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Step Motor Controller User's Manual

1. 2 Phase A 5 N 8 Phase A 11 es 14 gt I 150VDC 17 gt KAAR 20 Shunt 23 Phase B 26 29 Phase B 32 Pin Designations for External Facilities Connector DIN41612 version C 3 User Output Ground 1 o Q m Analogue Ground User Output 2 a o lt Analogue Input 1 ser Supply Ground 3 pee User Supply 5 30VDC 500mA UserOutput2 ao o OS Analogue Input2 al L CW End of Travel Input User Output3 lt o o pr Analogue Input3 ekoi 5 oi ea PA CCW End of Travel Input nalogue In p 6l N a ogue pU Input Supply 5 30VDC User Output Supply5 30VDC gt a o Gy Analogue Input 5 7 EE Stop Input Reserved for future use o Q oro Analogue Input6 8 To User Input3 Reserved for future use o a prr gt RS232C Tx l LU User Input2 RS485 Module Interface B o o Oso RS232C Rx 10 a User Input 1 RS485 Module Interface A a 0 7m RS232C Ground User Input Ground 19 3 1 Interface Connections The Controller Interface uses the widespread RS232C standard which provides a great degree of flexibility since all Personal Computers and standard terminals have provision for using this communication standard For operation of the Controller via an RS232C interface the 3 standard RS232 connections Rx Tx and Ground are used In general interface cables should not exceed 10 metres in length but
2. Extra Driver mor Supply opooooooogoogg r HAAHAHEAHEN 1 Mains Power Connector 115 230V AC 150VDC 0 1 General Controller Type SMC30 is equipped with an integral power supply for powering from AC mains supplies The Controller s power supply also provides a User Supply Output for powering external devices This supply can be adjusted to 1 of 3 settings see above illustration If the switch is set to position 1 the supply provides a fixed voltage of 5VDC If the switch is set to position 2 the supply provides a fixed voltage of 24VDC In position 3 the supply provides a continuously adjustable voltage in the range 5 to 30VDC Regardless of the voltage selected the User Supply provides a continuous maximum rated output current of 0 5A If this value is exceeded the power supply will reduce the voltage to ensure that no overload occurs The User Supply can therefore not be continuously short circuited User Supply Adjustable 5 30V The User Supply and the Controller s internal supply voltage 150VDC are externally available via 2 terminals The internal supply voltage can be used for powering other controllers in the motion control system The red LED Power Limit on the front panel will be lit if power consumpt
3. Bo B1 B2 IMPORTANT If the Baud Rate setting has been changed the Controller must be reset by switching the power off and on again for the new Baud Rate to take effect Note that the Baud Rate must also be set to the selected value on the PC or terminal used for communication with the Controller In addition the communication protocol should be set as follows 1 start bit 7 data bitsodd parity 1 stop bit A start bit is always used with RS232C V 24 protocol 23 3 4 Command Syntax Interface communication with the Controller must ful fill the following command syntax Address Command Argument Checksum Return Address It is only necessary to specify the Controller Address if more than 1 Controller is connected to the interface multipoint configuration The specified Address is a value in the range 1 7 Command The command character s to be transmitted to the Controller See the Software Description in Chapter 4 for details of the Controller commands Argument The command arguments if any Certain commands such as the K Kill or Z Smooth Stop commands have no argument See Software Description Checksum The checksum can be used if long communication lines are used between the Controller and PC or terminal The checksum ensures integrity of data transmission on the interface If an error occurs an error message E7 will be received It is then necessary to re transmit the command str
4. Ea i E E co co co co gt 0000000000000000000000 y If a voltage of more than approximately 180V is applied to the 150V input the Controller s overload protection circuitry will disconnect the applied voltage by blowing an internal fuse This feature is intended to protect the Controller in extreme situations and if the internal fuse is blown the Controller should be sent for service maintenance In the event of voltage surge in the AC Mains supply the Controller s overload protection circuitry will blow either the primary or secondary fuses In this case the Controller should be disconnected from the mains supply and the fuse replaced These fuses can be replaced by a user and are located in the Mains Power Connector on the rear panel 2 2 Motor Connection Serial Connection of Phases Motor Types Various types of step motor are commonly available 1 2 Phase Bipolar 4 terminals 2 4 Phase Bi Unipolar 8 terminals 3 4 Phase Unipolar 6 terminals not suitable Note that type 3 motors Unipolar are not suitable for operation with this Controller which utilises the Bipolar principle Note also that a bipolar system typically provides 40 more torque than a unipolar system 2 or 4 phase motors can be connected as follows 2 Phase Motors 4 terminals This type of motor can be connected directly to the Controller s output terminals The current su
5. Power Front Panel Running Power Limit Temp Overload 1 0 Error UUUUUUU0UU HUUUUUU0UU HUUUUU00UU Power Indicator Indication of running stop status Indication of power consumption RS232C Indication of overheating Indication of short circuited motor output Indication of short circuited User Output RS232C Interface SMC30 Stepper Motor Controller Motor Output Either a 2 phase or 4 phase step motor can be connected to the Controller The output is short circuit protected The Motor can be controlled with a resolution up to 15 000 half full steps per second Power Supply Type SMC30 is equipped with an integral mains power supply 115 230V AC User Inputs The Controller is equipped with 4 noise protected inputs 1 of which is reserved as a Stop Input for instantaneously stopping motor movement The 3 remaining Inputs can be used for example for connecting inductive sensors or for synchronisation with other controllers The Inputs accept voltages in the range 5 30V The User Inputs are optically isolated from other Controller circuitry Interface The Controller s RS 232C Interface enables the SMC30 to be connected to a computer or t
6. f 100 assigns a value of 100 to the Position Counter F Status Query to the Controller 1 of 3 responses will occur Feedback 1 If the Controller is ready to receive and execute commands the Status Query response is R Ready 2 Ifthe Controller is busy the Status Query response is B Busy 3 If the motor has been stopped automatically because of an overflow in the Position Counter the Status Query response is E5 Error 5 l 1 3 The Initialize command is used to reset either the Position Counter and or User Initialize Outputs I Resets the Position Counter only 12 Resets the User Outputs only I3 Resets both the Position Counter and User Outputs K The Kill command has the highest priority since it stops program execution Kill regardless of motor movement The Kill command is effective immediately i e as soon as the command is issued the Controller is set to Standby Mode To begin program execution once more a new Execute command must be used The program will start from the beginning It is often necessary to use the H Home command before starting a new execution of a program since the motor position will be arbitrary owing to the instantaneous stop resulting from the Kill command 34 4 3 System Commands M To enable completed programs to be permanently stored after the power Memory Save has been switched off the Controller is equipped with a permanent non volatile memory The Memory Save comman
7. 54 Forcing pos 34 gt 39 Goto 39 H 39 Home 39 l 34 IF 62 Indgangshysterese 15 Initialize 34 INPUT 63 Input setup 40 42 43 Interface 20 J 50 JC 51 JCA 53 JS 54 Jump 50 Jump con 51 K 34 Kill 34 L 54 Lagre 28 Loop 54 Memory 35 69 Modes 29 Module Interface 26 Index Motor Commands 37 38 39 40 41 42 43 44 Motorcommands 45 Motorkommandoer 46 N 40 42 43 NA 43 Pause 50 PE 35 Physical Dimensions 68 PO 35 Position Counter 28 PRINT 60 Program 35 Program enter 35 R 44 r 45 Ramp step A D ramp step 45 Recall prog 36 Relative 37 Reply Code 30 Return 24 s 45 S 44 Smooth stop 36 Speed 44 Start rate 44 A D start rate 45 Steppermotor 44 Stop 34 Stopindgang 19 System Commands 34 35 36 T 44 t 45 Temperature 36 Top rate 44 A D top rate 45 TP 36 U 47 Until 47 User Interface 47 48 49 User Output 34 V1 36 V2 48 VA 48 49 Velocity mode 39 Verify Verify ainput 48 Verify I O 48 Verify pos 36 Verify ramp 46 Verify start rate 46 Verify top rate 46 Verify ainput 49 VR 46 VS 46 VT 46 W 49 X 36 Z 36 78
8. Tx mark position 3 12 V Tx space position 5 12 V Communication Rate 110 9600 Baud Isolation Voltage 500 V Max Module Interface Communication Distance 0 500 m Communication Rate 50 kbit sec Isolation Voltage 1000 V Max User Inputs 1 3 amp Stop Input Input Impedance 10 kohm Supply Voltage 5 32 VDC Current at 5V 10 mA DC at 12V 20 at 30V 45 Logic 0 at 5V lt 1 7 VDC at 12V lt 3 0 at 30V lt 6 7 Logic 1 at 5V gt 2 7 at 12V gt 6 5 at 30V gt 16 2 Measured from Supply ground to Interface ground Values valid for Type SMCxxC Continued on following page 66 5 1 Electrical Specifications Min Typical Max Analog Inputs Resolution 8 Input Voltage Max allowable 20 45 Input Voltage Nominal 0 00 5 10 Offset Error i 1 Gain Error 2 1 Temperature Drift 0 50 C 4 e Logic 0 lt 2 5 Logic 1 gt 2 5 CW CCW Inputs Input Impedance 2 4 3 3 Logic 0 inactive 30 3 0 V DC Logic 1 active 3 8 30 User Outputs Supply Voltage 5 30 Rated Output Current per output 1 output activated 25 C 700 mA DC 2 outputs activated 25 C 460 mA DC 3 outputs activated 25 C 300 mA DC Operating Temperature Range 0 50 bs Absolute max time lt 1 sec 67 Units Bit VDC VDC LSB LSB LSB VDC kOhm VDC VDC C 5 2 Physical Dimensions S55
9. circuit protected If any of the User Outputs is short circuited or the current exceeds 700mA the Overload LED will be lit and the voltage is disconnected from the Output To reset the Controller in this case the Controller power should be disconnected for a minimum of 5 seconds Each of the User Outputs is regarded as a connection to the supply i e if an Output is activated the load must be applied between the output terminal and ground see illustration below with logic circuitry a pull down resistor should be connected between each output terminal and ground For TTL this resistor should be 1kOhm for CMOS a resistor of approximately 10kOhm can be used Connection of User Outputs Equivalent Diagram of User Output 1 Output Suppl To Outputs 2 and 3 o O ig PEY lt 10hm To Overload circuitry lt H HH an g External From Controller s x Output 1 Max 500mA UPPIy e O 5 30V A Load Output Ground To Outputs 2 and 3 e SMC15 08 N P Clock Output Oooo O Supply 2 5 30VDC 7 a For use in motion control systems where several step motors are operated synchronously Controller SMC30 is equipped with a step pulse Clock Output which outputs a voltage pulse for each motor step The Clock Output can also be used for connection of a counter or similar equipment which is used to t
10. dl etc The conversion factor can be specified as a real number in the range 0 0001 to 1600 0000 with up to 4 decimal points The conversion factor command is inserted at the beginning of a program and stays in effect until any subsequent conversion factor is specified at run time When a motor operation is performed the number of units specified by the motor command is multiplied by the conversion factor and the motor moves the resulting number of steps If for example a motor must move 2 3456 steps to dose a volume of 1 millilitre the conversion factor is set to a value of 2 3456 using the command con 2 3456 To dose a volume of 450 ml in a subsequent motor command the value 450 is specified The conversion results in 450 2 3456 1055 52 steps The motor will then move 1055 steps and the remainder 0 52 steps will be stored The remainder is used in the next motor operation to correct for the 0 52 dosage steps Example A system requires motor operation of 14 654 steps to dose a volume of 1 ml con 14 654 The conversion factor is set to 14 654 steps per millilitre R1 290 A value of 290 is assigned to register R1 R1 The motor is moved to provide a dose of 290 ml The number of steps run is 290 14 654 4249 The step remainder is 0 66 D100 Delay of 1 second 18 Dose 18 ml The number of steps is 18 14 654 step_remainder 264 The new step remainder is 0 432 Note that after a Home operation using the H c
11. frequencies above 1kHz compared with serial connection but requires twice the phase current This can influence the choice of Controller since it is necessary to select a Controller that can provide a greater output than that required with serial configuration see above illustration When the phases of a 4 phase step motor are connected in parallel the specified rated motor phase current should be multiplied by a factor of 1 41 If for example the rated phase current of a 4 phase motor is 4 2A the Controller should be adjusted to provide a maximum phase current of 5 9A when the phases are connected in parallel 2 2 Connector DIN41612 Ver H It should be noted that the lower the self inductance of a step motor the better since this has a significant influence on the motor torque at high speeds The torque is proportional to the current supplied to the motor as follows Applied Voltage Current Torque Phase Induction x Frequency The voltage applied by the Controller to the motor is regulated by the driver to provide the selected phase current In practice this means that if a motor with a large phase inductance e g 100mH is selected the driver will not be able to supply the required phase current at high speeds high frequencies since the output voltage is limited 10 Motor Connection Cabling Controller Type SMC30B supplies motor phase currents in the range O to 6A and it is theref
12. if a longer cable is required the interface checksum facility should be used to ensure data integrity See Section 3 5 Controller Interface e o Signal Ground e i e gt Tx Transmit se Rx Receive e _ ____ Chassis Ground a notisolated External View For communication with the Controller via a PC the interface connections are illustrated in the following figures Connection between the Controller and an IBM AT or compatible PC AT Controller Ground Ground Tx Tx Rx Rx External View External View 20 3 1 Interface Connections Connection between the Controller and an IBM XT PS2 or compatible PC XT PS2 Controller Ground e a E ie Tx Rx See a External View External View 21 3 2 Interface Addressing The Controller can be configured to respond to all communication on the interface point to point communication In addition it is possible to connect up to 7 Controllers on the same interface bus i e multipoint communication For multipoint communication the Controller DIP switches must be set to assign a unique address to each controller on the interface bus In this way each controller only responds to interface commands which are preceded by its preset address To configure Controllers for multipoint addressing the DIP switch marked Tx PD on one and only one of the Controllers must b
13. nnn p ee JC n nnn Jump Conditionally Z LVA o Measure Analogue Voltage gt JS RET Jump Subroutine nae L nnn Loop V1 VerityPositionCounter N NA p1 p2 Input Setup pane R RS RT S T Motor Parameters Ji Bea Show I O status r S t Motor Parameters A D a ee U n Untill ee Ain __ Activate Output Win Wait r E Insertcommandon P enh _ Deactivate Output m newline in Program Hi Preset Position TP m Show Temperature H i i VR VSNT m Find Mechanical 0 Point m Show Ramp 4 m RST vB a ae Show Start Rate m Adjust Motor Parameters ae YT Show Top Rate TG Laki __ Relative Positioning m VAn a Show Status at A Inputs VI Show Position Counter E V2 Showl OStatus E E d EXECUTE MODE D d K F M Stop Program Execution mz m Show Status gt ExecutionofProgram Program Execution Completed 33 4 3 System Commands E Starts program execution The Execute command can also be used to complete a Execute programming sequence The command can be used when the Controller is either in Standby Mode or Programming Mode f nnnnnnn Assigns a specified value to the Position Counter Forcing pos The position can be specified in the range 8 388 607 to 8 388 607 both values included The command can be used when the Controller is in Standby Mode and in Programming Mode Example
14. o E Siger S 0000000000000000000000 i o Caa c Haans o oo Aiddng uas T Not for m trikker M2 5 128 3mm 3HE 141 5mm 28Te y If the Controller is mounted in a closed cabinet a ventilation fan or other form of cooling should be installed The Controller is however protected against overheating by a built in thermo switch which disconnects the driver stages at a temperature of approximately 80 C 68 5 3 The permanent memory of the Controller consists of a 8kbyte E7PROM Memory Utilization 4 bytes are used to correct the A D converter offset error and for adjustment of the Controller s thermometer function TP In order to enable optimum utilization of the 8kbyte available memory the following table gives the memory requirements of each program command The total size of a program must not exceed 8186 bytes If an attempt to store a program greater than 8186 bytes is made the Controller will issue an error message E3 1 byte 2 bytes A n 3 byte
15. of steps the motor is moved see figure below A Steps LLO oor ttre 1004 3 Voltage V i i _ 0 5 10 37 4 4 Motor Commands The current supplied to a stepper motor can be adjusted to specified values for standby acceleration deceleration and top speed Normally only a small current is required when the motor is stationary since the static inertia of a typical stepper motor is much less than the inertia while the motor is rotating depending on the speed range of the motor The torque of a stepper motor is directly proportional to the applied current up to the specified phase current see the specifications for a given motor In the nominal current is exceeded the motor will overheat and only very little increase in torque will result The following 3 commands are used to specify the current supplied to the motor The commands can be used at any point in a program All 3 commands can be specified and changed continuously throughout a program If any of the commands is omitted the respective parameter assumes a default value of 1000mA CS 0 12000 Current Standby Determines motor current when the motor is stationary CR 0 12000 Current Ramp Determines motor current during acceleration deceleration CT 0 12000 Current Top Determines motor current at maximum speed Note that all 3 parameters can only be specified in the range 0 to 6000 mA for Controllers Type SMC30B Example Program CS500 Sets motor
16. or only a specified segment can be repeated The User Inputs are specified by the parameter values 1 to 3 The Analogue Inputs are specified by the parameter values A1 to A6 e g G 50 A2 U3 Repeats program segment from the beginning until logic 0 is applied to User Input 3 A1 D25 C1 UA1 Repeats program segment between and until logic 0 is applied to Analogue Input 1 47 4 5 v2 Verify I O VA 1 6 Verify ainput User Interface Commands The Verify I O command enables the status of User Inputs and Outputs to be determined When the V2 command is sent to the Controller it responds with a V followed by two parameter values between 0 and 7 The first parameter indicates the voltage levels at the User Inputs The second parameter indicates the voltage levels at the User Outputs The status of the Inputs and Outputs is determined from the returned parameters according to the following table Input ie Output Soe ee SB o olo 0 o 0 0 0 o o 1 1 0 0 1 0 1 0 2 2 0 1 0 o 1 1 3 l0l1 1 1 0 0 4 4 1 0 0 1 o 1 5 5 1 0 1 1 1 0 6 6 1 1 0 1 111 7 1 1 1 O Logic 0 1 Logic 1 Example The Verify I O query returns a response V25 which indicates that Input 2 is logic 1 and Outputs 1 and 3 are logic 1 The Verify I O command is used exclusively when there is a constant interface connection between a co
17. simply stop There are 3 basic parameters which should be considered S 16 2000 Start Rate steps second The Start Rate is the speed at which the motor is started If it is set too high the motor will simply stop at an arbitrary position The Start Rate can be set in the range 16 to 2000 steps second The default Start Rate is 100 steps second T 16 15000 Top Rate steps second The Top Rate specifies the maximum speed of the motor If it is set too high the motor will be unable to provide enough power and will stop at an arbitrary position The Top Rate can be set in the range 16 to 15000 steps second The default Top Rate is 1000 steps second R 1 10000 Ramp RT 1 1000 Ramp time RS 10 30000 Ramp slope This value specifies how the motor is accelerated and decelerated The value can be specified in 1 of 3 forms R Ramp is used if the required acceleration deceleration is specified in steps RT Ramp Time is used if the required acceleration deceleration is specified in terms of time and RS Ramp Slope is used if the required acceleration deceleration is specified in steps second Ramp Slope can be used advantageously if the Top Rate or Start Rate are repeatedly changed in a program since the acceleration per unit of time remains the same If too high an acceleration deceleration rate is selected the motor will stop R n can be specified in the range 1 to 10000 steps The default Ramp is 100 steps RT n can b
18. the jump condition A value of i between 1 and 3 specifies the corresponding User Input 1 to 3 A value of i between A1 and A6 specifies the corresponding Analogue Input 1 to 6 n Specifies the Reference Level to be compared with the measured level at the specified input n can assigned a value of 0 or 1 If the level at the specified input is equal to the Reference Level the jump is made n1 Specifies the program line to jump to if the jump condition is fulfilled Program Example Line no 0 750 R700 C3 500 JC2 0 3 3 Jumps to line 3 if User Input 2 is logic 0 G 0 T1000 A2 JCA4 1 5 Jumps to line 5 if Analogue Input 4 is logic 1 AN Oa WD When the Analogue Inputs are used as logic inputs logic 1 corresponds to voltages greater than or equal to 2 5V and logic 0 corresponds to voltages less than 2 5V 52 4 6 Flow Control Commands JCA p n1 This conditional jump command is similar to the JC command if the level at a Jump Cond specified input fulfils the jump condition a jump is made to the specified program line In contrast to the JC command however the JCA jump condition is determined by an analogue voltage level at one of the Analogue Inputs 1 to 6 and not by a logic level Command Format JCA a1mn n2 a1 Specifies the Analogue Input used for evaluating the jump condition mn Specifies the Reference Level n with which the measured input voltage is compared and the operator for the compar
19. 0 In the above program example the motor is started if the applied voltage at Analogue Input 1 is less than 1 2 Volts see conversion example above Otherwise nothing occurs When the motor is running it is stopped either after completion of the 10000 steps or when the voltage at Analogue Input 6 is greater than or equal to 2V n2 100 Program Example 2 NAX A5 gt 220 G 100000 The parameter specification X indicates that the start condition is inactive and the motor will therefore start immediately Thereafter the motor will stop when position 100000 is reached or if the applied voltage at Analogue Input 5 is greater than or equal to 4 4V n2 220 The K kill and Z Smooth Stop commands can be used to interrupt program execution 43 4 4 Motor Commands In contrast to a normal DC motor which is Se f commutating a stepper motor is electrically commutated That is a stepper motor is driven by magnetic fields which are controlled electronically When the motor is loaded the magnetic fields will eventually not be powerful enough to continue to turn the rotor The motor will stop but the electronics will continue to move the magnetic fields at the same speed It is therefore important that a motor is accelerated and decelerated at appropriate rates in order for the magnetic fields to drive the rotor Similarly a stepper motor has a maximum speed and if this is exceeded the motor can no longer provide the same power and will
20. ASCII 49 Command character A ASCII 65 Argument character 3 ASCII 51 Sum remainder 49 65 51 128 Checksum Remainder 128 If an error occurs during transmission of the command string the checksum will be incorrect and the Controller will return the error message E1 indicating that the Controller could not interpret the received command string The command must then be re transmitted If the Controller continues to transmit E7 the interface Baud Rate should be reduced or a shorter cable used to connect the computer to the Controller The Checksum facility is activated by setting the CHS DIP switch to ON IMPORTANT If the checksum switch setting is changed the Controller must be reset by switching the power off and then on for the new setting to take effect 12345678910 ON OFF CHS 25 3 6 Controller SMC30 Module Interface Module Interface BI A B A OHT Wa WOON 123155 Address 1 KDM10 Keyboard Display Module Controllers Type SMC30 can be connected to external modules such as a input output module keyboard display module etc Connection to external modules is made via the Controller s RS485 serial interface using the two terminals ma
21. Controller is set to grammed the E command is used to switch the Controller to Execute Mode and the program is executed To store the program in permanent mem ory the M Memory save command can be used once program execution is complete Programming Mode can also be Program Exit Controller will be set to Standby Mode interrupted using the PX command in which case the 29 General Aspects of Controller Software A typical sequence for programming the Controller is as follows Mode 1 Controller switched on Standby 2 PO Program command Program keyed in 3 Required sequence of Program program commands keyed in 4 PX Program Exit command Standby keyed in after which the Controller is set to Standby Mode 5 E Execute command Execute keyed in The entire program is then executed unless an interrupt occurs via K Kill or Z Smooth Stop command 6 The program can be stored in Standby permanent memory by keying in the M Memory Save command It should be noted that at power up the error message E1 will probably be received when com munication is first established between the Control ler and a PC terminal This is due to transients which arise on the interface cable when the compu ter or Controller is switched on 4 1 Controller Response Each time the Controller receives a command or query via the interface it responds to the PC or terminal with a short response string The syntax of the respo
22. Controller s The Controller s permanent memory is intended for use when the Controller is used as a Stand alone unit i e is not connected to a computer or terminal Use of the permanent memory enables the Controller to begin execution of pre programmed instructions without requiring connection to an external PC or terminal if the Controller is connected to a PC or terminal In this case it is typically used to store frequently used program sequences which can be pre programmed Permanent memory can also be used and downloaded to the permanent memory 28 General Aspects of Controller Software Position Counter The Position Counter is a storage register which keeps track of the motor s current position during operation The Position Counter can be reset by the l Initialise or H Home command see Sections 4 3 and 4 4 The Position Counter s contents can also be read or changed using the commands V1 and ff n When the Position Counter reaches its maximum value of 8 388 607 or 8 388 608 the motor stops automatically Command Descriptions The following pages Sections 4 3 to 4 6 describe each of the commands used for programming the Controller To avoid any misunderstanding regarding the use of the commands and command syntax the follo wing text convention should be noted Each command is described by one or more command characters followed by a word in pa rentheses The actual command used to program the C
23. Example 3 PRINT3 41 Key in Value When a Keyboard Display Module KDM10 is incorporated in a system it is often desirable to display information to the user The above example illustrates how text can be written to the module s LCD display In the example the address of the module is 3 The second parameter value is cursor position 41 which is the first character on line 2 of the display 60 4 7 Extended Command Set Example 4 R1 5555 R30 333 PRINT5 41 R1 PRINT2 0 R30 Assign a value of 5555 to register R1 Assign a value of 333 to register R30 Print the contents of register R1 to cursor position 41 of a KDM10 module with address 5 Print the contents of register R30 to the display of a DIS10 module with address 2 When external modules DIS10 or KDM10 are used in a system it is often necessary to print out the contents of register on the displays of the modules As illustrated in the above example this is best accomplished using the PRINT command to print the contents of a register either to a cursor position or directly to the LED display of the DIS10 module 61 4 7 IF p1 m p2 Extended Command Set The IF command is used for comparison of 2 numeric values p1 and p2 These values may be the contents of registers such as R1 A1 T etc or simply integer values such as 10500 420 etc All registers described in the Register Description section at the beginning of this Chapter can be used in IF expressions T
24. SMC30B SMC30C Step Motor Controller User s Manual SMCS0B Stepper Motor Controller J VL Industri Elektronik A S March 1991 LB0008 02GB Revised 27th February 1996 1 1 1 2 2 0 2 1 2 2 2 3 2 4 2 4 2 5 2 6 27 2 8 3 1 3 2 3 3 3 4 3 5 3 6 4 1 4 2 4 3 4 4 4 5 4 6 5 1 5 2 5 3 5 4 5 4 5 5 5 6 Contents Introduction Controller Connections Driver Section Block Diagram Power Supply Motor Connection User Outputs Clock Output User Inputs Analogue Inputs CW and CCW End of Travel Inputs Stop Input Pin Designations Controller Section Interface Connections Addressing Communication Rate Command Syntax Checksum Module Interface Software Description General Command Overview System Commands Motor Commands User Interface Flow Commands Appendices Electrical Data Physical Dimensions Memory Allocation Connector Board for Controller Application Example Motor Connections Index ONA 13 14 16 17 18 19 20 21 22 23 24 25 27 30 33 36 46 49 65 67 68 69 70 75 76 1 1 Step Motor Controller SMC30 O ea a INIT LILLO LITIT JVL Industri Elektronik San eee Step Motor Controller Type SMC30 is an easy to use unit for accurate control of step motors Type SMC30 can be used either as a stand alone u
25. Standby Current to 500mA 0 5A CR6000 Sets motor Ramp Current during acceleration deceleration to 6000mA 6A CT4000 Sets motor Top Current to 4000mA 4A at top speed 100 Advances the motor 100 steps CT5500 Sets new motor Top Current to 5500mA 5 5A 38 4 4 g Velocity Mode Motor Commands The Velocity Mode command is used to move the motor continuously in a specified direction The command is followed by a or parameter which specifies the direction of movement To stop the motor once the Velocity Mode command has been used a Z Smooth Stop or K Kill command must be used If the N Input Setup command is used before the gt command the conditions specified by the N command can also stop the motor See the description of the Input Setup N command for further details It should be noted that the Position Counter is updated while the Velocity Mode command is executed The command can only be used when it is included in a program G nnnnnnn The Goto command is used for absolute positioning of a stepper motor Goto The specified parameter value refers to the Position Counter and can be specified in the range 8 388 607 and 8 388 607 G A n n1 n2 The Analog Goto command is used for absolute positioning of a motor Analog Goto H Home motor similar to the G n Goto command but the required position is determined by the analogue voltage applied to a specified Analogue Input T
26. V corresponding to 4000HZz The Verify Ramp Verify Start Rate and Verify Top Rate commands can be used to verify the current values of the motor parameters R S and T VR returns the value of the Ramp Step R in steps VS returns the value of the Start Rate S in steps second VT returns the value of the Top Rate in steps second Example A verification of the current Top Rate is required The following command string is therefore sent to the Controller VT carriage return The Controller responds T1000 carriage return Indicating the current Top Rate is 1000 steps second VR VS and VT can also be used to check the value of the motor parameters determined by the r n1 n2 s n1 n2 and t n1 n2 commands 46 4 5 A 1 3 User Interface Commands The Activate Output command sets a specified User Output to logic 1 Activate Output The command character is followed by a parameter value of 1 to 3 which specifies which C 1 3 Clear Output U 1 3 U A1 A6 Until output is to be activated Example A2 sets Output 2 to logic 1 The Clear Output command sets a specified User Output to logic 0 The command character is followed by a parameter value of 1 to 3 which specifies which output is de activated Example C1 sets Output 1 to logic 0 The Until command is used to repeat a program segment until logic 0 is applied to a specified input see Electrical Specifications Either the entire program
27. _ user specified measurement unit PRINT n1 n2 n3 PRINT Print Register contents to external module IF p1 m p2 IF If expression specified by command arguments is true execute next line INPUT n1 n2 n3 INPUT Read in data from external module to Register AOfa o Activate Activate flag in external module COfa o Deactivate Deactivate flag in external module 32 4 2 a STANDBY MODE oa eS ee ee Command Overview gt a PROGRAMMODE y PO eae Erase old Program M Save Program J PE px PO Erase Pri ogram Qi Show Program 4 Ee Show Program N nnnnnnn Relative pos ae M Save Program A n Activate Output A n n1 n2 Relative A D pos F Show Status C n Clear Output D DA n Del lt n Delay os I n Initialise pos outputs f nnnnnnn Force Position Eas g Velocity VR Verify ramp G nnnnnnn Goto BE G A n n1 n2 Goto A D pos H Home PUS Verify Start Rate I n Initialize gt J nnn Jum T Verify Top Rate
28. be noted that the status of a User Input is undefined if no connection is made to the Input User Inputs All of the User Inputs are optically isolated from other Controller circuitry This means that the Input must be powered from an external supply see illustration below Some inductive sensors have an open collector output For sensors with an NPN output an external resistor must be connected between the Input to the supply For PNP sensors an external resistor must be connected between the Input and ground It is recommended that a resistor of between 5000hm and 5kOhm should be used depending on the supply voltage Connection of User Inputs Equivalent Diagram of User Input 1 Controller SMC30 Input Suppl P PPly O Internally to Inputs 2 and3 4 A NPN External SignalSource _ 33k a Supply IN1 OL gt gt ToController e g wa 5 30V f an Inductive Sensor i a iR PNP e Internallytolnputs 2 and3 Input Ground 14 235 User Inputs Input Hysteresis All User Inputs are noise protected and are compatible with common logic types CMOS TTL etc The input hysteresis is dependent on the applied supply voltage as illustrated below Example Input 1 is used and the supply voltage is 24V As illustrated below Input 1 is logic 1 when an input voltage greater than 13 3 VDC is applied To set the output to logic 0 the input voltage must be red
29. d the X Recall Program command should be used prior to the Query command Note that use of the Recall Program command will erase the contents of the Controller s working memory 35 4 3 TP Temperature v1 Verify Pos Xx Recall Prog Z Smooth Stop System Commands Returns the current temperature of the Controller The Temperature command can be used to verify that the Controller is operating within its specified temperature range of 0 50 C If under worst case conditions a temperature greater than approximately 60 C is registered ventilation of the Controller must be improved The Verify Position command is used to read the contents of the Position Counter The value returned is relative to 0 the Home position See also the Home command The Recall Program command is used to read the program if any stored in the Controller s non volatile permanent memory and load the program into the working memory This command can be used advantageously if for example a program is to executed at regular intervals A Recall Program command is then followed by an Execute command thus starting program execution immediately Note that each time the Recall Program is used to load a program from permanent memory in to working memory any instructions in the Controller s working memory will be erased The Smooth Stop command has the same function as the Kill command except that the motor is decelerated in accordance
30. d is used to store the contents of the Controller s volatile working memory in the non volatile permanent memory Only 1 program can be stored in permanent memory at a time If the REC DIP switch is set to ON the program stored in permanent memory is automatically recalled and executed when the Controller is switched on CIRA IS IR I IS R EU IRL 12345678910 OFF ON REC PE The Program Enter command is used to set the Controller to Programming Program Enter Mode without erasing any existing instructions in the working memory This command is primarily used when editing a program during development PO The Program command sets the Controller to Programming Mode i e so that Program the Controller is ready to receive programming instructions Each time the Program command is used the contents of the Controller s working memory are reset erasing any existing instructions See also the Program Enter command above and the description of the Program command at the beginning of this Chapter PX The Program Exit Command is used to exit Programming Mode and set the Program Exit Controller to Standby Mode A program can then be executed or a new program keyed in Q The Query command returns the program currently stored in working memory Query including run time parameters If a printout of the program in permanent memory is require
31. e each time the X controller sends a ready signal to the Y controller or vice versa 3 program commands are required Each time a ready signal is transmitted between the two Controllers this is accomplished by sending a voltage impulse The impulse duration is set to 1 second since the receiver must be able to register the signal The impulse is sent by the sender activating its output A delay of 1 second is then made after which the sender deactivates its output This operation involves the use of 3 program commands A1 D10 C1 X Controller Y Controller 1 H Reset 1 H Reset 2 W1 Wait for Input 1 2 W2 Wait for Input 2 3 Al Activate Output 1 D10 Wait 1 second C1 Deactivate Output 1 4 G 4013 Move to position 4013 4 G 7387 Move to position 7387 5 Al Activate Output 1 5 Al Activate Output 1 D10 Wait 1 second C1 Deactivate Output 1 6 A2 Activate Output 2 6 W1 Wait for Input 1 D1 Wait 0 1 seconds C2 Deactivate Output 2 7 W2 Wait for Input 2 8 Al Activate Output 1 D10 Wait 1 second 3 C1 Deactivate Output 1 5 9 G 5164 Move to position 5164 9 G 1949 Move to position 1949 10 A2 Activate Output 2 10 W1 Wait for Input 1 D1 Wait 0 1 seconds 5 C2 Deactivate Output 2 11 W2 Wait for Input 2 12 A1 Activate Output 1 D10 Wait 1 second C1 Deactivate Output 1 13 J1 Jump to point 2 13 J1 Jump t
32. e set to ON For the remaining Controllers in the multipoint configuration Tx PD must be set to OFF For point to point communication Tx PD is set to ON on the Controller In order to ensure data integrity during communication it is recommended that the interface checksum facility is used Checksum is enabled by setting the CHS DIP switch to ON For further details see Section 3 5 The DIP switch settings for configuring the interface address on Controllers are given in the following table Point to point Multipoint Multipoint Multipoint Multipoint Multipoint Multipoint Multipoint e o 0 0 8 E eld NOOR WD IMPORTANT Ifthe address switch settings are changed the Controller must be reset by switching off and on the power for the new address to take effect mi m mj mj m a m 12345678910 yyy o im os AO Al A2 Tx PD 22 3 3 Communication Rate Baud Rates of 110 to 9600 Baud can be selected for communication using the Controller s RS232C interface The Baud Rate is configured by setting 3 DIP switches as shown in the following table Baud Rate Seep Sed z s ce see 2 0Q0 00 mmi m m mj m m m m a 12345678910 0
33. e specified in the range 1 to 1000 corresponding to a range from 0 01 to 10 seconds RS n can be specified in the range 10 to 30000 steps second Examples R100 specifies an acceleration deceleration of 100 steps RT50 results in an acceleration deceleration time of 0 5 seconds RS900 gives an acceleration deceleration rate of 900 steps second Speed A Top Rate 4 Start Rate gt Time Ramp All 3 parameters must be specified in a program and can be adjusted at any point in the program If T Top Rate is set to a value less than S Start Rate the motor will operate at the Top Rate specified by T without accelerating or decelerating 44 4 4 Motor Commands r n1 n2 These 3 commands are used to determine the motor parameters R S A D Ramp Step and T using the analogue voltage applied at one of the 6 Analogue Inputs s n1 n2 The r n1 n2 command determines the Ramp Step parameter A D Start Rate The s n1 n2 command determines the Start Rate parameter The t n1 n2 command determines the Top Rate parameter t n1 n2 A D Top Rate n1 specifies the Analogue Input used for controlling a given step frequency n1 can be specified in the range 1 6 corresponding to the required Analogue Input 1 to 6 The voltage applied to the specified input must be in the range 0 to 5 10V n1 Analog Input AN1 AN2 AN3 AN4 AN5 AN6 oanhwhnhd n2 specifies the value corresponding to fu
34. ed 4 Continue when ready signal is received from 4 Send ready signal to the X controller Y controller 5 Send a start signal to the drill unit 5 Continue when ready signal is received from the X controller 6 Continue when the drill unit is finished 7 Send ready signal to the Y controller 8 Move to position 5164 8 Move to position 1949 The Y axis motor has to move the shortest distance The X controller must both move to the specified position and start the drilling operation The Y controller must therefore wait until the X controller is finished 9 Send a start signal to the drill unit 9 Continue when ready signal is received from the X controller 10 Continue when the drill unit is finished 11 Send ready signal to the Y controller 11 12 Go to point 1 12 Go to point 1 Note A dash in the above indicates that the respective Controller is waiting for the other Controller to complete an operation and send a ready signal 74 5 4 Application Example for Controller Type SMC30 Program for Control of X Y Table The basis for the actual program has thus been laid in the above overview and flow chart The actual Controller instructions can then be programmed as shown below Note that the numbers to the left of the columns below refer to the respective step in the above flowchart Note that not all steps in the flowchart can be directly translated to a single program command For exampl
35. ed The program can only be interrupted using the Z Smooth Stop or K Kill command 50 4 6 Flow Control Commands JC 0 7 0 255 In contrast to the J Jump command the JC Jump Conditional command is used Jump Cond to make a conditional jump to a specified line number in a program depending on the levels at all 3 User Inputs The line number can be specified in the range 0 255 The condition for the jump to occur is specified according to the following table Example The command JC5 10 results in a jump to program line 10 if User Inputs 1 and 3 are logic 4 m JC_ nnn Input J 321 0 0 O0 0 0 0 1 1 011 0 2 0111 110 0 10 1 11 0 111 1 7 0 Logic 0 1 Logic 1 Example Line no 0 450 1 R200 2 Al 3 1200 4 JC5 4 Jumps to line 4 if User Inputs 1 and 3 are logic 1 5 G 0 6 C1 7 JC3 2 Jumps to line 2 if User Inputs 1 and 2 are logic 1 51 4 6 JC p n1 Jump con Flow Control Commands This conditional jump command is similar to JC 0 7 if an input level condition is fulfilled a jump is made to a specified program line In contrast to the JC O 7 command however the JC p jump condition is determined by the level at a specific Input and not by the pattern at all 3 User Inputs The JC p command can be used both with User Input levels and with the Analogue Inputs Command Format JC i n n1 i Specifies the input used for
36. er to R30 R R1 R30 Transfer Counter value to an array register using R1 as array pointer 63 4 7 AOfa o Activate Extended Command Set The Activate command is used to activate a flag in an external module whose address is specified by a The Flag number is specified by o For example the flag may refer to an output on a IOM10 module When the flag is activated an output will be activated A flag in a different module may refer to a completely different function For example if flag 3 in a KDM10 module is activated the cursor on the module s LCD display will blink Flags with the same number in different modules can have different functions See the instruction manual for the individual module for a description of the function of the module s flags Format AO 1 lt a lt 31 1 lt 0 lt 255 Example 1 A Keyboard Display Module has address 4 The module display is to be erased so that new text can be displayed The following command will erase the display and position the cursor at the top left hand corner of the display AO4 1 Erase LCD display Example 2 An IOM10 module and SMC30 are connected together in a system The IOM10 module address is 10 Output 4 is to be activated The following command is used AOQ10 4 64 4 7 Extended Command Set COfa o The Clear command is used to clear a flag in an external module The number of flags Clear which that can be cleared in different external modu
37. erminal Up to 7 controllers may be connected on the same interface bus Module Interface The Controller s Module Interface consists of 2 optically isolated terminals which are used to connect the Controller to external modules such as a Keyboard Display Module Input Output modules etc CW and CCW End of Travel Inputs These Clockwise and Counter Clockwise End of Travel Inputs are used for applications where it is essential that motor movement does not exceed pre defined limits Activation of one of these Inputs results in instantaneous stop of motor movement The CW and CCW Inputs are optically isolated from other Controller circuitry 1 2 Controller Connections D Rear Panel ro kaa i te ee ft ial User Supply a ES Bs N a esas oP as ee Oo 230V AC Mains Power 5VDCH eral z Motor Connection 6 A AUC Module Interface paat aoe a oOo ca 3User Outputs 4UserInputs CW and CCW Enc of Travel Inputs E o EA 6 Analogue Digital Inputs fale RS232C Interface secondary 1 die Oo i lr Set up of Communication Parameters etc ug E os User Suppl
38. gram in Permanent Memory Sets the Controller to Programming Mode without erasing existing program in working memory Sets the Controller to Programming Mode This command erases any program instructions already in working memory Exits Programming Mode Returns to Standby Mode Displays the program currently stored in Working Memory Returns the current temperature of the Controller Returns the Position Counter value Loads program from Permanent Memory into Working Memory Stops program execution slowly taking account of deceleration ramp Relative positioning given by direction of rotation and number of steps Relative positioning controlled by voltage at Analogue Input Determines motor current during acceleration Determines motor current when stationary Determines motor current at top speed Continuous operation forward reverse Absolute positioning Absolute positioning controlled by voltage at Analogue Input Resets motor and electronic circuitry Starts stops motor in accordance with User Inputs Starts stops motor in accordance with Analogue Inputs Acceleration deceleration parameter 1 10000 steps Acceleration deceleration parameter 0 01 10 seconds Acceleration deceleration parameter 10 30000 step s Minimum speed Maximum speed Same as R controlled by voltage at Analogue Input Same as S controlled by voltage at Analogue Input Same as T controlled by voltage at Analogue Input Returns the cur
39. he n command parameter specifies which Analogue Input 1 6 is used for the control signal Parameters n1 and n2 specify the required positions corresponding to applied voltages of OV and 5 10V respectively The specified position can be set in the range 0 to 65000 See also the A command Example G A2 0 800 The above example moves the motor to position 0 if a voltage of OV is applied to Analogue Input 2 and to position 800 if the applied voltage is 5 10V For applied voltages between 0 and 5 10V a linear interpolation between positions 0 and 800 is made The Home command enables an electrical and mechanical reset of the system to a pre defined reference position As soon as the Controller receives the Home command the motor will move in the specified direction either H or H As soon as the EOT End of Travel input becomes low the motor will stop The motor is then at its reference position The speed at which a reset occurs is determined by the S Start Rate command After execution of a Home command the Position Counter is reset to 0 39 4 4 Motor Commands N n1n2 n3n4 The Input Setup command enables a motor to be started or stopped using control Input setup signals at the User Inputs The Input Setup command itself does not start or stop the motor It only determines how the next motor command n g G n will be interpreted and executed Thereafter the Input Setup command is inactive unt
40. he Input Setup command is used for a movement sequence the Position Counter is updated normally While the motor is moving a Z Smooth Stop or K Kill command can be used to stop the motor Program execution can also be halted using a K Kill or Z Smooth Stop command while the Controller is waiting for a start signal from a User Input Example 1 The command N13 01 followed for example by a g command will start the motor when User Input 1 attains a voltage of logic 0 Note that it is a logic level 0 and not a change from 1 to 0 that activates a start The motor will move according to the specified parameters and run at normal speed until a voltage corresponding to logic 1 is applied to User Input 3 Thereafter the motor will decelerate until it stops and the next program command is executed Example 2 The command N21 10 followed for example by a 70000 command will start the motor when User Input 2 is logic 1 and operate at normal speed for 10000 steps including deceleration ramp or until a change from logic 1 to logic 0 occurs at User Input 1 The motor will then decelerate and the next program command is executed Example 3 The command N11 19 followed for example by a G 3500 command will start the motor when User Input 1 becomes logic 1 and stop when position 3500 is reached The motor will operate in accordance with the parameters specified by the R S and T commands 41 4 4 Motor Commands NA p1 p2 Thi
41. he comparison operator m may be one of the following m Condition fulfilled if Less than Greater than Equal to Less than or equal to Greater than or equal to Not equal to If the condition specified by the IF expression is fulfilled the next line of the program is executed If the condition is not fulfilled the next line is omitted and execution continues from there Example 1 START IF R10 lt 9800 _ If the content of register R10 is less than J PROG1 9800 jump to label PROG1 J PROG2 else jump to label PROG2 Example 2 T 100 Set Top Rate to 100 steps second START T T 50 Increase Top Rate by 50 IF T gt 4000 If the Top Rate is greater than 4000 steps s J SPEEDOK Jump to label SPEEDOK 1000 else move 1000 steps clockwise J START Jump to label START where the speed is increased The above program moves the motor 1000 steps at a speed of 150 steps second and increases the Top Rate by 50 steps second until a Top Rate of 4000 steps second is reached 62 4 7 Extended Command Set INPUTn1 n2 n3 The INPUT command is used to read in data from external modules connected to the RS485 interface It can be used to read in data from modules such a Keyboard Display thumbwheel BCD data from PLC equipment printer extra inputs digital to analogue modules etc All of the above mentioned external modules are intelligent and will therefore contain registers whose contents can be read into the Contr
42. ic cylinder Spindles VAM VAAAW Sled Inductive Sensor reference sensor 70 Y X D e a X axis Step Motor Inductive Sensor reference sensor Y axis Step Motor 5 4 Application Example for Controller Type SMC30 Electrical Connections Before the actual task of programming the Controllers is started it is recommended that the input and output signals of the system are clearly defined A Start button is connected to the Y axis controller to start the system The following elements must be handled by the system 1 2 Stepper motors 2 2 Inductive Sensors with NPN outputs OV at the output when activated 3 A drill which is activated by a voltage pulse of 0 1 second duration The drill outputs 12V when the holes have been drilled and the drill unit has returned to its start position 4 A Start button 5 Internal synchronisation signals between the 2 Controllers See program description The following page illustrates the electrical connection of the system The Controllers User Outputs and Inputs are used in the following manner X Controller Y Controller Input 1 Input 1 Used to receive ready signal from the Used to receive ready signal from the Y controller X controller Input 2 Input 2 Used to receive ready signal from the drill Used for the Start button Input 3 Input 3 Inductive Sensor X axis Ind
43. ify messages The argument consists of 1 to 7 characters Checksum A checksum value is only included in the response string if the checksum facility is enabled via the DIP switch setting on the Controller set to ON See the description of the checksum facility in Section 3 5 for further details Carriage Return Terminates the response string ASCll value 13 30 4 2 System Commands E f tnnnnnnn F n K M PE PO PX Q TP V1 X Z Motor Commands nnnnnnn A n n1 n2 CR nnnn CS nnnn CT nnnn g G nnnnnnn G A n n1 n2 H N n1n2 n3n4 NA p1 p2 R nnnnn RT nnnn RS nnnnn S nnnn T nnnnn r n1 n2 s n1 n2 t n1 n2 VR VS VT Command Overview Execute Forcing Pos Feedback Initialize Kill Memory Program Enter Program Program Exit Query Temperature Verify Recall Smooth Stop Sain A A sae e Current Ramp Current Start Current Top Velocity oto oto Home Input Setup Input Setup Ramp Ramp Time Ramp Slope Start Rate Top Rate A D Ramp A D Start Rate A D Top Rate Verify Ramp Verify S Rate Verify T Rate G G enia pee dies a Lee aa ee ree ee tee ee Se ey ee ee ees ee et a Starts program execution Reads in new position Status query to the Controller Resets Controller Registers software reset Stops execution of current program Saves working pro
44. il a new Input Setup command is executed To subsequently start or stop the motor using the control signal at a User Input a new Input Setup command must precede the new motor command Command Syntax Stop Input Start Level StartInput Stop Level TY YY N ni n2 _ n3 n4 AA AA User Input 1 1 1 00 Inputactivatedby 0 User Input2 2 2 11 Inputactivatedby 1 User Input3 3 3 22 _ Function inactive 99 n1 Specifies the User Input 1 3 used to start the motor n2 Specifies the User Input 1 3 used to stop the motor n3 Refers to n1 in that n3 determines the logic level to be applied to the specified User Input in order to start the motor If n3 is set to 0 the motor will start when logic level 0 is applied to the specified User Input If n3 is set to a value between 2 and 9 the start function will be inactive and the motor will start immediately n4 Refers to n2 in that n4 determines the logic level to be applied to the specified User Input in order to stop the motor If n4 is set to 1 the motor will stop when logic level 1 is applied to the specified User Input If n4 is set to 0 the motor will stop when the level changes from logic 1 to logic 0 If n4 is set to a value from 2 to 9 the stop function will be inactive and the motor will only be stopped a motor command requires it continued on following page 40 4 4 continued N n1n2 n3n4 Input setup Motor Commands When t
45. ing see following page Return ASCII character 13 The return character tells the Controller that the command string is complete and interpretation of the command can be initiated 24 3 5 Checksum Facility Electrical noise from sources such as electrical motors is a common occurrence in industrial applications This noise can be completely random in nature and despite effective electrical filtration electrical noise cannot be eliminated completely In applications where it is vital to ensure that the system operates precisely as required it is therefore essential to select a communication rate Baud Rate that is not too high Moreover the interface cable used to connect the Controller to a PC or terminal should not exceed 10m in length A typical command string used for interface communication with the Controller will be of the following form 1A3 In the above example multipoint communication is used and the command is being transmitted to a Controller which has address 1 The command is being sent to activate output number 3 A3 The communication checksum for transmission of a command is determined as follows First the ASCII value of each character in the command string is determined The ASCII values are then summed and the result divided by 128 The integer result of the division is discarded while the remainder is used as the checksum Calculation of the checksum for the above example is thus as follows Address character 1
46. ion exceeds the maximum rated consumption of 200W If more than 200W is required an external power supply can be connected In the event of voltage surge in the AC Mains supply the Controller s overload protection circuitry will blow either the primary or secondary fuses In this case the Controller should be disconnected from the mains supply and the fuse replaced The primary and secondary fuses are located in the Mains Power Connector see above 2 Power Supply Rear Panel PSU150 OUUU 00 0l moog SO pi External Power Supply Controller SMC30 is equipped with a complete integral power supply to enable powering from AC mains supplies This supply provides a continuous output of approximately 200W and handles peak loads up to 300W If this limit is exceeded the Power Limit LED on the Controller s front panel will be lit In this case an external power supply can be connected see above illustration It should be noted that the Controller reduces the motor phase current if the load exceeds 200W The capacity of an external power supply is determined by the motor speed and torque requirements JVL Industri Elektronik offers the following external power supplies PSU150 2 150VDC 200W PSU150 4 150VDC 400W Rear Panel SMC30 C0000000 N
47. ison m If m is specified as gt the jump is made if the measured input voltage is greater than or equal to the Reference Value If m is specified as lt the jump is made if the measured voltage is less than the Reference Value The Reference Level n can be specified in the range 0 to 255 n1 Specifies the program line number to jump to if the jump condition is fulfilled Since nis specified as a value in the range 0 255 and the measured voltage is a value in the range 0 to 5 10V a conversion of voltage to a valid Reference Level value must be made when specifying the jump condition The conversion is made as follows Vref 0 02 xn or n 50 x Vref Example A Reference Value of 3 00V is required n 50 x 3 00 150 Program Example Line no 0 450 1 R600 2 D2 3 342 4 JCA3 gt 150 2 Jumps to program line 2 if the voltage at Andogue Input 3 is greater than or equal to 3 00V 5 G 0 53 4 6 JS n1 Jump Sub L 0 255 Loop Flow Control Commands In contrast to the J Jump command which jumps to a specified program line number the JS Jump Sub command makes an unconditional jump to a program sub routine When a JS command is executed the Controller first stores the number of the next line after the JS command and then jumps to the line number specified by the JS command When the RET Return command is encountered in the sub routine the program returns to the main program at the line immediatel
48. led when the system is started up The following registers are available R Ss rosaa A1 A6 Predefined register for the number of steps used to accelerate decelerate the motor Ramp Note that this register is completely independent of and should not be confused with User Registers R1 to R510 Predefined register for Start Rate Predefined register for Top Rate Predefined register for program Delay Predefined register for program Loop Counter Predefined register for Position Counter in steps Predefined registers for Analogue Inputs level from 0 255 corresponding to voltages from 0 5 10V R1 R510 510 User Registers for intermediate results etc Example 1 Example 2 Example 3 Example 4 Example 5 R2 3000 Sets the value of register R2 to 3000 T R2 100 Sets the Top Rate to 3100 steps second for the next motor operation R34 400 D R34 A1 Waits 400 A D conversion of Analogue Input 1 level x 10ms R1 n R2 Sets the value of R1 to value of the Position Counter in steps R2 R1 350 700 Sets the value of R1 to 1050 R1 Advance the motor 1050 steps R30 100 Sets the value of R30 to 100 R31 200 Sets the value of R31 to 200 R34 R30 R31 Sets the value of R34 to value of R30 R31 G R34 Goto move motor to position R34 55 4 7 Extended Command Set Register description In addition register arrays can be defined by using one register to point to the co
49. les varies but each module has at least 1 flag For the KDM10 module Keyboard Display Module for example the Clear command can be used to clear the LCD display in the IOM10 module I O module the Clear command can be used to deactivate one of the module s outputs etc Format CO 1 lt a lt 31 1 lt 0 lt 255 Example 1 Controller Type SMC30 and a KDM10 module are connected in a system via the RS485 interface The address of the SMC13 is 1 and the KDM10 module address is 3 The Cursor on the KDM10 s LCD display is to be switched off If the cursor is active while text is being printed using the PRINT command the display may flicker This is avoided by switching off the cursor as follows CO3 3 Deactivate cursor Example 2 Controller Type SMC30 and an IOM10 module are connected in a system via the RS485 interface The IOM10 module s address is 5 The IOM10 s output 7 is to be deactivated The command is as follows CO5 7 Deactivate output 7 on IOM10 module with address 5 65 5 1 Electrical Specifications Min Typical Max Units Power Supply Supply Voltage 230V Pos 207 230 245 VAC Supply Voltage 110V Pos 85 110 130 VAC Power Consumption unloaded no motor 7 Ww User Supply Output Voltage adjustable 5 1 30 2 VDC Rated Current 500 mADC Motor Driver Output Current per phase 0 0 6 12 ADC Output Voltage no motor 150 VDC Chopper Frequency 22 kHz Interface on 1 12V Rx space position 2 5 12 V
50. ll scale input voltage 5 10V either in terms of steps for the r n1 n2 command or in terms of frequency for the s n1 n2 or t n1 n2 com mand n2 can be specified as a value in the range 1 to 10 according to the following table for Ramp Start Rate and Top Rate n2 r n1 n2 s n1 n2 tind n2 step step sec step sec 1 100 100 1000 2 200 200 2000 3 300 300 3000 4 400 400 4000 5 500 500 5000 6 600 600 6000 7 700 700 7000 8 800 800 8000 9 900 900 9000 10 1000 1000 10000 A voltage of OV at a specified Analogue Input always corresponds to either 16 steps for the r n1 n2 command or 16 steps second for the s n71 n2 or t n1 n2 commands The VR VS and VT commands can be used to verify current parameter settings See the description of these commands for further details continued on following page 45 4 4 continued r n1 n2 A D Ramp Step s n1 n2 A D Start Rate t n1 n2 A D Top Rate VR Verify Ramp vs Verify Start Rate VT Verify Top Rate Motor Commands Example The command t1 4 is used in a program When the program is executed the Controller measures a voltage of 2 5V at Analog Input 1 AN1 This voltage is converted to a frequency of 2 5 x 4000 1960 Hz 1960 steps second 5 10 This frequency is then used for the next motor movement The specified value of n2 in the example results in OV corresponding to a frequency of 16Hz and full scale 5 10
51. mputer terminal and the Controller It cannot be used in a program The Verify Alnput command is used to determine the voltage at a specified Analoguelnput 8 bit resolution is used for the measurement which results in the measured value being given in 20mV steps with 5 10V as the maximum value The Verify Alnput command can be used when the Controller is in Standby Mode The 3 User Inputs can for example be connected to 3 Analogue Inputs and thus verify that the voltages are as expected 48 4 5 User Interface Commands VA The Verify Alnput returns the digital levels at the Analogue Inputs The response Verify ainput string has the following format VAn nnn nn carriage return Level at Analog Input 1 E Level at Analog Input 6 Level at Analog Input 2 Level at Analog Input5 Level at Analog Input 3 Level at Analog Input 4 Example The command string VA is sent to the Controller The following response is returned VA101001 Carriage return indicating that Analogue Inputs 1 3 and 6 are logic 1 gt 2 5V and Analogue Inputs 2 4 and 5 are logic 0 lt 2 5V W 1 3 The Wait For command stops program execution until logic 1 is applied to a W A1 A6 specified input If the command character is followed by a number from 1 to 3 Wait For the specified input is one of the 3 User Inputs If the command parameter is A1 to A6 the specified input is one of the 6 Analogue Inputs Example A3 G 372 W1 Pa
52. nalogue Inputs in this way since at any time an Input can be used as an analogue input or as a User Input See Chapter 4 commands A DA G A JCA NA r s t U VA W The Inputs accept voltages in the range OV to 5 10V The Controller uses an 8 bit A D converter providing a resolution of 256 steps Each step thus corresponds to 20 0mV at the Input To avoid sampling errors the analogue ground AGND see pin designations Section 2 7 must be used with the 6 Analogue Inputs See Section 5 1 Electrical Specifications for further details Each Analogue Input is equipped with a 1st order low pass filter which suppresses frequencies above 10kHz Del Counter Clockwise Clockwise Stop Stop CW and CCW End of Travel Inputs CW and CCW End of Travel Inputs In step motor motion control systems it is often necessary to establish well defined mechanical limits which under no circumstances must be exceeded by motor operation To enable such end of travel limits to be set up the Controller is equipped with 2 inputs CCW Counter Clockwise and CW Clockwise Depending on the direction of motor rotation activation of one of these Inputs will stop motor movement instantaneously CCW Input If the motor is activation of the CCW Input logic 1 will stop motor operation The CW Input has no effect on motor operation during counter clockwise rotation rotating co
53. nit or together with a terminal or PC via the Controller s RS232C V24 interface The SMC30 is equipped with several inputs and outputs which offer the user great flexibility for configuring the Controller for various applications such as controlling milling machines drills handling equipment etc where rapid and accurate motion control is required in a compact economic system Controller SMC30 is available in two different models SMC30B and SMC30C both of which are based on the Bipolar Chopper principle and operate with driver voltages of 150V SMC30B provides adjustable motor currents from 0 to 6 Amp phase while Type SMC30C offers phase currents from 0 to 12Amp In both models the Motor Driver is short circuit protected All User Outputs are protected against short circuits and inductive transients The Controller can be mounted in a 19 rack or directly surface mounted Features e Mains Powering 230V AC e Motor Torque up to 12Nm e Chopper driver 150V with continuous adjustment of motor phase current 0 6 0 12A per phase e Thermally protected e EMC screened e RS232C V24 communication e Baud rates 110 9600 baud e Connection of up to 7 Controllers on same interface e Simple programming e Operating frequency up to 15kHz e 3 User Inputs e 6 Analogue Digital Inputs e 1 Stop Input e 3 User Outputs each 500mA 1 2 Controller Connections C Cy IndustriElektronik
54. nse string is as follows Reply Code Argument Checksum Carriage Return Reply Code The Reply Code is the actual response to the received command and is one of the following Y Yes The command has been received and will be or has been complied with B Busy The Controller is busy with program execution and is not ready to receive the command or query R Ready The Controller is ready to execute a command or respond to a query V Verify Position or User Input Output status This message will only occur if the Controller is queried about the status See the descriptions of the V1 and V2 commands in Sections 4 3 and 4 5 for further details E Error An error has been found in the received command and the Controller is not able to comply with the command This response returns an argument which indicates the type of error as follows E1 Parity Error after receiving one or more characters Checksum Error The received command string was too long E2 The command argument is too long or is unnecessary E3 The working memory is full E4 Unknown command or the Controller is unable to comply with the received command E5 The Position Counter has exceeded its maximum of 8 388 607 or 8 388 607 steps the motor has been stopped Error in Parameters R S T E6 An error occurred during transmission to or from the Controller s Permanent Memory Argument An argument to the response will only occur with E Error or V Ver
55. ntents of other registers This enables for example the contents of a block of registers to be copied to a different array Example 6 The contents of ARRAY1 registers 100 199 are copied to ARRAY2 registers 300 399 R1 100 Set Array 1 pointer R2 300 Set Array 2 pointer LO Loop delimiter for copying 100 registers R R2 R R1 Copy contents of a register in array1 to register in array2 R1 R1 1 Increment the Array 1 pointer to the next register R2 R2 1 Increment the Array 2 pointer to the next register L99 Repeat Loop until the contents of all 100 registers have been copied 56 4 7 Extended Command Set Rules for Register Operations 1 An is equal to sign is used to assign the contents of a register A maximum of 3 registers may be used in an assignment expression e g R38 R23 T is legal but R3 R23 T 100 is illegal 2 The following 4 arithmetic operators can be used in register operations Addition Subtraction Multiplication Division 3 All values and register contents must be integers in the range 0 to 65535 For division however all operands must be max 32767 or an error will result 4 The result of division is always rounded down Example R2 289 10 Calculates the result of 289 divided by 10 PRINT 5 R2 The result is rounded down the printed result is 28 5 The R S T L and D registers can be assigned values using an equals sign but a quicker method both in
56. o point 2 75 5 9 Motor Connections Connection of MAE motor Connection of MAE motor Type HY200 xxxx xxx x8 Type HY200 xxxx xxx x4 Black Black White Orange White Black Orange Orange Red Red Red White Yellow Yellow White Yellow Connection of Phytron motor Connection of Zebotronics motor Type ZSXx XXX X X Type SMxx x xx x Red 1 Braun Brown 3 Black Black 2 White Yellow 4 Red Blue 5 Blue Violet __ Yellow White 6 Grey Green 8 Green Type SM87 107 168 Type SM56 Connection of Wexta motor Connection of Teco motor Type PH2xx xxx Type 4Hxxxx Black Black White Orange White Black Orange Green Red Red Red White White Yellow White Yellow 77 5 6 37 A 37 A 47 acceleration 44 Activate output 47 Addressing 22 Analogindgange 16 AO 64 Brugerindgange 14 Brugerudgange 12 byte 69 C 47 Checksum 25 Clear output 47 Co 65 Command Overview 31 32 33 Command Syntax 24 Communication Rate 23 con 59 Controller Response 30 conversion 59 D 50 DA 50 deceleration 44 Delay 50 E 34 Electrical Specifications 66 67 Endestopindgange 17 18 Error 30 Execute 34 F 34 f 34 Feedback 34 Flow Control Commands 50 51 52 53
57. oller s registers using the INPUT command The size and number of registers in external modules may vary but each module has at least 1 register Command Format n1 Specifies the address of the external module from which input is required The address parameter must be specified as a value between 0 and 31 The RS485 interface enables up to 32 modules to be connected to the interface The address of each module must be set via DIP switches on the individual module n2 Specifies the register in the external module from which input is to be read n2 must be specified in the range 0 255 n3 Range check Specifies the allowable range of the register contents If the register content is outside the specified range program execution is terminated n3 must only be specified if the external module supports range checking Example 1 An IOM10 module has 16 inputs and 8 outputs are used The Module address is 5 All 16 inputs are to be read and tested to determine if the value is 255 If this is the case the module Counter is read and the program continues In the instruction manual for the IOM10 module the Counter register is specified as register 2 and the register for all 16 inputs is 3 READINP R10 INPUT5 2 Read all 16 inputs and transfer contents to R10 IF R10 255 If inputs not equal to 255 read again J READ_COUNTER J READINP else read Counter value and continue program READ_COUNTER R30 INPUT5 3 Read Counter and transf
58. ommand the step remainder is reset to 0 since the motor is set to its absolute reference point 59 4 7 Extended Command Set PRINTn1 n2 n3 The Print command is used to print out the contents of registers to external modules At present print out to 4 external modules is possible to a PC via the RS232 interface and to DIS10 KDM10 and IOM10 Modules via the RS485 interface Command Format n1 Specifies the address of the module to be printed to 1 31 Address 255 is reserved for a PC n2 Specifies the register or cursor position to be printed to in the external module n3 Specifies the register numeric value or text string in the Controller to be printed Example 1 PRINT1 0 R23 Prints the contents of register R23 to the module whose interface address is 1 Since transmission via the RS485 interface is balanced it is possible to locate external modules up to 500 metres from the Controller Example 2 PRINT255 0 R2 Prints the contents of register R2 to a PC via the RS232 interface Address 255 is reserved as the address for PCs Note that the Print command can be used to print out register contents at run time It is especially well suited for debugging a program If JVL s Editor2 program is used once the Controller program has been transferred using the F5 function key the F6 function key can be used to switch to the communication window where register contents will be displayed when a Print command is executed at run time
59. on shows how addresses in a typical system are set Note that care must be taken to ensure no two modules use the same address If the module addresses are not unique the Controller will termi nate program execution and an error message will occur Note that the Controller s address is the same as that used for RS232 communication See Section 3 2 The address of each module should be set in in the accordance with the instructions given respective module s User Manual 27 4 1 Before the individual software commands are described in detail it is necessary to describe some aspects of software general the Controller structure The Controller is equipped with 2 types of storage memory both of which are accessible to the user storing programs operational parameters sent from a computer or These are used for and terminal The first of these storage memories is referred as the working memory in the following pages The Controller s working memory is used during connection to a computer or terminal The working memory is a volatile memory its contents are deleted when the Controller is switched off The working memory can also be used for storing instructions during programming The second of the Controller s storage memories is an E PROM i e a non volatile memory which retains its contents when the Controller is switched off This is permanent memory in the following description referred to as the
60. on shows how half and full step operation are selected 11 Mode Overload Protection The Controller s driver circuitry is overload protected The driver output is automatically disconnected if the peak current exceeds the maximum Controller current by more than 20 for more than 2ms A short duration short circuiting of any two motor terminals will not damage the Controller and will simply result in an overload indication on the Overload LED on the front panel To reset the Controller in this case the Controller supply voltage should simply be disconnected for a period of 5 seconds minimum Note The Controller motor output is not protected against short circuiting to ground P 2 3 User Outputs To provide maximum flexibility Controller Type SMC30 is equipped with 3 inputs and 3 outputs which can be used for user defined purposes A fourth input is used as a Stop Input All inputs are optically isolated from other Controller circuitry The Controller s User Inputs and Outputs must be powered externally User Outputs SMC30 s User Outputs enable auxiliary functions such as actuators and small motors to be controlled by the Controller These Outputs enable a step motor to be synchronised with peripheral equipment in the motion control system The User Outputs are software controlled and provide a maximum rated current of 500mA The Outputs are protected against inductive transients and are short
61. ontroller using the command syntax consists of the characters not the word which is included in the description as a mnemonic Note that many of the command descriptions include examples of the command string Almost all commands are followed by one or more parameters either a value or a plus or minus sign It is important that the speci fied numeric value is within the permitted range since the Controller will not interpret parameters outwith the allowable range See also Section 3 4 for details of the Controller command syntax 4 1 Operating Modes The Controller can be operated in 1 of 3 modes 1 Standby Mode Standby Mode occurs after a K kill Z Smooth Stop or PX Program Exit com mand and after execution of a program 2 Programming Mode This mode is used when a program is read in to the Controller or to edit an existing program Use the PO Program or PE Pro gram Enter command to set the Controller to Programming Mode 3 Execute Mode The E Execute execute the program currently in the Con command is used to troller s working memory Program execution stops when all com mands have been executed or if interrupted by a K or Z command Thereafter the Controller returns to Standby Mode Programming When creating a new program the first command is always PO i e Programming Mode The actual program com mands can then be keyed in Once all the required commands have been pro the
62. ore recommended that 0 75 mm cable min is used to connect a motor to the Controller Controller Type SMC30C supplies motor phase currents in the range 0 to 12A and it is therefore recommended that 1 5 mm cable min is used to connect a motor to the Controller Cable lengths should not exceed 10m to avoid impedance loss Important To avoid noise emission from the motor cables only should be connecting a motor to the Controller screened cables used for If screened cable is not used electrical interference of other equipment may occur 2 2 Motor Connection 12345678 9 10 Half step Full Step Step Step Resolution The Controller enables either full step or half step control of the connected step motor to be selected It is often advantageous to select half step operation since this provides twice the resolution per motor revolution and can avoid the need for mechanical gearing Another advantage of half step operation is that the resonance frequencies normally encountered with full step operation are avoided The resonance frequency of a step motor varies with load and results in complete loss of power at resonance With larger step motors the resonance frequency will normally be outwith the operating range of the motor the frequencies through which the motor is accelerated or decelerated The above illustrati
63. pplied by the Controller may be maximally adjusted to the specified rated motor phase current 4 Phase Motors 8 terminals This type of motor can be connected in one of two configurations 1 Serial connection of phases 2 Parallel connection of phases The choice of motor configuration is typically determined by the speed requirements of the system For slow speeds typically less than 1kHz serial phase connection can be selected For speeds greater than 1kHz parallel phase connection can be selected Parallel oe Maximum Example Current Motor 4 2A Setting 4 2 x 1 41 5 9A Parallel Motor 4 Phase ka 3A Series i g Motor 2 Phase LRN I Nominal rated current in accordance with manufacturer s specification Serial Connection of Motor Phases Serial connection of motor phases provides the same torque as a parallel phase configuration at speeds up to 1kHz but requires only half the motor current This can influence the choice of Controller enabling a Controller with a lower rated motor phase current to be used see above illustration When the phases of a 4 phase step motor are connected in series the rated phase current of the motor should be divided by a factor of 1 41 If for example the rated current is specified as 4 2A the Controller must be adjusted to provide a maximum phase current of 3A Parallel Connection of Phases Parallel connection of motor phases provides greater output at
64. rack motor position The electrical specification of the Clock Output is identical to the 3 User Outputs The Clock Output provides a maximum rated output current of 500mA Similarly the Clock Output uses the same ground and supply as the other User Outputs The Output is protected against inductive transients and is short circuit protected 13 If the Clock Output is short circuited or the output current exceeds 700mA the Overload LED will be lit In addition the voltage to the Clock Output will be disconnected To reset the Controller in this case the Controller supply should be disconnected for a minimum of 5 seconds The Clock Output is regarded as a connection to the supply i e if the Output is activated the load must be applied between the output terminal and ground see illustration below To enable compatibility with logic circuitry a pull down resistor should be connected between the output terminal and ground For TTL this resistor should be 1kOhm for CMOS a resistor of approximately 10kOhm can be used 29 Each of the Controller s User Inputs is equipped with a 1st order low pass filter which suppresses frequencies above 1kHz This filter is used to ensure that electrical noise from step motors or other equipment in the motion control system does not influence the input signal It should
65. rent acceleration deceleration parameter Returns the current Start Rate parameter Returns the current Top Rate parameter 31 4 2 Command Overview continued User Interface A n Activate Activates one of the outputs C n Clear De activates one of the outputs U n Until Repeats program segment until a specified input is activated VA n Verify Ainput Returns measures voltage at one of the 6 Analogue Inputs VA Returns measures the logic levels of the Analogue Inputs V2 Verify Returns status of user inputs and outputs W n Wait for Pauses program execution until a specified input is activated Flow Commands D nnn Delay Wait a specified time DA n n1 n2 Analog Delay Wait a specified time controlled by analogue voltage J n1 Jump Unconditional jump to a specified program line JC n n1 Jump Cond Conditional jump to a specified program line JCA p n1 Jump Cond Conditional jump to a specified program line when specified voltage is applied to Analogue Input JS n1 Jump Sub Unconditional jump to sub routine RET Return Return from sub routine L nnn Loop Repeat program segment a specified number of times Extended Command Set Arithmetic operators addition subtraction division multiplication VR 0 510 Verify Return contents of User Register I 5 7 Initialize Initialize User Registers con n Convert Specify conversion between current and a
66. rked A and B All external module functions are controlled via this interface Up to 31 modules and at least 1 motor controller can be connected to the interface bus The RS485 Interface offers several advantages in that the interface operates with a balanced output and has low impedance In addition the Controller s RS485 interface is optically isolated from other Controller circuitry The RS485 Interface is protected against transients on the cable connecting the Controller to external modules These factors enable communication at long distances despite the presence of electrical noise It is recommended that twisted pair cable is used for connection between the Controller and other modules on the interface 26 Tania To other ior GRA units BI A B A OHT ON AQB ARR L253456 Address2 KDM10 Keyboard Display Module Term Switch ON If the communication distance between 2 units in a system exceeds 25 metres the DIP switch marked TERM must be set to the ON on those units which are located more than 25 metres apart See the User Manual for the module in question for details of DIP switch settings Module Addresses In communication systems where several modules are connected together each unit must be assigned a unique address in the range 1 to 31 The above illustrati
67. s AO n n gt H RET Blank line Win L nnn J nnn JS nnnj CO n n CR nnnn CS nnnn CT nnnn R nnnnn RS nnnnj RT nnnnn S nnnn T nnnnj N nn nn D nnnnn 4 bytes f tnnnnnnn nnnnnnn G nnnnnnn JC n nnn JCA p n1 69 5 bytes con nnnn nnnn 6 bytes DA n n1 n2 A n In1 n2 G A n n1 n2 7 bytes NA p1 p2 10 bytes 12 bytes 14 bytes 17 bytes PRINT typ R n x INPUT n n n R n x x IF max 5 4 Application Example for Controller Type SMC30 The following example illustrates how 2 Controllers can be used for motion control of an X Y Table The Table is used to drill 2 holes in an aluminium block Two stepper motors are mounted In addition an inductive sensor is used for each axis to register when the respective axis has reached its mechanical reference position 0 position The feeler gauge distance should be as small as possible typically 1 2mm since it greatly determines the repetition accuracy Plan View of X Y Table This is important because the inductive sensors determine the reference points for the X and Y axes and thus the accuracy of the entire system A sensor with a gauge distance of 1mm will typically result in a repetition accuracy of 1 100mm which should be sufficient for the majority of applications The drill itself is not described here but could for example consist of a DC motor vertically driven by a hydraulic pneumat
68. s command enables start stop control of the motor via control signals at Analog Input setup the analogue inputs The principle of the Analog Input Setup command is the same as the Input Setup command N n1n2 n3n4 The 2 command parameters p1 and p2 specify start and stop conditions respectively The Analog Input Setup command itself does not start or stop the motor It only influences how the next motor command n g G n will be interpreted and executed Thereafter the command is inactive To subsequently start the motor again using control signals at an Analogue Input a new Analog Input Setup command must precede the new motor command The complete syntax for the Analog Input Setup command is as follows Start Level Stop Input 0 255 Analog Input 1 6 lt gt m lt gt StartInput_ Stop Level Analog Input 1 6 0 255 A atmnt _ a2 mn2 if pi p2 p1 If the start conditions are fulfilled the motor is started If p1 is assigned the character X an unconditional start is defined and the motor will start immediately the motor command is executed p2 If the stop conditions are fulfilled the motor will be stopped If p2 is assigned the character X an unconditional stop is defined and the motor will operate until the specified motor command n j g G n requires it to stop al Specifies the Input used for the start control signal a1 can be specified in the range A1 to A6 corresponding
69. sors The drill unit is activated by a voltage impulse of 0 1s duration Once the holes have been drilled the drill unit moves to its start position and outputs a constant voltage of 12V to indicate that the drilling operation is complete The sequence of instructions to be programmed for the application can be described as follows 1 If the start button is activated continue to point 2 2 Go to position 4013 7387 3 Drill hole 4 Go to position 5164 1949 5 Drill hole 6 End Go to point 1 If this procedure is followed the system will wait until the start button is activated drill 2 holes and wait until the start button is activated again Before the instructions for an application are programmed it is recommended that a flow chart is made to give a better overview of the programming task The remaining work is then largely determining and using the appropriate commands A flow chart for the drilling application is given on the following page 73 5 4 Application Example for Controller Type SMC30 Program Flow Chart for Control of X Y Table X Controller Y Controller Start Start 1 Continue when ready signal is received from 1 If the Start button is activated continue to point Y controller 2 2 2 Send ready signal to the X controller 3 Move to position 4013 3 Move to position 7387 The X axis motor has to move the shortest distance The X controller must therefore wait until the Y controller is finish
70. t a Analogue Input1 7 r Analogue Input2 Y Eo Analogue Input3 A wooo m o Analogue Input 4 re Analogue Input5 ooo etc Analogue Input 6 a ae Analogue Ground H Controller Opto e lt gt _ Opto Output Input Supply A RRR Input 1 m e Input2 Input3 EOT mey Stop Input meo CWlnput Ai CCW Input Input Ground m Output Supply o Output 1 my Output 2 gt y Output3 j 1 CK Output Output Ground gt I Module Interface Opto me Current Adj m Baud Rate Select m Protocol Select m Recall Program Checksum Select Half Full Step Bipolar Tx ri Chopper I Driver Motor O B A B TAa Overload The block diagram above shows the individual elements of the Controller This Chapter deals with the elements and functions of the Controller in terms of hardware For a description of software functions see Chapter 4 which details the complete set of software commands for example for activation of the User Outputs Note that all Inputs and Outputs are optically isolated with the exception of the Analogue Inputs which are not optically isolated from the microprocessor Zl Rear Panel SMC30 Power Supply ee Y T e 3 User Supply 20 2 O EET DA E F
71. terms of programming and at run time is to assign values directly to these registers If the required value is known and a constant it can be directly assigned to the register Example T2000 is equivalent to T 2000 D200 is equivalent to D 200 500 is equivalent to S 500 6 When if expressions are used for numeric comparison the values to be compared must be maximum 32767 This is valid both for register contents and numeric values 57 4 7 Extended Command Set VR 0 510 The Verify Register command is used to verify the contents of a register Verify Example VR9 Returns the contents of register R9 I 5 7 The Initialize command is used to save or recall the contents of all 510 User Initialize Registers to or from the Controller s permanent EEPROM memory The command is also used to reset erase all 510 register contents The Initialize command can be used both in Standby Mode and Programming Mode Example 15 Resets erases the contents of all 510 User Registers 16 Stores the contents of all 510 registers in EEPROM The predefined registers R S T etc are not stored in EEPROM I7 Recalls the contents of all 510 User Registers from EEPROM 58 4 7 Extended Command Set con n The Conversion command is used to set a conversion factor between the number of steps a motor moves and a unit of measurement such as length volume position etc n specifies the number of steps per unit length volume mm ml cm
72. to Analogue Inputs 1 6 a2 Specifies the Input used for the stop control signal a2 can be specified in the range A1 to A6 corresponding to Analogue Inputs 1 6 ni Specifies the Start Reference Value The Reference Value is compared with the measured voltage at the specified start Input a1 The Start Reference Value can be set in the range 0 to 255 n2 Specifies the Stop Reference Value The Reference Value is compared with the measured voltage at the specified stop Input a2 The Stop Reference Value can be set in the range 0 to 255 m The operator for comparison between the Reference Value and the measured value at the input s To start stop the motor when the voltage at the respective analogue input is less than the Reference Value the operator should be specified as lt To start stop the motor when the applied voltage is greater than the Reference Value the gt operator is specified 42 4 4 continued NA p1 p2 Analog Input setup be Motor Commands Since n1 and n2 are specified as values in the range 0 255 and the voltage measured at the Analogue Inputs is in the range 0 5 10V a conversion must made when specifying ni and n2 either by converting the Reference values to a voltage or vice versa The conversion is made as follows Vref 0 02 xn or n 50x Vref Example If a Reference Value of 1 20V is required n should be specified as n 50x 1 2 60 Program Example 1 NAA1 lt 60 A6 gt 100 1000
73. uced below approximately 5 3 VDC The tolerance on these voltages is 10 Input Voltage V Undefined area 20 SMC15 10 Upper trigger level _7 Change tolagic 1 Lower ___ triggerlevel J Change to logic 0 5 3 ghh pg V 5 10 15 20 25 30 Supply Voltage See also Section 4 5 User Interface for details of User Inputs and Outputs 15 2 6 Analogue Ground Analogue Inputs 0 5 10VDC Input Circuit 10kOhm Analogue Input The Controller is equipped with 6 Analogue Inputs which can be read using a set of software commands as described in Chapter 4 The Analogue Inputs enable for example the step motor speed to be controlled by application of an analogue voltage The Inputs are protected against short duration overloads up to 45V Each time an Analogue Input is read a total of 16 samples is made These values are averaged to minimise the risk that a spurious noise pulse for example from the step motor driver influences a measurement The Analogue Inputs can also be used as conventional User Inputs digital inputs although without hysteresis Section 2 5 and the Inputs are not optically isolated 16 No special requirements are necessary to use the A
74. uctive Sensor Y axis Output 1 Output 1 Used to send ready signal to the Y controller Used to send ready signal to the X controller Output 2 Output 2 Used to send start impulse to the drill Not used Output 3 Output 3 Not used Not used 71 5 4 Application Example for Controller Type SMC30 See Chapter 2 for the locations of individual connectors In On Off 15 45V 15 45V In Output Supply Output 1 Output2 Output3 Output Ground Input Supply Input 1 Input2 Input3 EOT Stop Input X Axis Controller T Input Ground Motor Output Phase1 Phase2 15 45V In Output Supply Output 1 Output 2 Output 3 Output Ground Input Supply Input 1 Input2 Input 3 EOT Stop Input Y Axis Controller C Input Ground Motor Output Phase1 Phase2 Reference sensor Ground Reference sensor Power Supply Finish Drill Unit Start 12V Terminal not used 5 4 Application Example for Controller Type SMC30 Program for Control of the Drilling Application Before programming is started the values of all parameters should be defined Holes are to be drilled in the aluminium block at the following coordinates Hole 1 4013 7387 Hole 2 5164 1949 The coordinates are specified in steps relative to the reference point of the inductive sen
75. unter clockwise 17 CW Input If the motor is rotating clockwise activation of the CW Input logic 1 will stop motor operation The CCW Input has no effect on motor operation during clockwise rotation Note that when activation of either the CW or CCW Input is used to stop operation the motor is stopped instantaneously regardless of any pre set deceleration ramp Note also that program execution is not stopped only motor operation 2 8 Stop Input Supply _ 5 30VDC T To instantaneously stop program execution and thus motor operation the Controller s Stop Input is pulled to ground If the Input is thereafter deactivated program execution and thus motor operation will continue and the contents of the position counter will be retained It should however be noted that an instantaneous stop in this way will most probably result in the motor being in an undefined position since activation of the Stop Input does not take account of any pre set acceleration deceleration ramps For further details see Section 4 6 Motor Commands 18 2 9 Pin Designations Connection of Motor and External Power Supply Connector DIN41612 version H
76. uses program execution until User Input 1 is logic 1 G 46 C1 D20 WA5 Pauses program execution until Analogue Input 5 is logic 1 49 4 6 D 1 32000 Delay DA n n1 n2 Analog delay J n1 Jump Flow Control Commands The Delay command pauses program execution The command character must be followed by a parameter value between 1 and 32000 which specifies the Delay duration in 1 100 second Example D27 results in a delay of 0 27 seconds The Analog Delay command is used to set a delay in program execution which is determined by one of the Analogue Inputs and can vary from 0 01 to 320 seconds Command Format n Specifies which Analogue Input is used to control the delay n1 n2 Specify the required delay duration n1 is the lower limit and corresponds to the delay when a voltage of OV is applied to the specified input n2 is the upper limit and corresponds to the delay when a voltage of 5 10V is applied Example DA2 10 100 Enables a delay of between 0 1 and 1 0 seconds controlled by a voltage of between 0 and 5 10V applied to Analogue Input 2 The Jump command is used to make an unconditional jump to a specified line number in the program The program line number ni can be specified in the range 0 255 Example Line no 0 Al 1 1000 2 A2 3 G 5 4 C2 5 J2 The Jump command at line 5 in the above example causes the A2 G 5 and C2 commands lines 2 to 4 to be continuously repeat
77. with the specified R S T parameters The Smooth Stop command is thus used to ensure that the motor does not stop at an undefined position See also the K Kill command 36 4 4 Motor Commands nnnnnnn The Relative command is similar to the Goto command Instead of positioning the Relative motor relative to the 0 Home position the Relative command positions the motor relative to its current position The command specifies the direction or and the number of steps the motor is moved The number of steps can be specified in the range 1 to 8 388 607 steps Example 15 A Relative positioning command of 15 will advance the motor 15 steps relative to its current position A n n1 n2 This command is used to move the motor a specified number of steps using the value of an analogue voltage The command parameter n specifies which Analogue Input 1 6 is used for controlling the movement The parameters n1 and n2 specify the step interval where n1 indicates the number of steps corresponding to an input voltage of OV and n2 indicates the number of steps corresponding to an input voltage of 5 1V n1 and n2 can be specified from 1 to 65000 steps Example A1 100 1000 The above command advances the motor indicated by 100 steps if a voltage of OV is applied to Analogue Input 1 and 1000 steps if a voltage of 5 1V is applied For voltages between OV and 5 10V a linear interpolation is used to determine the number
78. y 5 30VDC 500mA DD pt User Outputs The Controller is equipped with 3 outputs which can be used for controlling small DC motors or for synchronisation with other control units Each User Output has a maximum rated output current of 500mA and operates in the range 5 30V All User Outputs are optically isolated from other Controller Circuitry In addition the Outputs are short circuit protected User Supply Output For powering sensors magnetic valves etc the Controller is equipped with a User Supply Output on the rear panel The supply can be adjusted to give a supply voltage of either 5VDC 24VDC or continuously adjustable in the range 5 to 30VDC The Supply provides a rated output current of 0 5A regardless of the selected voltage Analogue Inputs The Controller is equipped with 6 Analogue Inputs which can be read via a set of software commands This enables the motor top rate for example to be controlled by application of a voltage to one of the 6 Analogue Inputs A voltage in the range 0 5 10V may be applied to the Analogue Inputs The Inputs are protected against short duration overloads up to 45V 2 0 Block Diagram Step Motor Controller SMC30 O Bi directional lt Input Mains Power Supply 115 230VAC Power Supply User Supply 5 30VDC User Supply FEN Z Power sa 8232C gt RS232 __ Opto m ia Tx PD g
79. y after the JS command and continues execution from there The JS command be used up to 32 times in a program corresponding to 32 nested sub routines The Loop command is used to repeat execution of a specified program segment The command parameter specifies the number of times the Loop is executed and can be specified in the range 1 to 255 The segment to be repeated must be delimited by a pair of Loop commands such as LO and L5 as illustrated in the following example Example LO Program L5 The program segment between LO and L5 will be repeated 5 times If the initial Loop delimiter LO is omitted the entire program will be repeated from line 1 54 4 7 Extended Command Set SMC30 is equipped with 510 User Storage Registers which can be used for storing intermediate results etc These are designated R1 R510 In addition the Controllers are equipped with 7 predefined registers which can only be used for specific purposes Register T for example is used to determine the motor Top Rate The user and predefined registers enable parameters such as lengths speeds acceleration delay times program loops etc to be continuously changed and controlled during program execution In addition the User Register contents can also be stored permanently in the Controller s EEPROM memory For example parameters which have been set via Keyboard Display Module KDM10 can thus be stored permanently in the Controller and recal

Step Motor Controller User's Manual

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