in the following description referred to as the Controll
34. al to 3 00V 49 4 6 JS n1 Jump Sub L 0 255 Loop Flow Control Commands In contrast to the J Jump command which jumps to a specified program line number the JS Jump Sub command makes an unconditional jump to a program sub routine When a JS command is executed the Controller first stores the number of the next line after the JS command and then jumps to the line number specified by the JS command When the RET Return command is encountered in the sub routine the program returns to the main program at the line immediately after the JS command and continues execution from there The JS command be used up to 32 times in a program corresponding to 32 nested sub routines The Loop command is used to repeat execution of a specified program segment The command parameter specifies the number of times the Loop is executed and can be specified in the range 1 to 255 The segment to be repeated must be delimited by a pair of Loop commands such as 10 and 15 as illustrated in the following example Example LO Program L5 The program segment between LO and 15 will be repeated 5 times If the initial Loop deli miter LO is omitted the entire program will be repeated from line 1 50 Extended Command Set Types 5 23 24 only The following pages describe the Extended Command Set available only with Stepper Motor Controllers Types SMC23 or SMC24 Note that the Q Query command is not implemented in Contro
35. alogue input voltage The inputs are protected against short duration overloads up to 45V Each time the controller measures the signal at an Analogue Input a total of 16 samples are made These are then averaged to minimise the possibility that an instantaneous noise impulse for example from the motor driver influences the measurement The Analogue Inputs can also be used as conven tional User Inputs digital inputs although without input hysteresis or optical isolation No special requirements are necessary to use the Analogue Inputs in this way At any time an Ana logue Input can be used as either a true analogue input or as a standard User Input digital input gt 88 08 gt TIBIA ra 132A 14 For further details see Chapter 4 commands A DA JCA NA 5 t U VA W The Analogue Inputs accept voltages in the range OV to 5 10V The Controller uses an 8 bit A D con verter which results in a resolution of 256 steps E ach step therefore corresponds to 20 0 at the Input To avoid incorrect measurements the Analogue Ground AGND see Section 2 7 must be used with the 6 Analogue Inputs See also the Electrical Specifications Section 5 1 for further information Each of the Analogue Inputs is equipped with a 1st order low pass filter which suppresses frequencies above 10kHz 2 6 CW CCW Limit Inputs Connector DIN41612 Ver B
36. alue refers to the Position Counter and can be specified in the range 8 388 607 and 8 388 607 n n1 n2 The Analog Goto command is used for absolute positioning of a motor Analog Goto motor similar to the G n Goto command but the required position is determined by the analogue voltage applied to a specified Analogue Input The n command parameter spe cifies which Analogue Input 1 6 is used for the control signal Parameters n1 and n2 specify the required positions corresponding to applied voltages of OV and 5 10 respecti vely The specified position can be set in the range 0 to 65000 See also the A command Example G A2 0 800 The above example moves the motor to position 0 if a voltage of OV is applied to Analogue Input 2 and to position 800 if the applied voltage is 5 10V For applied voltages between 0 and 5 10V a linear interpolation between positions 0 and 800 is made The Home command enables an electrical and mechanical reset of the system to a pre defined reference position As soon as the Controller receives the Home command the motor will move in the specified direction either H or H As soon as the EOT End of Travel input becomes low the motor will stop The motor is then at its reference position The speed at which a reset occurs is determined by the S Start Rate command After execution of a Home command the Position Counter is reset to 0 3
37. and are short circuit protected User Inputs and Outputs If one of the User Outputs is short circuited or the output current exceeds 700mA the Overload in dicator blinks In addition the voltage is disconnec ted from the User Output at which the overload has occurred To reset the Controller the output supply should be disconnected for a minimum of 5 seconds after which normal operation can be resumed Each of the output terminals is the switch termi nal i e that the load must be connected between the output and ground see figure below To enable compatibility with logic circuitry a pull down resistor should be connected between the output terminal and ground For TTL logic a 1kOhm resistor should be used for CMOS logic a resistor of approximately 10kOhm should be used Connection of User Outputs Equivalent diagram for User Output 1 Output Suppl ToOutput2and3 e lt To Overload circuit From Controller 5 lt 24 500 upp y e O 5 30V Load Output Ground ToOutput2and3 e 5 15 08 11 2 4 This diagram is used if an NPN output is to be connected Inductive Sensor or similar NPN Output Power Supply 5 30VDC Power Supply Chassis Ground 1 2 0 1 2B Module interface B 1 User Inputs C
38. as follows Address character 1 ASCII 49 Command character A ASCII 65 Argument character 3 ASCII 51 Sum remainder 49 65 51 128 Checksum Remainder 128 If an error occurs during transmission of the command string the checksum will be incorrect and the Controller will return the error message E1 indicating that the Controller could not interpret the received command string The command must then be re transmitted If the Controller continues to transmit E1 the interface Baud Rate should be reduced or a shorter cable used to connect the computer to the Controller The Checksum facility is activated by setting the CHS DIP switch to ON IMPORTANT If the checksum switch setting is changed the Controller must be reset by switching the power off and then on for the new setting to take effect 12345678910 ON OFF CHS 22 3 6 Controller 5 23 24 Module Interface Types SMC23 and SMC 24 only Module interface To other 50 10 Keyboard Display module Controllers Type SMC23 and SMC24 can be con nected to external modules such as an31 in put output module keyboard display module etc Connection to external modules is made vi
39. ate Arithmetic operators addition subtraction division multiplication Return contents of User Register Initialize User Registers Specify conversion between current and a user specified measure ment unit Print Register contents to external module If expression specified by command arguments is true execute next line Read in data from external module to Register Activate flag in external module Deactivate flag in external module 28 4 2 4 B STANDBY MODE Command Overview Ee PROGRAMMODE E Erase old Program Save Program PE px PO Program Q Show Program 4 Show Program Relative pos M SaveProgram A n Activate Output A n n1 n2 Relative A D pos F Show Status C n Clear Output D DA Delay V n Initialise pos outputs f nnnnnnn Force Position E g Velocity VR Verify ramp G nnnnnnn Goto 12 G A n n1 n2 Goto A D pos H
40. ated drill 2 holes and wait until the start button is activated again Before the instructions for an application are programmed it is recommended that a flow chart is made to give a better overview of the programming task The remaining work is then largely determining and using the appro priate commands A flow chart for the drilling application is given on the following page 73 5 6 Application Example for Controller SMC25 Program Flow Chart for Control of X Y Table X Controller Y Controller Start Start 1 Continue when ready signal is received from 1 If the Start button is activated continue to point Y controller 2 2 2 Send ready signal to the X controller 3 Move to position 7387 3 Move to position 4013 The X axis motor has to move the shortest distance The X controller must therefore wait until the Y controller is finished 4 Continue when ready signal is received from 4 Send ready signal to the X controller Y controller 5 Send a start signal to the drill unit 5 Continue when ready signal is received from the X controller 6 Continue when the drill unit is finished 7 Send ready signal to the Y controller 8 Move to position 5164 8 Move to position 1949 The Y axis motor has to move the shortest distance The X controller must both move to the specified position and start the drilling operation The Y controller must therefore wait until the X controller is
41. be permanently stored after the power Memory Save has been switched off the Controller is equipped with a permanent non volatile memory The Memory Save command is used to store the contents of the Controller s volatile wor king memory in the non volatile permanent memory Only 1 program can be stored in per manent memory at a time If the REC DIP switch is set to ON the program stored in per manent memory is automatically recalled and executed when the Controller is switched on 12345678910 OFF ON REC PE The Program Enter command is used to set the Controller to Programming Program Enter Mode without erasing any existing instructions in the working memory This command is prima rily used when editing a program during development PO The Program command sets the Controller to Programming Mode i e so that Program the Controller is ready to receive programming instructions Each time the Program command is used the contents of the Controller s working memory are reset erasing any existing in structions See also the Program Enter command above and the description of the Pro gram command at the beginning of this Chapter PX The Program Exit Command is used to exit Programming Mode and set the Program Exit Controller to Standby Mode A program can then be executed or a new program
42. between 0 1 and 1 0 seconds controlled by a voltage of between 0 and 5 10V applied to Analogue Input 2 The Jump command is used to make an unconditional jump to a specified line number in the program The program line number n1 can be specified in the range 0 255 Example Line no 0 A1 1 1000 2 2 3 G 5 4 C2 5 J2 The Jump command at line 5 in the above example causes the A2 G 5 and C2 com mands lines 2 to 4 to be continuously repeated The program can only be interrupted using the Z Smooth Stop or Kill command 46 4 6 Flow Control Commands JC 0 7 0 255 contrast to the J Jump command the JC Jump Conditional command is used Jump Cond to make a conditional jump to a specified line number in a program depending on the levels at all 3 User Inputs The line number can be specified in the range 0 255 The condition for the jump to occur is specified according to the following table Example The command JC5 10 results in a jump to program line 10 if User Inputs 1 and 3 are logic 1 Example Line no 0 NO of WD JC nnn Input 3 21 p 01010 0 1 01110 2 01111 100 1101 5 110 6 11111 0 Logic 0 1 Logic 1 450 R200 Al 1200 JC5 4 G 0 JC3 2 Jumps to line 4 if User Inputs 1 and 3 are logic 1 Jumps to line 2 if User Inputs 1 and 2 are logic 1 47 4 6 1
43. cececsensaaesesececeeseeaeeeeeess 20 GOMMAND S YNEAX 21 3 9 CHECKSUM trie e eue te E E ttd cie diete e 22 3 6 MODULE INTERFACE TYPES SMC23 AND SMC24 ONLY sese ener 23 4 1 GENERAL ASPECTS OF CONTROLLER SOFTWARE eese eene 24 4 2 COMMAND OVERVIEW RR 27 4 2 8 30 4 4 MOTOR COMMANDS 2 20 2 001000000000000000000000000 33 4 5 USER INTERFACE COMMANDS 43 4 6 5 Poe bep Eee Ted 46 4 7 EXTENDED COMMAND SET TYPES 5 23 24 51 5 1 ELECTRICAL SPECIFICATIONS 63 5 2 PHYSICAL DIMENSIONS TYPES SMC23 AND 5 25 65 5 3 MEMORY UTILIZATION 67 5 4 CONNECTORBOARD FOR THE 1 2 222 22 1 4044 00000010000000000000000000000000000000 68 5 2 MOTOR 6 69 5 6 APPLICATION EXAMPLE FOR CONTROLLER 25 0 2 0000000000000000000000200 70 57 INDEX uper Sn EG Rr 76 1 1 Introduction Stepper Motor Controllers Types SMC23
44. d by the IF expression is fulfilled the next line of the program is exe cuted If the condition is not fulfilled the next line is omitted and execution continues from there Example 1 START IF R10 9800 _ If the content of register R10 is less than J PROG1 9800 jump to label PROG1 J PROG2 else jump to label PROG2 Example 2 T2100 Set Top Rate to 100 steps second START 50 Increase Top Rate by 50 IF T24000 If the Top Rate is greater than 4000 steps s J SPEEDOK Jump to label SPEEDOK 41000 else move 1000 steps clockwise J START Jump to label START where the speed is increased The above program moves the motor 1000 steps at a speed of 150 steps second and incre ases the Top Rate by 50 steps second until a Top Rate of 4000 steps second is reached 59 Extended Command Set Types SMC23 24 only INPUTn1 n2 The INPUT command is used to read in data from external modules connected to the RS485 interface It can be used to read in data from modules such a Keyboard Display thum bwheel BCD data from PLC equipment printer extra inputs digital to analogue modules etc All of the above mentioned external modules are intelligent and will therefore contain regi sters whose contents can be read into the Controller s registers using the INPUT command The size and number of registers in external modules may vary but each module has at le ast 1 register Command Format n1 Specifies the address o
45. e in SMC23 SMC24 4 bytes are used to correct the A D converter offset error and for adjustment of the Controller s thermometer function TP In order to enable optimum utilization of the available memory the following table gives the memory require ments of each program command The total size of a program must not exceed 508 bytes in SMC25 26 and 7500 bytes in SMC23 24 If an attempt to store a program greater than 508 7500 bytes is made the Controller will issue an error message 1 byte gt 5 bytes con nnnn nnnn H RET 6 bytes DA n n1 n2 Blank line A n n1 n2 G A n n1 n2 2 bytes A n C n 7 bytes NA p1 p2 r s t n n 10 bytes PRINT typ U n R n x Win L nnn 12 bytes INPUT n n n J nnn JS nnn 14 bytes R n x x 3 bytes AO n n 17 bytes IF max CO n n CR nnnn CS nnnn CT nnnn R nnnnn RS nnnn RT nnnnn S nnnn T nnnn N nn nn D nnnnn 4 bytes f nnnnnnn nnnnnnn G nnnnnnn JC n nnn JCA p n1 67 5 4 Connectorboard for the controller Connections Connector Board for SMC23 SMC24 SMC25 and 26 Selection of Input Type Each of the 4 User Inputs IN1 IN2 IN3 and ST has a jumper If a given input receives a signal from a PNP Source output the associated jumper is set to 0 If a given input receives a signal from an NPN Sink output the associated jumper is set to position 1 Note
46. e specified User Input If n4 is set to 0 the motor will stop when the level changes from logic 1 to logic 0 If n4 is set to a value from 2 to 9 the stop function will be inactive and the motor will only be stopped a motor command requires it continued on following page 36 4 4 continued n1n2 n3n4 Input setup Motor Commands When the Input Setup command is used for a movement sequence the Position Counter is updated normally While the motor is moving a Z Smooth Stop or Kill command can be used to stop the motor Program execution can also be halted using a K Kill or Z Smooth Stop command while the Controller is waiting for a start signal from a User Input Example 1 The command N13 01 followed for example by a g command will start the motor when User Input 1 attains a voltage of logic 0 Note that it is a logic level 0 and not a change from 1 to 0 that activates a start The motor will move according to the specified parameters and run at normal speed until a voltage corresponding to logic 1 is applied to User Input 3 Thereafter the motor will de celerate until it stops and the next program command is executed Example 2 The command N21 10 followed for example by a 70000 command will start the motor when User Input 2 is logic 1 and operate at normal speed for 10000 steps including de celeration ramp or until a change from logic 1 to logic 0 occurs at User Input 1 The motor will
47. easured at the Analogue Inputs is in the range 0 5 10V a conversion must made when specifying 1 and n2 either by converting the Reference values to a voltage or vice versa The conversion is made as follows Vref 0 02 xn or n 50x Vref Example If a Reference Value of 1 20V is required n should be specified as n 50x 1 2 60 Program Example 1 NAA1 lt 60 A6 gt 100 10000 In the above program example the motor is started if the applied voltage at Ana logue Input 1 is less than 1 2 Volts see conversion example above Otherwise nothing occurs When the motor is running it is stopped either after completion of the 10000 steps or when the voltage at Analogue Input 6 is greater than or equal to 2V 2 100 Program Example 2 NAX A5 gt 220 G 100000 The parameter specification X indicates that the start condition is inactive and the motor will therefore start immediately Thereafter the motor will stop when position 100000 is reached or if the applied voltage at Analogue Input 5 is greater than or equal to 4 4V 2 220 TITTTTITTTTTTTTTTTTITITITTT The K Kill and Z Smooth Stop commands can be used to interrupt program exe cution 39 4 4 Motor Commands In contrast to a normal DC motor which is Se f commutating a stepper motor is electrically commutated That is a stepper motor is driven by magnetic fields which are controlled electronically When the motor is loaded the magnetic fields will eventually
48. ed If an overload occurs the power should be disconnected and the fuse re placed To ensure correct operation of the Control ler it is recommended that a capacitor min 5000 is connected across the positive and ne gative terminals of the external supply It is also recommended that the cables used to connect the Controller to the external power supply are minimum 0 75mm If the voltage used to supply the Controller falls below a level of 10V the Controller will auto matically be reset and any program instructions etc will be lost Provision should therefore be ma de to ensure that the supply voltage does not fall below a minimum of 15V even in the case of mains voltage drop The program in the permanent memory will not be lost 221 Rear Panel SMC24 and SMC26 User Supply Voltage Indicator User Supply Power Supply Types SMC24 and SMC26 only Load Indicator External Connections Motor User Inputs Outputs Adjustable 5 30V Analog Inputs Module Interface CW CCW Limits Stop Input Mains Power 230V AC Fuses 10000000000000000000 o 10000000000000000000 Mains Input Made in Denmark DIP Switch for Setting Address Communication Rate e
49. er s The Controller s permanent memory is intended for use when the Controller is used as a Stand alone unit i e is not connected to a computer or terminal Use of the permanent memory enables the Con troller to begin execution of pre programmed structions without requiring connection to an exter nal PC or terminal Permanent memory can also be used if the Con troller is connected to a PC or terminal In this case it is typically used to store frequently used program sequences which can be pre programmed and downloaded to the permanent memory 24 General Aspects of Controller Software Position Counter The Position Counter is a storage register which keeps track of the motor s current position during operation The Position Counter can be reset by the Initialise or H Home command see Sections 4 3 and 4 4 The Position Counter s contents can also be read or changed using the commands Vf and When the Position Counter reaches its maximum value of 48 388 607 or 8 388 608 the motor stops automatically Command Descriptions The following pages Sections 4 3 to 4 6 describe each of the commands used for programming the Controller To avoid any misunderstanding regarding the use of the commands and command syntax the follo wing text convention should be noted Each command is described by one or more com mand characters followed by a word in pa rentheses The actual command used to program the Contr
50. f the external module from which input is required The address parameter must be specified as a value between 0 and 31 The RS485 interface enables up to 32 modules to be connected to the interface The address of each mo dule must be set via DIP switches on the individual module n2 Specifies the register in the external module from which input is to be read n2 must be specified in the range 0 255 Example 1 An 10 module has 16 inputs and 8 outputs are used The Module address is 5 All 16 inputs are to be read and tested to determine if the value is 255 If this is the case the mo dule Counter is read and the program continues In the instruction manual for the 10 module the Counter register is specified as register 2 and the register for all 16 inputs is 3 READINP R10 INPUT5 2 Read all 16 inputs and transfer contents to R10 IF R10 255 If inputs not equal to 255 read again J READ COUNTER J READINP else read Counter value and continue program READ COUNTER 1 5 3 Read Counter and transfer to R30 R R1 R30 Transfer Counter value to an array register using R1 as array pointer 60 Extended Command Set Types SMC23 24 only The Activate command is used to activate a flag in an external module whose address is specified by a The Flag number is specified by o For example the flag may refer to an output on a IOM10 module When the fla
51. g is activated an output will be activated A flag in a different module may refer to a completely different function For example if flag 3 in a KDM10 module is activated the cursor on the module s LCD display will blink Flags with the same number in different mo dules can have different functions See the instruction manual for the individual module for a description of the function of the module s flags Format AO 1 lt a lt 31 1 lt 0 lt 255 Example 1 A Keyboard Display Module has address 4 The module display is to be erased so that new text can be displayed The following command will erase the display and position the cursor at the top left hand corner of the display 4 1 Erase LCD display Example 2 An IOM10 module and SMC23 24 are connected together in a system The IOM10 module ad dress is 10 Output 4 is to be activated The following command is used AO10 4 61 Extended Command Set Types SMC23 24 only Clear command is used to clear a flag in an external module The number of flags Clear which that can be cleared in different external modules varies but each module has at least 1 flag For the KDM10 module Keyboard Display Module for example the Clear command can be used to clear the LCD display in the IOM10 module module the Clear command be used to deactivate one of the module s outputs etc Format CO 1 lt a lt 31 1 lt 0 lt 255 Example 1 Co
52. gue input 4 Analogue Inputs Lower end of travel input Wr HA3 Analogue input 3 Upper end of travel input 9998 HA2 2 Input Supply 5 30V Analogueinputi Step pulse Output Chassis O 5 RS232 Interface Holes forrack mounting 22 6 Holes for mountingon Controller 22 6 Diagram of Connector Board CON10P Po DIN41612Connector 2 Locatedat rear of SMC2x JVL Industri Elektronik A S 1995 Module Interface s4steminaA Chassis SMC23 and SMC24 esses terminalB B O fo P 15 45V Controller Supply O P Ground Motor 11 11 12 12 lt 13 1 Motor Output 148 14A MotorphaseB 15 15 16 16 MotorphaseB 17 17 188 18 Outputground 198 0 19A Output1 O1 O 208 20A IGNDInterfaceGround User Outputs 2 02 01 2187 0 21 0 O3 O 22B 22 RS232Interface Rx Outputsupply 5 30VDC 0 23 o 23A Inputground C o 24B4 O 24 Input 1 INI O 25 O 25A _ CCW Lowerend of travel t Input2 IN2 O1 268 C 26A lt Upperend of travel End of travel Inputs 5 5 Input 3 EOT IN3 O1 27 0 0 27A StopInput 6 gt 288 0 O 28A gt CK Step pulse Outpu
53. he mains supply and the fuse s replaced Primary and secondary fuses are located in the fuse holder in the mains socket 22 Motor Driver Connector DIN41612 Ver B Screen The Controller is intended for use with 2 or 4 phase stepper motors Controller Types SMCxxA provide a motor phase current of up to 3A while Types SMCxxB provide a phase current of up to 6A The phase current is continuously adjustable The motor standby current acceler ation deceleration current and constant speed cur rent can be set individually The current is control led via a set of software commands as described in Section 4 4 The Controller Driver consists of a 2 phase bipolar chopper driver This type of driver results in opti mum utilization of the motor since current is conti nuously supplied to both phases of the motor The chopper driver regulates the current at a fre quency of 22kHz nominal thus ensuring that the motor control does not produce audible noise The switching time of the Driver is very small 200nS which can result in high frequency noise components in the connection between the driver and the motor In some cases this high frequency noise can result in unwanted interference of other electronic equip ment close to the stepper motor system To avoid this problem screened cable should be used to connect
54. he module is 3 The second pa rameter value is cursor position 41 which is the first character on line 2 of the display 57 Extended Command Set Types SMC23 24 only Example 4 R1 5555 R30 333 PRINT5 41 R1 PRINT2 0 R30 Assign a value of 5555 to register R1 Assign a value of 333 to register R30 Print the contents of register R1 to cursor position 41 of a KDM10 module with address 5 Print the contents of register R30 to the display of a DIS10 module with address 2 When external modules DIS10 or KDM10 are used in a system it is often necessary to print out the contents of register on the displays of the modules As illustrated in the above e xample this is best accomplished using the PRINT command to print the contents of a regi ster either to a cursor position or directly to the LED display of the DIS10 module 58 IF p1 21 Extended Command Set Types SMC23 24 only The IF command is used for comparison of 2 numeric values p1 and p2 These values may be the contents of registers such as R1 A1 T etc or simply integer values such as 10500 420 etc All registers described in the Register Description section at the beginning of this Chapter can be used in IF expressions The comparison operator m may be one of the following Condition fulfilled if Less than Greater than Equal to Less than or equal to Greater than or equal to Not equal to If the condition specifie
55. her Controller cir cuitry 1 2 Controller Connections User Outputs The Controllers are equipped with 3 User Outputs which for example can be used to drive small DC motors or to synchronise the unit with other con trollers Each output can supply up to 500mA and operates in the range 5 30 V In addition the User Outputs are short circuit pro tected and optically isolated from other Controller circuitry Rear Panel SMC23 and SMC25 Motor Output Connector DIN 41612 Ver B Power Supply Input 15 45V DC Stop Input 3 9 User Inputs 6 Analogue Inputs 3 User Outputs Module Interface SMC23 Analogue Inputs The voltages at the Controller s 6 Analogue Inputs can be read using a set of program commands thus enabling control of a motor s maximum speed absolute or relative distance etc by the applicati on of a voltage to one of the 6 Analogue Inputs The inputs accept voltages in the range 0 5 10V and are protected against short duration overloads up to 45V 12 Controller Connections Voltage PLimit O 40V GND GND 5 30V
56. ible to a PC via the RS232 interface and to DIS10 KDM10 and IOM10 Modules via the RS485 interface Command Format ni Specifies the address of the module to be printed to 1 31 Address 255 is reserved for a PC n2 Specifies the register or cursor position to be printed to in the external module n3 Specifies the register numeric value or text string in the Controller to be printed Example 1 PRINT1 0 R23 Prints the contents of register R23 to the module whose interface address is 1 Since transmis sion via the RS485 interface is balanced it is possible to locate external modules up to 500 metres from the Controller Example 2 PRINT255 0 R2 Prints the contents of register R2 to a PC via the RS232 interface Address 255 is reserved as the address for PCs Note that the Print command can be used to print out register con tents at run time It is especially well suited for debugging a program If JVL s Editor2 pro gram is used once the Controller program has been transferred using the F5 function key the F6 function key can be used to switch to the communication window where register contents will be displayed when a Print command is executed at run time Example 3 PRINT3 41 Key in Value When a Keyboard Display Module KDM10 is incorporated in a system it is often desirable to display information to the user The above example illustrates how text can be written to the module s LCD display In the example the address of t
57. interface checksum facility should be used to ensure data integrity See Section 3 5 Controller Interface Signal Ground n gt Tx Transmit Rx Receive 4 Ground 2 notisolated External View For communication with the Controller via a PC the interface connections are illustrated in the following figures Connection between the Controller and an IBM AT or compatible PC AT Controller Ground Tx gt lt e Rx External View External View 17 3 1 Interface Connections Connection between the Controller and an IBM 52 or compatible PC XT PS2 23 f e e ar Controlle e 75 x e e Ground Ground Tx Rx External Vie xternal View 18 3 2 Interface Addressing The Controller can be configured to respond to all communication on the interface point to point communicati on In addition it is possible to connect up to 7 Controllers on the same interface bus i e multipoint commu nication For multipoint communication the Controller DIP switches must be set to assign a unique address to e ach controller on the interface bus In this way each controller only responds to interface commands which are preceded by its preset address To configure Controllers for multipoint addressing the DIP switch marked Tx PD on one and only one of the
58. ister L99 Repeat Loop until the contents of all 100 registers have been copied 53 Extended Command Set Types 5 23 24 only Rules for Register Operations 1 An is equal to sign is used to assign the contents of a register A maximum of registers may be used in an assignment expression e g R38 R23 T is legal but R3 R23 T 100 is illegal 2 The following 4 arithmetic operators can be used in register operations Addition Subtraction 1 Multiplication Division 3 All values and register contents must be integers in the range 0 to 65535 For division however all ope rands must be max 32767 or an error will result 4 The result of division is always rounded down Example R2 289 10 Calculates the result of 289 divided by 10 PRINT 5 R2 The result is rounded down the printed result is 28 5 The R S T L and D registers can be assigned values using an equals sign but a quicker method both in terms of programming and at run time is to assign values directly to these registers If the required va lue is known and a constant it can be directly assigned to the register Example T2000 is equivalent to T 2000 D200 is equivalent to D 200 5500 is equivalent to S 500 6 When expressions are used for numeric comparison the values to be compared must be maximum 32767 This is valid both for register contents and numeric values 54 Extended Command Set Types 5 23 2
59. ivation of the Stop Input does not take ac count of the pre defined acceleration decele ration ramp see Motor Commands Section 4 4 2 4 User Inputs Input Hysteresis All User Inputs are noise protected and are compatible with commonly used logic types CMOS TTL etc The hysteresis of the Inputs is dependent on the connected supply voltage as illustrated in the figure below Example User Input 1 is used and the supply voltage is 24V As can be seen from the figure the Input is logic 1 if an input voltage greater than 13 3V DC is applied To set logic 0 the applied input voltage must fall below approximately 5 3V DC The trigger tolerances on the input voltage is 10 Input Voltage V Undefined Range 26 _ triggerlevel 15 10 _ Lower Pp ___ triggerlevel 5 1 2 i lt Supply Voltage 41 I 4 4 V 5 10 15 20 25 30 SMC15 10 See also Section 4 5 User Interface for further details of User Inputs and Outputs 13 2 3 Analogue Inputs Input circuitry 1kOhm 10kOhm Analogue Ground The Controller is equipped with 6 Analogue Inputs which can be scanned and read using software commands as described in Chapter 4 The Analogue Inputs can be used for example to control the speed of the stepper motor using an an
60. keyed in Q The Query command returns the program currently stored in working memory Query including run time parameters If a printout of the program in permanent memory is requi red the X Recall Program command should be used prior to the Query command Note that use of the Recall Program command will erase the contents of the Controller s working memory Note that the Q query command is only implemented in Types SMC25 and 5 26 it is not available in Types SMC23 and SMC24 31 4 3 V1 Verify Pos X Recall Prog 2 Smooth Stop System Commands Returns the current temperature of the Controller The Temperature command can be used to verify that the Controller is operating within its specified temperature range of 0 50 C If under worst case conditions a temperature greater than approximately 60 C is registered ventilation of the Controller must be impro ved The Verify Position command is used to read the contents of the Position Counter The value returned is relative to 0 the Home position See also the Home commana The Recall Program command is used to read the program if any stored in the Controller s non volatile permanent memory and load the program into the working memo ry This command can be used advantageously if for example a program is to executed at regular intervals A Recall Program command is then followed by an Execute command thus starting pr
61. l step 1 4Step 27 5 2 A LEDs Jumper in pos NOR Jumper in pos EXT OR EXT N Overload Protection The Motor Driver is short circuit protected If the motor current exceeds 3 2A 6 4A for more than 2ms the vol tage is disconnected from the outputs to prevent overload or damage to the motor An instantaneous short circuit of any two arbitrary output terminals has no effect and will not damage the Controller although an Over load indication will occur To reset the Controller the power must simply be disconnected for a minimum of 5 se conds after which normal operation can be resumed Valid for Types SMCxxB 10 2 3 To ensure flexibility and ease of use the Controller is equipped with 3 digital User Inputs and 3 digital User Outputs which can be used for a variety of purposes A fourth input can be used as a Stop in put All inputs are optically isolated Equipment connected to the User Inputs and Out puts must be powered from external supplies User Outputs The Controller s User Outputs can be used for con trol of secondary functions such as actuators small motors etc This enables the stepper motor to be synchronized with the surrounding environment The 3 User Outputs are controlled via software commands and each provide a current of up to 500mA They are protected against inductive load transi ents
62. lements must be handled by the system 1 2 Stepper motors 2 2 Inductive Sensors with NPN outputs OV at the output when activated 3 drill which is activated by a voltage pulse of 0 1 second duration The drill outputs 12V when the holes have been drilled and the drill unit has returned to its start position 4 A Start button 5 Internal synchronisation signals between the 2 Controllers See program description The following page illustrates the electrical connection of the system The Controllers User Outputs and Inputs are used in the following manner X Controller Y Controller Input 1 Input 1 Used to receive ready signal from the Used to receive ready signal from the Y controller X controller Input 2 Input 2 Used to receive ready signal from the drill Used for the Start button Input 3 Input 3 Inductive Sensor X axis Inductive Sensor Y axis Output 1 Output 1 Used to send ready signal to the Y controller Used to send ready signal to the X controller Output 2 Output 2 Used to send start impulse to the drill Not used Output 3 Output 3 Not used Not used 71 5 6 Application Example for Controller SMC25 See Chapter 2 for the locations of individual connectors In On Off 15 45V 15 45V In Output Supply Output 1 Output2 Output3 Output Ground Input Supply Input 1 Input2 Input3 EOT Stop Input
63. ller Types SMC23 and SMC24 Register description Types SMC23 and SMC24 are equipped with 510 User Storage Registers which can be used for storing interme diate results etc These are designated R1 R510 In addition the Controllers are equipped with 7 predefined registers which can only be used for specific purposes Register T for example is used to determine the motor Top Rate The user and predefined registers enable parameters such as lengths speeds acceleration delay Extended Command Set times program loops etc to be continuously changed and controlled during program execution In addition the User Register contents can also be stored permanently in the Controller s EEPROM memory For example parameters which have been set via Keyboard Display Module KDM10 can thus be stored permanently in the Controller and recalled when the system is started up The following registers are available in Types SMC23 and SMC24 R 35r 1 6 Predefined register the number of steps used to accelerate decelerate the motor Ramp Note that this register is completely independent of and should not be confused with User Registers R1 to R510 Predefined register for Start Rate Predefined register for Top Rate Predefined register for program Delay Predefined register for program Loop Counter Predefined register for Position Counter in steps Predefined registers for Analogue Inputs level fr
64. lope is used if the required acceleration deceleration is specified in steps second Ramp Slope can be used advantage ously if the Top Rate or Start Rate are repeatedly changed in a program since the acceleration per unit of ti me remains the same If too high an acceleration deceleration rate is selected the motor will stop R n can be specified in the range 1 to 10000 steps The default Ramp is 100 steps RT n can be specified in the range 1 to 1000 corresponding to a range from 0 01 to 10 seconds RS n can be specified in the range 10 to 30000 steps second Examples R100 specifies an acceleration deceleration of 100 steps RT50 results in an acceleration deceleration time of 0 5 seconds RS900 gives an acceleration deceleration rate of 900 steps second Speed A Top Rate N Time StartRate Ramo All 3 parameters must be specified in a program and can be adjusted at any point in the program If T Top Rate is set to a value less than S Start Rate the motor will operate at the Top Rate specified by T without accelera ting or decelerating 40 4 4 Motor Commands n1 n2 These 3 commands are used to determine the motor parameters R S A D Ramp Step and T using the analogue voltage applied at one of the 6 Analogue Inputs s n1 n2 The r n1 n2 command determines the Ramp Step parameter A D Start Rate The 5 n1 n2 command determines the Start Rate parameter The t n1 n2
65. ltage of 5 1V n1 and n2 can be specified from 1 to 65000 steps Example 1 100 1000 above command advances the motor indicated by 100 steps if a voltage of OV is applied to Analogue Input 1 and 1000 steps if a voltage of 5 1V is applied For voltages between OV and 5 10V a linear interpolation is used to determine the number of steps the motor is moved see figure below Voltage V i 0 5 10 33 4 4 Motor Commands The current supplied to a stepper motor can be adjusted to specified values for standby acceleration deceleration and top speed Normally only a small current is required when the motor is stationary since the static inertia of a typical stepper motor is much less than the inertia while the motor is rotating depending on the speed range of the motor The torque of a stepper motor is directly proportional to the applied current up to the specified phase current see the specifications for a given motor In the nominal current is exceeded the motor will overheat and only very little increase in torque will result The following 3 commands are used to specify the current supplied to the motor The commands can be used at any point in a program All 3 commands can be specified and changed continuously throughout a program If any of the commands is omitted the respective parameter assumes a default value of 1000mA CS 0 6000 Current Standby Determines motor current when the mo
66. mmands have been pro grammed the E command is used to switch the Controller to Execute Mode and the program is executed To store the program in permanent mem ory the M Memory save command can be used once program execution is complete Programming Mode can also be interrupted using the PX Program Exit command in which case the Con troller will be set to Standby Mode 25 General Aspects of Controller Software A typical sequence for programming the Controller is as follows Mode 1 Controller switched on Standby 2 PO Program command Program keyed in 3 Required sequence of Program program commands keyed in 4 PX Program Exit command Standby keyed in after which the Controller is set to Standby Mode 5 E Execute command Execute keyed in The entire program is then executed unless an interrupt occurs via K Kill or Z Smooth Stop command 6 The program can be stored in Standby permanent memory by keying in the Memory Save command It should be noted that at power up the error mes sage E1 will probably be received when communi cation is first established between the Controller and a PC terminal This is due to transients which arise on the interface cable when the computer or Controller is switched on 4 1 Controller Response Each time the Controller receives a command or query via the interface it responds to the PC or terminal with a short response string The syntax of the response
67. not be powerful enough to continue to turn the rotor The motor will stop but the electronics will continue to move the magnetic fields at the same speed It is therefore important that a motor is accelerated and decelerated at appropriate rates in order for the magnetic fields to drive the rotor Similarly a stepper motor has a maximum speed and if this is exceeded the motor can no longer provide the sa me power and will simply stop There are 3 basic parameters which should be considered S 16 2000 Start Rate steps second The Start Rate is the speed at which the motor is started If it is set too high the motor will simply stop at an arbitrary position The Start Rate can be set in the range 16 to 2000 steps second The default Start Rate is 100 steps second T 16 15000 Top Rate steps second The Top Rate specifies the maximum speed of the motor If it is set too high the motor will be unable to pro vide enough power and will stop at an arbitrary position The Top Rate can be set in the range 16 to 15000 steps second The default Top Rate is 1000 steps second R 1 10000 Ramp RT 1 1000 Ramp time RS 10 30000 Ramp slope This value specifies how the motor is accelerated and decelerated The value can be specified in 1 of 3 forms R Ramp is used if the required acceleration deceleration is specified in steps RT Ramp Time is used if the required acceleration deceleration is specified in terms of time and RS Ramp S
68. ntroller Type SMC23 and a KDM10 module are connected in a system via the RS485 inter face The address of the SMC23 is 1 and the KDM10 module address is 3 The Cursor on the KDM10 s LCD display is to be switched off If the cursor is active while text is being printed using the PRINT command the display may flicker This is avoided by switching off the cursor as follows CO3 3 Deactivate cursor Example 2 Controller Type SMC23 and an IOM10 module are connected in a system via the RS485 inter face The IOM10 module s address is 5 The IOM10 s output 7 is to be deactivated The com mand is as follows CO5 7 Deactivate output 7 on IOM10 module with address 5 62 5 1 Electrical Specifications Min Typical Max Units Power Supply Types SMC 23 25 Supply voltage 15 45 VDC Power Consumption 4 W unloaded no motor Power Supply Types SMC24 26 Supply Voltage Nom 230V 207 242 VAC Supply Voltage Nom 115V 100 125 VAC Power Consumption 10 W unloaded no motor User Supply Output Voltage adjustable 5 1 30 2 V DC Rated Current 500 mA DC Motor Driver Output Current per phase 0 2 3 6 A DC Output Voltage 15 45 V DC Chopper Frequency 22 kHz Interface Rx mark position 1 12 V Rx space position 2 5 12 V Tx mark position 3 12 V Tx space position 5 12 V Communication Rate 110 9600 Baud Isolation Voltage 500 V Max Module Interface SMC23 24 Communication Distance 0 500 m Communication Rate 50 kbit sec
69. ogram execution immediately Note that each time the Recall Program is used to load a program from permanent memory in to working memory any instructions in the Controller s working memory will be erased The Smooth Stop command has the same function as the Kill command except that the motor is decelerated in accordance with the specified R S T parameters The Smooth Stop command is thus used to ensure that the motor does not stop at an un defined position See also the Kill command 32 4 4 nnnnnnn Relative A n n1 n2 Motor Commands The Relative command is similar to the Goto command Instead of positioning the motor relative to the 0 Home position the Relative command positions the motor relative to its current position The command specifies the direction or and the number of steps the motor is moved The number of steps can be specified in the range 1 to 8 388 607 steps Example 15 A Relative positioning command of 15 will advance the motor 15 steps relative to its current position This command is used to move the motor a specified number of steps using the value of an analogue voltage The command parameter n specifies which Analogue Input 1 6 is used for controlling the movement The parameters 1 and n2 specify the step interval where n1 indicates the number of steps corresponding to an input voltage of OV and n2 indicates the number of steps corresponding to an input vo
70. oller using the command syntax consists of the characters not the word which is included in the description as a mnemonic Note that many of the command descriptions include examples of the command string Almost all commands are followed by one or more parameters either a value or a plus or minus sign It is important that the speci fied numeric value is within the permitted range since the Con troller will not interpret parameters outwith the allo wable range See also Section 3 4 for details of the Controller command syntax 4 1 Operating Modes The Controller can be operated in 1 of 3 modes 1 Standby Mode Standby Mode occurs after Kill 2 Smooth Stop or PX Program Exit com mand and after execution of a program 2 Programming Mode This mode is used when a program is read in to the Controller or to edit an existing pro gram Use the PO Program or PE Program Enter command to set the Controller to Pro gramming Mode 3 Execute Mode The E Execute command is used to exe cute the program currently in the Controller s working memory Program execution stops when all com mands have been executed or if interrupted by a K or Zcommand Thereafter the Con troller returns to Standby Mode Programming When creating a new program the first command is always PO i e the Controller is set to Program ming Mode The actual program commands can then be keyed in Once all the required co
71. om 0 255 corresponding to voltages from 0 5 10V R1 R510 510 User Registers for intermediate results etc Example 1 Example 2 Example 3 Example 4 Example 5 R2 3000 T R2 100 R34 400 D 4 A1 R1 n R2 R1 350 700 R1 R30 100 R31 200 R34 R30 R31 G R34 Sets the value of register R2 to 3000 Sets the Top Rate to 3100 steps second for the next motor operation Waits 400 A D conversion of Analogue Input 1 level x 10ms Sets the value of R1 to value of the Position Counter in steps R2 Sets the value of R1 to 1050 Advance the motor 1050 steps Sets the value of R30 to 100 Sets the value of R31 to 200 Sets the value of R34 to value of R30 R31 Goto move motor to position R34 52 Types SMC23 24 only Extended Command Set Types 5 23 24 only In addition register arrays can be defined by using one register to point to the contents of other registers This enables for example the contents of a block of registers to be copied to a different array Example 6 The contents of ARRAY1 registers 100 199 are copied to ARRAY2 registers 300 399 R1 100 Set Array 1 pointer R2 300 Set Array 2 pointer LO Loop delimiter for copying 100 registers R R2 R R1 Copy contents of a register in array1 to register in array2 R1 R1 1 Increment the Array 1 pointer to the next register R2 R2 1 Increment the Array 2 pointer to the next reg
72. onnector DIN41612 Ver 2 Module interface 4 4 SSA 6A Power Supply Step Motor RS232 Interface 5 30VDC m Inductive Sensor or similar Each of the Controller s User Inputs is equipped with a 1st order low pass filter with a cut off frequ ency of 1kHz This ensures that electrical noise from start motors etc does not influence the input signal It should be noted that the state of each of the 3 User Inputs is undefined if no connection is made to the input All User Inputs are optically isolated from other Controller circuitry Some inductive sensors have an open collector output If sensors with an NPN output are used a resistor must be connected between the Input and the positive supply terminal If a PNP sensor is 12 Limit Inputs 1 Step Pulse Output Analog Inputs used the resistor must be connected between the Input and Ground A resistor of 500 to 5kOhm should be used depending on the supply voltage Stop Input If it is required to stop the motor movement imme diately the Stop Input can be connected to ground If the ground connection is re moved the motor will continue operation and the value of the Position Counter step counter will be retained However an instantaneous stop of the motor in this way will normally imply that the motor position is undefined since act
73. ramming Mode without erasing existing program in working memory Sets the Controller to Programming Mode This command erases any program instructions already in working memory Exits Programming Mode Returns to Standby Mode Displays the program currently stored in Working Memory Returns the current temperature of the Controller Returns the Position Counter value Loads program from Permanent Memory into Working Memory Stops program execution slowly taking account of deceleration ramp Relative positioning given by direction of rotation and number of steps Relative positioning controlled by voltage at Analogue Input Determines motor current during acceleration Determines motor current when stationary Determines motor current at top speed Continuous operation forward reverse Absolute positioning Absolute positioning controlled by voltage at Analogue Input Resets motor and electronic circuitry Starts stops motor in accordance with User Inputs Starts stops motor in accordance with Analogue Inputs Acceleration deceleration parameter 1 10000 steps Acceleration deceleration parameter 0 01 10 seconds Acceleration deceleration parameter 10 30000 step s Minimum speed Maximum speed Same as controlled by voltage at Analogue Input Same as S controlled by voltage at Analogue Input Same as T controlled by voltage at Analogue Input Returns the current acceleration deceleration parameter Returns the
74. range 8 388 607 to 8 388 607 both values included The command can be used when the Controller is in Standby Mode and in Programming Mode Example f 100 assigns a value of 100 to the Position Counter F Status Query to the Controller 1 of 3 responses will occur Feedback 1 If the Controller is ready to receive and execute commands the Status Query response is R Ready 2 If the Controller is busy the Status Query response is Busy 3 If the motor has been stopped automatically because of an overflow in the Position Counter the Status Query response is E5 Error 5 1 1 3 The Initialize command is used to reset either the Position Counter and or User Initialize Outputs Resets the Position Counter only 12 Resets the User Outputs only Resets both the Position Counter and User Outputs K The Kill command has the highest priority since it stops program execution Kill regardless of motor movement The Kill command is effective immediately i e as soon as the command is issued the Controller is set to Standby Mode To begin program execution once more a new Execute command must be used The program will start from the begin ning It is often necessary to use the H Home command before starting a new execution of a program since the motor position will be arbitrary owing to the instantaneous stop resul ting from the Kill command 30 4 3 System Commands M To enable completed programs to
75. rrent to the motor in the event of a short circuit Types SMC24 and SMC26 are equipped with an integral power supply which enables direct opera tion from a mains supply Types SMC23 and SMC25 cannot be powered di rectly from a mains supply but are primarily inten ded for use in larger systems where a central power supply is used for powering 2 or more controllers Controller Types SMC23 and SMC24 are advanced models which include an extended set of program commands and User Registers for storing para meters and intermediate results In addition these models include a Module Interface which enables connection of extension modules such as a key board display module and additional user inputs and outputs The Module Interface enables con nection of up to 31 external modules including other controllers The SMC Series provides the following basic fea tures 15 45V DC supply Types SMC23 SMC25 115 230V AC supply Types SMC24 SMC26 e RS232C V24 communication Simple programming Max stepping frequency 15kHz Connection of up to 7 controllers on the same RS232 interface bus Baud Rates 110 9600 Small physical dimensions SMC23 25 bxhxd 46 5 x 100 x 160 mm SMC24 26 bxhxd 106 5 x 111 x 171 mm Thermal protection e 3 User Inputs 6 Analogue Inputs 1 Stop Input 3 User Outputs each 500 Connection via DIN41612 socket or connector board CON10 CON10P Mounting 19
76. sages The argu ment consists of 1 to 7 characters Checksum A checksum value is only included in the response string if the checksum facility is enabled via the DIP switch setting on the Controller set to ON See the description of the checksum facility in Section 3 5 for further details Carriage Return Terminates the response string ASCII value 13 26 4 2 System Commands E f nnnnnnn F n K M PE PO PX Q TP Vi 2 Motor Commands A n n1 n2 CR nnnn CS nnnn CT nnnn g G n n1 n2 H n1n2 n3n4 NA p1 p2 nnnnn RT RS nnnnn 5 nnnnn r n1 n2 s n1 n2 t n1 n2 VR VS VT Command Overview Execute Forcing Pos Feedback Initialize Kill Memory Program Enter Program Program Exit Query Temperature Verify Recall Smooth Stop p wo Current Ramp Current Start Current Top Velocity oto oto Home Input Setup Input Setup Ramp Ramp Time Ramp Slope Start Rate op Rate A D Ramp A D Start Rate A D Top Rate Verify Ramp Verify S Rate Verify T Rate G G Starts program execution Reads in new position Status query to the Controller Resets Controller Registers software reset Stops execution of current program Saves working program in Permanent Memory Sets the Controller to Prog
77. t assoclatedground O Input Supply 5 30VDC 1410 298 0 1 29 O AG AnalogueGround 2 30A O A6 Analogue nput 1 2 55 31B ot 31A 5 Analoguelnput2 32B o 32A lO A4 Analogue nput3 Analogue Inputs iL lt Analogue input 4 HH 2 Analogue nput5 O A1 tit Eis 68 5 5 Motor Connections Connection of MAE motor Connection of MAE motor Type 200 8 Type HY200 xxxx xxx x4 Black Black White Orange White Aro Black Orange A Orange Red Bid Red Red White B Yellow Yellow White Yellow Connection of Phytron motor Connection of Zebotronics motor ZSx SMxx x xx x 1 Braun Brown 3 Black Black 2 White Yellow 4 Red Blue 5 Blue Violet 7 Yellow White 6 Grey Green 8 Green Type SM87 107 168 SM56 Connection of Teco motor Type 4Hxxxx Connection of Vexta motor Type PH2xx xxx Black Black White Orange White Black Orange Green Red Red Red White White Yellow White Yellow 69 5 6 Application Example for Controller SMC25 The following example illustrates how 2 Controllers can be
78. tc Controllers Types SMC24 and SMC26 are equipped with an integral supply for powering from an AC mains supply This supply also provides a User Supply Output which can be used for powering external equipment The User Supply can be adjusted to 1 of 3 settings see above as follows Position 1 provides a fixed supply voltage of 5V DC Position 2 provides a fixed supply voltage of 24V DC Position 3 provides a continuously adjustable supply voltage in the range 5 to 30V DC Regardless of the voltage setting the User Supply Output provides a continuous current of 0 5A If this current is exceeded the supply will automatically reduce the supply voltage to ensure overload does not occur The external supply is thus protected against short circuiting Depending on the selected supply volta ge the Voltage LED see drawing will vary in light intensity The User Supply Output and the Controller s inter nal supply 40V DC are available at terminals on the rear panel of the Controllers The Controller s internal supply can thus be used for powering other controller s in the motion control sy stem The red LED named P Limit see drawing will light up if the power consumption from the power supply of the controller exceeds the 120W maximum it can supply In the event of voltage overload in the mains supply the Controller s secondary or primary fuse will be blown If this occurs the Controller should be disconnected from t
79. that Input ST Stop Input is activated if a signal which is not logic 1 is applied to the input If the Input not used the ST Holes for mountingon Controller 22 6 jumper must therefore be set to position 1 Holes forrack mounting 02 6 4 RS485TerminalA Modulel f D JI st odule Interface oceanum 1 RS485TerminalB SMC23 and SMC24 only WI 22122 Hc Earth Chassis Output ground 0 H amp P Supply 15 45V Sipe a Supply Ground Controller Power Supply 54 User Outputs Output 2 024 5 a gt Motorphase A Output3 03 HA Motor phase A Output supply 5 30V 0 7 Motor phase B motor Input ground Ney HB gt MotorphaseB Input 1 Wi HAG Analogue ground Input2 M2 HAG Analogue input 6 Input 3 EOT gt N3 HA5 Analogue input 5 User Inputs Stop input ST 1177 Analo
80. then decelerate and the next program command is executed Example 3 The command N11 19 followed for example by a G 3500 command will start the motor when User Input 1 becomes logic 1 and stop when position 3500 is reached The motor will operate in accordance with the parameters specified by the R S and T commands 37 4 4 1 2 Motor Commands This command enables start stop control of the motor via control signals at Analog Input setup the analogue inputs The principle of the Analog Input Setup command is the same as the Input Setup command n1n2 n3n4 The 2 command parameters p1 and p2 specify start and stop conditions respectively The Analog Input Setup command itself does not start or stop the motor It only influen ces how the next motor command g G n will be interpreted and executed Thereafter the command is inactive To subsequently start the motor again using control signals at an Analogue Input a new Analog Input Setup command must precede the new motor command The complete syntax for the Analog Input Setup command is as follows Start Level Stop Input 0 255 Analog Input 1 6 lt gt lt gt StartInput_ Stop Level Analog Input 1 6 0 255 _ a2 2 2 1 If the start conditions are fulfilled the motor is started If p1 is assigned the cha racter X an unconditional start is defined and the motor will start immediately
81. tor is stationary CR 0 6000 Current Ramp Determines motor current during acceleration deceleration CT 0 6000 Current Top Determines motor current at maximum speed Note that all 3 parameters can only be specified in the range 0 to 3000 mA for Controllers Types SMC23A SMC24A SMC25A SMC26A 3Amp versions Example Program CS500 Sets motor Standby Current to 500mA 0 5 CR6000 Sets motor Ramp Current during acceleration deceleration to 6000mA 64 CT4000 Sets motor Top Current to 4000mA 4A at top speed 100 Advances the motor 100 steps CT5500 Sets new motor Top Current to 5500mA 5 5A 34 4 4 9 Velocity Mode Motor Commands The Velocity Mode command is used to move the motor continuously in a specified direction The command is followed by a or parameter which specifies the direction of movement To stop the motor once the Velocity Mode command has been used a Z Smooth Stop or K Kill command must be used If the N Input Setup command is used before the gt command the conditions specified by the N command can also stop the motor See the description of the Input Setup N com mand for further details It should be noted that the Position Counter is updated while the Velocity Mode command is executed The command can only be used when it is included in a program G nnnnnnn The Goto command is used for absolute positioning of a stepper motor Goto The specified parameter v
82. used for motion control of an X Y Table The Table is used to drill 2 holes in an aluminium block Two stepper motors are mounted In addition an inductive sensor is used for each axis to register when the respective axis has reached its mechani cal reference position 0 position The feeler gauge distance should be as small as possible typically 1 2mm since it greatly determines the repetition accuracy Plan View of X Y Table This is important because the inductive sensors determine the reference points for the X and Y axes and thus the accuracy of the entire system A sen sor with a gauge distance of 1mm will typically re sult in a repetition accuracy of 1 100mm which should be sufficient for the majority of applications The drill itself is not described here but could for e xample consist of a DC motor vertically driven by a hydraulic pneumatic cylinder Spindles Y 5 MP X axis Step Motor NW Sled MAX Inductive Sensor reference sensor Inductive Sensor Y axis Step Motor reference sensor 70 5 6 Application Example for Controller SMC25 Electrical Connections Before the actual task of programming the Controllers is started it is recommended that the input and output signals of the system are clearly defined A Start button is connected to the Y axis controller to start the system The following e
83. ut 1 Output Te 321 0 0 0 0 0 1010 0 010 1 10 0 1 01110 2 2 01110 011 3 3 0 1 1 110 0 4 4 1100 110 1 5 5 1110 1 11110 6 6 110 Nd NE ext roti O Logic 0 1 Logic 1 Example The Verify I O query returns a response V25 which indicates that Input 2 is logic 1 and Outputs 1 and 3 are logic 1 The Verify command is used exclusively when there is a constant interface connection between a computer terminal and the Controller It cannot be used in a program The Verify Alnput command is used to determine the voltage at a specified Analoguelnput 8 bit resolution is used for the measurement which results in the measured value being given in 20mV steps with 5 10V as the maximum value The Verify Alnput command can be used when the Controller is in Standby Mode The 3 User Inputs can for example be connected to 3 Analogue Inputs and thus verify that the voltages are as ex pected 44 4 5 User Interface Commands VA The Verify Alnput returns the digital levels at the Analogue Inputs The response Verify ainput string has the following format VAnnnnnn carriage return Level at Analog Input 1 41 Level at Analog Input6 Level at Analog Input2 Level at Analog Input5 Level at Analog Input 3 Levelat Analog Input 4 Example The command string VA is sent to the Controller The following response is returned VA101001 Carriage return indicating that Analogue Inputs 1

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