GSM4 USER MANUAL
Contents
1. ES Feb Lseeconsaccean Move Clockwise or until limit switch operates D eee a kcete PS Bee ees Set up Motor control options Pacis reat tailed A FPOe eiaa Set up Ramp length and slope Each of the above commands will ask for any required parameters and will wait until the command has finished and the GSM4 is ready for another command before continuing An additional mode is included in the software in which the motor can be driven using the left and right cursor keys and displays the total offset from the start position Each press of the left or right cursor keys moves the motor 10000 steps in the chosen direction left cursor clockwise right cursor anti clockwise The number of steps can be changed using the PgUp and PgDn keys The total number of steps moved is displayed with the direction It also allows the motor to be automatically moved back to the zero reference point This is a simple way of checking the repeatability of the mechanical system attached to the motor UNDERSTANDING THE SOFTWARE COMMANDS There are two motor drive option commands options D and F Option D has 5 sub options 66 199 ae Sub option u selects 100 motor current when running If not selected motor runs at 66 oe 99 ere Sub option w selects motor current Off when motor stopped file C www 1 gsm4man html 25 03 02 GSM4MAN Page 7 of 12 66 99 TE Sub option x selects 2 motor current when motor stopped Note If both op2. Motor speed os 300 GRIO 6 150 ditto 7 75 ditto The default power on setting is 0 speed setting defined by POT 1 adjustment GSM4TERM gt EXE Software Control of Motor Speed When the programme GSM4TERM is run or GSM4TERM TESTMODE the motor speed selection column is shown to the right of the screen The up down cursor keys are used to select the required motor speed The gt point to the selected speed The speed selected will apply for all other commands until another speed is selected The Variable option is the speed selected by the pot setting GSM4 ON BOARD SETTINGS POT 1 Pot 1 adjusts the speed of the motor in steps second This pot should only be adjusted as required during the setting up stage of the process to give the required motor speed POT 2 Pot 2 is adjusted to provide the required winding current for the motor It is advisable to start with the pot at minimum fully clockwise and increase slowly until motor current is sufficient to drive the motor To adjust the current connect a voltmeter across either OR33 resister Set meter to 2 Volts F S D or nearest range Adjust POT 2 for required reading of voltmeter where 1mV 3 mA winding current MOTOR CURRENT ADJUSTMENT file C www 1 gsm4man html 25 03 02 GSM4MAN Page 5 of 12 2 Volts F S 0 For example if the motor winding recommended current is 1 5 Ampere then the pot 2 should be adjusted to read 500mV Warning Under no circumstances
3. connect a meter set to Ohms Range or any other voltage source across R ref as this will destroy the motor drive controller Limit and motor enable switches may be connected to the GSM4 If the motor enable switch is NOT used the appropriate terminal on the GSM4 must be linked to OV logic SERIAL PORT SETUP COM 1 9600 Baud 8 Bits No Parity 1 Stop Bit DEFAULT SETTINGS On power up the GSM4 sets to the following default settings Full step mode 100 motor current option OFF No Ramp Motor current ON when stopped Current boost for ramp OFF WARNINGS AND SAFETY INFORMATION 1 Stepper motors get very HOT 2 Ensure motors are not over driven Refer to motor specification 3 Ensure the GSM4 and PSU4 are well ventilated 4 DO NOT disable the GSM4 fan 5 DO NOT connect or disconnect the motor with power supplied to the GSM4 6 Stepper motors generate high Back EMF voltages Allow time for the magnetic fields to decay before disconnecting motors 7 The MAXIMUM motor drive voltage is 40 V DO NOT exceed 40 VOLTS 8 Ensure the mains input is adequately fused The recommended mains input fuse rating is 250mA Slow Blow 9 The GSM4 and stepper motors generate RF frequencies appropriate screening is recommended 10 DO NOT connect a meter set to Ohms Range to the Reference resistors USING CONTROL PROGRAMME file C www 1 gsm4man html 25 03 02 GSM4MAN Page 6 of 12 INTRODUCTION The GSM4TERM EXE program is
4. GSM4MAN Page 1 of 12 GSM4 USER MANUAL ISSUE 4 0 JAN 2000 PRODUCT OVERVIEW The GSM4 together with the optional PSU4 power supply provides a comprehensive facility for controlling 4 or 8 wire Bipolar driven stepper motors Up to 4 GSM4 cards can be daisy chained to control up to 4 motors Simple software commands can be sent from a PC via the RS232 serial port to the GSM4 to control motor direction number of steps start and stop ramp length and slope motor current and 1 2 full step All commands carry address information On board settings include card address 0 1 2 3 motor current set to suit motor specification and number of steps second speed SPECIFICATION MOTOR DRIVE 4 or 8 wire bipolar current switching up to 1 5 ampere phase Voltage 12 to 40 Volts DC maximum INTERFACE RS232C 9600 Baud DTE via 9 pin D connector Tx Rx amp GND active Null modem daisy chained from card to card ADDRESS On board card address selection 0 1 2 3 Software commands include card address MOTOR CONTROL Current speed direction current boost 1 2 full step number of steps 0 99999 ramp length and slope limit and enable switch provision BOARD LAYOUT file C www 1 gsm4man html 25 03 02 GSM4MAN Page 2 of 12 Switches Closed for Motor Drive 1 l t 109 87654 3 il 2 1 jelelxielelelelelxieleie Phase A Phase B 12V Logic OV Motor 12 40V Motor Motor E
5. Windows 95 98 The following characters show an example of how to move the motor anti clockwise 200 steps on a card set to address 0 200A0 lt CR gt lt CR gt being a carriage return Upon receiving the command the card will echo back the command letter and the drive address which in this case would be AO This forms the basis upon which sequences of commands can be put together How Do I Create A Sequence Of Motor Movements There are a number of ways in which sequences of commands can be created The method you decide to use is basically down to your relevant programming experience and the tools you have available to you 1 Terminal Programs Many Terminal programs have the facility to allow Scripts to be written Therefore it is normally possible to use the Scripting Language to create sequences of commands Normally scripts can be used to create loops delays between successive commands and decisions dependant upon the controller responses 2 DOS using BASIC QBASIC or QuickBasic are two DOS based development tools that are relatively straight forward to use QBasic was supplied as part of MSDOS versions 5 and 6 xx The on line help pages provide examples of how to open the serial port and how to send and receive ASCII data through the port The commands associated with setting up the serial port and sending data to it are OPEN COM COM PRINT GET amp PUT Once a serial port has been successfully opened it is poss
6. a simple self contained RS232 controller which allows new users of the GSM4 stepper motor controller to get a system up and running very quickly It offers all the features of the GSM64 to the user by assigning the various commands to function keys and asking for the required parameters where necessary The software can be used in two modes Normal mode allows the control of up to 4 GSM4 units while test mode allows the software to be used without the need for a GSM4 unit to be present To run the software in test mode enter the following at the DOS prompt C gt GSM4TERM TESTMODE Use this mode to become familiar with the software To run the software in the normal control mode enter the following at the DOS prompt C gt GSM4TERM When the software first runs it sends ID requests to each of the four possible GSM4 units which could be connected If any respond this is noted and a status message is printed showing which GSM4 addresses are active The last GSM4 which responded becomes the default one To select a different GSM4 use the number keys 0 1 2 amp 3 If the requested GSM4 is not active an error message will be displayed USING THE SOFTWARE Each of the GSM4 commands has been assigned to a function key as follows Command 66 Gy cg onto Purpose TEA EE Eli cic cate am Move Anti clockwise Croen PQs ikres Move Clockwise E E Bile ies e ener rere oe Move Anti clockwise or until limit switch operates E cietcates cote
7. e F command EXAMPLE file C www 1 gsm4man html 25 03 02 GSM4MAN Page 8 of 12 RAMP LENGTH 300 FULL MOTOR SPEED POT 1 I ZT 4 MOTOR START DATUM Ye3 RAMP RATE MOTOR START DATUM SPEED MOTOR MAX SPEED POT 1 SETTING X 48 4g RAMP LENGT RAMP RATE For the example above if motor speed set at 400 half steps second MOTOR START DATUM SPEED 400 X 48 19200 130 Half Steps Sec 48 300 148 3 NOTES 1 If limit switches are used and motor drive options E or F are specified then the ramp parameters are disabled except that where a ramp has been programmed the motor speed will start at and remain at the motor start datum speed appropriate to the ramp specified 2 Ramp Parameter Ramp length Ramp rate slope is limited to a ratio of 200 1 If Ramp length Ramp rate gt 200 then the motor will be driven at the motor start datum speed until the ratio is equal to or less than 200 and then the ramp up will apply Therefore if a ramp length of 500 steps is chosen with a rate of 2 the ratio will be 250 and the motor will run for 100 1 2 steps at datum speed until the ratio is 200 whereupon the motor speed will increase at the chosen rate until the ramp length has been achieved V REF SETTINGS Full step Vref 5V 1 1 Amp Both windings Half step Vref 5V 1 1 5 Amp One winding Boost CPU Port switched to 5V Software selected Full Power Full Step V ref 5V I 1 5 Am
8. ible use the PRINT command to send strings of text e g 200A0 through the port 3 Control under Windows Control under Windows can be achieved using any development tools that allows access to the Serial port Visual Basic Visual C Borland Delphi amp C Builder are all popular programming languages that can be used to control the motor Windows does not allow you to send data to the directly as with DOS instead you need to communicate to the serial port through a serial port driver Visual Basic amp C ship with a control called MSCOMM32 which can be used for this purpose If the programming language does not come with a driver is normally possible to use a third party serial port driver The programming pages of the Internet provide a rich source of information and freeware amp commercial drivers www marshallsoft com provides a good shareware driver with excellent documentation and examples on using the driver with Windows 3 11 95 98 NT Look at the example file Simple for a quick guide to setting up and using the serial port 4 Other Languages Basically it is possible to control the Stepper Motor Card from any software that can access the serial port The device used to control the motor is not limited to being a PC it can be any device that has a serial port that can be configured as described above How Do I Know When A Command Has Finished Executing file C www 1 gsm4man html 25 03 02 GSM4MAN Page 12 of 12 Whe
9. man html 25 03 02 GSM4MAN Page 10 of 12 shielding is left to the customer to implement GENERAL NOTES 1 The stepper motor chosen for use with the GSM4 must be fully compatible with Bipolar drivers 2 Motor torque is motor current and motor speed related Torque is proportional to current and inversely proportional to speed 3 The effective motor impedance is proportional to the load and the speed of the motor 4 The GSM4 will supply sufficient current for motors specified at 1 5 Amp winding Motors with higher current requirements can be driven but they will not run at full power 5 If motor enable switch is not used the appropriate connector must be linked to 0 Volt Logic 6 Ramps are used to provide increased starting torque and to overcome motor resonance 7 Current boost is dependent upon the setting of Pot 2 and is available for the length of the ramp only 8 When adjusting Pot 2 it is recommended that the initial winding current is set at less than the value recommended for the motor and that the motor is driven at this current whilst the motor temperature is monitored Avoid running the motor at high temperatures See motor manufacturers specification 9 Stepper motor drivers generate large amounts of RFI and should be enclosed in an adequately screened enclosure having good ventilation 10 The GSM4 must be connected to a serial port in order to control the GSM4 and motor 11 Pins 4 amp 6 7 amp 8
10. n a command is sent to the GSM4 the card immediately responds by echoing back to the PC with the command letter and drive address The GSM4 will then ignore any further commands being sent until it has completed the previous task i e any commands that are transmitted to the GSM4 whilst the GSM4 is currently executing will not receive an echo back to indicate the the command has been successfully received by the GSM4 Therefore to guarantee that all commands in the sequence are executed in turn each command that is sent must receive an acknowledgment back from the GSM4 before moving onto the next command One such way of doing this is to wait for a valid response after each command is sent If the response is not received it can be assumed that the card was still busy when the command was sent in which case the command will need to be resent Alternatively it is possible to use the B command to Poll the card to see if it is busy In this case the card will again ignore all the B commands until the it is free to respond with the ID message plus the limit switch status which signals that the motor has finished the previous command PDF PRINTOUT file C www 1 gsm4man html 25 03 02
11. nabied Limit OV Logic 0 33 R Ref Winding Current Set Steps Sec 5 Rx From Host aal gta i Tx To Host x to nex Ground Rx fram next Handshake Lines Looped Back From To PC Daisy Chain MOTOR DRIVE SCHEMATIC ONE PHASE SWITCH SETTINGS file C www 1 gsm4man html 25 03 02 GSM4MAN Page 3 of 12 ON ON TT Me re 1234 1234 SET heey AA AA AA AA AA AA UMIT DETECT UMIT DETECT ADIORESS 3 ADDRESS 1 ADDRESS 2 ADDRESS 0 DISABLED ENABLED SOFTWARE COMMANDS All software commands sent via the RS232 interface are of the format number command letter address 0 1 2 3 followed by carriage return or linefeed The card will echo back via the RS232 the command letter and the card address The following commands select card parameter options associated with motor current 1 2 full step ramp length and slope If not specified default settings would apply u wx yz Do lt CR gt MOTOR CONTROL OPTIONS EE Carriage return linefeed Address of card 0 1 2 3 Command letter Option D step 0 full step 1 step Current boost for ramp length 0 NO 1 YES motor current when stopped 0 NO 1 YES Motor current off when stopped 0 NO 1 YES 100 motor current when running 0 NO 1 YES Approximately 66 if not selected x x x y Fo lt CR gt SELECT RAMP LENGTH AND SLOPE Carriage return linefeed Address of card 0 1 2 3 Command letter
12. on the serial port to the PC are linked on the PCB to terminate handshakes Application Notes for GSM4 Series Stepper Motor Controller Programming Advice The following notes are intended to serve as a starting point in showing the possible options for controlling stepper motors using the Greenwich Instruments range of GSM4 Driver Cards What Is The Purpose Of The GsmTerm Program Supplied With The Card The GSM4 Controller is supplied with a software driver disk The Disk contains a very simple DOS based program that can be used to test that your motor and controller are set up correctly Using the software it is possible to test simple movements and functions of the motor configuration It s main use is to allow you to verify that the the motor and card have been set up and wired correctly Using The ASCIT Commands It is most likely however that you will require a much greater control over the stepper motor In which case you can use the ASCII text commands listed under the section SOFTWARE COMMANDS in the GSM4 Operating Manual The Serial Port must have it s parameters set to 9600 Baud 8 Data Bits No Parity and no hardware or software handshaking All commands are sent as plain ASCII text through the appropriate Serial Port For testing it is possible to use file C www 1 gsm4man html 25 03 02 GSM4MAN Page 11 of 12 any terminal type program with the serial port configured as described above e g Hyper Terminal as supplied with
13. option F 0 9 Rate slope of ramp 0 999 Length of ramp steps B o lt CR gt POLL SPECIFIED CARD EEE Carriage Return Address of Card 0 1 2 3 Command Letter Option B This command polls the card specified at address entered and returns an ID message plus limit switch status e g B GSM4 999 JAN 95 L F C R or B GSM4 999 JAN 95 Limit Open L F C R SELECT MOTOR MOVEMENT COMMANDS file C www 1 gsm4man html 25 03 02 GSM4MAN Page 4 of 12 x x xx x Ao lt CR gt MOVE ANTICLOCKWISE EE Carnage return linefeed Address of card 0 1 2 3 Move anticlockwise Number of steps 0 99999 x x xx x C 0 lt CR gt MOVE CLOCKWISE Carriage return linefeed Address of card 0 1 2 3 Move ciockwise Number of steps 0 99999 x x x x x E 0 lt CR gt MOVE ANTICLOCKWISE SPECIFIC NUMBER OF STEPS 0 99999 OR UNTIL LIMIT SWITCH OPERATES No Ramp stays at Start speed See Ramp Parameters xx xxx Go lt CR gt MOVE CLOCKWISE SPECIFIC NUMBER OF STEPS 0 99999 OR UNTIL LIMIT SWITCH OPERATES No Ramp stays at start speed PROGRAMMABLE MOTOR SPEED CONTROL Programming Command H has been assigned to provide seven programmable motor speeds The format of the command is Motor speed settings are x H o lt CR gt 0 Speed as set by Fot 1 1 4 800 steps per second Carriage return Lineteed 2 400 ditto Address of Card 0 1 2 3 3 1 200 ditto Command letter Option H 4 600 ditto 0 7
14. p Both windings Software selected option Vref O0V 1 0 m Pot 2 set to maximum 5V Pot 2 V ref for Current 1K CPU Port OV or SV dependent upon software settings STEPPER MOTOR CONNECTIONS file C www 1 gsm4man html 25 03 02 GSM4MAN Page 9 of 12 4 WIRE CONNECTION 6 WIRE CONNECTION 1 2 1 PHASE A 2 CENTRE WIRES NOT CONNECTED f 8 WIRE SERIES CONNECTION 8 WIRE PARALLEL CONNECTION R i c aa Ceol PHASE B PHASE B 2 2 H 1 C 00000 00000 PHASE A 2 NOTES 1 The GSM4 is not suitable for 5 wire motors 2 Reversing the wires of any one phase will reverse the direction the motor rotates in response to commands 3 8 Wire parallel connections give higher rotational speed 4 8 wire series connections provide higher motor torque 5 Always refer to the motor manufacturers data PSU4 POWER SUPPLY CARD For use with the GSM4 Two transformer isolated DC outputs are provided one for logic and a second for motor drive INP UTiac ngne 240 Volt AC 800 mA 34 Volt DC Motor LIVE jeje NEUTRAL 60 12 VOLT Locic EARTH Lee 4 VOLT MOTOR VOLT LOGIC 0 0 VOLT LOGIC 0 VOLT LOGIC NOTES For pinout connections see block diagram Although the motor supply is only rated at 800 mA this should be sufficient for most 1 5 Amp phase stepper motors Fuse short circuit protection and mains voltage file C www 1 gsm4
15. tions w and x are selected then option w will override option x 66 99 scene Sub option y selects current boost for ramp length ee Sub option z selects 1 2 or full step 0 full step All sub options are selected deselected by 1 or 0 1 select 0 deselect Option F has two sub options ae Sub option xxx can be specified between 001 and 999 to set the length of the ramp number of 2 steps Eten Sub option y can be specified between 1 and 9 to set the slope of the ramp See later for further explanation of ramp settings There are four movement command options A C E G ane A and E give anti clockwise movement sass C and G give clockwise movement ee Command option A specifies anti clockwise movement for 1 to 99999 steps one Command option C specifies clockwise movement for 1 to 99999 steps ici Command options E and G specifies anti clockwise or clockwise movement for to 99999 steps or until the limit switch opens which ever event happens first No Ramp stays at start speed RAMPS MOTOR SPEED nie RAMP DOWN LENGTH I r RATE POT 1 MOTOR MOTOR SPEED Oe 2 8 2 SS SOE SOS START SETTING DATUM _ t NUMBER OF STEPS SELECTED MOTOR START DATUM SPEED MOTOR MAXIMUM SPEED X 48 pps RAMP LENGTH RAMP RATE If the slope of 0 is specified then Ramp Rate 256 otherwise the rate is as programmed by th
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