Neo Stepper Motor 1.2A - Innovative Electronics
Contents
1. 3 3 2 PULSE COUNT RUN Function Controls stepper motor so that it rotates according to how many steps given Command Ox31 Parameter step type 1 gt Full Step motor will rotate 1 step every 1 pulse 2 gt Half Step motor will rotate 1 2 step every 1 pulse direction 0 gt motor will rotate clockwise 1 gt motor will rotate counter clockwise lt pulse delay 1 65535 gt Delay time between pulse to stepper motor The smaller the pulse delay the faster the stepper motor rotates pulse count 1 65535 the number of pulse sent to stepper motor Response Description e If parameter direction has a value of O then M1 indicator LED will lit up red e f parameter direction has a value of 1 then indicator LED will lit up green e f the stepper motor rotates to an opposite direction then it means that the connection is reversed To fix it change the order of connection installation e Each time 1 step pulse is given then M2 indicator LED will change from red to green or green to red if the pulse delay is small enough M2 indicator LED will lit up orange e One pulse delay value represents delay time between pulse for about 1 ms e After the number of pulse that has been released matches the pulse count stepper motor will automatically stop on brake condition while still maintaining motor torque current is still flowing through stepper motor coils Example2. Brake command i2c stop Stop Condition 3 3 4 STOP Function Stops the stepper motor current doesn t flow through stepper motor coils Command 0x33 Parameter Response Description e This command can be given after Continuous Run Pulse Count Run or Brake command e On stop condition stepper motor will stop and there will 9 be no current flowing through the motor coils On stop condition and M2 indicator LEDs lit up orange e Stop condition is the default condition when the SPC module is powered on Example with UART interface User 0x33 The following is a pseudo code example to use this command with l C interface PC address example OxEO i2c start Start Condition i2c write 0xEO0 Write to SPC Neo Stepper Motor module i2c write 0x33 Stop command i2c stop Stop Condition 3 3 5 SET C ADDRESS Function Changes C address Command Ox41 Parameter lt OxAA gt 0x55 lt newAddress gt Response Description e This command can only be performed via UART communication line SPC module will use the new 12 address after going through power off sequence e The allowed lC address lt newAddress gt can be seen in the table below e f the new address given is incorrect then the IC address will not be changed the previous address will be used e The default I C address is OxEO e address data
3. PC Smart PERIPHERAL GONTROLLER NEO STEPPER MOTOR 1 2A Trademarks amp Copyright AT IBM and PC are trademarks of International Business Machines Corp Pentium is a registered trademark of Intel Corporation Windows is a registered trademark of Microsoft Corporation CodeVisionAVR is copyright by Pavel Haiduc HP InfoTech s r l Table Of Contents 1 Intr cduction 2 5 e l e o ooo Ca obe cone Desv Do ava Eee La siS 3 1 1 SPC NEO STEPPER MOTOR 1 2A Specificqotion 3 1 2 Suggested 3 2 SPC NEO STEPPER MOTOR 1 2A Hardvvare 2 1 SPC NEO STEPPER MOTOR 1 2A Component Loyout 3 2 2 Connectors and Jumpers Configurqtions 4 3 SPC NEO STEPPER MOTOR 1 24 Interface 6 3 1 UART TTL Interface quna 2 octo eo Dec cobre to epe Teo oa cog 3 2 Kei pb s b 3 3 Commrnd S8 5 E E EE EE aa Gu a as 7 3 3 1 CONTINUOUS ns eo kanya utu S Sua Sihua ra eo CE EN E Ka aU as 7 3 3 2 Pulse Co nt R ri u u u u Su a toe rie SS R s Sa 8 3 3 3 BRAK ANON 9 SPP EPOR e H 9 3 3 5 Seric Ai oi 10 3 3 6 Read PCAddress 10 4 Utd i M 11 5 Application and Program
4. will be saved in EEPROM so it won t be erased when it s powered off lC Address C Write Address C Read Address OxEO 1 OxE2 OxE3 OxE4 OxE5 OxE6 OxE7 OxE8 OxE9 OxEA OxEB OxEC OxED OxEE OxEF Example with UART interface to change the lC address from OxEO to OxE2 User Ox41 OxAA 0x55 OxE2 3 3 6 READ I C ADDRESS Function Reads the current C address Parameter Response lt I CAddress gt Description e This command can only be performed via UART communication line e SPC module s C address can also be seen through the number of blinks of the indicator LED when the module is powered on e f the lC address is OxEO then the indicator LED will blink green once If the I C address is OxE2 then the indicator LED will blink green twice If the I C address is OxE4 then the indicator LED will blink green 3 times and so on until IC address OxEE at which the indicator LED will blink green 8 times Example with UART interface User Ox42 SPC Module lt I2CAddress gt TESTING PROCEDURE 1 2 Connect the 5 Volts power supply to VIN and VM SPC NEO STEPPER MOTOR 1 2A module After the indicator LED blinks green according to IC address M1 and M2 indicator LEDs will lit up orange Send Pulse Count Run command as shown on the example in section 3 3 2 via UART TTL interface M1 indicator LED will lit up red and M2 indicator L
5. with UART interface to run the stepper motor so that it rotates clockwise 20 pulses 0x0014 hexadecimal with a full step step type and the delay between pulses is about 1000 ms Ox03E8 hexadecimal User Ox31 0x01 0x00 0x03 OxE8 0x00 0x14 The following is a pseudo code example to use this command with I C interface PC address example OxEO i2c wri Start Condition Write to SPC Neo Stepper Motor module i2c wri i2c wri i2c wri i2c wri i2c wri Pulse Count Run command Step type Direction MSB pulse delay LSB pulse delay i2c wri i2c wri MSB pulse count LSB pulse count i2c stop Stop Condition 3 3 3 BRAKE Function Command Parameter Response Description Stops the stepper motor while still maintaining motor torque current is still flowing through stepper motor coils e This command can be given after the Continuous Run command e On brake condition stepper motor will stop while still maintaining motor torque current is still flowing through stepper motor coils e On brake condition M1 and M2 indicator LEDs will lit up according to the last Run command Example with UART interface User 0x32 The following is a pseudo code example to use this command with l C interface PC address example OxEO i2c start Start Condition i2c write 0xE0 Write to SPC Neo Stepper Motor module i2c write 0x32
6. ED will change from red to green or green to red 10 times If the voltage is measured between pin M11 and M12 when M2 indicator LED is blinking then the results will alternate between VM and VM If the voltage is measured between pin M21 and M22 when M2 indicator LED is blinking then the results will alternate between VM and VM APPLICATION AND PROGRAM EXAMPLE As an application example SPC NEO STEPPER MOTOR 1 2A is used to run a motor stepper with lC or UART interface DT AVR Low Cost Micro System LCMS module with ATmega8535 microcontroller is used as master that sends commands The following are the connections between the modules VM 2 5V 13 5V V N 45V SPC m NEO STEPPER SDA spa PORTD 2 DT AVR MOTOR 1 2A LCMS address 0xE0 SCL SCL PORTD 3 MGND PGND Motor Povver Digital Power Supply Supply Ground Ground 11 VM 2 5V 13 5V VIN 5 V M11 M12 SPC m21 NEOSTEPPER p DI AVR MOTOR 1 2A LCMS 22 address OxEO R TX PORTD 1 MGND PGND Motor Power Digital Power Supply Supply Ground Ground As an example program for the above application there are two programs named contoh i2c c and contoh uart c included in the CD DVD written using CodeVisionAVR 1 25 2 evaluation In the program DT AVR LCMS will send Continuous Run command to SPC mo
7. Example 11 Attachment A SPC NEO STEPPER MOTOR 1 2A Schemafics 13 1 1 1 2 2 1 INTRODUCTION Smart Peripheral Controller SPC NEO STEPPER MOTOR 1 2A is a stepper motor controller module which is compact reliable and compatible for robotic applications This module can be used to control the direction and speed of 1 stepper motor using full step or half step This module is equipped with UART TTL and interfaces so that it can easily be connected with other systems SPC NEO STEPPER MOTOR 1 2A SPECIFICATION SPC NEO STEPPER MOTOR 1 24 specification is as follows The module requires 4 8 5 4 VDC power supply The motor requires 2 5 13 5 VDC power supply Uses a TB661 2FNG motor driver IC The driver s maximum continuous current is 1 2 A Can be used for unipolar or bipolar stepper motors Input Output pins are compatible with TTL and CMOS voltage level Equipped with UART TTL and interface Using IC SPC NEO STEPPER MOTOR 1 2A be cascaded up to 8 modules Module uses a 16 pins 600mil DIP connector configuration which is easier to connect directly to project board or PCB matrix SUGGESTED SYSTEM Suggested system for SPC NEO STEPPER MOTOR 1 2A is as follows Hardware PC AT Pentium IBM Compatible with USB port DT AVR Low Cost Series DVD ROM Drive and Hard disk Software Win
8. NY2313 3 SCL R3 1 OR SCL SDA D3 D4 PGND MGND VA LZ NI _ NI A GPIOI GPIO2 GPIO gt MISO Lane PI PIO2 3 S BLM31PG121SNIL AT R 470R VIN Z 2 w L2 x m BLM3IPGI2ISNIL MI IND M2 IND 13
9. dows XP Operating System CodeVisionAVR program CD DVD contents Folder contoh i2c folder contoh vari TB6612FNG pdf dan SPC Neo Stepper Motor 1 2A Manual pdf SPC NEO STEPPER MOTOR 1 2A HARDWARE SPC NEO STEPPER MOTOR 1 2A COMPONENT LAYOUT D4 c8 M2 IND C2 10uF 35U 20pF INTERFACE V C DC Motor L b TB6612FNG MOTOR Jt J4 L 1 TITI 2 ISP SCL SDA sie LI D2 5 Wi eus E 10uF 35U Lj Udi ET D11N4148 2 2 CONNECTORS AND JUMPERS CONFIGURATIONS INTERFACE PORT J2 connector functions as a connector for module power supply input UART TTL and I C interface Pin Name Function 1 2 VIN Connected to power supply 4 8 5 4 Volts 3 SCL PI eC bus clock input 4 SDA PC bus data input output 5 RX TIL TTL serial level input to SPC module TX TIL TTL serial level output from SPC module 7 8 PGND Ground reference for SPC module power supply MOTOR J3 connector functions as a connector for motor power supply input and motors Pin Name Function 1 2 VM Connected to motor power supply 2 5 13 5 Volts 3 M11 1 Output from H Bridge M1 pair 4 M12 2 Output from H Bridge M1 pair 5 M21 1 Output from H Bridge M2 pair M22 2 Output from H Bridge M2 pair 7 8 MGND Ground reference for motor power supply Pay attention to the type of stepper m
10. dule for example SPC s I C address is OxEO so that the motor stepper rotates clockwise with 500 ms delay between pulses After the command is sent DT AVR LCMS will wait for 5000 ms Afterward Brake command will be sent to SPC followed by another 5000 ms delay Then DT AVR LCMS will send Continuous Run command to SPC module for example SPC s lC address is OxEO so that the motor stepper rotates counter clockwise for 10 pulses with 250 ms delay between pulses This command is also followed by a 5000 ms delay The program ends with DT AVR LCMS sending Stop command to the SPC module Thank you for your confidence in using our products if there are difficulties questions or suggestions regarding this product please contact our technical support support innovativeelectronics com 12 ATTACHMENT A SPC NEO STEPPER MOTOR 1 2A Schematics 2 3 10uF 35V 10uF 35V RI Ul TB6612FNG VIN di SCL As SDA da RXD J TXD P PGND INTERFACE B SCL VM spal 2 TSP RST d gt F MII dz Lm HEADER MI2 M21 b M22 2 C7 7 zar PA2 RESET dW VCC MOND 8 YI PDO RXD UCSK SCK PCINT7 PB7 2 s 11 0592MHz ABLS PDI TXD MISO DO PCINT6 PB6 MOTOR STATS PAI XTAL2 MOSI DI SDA PCINTS PB5 PAO XTALI OC1B PCINT4 PB4 il PD2 CKOUT XCK INTO OCLA PCINT3 PB3 UP PD3 INTI OCOA PCINT2 PB2 PD4 T0 AINUPCINTI PB1 PDS OCOB T1 AINO PCINTO PBO R2 GND ICP PD6 10K R SDA ATTI
11. hrough UART TTL interface LED M1 IND D3 and M2 IND D4 function as stepper motor condition indicator direction condition or pulse indicator SPC NEO STEPPER MOTOR 1 2A INTERFACE SPC NEO STEPPER MOTOR 1 2A has UART TTL and lC interfaces that can be used to receive commands or send dota UART TTL INTERFACE UART TTL communication parameters are as follows e 38400 bps 8 data bits 1 stop bit no parity bit flow control All commands sent through UART TTL interface begin with 1 byte data that contains lt command number gt followed by if needed n byte data command parameter If the command sent is a command requesting data from the SPC NEO STEPPER MOTOR 1 2A module then SPC NEO STEPPER MOTOR 1 2A will send the data via TX TTL line A data parameter that has a range larger than 255 decimals larger than 1 byte will be sent in two steps 1 byte MSB data is sent first and is followed by LSB data For example parameter lt pulse delay gt which has a range of 1 65535 If lt pulse delay gt has a value of 1500 then MSB byte will be 5 and LSB byte will be 220 5x256 220 1500 Available commands and parameters can be seen in section 3 3 I C INTERFACE SPC NEO STEPPER MOTOR 1 2A module has a C interface In this interface SPC NEO STEPPER MOTOR 1 2A module acts as a slave with an address that has been determined via UART command see section 3 3 5 lC interface on SPC NEO STEPPER MOTOR 1 2A module supp
12. l rotate counter clockwise pulse delay 1 65535 gt Delay time between pulse to stepper motor The smaller the pulse delay the faster the stepper motor rotates Response Description e If parameter direction has a value of O then M1 indicator LED will lit up red e f parameter direction has a value of 1 then indicator LED will lit up green e f the stepper motor rotates to an opposite direction then it means that the connection is reversed To fix it change the order of connection installation e Each time 1 step pulse is given then M2 indicator LED will change from red to green or green to red if the pulse delay is small enough M2 indicator LED will lit up orange e One pulse delay value represents delay time between pulse for about 1 ms Example with UART interface to run the stepper motor so that it rotates clockwise continuously with a full step step type and the delay between pulse is about 100 ms 0x0064 hexadecimal User 0x30 0x01 0x00 0x00 0x64 The following is a pseudo code example to use this command with l C interface PC address example OxEO m Start Condition OxEO Write to SPC Neo Stepper Motor module 0x30 Continuous Run command Step type 0x00 Direction i2c start i2c write i2c write i2c write i2c write 0x00 MSB pulse delay i2c write 0x64 LSB pulse delay i2c stop Stop Condition i2c write 0x01
13. orts bit rate up to a maximum rate of 50 kHz All commands sent through interface begin with start condition followed by byte of SPC NEO STEPPER MOTOR 1 2A module address After the address is sent the master must send 1 byte data that contains command number followed by if needed n byte command parameter data After all command parameters have been sent the command is ended with stop condition 3 3 3 3 1 The following is the sequence that must be done to send a command via 12 interface CS r T rTo x x xlo14 Write Address xixixixixix x xl Dx x x x x x x x Command Parameter if available A data parameter that has a range larger than 255 decimals larger than 1 byte will be sent in two steps 1 byte MSB data is sent first and is followed by LSB data For example parameter lt pulse delay gt which has a range of 1 65535 If lt pulse delay gt has a value of 1500 then MSB byte will be 5 and LSB byte will be 220 5x256 220 1500 Available commands and parameters can be seen in section 3 3 COMMAND SET The following is a complete list of commands on UART and PC interface CONTINUOUS RUN Function Controls stepper motor so that it rotates continuously Command 0x30 Parameter step type 1 gt Full Step motor will rotate 1 step every 1 pulse 2 gt Half Step motor will rotate 1 2 step every 1 pulse direction 0 gt motor will rotate clockwise 1 gt motor wil
14. otor connected to SPC NEO STEPPER MOTOR 1 2A because each type has its own connection SPC NEO STEPPER MOTOR 1 2A can be utilized for 3 types of stepper motor Bipolar 5 cables Unipolar and 6 cables Unipolar The following are the connection examples for each stepper motor type Bipolar Konektor J3 1 2 5V 13V A VM 11 B O M12 O M21 C O M22 lt MGND D Ground Catu Daya Motor Unipolar 5 kabel Konektor J3 lt 2 5V 13V A VM O M11 B O M12 O M21 ram C O M22 MGND Nu Ground Catu Daya Motor COMMON Unipolar 6 kabel Konektor J3 2 5V 13V A VM O M11 B M12 M21 ram K C O M22 MEN N T Ground Catu Daya Motor COMMON 1 COMMON 2 SCL SDA J4 jumpers are used to activate pull up resistors for SDA and SCL on lC interface Pull up inactive jumpers disconnected Pull up active jumpers connected SCL SDA 3 1 3 2 Important If more than one module is connected to I C bus then only one set of SCL SDA J4 jumpers needs to be connected IC address configuration be done t
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