SMC-32A Serial Stepping Motor Driver/Controller
Contents
1. 4 4 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 calculated by 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 17 AC S SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION Step Rate Index Step Rate Step Rate Index Step Rate Steps Sec Steps Sec TABLE 3 1 STEP RATE TABLE 4 5 JOG RATE INDEX J Instruction aaJ 500 Set Jog Rate Index to 500 aa 00 to 50 Response aaR Instruction accepted Instruction aaJW Examine Jog Rate Index aa 00 only Response aaJ 500 Jog Rate Index is set to 500 which is 230 steps 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 6 CONSTANT RATE INDEX C Instruction 400 1 Set Constant Rate Index to 400 aa 00 to 50 Response aaR Instruction accepted Instruction aaCH Examine Constant Rate Index aa 00 only 18 AC S SMC 32A Driver Controller ADVANCE2. Instruction aaEW Examine Status of Limit and home inputs aa 00 only Response aaE 000 All three inputs are Low Or Response 001 1 Limits are Low home input is HI Note Numeric character zero or one represent Low or High level respectively 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 23 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 17 ENABLE DISABLE EXAMINE LIMIT INTERRUPTS L Instruction aaL 1 Enable Limits interrupts aa 00 to 50 Response aaR Instruction executed Instruction aaL J Examine Limit interrupts aa 00 only Response 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 18 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 1 1 Turn Motor Current On aa 00 to 50 Response aaR Instruction executed Instruction aaW Examine Motor Current aa 00 only Response aaW 1 Motor Current is On Note This is remote host control
3. E 23 417 ENABLE DISABLE EXAMINE LIMIT INTERRUPTS 24 4 18 TURN ON OFF MOTOR WINDING CURRENT OR EXAMINE IT W 24 4 19 EXAMINE OR SET ABSOLUTE POSITION P 24 4 20 SAVE MOTION INDEXES S 25 4 21 LOAD MOTION PARAMETER DEFAULTS D 25 422 TEST UNIT T 25 5 Appendices 26 A SMC 32A ON BOARD JUMPER AND SETTING LOCATIONS 26 C SMC 32A PINOUT DIAGRAM 27 D SMC 32AH1 amp H2 PIN DETAIL 28 E SMC 32A RoHS Compliance and EC Conformity Declaration 28 6 Manual Revision History 30 ADVANCED CONTROL SYSTEMS CORPORATION SMC 32A 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 supplied 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
4. 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 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 32A 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 modification
5. D CONTROL SYSTEMS CORPORATION ACS Response 400 1 Constant Rate Index is set to 400 which is 288 steps per second Notes 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 4 7 VELOCITY RATE INDEX V Instruction 20 1 Set Velocity Rate Index to 20 aa 00 to 50 Response aaR Instruction accepted Instruction 1 Examine Velocity Rate Index 00 only Response aaV 20 Velocity 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 48 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 888 150 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 any 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
6. DIAGRAM The imbedded control processor coordinates operation of the SMC 32A 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 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 7 ACS SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 2 3 SPECIFICATIONS POWER REQUIREMENTS Logic Power Supply 5VDC 5 50mA typical Motor Power Supply 12 to 40 VDC up to 2Amp Motor supply voltages and currents depend on type 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 100 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 bl
7. NTROL SYSTEMS CORPORATION ACS 5 Appendices A SMC 32A ON BOARD JUMPER AND SETTING LOCATIONS SMC32 ADVANCED CONTROL SYSTEMS CORPORATION XL ADVANCED CONTROL SYS 26 TI SMC 32A Driver Controller ACS C SMC 32A PINOUT DIAGRAM SMC 32 Connector Pinout J1 motor connection J3 Serial Port Connections J1 Motor Connection pin 3 winding pin 4 winding B J3 Serial Port Connector 654321 pin 1 not connected pin 1 winding A pin 2 TX data into SMC pin 2 winding A pin 3 RX data out of SMC pin 4 must be left open pin 5 GND signal reference pin 6 not connected ADVANCED CONTROL SYSTEMS CORPORATION 27 J2 Power Connector J2 Power Connector pin 1 5 V Logic Supply pin 2 Ground pin 3 MV Motor Voltage SMC 32A Driver Controller ACS D SMC 32A H1 amp H2 PIN DETAIL ADVANCED CONTROL SYSTEMS CORPORATION 28 SMC 32A Driver Controller ACS E RoHS COMPLIANCE AND CE CONFORMITY Advanced Control Systems Corporation motor drivers and controllers are designed for world wide installation and use and designed to comply with requirements of certain governmental regulating agencies Although ACS drivers and controllers are technically considered motion control components and may not be within the scope of the European Union s CE Conformit Europ enne dire
8. PRODUCT USER S MANUAL ACS MACHINE CONTROLS SMC 32A Serial Stepping Motor Driver Controller ACS CS ADVANCED CONTROL SYSTEMS CORPORATION www ACSMotion com Revision 1 5 TABLE OF CONTENTS 1 General Information 4 1 1 Warranty 4 1 2 Assistance and Maintenance Agreements 4 1 3 Documentation Discrepancies 5 1 4 Service Procedure 5 2 SMC 32A DESCRIPTION 6 2 1 SMC 32A CONTROLLER FEATURES 6 2 2 SMC 32A BLOCK DIAGRAM DESCRIPTION 7 2 3 SPECIFICATIONS 8 3 INSTALLATION SET UP 9 3 1 CONNECTORS JUMPERS AND ADJUSTMENT IDENTIFICATION 9 3 2 MOTOR CONNECTION 9 3 3 LIMIT INPUTS HOME INPUT JOG INPUTS CURRENT OFF INPUT PROGAM RUN INPUT 12 3 4 COMMUNICATION SPEED 12 3 5 MOTOR ADDRESS SELECTION 13 3 6 FUSING 13 3 7 STEPPING MODE SELECT 13 3 8 MOTOR WINDING CURRENT ADJUSTMENT P1 P2 14 4 INSTRUCTION SET 15 4 1 INSTRUCTION SET SUMMARY 15 4 2 SINGLE CHARACTER INSTRUCTION SUMMARY 16 4 3 ERROR RESPONSES 17 4 4 STEPPING RATE INDEXES 17 4 5 JOG RATE INDEX J 18 4 6 CONSTANT RATE INDEX C 18 4 7 VELOCITY RATE INDEX V 19 2 A S SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 8 RAMP INDEX R 19 4 9 MOVE NUMBER OF STEPS AT CONSTANT RATE M 21 4 10 GOTO ABSOLUTE POSITION G 21 4 11 INDEX TO RELATIVE POSITION 22 412 FINISH DECELERATING STOP 22 4 13 QUIT IMMEDIATE STOP 22 4 14 SEEK HOME POSITION H 23 4 15 EXAMINE MOTOR STATUS X 23 4 16 EXAMINE LIMITS AND HOME INPUTS
9. STRUCTION SET 4 1 INSTRUCTION SET SUMMARY Each instruction message is constructed from ASCII characters Alphabetic characters can be upper or lower case 1 Start Character Hex 23 2 aa Board Address Numeric Characters 00 31 range 3 Y Character acts as an all numeric character Hex 2A 4 Instruction Alphabetic Characters upper or lower case 5 1000 Data Characters 6 Termination Character Carriage Return Hex OD 7 Equal Sign Indicates Data to be Entered Hex 3D 8 En E followed by a number indicates Error in Instruction but correct address Example 121 1000 1 Motor with address 12 is instructed to index 1000 steps in positive direction immediately Response 128 Instruction Executed Example 12G5000 Motor with address 12 is instructed to goto absolute position 5000 Response 1225 Error response bad instruction structure direction sign is missing Each instruction with Start Character correct address and termination character generates a response message from the SMC 32A controller SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 2 SINGLE CHARACTER INSTRUCTION SUMMARY J 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 s
10. 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 acc 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 19 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION TORQUE 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 STEPS SEC SEC 2835 2927 3495 4615 6792 12857 20000 27692 45000 65455 120000 180000 240000 360000 720000 TABLE 4 2 RAMP RATE TABLE 20 ACS SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 9 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 500 1 Move 500 steps in negative direction 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 1 Move in negative direction same as positive Response aaR Move instruction accepted The preset constant rate C can be changed at an
11. ctives ACS looks to provide its customers with solutions that meet world acceptance The following guidelines provide advice as to additional elements required to install an ACS driver controller into a CE compliant system Additional installation measures may be required at some locations The ultimate responsibility for the design fabrication and installation of a CE compliant machine resides with the builder Low Voltage Directive LVD Installation Requirements Mains power supply to be fused Driver Controller safety earth to be grounded Stepping motor safety earth to be grounded Installation such that the live terminals terminal block are not accessible under normal operation Electromagnetic Compatibility EMC Installation Requirements Mains power supply to be filtered Varistors or other voltage surge limiting devices to be installed in order to meet the requirements of EN61000 4 5 Transient suppression to be installed 360 EMC shielded motor cabling to be used limit switches included EMC compliant stepping motors to be used Clip on ferrite absorbers to be installed on all cables The SMC 32 Series Driver Controllers are available in RoHS Compliant models confirming to the Directive on the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment 2002 95 EC RoHS compliant part numbers for the SMC Series are SMC 32 A SMC 32 B 29 SMC 32A Driv
12. er Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 6 Manual Revision History SMC 32A User s Manual Revision History 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 1 4 5 3 06 App D Added H1 H2 Pin detail 1 5 5 1 07 App E Added RoHS and CE Marking ADVANCED CONTROL SYSTEMS CORPORATION 30 SMC 32A Driver Controller
13. header locations HEADER H2 1 MOTOR ADDRESS OUT OUT OUT OUT OUT 0 OUT IN OUT OUT OUT 8 OUT IN OUT 12 IN 31 TABLE 2 5 SMC 32A ADDRESS SELECTION 3 6 FUSING The SMC 32A 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 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS FULL STEP 2 PHASES ON FULL STEP 1 PHASE ON HALF STEP TWO MINISTEPS STEP THREE MINISTEPS STEP FOUR MINISTEPS STEP FIVE MINISTEPS STEP SIX MINISTEPS STEP EIGHT MINISTEPS STEP TABLE 2 7 SMC 32A STEPPING MODE SELECTION 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 4 63 3 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 IN
14. ock 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 8 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION 3 INSTALLATION SET UP 3 1 CONNECTORS JUMPERS AND ADJUSTMENT IDENTIFICATION Table 3 1 identifies important points of the SMC 32A board Appendix A show their location on the printed circuit board Designation Function 1 CONNECTOR FOR MOTOR J2 TERMINAL STRIP FOR POWER CONNECTION J3 COMMUNICATIONS PORT CONNECTOR 44 INTERNAL COMMUNICATIONS BUS H1 HEADER CONNECTOR FOR LIMITS HOME JOG MOTOR OFF INPUTS H2 MOTOR ADDRESS SELECT H3 IDLE CURRENT REDUCTION ENABLE H4 BAUD RATE SELECT H5 STEPPING MODE SELECT TABLE 3 1 CONNECTOR JUMPER AND ADJUSTMENT IDENTIFICATION 3 2 MOTOR CONNECTION The stepping motor is connected to SMC 32A 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 32A controller board Stepping motors equipped with four six or eight leads can be connected in several ways Motor Ji FIGURE 2 2 FOUR LEAD MOTOR CONNECTIONS TO SMC 32A UNIT 9 ACS SMC 32A Driver Controlle
15. of motor current Position is not affected by this instruction Motor current can be turned On Off manually with on board toggle switch SW 0 Manual control has higher priority than remote control 4 19 EXAMINE OR SET ABSOLUTE POSITION P Instruction 0 1 Set Position counter to zero aa 00 to 50 Response aaR Instruction executed Instruction aaP Examine Position aa 00 only Response 0 1 Position is zero Note Position can be examined at all times Direction sign or is always required Position cannot be changed when motor is stepping 24 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 4 20 SAVE MOTION INDEXES S Instruction aaSu 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 4 21 LOAD MOTION PARAMETER DEFAULTS D Instruction aaD Load defaults aa 00 only Response aaR 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 Jog rate index to 300 384 steps sec R Ramp index to 100 4 22 TEST UNIT T Instruction aaT Test the Unit aa 00 only Response aaSMC32B R0W Note aa register address SMC32B controller model RO firmware revision number 25 SMC 32A Driver Controller ADVANCED CO
16. peed then decelerates and stops completing the instructed number of steps 4 12 FINISH DECELERATING STOP F Instruction aaFu Decelerate and stop motor aa 00 to 50 Response aaR Instruction accepted 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 13 QUIT IMMEDIATE STOP Q Instruction aaQu Motor stop immediately aa 00 to 50 Response aaR Instruction accepted 22 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS Notes Quit instruction works whenever motor is stepping instructed by G I M H instructions 4 14 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 15 EXAMINE MOTOR STATUS X Instruction 1 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 16 EXAMINE LIMITS AND HOME INPUTS E
17. peed using C index 48 388 607 steps range G r m o r m Go to absolute position using V and R indexes 28 388 607 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 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION 4 3 ERROR RESPONSES An error response in form aaEn is generated for various reasons Instruction itself is ignored 1 Instruction structure following aa 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
18. r ADVANCED CONTROL SYSTEMS CORPORATION Wi w2 W3 W4 FIGURE 2 3 SIX LEAD MOTOR HALF WINDING CONNECTIONS FIGURE 2 4 SIX LEAD MOTOR FULL WINDINGS CONNECTIONS 10 AC S SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 1 FIGURE 2 5 EIGHT LEAD MOTOR SERIAL CONNECTIONS wi w2 J1 W3 WA FIGURE 2 6 EIGHT LEAD MOTOR PARALLEL CONNECTIONS 11 SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 3 3 LIMIT INPUTS HOME INPUT JOG INPUTS CURRENT OFF INPUT PROGAM RUN INPUT The inputs are connected to SMC 32A via a 10 pin header H1 Limit and Home inputs are normally closed Jog and Current Off inputs are normally open Refer to Appendix A for H1 location on the board OFF RUN BUSY GND GND GND TABLE 2 3 SMC 32A 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 parity and four baud rates HEADER H4 BAUD RATE 57600 BAUD 19200 BAUD 9600 BAUD 2400 BAUD TABLE 2 4 SMC 32A BAUD RATE SELECTION SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 3 5 MOTOR ADDRESS SELECTION The SMC 32A driven motors can be addressed for up to 32 different addresses Header H2 selects the binary address of the motor See table 2 5 for some examples See Appendix A for
19. r 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 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 The SMC 32A generates constant stepping rates as well as trapezoidal type velocity profiles Acceleration deceleration and top speed are all programmable The SMC 32A supports two limit inputs and home position input The SMC 32A is designed to operate reliably in adverse industrial environments All operational variables are retained in the EEPROM nonvolatile memory The SMC 32A 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 Internal communication bus facilitates interconnection for multiple axis operation SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION 2 2 SMC 32A BLOCK DIAGRAM DESCRIPTION H4 BAUD RATE SELECT CURRENT J4 H1 LIMITS HOME OFF EXPANSION INPUTS JOG BUS CURRENT ADJUST CONTROL PROCESSOR MENT MOTOR FIG 1 1 SMC 32A BLOCK
20. s 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 equipment can be repaired or replaced The customer will be billed for the parts and labor for the repair as well as for shipping SMC 32A Driver Controller ADVANCED CONTROL SYSTEMS CORPORATION ACS 2 SMC 32A DESCRIPTION 2 1 SMC 32A 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 Several controllers can be controlled by a single computer communication port The stepping motor drive
21. y 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 stop rate of the motor load combination Move commands are used when coordinated motion is required Stepping rate is precisely controlled SPEED o 4 TARGET STEPS LIMIT 2 C3 OR QUIT STOP 4 10 GO TO ABSOLUTE POSITION G Instruction ZaaG 12345 1 Go to absolute position 12345 aa 00 to 50 Response aaR Instruction accepted Instruction aaG 0W Go to zero position aa 00 to 50 Response aaR Instruction accepted 21 SMC 32A 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 FINISH DEC STEPS LIMIT OR TARGET QUIT STOP 4 11 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 1J 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 by R and V indexes Runs at high s
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