IFC-SI02 Interface Free Controller Stepper Indexer Card User`s
Contents
1. object file and card s header file Created by Cytron Technologies Sdn Bhd All Rights Reserved 31 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 SN IFC S102 MPLAB IDE v8 30 MPLAB IDE Editor c File Edit view Project Debugger Programmer Tools Configure Window Help Oe Checksum Ox63e9 IFC S102 mew Sample2 Sic ff fot z Cytron Technologies fiz Sample ST c IES ff Project gt Interface Free Controller Step 3 A Header Files 5 ff Project description Ssamplel for IFC IO0Z E ich jE is Nov 2008 Ey ic_cp h a i E ic sist S EJ object Files 1E E ic bs ia lic_cp o a B lic_si a E Library Files NY Linker Script N S 18f2685 lkr include h file for cards User has to include h file for all the cards used Finclude pl f46es_h include Lich Finclude iic 5i h include lic cp h EE pe Liss PICLaF2605 j To better understand the program please refer to c file named Sample2_SI02 c which is provided with this card k Compile this project to generate hex file Connect UICOOA IDC connector to IFC MB00 as shown The hex file generated is IFC SI02 hex Connector for UICOOA programmer l User can also add the tic_cp h and lic_cp o in project opened in chapter 7 1 remove the C file Samplel_SI02 c in the project and replace it with Sample2_SI02 c without creating a new2. 6 INSTALLATION SOFTWARE User need only to write program for IFC MBO0O in order to send data and communicate with IFC SI02 A program editor C compiler and UICOOA software are required to be installed in order for user to write program compile it and load the program to IFC main board User is recommended to use MPLAB IDE as source code editor and MPLAB C18 as C compiler Both of the softwares are available for free download from Microchip website Please refer user s manual of IFC MB0OO0 for the installation of MPLAB IDE and MPLAB C18 As for the installation of UICOOA software please refer to UICOOA User s Manual Please refer to MBOO User s Manual Chapter 6 for details step to install MPLAB IDE and C18 compiler 6 1 Pulse Calculator Software Pulse Calculator Software is provided for the user to easily calculate the pulses needed in a project especially in encoder functions of the card This section will guide you through using the software Please make sure the computer has java run time environment else please download from http java sun com javase downloads index jsp 1 Double click to open the software A IF S02 jar 2 Pulse Calculator will be shown as figure below 5 IFC S102 mm Pulse Calculator Maximum Frequency Hz Acceleration 0 255 Initial Speed 0 255 Final Speed 0 255 Result pulses Calculate Ww CEON COM My 3 User need to fill in the required value of Maximum Frequency A
3. Header Files J5 ir Project description Samplel for IFC 5S102 LB lic je fed gt Noy 2008 E iic_sish Ez 5C Object Files a iico i ic_sio Jt include h file for cards Ga Library Files i User has to include h file for all the cards use Linker Script IES finclude lt plef 2685_h gt lt 18f2685 kr ILs finclude iic h AGSther Files He include iic_si h H jzo configuration bit User 15 advised not to chan a Ml or Symbols ic ga a PICISF2685 i novzdec bank Lr j To better understand the program please refer to c file named Sample1_S1I02 c which is provided with this card k Compile this project to generate hex file Connect UICOOA IDC connector to IFC MB00 as shown The hex file generated is IFC S102 hex Connector for UICOOA programmer Created by Cytron Technologies Sdn Bhd All Rights Reserved 27 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 l Load the generated hex file using PICkit2 window refer to UICOOA User s Manual for details Power up IFC system if it is OFF m There are also 3 modes for user to select in program Samplel_SI02 c User can select mode by pressing push button on IFC MBOO Each time after selecting the mode user needs to press reset to restart The modes are Push Button Buzzer on IFC MBOO beeps for 1 time Stepper Motor is activated and run based on program Buzzer on IFC MB
4. battery Connect necessary sensor or motor Turn it ON 3 step Program Include the necessary header and object file s Write program using template given Call necessary function referring to Program Reference Notes Compile and Load Program through UICOOA There are 2 basic setups in this chapter for IFC SI02 the 1 example includes 3 cards IFC PCOO IFC MBOO and IFC SI0O2 while 8 example includes one extra card which is IFC CPO04 Please refer to the following section of this chapter for setup details Created by Cytron Technologies Sdn Bhd All Rights Reserved 23 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S I02 7 1 Basic Setup IFC PC00 IFC MB00 IFC SI02 This is the basic and minimum setup for IFC SIO02 which comes with 2 stepper motor terminals Although without other card this basic setup can still perform some task such as drive 2 stepper motors Following steps show the installation of this system and method to operate it a 1 step configure the address of card Stepper Indexer Card has 6 mini jumpers to configure communication address A5 AQ It should be set to 000001 if sample source code is being used b 2 step is to stack all 3 cards together Power card IFC PC00 should be at the bottom while Main board IFC MBO00 at 2 layer and Stepper Indexer Card IFC SIO2 at top layer as shown in following figure Ensure the orientation marking at
5. button H Stepper Motor s test button for SI1 User can simply test the motors connected to SI1 by pressing this test button without any programming The motor will run in a direction for first press of the button and change to another direction the 2 press of the button I 6 set of 1x3 headers use as communication address selector on IFC SIO2 User can set the card address by using the mini jumper J 2 status indicator LEDs are used to indicate the status for power ON PWR and busy in communicating with Main Board card Busy PWR LED will turn ON when power supplied to the board Busy LED will turn ON when the card is busy in communicating with master card IFC MBOO K Microcontroller which is used as controller for this slave card L Reserved for Manufacturing Test Point Please DO NOT short or connect wire to any of these pins M An arrow to help user in ensuring the cards are stack correctly Every IFC card has this arrow user needs to ensure that the arrow points to the same direction when IFC cards are stack together Created by Cytron Technologies Sdn Bhd All Rights Reserved 7 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 Cautions Only ONE power input 12V or 24V can be soldered on SIO2 board as power source for motor If user accidently solders both pad to power input the PCOO and battery will be damaged 5 INSTALLATION HARDWARE For the har
6. fuse protection for the external supply IFC SIO2 does not provide over current protection to output devices However if the power is provided from power card the power card have the fuse protection at certain rating refer IFC PCOO for more information Example of 24V connection 2 x 12V Batteries The batteries connected in figure are Sealed Lead Acid Battery However user is free to connect any type of battery as external Created by Cytron Technologies Sdn Bhd All Rights Reserved 15 C yer on gt ROBOT HEAD to TOE _ Technologies C PrOduct User s Manual FC S 02 User may follow the steps below to build a cable connector for connecting the external power source from 2 extra batteries Materials needed a 4xcable b 1x 3961 3 female connector c 3x 3961 iron pins Solder some lead on it al Solder some lead on it cable onit 10 11 Wider some lead on it Insert Ir ito 3961 connector Created by Cytron Technologies Sdn Bhd All Rights Reserved 16 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 EF a Ensure the iron pins are fully inserted to the K o connector Connect the cable to batteries Please ensure the polarity is correct Red for positive while black for negative Protection fuses are advised Battery Created by Cytron Technologies Sdn Bhd All Rights Reserve
7. of 1 it will takes around 932 pulses as shown in figure below So we need to start decelerate at pulse or encoder value of 2000 932 1068 Created by Cytron Technologies Sdn Bhd All Rights Reserved 21 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 5 IFC S102 Pulse Calculator Maximum Frequency Hz s000 Acceleration 0 255 200 Initial Speed 0 255 Final Speed 0 255 Result pulses 931 B4 Calculate WW YEON GON my Hence the required functions calling will be similar to as shown below si_1_enclr add_si1 clearing the encoder values si_1_econclr add_sil clearing the encoder functions si_l_speed add_sil1 25 accelerate to speed of 25 si_l_encon add_sil 1068 5 1 0 decelerate at encoder value of 1068 to speed of 1 si_l_encon add_sil 2000 2 0 0 brake at encoder value of 2000 Created by Cytron Technologies Sdn Bhd All Rights Reserved a2 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S I02 7 GETTING STARTED IFC is being design with the aim of 3 simple steps to use it Configure card address Stack it Load program and run The system must be at least have a power card IFC PCOO and a main board IFC MBO0 to function This section will show the example on how to operate it with Stepper Indexer card IFC S102 1 step Address Configure Card s address 2 step Stacking Stack the card s Connect the
8. remove card with IFC card opener Note1 User can refer to IFC SI02 Card Function Library for the program function list It will help user in writing program for IFC SI02 Note2 Each time open a new project for IFC user need to add ALL header files and object files for all related IFC cards that are used User also needs to include ALL cards header file at the beginning of the program Please refer sample source code for the example to include card header file Created by Cytron Technologies Sdn Bhd All Rights Reserved 33 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 8 WARRANTY gt Product warranty is valid for 6 months gt Warranty only applies to manufacturing defect gt Damage caused by miss use is not covered under warranty gt Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan 1A Taman Universiti 81300 Skudai Johor Malaysia Tel 607 521 3178 Fax 607 521 1861 URL www cytron com my Email support cytron com my sales cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved 34
9. the same side Ensure the arrow points tO the same m direction Created by Cytron Technologies Sdn Bhd All Rights Reserved 24 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 c Besides stacking every card in correct orientation user must ensure all card s pins are not shifted when stacking the cards Ensure that all card pins are not shifted when stacking Fi Ss eee a A H j p H g y mg P d Connect the stepper motor to Stepper Indexer Card Please refer hardware setup for connecting input devices to Stepper Indexer Card e Connect the battery to Power card as shown please ensure the polarity is correct Connect 1 x 12V battery to supply operating voltage to IFC Ensure the polarity is correct If 24V is needed in the system connect polarity is correct Created by Cytron Technologies Sdn Bhd All Rights Reserved 25 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 f Connect the External power source for Stepper Indexer Card Please refer hardware setup in chapter 5 0 for connecting power to Stepper Indexer Card Please ensure the external power supply voltage selection s pad on IFC SI02 board is correctly soldered according to power supply voltage 12V or 24V g Turn ON the IFC power by pushing the toggle switch to ON There should be at least 3 LED 12V LED on Power Card PWR LED on Main Brain and
10. 00 beeps for 2 times 2 sw Stepper Motors are activated The motors will change the running direction and speed based on the encoder value Buzzer on IFC MBOO beeps for 3 times SII stepper motor will run 1 when the speeds of SII reach 128 SI2 will start run Both channel will increase speed to maximum speed then decrease speed to zero and change direction Motors will accelerate in the other direction and slow down after maximum speed repeatly 1 n Please refer the comments in source code for the details of each mode o To remove a card from IFC system the power should be switched OFF p Please use proper tool to remove the card User may refer previous section in chapter 5 0 Installation hardware for the method to remove card with IFC card opener Created by Cytron Technologies Sdn Bhd All Rights Reserved 28 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S I02 7 2 Basic Setup with Control Panel IFC PC00 IFC MB00 IFC SI02 IFC CP04 Adding a control panel which comes with a 2 x16 character LCD and 4 programmable push buttons will offer more interesting demonstration Following steps show the installation of this system and method to operate it a 1 step configure the address of cards IFC SI02 and IFC CP04 Stepper Indexer Card has 6 mini jumpers to configure communication address A5 AQ It should be set to 010101 if sample source code is being used As for Cont
11. C MBOO IFC SI02 IFC CP04 N N O gt UJ K 8 Warranty Created by Cytron Technologies Sdn Bhd All Rights Reserved 0 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 1 INTRODUCTION AND OVERVIEW 1 1 Introduction of Interface Free Controller IFC Interface Free Controller offer a new concept of developing microcontroller embedded system and also robotics system With IFC no more frustration in determine hardware interface and configuring peripheral in software Checking few hundreds pages of data sheet can be waved With the concept of interfacing card user may stack as many as 64 cards ina system to get infinite combination of peripherals The design aims to offer 3 simple steps in microcontroller system development Configure card s address Stack IFC cards Write Program and Run Furthermore with functions based software library user save valuable time during software development by concentrating on algorithm development No more flipping or scrolling PIC data sheet looking for ADCONO TICON or even TRISA With just a programming hand book user may simply copy the header file call comprehensive functions and it s ready to rock IFC come with a brain card main controller where the main program is loaded There are several cards available for robotics development such as control panel 15A brush motor driver brushless motor controller counter and digital input output card Play S
12. Cytron Technologie IFC SI02 Interface Free Controller Stepper Indexer Card h Mser s Manual V1 0 Nov 2009 Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications No representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or otherwise Use of Cytron Technologies s products as critical components in life support systems is not authorized except with express written approval by Cytron Technologies No licenses are conveyed implicitly or otherwise under any intellectual property rights Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 Index 1 Introduction and Overview 1 1 Introduction of Interface Free Controller 1 2 System Overview 2 Packing List 3 Product Specification 3 1 Communication Address 3 2 Programmer 3 3 Input and Output device 3 4 Operating Voltage Board or Product Layout o FO KR KR KR A BR BN YP Be Installation hardware No Installation software NY Hn a A NO oS Getting Started 7 1 Basic Setup IFC PC00 IFC MBOO IFC SI02 7 2 Basic Setup with Control Panel IFC PCOO IF
13. D this Cautions Please ensure that all card pins are not shifted when stacking IFC system will NOT function if the pins are shifted Created by Cytron Technologies Sdn Bhd All Rights Reserved 10 Cytron 5 Technologie Product User s Manual FC S 02 User can use mini jumper provided on IFC SIO2 to select the communication address of IFC SI02 For example figure below shows the communication address 010101 selected Please make sure the address selected is compatible with the program Each slave card must have unique address Please refer chapter 7 for details of writing program for IFC SIO2 ih e J K i H f ae i Connect Stepper Motor to SD1 or SD2 port of Stepper Indexer card Ensure the connection is correct Figure below shows how to connect Stepper motor to IFC SIO2 Each IFC SI02 can drive 2 Stepper motors independently Figure below shows the method to connect stepper motor to IFC SI02 User may use Linix and Vexta on IFC SIO2 card at the same time Besides using Linix and Vexta stepper motor driver user also may use our Stepper Motor Driver SDO2B to drive Stepper Motor Figure below show connections between stepper motor and IFC SI02 using Vexta and eee i Motor Driver Lep La 4 D Er gS s n E e af m i E TA Created by Cytron Technologies Sdn Bhd All Rights Reserved 11 G yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual
14. FC S 02 User needs to follow the figure below to connect the pin from Stepper motor driver to IFC SI02 Please ensure the connection is correct Pin Connection 12V 24V 2 Pin Connection 3 Enable o 4 Step Angle Select _ _ 5 Automatic Current Cutback release _ 6 Excitation Timing Signal Overheat Signal User should connect external power source from IFC Power Card IFC PC00O IFC Extension Board IFC EBO2 or external battery There are 2 voltage options for IFC SI02 to run stepper motors which are 12V and 24V Please ensure the supply voltage is suitable for the motor IFC SI02 will be soldered at 12V by default However user may de solder the 12V pad and solder the 24V pad if 24V is needed as power source for the stepper driver and motors Created by Cytron Technologies Sdn Bhd All Rights Reserved 12 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 Excitation Timing Signal is reserved because IFC SIO2 has its own encoder on board 12V pad is soldered on S102 board Default 24V pad is soldered on S102 board The following figures show the connection of external Power In from Power Card Extension Board and external battery User needs to make sure the polarity is correct when connect external power source to Stepper Indexer Card Wrong polarity protection on IFC SI02 is to protect incorrect polarity to stepper driver However wrong polari
15. PWR LED on Stepper Indexer Card light up as SNOW a pE paa E cre Sf eS PWR LED on F IFC S102 g PWR LED on a IFC MBOO p 12V LED on IFC PCOO h 3 step is to write program and load it IFC comes with comprehensive function to reduce program development time Functions library will come with the interfacing card in the form of header file h and object file o In order to call these functions particular header file and object file must be included under a project i Open MPLAB IDE please ensure MPLAB C18 has been installed User can follow the step in chapter 6 2 of IFC MBOO user manual to open project named IFC SI02 for IFC Stepper Indexer Card Please note that the header file iic h and tic_si h and object file Giic o and 1ic_si o for IFC MBOO and IFC SI02 have to be included in the project If user did not use the provided sample source code Sample1_S102 c user also needs to include card s header file at the beginning of the program Figure below shows the example to include header file object file and card s header file Created by Cytron Technologies Sdn Bhd All Rights Reserved 26 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 PAI IFC S102 MPLAB IDE v8 30 MPLAB IDE Editor E Fie Edit View Project Debugger Programmer Tools Configure Window Help PF fv Author Cytron Technologies ii Project Interface Free Controller
16. cceleration Initial Speed and Final Speed for the software to estimate the pulses or the encoder value 4 Click Calculate to get result pulse encoder value Created by Cytron Technologies Sdn Bhd All Rights Reserved 20 Cytr on ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 Example 30 25 20 poods on 2000 Pulse Example using Cytron stepper driver SD02 the motor will turn one turn and stop at origin Default micro stepping of SDO2 10 Step angle of Minebea Stepping motor MO STEP 17PM K508 1 8 Total pulse for one round 360 1 8 x10 2000 pulses The graph above shows the speed versus pulse From the graph we expect the speed to peak at middle with a fixed acceleration Thus the motor will speed up for a total pulse of around 1000 pulses then slow down until speed of then brake at pulse of 2000 The maximum frequency of IFC SIO2 is set to 8000Hz acceleration 200 and we take the peak speed to be 25 to get the pulse value near to 1000 as show in the figure below IFC S102 m Pulse Calculator Maximum Frequency Hz e000 Acceleration 0 255 200 Initial Speed 0 255 0 Final Speed 0 255 25 Result pulses 931 4 Calculate WA CYTO COR My From the above calculation we will accelerate from speed O to speed 25 From speed of 25 we will decelerate to speed of 1 and finally brake at encoder value of 2000 From speed of 25 to speed
17. controller __ EO een a E a Status indicator LED for Motor Orientation Arrow Power In G Testbutton2 A Power Connector for the power of stepper driver and motor Provide up to maximum 4A per channel B Connector of the stepper driver signal C The orientation marking on IFC SI02 Every IFC card will have this orientation marking this is to help user to ensure the cards are stacked correctly Created by Cytron Technologies Sdn Bhd All Rights Reserved 6 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 D Side connector for stack card and communication between cards E Motor Power In connector for user to connect external power source for motor User can provide the power from IFC PCOO The power source must be provided to IFC SI02 for the power of stepper drivers and motors User may connect it using the standard connector provided The voltage for motor will also depends on pad soldered on the IFC SIO2 card either 12V or 24V Only 1 input can be soldered as input F Motor Power In status indicator LED The Motor Power In status indicator LED will turn ON when either 12V or 24V external power is connected G Stepper Motor s test button for SI2 User can simply test the motors connected to SI2 by pressing this test button without any programming The motor will run in a direction for first press of the button and change to another direction the 2 press of the
18. d 17 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S I02 After power is connected to Motor Power in the Motor Power In status indicator LED will turn ON The Motor Power In status indicator LED will turn ON no matter 12V or 24V external power is connected If the indicator LED does not turn ON when power is connected please check the polarity and connection DO NOT proceed to turn on the IFC system The Motor Power In status indicator LED turn ON when either 12V or 24V external power is connected Next turn ON the power on Power Card the PWR LED of IFC SIO2 will ON as shown in Figure Initially if there are no functions related to IFC SIO2 being called in Main Board s program the busy LED will not ON or blink ih ee eS PWR LED on S F IFC S102 g PWR LED on a IFC MBOO p 12V LED on IFC PC00 Created by Cytron Technologies Sdn Bhd All Rights Reserved 18 G yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S I02 To open the cards user should use the IFC card s opener to open the stacked cards Figure shows the method to open cards with the opener Please turn OFF the IFC system before open IFC cards Caution Please use the opener to open IFC cards to avoid damage of the pins or cards Created by Cytron Technologies Sdn Bhd All Rights Reserved 19 Cytr on ROBOT HEAD to TOE Technologie Product User s Manual FC S 02
19. dware installation of IFC SI0O2 user will first need the Main Board card IFC MBOO0 and Power Card IFC PC00 of IFC system IFC MB00 is the main controller of the IFC system while IFC PCOO is the main power supply of the system For the installation of IFC MBOO0 and IFC PC00 please refer to the user s manual of IFC MBOO After user obtain the IFC SI02 user can stack it on IFC system as shown in figure below Ensure the orientation marking at the same side Ensure the arrow points to the same gt direction Created by Cytron Technologies Sdn Bhd All Rights Reserved 8 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 Cautions Please ensure that every card is being stacked properly in correct orientation BARRE LEG SNS eA pe damascdot One Rh damn CHGS I eine Shark Ger RR She WEA cara nif sPRW ERG WRifted when stacking Figures show the example of stacking cards in prope Ensure that all card gt AT RARADRELAEETELEAT Tm pins are not shifted nhs ATTE i when stacking MV Examples of stacking cards with shifted pins Please AVOID this Created by Cytron Technologies Sdn Bhd All Rights Reserved 9 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 E a i a ll w Ensure that all card pins are not shifted when stacking Examples of stacking cards with shifted pins Please AVOI
20. er User will only need the Main Board of IFC system IFC MB00 to control this slave card 3 3 Input and Output device The output devices on IFC SIQ2 are as below e 2 status indicator LED Power and busy LED Power LED PWR will turn ON when power is supplied to IFC SI02 Busy LED Busy will turn ON or blinking when IFC SIO2 is communicating with master card IFC MBOO e Motor Power In status indicator LED e 2 stepper motor ports for the stepper indexer cards The stepper motors connected can run up to 4A per channel IFC SI0O2 will be solder at 12V for motor voltage option in default However user may de solder the 12V pad and solder 24V pad if motor used is rated at 24V e 2 test buttons 1 test button for each channel for card testing First press of the button will drive the channel CW and second press will drive the channel CCW 3 4 Operating Voltage e The operation voltage of IFC SIO2 is 12V User needs to stack a Power Card IFC PCOO and connect a 12V battery on Power Card to supply 12V to Stepper Indexer Card However user needs to connect external power source through Power In connector on IFC SI02 to supply voltage to stepper driver cards The Motor Power In status indicator LED will turn ON when either 12V or 24V external power is connected User may connect external power source from IFC Power Card IFC PCOO IFC Extension Board IFC EBO2 or external battery Different stepper motor driver may require different vol
21. hapter 5 0 for connecting power to Stepper Indexer Card Please ensure the external power supply voltage selection s pad on IFC SIO2 board is correctly soldered according to power supply voltage 12V or 24V g Turn ON the IFC power by pushing the toggle switch to ON There should be at least 4 LED 12V LED on Power Card PWR LED on Main Brain and PWR LED on Stepper Indexer Card and PWR LED on Control Panel light up as show PWR LED on IFC CP04 PWR LED on IFC SIO2 PWR LED on IFC MBOO 12V LED on IFC PCOO h 3 step is to write program and load it into IFC IFC comes with comprehensive function to reduce program development time Functions library come with the interfacing card in the form of header file h and object file o In order to call these functions particular header file and object file must be included under a project i Open MPLAB IDE please ensure MPLAB C18 has been installed User can follow the step in chapter 6 2 of IFC MBOO user manual to open project named IFC SI02 for IFC Stepper Indexer Card Please note that the header file iic h 1ic_si h and lic_cp h and object file iic o 11c_si o and iic_cp o for IFC MBOO IFC SI02 and IFC CP04 have to be included in the project If user did not use the provided sample source code Sample2_SI02 c user needs to include card s header file at the beginning of the program Figure below shows the example on how to include header file
22. otors 2 Brush motors Brush motor Power and communication This document explains the method to use IFC SI02 Created by Cytron Technologies Sdn Bhd All Rights Reserved 2 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 2 PACKING LIST Please check the parts and components according to the packing list If there are any parts missing please contact us at sales cytron com my immediately k ah TE PEPEE T TTT EFFETT rE ae e g 1 1x IFC Dual Stepper Indexer Card FC SI02 with 6 x mini jumper 1 x Female Connector 3961 03 2 x Female Connector 3961 02 2 x Female Connector 2510 10 7 x 3961 iron pin 20 x 2510 iron pin Created by Cytron Technologies Sdn Bhd All Rights Reserved 3 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 3 PRODUCT SPECIFICATION 3 1 Communication Address There are 64 2 communication address of IFC SIO2 that can be selected The 6 bits communication address is determine by selector A5 through AO 6 set of 1x3 headers on IFC S102 User may set the card address by using the mini jumper However user is required to make sure the communication address chosen on board is compatible with program written in Main Board 3 2 Programmer User does not need to prepare programmer for IFC SI02 IFC SIO2 is one of the slave cards of IFC system The slave program is preloaded before shipped to custom
23. project for this example Created by Cytron Technologies Sdn Bhd All Rights Reserved 32 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 m Load the generated hex file using PICkit2 window refer to UICOOA User s Manual for details Power up IFC system if it is OFF n There are 3 modes for user to select in program Sample2_SI02 c User can select each mode by pressing push button on IFC CP04 Each time after selecting the mode user needs to press reset to restart The modes are Push Button Buzzer on IFC MBOO beeps for 1 time Stepper l SWI Motor is activated and run based on program The motor s status will be display on Control Panel Buzzer on IFC MBOO beeps for 2 times Stepper 5 sw Motors are activated The motors will change the running direction and speed based on the encoder value after maximum speed repeatly Buzzer on IFC MBOO beeps for 3 times SI stepper motor will run 1 when the speeds of SI1 reach 128 SI2 will start run Both channel will 3 SW3 increase speed to maximum speed then decrease speed to zero and change direction Motors will accelerate in the other direction and slow down o Please refer the comments in source code for the details of each mode p Before remove a card from IFC system make sure power should be switch OFF first q Please use proper tool to remove the card User may refer last section in chapter 5 0 for method to
24. rol Panel it should be set to CP1 Upper side b 2 step is to stack all 4 cards together Power card IFC PC00 should be at the bottom Main board IFC MBO00 at 2 layer Stepper Indexer Card IFC SI02 at 3 layer and Control Panel at the top layer as shown in following figure Ensure the arrow points to the Same direction Ensure the orientation marking 1s at the same side Created by Cytron Technologies Sdn Bhd All Rights Reserved 29 C yer on 5 ROBOT HEAD to TOE BO Product User s Manual FC S102 c Besides stacking each card in correct orientation user also needs to ensure that all the pins are not shifted and were inserted into correct location Ensure that all the pins when stacking are not shifted and inserted to correct location d Connect Stepper Motor to Stepper Indexer Card Please refer to hardware setup for connecting input devices to Stepper Indexer Card e Connect the battery to Power card as shown please ensure the polarity is correct Connect 1 x 12V battery to supply operating voltage to IFC Ensure the polarity is correct Sl If 24V is needed in the system connect PCOO Ensure the polarity is correct Created by Cytron Technologies Sdn Bhd All Rights Reserved 30 C yer on ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 f Connect the External power source for Stepper Indexer Card Please refer hardware setup in c
25. tages There are 12V and 24V for the user to choose at the Power In connector By default IFC SIO2 power in will be solder at option 12V However user can de solder the 12V pad and solder 24V pad if 24V is needed as voltage input However please be cautious Only 1 power pad can be soldered which is either 12V or 24V Soldering both may cause the power card fuse to blow up User may get the power from the channel s output port connector s 12V pin Created by Cytron Technologies Sdn Bhd All Rights Reserved 4 Cytron ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 e Most of the stepper drivers will require a common SV for the signals use Supplying 12V as the common positive for signals usually requires the user to add external resistors Please refer user manual of stepper driver for more information and proper use of the stepper driver to prevent damage to the card Absolute Maximum Rating Symbol Min Operating voltage IN CC I Maximum output current Created by Cytron Technologies Sdn Bhd All Rights Reserved 5 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 4 BOARD OR PRODUCT LAYOUT ETETEN Warnana Ee coieeti ben ae i eel or 28 s PRERE The DAC COCO RA M wal Eri nji A Stepper Motor Power Connector H Testbuttont B__ Stepper Driver Signal Connector I _ Communication address selectors D __ Side connector K PIC Micro
26. tation 2 Controller card analog input card dual brush motor card and power card This document will focus on the Stepper Indexer card IFC SI02 This card has been designed with capabilities and features as below e Industrial grade PCB e Every component is soldered properly and tested before board is shipped e Circuit power and busy indicator LED e 12V operation o 6 set of 1x3 headers to select communication address e 2 independent stepper driver channels Control each channel of motor for start stop speed and direction o Internal encoders for both channels e 2 independent test buttons for testing of the channels e Selectable power source for motors 12V or 24V e Motor Power In status indicator LED e Wrong polarity protection to stepper driver card e Maximum of 4A continuous current output per channel e Template and sample source code is provided for MPLAB C18 compiler e Dimension 11 1cm x 6 9cm Created by Cytron Technologies Sdn Bhd All Rights Reserved 1 C yer on ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 1 2 System Overview With serial communication perception IFC offer million of possibilities to develop embedded system creatively and easily In IFC several cards are stacked to get a complete embedded system The minimum card requires is Power card and Main Board More devices Analog sensor Encoder digital sensor Relays etc Stepper motors Brushless m
27. ty can cause damage to power card or the batteries If user need to supply 24V to Stepper Indexer Card from Power Card 2 x 12V batteries must be connected to provide 24V Besides that user needs to ensure 24V pad on IFC SIO2 board is soldered Please refer User s Manual for IFC PCO0 for the connection of battery to Power Card Created by Cytron Technologies Sdn Bhd All Rights Reserved 13 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 e Example connection of external Power In from Power card ad a Er ET 1 d E lig ov 5 E a ome I b Med Nes i ad a Se t tao a ee ee i Si 7 x a Tip e EAT E hil K aT Li 1 m e Example connection of external Power In from Extension Board Created by Cytron Technologies Sdn Bhd All Rights Reserved 14 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC S 02 Figure show IFC SI02 external Power In is connected with 12V external battery User may follow this connection to connect IFC SIO2 external Power In with 12V external battery Example of 12V connection 1 x 12V Battery The battery connected in this figure is Sealed Lead Acid Battery However user is free to connect any type of battery as external power source If user needs to supply 24V from external battery user may de solder the 12V pad and solder 24V pad to IFC SIO2 board User is advised to add safety feature such as
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