Excitron Stepper Motor Controller Manual
Contents
1. 06 or 86 runs Profiles 06 07 amp 08 09 runs Profiles 09 10 amp 11 In3 runs Profiles 12 13 amp 14 In4 In2 In3 12 In4 15 runs Profiles 15 16 amp 17 In6 18 In7 21 In8 runs Profiles 18 19 amp 20 In7 runs Profiles 21 22 amp 23 In8 ra po 0 When you type I the Controller sends all 6 current values and waits for you to type enable or disable followed by one of the valid numbers and your new value is auto saved The new analog I Profile Mode for In2 In3 analog was removed as of v4 22 will trigger their 3 profiles when the analog pin value is lower than the k ADC value you specify in the Motion Profile using the kK command Example I 86 and k value 0910 Profiles 06 07 amp 08 run when the analog value on In2 pin is lower than 0910 2 9 volts Input pins are active low Once triggered the 3 profiles run to completion even if the input pin is raised high so use caution To run only 1 profile when the input goes low set the remaining 2 profiles with N 0000000 and t 00000 so that they are ignored You may also use an input pin and mode inside the Motion Profile Driver Mode disables the corresponding Input Profile Modes Sending 3 s in a row clears I to 00 See page 10 for more details Motion Profiles The Au Controller stores all motor stepping parameters for each of the 24 motion profiles You can view and edit these profiles individually and then set t2. Suppose you wish to rotate the motor for 10 244 steps clockwise half stepping and a maximum SPS value of 1 800 Send N 0000080 0010244 C M 0 1 V 04200 01800 G Note that you do not type gt nor enter with any command the Au Controller provides it The gt prompt is not shown here for clarity The order of the N C M and V commands is not important but the G command is since it starts motor motion The M N and V commands must receive their required exact digit quantity To step the motor again with the same parameters except CCW counter clockwise type Excitron Corporation Superior CO USA Excitron Au Controller User Manual info excitron com v4 30 W G Note that the other commands do not have to be re entered The Au Controller temporarily stores the last values of all parameters and commands Save permanently by using the U command see Motion Profiles section Be aware that the motor and Au Controller will heat up faster while running at slower speeds At SPS over 3 000 depending on power supply voltage the motor s inductance the motor self limits the power and should run cooler A temperatures over 50 degree C may feel hot to human touch but that is ok for motor and Au Controller operation up to the high temperature limit Acceleration maximum SPS torque and other parameters can be optimized for your application An acceleration value of 0120 is a good starting
3. 0 0420 l 21 IN8 22 W 1 G 120 000 0000000 02400 075 00000 001 0 00 0 0002 0100 O 0 0420 23 C 1 G 120 000 0000800 02400 060 00700 001 O 00 0 0002 0100 O 0 0420 24 C 1 G 120 000 0000004 00200 082 00000 001 0 00 0 0002 0100 O O 0420 Extra line spacing is shown here for clarity These Motion Profiles and pin numbers are the same for all Au Controllers The far right column shows the special Motion Profile functions The AuSW4 2 Switchbox has a pot for analog input IN2 and a pot for IN3 The IN3 pot sets the Vsps speed if D 1 where upon IN4 is used for direction This speed setting works on any Motion Profile that has D 1 Notice that in Profile 12 the same input pin IN4 is set with mode 12 which is run until this pin goes high and this is used to stop motion Why does this work First a switch is wired to IN4 Flipping the IN4 switch low ON triggers the 3 motion profiles then when you flip the switch to high OFF the motor gracefully stops because of pin 4 mode 12 Same pin but two different functions Similarly for the other input pins If you want to run a fixed distance then make N your step quantity and pinmode 0 00 then when you flip the switch up and down the motor runs the number of steps you specified Errata and notes V4 30 Corrected manual for command X was P for editing position V4 25 Higher torque and speed by eliminating jitter during deceleration Enhanced CNC commands Added Acceleration command Time delay
4. a prompt gt The gt provides feedback to host computers that the command is complete In other modes the mode character is also sent Do not type Enter key after typing your command type only the command and any characters as specified by the each command Note that the ASCII numbers are fixed field format This means the exact required quantity of alohanumerics must be typed For example to enter a step quantity of 188 steps type Excitron Corporation Superior CO USA Excitron Au Controller User Manual info excitron com v4 30 N Au Controller sends 0033000 then 0000188 All 7 digits must be entered If you enter fewer digits the command is left waiting for completion All input values are validated to be within the range specified for each command Any input value outside this range results in a being displayed and the default or existing value being used If you send extraneous alphanumeric characters a is displayed and no values change The exception to this rule is that commas spaces carriage returns Enter or CR and line feeds LF are ignored Serial input characters are not buffered At power up the Au Controller is ready to accept serial commands The command prompt is X gt If you changed the Axis address then that address appears The information command is i which displays all Au Controller parameters and the selected motion profile Commands may be type
5. automatically finding running Profiles 04 amp 05 at power up What s Coming Wireless communication Zigbee and internet address 6BLOPAN Warning Use caution when operating severe injury can result from the motor rotating Long wires act like antennas and may cause erratic dangerous motion www excitron com 2 of 10 Faster Than Fast Setup Configuration and Power Excitron motor Au Controllers can operate standalone or in various modes The onboard UART serial port is RS232 which contains all the electronics for RS232 6 volts included with every Au Controller is a DB9 female connector You will also need a DC switching regulated power supply with sufficient amperage to drive your step motor The power supply voltage range for Au86 and Au110 large motors is 9 to 28V while all others operate from 3 3v to 28v These and other accessories are available on our web site See Au_Controller_Pins drawing for interface pins The power supply wires should be at least 20 AWG stranded 18 AWG is best and as short as possible 4 to 12 inches The amount of current into the motor is NOT the power supply current A rough guideline is the power supply watts out to the motor equals the motor watts watts volts x amperes You will need to budget at least twice the motor s watts Power in watts is also defined as amperes x amperes x resistance Excitron s Au Controllers can operate at 2 times the rated value for intermitten
6. discarded C run one motor step CCW After you type G g or S you can send U D O or o U Speed up the motor on the fly The SPS increment is determined by the V value D Slow down the motor on the fly The SPS decrement is determined by the V value O Starts deceleration gracefully and the motor slows down and stops o Motor stepping is stopped immediately The motor s inertia may cause erratic motion for a few steps The motor will stop if sufficient D s occur You may set the Vsps prior to running by using IN3 analog input pin which is enabled with the D command this D is not the slow down D D 0 1 0 disables 1 enables Vsps set by In3 V4 22 4 26 does not allow changing speed while running The adjacent input pin IN4 sets the direction low is CW high is CCW The original SPS value in the Motion Profile remains unchanged www excitron com 4 of 10 Faster Than Fast After running the motor coils are energized to electronically dampen the motor shaft for ultimate step response You may immediately start another run during this damping You set the time for damping with the c submenu D command Each unit gives you about 56 second delay This feature is especially useful for vertical drives Braking When the motor is not stepping motor current amps may be applied to create a braking holding torque WARNING high temperatures may occur rapidly with high brake values over 110 Values from 040 to 060 produ
7. now before and after running V4 22 Enhanced Master Axis features Higher torque and speed Added CNC Mode for gcode file read and store Changed many commands eliminated little w wake up and little a second accelaration In3 analog sets the Vsps but does not change on the fly Excitron Corporation Superior CO USA info excitron com www excitron com 10 of 10
8. per second number of steps direction and torque control The Au Controller uses unique current limiting circuitry for high efficiency and performance By adjusting the acceleration top SPS and other factors you can minimize the time required for a particular motion A full range of acceleration is provided for any application dog slow to extremely fast SPS can be changed on the fly while the motor is stepping Various input devices such as limit switches and potentiometers may be connected to the TTL CMOS 3 3 volt logic input pins Two input pins accept analog 0 3 3v and converts it to a digital value Au Controllers have one TTL CMOS 3 3v output that you may use to control relays LEDs and equipment proper interfacing is required A single LED provides visual feedback that power is applied and it also indicates motor steps or serial communications Excitron Corporation Superior CO USA Excitron Au Controller User Manual info excitron com v4 30 One key unique feature is the extremely low supply power for the Au Controller electronics With a 24 v power supply the Au Controller only dissipates 0 025 watt which is insignificant All internal voltages are self generated and thus require only a single voltage supply Built in temperature sensing on Au Controllers safeguards the electronics and motor from thermal burn out the limit is 170 degF Many aspects and limitations in competitor s Au Controllers are obsole
9. 0 03 C 1 G 120 000 0001600 03000 090 00200 001 O 00 0 0002 0250 0 0 0420 04 W 1 G 120 000 0003000 01000 080 00030 001 O 00 0 0003 0045 0 O 0420 Home values 05 C 1 G 120 000 0000020 00600 080 00200 001 O 00 1 0002 0100 O 0O 0420 Home values 06 C 1 G 120 000 9999999 06000 080 00200 001 2 12 0 0002 0100 O 0 0420 l 06 IN2 07 C 1 G 120 000 0000000 03000 080 00000 001 O 00 0 0002 0100 1 0 0420 08 C 1 G 120 000 0000000 03000 080 00000 001 O 00 0 0002 0100 1 0 0420 09 W 1 G 120 000 9999999 01800 080 00000 001 3 12 0 0002 0100 0 0 0420 l 09 IN3 10 W 1 G 120 000 0000000 03000 080 00000 001 0O 00 0 0004 0050 1 0 0420 11 W 1 G 120 000 0000000 03000 080 00000 001 0O 00 0 0004 0050 1 0 0420 12 C 1 G 120 000 9999999 02000 060 00200 001 4 12 0 0002 0100 1 0 0420 l 12 IN4 13 W 1 G 120 000 0000000 03000 050 00000 001 0 00 0 0004 0130 0O 0 0300 14 W 1 G 120 000 0000000 03000 052 00000 001 0 00 0 0004 0130 0O 0 0560 15 W 1 G 120 000 9999999 04000 080 00050 001 6 12 0 0002 0100 1 0 0420 l 15 IN6 16 W 1 G 120 000 0000000 03000 080 00000 001 0 00 0 0004 0050 1 0 0420 17 W 1 G 120 000 0000000 03000 080 00000 001 0 00 0 0004 0050 1 0 0420 18 C 1 G 120 000 9999999 06000 008 00400 001 7 12 0 0002 0100 1 0 0420 l 18 IN7 19 W 1 G 120 000 0000000 03000 008 00000 001 0 00 0 0004 0050 1 0 0420 20 W 1 G 120 000 0000000 03000 008 00000 001 0 00 0 0004 0050 1 0 0420 21 W 1 G 120 000 0000800 02400 070 00700 001 8 12 0 0002 0100 0O
10. 00800 nnnnn _ time delay either before or after the motor motion Input or then 5 numbers representing milliseconds e g t 00500 defines a 500 millisecond time delay after the motor motion Setting Motor Stepping Torque Motor torque is directly proportional to motor current with some non linearity Torque is defined as Force x Distance and is usually measured in oz in ounce inches The Au Controller uses unique current limiting circuitry for high efficiency and performance for the user Step motor current amps must be limited or excessive heat and amperage can destroy motors and Au Controllers Most step motors are rated for 2 to 5 volts so Excitron s current limiting allows them to be connected to a higher voltage 12 and 24 volt being most popular power supply You control precisely the amount of torque in the motor with one simple command T 050 nnn sets the internal percentage of full motor torque A low value for T such as 020 produces low torque Typically use T 040 to 080 Higher values increase torque Start at low values for T and increase the value until your motion is satisfactory Do not increase T without adjusting V first And do not increase T to make the motor run faster At higher speeds the T is not effective it is only effective as the motor spins up and during deceleration After determining the suitable values adjust T up or down for best performance vs heat buildup The Au Controller measure
11. A Simple Serial Bus cable is required Since the cable is RS232 you can run the cable up to 40 feet total length Position step counter Details The Au Controller maintains and validates Position step counter at each motor step up to 9999999 steps The Shaft value is also constantly updated real time stored in volatile memory but is only a calculated value not measured The Position and Shaft values are available with the i command You enable the sending of the Position value after each motion by setting the E value to be non zero this command is on the c submenu and any changes are immediately saved in eeprom memory Example G P 00000912 023 Main menu commands associated with Position is X Position value can be set 7 digits xX send Position value The little c submenu Position commands are E enable if non zero else is not displayed after each motion Any motion may be harmful to people or your mechanism so use care in all situations firmware date version Au memory number Axis direction appear only if Master Au Controller values Position and various values Vsps Trq msec rep pinmode f Fnum msps DU e In2 3 01 O 0100 0125 1 0 0344 current profile values The 2nd amp 3 lines show hardware values baud is serial port bits sec echo 0 off or 1 on All Au Controllers measure temperature and voltage degC degreeC of the Au Controllermotor Vs power supply voltage Ex
12. C DC power supply is off or unplugged e Connect the power supply RS232 connector which is a small 2x4 housing to the Au Controller Note the polarizing post must be inserted into the open slot in the motor cover e If you have a USB RS232 adapter connect your USB cable between your computer and the Au Controller RS232 DB9 connector PC Software drivers must be installed Turn on your power supply The LED should be ON e Start Hyperterminal or any equivalent program with 57 6K baud 8 bits and no hardware handshaking e At power up the Au Controller displays Excitron Corp 12 01 12 v4 30 Au86 118 3 X gt e Type G to run the stepper motor no longer have to type w e Type little i to see all Au Controller information and the motion profile values e Change direction C or W Vsps or number of steps N type G and see the difference e Type to display a brief command help list e The Au Controller is in Command Mode and will respond to any serial command Input Profile Motion Profile and Driver Modes create additional and standalone functionality Enjoy Feel free to contact us at info excitron com Excitron Corporation Superior CO USA Excitron Au Controller User Manual info excitron com v4 30 8 Rotary Table MRT8 86 80HV AuG86 118 5 SM60 86 3 3 1m second Wire Slider WS70 012 Reduction of Hazardous Substances RoHS Statement of Compliance Excitron is a product manufacturer and doe
13. Faster Than Fast Introduction and Quick Setup Excitron s Faster Than Fast Ath Cenieliers are fully integrated with our stepper motors to make your motion control simple and easy We pack years of design and plenty of power into ultra small gold plated Au Controllers loaded with innovative features They contain all the electronics and power for thousands of motorized applications and they run right out of the box by simply typing a G Al means Gold They all have standard RS232 10v for serial port communication to any computer and PLC USB RS232 serial port adaptors are available Various size power and control functions give you the best selection for your project Our Au Controller motor configuration and part number system is simple Au57 76M is the number for the t assembled with our SM57 76M stepper motor Separated controllers also available Stepper motors rotate one small step at a time and are the best choice because both position and speed can be precisely controlled unlike any other type of motor Our motors can run continuously for 30 years Our experts are happy to assist you in selecting the best Au Controller stepper motor and accessories for your project We also offer linear slides belt sliders actuators rotary tables X Y tables XYZ machines and heavy duty 3 axis milling machines Visit our website for all documents prices and online purchasing For a quick start e Make sure the A
14. M memory Enter a filename after typing r Filename must be at least 2 characters letters and numbers and some syhmbols only First letter of file name must be a letter S Save the file in RAM to flash stoarage type to confirm v view the file in RAM line numbers are added Erase all flash files must type twice to be sure Additional Command Details The i command provides important information Excitron Corp 12 01 12 v4 30 Au86 118 3 baud echo degC Vs Axis direction 57 6K Revs Encdr Motor Position Shaft v Play home out Damp 012 1 000 0 0 08 060 00200 0000000 P D M G Acc Brk Number 01 C O g 120 000 0004800 03600 012 01000 004 Excitron Au Controller User Manual 1 021 24 A 0 B 0 C 0 D 0 E 0 X 0 Y 0 Z 0 v4 30 help list of commands only 86 and 110 Controllers The input gcode file is a simple text file with general gcode structure Distance is in motor half steps not inches and is incremental is CW is CCW while neither is assumed as CW Feed rate is in half steps second and is sent to all 8 possible Axis Line numbers and comments are ignored spaces are allowed Example of an input file F1200 sent to all 8 axis Z 2000 X40000 F2100 Y2000 feed rate sent only to Y Axis Z2000 M30 end of program this is mandatory MO6 is a general pause or tool change restart after Excitron uses this Gcode to machine our own parts One Au86 motor can store every part we make and many more
15. ause motor stalling Best is to shock mount the motor not the drive parts If your motor just hums without stepping check your V and T values DO NOT increase T while trying to get the motor to spin faster see other notes about T If your Au Controller has manual push buttons push one to see correct rotation Once you verify correct running then increase V to suit your purpose Use multiple Motion Profiles for added control For instance with r 250 repeat 2 500 set in three consecutive Motion Profiles then when you run all 3 Profiles the repeat quantity is 7 500 For longer time delays use multiple Motion Profiles time that particular input pin goes low And this works well with up to 6 inputs If you need 4 or more profiles and automatically www excitron com 7 of 10 Faster Than Fast repeating forever is desired then use Motion Profile Q Mode In either mode once started an input pin can control motion An example is I 21 and Profile 22 has p 8 mode 00 Pushing a switch attached to In8 triggers Profiles 21 23 but motion stops at Profile 22 because p 8 mode 00 Pushing your switch again triggers Profile 22 then 23 Gcode Robotics Operating System New technology Excitron Au Controller motors can now execute Gcode directly from its own memory thus eliminating an external PC PLC or controller Saves you money time and a lot of space 8 axis are standard You can download your gcode text files into t
16. ber N Number of steps 0000000 to 9999999 for larger values use S command for continuous stepping Vsps V Velocity maximum steps per second 00114 to 18 000 max depends on motor size Trq T Torque percent of full rating 020 to 150 use with care changing T changes the amperage msec t time delay in milliseconds before or after the motion profile 00000 to 65000 rep r repeat quantity 01 to 255 if gt 100 qty 10 x r While running the remaining number is output pinmode p Input pin to control this motion 0 means to ignore then enter a mode number 00 31 f f run at a flat sps using msps 0 ignore 1 at start 2 at end 3 both for end Acc must be lt msps Fnum F number of steps to run at msps minimum is 0002 according to f Add to N to get total steps msps m minimum sps for running at start or end minimum is 0114 msps must be lt Vsps according to f DU D DU down up change speed by using analog input pin In3 0 ignore 1 enable In4 SPS_dir sets direction e e removed In2 k Analog input value 0 to 1000 for pin modes and for I Profile Modes analog compare 86 Remember to type for built in command help Options e USB RS232 external adapters 1 port 2 port 4 port for USB serial communications e Firmware modifications to reduce or eliminate your external electronics such as PLCs or computers Disclaimer all values and statements contained herein are subject to change witho
17. ce little braking and values between 080 and 100 are typical Always increase braking values slowly and check heat If you do not need braking torque specify zero braking current by typing B 000 nnn Braking holding current limiting parameter Range of values is 000 and 040 to 100 Power saved by minimizing braking results in greater torque available for motor stepping Higher current results in higher temperatures B 000 also reduces the Au Controller power consumption Any reset makes B 000 for Profile 01 only during Command mode the saved B value is unchanged for all other modes P 01 or v restores your B value be careful Home Command You can enable the Au Controller to auto home at startup by setting h under the little c menu to 1 c gt h 0 1 0 disable 1 enable When enabled Motion Profiles 04 and 05 are run to completion even if you don t have a sensor in your system You have complete control of the values in these 2 profiles including which direction to rotate and your input sensor pin but a sensor is not needed Suggest setting Profile 05 for backing up a small amount of steps at a lower speed to increase position accuracy The value of h is displayed with the i command You can run Motion Profiles 04 and 05 at any time by sending H Note that auto home also runs if Motion Profile Mode is enabled Rotate the motor shaft to position zero h this is not the c gt h command Command Examples and Notes
18. citron Corporation Superior CO USA info excitron com www excitron com 8 of 10 Faster Than Fast Excitron Au Controller User Manual v4 30 Next 2 lines show Revs temporarily disabled Encdr Position displayenable Motor motor full steps rev and is fixed for each motor Position motor step count CW or CCW 9999999 max Shaft physical half step position of the motor shaft relative to your zero location v view motor steps real time on serial port Play is temp disabled out putput pulse each motor step Damp is time delay value 2 second minimum each unit is about 5 seconds The last two lines which are also displayed after i P or v commands are described below Note that this display also defines the quantity of input numbers for each parameter The following table describes each of the column headings and defines the minimum maximum or allowable values for the parameters Heading Cmd Description these values apply to the motion profile and are all saved when power is off with the U command P P Profile number 01 to 24 D C or W direction of rotation C clockwise or W counter clockwise M M Micro stepping 0 full or 1 half G G g or S Go run this motion G single g reciprocal S continuous Acc A Acceleration fixed at 120 or 060 steps second as first step rate acceleration slightly decreases as speed increases Brk B Brake 000 to 120 use care with braking values 132 is full on Num
19. d in any sequence and the Au Controller remembers your last typed values See the Motion Profile section for how to save your values permanently with the U command Changing Au Controller Configuration The little c command accesses commands for changing the Au Controller operation and features New prompt is send you must type a to continue c submenu Commands are A X Axis address ABCDEXYZ for CNC Simple Serial Bus b 57 6K select baud 1 4 8K 2 9 6K 3 19 2K 4 38 4K 5 57 6K default 6 115 200 7 230 4K Type just one digit of the baud and immediately the baud is changed d driver mode see Driver Mode section for details e 1 echo received serial characters if 1 0 is no echo h 0 home enable 0 disable 1 enable runs at reset power M 1 Master if 1 slave if 0 Master always sends responses slaves only send response if up caret command is issued once after power up Underscore _ command turns off slave responses P 0000836 change step Position value o 0 output a 5 usec pulse on Out5 for each motor step v 1 view each motor step pulses while the motor is stepping 0 off 1 on If on each motor step CW is an m CCW is an M Use for external monitoring of position and speed real time 57 6k Baud limits top speed to 5 500 sps 115k baud limits to 10K 230k baud limits to 20K Character overrun occurs at higher sps so use wisely z 018 sets an internal amperage value normal is 018
20. for step dir signals operation by typing little c then little d 1 and it is saved immediately and the prompt changes to X d gt Setup your favorite CNC program which send steps and direction pulses from a PC LPT1 parallel port or other device The Au Controller steps the motor using 2 external input signals Step and Direction If 1 2 or 3 Motion Profiles suit your operation without auto repeating then use I Input Profile Mode which trigger once each Excitron Corporation Superior CO USA Excitron Au Controller User Manual info excitron com v4 30 STEP negative or positive going pulse gt 5 usec this is IN7 DIR 0 is CW logic 1 is CCW this is IN8 Driver Mode is now integrated with Command serial mode so that you can also run all serial commands such as i or G The only precaution is if the motor is running using step dir do not run G or any other run command until Driver steps are complete The Au Controller is CNC ready and runs with almost any CNC PC or PLC program and 3 3 or 5 volt logic An enable signal is not needed because the Au Coniroller will automatically stop when the STEP pulses cease The Au Controller seria port can be used for stepping especially in CNC mode Do not wire 12 or 24v directly to the input pins In Driver Mode internal Torque amperage temperature Full half step and Brake values are maintained automatically by the Au Controller using the current Motion Profile Use caution if
21. he Au Coniroller coder motors then view save retrieve and execute gcode files Unique feature each axis has its own distance and feedrate speed unlike all other gcode controllers Now you can have total control for multi axis robots and CNC machines One Au Controller operates as a Master and the other Au Controllers in your system are slaves You set Master with the c gt M command Each Au Controller has its own Axis address and choices are A B C D E X Y Z Set the Axis address using the c gt A command Excitron provides a mini operating system for easy motor motion while maintaining the Motion Profiles command system It gives you enough power to sequence over 3 600 motions for 86 and 110 series 120 motions in all other controllers The Excitron 24 Motion Profiles remains as a robust motion sequence and control system Gcode files are read into RAM memory and then can be stored into flash for permanent storage To use the Gcode Robot system type n and from the main menu CNC Comands are d directory of all files in flash storage D direction reversal enter an Axis letter then 0 for none 1 reverse Changes are stored immediately use i to view G Go execute the file in RAM Commands are sent to the slave Excitron controllers G command sends the underscore command so that slaves do not send any characters except for the gt completion i information load a file in flash to the RAM r read an external file into RA
22. hem to automatically execute from memory upon power up The motion profiles are stored in EE memory and thus retain their values when power is off The major purpose of motion profiles is to allow a standard programmed Au Controller to operate as a standalone unit not needing a PC or external Au Controller Once set up only a power supply is needed With the Q command you specify any of the 24 profiles as the starting profile and a subsequent profile as the last one for example profiles 05 through 12 The Au Controller will sequentially run these motion profiles and automatically repeat after the last one is completed You can easily modify existing motion profiles to fit your own application by entering values for acceleration SPS etc The Au Controller provides for a broad range of applications All you do is change the profiles You can change motion profiles for designing trouble shooting demonstrating or marketing purposes For example most mechanisms operate at blinding fast soeed the motion profiles can be altered to slow down an interesting movement so that fine details can be observed Since most applications only use less than 5 profiles you can create an entire second range of motion profiles that operate at slow speed You can even offer this feature to your customers The commands for retrieving displaying and saving motion profiles are P Q U and v little v For each of these commands simply type the le
23. ler from executing motion profiles by typing the reset command The Au Controller will execute motion profiles again if you issue the Q command In the normal command mode you can change any motion profile and then save it overwriting any existing motion profile The motor stepping parameters may also be loaded by sending an ASCII text file The format of this file may be any of 3 formats csv comma separated values space separated values or nothing between values An example of a csv format created from MS Excel or Notepad is A0200 V04400 B000 N0080000 U12 Note that the order is not important except the U12 command is last which saves the input values to Profile number 12 You may also have CR and or LF after each input command If you send multiple lines you must insert a 300 millisecond delay after each line to allow the Au Controller to finish writing its internal values The Au Controller does not buffer input commands Windows Notepad or similar text editors can be used to capture information via cut and paste or to set parameters Note that eeprom writes require 10ms per character to save data in the Au Controller When running motion profiles the Au Controller outputs the letter P the profile number and a space followed by the repeat number s counting down and a space if echo is on The life expectancy of the EE memory is 100 000 write commands Q or U Do not exceed this number Driver Mode You set Driver Mode
24. nd Mode only the saved eeprom value is unchanged This protects against unplanned heat build up The first motor step after power up or reset is always the same step and 1 3 steps may be needed to sync the Au Controller with the motor s last rotor position The high value filter capacitors in the power supply provide considerable power supply voltage spike attenuation and a 1 4 second hold up time When switching off always wait briefly before unplugging Software Reset and Commands Software reset by sending which restarts the Au Controller as if a power on reset occurred Use this command to terminate Motion Profile and Driver Modes and run serial commands Do not use this reset command more than 100 000 times due to eeprom write limit www excitron com 5 of 10 Faster Than Fast Other special commands are followed by any character besides STX sends Axis address 3 s in a row clears Home amp Input Profile mode I to 00 Input Output Pins and Modes You can create very interesting and versatile control of stepper motions by using the input pins and their pinmodes Some control features are stop and go control logic only wait for two inputs to occur sequence external events extended time delays or other ingenious reasons All pins are TTL CMOS compatible 0 to 3 3v and are also 5 volt tolerant They have Schmidt triggers for noise immunity and 30kV static protection You read your Au Contr
25. oller pin values and the Input Profile Modes with the J command IPM 06 09 12 15 18 21 Pin In2 In3 In4 In6 In7 In8 oOut5 1018 252 1 1 1 1 0 The In is the 2x5 I O connector pin number and the J command also shows the matching Input Profile Mode number useful for the next section Each input pin is normally high 3 3v and can be connected to switches optical mechanical etc or to monitor signals from other electronic devices The correct connection is for one terminal of the switch control connected to ground and the other terminal connected to the input pin Input pins In4 In8 are digital only and have an 8 2K 5 pull up resistor to 3 3 volts Input pins In2 is digital or analog depending on the pinmodes and have a pull up resistor of 35K 10 The output pin Out5 is normally low 0 volts and can source 1 ma to 3 3 volts or sink 10 ma The 3 3 volt pin 10 can provide 3ma for external circiuitry Do not exceed these current levels or the Au Controller may reset Analog input In2 measure voltage levels such as potentiometers with 10 bit resolution The J display is the digital representation of the analog value with a full range from 0000 zero to 1023 3 3V is 8 bit when used for setting Vsps If used for digital switch inputs then any value near 0000 is a digital low while any value close to 1024 is a high Use a 10K or 25K ohm potentiometer An internal analog input may exist as Sw2 You specify the
26. otor from point A to point B quickly and accurately An Excitron Au Controller allows you to attain this goal with truly simple commands for friendly use yet versatile and powerful enough to control a sophisticated robotic automatic assembly machine You can quickly change motion parameters to achieve your goal You may opt for higher torque and faster movement after finding that the temperature rise is satisfactory Or you may desire to reduce mechanical noise by varying the acceleration SPS or torque Most step motor documents state that bipolar motors produce more torque than unipolar motors that is not true with our motors and Au Conirollers Our proprietary circuitry was first developed and patented in 1976 Improvements continue steadily to maximize motor and Au Controller efficiency which maximizes torque Three modes of operation are available Command Motion Profile Driver and I Input Profile Onboard optical Encoders are optional A full set of parameters for stepping the motor is called a motion profile Twenty four motion profiles are stored and retained even after power is removed A motion profile consists of acceleration stepping at a constant maximum SPS steps per second then deceleration to stop precisely at the number of steps you specified Deceleration is identical to acceleration A time delay before or after motion occurs gives you precise timing control Some key parameters are acceleration maximum SPS steps
27. pin number and the pin mode with the p command little p Two inputs are expected for example p 3 5 mode 01 13 1 value is the connector pin number 2 value is the mode ranging from 00 to 31 A pin value of 0 will ignore any pin and its mode in that Motion Profile Valid Pin Modes are 00 wait until pin is low then step 01 wait until pin is high then step 09 at power up count pin CTR using Profile 01 repeat value 12 step until pin goes high then stop smoothly 13 step until pin goes low then stop smoothly 14 step until analog pin In2 gt ADC value then stop smoothly 15 step until analog pin In2 lt ADC value then stop smoothly 28 output pin is high at start low after motion profile 29 output pin is low at start high after motion profile Driver and Input Profile Modes restrict some pins as general input For repeat and or reciprocal motions an input triggers only 1 motion not multiple motions I Input Profile Mode Excitron Corporation Superior CO USA Excitron Au Controller User Manual info excitron com v4 30 The I command enables the input pins to randomly run a set of 3 motion profiles This gives you great standalone operation and can be used in all other modes For example 6 push buttons can select any of 6 positions for 01 10 50 1 00 2 00 and 5 00 inches of travel The I values are set independently of each other and these are the allowable values
28. point for half stepping The Au Controller automatically decreases acceleration as speed increases This optimally matches the stepper motor s output torque curve better than a linear speed curve Many interesting combinations exist to create the motion you need for sophisticated control of automatic assembly machines or for motorized products The time command t can be coupled with various input mode commands to produce intelligence and control for almost any application All stepper motors have a natural resonant frequency around 200 to 1 200 SPS If stepped at constant SPS in this speed range the motor may vibrate and lose steps This condition is worse at higher torque settings It is best to accelerate through this range Lower T values reduce resonance and miss stepping You should always run using half step M 1 which helps a great deal When changing from half to full stepping the Au Controller may shift a half step to always be on a full step Power ON Reset The Au Controller has sophisticated power on reset and brownout voltage protection circuitry This protects from power supply glitches and increases the Au Controller s robustness and integrity The Au Controller waits a few seconds for your power supply to stabilize before allowing any motor motion The RESET pin is normally high To reset the Au Controller send a logic low level control to this pin and release After any reset Brake is 000 for Profile 01 in Comma
29. q quit and return to main command menu Simple Serial Bus connects multiple Au Controllers with one host PC serial port or no external computer at all The simple protocol is STX address byte data bytes ETX STX is ctrl B and ETX is ctrl C A slave responds to commands only if a STX and matching address is received You wire the host s transmit to the Receive of one Au Coniroller its Transmit to the next Au Controller Receive and so on and the last Au Controller Transmit is wired to the Receive of the host See the Excitron_CNC_Gcode_Robot_System pdf Setting Motion Parameters All motor parameters required for sophisticated motion control of your motor are described here in alphabetical order You type only the characters shown in bold The Au Controller displays the www excitron com 3 of 10 Faster Than Fast equals sign the existing value from 1 to 7 numbers colon and a space most commands A 120 nnn Acceleration 1 Vsps A 060 is allowed C Clockwise motor direction as viewed from the motor face D 1 n Down up sps before running using IN3 analog pin O no 1 enable IN4 input pin sets direction low is CW high is CCW This D is not the slow down D while running M 0 n Micro stepping full step is O and half step is 1 N 0012000 nnnnnnn Number of steps r 006 nn repeat quantity from 001 to 255 if gt 100 then r 10 xr The remaining repeat value is output after each motion except the last t
30. s not melt or produce any of the raw materials sold to our customers Excitron only purchases ROHS parts does not add or expose these materials to any of the hazardous substances lead mercury cadmium hexavalent chromium polybrominated biphenyls polybrominated diphenyl ether listed within the EU RoHS Directive except we use tin lead solder As cited in statements from our vendors the materials sold by Excitron do not exceed allowed levels of these substances because they are exempt and therefore the materials are compliant with the EU RoHS directive Firmware versions v4 26 thru 4 30 are identical except the cycle counting works well on v4 28 onward and v4 30 has the encoder run time modules removed www excitron com 1 of 10 Faster Than Fast Key Features This document applies to all Excitron Au Controllers See the individual motor Au Controller data sheets for additional details about connector pins The Au Controller performs all calculations and intelligence to automatically step the motor It also contains powerful motor drivers No additional electronic device is needed to control and drive a stepper motor You have the freedom to enter simple motion parameters to create ingenious stepper motor motion profiles Serial communications and control use ASCII alphanumeric characters thus no programming is required all you need is a basic serial interface program like Hyperterminal Your biggest goal is stepping your m
31. s power supply voltage at startup and automatically adjusts the amperage You do not need to adjust T if swapping power supplies the voltage measurement is automatic After a certain SPS the Au Controller determines that current limiting is no longer needed and the motor is fully on Torque is then limited by the motor s reluctance The power supply voltage is the largest factor for torque Motor current is rated based on the amount of current that causes the motor to reach 85 degC in 10 minutes If mounted to a relatively large metal plate to dissipate the heat this current rating will increase significantly For intermittent operation which is most stepper motor applications the motor may be over driven up to 2 times its rated power depending on many factors Warning stepper motors require amps of current and overheating and damage can quickly occur Start with low T values then gradually increase while monitoring temperature via the i display Maximum operating temperature is hot to the touch and may burn you Selecting higher torque than allowed may damage the Au Controller You are responsible for any damage to the Au Controller or motor Excitron Corporation Superior CO USA Excitron Au Controller User Manual info excitron com v4 30 Vv 04600 nnnnn Velocity maximum SPS Note that the step quantity and acceleration values may define a motion such that the maximum SPS will not be achieved W Counter clock
32. t operation If the power supply amperage is inadequate the Au Controller may pull the power supply voltage low enough to cause a reset of the Au Controller This is harmless to the Au Controller but stops your motion If you operate in Motion Profile mode described later then the Au Coniroller will begin anew at the first motion profile selected by the U command A computer running Hyperterminal RealTerm or an equivalent serial port communications program is required The serial port operates with 8 bits no parity 1 stop bit and 57 600 baud initial Protocol is none no hardware handshaking and just ASCII alphanumerics The Au Controller will echo all characters received by default therefore turn off Echo in your communication program Once setup in various mode the RS232 serial port is no longer needed Each Au Controller has an assignable Axis address the default address is X Sending Commands to the Au Controller The format of Au Controller commands is simply send the single letter of the command Important capital and small letters are different If user input is expected after the command is typed the Au Controller responds with the existing value a colon anda space This existing value also shows the exact quantity of numbers to send Then it waits until you send the required quantity of numbers After all input is received the Au Controller will send a LF line feed CR carriage return Axis address and
33. te Excitron Au Controllers drives any size unipolar stepper motor even our 110 180 a 25 pound Super size 42 The power supply voltage range for Au86 and Au110 large motors is 9 to 48V while all other Au Controllers operate from 3 3v to 30v Many options are available All Au Controllers are upgradeable to new features in the future via firmware updates thus protecting your investment Custom firmware applications are also available just ask the friendly Excitron technical staff What s New New CNC Mode ability to read gcode files store view and execute for easy automation for robots and CNC machines Enhanced Master Slave features one master Excitron Au Controller sends serial commands to other Excitron Au Controllers via our Simple Serial Bus This saves you time space money and complexity by eliminating external PCs PLCs and other expensive CNC controllers See CNC Gcode section Electronic damping on last step for 2 seconds or more and is adjustable Driver Mode is integrated with normal Command Mode so you can have access to all commands while accepting step dir Motor torque and top speed is increased by 10 as of March 2012 New Master Au Controller mode where one Excitron Au Controller sends serial commands to other Excitron Au Controllers via our Simple Serial Bus This saves you time space money and complexity by eliminating external PCs PLCs and other expensive Au Controllers Command H allows
34. tter of the command The Au Controller responds with a then you type the required numbers If you issue a P Q or v www excitron com 6 of 10 Faster Than Fast command changes to current parameters are lost unless you save them first by using the U command P nn Display the motion profile specified by nn Q nn yy Quit command mode and start motion profile standalone mode Thereafter at power up or a reset the Au Controller will automatically run the motion profiles you specify with the nn and yy numbers U 08 nn Update and save the current motor parameters to the motion profile specified by nn Example U 08 03 will store the current values in 08 to motion profile 03 v View all 24 motion profiles The Au Controller displays a header line followed by 24 data lines Special note for the U command it stores the last G g or S value executed into the motion profile you specify This is the only command to store the G g or S value You can enable the Au Controller to auto home at startup by setting h under the little c menu to 1 see Home Command section With a few simple command settings you can create very interesting motion profiles For instance if P 01 is CCW and set for mode 13 P 02 is CW and set for mode 12 and you have a switch connected to an input pin then after you start motion profile mode with the Q command the switch position determines direction of rotation You stop the Au Control
35. ut written notice No products manufactured by Excitron may be used for life support equipment full notice on our website Use extreme caution when operating severe injury or death can occur because motors move and rotate Excitron Corporation Superior CO USA info excitron com www excitron com 9 of 10 Faster Than Fast Excitron Au Controller User Manual v4 30 Examples of using I Profile Modes with pin modes You can achieve remarkable and interesting motion by combining I Profile Modes with a pin modes The following example is how we setup the Motion Profiles for use with our Switchbox It explains the simple setup and to offer further help about the differences between I Profile Modes and Input pin modes Please read those sections The following view is obtained from Au86 118 by sending the i and v commands then copy paste here xX gt i Excitron Corp 12 01 12 v4 30 Au86 118 3 baud echo degC Vs Axis direction 57 6K 1 021 24 A 0 B 0 C 0 D 0 E 0 X 0 Y 0 Z 0 Revs Encdr Motor Position Shaft v Play home out Damp 060 00200 0000000 012 1 000 0 0 08 P D M G Acc Brk Number Vsps Trq msec rep pinmode f Fnum msps DU e In2 01 w 1 G 120 000 0000800 02000 060 00000 001 O 00 0 0100 0100 10 0255 X gt V P D M G Acc Brk Number Vsps Trq msec rep pinmode f Fnum msps DU e In2 01 C 1 G 120 000 0000400 06000 060 00200 001 O 00 0 0100 0100 O O 0420 Driver Mode values 02 C 1 G 120 000 0000400 02000 080 00000 001 O 00 O 0100 0100 O O 042
36. wise motor direction Rotate 1 step clockwise C Rotate 1 step counter clockwise f F m 3 input values that set a flat speed portion at the beginning rear or both of the speed profile A up caret character sending to a slave enables all serial port responses Underscore character sending to a slave disables all of its serial port output except gt for completion The new Damping delay gives you automatic holding at the end of motor running You set this value on c submenu with command D Each unit gives you about 56 second delay minimum is 02 and maximum is 30 If the temperature limit is reached the motor ceases running Then the LED blinks once per second and a s x Hi temp message is sent from the serial port where the s x part of the message is the address of the unit sending this message No operations occur until an reset character is received or power is cycled Note that this terminates Motion Profile Mode and the Au Controller is then in serial Command Mode Stepping the Motor You step the motor with the G g and S commands G Go step the motor for the specified N number of steps g Reciprocating motion same as G and at its completion the motor reverses direction and performs exactly the same motion profile S Step the motor continuously This command ignores the step number entered Only a motor stop command O or o will stop the motor run one motor step CW any unsaved changes are
37. you change Profiles Switches and Input Profile activations give you easy jogging or other semi automatic positioning Since Driver Mode uses two input pins for step direction the corresponding Input Profile Modes are disabled The improved Driver Mode step dir automatically processes active high or low pulses and with no time restrictions Since it is possible to run the motor using an input pin or RS232 serial characters do not send CNC step pulses while the motor is already stepping and vice versa or they will be lost Help Hints and Tips Displays the simple command help The Excitron motors and Au Controllers definitely have the torque range specified and generally torque decreases as speed increases Small burrs chips non flatness or dents on your moving parts can result in the motor stalling The faster you step the worse the effect of the small burr Also be aware that even small machine screws can exert a thousand pounds of force bend heavy steel parts and thus bind up moving parts Tightening a small timing belt can bend steel motor shafts easily due to the leverage action Stepper motors run faster and stronger with direct shaft attachment Best is to slide our motor shaft into a precision bored hole in your part and clamp using a C collar clamp Note that if you re bored hole is off even by 003 your top speed will be limited Non rigid rubber couplers introduce vibration and phase lags which can c
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