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USER MANUAL MC-02A4

1. MC 02A4 User Manual Interinar Electronics 2 4 2 2 CONTINUOUS VARIED SPEED In this mode the acceleration deceleration can be implemented only if FL value is smaller than FH value The CONTROLLER will start at FL rate 1 and immediately accelerate to dominant FH rate 2 in time set by register This acceleration time is represented as ta t1 Start Once at FH rate the CONTROLLER continues output pulses until detecting one of the conditions Table 6 Start command revoked External Forced Stop signal EL signal in moving direction At that point it will cease operation instantly without deceleration Table 6 Continuous Mode Variable Speed with Instant Stop Defining commands variedspeed continuous Point Source of trigger 1 Start command starton or Start signal if valid 5 2 End of acceleration to FH 3 Start command revoked startoff External Forced Stop signal STO Start t Stop OR End Limit signal EL or direction dependent If the Stop command is issued then the CONTROLLER will decelerate to FL and then stop Table 7 This deceleration time is represented as td Stop t2 Table 7 Continuous Mode Variable Speed with Decelerated Stop Defining commands variedspeed continuous Pulse Rate pps Point Source of trigger 1 Start command starton or Start signal if valid 5 2 End of acceleration to FH 3 Deceler
2. from the following list value value in the range valid for particular register see Table 1 for Register Limits Table 17 List of valid code names X Y Z U setxrd setyrd setzro seturd setxr1 setyr1 setzri seturi setxr2 setyr2 setzr2 setur2 setxr3 setyr3 setzr3 setur3 setxr4 setyr4 setzr4 setur4 setxr5 setyr5 setzr5 setur5 setxr6 setyr6 setzr6 setur6 3 2 3 1 Register RO PRESET COUNTER Description Writes new value to register RO Preset Counter Each axis has its own separate register RO Details see chapter 2 3 2 on pg 2 8 3 2 Language Reference MC 02A4 User Manual Syntax Arguments Modes Example Interinar Electronics setRegister code value code one of the following setxro setyro setzro seturo value must be in range of 0 lt value lt 16777215 Preset Mode Continuous Mode RO stores number of pulses to be executed RO value is ignored setRegister setxr 12345 writes 12345 to register RO on X axis 3 2 3 2 Register R1 FL PULSE RATE Frequency Low Description Details Syntax Arguments Example Writes new value to register R1 FL Pulse Rate Each axis has its own separate register R1 see chapter 2 3 3 on pg 2 8 setRegister code value code one of the following setxr1 setyr1 setzr1 seturl value must be in range of 0 lt value lt 8191 setRegister setxr1 300 writes 300 to regis
3. 5 2 End of acceleration to FH 3 R5 R5 lt formula result Start tl t2 Stop 4 End of deceleration to FL and Stop 5 the Preset Counter RO value becomes equal to R5 value 3 during acceleration Excessive R5 value causes deceleration before acceleration ends Motor will not reach FH rate before deceleration starts see Table 12 Table 12 Preset Mode Varied Speed with value of R5 in acceleration range Defining commands variedspeed preset set reO Point Source of trigger 1 Start command starton or Start signal if Valid 5 2 End of acceleration before FH PPC R5 Deceleration Start O Set di Stop 3 End of deceleration to FL and Stop 6 the Preset Counter RO reaches 0 value while R5 value was 0 no ramping down point set the CONTROLLER will stop without deceleration see Table 13 7 the Stop command is received the CONTROLLER will cease operation instantly without deceleration see Table 13 8 the External Forced Stop signal is received the CONTROLLER will cease operation instantly without deceleration see Table 13 9 the EL signal in moving direction is received the CONTROLLER will cease operation instantly without deceleration see Table 13 2 16 Hardware Reference MC 02A4 User Manual Interinar Electronics Table 13 Preset Mode Varied Speed with R5 0 Defining commands variedspeed
4. High then the CONTROLLER will start output pulses immediately For that reason the Stop Command stopon must be issued in advance 2 2 3 6 STA Input for External Start signal Valid only if External Start Valid Command extstarton is written in advance Has no effect otherwise When this signal is Low the CONTROLLER will not output pulses even if Start command is issued Once this 2 6 Hardware Reference MC 02A4 User Manual Interinar Electronics input becomes High then the CONTROLLER starts immediately Used when operator assisted process is required or suspension of start depends on finishing other tasks 2 2 3 7 STP Input for External Forced Stop signal Regardless of moving direction if this signal becomes High the CONTROLLER will stop immediately When this signal recovers Low the CONTROLLER will maintain Stop condition When new Start Command starton is issued while this signal is High the CONTROLLER will maintain Stop condition The Reset Command reset is required to clear the Stop condition before new Start command is issued This signal is useful to stop CONTROLLER in an emergency 2 2 3 8 GND Common GND for all signals on the same port This GND should not be used for any other GND connection but only as a Common GND for signals connected to the same terminal block 2 2 4 AUX port J1 Provides access to signals from to external devices or used as flags If not used this port may be left disconn
5. gt Power tab It should say Hub Information The hub is self powered Total power available xxx mA per port In case no USB port with at least 200mA power is available customer must provide external power to JS1 Terminal Block and remove jumper JP2 Recommended power supply is 500mA with DC voltage from 12V to 40V 2 2 2 DRIVER port J7 J8 J9 J10 Most of the BSD series DRIVERs be connected directly to ports 27 28 J9 J10 X Y Z U using 10 conductor ribbon cable available from Interinar Electronics P N FC10 14I No other connection to the DRIVER is required This connection will also allow for controlling the Step Mode and Enable inputs of the BSD DRIVER The jumpers on the BSD DRIVER need to be set as follows BSD 071 MS2 OFF MS1 OFF 2 3 Hardware Reference MC 02A4 User Manual Interinar Electronics BSD 02 and BSD 02LH JP5 OFF JP6 OFF The other DRIVERS not manufactured by Interinar can be connected to the same ports after matching their signals to the corresponding pins In addition the inputs of such DRIVERS must accept TTL level signals These DRIVERS may or may not have Enable and Step Mode selection easily available Each port has a shrouded 10 pin header with pin out matching pin to pin connector on the BSD series DRIVER Pin Function Ba P 1 ENABLE OUTPUT oez 2 NOT CONNECTED 3 NOT CONNECTED 4 DRIVER RESET OUTPUT 5 DIRECTION OUTPUT 6
6. see Table 4 and 5 2 11 Hardware Reference MC 02A4 User Manual Table 3 Continuous Mode Constant Speed Interinar Electronics Defining commands speedconstant continuous Pulse Rate pps FH Start Stop Point Source of trigger 1 Start command starton or Start signal if valid 5 2 Start command revoked startoff Stop command stopon OR External Forced Stop signal STO End Limit signal EL or direction dependent Table 4 Continuous Mode Speed Change from High to Low Defining commands speedconstant continuous Pulse Rate pps FH FL Start t1 Stop Point Source of trigger 1 Start command starton or Start signal if valid 5 2 Speed change command f1speed 3 Start command revoked startoff Stop command stopon OR External Forced Stop signal STO End Limit signal EL or direction dependent Table 5 Continuous Mode Speed Change from Low to High Defining commands speedconstant continuous Start t1 Stop Point Source of trigger 1 Start command starton or Start signal if valid 5 2 Speed change command fhspeed 3 Start command revoked startoff Stop command stopon OR External Forced Stop signal STO End Limit signal EL or direction dependent 2 12 Hardware Reference
7. 1 2 1 Static Public Member Functions e static Boolean FindTheHid Search for a HID class device by its Vendor ID and Product ID Vendor Id is set to 0x03EB Product Id is set to 0x2013 Declaration static Boolean MC 2HID MCDevice FindTheHid Returns True device detected False device not detected This is the only function available in MCDevice class Other functions are not available to the end user and will not be documented here If the user desires to create his own language instead of using MCEncoder class then the direct implementation of this class is necessary In such case please request document MCO2HID Library Reference where two additional functions are documented 3 1 Language Reference MC 02A4 User Manual Interinar Electronics 3 2 Package MCO2ENCOD 3 2 1 Classes e class MCEncoder This is the only class available in MCO2ENCOD Package It gives access to internal registers of MC 02 series motion controllers 3 2 2 MCO2ENCOD MCEncoder Class Documentation 3 2 2 1 Static Public Member Functions e static void setRegister string code Int32 regVal static void setCommand string code e static Byte getData string code 3 2 3 FUNCTION setRegister This function writes data to registers RO to R6 Declaration public static void MCO2ENCOD MCEncoder setRegister string code Int32 value All commands using this function will have the same format setRegister code value Arguments code
8. LER starts immediately To prevent such undesired behavior we recommend writing the Stop Command stopon in advance before changing direction to Negative 2 5 Hardware Reference MC 02A4 User Manual Interinar Electronics 2 2 3 2 EL Input for End Limit signal in Negative direction If this signal becomes HIGH while moving in Negative direction then the CONTROLLER immediately stops If this signal recovers LOW the CONTROLLER will maintain the Stop condition If a new Start Command starton in Negative direction is issued the CONTROLLER will maintain the Stop condition While in this condition if the direction is changed to Positive or EL signal recovers LOW then the CONTROLLER starts immediately To prevent such undesired behavior we recommend writing the Stop Command stopon in advance before changing direction to Positive 2 2 3 3 SD Input for Start Deceleration Ramping Down signal in Positive direction Valid only if SD Command sdsigon is written in advance Has no effect otherwise Valid only in Varied Speed Operation mode If this signal becomes HIGH while moving in Positive direction then the CONTROLLER ramps down the pulse from FH to FL rate according to Acceleration Deceleration R3 setting When this signal recovers LOW the CONTROLLER accelerates back to FH rate according to Acceleration Deceleration R3 setting If new Start command starton is issued in Positive direction while this signal is High t
9. NT at Stop EL 1 INT at Ramping Down Point EL 2 INT at External Start ORG 3 Running STP 4 RO Pulse Counter Zero Empty STA 5 RO Pulse Counter Smaller than R5 SD 6 Accelerating SD 7 Decelerating Excitation Zero Position 3 14 Language Reference
10. STEP OUTPUT 7 MS2 OUTPUT 8 MS1 OUTPUT E 9 NOT CONNECTED z 2022 ONE 2 4 Hardware Reference MC 02A4 User Manual Interinar Electronics 2 2 3 LIMIT port J3 J4 J5 J6 The CONTROLLER WILL NOT output any signal if one or more of the following terminals is High or disconnected STP EL EL All switches and sensors connected to LIMITS port must be NC Normal Closed type Each input on this port features 4 7kohm pull up resistor the Schottky buffer and internal digital filter for increased noise immunity Note IF NO LIMIT SWITCH IS CONNECTED THE APPROPRIATE TERMINAL MUST BE SHORTED TO GND USING A WIRE JUMPER m 1 EL 3 SD 4 SD 5 ORG 6 STA 7 STO 8 GND seelsel Figure 2 Limit Port EL ORG SD Y 7 lt DIRECTION DIRECTION gt w V LOAD MECHANICAL MECHANICAL TRAVEL TRAVEL LIMIT LIMIT Figure 3 Typical location of Limit Switches for single axis linear motion 2 2 3 1 EL Input for End Limit signal in Positive direction If this signal becomes HIGH while moving in Positive direction then the CONTROLLER immediately stops If this signal recovers LOW the CONTROLLER will maintain the Stop condition If a new Start Command starton in Positive direction is issued the CONTROLLER will maintain the Stop condition While in this condition if the direction is changed to Negative or EL signal recovers LOW then the CONTROL
11. UE MAX VALUE COMMAND RO Preset Counter step pulse counter 0 16777215 set re R1 FL low speed Pulse Rate 1 8191 set ri R2 FH high speed Pulse Rate 1 8191 set r2 R3 Acceleration Deceleration Rate 2 1023 set r3 R4 Multiplication Factor 2 1023 set r4 R5 Ramping Down Point 0 65535 set r5 R6 Idling Pulses Number 0 7 set r6 2 3 2 R0 PRESET PULSE COUNTER PC This is a special counter which counts down number of pulses from the preset value In the Preset Operation Mode enter the number of positioning pulses and write the Start Command The Preset Counter will count down with each pulse and the CONTROLLER will stop once the Preset Counter reaches 0 zero The RO register accepts values from 0 to 16 777 215 If this register is 0 zero then the CONTROLLER will not output any pulses once Start Command is issued and will maintain Stop condition If during Preset Operation the CONTROLLER is stopped with Stop Command or External Forced Stop signal the Preset Counter RO retains the remaining number of pulses Therefore entering new Start command allows to output remaining number of pulses Once 0 zero the RO register needs to be written again with new number of pulses 2 3 3 R1 FL PULSE RATE This register stores the FL Frequency Low Pulse Rate that defines Low Speed Value There are several ways this value can be used If FL speed rate is selected in Constant Speed Mode then the CONTROLLER will output at this r
12. USER MANUAL MC 02A4 4 AXES MOTION CONTROLLER FOR BIPOLAR AND UNIPOLAR STEP MOTORS INTERINAR ELECTRONICS http www interinar com rev 1 00 Copyright Information Interinar Electronics All rights reserved This document is furnished for the customers of Interinar Electronics Other uses are unauthorized without written permission of Interinar Electronics Information contained in this document may be updated from time to time due to product improvements and may not conform in every respect to former issues Disclaimer of Liability Interinar Electronics is not responsible for special incidental or consequential damages resulting from any breach of warranty or under any legal theory including lost profits downtime goodwill damage to or replacement of equipment or property or any costs of recovering reprogramming or reproducing any data stored in or used with Interinar products Interinar Electronics is also not responsible for any personal damage including that to life and health resulting from use of any of our products Customer takes full responsibility for any application where Interinar products are implemented Interinar Electronics Technical Support Email support interinar com Website http www interinar com MC 02A4 User Manual Interinar Electronics USER MANUAL vis cciscvisecesecssanssenceccenedavcnanecceasabacsnensnevcuscatadszassnaccanta ensuecesaavenazadseacsnsdauchanatseusazasancs i f O
13. VERVIEW ficicevccisiccevaascdcacdininesvsancuccsvasdanndsacdcncvuadeussvasaveutvuninunnadstscussdsaeunsnteveaavausidussvasnaus 1 1 1 1 1 02 4 1 1 11 25 SAFETY SUMMARY i riot daasaiectatavccadaneteeduaad vet To gv o Pasa Evo araara NN 1 1 1 123 TECHNICAL SUPPOR gp 1 1 2 Hardware Reference isisccicsicsccisiiscntinscascanescnchiendssusasnddschetnsaducadndscnnaactaashanavunenducpauenaunsaannada 2 2 24 HARDWARE DESCRIPTION nnne nnne nnne nnne nnne nna an dn n nn n nnn 2 2 2 11 uuu cer eee cete ee V 2 2 2 2 PORT DESCRIPTION citet etie t Pera eoe aite ore usa 2 3 2 2 1 POWER port JS1 2 u aaa Do ne REO na DER EUR n ERR a Re ARR kaka 2 3 2 2 2 DRIVER poit J7 J8 JO JIU asua nk RR 2 3 2 2 3 LIMIT port 3 3455 J6 5 oi rea enano aea DD e etae eae ka To e ene oc y 2 5 ZLA AUX DOTT cece o ideo itemise abd hka ka la odes 2 7 225 USB o MG Re ERE 2 7 2 3 REGISTERS esee deme or cene eed Un E ve te e ha eda v ra ud E T Eos 2 8 23 l OVERVIEW EE 2 8 2 3 2 PRESET PULSE COUNTER PC 2 8 2 3 3 FE PULSE RATE irnia aaa Sacco ria cu ve
14. al is received Each axis has its own separate pair of command Details see chapter 2 2 3 6 on pg 2 6 Syntax setCommand code Arguments code one of the following xextstarton xextstartoff yextstarton yextstartoff zextstarton zextstartoff 3 8 Language Reference MC 02A4 User Manual Interinar Electronics Example Notes uextstarton uextstartoff setCommand xextstarton makes STA signal for x axis valid If the CONTROLLER was started by the STA signal and then stopped it cannot be started again using STA unless Reset command is written in advance 3 2 4 7 CONSTANT and VARIED SPEED Description Details Syntax Arguments Example Selects between Constant and Varied speed Each axis has its own separate pair of commands see chapter 2 4 on pg 2 11 setCommand code code one of the following xspeedconstant xspeedvaried yspeedconstant yspeedvaried zspeedconstant zspeedvaried uspeedconstant uspeedvaried setCommand zspeedconstant z axis will operate at constant speed 3 2 4 8 STOP or DECELERATED STOP CONTROL Description Details Syntax Arguments Example 3 9 Immediately stop if in Constant speed mode Decelerated stop if in Varied speed mode Each axis has its own separate pair of commands see chapter 2 4 on pg 2 11 setCommand code code one of the following xstopon xstopoff ystopon ystopoff zstopon zstopoff ustopon ustopoff setComm
15. and xstopon x axis will stop immediately Language Reference MC 02A4 User Manual Interinar Electronics 3 2 4 9 START CONTROL Description Details Syntax Arguments Example 3 2 4 10 Description Details Syntax Example 3 2 4 11 Description Details Syntax Arguments 3 10 Start or suspend start until External Start received Each axis has its own separate pair of commands see chapter 2 2 3 6 on pg 2 6 setCommand code code one of the following xstarton xstartoff ystarton ystartoff zstarton zstartoff ustarton ustartoff setCommand xstarton x axis will start or suspend start until valid STA RESET This command will reset CONTROLLER to default clears all registers sets Continuous Constant Speed mode in CW direction at FL speed setCommand reset setCommand reset makes SD signals for axis x valid LINEAR OR S CURVE ACCELERATION DECELERATION Select between Linear and S curve acceleration and deceleration Each axis has its own separate pair of commands see chapter 2 4 4 on pg 2 17 setCommand code code one of the following xscurveon xscurveoff yscurveon yscurveoff zscurveon zscurveoff Language Reference MC 02A4 User Manual Example 3 2 4 12 Description Details Syntax Arguments Example Notes 3 2 4 13 Description Details Syntax Arguments 3 11 Interinar Electronics uscurveon uscur
16. ate It is important to differentiate this register from R2 which stores FH Pulse Rate The CONTROLLER will use FH and FL rates in the Motion Profile algorithm and if FL is higher that FH the CONTROLLER will not perform any of Varied Speed operations properly In the Varied Speed Mode the CONTROLLER will output pulses while accelerating from FL to dominant FH rate While at FH rate it is possible to write Deceleration Stop command to decelerate to FL rate before cessation The R1 accepts values from 1 to 8191 The actual FL pulse rate is the product of the R1 and m Multiplication Rate based on values of R4 register and it is calculated as follows FL pps R1 x m 2 3 4 R2 FH PULSE RATE This register stores the FH Frequency High Pulse Rate that defines High Speed Value There are several ways this value is used If FH speed rate is selected in Constant Speed Mode then the CONTROLLER will output at this rate 2 8 Hardware Reference MC 02A4 User Manual Interinar Electronics It is important to differentiate this register from R1 which stores FL Pulse Rate The CONTROLLER will use FH and FL rates in the Motion Profile algorithm and if FL is higher that FH the CONTROLLER will not perform any of Varied Speed operations properly In the Varied Speed Mode the CONTROLLER will output pulses while accelerating from FL to dominant FH rate While at FH rate it is possible to write Deceleration Stop command to decelerate to FL rate befo
17. ated Stop stopon O Sa 0 Stop 4 End of deceleration to FL and stop 2 4 3 PRESET MODE The Preset Mode allows accurate positioning by designating the number of output pulses in specified direction The number of pulses must be written to RO PC Preset Counter in advance The CONTROLLER will output pulses as long as RO value is greater than 0 and none of the stop conditions occur Once RO reaches 0 the CONTROLLER stops The RO needs to be written with new number of pulses every time next 2 13 Hardware Reference MC 02A4 User Manual Interinar Electronics position is required The Preset Counter RO always counts down regardless of direction While in this mode CONTROLLER can work at e Constant Speed e Varied Speed 2 4 3 1 PRESET CONSTANT SPEED The CONTROLLER starts at either FL or FH rate and only if RO value is greater than 0 The CONTROLLER maintains output pulses until RO reaches 0 or one of the stop events occur Table 8 Start command revoked External Forced Stop signal EL signal in moving direction At that point it will cease operation instantly without deceleration Table 8 Preset Mode Constant Speed Defining commands speedconstant preset set re Pulse Rate pps Point Source of trigger 1 1 starton or Start signal if valid STA FH 2 PC Start command revoked startoff Stop command stopon Time OR External Forced Stop s
18. ated as follows m 4915200 R4 x 8192 This formula may be used to fine tune Multiplication Rate to a specific application However in most cases values from the following table may be used 2 9 Hardware Reference MC 02A4 User Manual Table 2 Typical Multiplication Rate m Interinar Electronics MINIMUM MAXIMUM T MULTIPLICATION OUTPUT PULSE OUTPUT PULSE RATE RATE FL FH pps pps 1023 0 58651 0 58651 4804 106 1000 0 6 0 6 4914 6 800 0 75 0 75 6143 25 750 0 8 0 8 6552 8 625 0 96 0 96 7863 36 600 1 1 8191 500 12 32 9829 2 400 1 5 1 5 12286 5 375 1 6 1 6 13105 6 320 1 875 1 875 15358 13 300 2 2 16382 240 2 5 2 5 20477 5 200 3 3 24573 150 4 4 32764 120 5 5 40955 100 6 6 49146 75 8 8 65528 60 10 10 81910 50 12 12 98282 40 15 15 122865 30 20 20 163820 24 25 25 204775 20 30 30 245730 15 40 40 327640 12 50 50 409550 10 60 60 491460 2 300 300 2457300 2 3 7 R5 RAMPING DOWN POINT This register stores value of the starting point for deceleration called Deceleration Ramping Down Point The Deceleration Ramping Down Point is defined as the number of pulses to be output before the final stop It is important to understand the meaning of this register In the Preset Varied Speed Mode the CONTROLLER continues comparing R5 value with current value of RO Preset Counter When the Preset Counter counting always
19. down reaches the value entered in R5 the CONTROLLER will start decelerating the output pulses from FH rate to FL rate In addition if the Start Command is issued while R5 value is greater or equal than RO value then the CONTROLLER does not accelerate to FH rate but maintains output pulses at FL rate Always determine FL FH and Acceleration Deceleration rates before setting the R5 register If you define improper Ramping Down Point the CONTROLLER may terminate output pulses during deceleration or unnecessarily output large number of pulses at FL rate after completion of deceleration The exact ramping down point can be calculated as follows R5 R2 R1 x R4 x 16384 The R5 register accepts values from 0 to 65535 2 10 Hardware Reference MC 02A4 User Manual Interinar Electronics 2 3 8 R6 IDLING PULSES This register stores the number of idling pulses The CONTROLLER can generate several Idling Pulses to enable the stepper motor to start at the pulse rate near the self starting frequency The number of pulses entered in R6 is a subset of total number of pulses entered in RO so the position accuracy is not affected If number of Idling Pulses is entered to R6 as 0 then CONTROLLER will accelerate immediately after receiving Start command or Start signal The R6 register accepts values from 0 to 7 2 4 BASIC OPERATION 2 4 1 OVERVIEW The CONTROLLER can work in three different modes n Continuous Mode n Pre
20. e becomes equal to R5 value 3 and R5 value was calculated according to formula R5 R2 R1 x R4 x 16384 In such case deceleration stops exactly when RO will become O see Table 10 3 the Decelerated Stop command is received the CONTROLLER will decelerate from FH rate to FL rate and once FL rate is reached the CONTROLLER will stop output pulses The RO may still contain remaining pulses to execute see Table 10 Table 10 Preset Mode Varied Speed with Exact value of R5 Defining commands variedspeed preset set reO Pulse Rate pps Point Source of trigger 1 Start command starton or Start signal if Valid 5 2 End of acceleration to FH 3 R5 R5 exactly calculated or OR Stop command stopon Start tl t2 Stop 4 End of deceleration to FL and Stop 4 the Preset Counter RO value becomes equal to R5 value 3 and R5 was value is smaller than result of the formula R5 R2 R1 x R4 x 16384 In this case deceleration will end at the speed higher than FL because there was not enough pulses left in RO to complete deceleration to FL see Table 11 2 15 Hardware Reference MC 02A4 User Manual Interinar Electronics Table 11 Preset Mode Varied Speed with Low value of R5 Defining commands variedspeed preset set reO Point Source of trigger 1 Start command starton or Start signal if Valid
21. ected Inputs 4 inputs TTL level 5V interface with 4 7kohm pull up resistors and Schottky buffers Outputs 8 outputs TTL level 5V interface Each of these outputs can be used as a flags or to trigger external process Should not be used to drive directly relays or any load exceeding 20mA per output THIS VERSION HAS NO VALID IMPLEMENTATION FOR INPUTS ON THIS PORT reserved for future use Pin Function 1 INPUT1 2 INPUT2 ames 3 INPUT3 22228888 ES 242 Adee eae 2 DU Rd ooooooo 4 8 OUTPUT 2 1 zo 13 9 OUTPUT3 10 OUTPUT 4 11 OUTPUT 5 FEEFEE 12 OUTPUT 6 Mo A oh 13 OUTPUT 7 14 OUTPUT8 2 2 5 USB port CN1 USB TYPE B connector USB OTG functionality is not implemented The CONTROLLER can be connected to any PC with USB port The cable required for this connection must be terminated with USB Type B connector on the CONTROLLER side available in retail stores 2 7 Hardware Reference MC 02A4 User Manual Interinar Electronics 2 3 REGISTERS 2 3 1 OVERVIEW The CONTROLLER stores motion profile parameters in seven specialized registers There are 4 sets of 7 registers each one set for each axis All of them need to be written in advance before Start command is issued The function setRegister with corresponding parameters writes each register separately Table 1 List of Registers REGISTER DESCRIPTION MIN VAL
22. he Stop e Linear or S Curve acceleration deceleration ramping up down e Continuous Operation until the Stop signal or command 2 2 Hardware Reference MC 02A4 User Manual Interinar Electronics Preset Operation Stop after preset number of pulses Origin Return Operation until the ORG trigger Timer Function with no output pulse Idling Pulses from 0 to 7 pulses Pulse Rate variable on the way Suspension of acceleration deceleration on the way Immediate Stop Deceleration Stop External Start and Stop control External signals for End Limits Start Deceleration and Origin Return Monitoring operation status Selectable number of Positioning pulses from 1 to 16 777 215 Speed Pulse settings separate for FL and FH rates Pulse rate Multiplication factor for pulse output up to 400kpps with typical values of 1x 1to 8191pps and 2x 2 to 16382pps e Acceleration and Deceleration rate settings from 2 to 1023 2 2 PORT DESCRIPTION The CONTROLLER features the following ports e POWER 51 DRIVER J7 38 29 210 LIMIT SWITCHES J3 J4 J5 J6 AUX J1 USB CN1 PROG J2 FOR MANUFACTURING TEST ONLY 2 2 1 POWER port JS1 Connection to external power supply There is no need for an external power supply if the CONTROLLER is connected to the USB port with at least 200mA of Total Power Available Please check your PC MS Windows Control Panel Device Manager gt USB Controllers gt USB Hub gt Properties
23. hen the CONTROLLER will not accelerate but instead will continue output pulses at FL rate This signal has no effect if becomes High during deceleration caused by software ramping down set in register R5 2 2 3 4 SD Input for Start Deceleration Ramping Down signal in Negative direction Valid only if SD Command sdsigon is written in advance Has no effect otherwise Valid only in Varied Speed Operation mode If this signal becomes High while moving in Negative direction then the CONTROLLER ramps down the pulse from FH to FL rate according to Acceleration Deceleration R3 setting When this signal recovers Low the CONTROLLER accelerates back to FH rate according to Acceleration Deceleration R3 setting If new Start command starton is issued in Negative direction while this signal is High then the CONTROLLER will not accelerate but instead will continue output pulses at FL rate This signal has no effect if becomes High during deceleration caused by software ramping down set in register R5 2 2 3 5 ORG Input for Origin Return signal Valid only if ORG Enable Command orgon is written in advance Has no effect otherwise When this signal becomes High the CONTROLLER will stop immediately If this signal recovers Low the CONTROLLER will maintain the stop condition If the Start Command starton is issued while this signal is High the CONTROLLER will not output any pulses If the ORG signal is disabled orgoff while
24. ignal STO Start Stop End Limit signal EL or direction dependent 2 4 3 2 PRESET VARIED SPEED This mode includes acceleration and deceleration only if the FL value is set lower than FH value The CONTROLLER upon receiving Start command or signal starts output pulses at FL rate 1 and immediately accelerates to dominant FH rate 2 in time set by R3 register This acceleration time is represented as ta t1 Start Once FH rate is reached the CONTROLLER continues output pulses until one of the following events occur 1 the Preset Counter RO value becomes equal to R5 value 3 then the CONTROLLER will start deceleration from FH rate to FL rate 4 in time set by R3 value The deceleration time is represented as td t3 t2 Once it reaches the FL rate the CONTROLLER output pulses until RO counts down to 0 It is important to set R5 value small enough to prevent pulses at FL rate for prolonged time tn Stop t3 see Table 9 2 14 Hardware Reference MC 02A4 User Manual Interinar Electronics Table 9 Preset Mode Varied Speed with High value of R5 Defining commands variedspeed preset set reO Point Source of trigger 1 Start command starton Start signal if Valid 5 2 End of acceleration to FH 3 PC R5 Or OR Stop command stopon Start tl t2 t3 Stop 4 End of deceleration to FL 5 PC 0 then stop 2 the Preset Counter RO valu
25. its own separate pair of commands see chapter 2 2 3 5 on pg 2 6 setCommand code code one of the following xorgon xorgoff yorgon yorgoff zorgon zorgoff uorgon uorgoff setCommand xorgon makes ORG signal for x axis valid 3 2 4 2 SD SIGNAL CONTROL Description Details Syntax Arguments Makes SD Start Deceleration signals valid or invalid The CONTROLLER will start deceleration if SD is valid and SD signal is received Each axis has its own separate pair of commands see chapter 2 2 3 3 on pg 2 6 setCommand code code one of the following Language Reference MC 02A4 User Manual Example Notes Interinar Electronics xsdsigon xsdsigoff ysdsigon ysdsigoff zsdsigon zsdsigoff usdsigon usdsigoff setCommand xsdsigon makes SD signals for x axis valid Requires exact calculation of Ramping Down point see chapter 2 3 7 on pg 2 10 3 2 4 3 CONTINUOUS MODE and PRESET MODE Description Details Syntax Arguments Example Select between the Continuous Mode where CONTROLLER will output pulses regardless of value of Preset Counter and the Preset Mode where CONTROLLER will stop output pulses when the Preset Counter counts down to 0 Each axis has its own separate pair of commands for Continuous Mode see chapter 2 4 2 on pg 2 11 for Preset Mode see chapter 2 4 3 on pg 2 13 setCommand code code one of the following xpreset xcontinuous ypreset ycon
26. nn n n n n i n nn a 3 5 3 2 5 d Cae La D des geE Ean 3 12 i Table of Contents MC 02A4 User Manual Interinar Electronics 1 OVERVIEW 1 1 1 MC 02A4 Overview This manual describes the MC 02A4 4 Axes Motion Controller only For MC 02A2 and MC 02A1 please refer to their designated documents Naming convention The word CONTROLLER refers to the MC 02A4 The word DRIVER refers to the Step Motor Driver starton color red all software commands sent from PC replace with axis label x y z u STA color blue all electrical signals connected to the controller example limits switch push button relay etc replace with axis label x y z u The CONTROLLER is designed to work with most of the DRIVERS with Step Direction interface Host computer communicates with CONTROLLER through USB port The CONTROLLER may also run as a standalone controller custom implementation not available in this version 1 1 2 SAFETY SUMMARY Do not plug unplug any wires and connectors to from the CONTROLLER while the power in on Do not make any modification to the board or components Always remove power and wait 10 seconds to discharge the circuit before touching it Various electronic components are ESD sensitive devices therefore the CONTROLLER must be handled in accordance to safety procedures specified for ESD devices 1 1 3 TECHNICAL SUPPORT Interinar Electronics
27. of trigger 1 Start command starton or Start signal STA 2 End of acceleration to FH 3 Origin signal ORG However the smooth origin return operation can be achieved making SD signal valid and placing SD sensor in close proximity of Origin Point In this case the CONTROLLER will start deceleration to FL rate right before Origin Point and finish rest of the travel at FL rate until ORG signal becomes HIGH Table 16 Origin Return Mode with valid ORG signal and deceleration before ORG Start tl t2 t3 Stop Point Source of trigger 1 Start command starton or Start signal STA 2 End of acceleration to FH 3 Start Deceleration Point 250 4 End of deceleration to FL and Stop 5 Origin signal ORG 2 18 Hardware Reference MC 02A4 User Manual Interinar Electronics 3 MC 02 LANGUAGE REFERENCE The custom application can be created with help of two libraries e MC02HID USB communication with the CONTROLLER e MCO2ENCOD access functions MCEncoder class Both libraries must be referenced in customer s code The coNTROLLER comes also with an additional program allowing interactive development code editing testing and monitoring 3 1 Package MC02HID 3 1 1 Classes e class MCDevice This is the only class available in MC02HID Package Its role is to establish communication with MC 02 series motion controllers 3 1 2 MC02HID MCDevice Class Documentation 3
28. preset set reO Point Source of trigger 1 Start command starton Start signal if Valid 5 2 End of acceleration to FH 3 Start command revoked startoff Start t Stop Stop command stopon OR External Forced Stop signal STO End Limit signal EL or direction dependent 2 4 4 S CURVE By sending scurveon the CONTROLLER will use S curve for acceleration and deceleration see Table 14 To restore Linear acceleration and deceleration the CONTROLLER must receive scurveoff command S curve is recommended for high inertia loads Table 14 S Curve Acceleration and Deceleration Defining commands 5 Point Source of trigger 1 Start command starton or Start signal if Valid 5 2 End of acceleration to FH 3 PC R5 or Start command revoked startoff Start tl t2 Stop Stop command stopon OR External Forced Stop signal STO End Limit signal EL or direction dependent 2 17 Hardware Reference MC 02A4 User Manual 2 4 5 ORIGIN RETURN MODE This mode is available by making ORG signal valid If ORG is valid then CONTROLLER regardless of selected mode will always stop pulses when ORG signal becomes HIGH Table 15 Origin Return Mode with valid ORG signal Interinar Electronics Pulse Rate pps Start tl Stop Point Source
29. r aA 2 8 2 3 4 R2 FH PULSE a a a DR PRX NES Qa E aaea 2 8 2 3 5 R3 ACCELERATION DECELERATION RATE eene menn nnne nnn nnn 2 9 2 3 6 R4 MULTIPLICATION FACTOR l menn nnn nnne nnn n nn nna n n n 2 9 2 3 7 R5 RAMPING DOWN POINT a a a nnne nnn nnn nnn n n n n n nn 2 10 273 8 R6 IDLING PULSES 2 11 2 4 295 h D eR ona nd Rp EO Ra los 2 11 p nuEeudiL 2 11 2 4 2 CONTINUOUS Q uuu oor a cron CR an xe Y aO haqa CRY en NU A RR 2 11 27453 PRESET ie evade ett leves 2 13 244 CURVEc Aur c BO atte a 2 17 2 4 5 ORIGIN RETURN MODE cetero eee er C doces Pt de c e D d see c 2 18 3 MC 02 LANGUAGE 3 1 3 1 Package MCO2HID essere E 3 1 cmm NEL rM 3 1 3 1 2 MCO2HID MCDevice Class Documentation eem nnn 3 1 3 2 i re ers auetyizi eom 3 2 1 5 5 5 ne EAT aos n Atm M MR E I EE AIT 3 2 3 2 2 MCO2ENCOD MCEncoder Class Documentation eem mnn 3 2 3 2 3 FUNCTION setReglster 2 u Su eie reet n rione ette nene nde ona Reni gabe oaa qaqaq 3 2 3 2 4 FUNCTION setCommand eene mener n
30. re cessation The R2 accepts values from 1 to 8191 The actual FH pulse rate is the product of the R2 and m Multiplication Rate based on values of R4 register and it is calculated as follows FH pps R2x m 2 3 5 R3 ACCELERATION DECELERATION RATE This register stores parameter defining acceleration and deceleration rate In the Varied Speed Mode the CONTROLLER will accelerate from FL to dominant FH rate for the time related to R3 value The CONTROLLER will decelerate the output pulses from FH to FL rate only when the Deceleration Stop Command is issued Ramping Down Point is reached by Preset Counter or one of SD signals direction dependent becomes High The R3 register accepts values from 2 to 1023 The acceleration deceleration time in seconds can be calculated as follows Accel Decel time sec R2 R1 x R3 4915200 Both R1 and R2 are just values stored in registers and not the actual FL and FH rates derived from calculation involving the multiplication factor R4 In other words for the above formula use exactly the same values you entered for R1 and R2 which are unitless 2 3 6 R4 MULTIPLICATION FACTOR This register stores the Multiplication Factor used together with R1 and R2 registers to obtain the output pulse rate for FL and FH speed The lower the value of R4 the higher the frequency of the output pulse becomes The R4 register accepts values from 2 to 1023 The actual Multiplication Rate m is calcul
31. re version 3 2 5 2 get register RO Description Syntax Arguments 3 13 Returns value stored in registers RO Each axis has its own separate command getData code code one of the following getxro get value in register RO on X axis getyro get value in register RO on Y axis getzro get value in register RO on Z axis geture get value in register RO on U axis Language Reference MC 02A4 User Manual Interinar Electronics Returns valid data in 3 bytes invalid data in all remaining bytes Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Report ID Report Data Data Data Invalid Invalid Invalid Invalid Invalid Type Low Mid High Byte 2 RO Lower Byte Byte 3 RO Middle Byte Byte 4 RO Higher Byte Example getData getxr x axis value of RO 3 2 5 3 get Status Description Returns the STATUS 0 and STATUS 1 for all axes at once Syntax getData getstat Response returned data contains information in 8 bytes Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Report ID Report Data Data Data Data Data Data Data Data Type X 50 51 50 51 250 2 51 050 061 Byte 2 x axis Status 0 Byte 3 x axis Status 1 Byte 4 y axis Status 0 Byte 5 y axis Status 1 Byte 6 z axis Status 0 Byte 7 z axis Status 1 Byte 8 u axis Status 0 Byte 9 u axis Status 1 Bit Status 0 Status 1 0 I
32. set Mode Origin Return Mode Regardless of the mode the CONTROLLER will always stop when EL signal in moving direction or the External Forced Stop signal becomes High In mode with acceleration deceleration when the SD signals are set valid the CONTROLLER ramps down to FL rate when SD signal in moving direction becomes High Reminder Naming convention for the remaining chapters starton color red all software commands sent from PC replace with axis label x y z u STA color blue all electrical signals connected to the controller example limits switch push button relay etc replace with axis label x y z u 2 4 2 CONTINUOUS MODE The CONTROLLER output pulses upon receiving Start command and continues until detects Stop command EL signal in moving direction or External Forced Stop signal The RO Preset Counter value is ignored While in this mode CONTROLLER can work at e Constant Speed e Varied Speed 2 4 2 1 CONTINUOUS CONSTANT SPEED The CONTROLLER will output pulses at either FL or FH rate once the Start command is received 1 The RO value is ignored and CONTROLLER maintains output pulses until Start is revoked Stop command is issued EL signal in moving direction or External Forced Stop signal is received 2 see Table 3 If neither of the stop conditions occurs the CONTROLLER will continue output pulses indefinitely While in this mode it is possible to change the speed rate without stopping
33. t2on auxout20ff auxout3on auxout3off auxout4on auxout4off auxout5on auxoutSoff auxout6on auxout6off auxout7on auxout70off auxout8on auxout8off setCommand auxoution set output AUX1 High 1 3 2 5 FUNCTION getData This function reads data from the controller Declaration static Byte MC 2ENCOD MCEncoder getData string code All these commands have the same format getData code 3 12 Language Reference MC 02A4 User Manual Arguments code one from the following list Interinar Electronics gethid getyro getzro geturo getstat Returns reportIN packet of 10 bytes Byte 0 Report ID unique number ID of received packet Byte 1 Report Type unique number describing requested report Byte 2 to 9 Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Report ID Report Data Data Data Data Data Data Data Data Type 3 2 5 1 get Hardware ID Description Returns information about controller model revision and firmware version Syntax getData gethdid Returns valid data in 3 bytes invalid data in all remaining bytes Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Report ID Report Data Data Data Invalid Invalid Invalid Invalid Invalid Type Hdw ID Rev Frmw Ver Byte 2 hardware ID controller model 0x10 MC 02A1 0x20 MC 02A2 0x40 MC 02A4 Byte 3 hardware revision Byte 4 firmwa
34. ter R1 on X axis 3 2 3 3 Register R2 FH PULSE RATE Frequency High Description Details Syntax Arguments Example 3 3 Writes new value to register R2 FH Pulse Rate Each axis has its own separate register R2 see chapter 2 3 4 on pg 2 9 setRegister code value code one of the following setxr2 setyr2 setzr2 setur2 value must be in range of 0 lt value lt 8191 setRegister setxr2 2500 writes 2500 to register R2 on X axis Language Reference MC 02A4 User Manual Interinar Electronics 3 2 3 4 Register R3 ACCELERATION DECELERATION RATE Description Details Syntax Arguments Example Writes new value to register R3 Acceleration Deceleration Rate Each axis has its own separate register R3 see chapter 2 3 5 on pg 2 9 setRegister code value code one of the following setxr3 setyr3 setzr3 setur3 value must be in range of 2 lt value lt 1023 setRegister setxr3 720 writes 720 to register R3 on X axis 3 2 3 5 Register R4 MULTIPLICATION FACTOR Description Details Syntax Arguments Example Writes new value to register R4 Multiplication Factor Each axis has its own separate register R4 see chapter 2 3 6 on pg 2 9 setRegister code value code one of the following setxr4 setyr4 setzr4 setur4 value must be in range of 2 lt value lt 1023 setRegister setxr4 600 writes 600 to register R4 on X a
35. tinuous zpreset zcontinuous upreset ucontinuous setCommand xpreset x axis will operate in Preset Mode 3 2 4 4 DIRECTION CONTROL Description Details Syntax Arguments 3 7 Select between CW and CCW direction of the rotation Each axis has its own separate pair of commands setCommand code code one of the following xdircw xdirccw ydircw ydirccw Language Reference MC 02A4 User Manual Interinar Electronics zdircw zdirccw udircw udirccw Example setCommand xdircw x axis will rotate in Clockwise CW direction Notes This command is hardware dependent Check your driver user manual for information about allowed direction signals Install EL and SD sensors on the way of positive travel direction and EL and SD on the way of negative travel direction 3 2 4 5 SPEED SELECTION Description Selects between two available output pulse rates FL and FH Each axis has its own separate pair of commands Details for FL see chapter 2 3 3 on pg 2 10 for FH see chapter 2 3 4 on pg 2 11 Syntax setCommand code Arguments code one of the following xspeedfl xspeedfh yspeedfl yspeedfh zspeedfl zspeedfh uspeedfh Example setCommand zspeedf1 z axis will output pulse at FL frequency 3 2 4 6 STA SIGNAL CONTROL EXTERNAL START CONTROL Description Makes STA External Start signals valid or invalid The CONTROLLER will start if STA is valid and STA sign
36. veoff setCommand xscurveon x axis will use S curve during acceleration deceleration DRIVER ENABLE CONTROL Enable or disable the step motor driver Each axis has its own separate pair of commands setCommand code code one of the following xenaon xenaoff yenaon yenaoff zenaon zenaoff uenaon uenaoff setCommand xenaon x axis driver will become enabled Hardware dependent All Interinar drivers have Enable input Other drivers may or may not feature this control STEP MODE CONTROL Changes step resolution Each axis has its own separate set of commands setCommand code code one of the following xstep1 BSD driver in Full Step mode xstep2 BSD driver in Half Step mode xstep4 BSD driver in 1 4 Step mode xstep16 BSD driver in 1 16 Step mode ystep1 ystep2 ystep4 ystep16 zstep1 Language Reference MC 02A4 User Manual Interinar Electronics Example Notes 3 2 4 14 Description Details Syntax Arguments Example zstep2 zstep4 zstep16 ustep1 ustep2 ustep4 ustep16 setCommand xstep4 x axis driver in 4 Step mode Hardware dependent All Interinar drivers have Step Mode inputs Other drivers may or may not feature this control AUXILIARY OUTPUTS This changes the logic level of auxiliary output AUXO Each axis has its own separate pair of commands see chapter 2 2 4 on pg 2 7 setCommand code code one of the following auxoution auxoutloff auxou
37. will be happy to respond to any question or concern regarding the CONTROLLER or any other product it manufactures or sells Contact Technical Support Staff by sending email to support interinar com 1 1 Introduction MC 02A4 User Manual Interinar Electronics 2 Hardware Reference 2 1 HARDWARE DESCRIPTION The coNTROLLER controls Unipolar and Bipolar Step Motors via various drivers manufactured by Interinar Electronics Any other DRIVER with Step Direction interface and inputs with TTL level 5V can also be used The PC interface communicates through USB port with the CONTROLLER which in turn generates motion profile for the motor Multiplication Factor Freq Divider Circuit Pulse Output Control Circuit m EL Variable Frequency Direction Divider Circuit Control Circuit DIRECTION Accel Decel gt Driver m gt ENA MSI MS2 Control Circuit 4 Control Circuit No Preset Counter h v PC Comparator AUXIO lt Auxiliary UE Point L gt EL SD cg SD gt Dieital ORG 181 gt Filter STP gt VDD Figure 1 Simplified Block Diagram for single axis 2 1 1 FEATURES e Constant Speed Operation at FL or FH rate from Start to Stop e Varied Speed Operation at FH rate with acceleration from FL rate at the Start and deceleration to FL rate before t
38. xis 3 2 3 6 Register R5 RAMPING DOWN POINT Description Details Syntax Arguments 3 4 Writes new value to register R5 Ramping Down Point Each axis has its own separate register R5 see chapter 2 3 7 on pg 2 10 setRegister code value code one of the following setxr5 setyr5 setzr5 setur5 Language Reference MC 02A4 User Manual Interinar Electronics value must be in range of 0 lt value lt 65535 Example setRegister setxr5 3200 3 2 3 7 Register R6 Idling Pulses Number Description Each axis has its own separate register R6 Details Syntax Arguments value must be in range of 0 lt value lt 7 setRegister setxr6 4 Example 3 2 4 FUNCTION setCommand setxr6 setyr6 setzr6 setur6 see chapter 2 3 8 on pg 2 11 setRegister code value code one of the following Writes new value to register R6 Idling Pulses Number writes 3200 to register R5 on X axis writes 4 to register R6 on X axis This function writes command to the controller Declaration public static void MC 2ENCOD MCEncoder setCommand string code All these commands have the same format setCommand code Arguments code one from the following list Table 18 List of valid code names X Y Z U AUX xstarton ystarton zstarton ustarton auxoution xstartoff ystartoff zstartoff ustartoff auxoutioff xextstarton
39. yextstarton zextstarton uextstarton auxout2on xextstartoff yextstartoff zextstartoff uextstartoff auxout2off xstopon ystopon zstopon ustopon auxout3on xstopoff ystopoff zstopoff ustopoff auxout3off xpreset ypreset zpreset upreset auxout4on xcontinuous ycontinuous zcontinuous ucontinuous auxout4off xspeedconstant yspeedconstant zspeedconstant uspeedconstant auxout5on xspeedvaried yspeedvaried zspeedvaried uspeedvaried auxout5off xspeedfl yspeedfl zspeedfl uspeedfl auxout6on 3 5 Language Reference MC 02A4 User Manual Interinar Electronics xspeedfh yspeedfh zspeedfh uspeedfh auxout6off xdircw ydircw zdircw udircw auxout7on xdirccw ydirccw zdirccw udirccw auxout7off xorgon yorgon zorgon uorgon auxout8on xorgoff yorgoff zorgoff uorgoff auxout8off xsdsigon ysdsigon zsdsigon usdsigon reset xsdsigoff ysdsigoff zsdsigoff usdsigoff xscurveon yscurveon zscurveon uscurveon xscurveoff yscurveoff zscurveoff uscurveoff xenaon yenaon zenaon uenaon xenaoff yenaoff zenaoff uenaoff xstep1 ystep1 zstep1 ustep1 xstep2 ystep2 zstep2 ustep2 xstep4 ystep4 zstep4 ustep4 xstep16 ystepi16 zstep16 ustep16 3 2 4 1 ORG SIGNAL CONTROL ORIGIN RETURN MODE CONTROL Description Details Syntax Arguments Example Activates Origin Return mode by making ORG signal valid or invalid The CONTROLLER will stop output pulses if ORG is valid and ORG signal is received Each axis has

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