Stepper Driver STP
Contents
1. 2 Hardware Specifications 2 1 Mechanical Dimensions LL 45 12 68 Figure 2 1 mechanical dimensions of STP M111 TPM Motionnet Programming Manual 2 2 I O Interfaces PWR Motor Mechanical Input Dip Switches Motionnet Encoder Figure 2 2 connectors of STP M111 17 TPM Motionnet Programming Manual 2 2 1 Dip Switches Figure 2 3 system configuration by dip switches Number Name Description 1 TR Setting of the terminal resistance The default settings are all off TR Logic OFF No terminal resistance added ON Added a terminal resistance 2 ELL Setting the logic of positive and negative limits Default values are all off Logic When the optical coupling light is on limit signal is on When the optical coupling light is on limit signal is off 3 TD Watchdog option TD Logic The LSI keeps its current status ON The LSI resets I O port output and immediately stops pulse output stop operation 4 5 BO B1 Setting of transfer rate Default values are all off Transfer rate 20Mbps 10Mbps 5Mbps 2 5Mbps A4 Device number bit 4 16 7 8 M1 M2 Microstep mode Microstep mode Full step 1 4 step 1 16 step 1 32 step 18 TPM Motionnet Programming Manual Number Name Description2. 9 10 DEF DES Decay mode Decay mode Decay mixed Decay fast Decay slow 2 2 2 Motionnet Rings Reserved Figure 2 4 Motionnet extension connector Ring Pin Pin Mark Pin Description 1 NC Reserved 2 NC Reserved 3 RS485 Motionnet protocol 4 NC Reserved 5 NC Reserved 6 RS485 Motionnet protocol 7 NC Reserved 8 NC Reserved Table 2 1 pin definition of the Motionnet Ring 2 2 3 RS1 Rotary Switch For module ID larger than 15 the 6 switch of the dip switch A4 needs to be switched ve DN Main function of the rotary switch is to indicate the ID of the module raging from 0 to 15 DG gi 19 TPM Motionnet Programming Manual 2 2 4 VR1 Stop Power 2 0 A phase maximum set using a variable resister Set to 1 2 A per phase when delivered 2 2 5 VR2 Run Power Set using a variable resistor Set to 50 of the normal current level when delivered 2 2 6 Mechanical Input Figure 2 5 mechanical input DB15 connector Pin Name Function I O Pin Name Function I O 1 PEL Positive limit I 2 MEL Negative limit I 3 SD Slowdown input VO 4 ORG Home position I 5 EMG Emergency stop input I CMP Comparator output O 7 LTC Latch input I 24V 24V DC input I 9 GND Ground I 10 DOI Digital output 1 O 11 DO2 Digital output 2 O 12 BK Break signal O 13 BK Break s
3. Machine I O PEL ORG MEL USB L111 STP MI11 A B encoder G9103A nn IP 01 H m 2 Phase Y WT 2 axis Circular Interpolation PCI L122 DSF 0100110 Z m 3 axis Linear Interpolationy Motionnet Master G9001A EPC 1000 Vortex86DX 0100110 E STEP STP M111 l ______ S G9103A A B encoder SPC 5000 IP 02 Atom D525 Machine I O PEL ORG MEL Application Architecture of STP M111 Figure 2 8 application architecture 24
4. by this board can be classified as serial communications motion control and motor driving operations 1 3 1 Serial communications Item Signal name Specifications Cyclic communication times and data transfer cycles Communication time 15 1 us maximum Data transfer cycle Maximum of 0 49 msec when using 32 devices 1 Maximum of 0 97 msec when using 64 devices 2 Data transfer speed 20 Mbps when using our recommended cable 1 100m 2 50m Date communication time Maximum 19 3 us When writing a 4 byte feed amount into the feed register in the G9103A Total serial communication line length Maximum of 100 m At a data transfer speed of 20 Mbps with 32 devices connected Maximum of 50 m At a data transfer speed of 20 Mbps with 64 devices connected Maximum of 100 m At a data transfer speed of 10 Mbps with 64 devices connected Using our recommended cables Serial communication method Half duplex communication Connection method Multi drop connection using a LAN cable or our proprietary cable Serial communication device RSI and A4 Assignable device numbers 0 to 32 number The rotary switch can set the device id ranging from 0 to 15 For device ranging from 16 to 32 the A4 switch needs to be switched to 1 Serial communication transfer SW1 BO 20 Mbps 10 Mbps 5 Mbps 2 5 Mbps speed Bl Set using switches Transmission resistance SW2 T
5. I to 16 383 14 bits Deceleration setting range I to 16 383 14 bits Automatically set ramp down point It is possible to set the ramp down point automatically within the range of deceleration time lt acceleration time x 2 FH correction function escaping triangle drive When the feed amount is small and the motor may possible to start deceleration on the way of acceleration triangle drive this function automatically lowers the operation speed and escape this triangle drive 13 TPM Motionnet Programming Manual COUNTER 1 Specified position counter 28 bits Counter COUNTER 2 Mechanical position counter 28 bits COUNTER 3 Difference counter 16 bits Comparators 3 at 28 bits each Positive end limit input PEL Negative end limit input MEL PEL MEL Ramp down input SD Mechanical signal inputs SD ORG MK Zero position input ORG and EMG Emergency stop input EMG I F Photo coupler input f The respective LED lights when a mechanical input is Display input status LA to L8 active and the respective photo coupler goes on NE End limit input logic switch Setting the end limit input logic SWI ELL f Set using a switch Break signal BK BK Break signal output 1 3 3 Motor Driving Operations Item Signal name Specifications Driving method 2 phase uni polar and bipolar Op
6. R Select whether to use a termination resistor on the last the serial communication station Set using a switch Display serial communication RUN ERR RUN While receiving serial communications normally 12 TPM Motionnet Programming Manual Item Signal name Specifications status the green LED is lit ERR When a serial communication error occurs continuously the red LED is lit 1 3 2 Motion Control Item Signal name Specifications Positioning control range 134 217 728 to 134 217 727 28 bits Ramp down point setting range 0 to 16 777 215 24 bits Number of speed setting registers 3 types FL FH and FA correction speed Speed setting step range 1 to 100 000 17 bits Magnification rate for setting the speed range Magnification rate 0 1 to 66 6x When the magnification rate is 0 1 the speed setting range is 0 1 to 10 000 0 pps When the magnification rate is 1 the speed setting range is 1 to 100 000 pps When the magnification rate is 50 the speed setting range is 50 to 5 000 000 pps Note The maximum speed of the driver is 250 Kpps The speed can be limited by the specifications of the motor used Acceleration deceleration characteristics Acceleration and deceleration can be set independently for linear acceleration deceleration and also for S curve acceleration deceleration Acceleration setting range
7. TPM Motionnet Programming Manual Stepper Driver STP M111 User Manual Version V1 2 2012J30 To properly use the product read this manual thoroughly is necessary Part No 81 00STP10 010 TPM Motionnet Programming Manual Revision History Date Revision Description 2012 9 3 1 0 Document creation 2013 1 1 1 1 Added an illustration on system architecture 2013 1 28 1 2 1 Update mechanical dimensions 2 Added options of STP M111A and STP M111B TPM Motionnet Programming Manual O Copyright 2012 TPM The product including the product itself the accessories the software the manual and the software description in it without the permission of TPM Inc TPM is not allowed to be reproduced transmitted transcribed stored in a retrieval system or translated into any language in any form or by any means except the documentation kept by the purchaser for backup purposes The names of products and corporations appearing in this manual may or may not be registered trademarks and may or may not have copyrights of their respective companies These names should be used only for identification or explanation and to the owners benefit should not be infringed without any intention The product s name and version number are both printed on the product itself Released manual visions for each product design are represented by the digit before and after the period of the manual visio
8. URRERURUR 17 MAMANS T 18 2 2 2 Motronnet Rings tete etx ALe keen daa ata Ukas 19 D223 RS1 Rot ry SWiteh nasa 19 22 4 WIR LS LO POWE catt eiectus soe EE E uM e M ee T 20 2 2 5 VR2 Run POWER eececccesecsseesseeneeseeceeeenecsceesnensccesecseessecsaecsaecseecaeeeneeneesneeseceseeaeesecsaecsaeceaecaeeeaeeeaeeeaeeeneeneeas 20 PARCO UnvlB aT 20 2 2 7 Motor C nnector ni cere ipe te cuti t dee PEE Pe eate co e tege ia bete eere ecce Ib epe aS 21 2 25 POWELLIIDUE RIO ee ere Peo ee IEEE 21 2 2 9 Encoder Source CREE 21 2 3 WIRING DIAGRAM ba 22 2 oder er t RR EO e RE aker E RO ED ined ude GER Qu EH ERA eden akadierne edda d 22 pur APPLICATION ARCHITECTURE EE 24 TPM Motionnet Programming Manual 1 Introduction STP M111 is a 2 phase high speed Motionnet interfaced stepping motor driver Encoder support and high precision position drive simplifies the control of motion 1 1 Precautions 1 1 1 Safety precautions When you operate a stepper motor you must take the utmost care to keep people from entering the zone in which components are being moved by the motor In addition provide an emergency stop mechanism to stop the motor operation instantly if a person is in danger 1 1 2 Handling precautions Inputting power Do not connect or disconnect connectors and signal lines while this board or peripheral circuits are supplied with power Static electri
9. city This board uses a CMOS device Therefore this board must be stored in a package in which it was shipped until you actually use it in order to prevent damage from static electricity Switch settings This board is equipped with switches to set details for serial communications and input outputs Be sure to shut off the power supply to the board before changing these switches Connections to electrically noisy devices Interference from excessively noisy devices or from power surges on the power and I O circuits may cause the board to malfunction To connect to a device which may generate electrical noise we recommend taking countermeasures such as attaching a protective circuit to the input output circuits However it is best not to share the same power supply with noise generating sources TPM Motionnet Programming Manual 1 2 Features STP M111 has two types by encoder feedback STP M111A with encoder counter support STP M111B without encoder counter support 1 2 1 Serial Communications Data transfer speed Maximum is 20 Mbps Default speed is 10Mbps Cyclic communication time and transfer cycle Cyclic communication time Maximum 15 1 us unit Data transfer speed 20 Mbps Cyclic data transfer cycle Maximum 0 97 ms when connected to 64 local devices Data transfer speed 20 Mbps As the number of devices connected grows smaller the transfer speed gets proportionally faster Data co
10. eration speed 250 Kpps at maximum Motor current setting VR2 2 0 A phase maximum set using a variable resister Set to 1 2 A per phase when delivered Reduced current level VRI Set using a variable resistor Set to 5096 of the normal current level when delivered Auto current reduction Chose whether to reduce the current automatically after the motor operation ends Can be disabled by using a G9103A general purpose output Motor excitation on off Motor excitation control can be turned on off Can be controlled using a G9103A general purpose output Phase excitation zero point The phase excitation zero point can be monitored using the Z phase input on the G9103A 14 TPM Motionnet Programming Manual 1 3 4 Others Item Signal name Specifications Power requirements 24 VDC 10 Consumption current maximum 0 04 A at no load Consumption current approximately 1 1 A when a 2 0 A phase motor is connected The current consumption varies depending on the specification of the motor coils the operation speed etc Cooling method Natural cooling Operating temperature range 0 to 40 C 8096 RH or less Operating ambient humidity Non condensing through the 10 C to 40 C range Measures for environmental problem Complies with the EU RoHS requirement 15 TPM Motionnet Programming Manual
11. ignal O 14 Dil Digital input 1 I 15 DD Digital input 2 I Note that the EMG signal needs to be inactive to drive the motor Otherwise the driver will be in the emergent stop state 20 TPM Motionnet Programming Manual 2 2 7 Motor Connector 2 2 8 Power Input 2 2 9 Encoder Source Figure 2 6 encoder source DB9 connector Pin Name Function I O Pin Name Function IO 1 EA Encoder phase A input I 2 EA Encoder phase A input I 3 EB Encoder phase B input I 4 EB Encoder phase B input I 5 EZ Encoder phase Z input I 6 EZ Encoder phase Z input I 7 5V 5V DC input I 8 GND Ground O 9 FG Frame ground 21 TPM Motionnet Programming Manual 2 3 Wiring Diagram The STP M111 not only controls the stepper motors but also supports encoder feedback signals The wiring definition is illustrated in the following figure STP MIII SETPPING MOTORS SETPPING MOTORS Bipolar 4 leads diagra Unipolar 6 leads diagra STEPPING MOTORS Figure 2 7 wiring configuration illustration 22 TPM Motionnet Programming Manual Bipolar wiring illustration SETPPING MOTORS Bipolar 4 leads diagram el Unipolar wiring illustration SETPPING MOTORS Unipolar 6 leads diag an 23 TPM Motionnet Programming Manual 2 4 Application Architecture
12. machine position Or TPM Motionnet Programming Manual 16 bit general purpose counter with a synchronous signal Outputs pulses at 1 4096 of output function the reference clock EA EB input You can reset any of the counters with a command And you latch the counter data with a command or by supplying an ORG signal Comparator STP M111A only The driver has three comparator circuits which allow it to compare between preset values and internal counter values Select from COUNTER 1 specified position counter COUNTER 2 mechanical position counter or COUNTER 3 general purpose and difference counter to make comparisons In addition comparator 1 and 2 can also be used as software limit counters SL SL Software limit function You can set software limits using the comparator 2 circuit When the motor operation enters the software limit range the motor immediately stops or decelerates and stops Then it can only be driven in the reverse direction Backlash correction The driver has a backlash correction function The backlash correction function corrects feed amount each time the feed direction changes Synchronization signal output function The driver can output pulse signals at a specified rate for a specified interval Vibration restriction function Preset a control constant and this function adds 2 pulses each to both forward and reverse rotations that occur just before stoppi
13. mmunication time Max 19 3 us When writing a 4 byte feed amount instruction to the feed amount register in the G9103A Number of devices that can be connected Maximum 32 devices line Connection method Multi drop connections using LAN cables Serial communication types Three types of communication are available 1 System communication By polling the Motionnet line the number of local devices that are connected the device numbers device types and I O port allocation status can all be checked 2 Cyclic communication The system starts communication with the local device that has the lowest device number When the communication cycle reaches the device with the highest device number the system starts over again communicating with the device that has the lowest device number The process of communicating with all active devices from the lowest to the highest device is one cycle The system repeats this TPM Motionnet Programming Manual communication cycle endlessly The primary status conditions such as the pulse output status and general input output data control of the G9103A is handled using cyclic communications 3 Data communication This type of communication is used to read and write data between a PCL device and a CPU emulation device Data is written into a FIFO buffer in the central device and then a send command is issued These communications are sent and received automatically during the interr
14. n number Manual updates are represented by the third digit in the manual vision number Trademark m MS DOS and Windows 95 98 NT 2000 XP Visual Studio Visual C Visual BASIC are registered trademarks of Microsoft B BCB Borland C Builder is registered trademark of Borland M Other product names mentioned herein are used for identification purposes only and may be trademarks and or registered trademarks of their respective companies TPM Motionnet Programming Manual Electrical safely B To prevent electrical shock hazard disconnect the power cable from the electrical outlet before relocating the system B When adding or removing devices to or from the system ensure that the power cables for the devices are unplugged before the signal cables are connected Disconnect all power cables from the existing system before you add a device M Before connecting or removing signal cables from motherboard ensure that all power cables are unplugged B Seek professional assistance before using an adapter or extension card These devices could interrupt the grounding circuit B Make sure that your power supply is set to the voltage available in your area m If the power supply is broken contact a qualified service technician or your retailer Operational safely RB Please carefully read all the manuals that came with the package before installing the new device M Before use ensure all cables are correctly connected and the powe
15. n pull up resistors to prevent floating When these terminals are not used they can be left open If you want to improve noise resistance of the chip pull them up 5 to 10 K ohms or connect them to the VDD e LIC This terminal is to latch the specified counter COUNTER 1 to 3 by inputting a signal It can latch more than one counter Software can be used to change the input logic of this terminal This terminal has a built in pull up resistor to prevent floating When this terminal is not used it can be left open However if you want to improve noise resistance pull it up 5 to 10 K ohms to the VDD or connect it to the VDD CMP The signal output when the comparator condition is satisfied Position checking STP M111 is a stepping motor driver to control motors with encoder mounted by checking the final position of the target position It also provides functional applications for users to get the current position of the encoder value 1 2 3 Motor driver Required power This board requires 24 VDCx 1096 A motor that can be controlled 2 phase stepper motor maximum 2 0 A phase Driving method Uni polar and bipolar Micro step Select from 4 steps division by 1 4 16 and 32 Excitation ON OFF control The motor excitation can be switched on and off using a general purpose output from the G9103A 11 TPM Motionnet Programming Manual 1 3 Specifications The functions offered
16. ng the motor This function reduces the mechanical shock that can occur on the motor axis when it is stopped Operation mode The basic operations using this driver are continuous operation positioning and zero return operation The driver supports various operations by setting optional operation mode bits lt Examples of the operation modes gt 1 Continuous mode using commands 2 Zero returning operations 3 Positioning operations using a command 4 Interpolation mode using a command TPM Motionnet Programming Manual Avariety of zero return sequences STP M111 supports 13 homing modes which listed in the Motionnet Programming Manual Mechanical system input signals The following four signals can be input 1 PEL EL If this signal goes on while the motor is in turning in the positive direction it will stop immediately Or if preset environment conditions are met it will decelerate and stop The motor cannot be rotated in the positive direction while this signal is on it can rotate only in the negative direction 2 MEL EL If this signal goes on while the motor is turning in the negative direction it will stop immediately Or if preset environment conditions are met it will decelerate and stop The motor cannot be rotated in the negative direction while this signal is on it can rotate only in the positive direction 3 SD This signal can be used as a deceleration signal or as decelerate and s
17. r cables are not damaged If you detect and damage contact the dealer immediately M To avoid short circuits keep paper clips screws and staples away from connectors slots sockets and circuitry M Avoid dust humidity and temperature extremes Do not place the product in any area where it may become wet M If you encounter technical problems with the product contact a qualified service technician or the dealer TPM Motionnet Programming Manual Contents CONTENTS 5 1 INTRODUCTION ee 6 midiie erm m 6 1 1 1 Safety precautions RR 6 1 1 2 Handling precautions seccion erio a EEEE E E EEE EE EE E ESEE EEEE 6 S iJ UH 7 IA Serial COMM NICAMONS P mc 7 1 2 2 Motion control m 8 castrum 11 1 3 SPECIFICATIONS EE 12 1 31 Serial communications e 12 1 3 2 Motion Control P 13 1 3 3 Motor Driving Operations ssrnnanrrrnnverenvrrnnvrrenvrrnnvnrenversnrnnennrrsnverensrssnvnrennrssnvsrennrssnnnrennrssnvnsennessnnsssnnessnnnsnnesnnn 14 IE ST 15 2 HARDWARE SPECIFICATIONS mee M 16 2 1 MECHANICAL DIMENSION S varia AE Ma vr Saan AN NE alibi Eod o Fee ESSEKS 16 2 2 I O INTERFACES M RRCRRRERERE
18. top signal depending on the settings in the program When SD is set to be used as a deceleration signal and if this signal goes active while in high speed operation the motor will decelerate to FL speed Also if this signal is already active when starting the motor the motor will operate at FL constant speed When this signal is set to be used as a decelerate and stop signal and if this signal goes active while in high speed operation the motor will decelerate to FL speed and then stop 4 ORG This is an input signal used for zero return operations For safety arrange your system so that PEL EL and MEL EL signals remain on from the EL position all the way to the end of the stroke You can also change the logic of these signals using a switch The logic of the SD and ORG signals can be changed using a program EMG Emergency stop signal input When this signal goes active the affected axis stops rotating immediately No axis can be operated as long as this signal is active EA EB and EZ These terminals are to control the current position using an encoder 90 degree phase difference signals or 10 TPM Motionnet Programming Manual Two pulse UP pulse and DOWN pulse can be input on these terminals The 90 degree phase difference signals can be multiplied by 2 or by 4 The EZ input is used for origin return operations Software can be used to change the input logic of these terminals These terminals have built i
19. upt driven cyclic communications Data communications are used to send operation commands and register data to a G9103A Communication error detection Errors can be detected by adding CRC numbers to the serial communication frames 1 2 2 Motion control Interrupt signal output This driver can send a variety of interrupt requests to the central board using cyclic communications Acceleration deceleration control Both linear and S curve acceleration deceleration is available The S curve acceleration deceleration also allows use of linear acceleration deceleration parts Speed override The speed can be changed during any operation in all the modes Overriding the target position The target position feed amount can be changed during positioning using the positioning mode function When a feed operation has already passed the new target position the motor will decelerate and stop stop immediately when performing a constant speed operation and start to feed in the opposite direction A variety of counter circuits STP M111A only The following three counters are available Counter Use Count input COUNTER1 28 bit counter for controlling the specified position Output pulse COUNTER2 28 bit counter for controlling the mechanical set position Output pulse EA EB input COUNTER3 16 bit counter for controlling differences between the Output pulse EA EB input specified position and the actual
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