Simple Step Manual
Contents
1. 15 CHANGING ADDRESSES 15 SECTION 5 SOLDERING ACCESSORY 16 PUSHBUTTON 16 SENSOR fontaine een eae Mae a telah hey tn 17 SECTION 6 SIMPLE STEP COMMANDS SET 5 18 PROGRAMMING SYNTAX 18 ROTATE MOTOR IN THE POSITIVE AND NEGATIVE 0 2000 00 19 CHANGING THE VELOCITY 0 77 010000 ad ete 20 CHANGING THE ACCELERATION 20 tidus haa E E de he 20 SETTING THE CURRENT RA 21 THE SKIP COMMAND 60666666600 21 DTLORING PROGRAMS 5 21 ADJUSTING THE STEP RESOLUTION 006660000000000 00 0 0 21 THE HALT 22 RUNNING MULTIPLE MOTORS 22 EXAMPLES 1 1100 0 EE S 23 SECTION 7 SOFTWARE DOWNLOADS 24 Lin Engineering Page 2 5 15 2003 1 Introduction To Simple Step The Simple Step is designed to allow for rapid implementation of stepper motors in products requiring automation With a fully intel2. LIN ENGINEERING Step Motor Specialists Simple Step INTEGRATED STEP MOTOR DRIVER AND CONTROLLER USER MANUAL Lin Engineering Page 1 5 15 2003 TABLE OF CONTENTS SECTION 1 INTRODUCTION TO SIMPLE 3 PLEASE READ BEFORE USING SIMPLE 57 4 DISGEAIMER 4 ELEGTRICAL SPEGIFIGATIONS 5 COMMUNICATIONS SPECIFICATIONS 5 DIMENSIONS 0 6 OPERATING SPECIFICATIONS 6 FEATURES rd re Mi O dan Pana ahs 7 DEVELOPER S KIT LIST 7 8 SECTION 2 CONNECTORS SECTION 3 GETTING 51 1 9 SETUP FOR 42 2 1 20000000 0 0100 0 000000000000 10 SETUP FOR WINDOWS 10 SECTION 4 USING THE DIGITAL W O 11 INPUT CONNECTIONS Sooria 1 OUTPUT 00 011 00 13 CONNECTING AN LED TO AN ae 14 CONNECTING MULTIPLE DRIVERS 01 2 0 11 0 000000000000
3. Shaft is pointing out of the page Figure 6 1 Lin Engineering Page 23 5 15 2003 Push Button to Run Motor Opto Sensor stops the Motor 1s0gH11P10000H11Z10000GOR 0 Store the following string as program 0 for driver 1 g Begin loop H11 Wait for a Halt Switch Closure on input 1 pin 2 P10000 Move motor in the Positive Direction by 10000 steps H11 Wait for another Halt Switch Closure push button Z10000 Move back by 10000 steps or until a sensor is interrupted G0 Loop continuously R Run Program Side View of Motor with a Lead Screw attached to the shaft 1 Begin with Flag interrupting the Sensor Platform with a Flag Opto Sensor Direction of EEA Motion gt 2 Push Button motor will begin to turn 3 Then Push the button again and motor will turn back towards Home Direction of lt Motion 4 Flag will trip the sensor and FE CEES CARES motor will discontinue running Figure 6 2 7 Software Downloads Visit www linengineering com for the following information e Simple Step Windows Application executable Simple Step Full Command Set List Quick Reference Guide for Hyper Terminal Quick Reference Guide for the Windows Application Windows Application Examples Lin Engineering Page 24 5 15 2003 LIN ENGINEERING Step Motor Specialists Simple Step User Manual www linengineering com The Simple Step Integrated Motor amp Controller and Lin Engineering logo are trademarks of Lin
4. Engineering Lin Engineering Page 25 5 15 2003
5. Requirements Voltage 12 VDC to 40 VDC Motor Specifications NEMA Size 17 Motor Rated Current 4118S 0 9 Amps RMS 4118M 1 4 Amps RMS 4118L 1 1 Amps RMS Holding Torque 4118S 38 4 oz in 4118M 72 0 oz in 4118L 84 8 oz in Steps per Revolution 1 8 Motor 400 800 1600 3200 6400 12800 Digital I O Specifications Number of I O 2 Number of Inputs 2 Input Voltage 0 VDC to 24 VDC Input Current 700 mA Pull up Resistors 10k Q Protection Static Protection to the microprocessor COMMUNICATION SPECIFICATIONS Interface Type RS485 to RS232 converter card Baud Rate 9600 bps Bits per character 8 Data Parity None Stop Bit 1 Flow Control None Lin Engineering Page 5 5 15 2003 DIMENSIONS A Motor Front Shaft Extension Length Standard length is 0 94 Customized length is available B Motor Shaft Diameter Standard shaft diameter is 0 1968 Customized diameter length is also available C Overall Body Length Motor body length is available in various lengths Model 41185 2 69 Model 4118M 2 92 Model 4118L 3 24 1 66 65 2 OPERATING SPECIFICATIONS Maximum Step Frequency 10k pps Operating Temperature Range to 50 C Storage Temperature Range 20 to 70 C Lin Engineering Page 6 5 15 2003 FEATURES Single 4 wire bus linking up to 16 stepper motors 1 50 Amp Chopper PWM Driver Operates from 12V to 40V Stand alone operation
6. are both Ground which need to be soldered together then soldered to wire 6 Green on your DB 9 cable Then the red wire on the opto sensor needs to be soldered to wire 9 Yellow on your DB 9 cable And the white wire on the sensor needs to be soldered to wire 7 White on your DB 9 cable Cable Green Green Yellow White Table 5 1 Pin 5 Pins 1 6 3 4 Figure 5 2 DB 9 connection with the Opto Sensor Opto Sensor Green gt Black gt Red gt White gt Now you can program your Opto Sensor See Examples in Section 6 Note When programming a specific input note that Input 1 corresponds to Pin 2 Input 2 corresponds to Pin 8 Input 3 corresponds to Pin 7 Input 4 corresponds to Pin 5 Page 17 5 15 2003 Lin Engineering 6 Simple Step Command Set Commands to the Simple Step driver and controller are single alpha characters normally followed by a numeric value The alpha character represents what to do and the numeric value represents how much to do it Values for desired velocities accelerations positions stepping resolutions and currents can all be set You can also query the program what position it is currently at and what velocity it currently possesses Creating loops within the strings are easily possible and storing these strings for later execution can also be done These strings are stored on the EEPROM enabling the Simple Step to power up into a
7. opto move to position 1000 then move to position 0 1H11ZA1000AOR Driving a Relay It is necessary to place a 1N4001 diode across the relay as shown in order to protect against inductive spikes 5 Circuit Board microprocessor 20k 7 Pin 2 or Pin 8 Figure 4 5 Example To activate the relay then wait for 500 milliseconds and then deactivate the relay type in the following commands 1gJ3M500J0G5R Lin Engineering Page 13 5 15 2003 Driving a small DC Motor A simple connection shown in Figure 4 6 will allow a 5V to 24V DC motor to run with your Simple Step Unit 5 Circuit Board microprocessor Pin 2 or Pin 8 Figure 4 6 Example To turn on a driver or an I O pin use the J function as shown in the previous example For ease of purpose call J3 to turn on both drivers and use JO to turn off both drivers 1J3M1000JOR CONNECTING AN LED TO AN I O Since the Inputs and Outputs are tied down together to make a bidirectional I O line there is about 0 002 Amps running through the line when it should be off When connecting an LED there is a slight chance that the light may appear dim when it is should appear to be completely off If this happens an easy solution is to add a 20V Zener Diode between the LED and the circuit board 24 VDC Circuit Board ZT 20W Zener Diode 330 ohm LED Figure 4 7 Lin Engineering Page 14 5 15 2003 CONNECTING MULTIPLE DRIVERS e Ensure that each un
8. with no connection to a PC Execution Halt pending switch push button Pre wired for Opto Switch inputs 1 2 1 4 1 8 1 32 1 64 step resolution Homes to an Opto or Switch closure with a single command Fully programmable ramps and speeds Two digital I O and two fixed input channels Switch selectable address Software selectable Move and Hold currents Hold Current automatically selected upon move completion Simple DB9 connection DEVELOPER S KIT LIST e Simple Step Integrated Motor and Controller e RS485 to RS232 converter card A DB 9 female connector cable a switch push button Opto Sensor a 4 Pin connector for the converter card and extra wiring for I O e User Manual Lin Engineering Page 7 5 15 2003 2 Connectors A DB 9 female connector cable receives power and provides the control connections for the Simple Step module On the opposite end of the DB 9 female connector cable there is a 4 pin connector provided for the converter card in order for the driver to communicate with the PC This allows the user to solder and program the switch push button and the Opto Sensor enabling several options The two I O wires are colored blue and black This will allow for options such as solenoids relays opto isolators LED s and many other input and output connections See Figure 2 1 for details Pin Color Function Input 1 Red V Main power In 2 Black I O 1 3 Brown RS485B 4 Black White RS485A 5 Orange S
9. e to change the start and top speed by typing in 1v300V5000R CHANGING THE ACCELERATION FACTOR Description In Position Mode this sets the Acceleration factor acceleration L 7500 Description Beginning of a repeat loop End of a repeat loop Loops can be nested up to 4 levels A value of 0 causes the loop to be infinite Operand 1 20 Operand 0 30000 Command Case Sensitive L LOOPS Command Case Sensitive g G Example To run a motor the positive direction 1000 steps then the negative direction 1000 steps and then repeat this 5 times type in Page 20 5 15 2003 1gP1000D1000G5R Lin Engineering Description Sets Fast Move Current on a scale of 0 to 100 of the max current When V gt v m100 100 of 1 25A for the 4118S series Sets Slow Move Current on a scale of 0 to 100 of the max current Use this when V lt v Sets the Hold Current on a scale of 0 to 50 of the max Current Description Skip next instruction if low on input 1 Pin no 2 Skip next instruction if hi on input 1 Pin no 2 Skip next instruction if low on input 2 Pin no 8 Skip next instruction if hi on input 2 Pin no 8 Skip next instruction if low on input 3 Pin no 7 Skip next instruction if hi on input 3 Pin no 7 Skip next instruction if low on input 4 Pin no 5 Skip next instructio
10. ep units This user manual is a complete guide to setting up the Simple Step unit It also contains information on various types of inputs and outputs your Simple Step unit can be used with In addition a highlighted list of commands for programming the Simple Step has been provided Lin Engineering Page 3 5 15 2003 SIMPLE STEP INSTALLATION NOTES Thank you for purchasing the Simple Step Integrated Motor amp Controller The Simple Step is warranted to be free of manufacturing defects for 1 year from the date of purchase PLEASE READ FIRST BEFORE USING SIMPLE STEP Before you start ensure that there is a suitable DC power supply A current limited lab supply is recommended for first time users to guard against the possibility of miswire In addition in order to prevent any harm to the controller board do not disconnect the unit while power is still being supplied Do not exceed 40VDC under any circumstances DISCLAIMER Lin Engineering reserves the right to make changes without further notice to this product to improve reliability function or design Lin Engineering does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others The Simple Step Integrated Motor amp Controller and Lin Engineering logo are trademarks of Lin Engineering Lin Engineering Page 4 5 15 2003 ELECTRICAL SPECIFICATIONS Power Supply
11. it has its own unique address if you choose to have different motions per unit If you choose to run the same motion on multiple units then the same address for each unit may be used e Figure 4 8 shows a basic schematic of the connections between two motors and the converter card Converter Card Figure 4 8 CHANGING ADDRESSES e Locate the channel selector on the bottom of the Simple Step Using small flat screwdriver turn dial to the desired channel e See Figure 4 9 below Figure 4 9 Lin Engineering Page 15 5 15 2003 5 Soldering Accessory Pieces PUSH BUTTON The push button needs to be soldered to wire 5 Orange and wire 6 Green There is no difference in polarity for the push button therefore wire 5 and 6 can be interchanged with the push button terminals DB 9 connection with the Push Button 4 Pin Connection Figure 5 1 Now you can program your switch push button See Examples in Section 6 Note When programming a specific input note that Input 1 corresponds to Pin 2 Input 2 corresponds to Pin 8 Input 3 corresponds to Pin 7 Input 4 corresponds to Pin 5 See the commands list on how to program switches and halt statements Lin Engineering Page 16 5 15 2003 55 The opto sensor uses wire 6 Green wire 7 White wire 9 Yellow Four wires are already connected to the opto sensor colored Red Black White and Green On the opto sensor wires Green and Black
12. ligent controller attached to the back the Simple Step accepts high level commands from an RS232 RS485 link The controller only adds 0 5 to the length of the motor which otherwise is a standard Lin Engineering Size 17 High Torque Step Motor The Simple Step unit is supplied with a developer s kit enabling users to easily implement their own programs An RS485 to RS232 converter card is also given along with a DB 9 connector cable and accessory pieces The converter card provides the connection between your Simple Step Unit and your PC Commands can be issued from any serial terminal program such as HyperTerminal or from the Simple Step Windows Application which can be downloaded from Lin Engineering s website Accessory pieces such as a red push button switch an Opto Sensor and a 4 pin connector for the converter card are included Also additional wiring for are provided The commands to the Simple Step are intuitive and simple For example the command A10000 will move the stepper motor to Absolute Position 10000 steps This communications protocol is compatible with devices that use the Cavro DT or OEM protocol The Simple Step is also capable of stand alone operation with no connection to a PC It can be set to execute a preset string of commands upon power up Commands include nested loops execution halt pending a switch closure and much more It is also possible to daisy chain up to 16 different Simple St
13. mode of your choice enabling the Unit to run as a stand alone module For a complete list of commands please visit www linengineering com and look for Products gt Integrated Motors gt Simple Step PROGRAMMING SYNTAX When typing in commands always follow this format Start Character Simple Step address Commands End of string i 1 9 Command string lt CR gt Addresses for 10 16 use a different numbering system described on page 22 The forward slash tells the computer that you are going to give it a command The address number lets the computer know which Simple Step unit you want to program The command string is your actual command described in detail in the following sections After typing in your command you must type in the letter R which stands for Run This will tell the computer to run the command Lastly by pressing Enter it tells the computer that you are finished with your string In the following descriptions and example we will assume that the motor address you wish to program will be motor address one Lin Engineering Page 18 5 15 2003 ROTATE MOTOR THE POSITIVE AND NEGATIVE DIRECTION When the motor is standing upright with the shaft pointing towards the ceiling the motor will rotate clockwise when stepping in the positive direction Rotating counterclockwise is stepping in the negative direction Description Initialize the Motor Motor will turn towards 0 until
14. n a name for your terminal Make sure your COMM connection corresponds to the same COMM connection as your PC serial port i e COMM 1 COMM 2 etc 4 Set your Port Settings to default i e 9600 baud 8 data no parity 1 stop bit no flow control To get to your Port Settings perform the following steps WN File gt Properties gt Settings 5 Turn on local echo by going to File gt Properties gt Settings gt ASCII Setup Click on the box for Echo Typed Characters Locally and click on the box for Send Line ends with line feeds These options will be useful when typing commands in HyperTerminal Click OK Now you can type your commands Example 1A10000R o This will run driver 1 to the Absolute position 10000 Visit www linengineering com for a full list of commands CON SETUP FOR WINDOWS APPLICATION 1 to www linengineering com gt Click on the Integrated Motors Icon gt Windows Application 2 Install Simple Step onto your PC 3 Open the application 4 Click on Settings on the bottom right corner and type the correct COM port Be sure this corresponds with the correct serial port on your PC 5 Begin writing your commands see the Quick Reference Guide for the Windows Application at www linengienering com Lin Engineering Page 10 5 15 2003 4 Using the Digital I O The Simple Step contains two fixed inputs and two digital bidirectional I O s It is possible to receive input from ex
15. n if hi on input 4 Pin no 5 Description Stores a program Program 0 is executed on power up Total of 25 commands max per string Executes the Stored Programs 0 15 SETTING THE CURRENT Command Operand Case Sensitive m 0 100 0 100 h 0 50 THE SKIP COMMAND Command Operand Case Sensitive S 01 11 02 12 03 13 04 14 STORING PROGRAMS Operand 0 15 0 15 Command Case Sensitive 5 Example To store the previous example type 1sO0gP1000D1000G5R To execute this program type 1e0R ADJUSTING THE STEP RESOLUTION Description Adjusts the resolution in micro steps per step Resolution depends on model Allows user to correct any unevenness in microstep size Page 21 5 15 2003 Operand 2 4 8 16 32 64 128 256 0 250 Command Case Sensitive Lin Engineering Description Halt current command string and wait until condition specified Wait for switch 2 closure Switch 1 Pin 2 Switch 1 Pin 2 Switch 2 Pin 8 Switch 2 Pin 8 Wait for low on input 1 Wait for high on input 1 Wait for low on input 2 Wait for high on input 2 RDN Wait for low on input 3 Opto 1 Pin 7 Wait for high on input 3 Opto 1 Pin 7 Wait for low on input 4 Opto 2 Pin 5 Wait for high on input 4 Opto 2 Pin 5 Halted operation can also be resumed by
16. o move in the negative position while at the home or position start position it is possible to set the home position further away Let s say you want to move back by 5000 steps but you are already at the home position Set the new Home position to be 5000 steps away then move 5000 steps in the negative direction 1z5000D5000R Page 19 5 15 2003 Lin Engineering CHANGING THE VELOCITY It is possible to set the start speed the top speed and the stop speed of the motor There are two types of modes Position mode and Velocity Mode In velocity mode it is possible to change the velocity on the fly Description In Position Mode this sets the Start Speed of the Motor in half steps per second In Position Mode this sets the Top Speed of the Motor in half steps per second In Velocity Mode you can change the Top Speed on the fly This is allowed when Top Speed lt Start Speed pps In Position Mode this sets the stop speed of the motor in half steps per second Operand 50 900 5 5800 5 2500 50 900 Command Case Sensitive V V Velocity mode occurs when you run the Simple Step Unit infinitely by typing The motor will run forever until you interrupt it with the termination command 1TR While the motor is running you may slow down the velocity on the fly by typing 1 1000 Or when the motor is not running it is possibl
17. tep unit s output to be another Simple Step unit s input Below Figure 4 2 shows the input driver on the left and the output driver on the right Circuit Board Another Driver microprocessor Input Output Figure 4 2 Be aware of the possibility of a ground shift between the output driver and the input driver The wiring between the two drivers should be a short 6 inch distance If your wiring is too long it is possible that the ground voltage on the input side may be as high as 2 VDC thus not enabling this connection to work properly To connect motors further apart use an opto isolator as shown in the following section It is also recommended to connect multiple motors as shown on page 15 Connecting an Opto Isolator Connection of two motors is possible using an opto isolator Be sure to use a transistor opto that has a current gt 1mA at IF 20mA Circuit Board Another Driver microprocessor 150 ohm opto isolator Figure 4 3 Lin Engineering Page 12 5 15 2003 OUTPUT CONNECTIONS Connecting an Opto Sensor An Opto Sensor is provided in your developer s kit After completing the Getting Started Section you can now program the Opto in HyperTerminal Please refer to page 17 for Soldering the Opto Circuit Board 150 ohm 5V Pin 7 microprocessor Pin 6 Opto Sensor Figure 4 4 Here is how to program your Simple Step Unit to wait for a switch closure on pin 2 home the stepper to the
18. ternal devices such as sensors switches or PLC outputs Outputs such as relays solenoids LED s and PLC inputs may be controlled from the Simple Step Unit All Input and lines feature internal 20k Q pull up resistors The I O lines addition feature a switch closure to ground which can be used to drive loads connected externally of up to 2 4 mA at 24V or as low as 0 5 mA at 5V The I O lines should not be actively driven high because of the internal switch closure to ground Use a pull up resistor of 300 or greater an open collector style pull down on these particular lines INPUT CONNECTIONS Connecting a Switch Push Button A Red Capped Switch Push Button is provided in your kit After completing the Getting Started section you are now ready to program an input Please refer to the Soldering Accessory Pieces on page 16 in order to use your switch push button Figure 4 1 shows a circuit schematic of how the switch push button is configured Curcuit Board microprocessor input switch closure to gnd Figure 4 1 Using HyperTerminal here is how to program your Simple Step Unit to move 1000 steps in the positive direction each time you press the button Assuming the motor address is set to 1 see the Changing Addresses section on page 15 type in the following code 1gH14P1000GOR Lin Engineering Page 11 5 15 2003 Connecting TTL Interface This enables the user to have one Simple S
19. the home opto sensor is interrupted If already interrupted it will back out of the opto and come back in until re interrupted Current motor position is set to zero Sets current position to be position specified without moving motor Move Motor to Absolute position Move Motor relative number of steps in positive direction A value of zero will cause an endless forwards move at speed V By doing so it enters into Velocity Mode Any other finite number will set the mode to be in Position Mode Move Motor relative number of steps in negative direction Note Motor will not run in the negative direction if the position is at 0 You can use the z command to set the 0 position to be further away in the negative direction Then use this command A value of zero will cause an endless backwards move at speed V This will enter Velocity Mode Any other finite number will set the mode to be in Position Mode 10 32 Bit Operand 0 max 0 max 0 0 0 max Command Case Sensitive Z Example To run motor the positive direction 1000 steps then the negative direction 1000 steps you d type in 1P1000D1000R Note It is not possible to move in the negative direction if the motor is already at position zero start position To query the program what position the motor currently possesses type 1 0R If the response is 00 this means that the motor is at home or start T
20. typing 1R THE HALT COMMAND Command Operand Case Sensitive H RUNNING MULTIPLE MOTORS To access drivers 10 16 use these commands Driver Command A colon B semi colon 0 lt less than D equals E gt greater than F question mark 0 at sign Running two or more motors together Motors 1 and 2 3 4 Motors 5 6 E Motors 7 and 8 G Motors 9 and 10 pP Motors 11 and 12 K Motors 13 and 14 M Motors 15 and 16 Q Motors 1 2 3 and 4 Q Motors 5 6 7 and 8 U Motors 9 10 11 and 12 Y close bracket underscore Motors 13 14 15 and 16 For all motors Example CA5000R will move motors addressed 3 and 4 to Absolute Position Page 22 5 15 2003 5000 Lin Engineering EXAMPLES Open and Close a Valve with One Push Button 1s0j2gH11P100H11D100GOR 0 Store the following string as program 0 for driver 1 j2 Step resolution set to half stepping g Begin loop H11 Wait for a switch closure push button on input 1 pin 2 P100 Move in the positive direction by 100 steps 90 degrees H11 Wait for another switch closure push button on input 1 pin 2 D100 Move in the negative direction by 100 steps 00 Loop continuously R Run lt CR gt Carriage Return Valve Opens when push Valve Closed when push button is pressed button is pressed again Top View Of Motor
21. witch Closure to GND IN 4 6 Green GND V of main pwr in 7 White Opto Sensor Phototransistor IN 3 8 Blue I O 2 9 Yellow Opto Sensor LED Power Out Table 2 1 12345 865 7 Figure 2 1 08 9 Female Cable Connector Rear View Inputs are labeled 1 2 3 and 4 for programming the Halt and Skip Commands See page 21 and 22 for more information Lin Engineering Page 8 5 15 2003 3 Getting Started 1 Connect the DB 9 Female Cable to the back of the Simple Step unit 2 the opposite end of the DB 9 cable there is a 4 pin female connector Connect this female mating connector to the header of the converter card RS485 to RS232 converter card 3 Then connect two wires from the converter card to a power supply Plus and minus signs should already be allocated on the converter card 4 Connect one end of a serial cable to the converter card and the other end to a serial port on a PC This cable is not provided in the kit 5 Turn on your Power Supply See Figure 3 1 below WARNING DO NOT DISCONNECT THE UNIT WHILE POWER IS STILL BEING SUPPLIED Simple Step Unit Converter Card Figure 3 1 Lin Engineering Page 9 5 15 2003 SETUP FOR HYPERTERMINAL Please follow these steps in order to properly set up hyperterminal 1 Open terminal from your PC by following these steps Start Menu gt Programs gt Accessories gt Communications gt HyperTerminal Assig
Download Pdf Manuals
Related Search