Accuriss 28 User Manual
Contents
1. Command Type Description Page A Motion Absolute move in positive direction 14 P Motion Index move in positive direction 15 D Motion Index move in negative direction 16 Z Motion Homes motor 17 z Motion Set current position to commanded number 19 f O Set home flag polarity 20 F System Control Change direction of rotation considered positive 21 L Motion Variable Set acceleration rate 23 g Program Control Set beginning loop marker 24 G Program Control Set number of loops 25 H Program Control Halt command and wait for condition 26 S Program Control Skip next command and branch on condition 27 S Program Control Store program to address 28 e Program Control Execute stored program 29 R Program Control Run command string 30 X Program Control Repeat running of command string 31 h System Control Set maximum hold current 96 33 j System Control Set microstep resolution 34 n System Control Set Accuriss mode 35 b Communication Set baud rate 36 M Program Control Wait for X milliseconds 37 J O Turn Accuriss outputs on or off 38 T System Status Terminate current command 39 0 System Status Return current position 40 2 System Status Return current maximum speed 41 4 System Status Return status of inputs 42 6 System Status Return current microstep size 43 9 System Control Erase all commands in EEPROM 44 amp System Status Return current f2. 2 5 snem H3MOd snem HIMOd e Ut oo N e Ut oo N e 19 o o ow fF FT oo o qd GB e N 777 i amp us c QR tc e 5 am iH O tu N H ce 1o i O O N Luo x i 1 y A D a Y n c w oa M TL Ji e A o o i co I no co CM N t E Te o Ml 2 UN e q o t N o O N o c eo e m e o oo N Ut eo N ur zo 3NOYOL 7 ur zo 3NOYOL USA28 UsAutomation Accuriss Communications Communications to the Accuriss is possible with any RS485 compatible communication device and any commonly available terminal program Most computers have either an RS232 or USB port sometimes both USAutomation offers software drivers for both on our web site or in our Starter Kit Commercially available USB to RS485 and RS232 to RS485 converters will allow communications with the Accuriss from most computers using only a compatible terminal program Also available as a software tool is the Accuriss Terminal software which is available as a no charge download from our web site and it is included in our Starter Kit Communication Specifications Electrical In conformance with EIA 485 Use a twisted pair cable TIA EIA 568B CAT5e or Characteristics higher is recommended and keep the total wiring distance including extension to 50 m 164 ft or less Baud rate Selectable from 9600 bps 19200 bp
3. p lt CR gt USA28 U Automation F Set Positive Direction System Control Command Fn n 0 Motor rotation away from home is the positive direction 1 Motor rotation toward home is the positive direction Change direction of rotation considered positive Note this command should only be used once after the power is on 1F1R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Sets the direction to rotate toward home to positive Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 21 Command Type Syntax Range Description Example sm 4 V1600 p lt CR gt USA28 UsAutomation V Running Velocity Motion Variable Command Vn n 1 to 16 777 216 microsteps per second In position mode this command is used to set the maximum or slew speed of the motor Units are microsteps per second The microstep step angle should be taken into account when issuing this command the default is 1 8 step per full step of the motor 1V1600R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Sets maximum velocity
4. 2 Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 48 UsAutomation Example 4 Set move and hold Current values Wait for Switch 2 closure then Home to Opto 1 1s0m75h10gJ3M500J0M500G 1 0HZ10000A 1000A0R lt CR gt This breaks down to m 1 s0 m75 h10 Jg M500 Jo M500 G10 H Z10000 A1000 AQ R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Stores the command string that follows in storage location 0 command strings stored in storage location 0 are executed on power up Sets the move current to 75 of max Sets the hold current to 10 of max Start a loop block Turns ON both driver outputs Wait 500 msec Turn OFF both driver outputs Wait 500 msec Will make all commands between here and starting location of the small g repeat 10 times Waits for a switch 2 closure Switch 2 is automatically selected since no number was specified Home the stepping motor to opto 1 Maximum steps allowed to find opto 1 10000 steps Move to absolute position 1000 Move to absolute position 0 Instructs Accuriss to run the command s that are i
5. this is preset at the factory Informs Accuriss a loop is beginning Move 1000 steps in positive direction Wait 1000 milliseconds Move 1000 steps in negative direction Wait 1000 milliseconds Repeat all commands between the G10 command and the g command loop 10 times Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 24 Command Type Syntax Range Description Example apo 4 g P1000 M1000 D1000 M1000 G10 R lt CR gt USA28 U Automation G End Loop Block Program Control Command Gn n 0 to 30000 This command signifies the end of a loop and defines the number of loops to be performed Loops can be nested up to four levels A value of 0 zero causes an infinite loop A T command will terminate an infinite loop If no value is given the Accuriss will use 0 zero as the assumed number 1gP1000M1000D1000M500G10R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Informs Accuriss a loop is beginning Move 1000 steps in positive direction Wait 1000 milliseconds Move 1000 steps in negative direction Wait 1000 milliseconds Repeat all commands betw
6. Backspace is allowed only up to the address character If backspace is used all characters backspaced must be retyped in If a typing error is made typically hit enter and type it all in again what was typed in will be overwritten as long as the R command at the end was not present Example 2 Loop absolute moves with a wait in between 1gA 1000M500A0M500G10R lt CR gt This breaks down to ra Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory g Indicates the start of a loop block A1000 Causes the motor move to the Absolute position of 1000 steps M500 Causes the Accuriss to wait for 500 Milliseconds AO Makes the motor turn to Absolute position 0 M500 Is another wait command of 500 Milliseconds G10 Will make all commands between here and starting location of the small g repeat 10 times R Instructs Accuriss to run the command s that are in the communication buffer lt CR gt Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string To terminate the above loop while in progress type 1T USA28 Revision 1 8 47 UsAutomation Example 3 Program Storage and Recall This example stores a command string to storage location 2 for later execution 1s29A10000M500A0M500G10R lt CR gt This brea
7. Syntax Range Initial Value Description Example d 4 h50 Re lt CR gt USA28 U Automation h Hold Current System Control Command hn n 0 to 50 or rated current 10 Sets maximum holding current while unit is not moving This value should be set as low as possible to prevent the motor from overheating 1h50R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Informs Accuriss to set hold current at 50 of maximum 7 amps 0 35 amps Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 33 Command Type Syntax Range Initial Value Description Example p 4 ig po lt CR gt USA28 UsAutomation j Microstep Resolution System Control Command jn n 1 Full stepping 2 2 microsteps per full step 4 4 microsteps per full step 8 8 microsteps per full step 8 microsteps per full step Sets the number of microsteps per full motor step i e 200 step rev 8 microsteps 1600 steps per rev Aj4R CR Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Informs Accuriss to set 4 microsteps p
8. The heat dissipation in the drive is proportional to the current flowing in the drive and therefore the dissipation occurs primarily during the move When the Drive generates heat the heat first warms the circuit board and housing Only then does the heat transfer to the surroundings For intermittent moves that are less than one minute in duration the Drive primarily cools using this thermal inertia of the board and housing and not by steady state dissipation to the surrounding ambient The electronics for the Accuriss are fully capable of running at the rated voltage and current However due to the small size of the boards which limits the steady state heat transfer to the ambient care must be taken when the drive is used in high duty cycle and or high current applications For conservative operation it is recommended that the duty cycle be reduced linearly from 100 duty at 50 of rated current to 25 duty at 100 of rated current Duty cycle means the percentage of the time that the drive is moving the load averaged over 5 minutes Conservatively the maximum continuous run at 100 current is about 1 minute An on board thermal cutout typically trips after about 2 minutes at 100 current This cutout is self resetting when the drive cools Of course at 50 of current the drive will run continuously with no time limit Most intermittent move applications will NOT require derating of the drive In case the Accuri
9. a loop is beginning Wait for switch 1 to go low then execute move Move 1000 steps in positive direction Loop 10 times Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 26 Command Type Syntax Range Description Example p 4 g S02 P1000 G10 p lt CR gt USA28 U Automation S Skip Command Program Control Command Sn n See below Skip next command depending on status of a specific switch input condition Program branching to a complex subroutine can be implemented by making the next instruction a stored string execution Loops can be escaped by branching to a stored string with no commands 01 Skip next instruction if input 1 switch 1 is low 11 Skip next instruction if input 1 switch 1 is high 02 Skip next instruction if input 2 switch 2 is low 12 Skip next instruction if input 2 switch 2 is high 03 Skip next instruction if input 3 switch 3 is low 04 Skip next instruction if input 4 switch 4 is low 13 Skip next instruction if input 3 switch 3 is high 14 Skip next instruction if input 4 switch 4 is high 1gS02P1000G10R lt CR gt Is the start character Lets Accuriss know that a command stri
10. external resistor in series with the LED When connecting any external switches connect them between any input and ground Main Axis Homing Details There are four full steps in a single electrical cycle that moves the stepping motor A B A B For repeatability in homing the home position is set to first step in that cycle A that occurs after the flag edge has been seen This means that the home position is defined some ways beyond the middle of the flag However there is a small but finite chance that an ambiguity in home position may occur in the rare case that the exact point of switching into A occurs at the same point at which the flag is interrupted In the case where a 4 step ambiguity in home position may exist because the flag may sometimes be interrupted just before and sometimes just after the procedure below describes a method by which the ambiguity can be removed However this procedure need not be followed if a 4 step inaccuracy in Home position is acceptable To eliminate the home position ambiguity first issue the Z command allow the motor to home Then move 2 full steps in any direction now mechanically move the flag edge or sensor such that it trips in the middle of the sensor by adjusting it while watching the status LED on the board which shows the status of the home sensor This will ensure that the flag trips at A and thus the motor will home to a unique position of A Another way to do this if it
11. is not hazardous is to put the motor in an endless homing loop 1gZ10000GR then move the flag opto around while the motor is homing It will be noticed that the motor will home to two distinct positions that are 4 steps apart Make sure the High to Low transition point of the Opto sensor is NOT near these positions exact position does not matter as long as it is not near the place where it homes to Manual homing Motors can be manually homed to any input by the use of a polling loop such as 1s1z0R_ Set the current position to zero and store to storage location 1 121000009D1S04e1GR Move backwards in an endless loop until input 4 goes High Homing to a hard stop It is possible to send the motor against a hard stop and then force the position counter to zero or some other value as necessary The command string 1z0R zeros the position counter The command string 1z333R will set the position to 333 etc So 1aM1zOR zeros the counter USA28 Revision 1 8 53 UsAutomation Appendix B Device Response Packet The Accuriss responds to commands by sending messages addressed to the Master Device The Master Device which for example is a PC is assumed to always have Address zero The master device should parse the communications on the bus continuously for responses starting with 0 Do NOT for example look for the next character coming back after issuing a command because glitches on the bus when the bus reverses direc
12. to 1 revolution per second For a 200 step rev motor and a microstep resolution of 1 8 Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 22 Command Type Syntax Range Description Example m B L1000 13 R lt CR gt USA28 U Automation L Acceleration Rate Motion Variable Command Ln n 0 to 5000 microsteps sec Sets the acceleration to a value 1L1000R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Sets acceleration to 1000 microsteps sec Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 23 Command Type Syntax Range Description Example sm 4 UPA ELA g P1000 M1000 D1000 M1000 G10 R lt CR gt USA28 UsAutomation g Begin Loop Block Program Control Command g N A This command signifies the beginning of a loop 1gP1000M1000D1000M500G10R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address
13. USA28 UsAutomation Accuriss 28 Series Integrated Motor Drive amp Control System USA28 USER S MANUAL Revision 1 8 UsAutomation 2010 USAutomation Inc All rights reserved USAutomation Accuriss Series User s Guide This manual as well as the software described in it is furnished under license and may be used or copied only in accordance with the terms of such license The content of this manual is furnished for informational use only is subject to change without notice and should not be construed as a commitment by USAutomation USAutomation assumes no responsibility or liability for any errors or inaccuracies that may appear herein Except as permitted by such license no part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical recording or otherwise without the prior written permission of USAutomation USAutomation Inc 23011 Moulton Parkway Suite J2 Laguna Hills CA 92653 949 588 0513 949 588 8761 fax www usautomation com USA28 Revision 1 8 2 UsAutomation Contents COME ssa Rss ad id A 3 Revision NOES ss asssssizaosassapsas saido a asda da sa Lada An pias Ma PAi dias id RAS sd dad 4 Product RENAS serenas ineo dades 5 UNDACKINO ssa surra rm 5 Part Number Configuration sacana sssarap gas adiando idas aa Rl Rod Tai a nba a UR NR RAMS 6 Dimensions and Connection PiN OUt ssssssa
14. ase EEPROM System Control Command 29 9 Erases all commands in the EEPROM of the commanded motor 1 9 lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Erases the system s EEPROM Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 44 Command Type Syntax Range Description Example i q amp LIA lt CR gt USA28 UsAutomation amp Return Firmware Version System Status Command amp None Requests firmware version of the commanded motor 1 amp lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Requests firmware revision Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 45 Command Type Syntax Range Description Example p 4 Q lt CR gt USA28 UsAutomation Q Status Request System Status Command Q 0 to 3 0 No error 1 Initialization error 2 Invalid Command 3 Operand out of range Query the Accuriss for its current status Returns the Ready Busy status as well as any error conditions in the Status byte of the return string The retu
15. current position The speed of the motion will be the speed last set by the V velocity command Note An endless move can be terminated by the T command 1P1000R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Instructs motor to move to a position 1000 steps in the positive direction from its current position Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 15 Command Type Syntax Range Description Example sm 1 D1000 R lt CR gt USA28 U Automation D Index move in negative direction Motion Command Dn n 0 to 2 147 483 648 steps Move motor in a negative direction relative to the current position The distance to be moved is n steps A distance n of zero will cause the motor to continuously in the negative direction relative to the current position The speed of the motion will be the speed last set by the V velocity command Note An endless move can be terminated by the T command 1D1000R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Instructs motor to move to a position 1000 steps in the n
16. e following guidelines for handling and mounting of your USA28 e Do not drop the unit on any hard surface or subject it to any impact loads Dropping the unit or other impact loads may result in bearing damage or misalignment e Do not drill holes into the motor Drilling holes into the unit can generate particles and machining forces that may affect the operation of the unit USAutomation can supply the USA28 with modifications to your drawing Please contact the factory for a quote e Do not expose the USA28 to mist spray or submersion in liquids e Do not disassemble the USA28 Unauthorized adjustments may alter the specifications and void the product warranty USA28 Revision 1 8 5 UsAutomation Part Number Configuration The part number for the Microstage USA28 is determined as follows USA28 XXXX X ACCURISS SERIES HEX ADDRESS 1 2 3 d e f 28mm SIZE STACK LENGTH WINDING Dimensions and Connection Pin out 4X M2 5x0 45 6H Y 15 fi i PIN 1 PIN 9 e 866 Q00 H om H Quum HATRET ERSE AREH EA 01 110 T 078 Part L Dimension in MOTOR PINOUT USA28 2102 X 2 21 Pin Function USA28 2202 X 2 72 1 49 to 30 VDC V USA28 2202 X 3 96 2 Ground V 3 O 1 Input 1 or Output 2 4 Input input 3 5 RS485 B 6 O 2 Input 2 or Output 1 7 RS485 A 8 Opto sensor LED Power Out 9 Input Input 4 10 N C USA28 Revisi
17. ed since an R is included in the command string Revision 1 8 28 Command Type Syntax Range Description Example apo aqm 91 po lt CR gt USA28 UsAutomation e Execute Stored Command String Program Control Command en n 0to 15 Executes the command string stored in program locations 0 to 15 Program 0 is executed on start up Up to fourteen 14 commands per string maximum are allowed 1e1R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Instructs Accuriss to execute the command string in storage location 1 Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 29 Command Type Syntax Range Description Example pe q R lt CR gt USA28 UsAutomation R Run Command String Program Control Command R None Run the command string that is currently in the execution buffer 1R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Instructs Accuriss to run the command that is currently in the buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is
18. een the G10 command and the g command loop 10 times Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 25 Command Type Syntax Range Description Example p 4 g H01 P1000 G10 p lt CR gt USA28 U Automation H Halt Command String Program Control Command Hn n See below Halt the current command string and wait for a specific switch input condition to become true If an edge is detect is desired a look for Low and a look for High can be placed adjacent to each other i e H01H11 to define a rising edge detect A halted operation can also be resumed by entering 1R An H command with no following number will wait for switch 2 to close low 01 Wait for low input 1 switch 1 11 Wait for high input 1 switch 1 02 Wait for low input 2 switch 2 12 Wait for high input 2 switch 2 03 Wait for low input 3 switch 3 13 Wait for high input 3 switch 3 04 Wait for low input 4 switch 4 14 Wait for high input 4 switch 4 1gH01P1000G10R CR Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Informs Accuriss
19. egative direction from its current position Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 16 Command Type Syntax Range Description Example ye d Z1000 IR USA28 UsAutomation Z Move to home sensor Motion Command Zn n 0 to 2 147 483 648 The Z command is used to move the motor to a known position by seeking a home sensor When issued the motor will turn toward the O position until the home opto sensor is interrupted If the home sensor is already interrupted the motor will back off of the sensor in the opposite direction and then come back in until the home sensor is re interrupted The motor position counter is set to zero The homing motion is done at the current speed V The maximum number of steps allowed to go towards home without encountering the sensor is defined by the Z command operand n 400 steps The maximum number of steps away from home while sensor is interrupted is 10000 steps To set up the home flags First ensure that a positive move e g 1P100R moves away from home and the home flag If motor does not go away from home flip the connections to only one of the windings of the stepper The Default condition expects the output of the Home flag to be low when away from the home senso
20. er full step Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 34 Command Type Syntax Range Description Example p 4 n gn p lt CR gt USA28 n Set Modes System Control Command nn n 0 to 4095 See table below U Automation Set Modes The combination of Binary Bits specified enables additional operating modes for the Accuriss Bit 0 Bit 1 1n1R Enables the Pulse Jog Mode Jog distance is given by B command and velocity is given by V command The switch inputs becomes Jog Inputs 1n2R Enables hardware limits The level of the limits is set by the f command Bit 2 1n4R Enables continuous jog mode Continuously run motor while an input switch is closed at a velocity set by the V command Note Moves below zero position are possible If this is undesirable use the z command to define a zero position that insures that a number underflow will not occur Bit 3 thru Bit 11 Reserved in4R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Informs Accuriss a n command is coming Enables the Continuous Jog Mode Bit 2 Instructs Accur
21. gh when away from the home sensor as in the case of a Normally Open switch then issue the command 1f1R to reverse the polarity that is expected of the home flag Issue the command e g 1Z100000R or 1f1Z100000R as necessary Homing should be done at a slow speed especially if homing to a narrow Index pulse on an encoder which may be missed at high speeds The home opto sensor and flag should be set up to be unambiguous i e when motor is all the way at one end of travel the flag should interrupt the home opto sensor When at other end of travel the flag should not interrupt the home opto sensor There should only be one High to Low transition possible in the whole range of travel A Homing routine can be done to either an opto sensor N1 Mode or to an Index Pulse N2 Mode The Main axis homes to opto1 input 3 This opto is also the lower limit The Main axis uses opto 2 input 4 as its upper limit Note that limits are engaged by the command 1n2R lower case n The default n0 mode does not check the limits when moving Default f mode f0 expects the inputs to be Low when the axis is away from the limits home The command 1f1R reverses this Also the opto sensors and switches are interchangeable If four opto sensors are desired power for the extra opto sensors can be drawn from the 5V supply on the encoder connector These USA28 Revision 1 8 52 UsAutomation extra opto sensors may require an
22. included in the command string Revision 1 8 30 Command Type Syntax Range Description Example p q syg lt CR gt USA28 U Automation X Repeat Command String Program Control Command X None Repeat running the command string that is currently in the execution buffer 1X lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Repeats all of previous string still in buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 31 Command Type Syntax Range Initial Value Description Example id 4 m 15 R lt CR gt USA28 U Automation m Run Current System Control Command mn n 0 to100 of rated current 25 Sets maximum current applied to the motor while the unit is moving 1m15R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Informs Accuriss to set run current at 15 of maximum 7 amps 0 05 amps Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 32 Command Type
23. instruction if input 3 is Low Execute Jump to command string in storage location 0 End of loop block infinite loop since value is 0 Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 51 U Automation Appendix A Homing Algorithm in Detail The Z command is used to move the motor to a known position by seeking a home sensor When issued the motor will turn toward the O position until the home opto sensor is interrupted If the home sensor is already interrupted the motor will back off of the sensor in the opposite direction and then come back in until the home sensor is re interrupted The motor position counter is set to zero The homing motion is done at the current speed V The maximum number of steps allowed to go towards home without encountering the sensor is defined by the Z command operand n 400 steps The maximum number of steps away from home while sensor is cut is 10000 steps To set up the home flags First ensure that a positive move e g 1P100R moves away from home and the home flag If motor does not go away from home flip the connections to only one of the windings of the stepper The Default condition expects the output of the Home flag to be low when away from the home sensor as is the case in an opto If the Home flag is hi
24. ion Command zn n 0 to 2 147 483 648 steps Set the position counter to a new value without moving 1z1000R CR Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Sets the current position to positive 1000 steps Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 19 Command Type Syntax Range Initial Value Description Example p 4 p p lt CR gt USA28 U Automation f Home Flag Input Level O Command fn n 0 Opto signal is TTL high when at on the opto Normally open 1 Opto signal is TTL high when away from the opto Normally closed 0 normally open This command sets the home flag polarity The default value is O zero 1f1R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Sets the home flag position sensor to Normally closed Instructs Accuriss to run the command that it has just receive Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 20 Command Type Syntax Range Description Example apo aqm F1
25. iption Example ia 4 24 535 lt CR gt USA28 UsAutomation 24 Report Input Status System Status Command 24 Oto 15 Returns the status of all four inputs in 4 bit binary format O to15 of the commanded motor Input Contribution to 4 response if active Switch 1 1 Switch 2 2 Opto 1 4 Opto 2 8 A 4 CR Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Report current input status Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 42 Command Type Syntax Range Description Example p a 26 lt CR gt USA28 UsAutomation 26 Report Current Microstep Size System Status Command 26 1 2 4 8 microsteps per full step Returns the current microstep size of the commanded motor 1 6 lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Report the current microstep size Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 43 Command Type Syntax Range Description Example ia 29 rx lt CR gt USA28 UsAutomation 29 Er
26. irmware version 45 Q System Status Return Accuriss current status 46 USA28 Revision 1 8 13 Command Type Syntax Range Description Example i i4 A1000 R lt CR gt USA28 U Automation A Absolute move in positive direction Motion Command An n 0 to 2 147 483 648 Move motor to a positive absolute position relative to the 0 zero position Once at a given absolute position executing the same command will not move the motor again since the absolute position has already been reached 1A1000R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Instructs motor to move to an absolute position of positive 1000 steps from the 0 zero position Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 14 Command Type Syntax Range Description Example sm amp 1 P1000 Re lt CR gt USA28 U Automation P Index move in positive direction Motion Command Pn 0 to 2 147 483 648 steps Move motor in a positive direction relative to the current position The distance to be moved is n steps A distance n of zero will cause the motor to continuously in the positive direction relative to the
27. iss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 35 UsAutomation Command b Baud Rate Type Communication Command Syntax bn Range n 9600 9600 bps 19200 19200 bps 38400 38400 bps Initial Value 9600 Description Sets the baud rate This command is usually stored in program zero which is executed on power up Example 1b192000R lt CR gt pP Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory b19200 Sets the baud rate to 19200 bps R Instructs Accuriss to run the command s that are in the communication buffer lt CR gt Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string USA28 Revision 1 8 36 UsAutomation Command M Wait for Specified Time Type Program Control Command Syntax Mn Range n 0 to 30000 msec Description M causes the command string execution to wait for the indicated time before proceeding to the next command Example 1M10000R lt CR gt Ei Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory M10000 Sets wait time of 10000 msec 10 seconds R In
28. ks down to apo 4 sor A1000 M500 AO M500 G10 R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Tells Accuriss to store the command string that follows to storage locations 2 Indicates the start of a loop block Causes the motor move to the Absolute position of 1000 steps Causes the Accuriss to wait for 500 Milliseconds Makes the motor turn to Absolute position 0 Is another wait command of 500 Milliseconds Will make all commands between here and starting location of the small g repeat 10 times Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Note program 0 is always executed on power up if we had used storage location 0 instead of storage location 2 in the above example then this program would execute automatically on power up This example executes the command string stored in the above example 1e2R lt CR gt This breaks down to p q op po lt CR gt USA28 Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Instructs the Accuriss to execute the command string in storage location
29. mple Initialization Error Response Note that the Upper Nibble only typically takes on values of 4 or 6 Hex An initialization error has response has 1 in the lower Nibble So the response is 41 Hex or 61 Hex which corresponds to ASCII character upper case A or lower case a depending on if the device is busy or not Example Invalid Command Response Note that the Upper Nibble only typically takes on values of 4 or 6 Hex An invalid command has response has 2 in the lower Nibble So the response is 42 Hex or 62 Hex which corresponds to ASCII character upper case B or lower case b depending on if the device is busy or not Example Operand Out of range Response Note that the Upper Nibble only typically takes on values of 4 or 6 Hex An operand out of range has response has 3 in the lower Nibble So the response is 43 Hex or 63 Hex which corresponds to ASCII character upper case C or lower case c depending on if the device is busy or not Example Overload Error Response Note that the Upper Nibble only typically takes on values of 4 or 6 Hex An overload error has response has 7 in the lower Nibble So the response is 47 Hex or 67 Hex which corresponds to ASCII character upper case I or lower case i depending on if the device is busy or not Example Response to command 1 4 FFh RS485 line turn around character It s transmitted at the beginning of a message 2Fh ASCII Star
30. n the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Note This program string will abort after the Z10000 command if it does not find a flag USA28 Revision 1 8 49 UsAutomation Example 5 Nested loop example 1gA100A1000gA100A10G10G100R CH This breaks down to p q A100 A1000 A100 A10 G10 G100 p lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Start an outer loop block Go to Absolute position 100 Go to Absolute position 1000 Start an inner loop block Go to Absolute position 100 Go to Absolute position 10 Repeat inner loop block 10 times End of Inner Loop Repeat outer loop block 100 times End of outer loop Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string To terminate either of the above loops while in progress type 1T USA28 Revision 1 8 50 UsAutomation Example 6 Skip Branch instruction 1S0gA0A1000S13e1GOR lt CR gt 181gA0A100S03e 0GOR lt CR gt Two Programs are stored in storage locations 0 and 1 respectively and the code in these programs s
31. nd s that are in the communication buffer lt CR gt tells Accuriss that the command string is complete and causes the command s to be executed since the R was included in the command string USA28 Revision 1 8 11 UsAutomation Example 2 Command string 1 1A2000A0 lt CR gt Command string 2 1R lt CR gt For command string 1 P is the start of character Lets Accuriss know that a command string is coming 1 is the device address This is preset at the factory The first A instructs motor to move to an absolute position 2000 sets the absolute position to 2000 steps relative to the zero position The second A instructs motor to move to an absolute position O sets the absolute position to the zero position lt CR gt tells Accuriss that the command string is complete Nothing is executed at this time because the R command was not included in the command string For command string 2 P is the start of character Lets Accuriss know that a command string is coming 1 is the device address This is preset at the factory R instructs Accuriss to run the command s that are in the communication buffer CR tells Accuriss that the command string is complete and causes both of absolute position the commands to be executed since an R command is included in the command string USA28 Revision 1 8 12 Command Set Command Set Table UsAutomation
32. ng will follow Is the device address this is preset at the factory Informs Accuriss a loop is beginning Skip loop if switch 2 is low Move 1000 steps in positive direction Loop 10 times Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 27 Command Type Syntax Range Description Example p 47 s1 g P1000 M1000 G10 p lt CR gt USA28 U Automation s Store Command String Program Control Command sn n 0to 15 Stores the command string that follows to program storage locations 0 to 15 Program 0 is executed on start up Up to fourteen 14 commands per string maximum are allowed Note It takes approximately 1 second for the command string to be written to the EEPROM 1s1gP1000M1000G10R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Tells Accuriss to store the command string that follows to storage location 1 Informs Accuriss a loop is beginning Move 1000 steps in positive direction Wait 1000 msec Loop 10 times Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be execut
33. on 1 8 6 UsAutomation Mounting the USA28 Threaded mounting holes are located on the front of the Accuriss 28 There are four threaded holes for M2 5 X 045 screws See Dimensions section for exact locations Mounting a Load to the USA28 The Accuriss 28 has 5mm shaft for mounting the load see dimensions page Care should be used in isolating the motor bearing from thrust and axial loads It is not advisable to couple loads to the Accuriss shaft with a solid coupling as that may impose radial loads on the motor bearings which will shorten the life of the motor A flexible coupling such as those made by Helical www heli cal com should be used USA28 Revision 1 8 7 UsAutomation Speed Torque Curves The base motor which comes with the USA28 is a 1 8 step 2 phase hybrid step motor Full torque will be available from the motor when used with a drive which has a rated output of at least 0 67 amps per phase Here are representative speed torque curves for the three different lengths of motors available Individual applications may differ in motor performance USA28 2102 TORQUE oz in POWER Watts 0 5 10 15 20 SPEED RPS USA28 Revision 1 8 ion utomat A A U USA28 2202 25 22 5 20 17 5 15 12 5 SPEED RPS Revision 1 8 10 7 5
34. r as is the case in an opto If the Home flag is high when away from the home sensor as in the case of a Normally Open switch then issue the command 1f1R to reverse the polarity that is expected of the home flag Issue the command e g 1Z100000R or 1f1Z100000R as necessary Homing should be done at a slow speed especially if homing to a narrow Index pulse on an encoder which may be missed at high speeds Opto and flag should be set up to be unambiguous i e when motor is all the way at one end of travel flag should cut the opto when at other end of travel flag should not cut opto There should only be one black to white transition possible in the whole range of travel Home can be done to an opto N1 Mode or Index Pulse N2 Mode See Appendix A 121000R CR Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Instructs motor to move toward a zero position a maximum of 1000 steps Instructs Accuriss to run the command s that are in the communication buffer Revision 1 8 17 UsAutomation lt CR gt Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string USA28 Revision 1 8 18 Command Type Syntax Range Description Example uia 21000 R lt CR gt USA28 U Automation z Set current position counter Mot
35. rect error in pin input output configuration page 6 8 25 10 USA28 Revision 1 8 4 UsAutomation Using This Manual The Accuriss Series is a unique motor drive and control all in one package The USA28 is the 28mm version in that series and it is designed to be interactively controlled with a computer or other industrial controller It may also be preprogrammed to run complex subroutines from programs stored in non volatile RAM This manual provides the basic information necessary to unpack set up and configure the USA28 If additional information is required beyond what is presented here please refer to the Support section of our website or contact USAutomation Applications Engineering Product Returns All returns for warranty or out of warranty repairs must first receive an RMA Return Material Authorization number Please contact USAutomation Customer Service Department with information about the return and an RMA number will be issued if warranted Products returned to the factory will be examined and tested for failure mode and cause USAutomation Customer Service will contact the customer with the repair cost if the required repair is out of warranty Unpacking Carefully remove the USA28 from its shipping box and inspect the unit for any evidence of shipping damage Report any damage immediately to USAutomation Please save the shipping box for damage inspection or its use in returning product if necessary Please observe th
36. rn string consists of the start character the master address 0 and the status byte Bit 5 of the status byte is set when the Accuriss is ready to accept commands It is cleared when the Accuriss is busy The least significant four bits of the status byte contain the completion code Errors in OpCode will be returned immediately when errors in Operand range will be returned only when the next command is issued See Appendix B 1Q lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Requests Accuriss status Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 46 UsAutomation Examples Example 1 Move to an Absolute Position of 12345 steps 1A12345R lt CR gt This breaks down to P Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory A12345 Causes the motor turn to an Absolute position 12345 steps R Instructs Accuriss to run the command s that are in the communication buffer lt CR gt Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Note HyperTerminal issues each character as you type it in Therefore it is not possible to cut and paste in HyperTerminal
37. s 38400 bps 9600 is default Physical layer Asynchronous mode 8 bits 1 stop bit no parity Starter Kit The Accuriss Starter Kit is recommended for any first time user of the Accuriss 28 This kit includes a USB to RS485 converter an I O break out board two input switches and a CD that includes catalogs manuals and software USA28 Revision 1 8 10 U Automation Executing Commands In order to execute a command or a series of commands the following syntax should be used Device Address Command Value Command Value R lt CR gt Where the start character Data following the character will be loaded into the communication buffer Device Address the device address Factory Preset Command the command to be executed Value a valid value for the command to be executed position value speed etc Note Up to fourteen 14 Commands and Values can be in a single command string R Execute the command s in the communication buffer already received CR Carriage Return Line Feed CR LF and indicates that the command string is complete Example 1 1A1000R lt CR gt P is the start of character Lets Accuriss know that a command string is coming 1 is the device address This is preset at the factory A instructs motor to move to an absolute position 1000 sets the absolute position to 1000 steps from the zero position R instructs Accuriss to run the comma
38. ss is required to run 100 of the time at 100 current forced air cooling or mounting to an aluminum structure is required Accuriss drives are designed with parts rated at 85 C or better This means the PCB copper temperature must remain below 85 C The ambient air temperature allowed depends on the airflow conditions MTBF is 20000Hrs at 85 C PCB copper temperature and doubles for every 10 C lower than 85 C USA28 Revision 1 8 57
39. sspsssinssosasn sas ERRRMRRUEREERR SR RE ERADRRRR SDL AG AREE 6 Mounting the USACE P HO 7 Mounting a Load to the USA28 PRETI R 7 Speed Torque CurveS sssssssssrrrrrrrrrrerertsrnrtrrtrttrrte rttr nnn seasetesaangeeaiaauanueenpeacaie 8 Apcuriss COMMUNICATIONS ossessi nasirin nenie aAA CoA EENE 10 Starter q T 10 Command Set Table oe eor En rater Eira acusada dA asa sia AD MUERE Ud dadas 13 falo alegro di uem re 52 Homing Algorithm in Details sss uessex dean idque dus quais asa iE base n si geniais ia pagaa gundo 52 Appendix PODRE PPP RR RR RR RR E RR RR ER RI RE RE ENN 54 Device Response Paketi s ierurx est xx ux cQ A Ime EERKXR EU assa RU EE XWERUS DAT RUN EA AE RE as 54 Command Response Modification scia d ce xa rta Dn ah RIPE RR UR eta aaa ia 56 Append do 57 Heat DISSIDATIOlI esiri niss r rerbh Rer iaRpaRPRRRRRR Y RRRRRERYNRRRRIRS AY LG Ad is Sa as dada 57 USA28 Revision 1 8 3 UsAutomation Revision Notes Rev Description Date 1 1 Update Tables 1 2 Corrections 1 3 Added clarification of commands Appendix A B C 1 4 Added Accuriss Communications and Starter Kit Corrected drawing 1 5 Reorganize pages and Table of Contents 1 6 Corrected errors in command set Moved TOC forward 1 7 Added Executing Commands section 12 08 09 Operand gt Range on command pages 1 8 Cor
40. structs Accuriss to run the command s that are in the communication buffer lt CR gt Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string USA28 Revision 1 8 37 Command Type Syntax Range Initial Value Description Example p q jg po lt CR gt USA28 UsAutomation J Output Control I O Command Jn n 0 No outputs ON Binary 00 1 Output 1 ON and output 2 OFF Binary 01 2 Output 1 OFF and output 2 ON Binary 10 3 Output 1 ON and output 2 ON Binary 11 0 Turn the system outputs ON or OFF Enter as a 2 bit binary value 1J3R lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Turns both driver outputs ON Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 38 Command Type Syntax Range Description Example p q eT lt CR gt USA28 UsAutomation T Terminate Command or Loop System Control Command T None Terminate current command or loop 1T lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset a
41. t character The DT protocol uses the for this 30h ASCII 0 This is the address of the recipient for the message In this case ASCII zero 30h represents the master controller 60h This is the status character as explained above 3th 31h These two bytes are the actual answer in ASCII This is an eleven which represents the status of the four inputs The inputs form a four bit value The weighting of the bits is Bit O Switch 1 Bit 1 Switch 2 Bit 2 Opto 1 Bit 3 Opto 2 03h This is the ETX or end of text character It is at the end of the answer string ODh This is the carriage return OAh _ and line feed USA28 Revision 1 8 55 UsAutomation Command Response Modification Requires Firmware Revision 7 08 Note that it is possible to change the response from the device to include device address and other parameters such as current position 1Q1 lt CR gt will modify every subsequent response to include the device address 1Q2 lt CR gt will modify every subsequent response to include the current position If more than one command is used then both parameters will be reported back with a comma delimited response USA28 Revision 1 8 56 UsAutomation Appendix C Heat Dissipation Most stepper applications require intermittent moving of the motor In the Accuriss the current is increased to the move current the move is performed and the current is then reduced to the hold current automatically
42. t the factory Terminates the current command string Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 39 Command Type Syntax Range Description Example p 90 35 lt CR gt USA28 UsAutomation 20 Report Current Commanded Position System Status Command 70 0 Returns the current position of the commanded motor 1 0 lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Report current commanded position Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 40 Command Type Syntax Range Description Example p a 22 lt CR gt USA28 U Automation 2 Report Current Maximum Speed System Status Command 2 2 Returns the current Slew Max speed for Position mode of the commanded motor 1 2 lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Report current running speed Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Revision 1 8 41 Command Type Syntax Range Descr
43. tion can sometimes be interpreted as characters After the 0 the next piece of information is the Status Character which is actually a collection of 8 bits These Bits are Bit7 Reserved Bit6 Always Set Bits Ready Bit Set when Accuriss is ready to accept a command Bit4 Reserved Bits 3 thru O form an error code from 0 15 O No Error 1 InitError 2 Bad Command illegal command was sent 3 Bad Operand Out of range operand value 4 N A 5 Communications Error Internal communications error 6 N A 7 Not Initialized Controller was not initialized before attempting a move 8 N A 9 Overload Error Physical system could not keep up with commanded position 10 N A 11 Move Not Allowed 12 N A 13 N A 14 N A 15 Command Overflow unit was already executing a command when another command was received Note that RS485 Bus devices must respond right away after the master sends a command before the success or failure of the execution of the command is known Due to this reason some error messages that come back are for the previous command for example failure to find home A program that receives these responses must continuously parse for 0 and take the response from the bytes that follow the 0 The first Character that comes back may be corrupted due to line turn around transients and should not be used as a timing mark USA28 Revision 1 8 54 UsAutomation Exa
44. witches from one program to the other depending on the state of input 3 In the example below the code will cycle the motor between position AO and A1000 if input 3 is High and between AO and A100 if input 3 is Low Stored command string 0 1sOgAOA 1000S13e1GOR lt CR gt This breaks down to p q e0 AQ A1000 13 eq GO Be lt CR gt Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Store command string that follows to storage location 0 executed on power up Start loop block Go to Absolute position 0 Go to Absolute position 1000 Skip next instruction if input 3 is High Execute Jump to command string in storage location 1 End of loop block infinite loop since value is 0 Instructs Accuriss to run the command s that are in the communication buffer Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Stored command string 1 1s1gA0A 100SO03e 0GOR lt CR gt This breaks down to p g AQ A1000 S03 a0 GO po lt CR gt USA28 Is the start character Lets Accuriss know that a command string will follow Is the device address this is preset at the factory Start loop block Go to Absolute position 0 Go to Absolute position 1000 Skip next
Download Pdf Manuals
Related Search