the SMC-32B User`s Manual Here
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1. Constant Rate Index is 2 to 65535 Constant Rate Index controls stepping rate when M motion is executed Constant Rate Index can be changed any time It takes effect immediately 48 VELOCITY RATE INDEX V Instruction aaV 20 Set Velocity Rate Index to 20 aa 00 to 50 Response aaR Instruction accepted Instruction aaV l Examine Velocity Rate Index aa 00 only Response f aaV 20 Velocitv Rate Index is set to 20 which is 5760 steps per second Notes Velocity Rate Index controls top stepping rate while executing G or motion instruction Velocity Rate Index range is 2 to 255 Velocity index can be changed any time It takes effect on the next high speed motion 49 RAMP INDEX R Instruction aaR 150 Set Ramp Index to 150 aa 00 to 50 Response aaR Instruction accepted Instruction aaRH Examine Ramp Index aa 00 only Response f aaR 150 1 Ramp Index is set to 150 Note Ramp Index range is 1 to 255 Ramp index controls acceleration deceleration ramp while executing Go or Index instruction Index 1 sets the slowest ramp index 255 is the fastest ramp It can be changed anv time and it takes effect on the next high speed motion Some motors have a resonant point where there is no torque at certain frequencies In such cases the motor has to be started at a lower speed than the resonant point in order to fly into a higher speed area To minimize the time to stay on the resonant point higher ramp index for ac2. FIVE I O LINES H4 HEADER IDLE CURRENT REDUCTION ENABLE H5 HEADER BAUD RATE SELECT HEADER STEPPING MODE SELECT TABLE 3 1 CONNECTOR JUMPER AND ADJUSTMENT IDENTIFICATION 3 2 MOTOR CONNECTION The stepping motor is connected to SMC 32B controller via J1 connector at the edge of the board see Appendix A The connector accepts one four pin screw type plug Two or four phase stepping motor can be operated by the SMC 32B controller board Stepping motors equipped with four six or eight leads can be connected in several ways Motor J1 FIGURE 2 2 SMC 32B FOUR LEAD MOTOR CONNECTIONS 10 AC S SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION w2 J1 W4 FIGURE 3 3 SMC 32B SIX LEAD MOTOR HALF WINDING CONNECTIONS W1 w2 J1 W3 WA FIGURE 3 4 SMC 32B SIX LEAD MOTOR FULL WINDINGS CONNECTIONS 11 AC S SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS VV1 VV2 VV3 VV4 JI FIGURE 3 5 SMC 32B EIGHT LEAD MOTOR SERIAL CONNECTIONS WI W2 W3 VV4 JI FIGURE 3 6 SMC 32B EIGHT LEAD MOTOR PARALLEL CONNECTIONS ADVANCED CONTROL SYSTEMS CORPORATION 12 SMC 32B Driver Controller ACS 3 3 LIMIT INPUTS HOME INPUT JOG INPUTS CURRENT OFF INPUT PROGAM RUN INPUT The inputs are connected to SMC 32B via a 10 pin header H1 Limit and Home inputs are normally closed Jog and Current Off inputs are norm
3. customer to budget maintenance costs after the initial one year warranty has expired Other services requested by the customer such as installation training on site repair and addition of engineering improvements are made available through specific Supplemental Support Agreements SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 1 3 Documentation Discrepancies ACS is committed to providing state of the art products and is continually refining and improving the performance of its products While physical modifications can be implemented quite rapidly the corrected documentation frequently requires more time to produce Consequently this manual may not agree in every detail with the accompanying product There may be small discrepancies in the values of components and occasionally minor logic changes Where any such inconsistencies exist please be assured that the unit is correct and incorporates the most up to date circuitry 1 4 Service Procedure Products requiring maintenance should be returned to the customer service department or authorized service facility If under warranty ACS will repair and replace the part at no charge The purchaser is only responsible for the transportation charges arising from the return of the goods to the service facility For all ACS products in need of repair after the warranty period the customer must provide a Purchase Order Number before any inoperative equipme
4. rate 4 25 OUTPUT LEVEL OL Instruction aaOL2HJ Output HI Level on Output Line 2 aa 00 50 Response aaR Instruction aaOL5Li Output LO Level on Output Line 5 Response aaR aa 00 50 Note Output Lines Range is 1 to 5 4 26 JUMP TO LINE JL 27 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Instruction aaJL25 Jump to Line 25 aa 01 to 50 Response aaR Note Program line range register address is 00 to 50 Execution of JL Instruction modifies program flow 4 27 JUMP ON INPUT JI Instruction ZaaJ12H10 J Program continues execution on Line 10 if input 2 is Hi when executing line aa Response aaR 4 28 WAIT FOR MOTOR TO STOP WM Instruction aaWM4 Progam continues after motor is stopped aa 00 50 Response aaR 4 29 WAIT FOR INPUT WI Instruction aaWI3LU Wait with Program execution until Line 3 is Low aa 01 to 50 Response aaR 4 30 WAIT TIME WT Instruction aaWT100 Wait with Program execution for 100 time units Time unit is 10mSec therefore wait for 1Sec aa 01 to 50 Response aaR Note Range of time units is 0 to 8 388 607 4 31 REPEAT LOOP START RS Instruction aaRS50 Set up Repeat Loop for 50 times aa 01 50 28 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Response aaR Note Program segment between start and end of repeat loop will be repeated 50 times Repeat
5. retained in the EEPROM nonvolatile memory The SMC 32B understands high level instructions in the form of serial ASCII messages The instruction set covers all aspects of computer controlled motion and is not dependent on the type of host computer or operating systems Communication driver receiver on board is a standard RS 232C type 2 2 SMC 32B BLOCK DIAGRAM DESCRIPTION SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS IDLE CURRENT ON OFF LIMITS HOME OFF PROGRAM RUN JOG FIG 2 1 SMC 32B BLOCK DIAGRAM The imbedded control processor coordinates operation of the SMC 32B controller It communicates via RS 232 communication interface with the host computer The programs firmware which interprets host instructions are stored in flash memory Operational variables which can be changed are stored in non volatile memory EEPROM Also up to 50 lines of motor and I O control program can be stored in EEPROM for independent operation of the SMC 32B The processor which is actually a single chip independent microcontroller generates stepping sequences to the power drivers Option jumpers on board are used for various configurations 2 3 SPECIFICATIONS POWER REQUIREMENTS SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Logic Power Supply 5VDC 5 50mA typical Motor Power Supply 12 to 40 VDC up to 2Amp Motor supply voltages and currents depend on typ
6. D Equal Sign Indicates Data to be Entered Hex 3D E followed by a number indicates Error in Instruction Motor is instructed to index 1000 steps in positive Instruction Executed Instruction is entered into Program Register 12 for Execution under program control Instruction Entered Each instruction with Start Character correct register address and termination character generates a response message from the SMC 32B controller SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 42 SINGLE CHARACTER INSTRUCTION SUMMARY J C V R M Examine or set jog rate index 2 65535 range Examine or set constant speed index 2 65535 range Examine or set high speed index 2 255 range Examine or set acceleration deceleration index 1 255 range Move number of steps at constant speed using C index 48 388 607 steps range G r m ox o T7 DV Go to absolute position using V indexes 8 388 607 steps range Index number of steps using V and R indexes 48 388 607 steps range Decelerate and stop motion Soft Stop Seek home position Immediate stop of motion Hard Stop Examine motor status Examine limits and home inputs Examine or enable disable limit interrupts Examine or turn on turn off motor winding current Examine or set absolute position 48 388 607 range Save motion indexes Load motion parameters defaults Test unit SMC 32B Dri
7. PRODUCT USER S MANUAL ACS MACHINE CONTROLS SMC 32B Programmable Stepping Motor Driver Controller ACS CS ADVANCED CONTROL SYSTEMS CORPORATION www ACSMotion com Revision 1 3 TABLE OF CONTENTS 1 General Information 5 1 1 Warrantv 5 1 2 Assistance and Maintenance Agreements 5 1 3 Documentation Discrepancies 6 1 4 Service Procedure 6 2 SMC 32B DESCRIPTION 7 2 1 SMC 32B CONTROLLER FEATURES 7 2 2 SMC 32B BLOCK DIAGRAM DESCRIPTION 7 2 3 SPECIFICATIONS 8 3 INSTALLATION SET UP 10 3 1 CONNECTORS JUMPERS AND ADJUSTMENT IDENTIFICATION 10 3 2 MOTOR CONNECTION 10 3 3 LIMIT INPUTS HOME INPUT JOG INPUTS CURRENT OFF INPUT PROGAM RUN INPUT 13 3 4 COMMUNICATION SPEED 13 3 5 SMC 32B INPUT OUTPUT LINES 14 3 6 FUSING 14 3 7 STEPPING MODE SELECT 14 3 8 MOTOR WINDING CURRENT ADJUSTMENT P1 P2 15 4 INSTRUCTION SET 16 4 1 INSTRUCTION SET SUMMARY 16 4 2 SINGLE CHARACTER INSTRUCTION SUMMARY 17 4 3 TWO CHARACTER INSTRUCTION SUMMARY 18 4 4 ERROR RESPONSES 19 4 5 STEPPING RATE INDEXES 19 4 6 JOG RATE INDEX J 20 4 7 CONSTANT RATE INDEX C 20 2 A S SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 8 4 9 4 10 4 11 4 12 4 13 4 14 4 15 4 16 4 17 4 18 4 19 4 20 4 21 4 22 4 23 4 24 4 25 4 26 4 27 4 28 4 29 4 30 4 31 4 32 4 33 4 34 4 35 4 36 VELOCITY RATE INDEX V 21 RAMP INDEX R 21 MOVE NUMBER OF STEP
8. S AT CONSTANT RATE M 23 GO TO ABSOLUTE POSITION G 23 INDEX TO RELATIVE POSITION I 24 FINISH DECELERATING STOP F 24 QUIT IMMEDIATE STOP Q 24 SEEK HOME POSITION H 25 EXAMINE MOTOR STATUS X 25 EXAMINE LIMITS AND HOME INPUTS E 25 ENABLE DISABLE EXAMINE LIMIT INTERRUPTS L 25 TURN ON OFF MOTOR WINDING CURRENT OR EXAMINE IT W 26 EXAMINE OR SET ABSOLUTE POSITION P 26 SAVE MOTION INDEXES S 26 LOAD MOTION PARAMETER DEFAULTS D 27 TEST UNIT T 27 OUTPUT DATA OD 27 OUTPUT LEVEL OL 27 JUMP TO LINE JL 27 JUMP ON INPUT JI 28 WAIT FOR MOTOR TO STOP WM 28 WAIT FOR INPUT WI 28 WAIT TIME WT 28 REPEAT LOOP START RS 28 REPEAT LOOP END RE 29 SUBROUTINE CALL SC 29 SUBROUTINE RETURN SR 29 EXAMINE PROGRAM LINES EL 29 NO OPERATION NO 30 3 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 37 Initialize Program Lines IL 30 5 Appendices 31 A SMC 32B ON BOARD JUMPER AND SETTING LOCATIONS 31 B SAMPLE PROGRAM 31 C SMC 32B PINOUT DIAGRAM 32 6 Manual Revision History 33 ADVANCED CONTROL SYSTEMS CORPORATION SMC 32B Driver Controller ACS 1 General Information 1 1 Warranty ACS warrants its products to operate within specifications under normal use and services for a period of one year from the date of shipment Component products spares replacement parts and repairs are warranted for 90 days Software is thoroughly tested and thought to be functional but is suppl
9. STEP SIX MINISTEPS STEP EIGHT MINISTEPS STEP TABLE 3 7 STEPPING MODE SELECTION SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 3 8 MOTOR WINDING CURRENT ADJUSTMENT P1 P2 P1 Run trimpot controls motor running current P2 Idle trimpot controls motor idle current Turning trimpot clockwise the current will increase Motor Current Adjustment Procedure Insert DC Ampmeter into one of the motor windings Remove Jumper on H3 if installed Turn the Power On Single step motor until you get maximum current Adjust trimpot P1 run for required current Insert Jumper on H3 Adjust trimpot P2 idle for required idle current Disconnect power and remove the meter ONDAN SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 INSTRUCTION SET 41 INSTRUCTION SET SUMMARY Instruction and program messages are constructed from ASCII characters Alphabetic characters can be upper or lower case 1 H 2 00 3 aa 01 50 4 Characters 5 1000 6 Fal 7 8 En Example 00I 1000 direction immediately Response 00RW Example 121 1000 Response 12R Start Character Hex 23 Instruction Register Address for Immediate Execution Instruction Register Addresses for Program Control Execution Instruction Command One or Two Alphabetic Data Characters Termination Character Carriage Return Hex O
10. ally open Pulling Program Run input LO starts the program Refer to Appendix A for H1 location on the board PIN INPUT PIN INPUT CURRENT OFF PROGRAM RUN GND GND GND TABLE 3 3 SMC 32B CONTROL INPUTS 3 4 COMMUNICATION SPEED Header H4 See Appendix A for location is to be jumped for required communication baud rate Selections are no paritv and four baud rates HEADER H4 2 BAUDRATE 57600 BAUD 19200 BAUD 9600 BAUD 2400 BAUD TABLE 3 4 SMC 32B BAUD RATE SELECTION SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 3 5 SMC 32B INPUT OUTPUT LINES There are five I O lines available for controllers I O control each of the I O lines can be used as an input or output control I O lines direction are dynamically configured under the program control Connections to I O lines are via 10 pin header H2 Refer to Appendix A for H2 location on the board PIN INPUT PIN INPUT I O Line 5 I O Line 4 I O Line 3 I O Line 2 I O Line 1 TABLE 3 5 I O LINES CONNECTION 3 6 FUSING The SMC 32B motor control module has an on board fuse The fuse is to be rated accordingly to protect the motor 4 Amp fast blow maximum 3 7 STEPPING MODE SELECT There are eight selections for stepping mode Refer to Table 3 7 for jumper options FULL STEP 2 PHASES ON FULL STEP 1 PHASE ON HALF STEP TWO MINISTEPS STEP THREE MINISTEPS STEP FOUR MINISTEPS STEP FIVE MINISTEPS
11. c dec must be applied It is recommended that a damper should be used to increase the inertia moment if the motor goes in the resonant point with a small load 21 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION TORQUE NF RESONANT POINT STEPPING RATI Actual ramping rate in step sec sec is calculated by formula Ramp Rate 720 000 256 Ramp Index Table 4 2 Shows some ramp rate calculations RAMP INDEX RAMP RATE STEPS SEC SEC 720000 TABLE 4 2 RAMP RATE TABLE 22 ACS SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 10 MOVE NUMBER OF STEPS AT CONSTANT RATE M Instruction aaM 2000 Move 2000 steps in positive direction aa 00 to 50 Response aaR Move instruction accepted Instruction aaM 500 1 Move 500 steps in negative direction aa 00 to 50 Response aaR Move instruction accepted Instruction aaM Move in positive direction until Quit instruction is executed Or Limit is activated Response aaR Move instruction accepted Instruction Move in negative direction same as positive Response aaR Move instruction accepted The preset constant rate C can be changed at any time changing stepping rate on the fly See 4 7 Constant Rate Index Note Motion Execute Instruction Motor steps at constant rate C no acceleration or deceleration Constant stepping rate is to be set lower than start st
12. calculated bv formula Step Rate 115200 Rate Index Steps Sec Jog and move are constant rate instructions no acceleration and should be set below start stop rate of the motor load combination Table 4 1 shows some stepping rate calculations 19 AC S SMC 32B Driver Controller ADVANCED CONTROL SVSTEMS CORPORATION Step Rate Index Step Rate Step Rate Index Step Rate Steps Sec Steps Sec TABLE 4 1 SMC 32B STEP RATE TABLE 4 6 JOGRATE INDEX J Instruction aaJ 500 Set Jog Rate Index to 500 aa 00 to 50 Response aaR Instruction accepted Instruction Examine Jog Rate Index aa 00 only Response 500 1 Jog Rate Index is set to 500 which is 230 step per second Notes Jog Rate Index range is 2 to 65535 Jog Rate Index controls stepping rate when operating manual jog toggle switches which are connected to Header H1 Pins 1 and 3 Jog Rate should be set below start stop stepping rate of motor load combination Jog Rate Index can be changed any time It takes effect on the next jog motion 4 7 CONSTANT RATE INDEX C Instruction ZaaC 400 J Set Constant Rate Index to 400 aa 00 to 50 Response aaR Instruction accepted Instruction aaC J Examine Constant Rate Index aa 00 only 20 AC S SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Response faal 400 J Constant Rate Index is set to 400 which is 288 steps per second Notes
13. e of motors being connected MOTOR REQUIREMENTS Type of Motors Two phase bi polar stepping motors or four phase motors connected as two phase Number of Leads Four six or eight Max Winding Current 3 Amp adjustable down to 125Amp Duty Cycle 10096 MODE OF MOTOR OPERATION BiPolar Chopper Drive Full Step One Phase On or Two Phases On Half Step with Torque Compensation Three four five six or eight ministeps per full step MOTOR FUSE Four Amp Fast blow PHYSICAL DIMENSIONS Length 4 Width 3 65 Max Height 1 50 Motor Connectors Phoenix type four terminals MSTB 2 5 5 ST 5 08 or equivalent or terminal block COMMUNICATION PARAMETERS Baud Rates 2400 9600 19200 57600 baud Byte Structure 10 bit ASCII characters Start bit 8 data bits stop bit no parity ENVIRONMENT Operating Temperature 20 C to 50 C 4 F to 140 F Storage Temperature 20 C to 70 C 4 F to 160 F Humidity lt 95 non condensing 9 SMC 32B Driver Controller ADVANCED CONTROL SVSTEMS CORPORATION 3 INSTALLATION SET UP 3 1 CONNECTORS JUMPERS AND ADJUSTMENT IDENTIFICATION Table 3 1 identifies important points of the SMC 32B board Appendix A show their location on the printed circuit board Designation Function J1 CONNECTOR FOR MOTOR J2 TERMINAL STRIP FOR POWER CONNECTION J3 COMMUNICATION PORT CONNECTOR H1 HEADER CONNECTOR FOR LIMITS HOME JOG MOTOR OFF AND PROGRAM RUN H2 INPUTS H3 HEADER
14. er ADVANCED CONTROL SYSTEMS CORPORATION 5 Appendices A SMC 32B ON BOARD JUMPER AND SETTING LOCATIONS XL Ei SME32 ADVANCED CONTROL SVS B SAMPLE PROGRAM INSTRUCTION COMMENT 31 A S SMC 32B Driver Controller ADVANCED CONTROL SVSTEMS CORPORATION ACS 01H OZWM I 03 0 1 04855 051 2010 OSWM I 07M 10 1 OBWM I OQSREJ 10WT1000 115620 12 0 IBOL2LU IAWMUI 15JL04 1 200ODONE 21SRJ initialize motor position at neg limit Wait for motor to stop Set position to 0 Set repeat loop for 5 repeats Index 2010 steps in positive direction Wait for motor to stop Move 10 steps in neg direction backlash correction Wait for motor to stop Decrement repeat loop count go back to 05 if not zero Wait 10 sec Call subroutine at line 20 to position 0 Set output line 2 low Wait for motor to stop Go back to line 04 Output data DONE Return to line 12 Note Sample program is using default setting of R V C C SMC 32B PINOUT DIAGRAM 32 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS SMC 32 Connector Pinout J1 motor connection J3 Serial Port Connections J1 Motor Connection pin 3 winding B pin 4 winding B J3 Serial Port Connector 654321 3 c pin 1 not connected pin 2 TX data into SMC pin 2 winding A pin 3 RX data out of SMC p
15. ic character zero or one represent Low or High level respectivelv on time inputs First character is L Limit in Positive direction Second character is L Limit in Negative direction Third character is for H Home input 4 18 ENABLE DISABLE EXAMINE LIMIT INTERRUPTS L Instruction aaL 1 Enable Limits interrupts aa 00 to 50 25 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Response aaR Instruction executed Instruction L I Examine Limit interrupts aa 00 only Response aaL 1 Interrupts are enabled Note Numeric character one represents enabled limits zero represents disabled limits The same characters are used to enable or disable limits When limits are enabled limit inputs must be connected to limit switches which present normally Low status Limits can also be jumped on the controller board 4 19 TURN ON OFF MOTOR WINDING CURRENT OR EXAMINE IT W Instruction aaW 0 Turn Motor Current Off aa 00 to 50 Response aaR Instruction executed Instruction faaW 1 Turn Motor Current On aa 00 to 50 Response aaR Instruction executed Instruction aaW4 Examine Motor Current aa 00 only Response f aaW 1 Motor Current is On Note This is program control of motor current Position is not affected by this instruction Motor current can be turned On Off manually with toggle switch Manual control has higher priority than remote control Connected t
16. ied as is with no warranty of any kind covering detailed performance Accessory products not manufactured by ACS are covered by the original equipment manufacturers warranty only In exercising this warranty ACS will repair or at its option replace any product returned to the customer service department or an authorized service facility within the warranty period provided that the warrantor s examination discloses that the product is defective due to workmanship or materials and has not been caused by misuse neglect accident or abnormal conditions or operations The purchaser is responsible for the transportation and insurance charges arising from the return of products to the servicing facility ACS will return all in warranty products with transportation prepaid This warranty is in lieu of all other warranties expressed or implied including but not limited to any implied warranty of merchantability fitness or adequacy for any particular purpose or use ACS shall not be liable for any special incidental or consequential damages whether in contract or otherwise 1 2 Assistance and Maintenance Agreements Answers to questions concerning installation calibration and use of ACS equipment are available from the customer service department 35 Corporate Park Drive Pembroke MA 02359 781 829 9228 ACS offers a selection of customer support services For example maintenance agreements provide extended warranty and allow the
17. in 4 must be left open pin 5 GND signal reference pin 6 not connected 6 Manual Revision History J2 Power Connector J2 Power Connector pin 1 5V Logic Supply pin 2 Ground pin 3 MV Motor Voltage SMC 32B User s Manual Revision History ADVANCED CONTROL SYSTEMS CORPORATION 33 SMC 32B Driver Controller ACS Revision Date of Section Issue 1 0 Original Release 1 1 7 11 05 4 7 Changes to section 1 2 7 11 05 4 10 Changes to section 1 3 4 13 06 5 3 Added Pinout diagram ADVANCED CONTROL SYSTEMS CORPORATION 34 SMC 32B Driver Controller
18. nt can be repaired or replaced The customer will be billed for the parts and labor for the repair as well as for shipping SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 2 SMC 32B DESCRIPTION 2 1 SMC 32B CONTROLLER FEATURES This Advanced Control Systems Corp stepping motor controller contains control and power drive circuitry to operate any two or four phase stepping motor with currents up to 3Amp per phase The control program can be entered into the SMC 32B s non volatile memory for independent operation or it can be controlled by a host computer The stepping motor driver is two phase bi polar type which is highly efficient and results in cool operation of motors and drivers Motor winding current is trimpot adjustable in the range of 125 to 3 00Amps Idle winding current is also trimpot adjustable Idle current control is enabled by onboard jumper Motors can operate in full step mode one phase on full step mode two phases on and ministep mode Ministep modes are 2 3 4 5 6 or 8 motor ministeps per full motor step Step mode is selected by onboard jumpers The SMC 32B generates constant stepping rates as well as trapezoidal type velocity profiles Acceleration deceleration and top speed are all programmable The SMC 32B supports two limit inputs and home position input The SMC 32B is designed to operate reliably in adverse industrial environments All operational variables are
19. o Header H1 Pin 2 4 20 EXAMINE OR SET ABSOLUTE POSITION P Instruction aaP 4O l Set Position counter to zero aa 00 to 50 Response aaR Instruction executed Instruction faaP l Examine Position aa 00 only Response 0 Position is zero Note Position can be examined at all times Direction sign 4 or is always required Position cannot be changed when motor is stepping 4 21 SAVE MOTION INDEXES S Instruction aaS l Save motion indexes aa 00 only Response aaR Instruction executed Note Motion Indexes J C V R are saved to nonvolatile memory EEPROM and are reloaded on the next power up 26 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 22 LOAD MOTION PARAMETER DEFAULTS D Instruction aaDJ Load defaults aa 00 only Response faaRJ Instruction executed Note Default indexes are set as follows V Top rate index to 15 7680 steps sec C Constant rate index to 300 384 steps sec J Jog rate index to 300 384 steps sec R Ramp index to 100 4 23 TEST UNIT T Instruction aaT Test the Unit aa 00 only Response aaSMC32B R0 Note aa register address SMC32B controller model RO firmware revision number 4 24 OUTPUT DATA OD Instruction aaODTEST1 Output Data TEST1 aa 00 to 50 Response aaR Note Data is up to seven ASCII characters outputted via serial port at controllers selected communication
20. op rate of the motor load combination Move commands are used when coordinated motion is required Stepping rate is precisely controlled SPEED 4 TARGET STEPS LIMIT C2 C3 OR QUIT STOP 4 11 GO TO ABSOLUTE POSITION G Instruction aaG 12345 1 Go to absolute position 412345 aa 00 to 50 Response aaR Instruction accepted Instruction aaG O l Go to zero position aa 00 to 50 Response aaR Instruction accepted 23 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Notes G Instruction is used when rapid motion is required Motor accelerates to high speed executing trapezoidal or triangular velocity profile Motion indexes R and V control the shape of velocity profile SPEED 1 ACC FINISH DEC STEPS LIMIT OR TARGET QUIT STOP 4 12 INDEX TO RELATIVE POSITION 1 Instruction aal 6000W Step 6000 steps from current position in negative direction aa 00 to 50 Response aaR Instruction accepted Instruction aal H Execute single step in positive direction aa 00 to 50 Response aaR Instruction accepted Notes Instruction is similar to G instruction Motor accelerates to high speed defined bv R and V indexes Runs at high speed then decelerates and stops completing the instructed number of steps 4 13 FINISH DECELERATING STOP F Instruction L Decelerate and stop motor aa 00 to 50 Response aaR Instruction acce
21. pted Notes Finish instruction works only when G or type of motion is being executed Motor decelerates to base speed and stops No steps are lost and position counter stays accurate 4 14 QUIT IMMEDIATE STOP Q Instruction C I Motor stop immediately aa 00 to 50 Response aaR Instruction accepted 24 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Notes Quit instruction works whenever motor is stepping instructed by G I M H instructions 4 15 SEEK HOME POSITION H Instruction aaH Seek Home in positive direction aa 00 to 50 Response aaR Instruction accepted Notes Motor moves at constant rate C in positive direction until Home position is found Home Switch activated Motor will stop if it hits active Limit switch or Quit instruction is received Instruction aaH Seek Home in negative direction aa 00 to 50 Response aaR Instruction accepted Notes Same as for positive direction 4 16 EXAMINE MOTOR STATUS X Instruction aaX Examine if motor is stepping aa 00 to 50 Response aaX 0 Motor stopped Or Response aaX 1 Motor is stepping Notes Numeric character zero or one represents motor status 4 17 EXAMINE LIMITS AND HOME INPUTS E Instruction L I Examine Status of Limit and home inputs aa 00 only Response aaE 000 All three inputs are Low Or Response aaE 001 Limits are Low home input is HI Note Numer
22. range is 0 to 255 Nested repeat loops are not supported 4 32 REPEAT LOOP END RE Instruction aaREW End of Repeat Program Segment aa 01 to 50 Response aaR 433 SUBROUTINE CALL SC Instruction aaSC32W Program Executes Subroutine at Line Address 32 aa 01 to 50 Response aaR Note Subroutines can be located within 01 to 50 range of line addresses 4 34 SUBROUTINE RETURN SR Instruction aaSR Program Execution Return to Main Program aa 01 50 Response aaR Note Subroutine must always be ended by subroutine return instruction Nested subroutines are note supported 4 35 EXAMINE PROGRAM LINES EL Program Line 05 is displayed aa 00 only Instruction aaELO5W Program Line 05 is displayed aa 00 only Response 051 1000 Instruction aaEL01 04 Response 01H Program Lines 01 to 04 are displayed 02WM aa 00 only 031 500 04JL02 Note This instruction is used when writing or editing the program 29 SMC 32B Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION 4 36 NO OPERATION NO Instruction NOJ No Operation Instruction is entered into aa program Response aaR Line aa 01 to 50 4 37 Initialize Program Lines IL Instruction OOILO1 20 1 Program Lines 01 through 20 are initialized with No Operation NO Instruction Response 00R Instruction 001105 Program Line 05 is initialized with No Operation Instruction Response 00R 30 AC S SMC 32B Driver Controll
23. ver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 43 TWO CHARACTER INSTRUCTION SUMMARY OD OL JL JI WM WI WT RS RE SC SR EL NO Output Data Output Level Jump to Line Jump on Input Wait for Motor to Stop Wait for Input Wait Time Repeat Loop Start Repeat Loop End Subroutine Call Subroutine Return Examine Program Lines No Operation Initialize Program Lines ADVANCED CONTROL SYSTEMS CORPORATION SMC 32B Driver Controller 44 ERROR RESPONSES An error response in form aaEn is generated for various reasons Instruction itself is ignored 1 Instruction structure following is not recognizable or data is out of range 2 A motion instruction is executed while motor is already stepping 3 A motion instruction is executed but motor current is shut off by manual input W 0 instruction 4 A motion instruction is executed but limit in that particular direction is activated 5 Quit or finish instruction is executed but motor is already stopped The following table describes error responses E1 Wrong instruction character E2 Motor is stepping E3 Wrong data E4 Motor is stopped E5 Bad instruction structure E6 Current turned off E7 Limits activated or current Off 4 5 STEPPING RATE INDEXES Stepping rate indexes define stepping rate for jog move index and go motion control instructions Actual stepping rate in steps sec is
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