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AMS DCB-274 User's Manual

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1. d efe PORTR W X BNARY oins d efe B SETJOGSPEEDS stow 0255 HIGH 0255 3 9 9 9 b FAST ANDSLOWDECAY DECAYMODE o 255 bh lejoje C CLEARANDRESTORE PAGE 09 f Je D DIVIDE STEPRATE DIVIDER 0255 y eleje E llo ae EA A A n F_ FINDHOME sPS X 40 3600 DIRECTION o1___ hs Jefe iG cO X AnpRS 02048 TRACE Jon 3 Jefe H RESOLUTIONMODE TABLEK 05 J b jejeje INITIAL VELOCITY SPS 403600 h JO i RESTART SPECIAL TRIP____ NEXTTRIP 8388607 PORT oss 5 Je ADDRESS 0 2048 N TIMES 0255 f4 Kk RAMPsLOEE ACCEL o255 DECEL o2ss 3 e e e 0 8 INVERTLIMIT STEP DIR OPTIONS o255 M MOVEATCONST VEL SPS s3600 o SETORIGIN STEPS 8388607 P__ PROGRAM MODE ADDRESS 02047 O QUERYPROGRAM_ ADDRESS 0207 J lef R INDEXTOPOSITION POsITION s838867 J a4 lefe s STOREPARAMETERS 0 0 Jel T TRIPPOINT POSITION _ 8388607 VECTOR 0255 4 J u reserven PA ESP pnl coser V SLEWVELOCITY SPS 403600 J ps jejeje W WAITL DELAY O00ISEC 065335 J h lefe w PREENERGIZE oorsee 0255 2 Je e I X EXAMINEPARAMETERS 9 Y RUN AND HOLD CU
2. Output Ports Two user output ports are provided on the DCB 274 with a power FET output circuit capable of sinking up to 2 amps DC They cannot be converted to a sourcing mode If a source signal is necessary a relay should be installed The outputs DO NOT include clamping diodes attached to VIO There is provision for diodes D1 D2 on the board If these diodes are installed VIO MUST BE EQUAL TO OR HIGHER THAN THE DEVICE POWER SOURCE VOLTAGE If a 24 volt solenoid valve is to be driven the VIO input must be at 24 volts Because VIO also defines the logic input levels this can be a problem If your design is to drive inductive loads such as relay or motor coils you must implement external clamp diodes as required R3 and R4 should also be removed Port 4 Configurable user port with JP1 and JP2 This port can be configured as either an input port as described above or an output port Port 4 defined as Input 2 3 Yes Reference 1 16 lower case L command in the software section External DC MO L f we Optional Clamp A Comparator P 29 c ae Mosfet SMC 26 Microprocessor ADVANCED MICRO SYSTEMS INC HARDWARE As an output as shipped the signal can be redefined as a stepping pulse output with the 1 2 lower case L command This also defines P5 as a direction output signal Port 5 Port 5 is an output port driver rated at 2 amps The output signal can be redefined as a direction output
3. 1 Simple Dumb Communications This is accomplished by connecting one single axis to the computer Commands can be typed in and the controller will execute them The designer can also enter program sequences into the NV memory and execute them Virtually every capability can be explored It is a human friendly interface and NEVER a computer controlled operation Serial adapters used SIN 7 SIN 9 SIN 8 or SIN 10 At start up 1 If using a SIN 8 or SIN 10 serial adapter make sure it is in smgle line mode 2 Hit the SPACE BAR key to sign on after reset 2 Party Line Mode Party line mode is intended for computer controlled designs A computer usually a PC can address one or more axis using a mini drop network implemented with CAT 5 network cable with RS 422 485 Between 1 and 32 axis are configured as slaves Unlike the Dumb mode a proper character by character echoed protocol is necessary for proper operation The SIN 10 adapter will simplify this protocol Serial adapter used SIN 8 or SIN 10 At start up 1 Make sure the serial adapter is in party line mode 2 The host computer interrogates and records axis name s 3 Daisy Chain Mode not recommended for more than 1 axis This older protocol is similar to the party line mode but RS 232 protocol is used Because it involves special wiring of RXD to TXD signals it should only be used with a single axis design When multiple axis are implemented t
4. 2 Issue the Z CR command The position 1000 should be displayed Daisy Chain Start Up Multiple axes controllers may be interconnected directly daisy chained using the controller logic levels or buffered with line driver receivers All baud rate settings MUST be the same Characters are received by the first controller input RXD and then echoed to the next controller RXD gt TXD in the serial link The host terminal computer receives characters from the last axis TXD in the link The closed loop communications assures the integrity of data 23 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE The initial input sequence MUST be a Line Feed LF character followed by a valid name character in the standard ASCII collation sequence Once the recognized sequence is received the controller will assume the name until a hardware reset is made The first axis in the string will output the Line Feed character followed by the next higher ASCII character in the character set This sequence continues until all axes have assigned names If the first valid usable name character is an upper case A the controller will be assigned the prefix name A then output a B to the next axis controller in line Four Daisy Chained axes would then assume the names of A B C and D Sign on messages are NOT generated The last controller will respond with a Line Feed and character representing the last name plus
5. Name C n 0 8 None Version C Clear and Restore NV Memory Previously stored programs are erased Using a 1 forces complete NV memory initialization with factory default values with erasure of all previously stored programs This MUST be done when new NV memory is installed or existing memory is corrupted Frequent use of this command should be avoided as memory longevity may be affected This command should not be used within the non volatile program memory The C 0 command simply reads the last stored values into the working registers Command Function Type NV Bytes Divide Speeds Immediate Program 2 D Mnemonic Data 1 Data 2 Result Name D n Resolution 1 255 None None D Divide Speeds All speeds during ramping and slewing are divided by the specified number n The pre scale number may range between 1 and 255 Speeds as low as 4 1 2 steps per minute may be obtained As n is increased other parameters internal speeds must be increased to obtain a given output step speed Using a value of 2 is usually necessary to produce smoother acceleration characteristics at Full and Half step modes The specified SPS must be doubled to recover the motor shaft speed D should not be changed while moving at speeds that require ramping The power up settings are stored in NV memory This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within
6. Read NV Memory i leitet at ent o ges cin uet eg ui enn et ERR Lu ge EHE LERRA e LR 54 Read Limits Hardware e e o eee 54 Index in Plus Direction iei atest de canes ence ee Lage eee ka ahve Lu onu ends nne dade taba REL MER ddee ee 55 Index in Minus Direction eese 55 4 Read Moving Status is ood cic ne edt tic vate o ated rdg e das 56 1 Write to NV Memory iii ait eto ebd Led ee LY SE e LEVE RE Snide tiie ee ARE ME eei VER aee his a ths 56 MESE EIC AA esee hehe nnn nnne nnn nnne rhe s ster rns orai eSATA 57 IN Name AS E iite iT Aaa EEEN PETECE EAA EAEE NEE ETEEN EEE ETETE ENEE eta 57 AP Party Lina Mode ient d oes eet d ur n ied Uaec irent d tr nera 58 Command Summary arose dun sans aude e m dana de Maule Re ETEA nne n TEENER E dua vere ec dee 59 ASCII Character Code 220500 ie are i ae t ul ett n i a ote td du tue ee d a Need d 60 About Step Motor Currenit cccccecccccneeceeeee eect ee aa ne is ee aa inen ineas TEES nnns nn EEVEE nn thes ss nn th hannah nnn 61 Application Notes rts e e dupe eee ao die ee leah egt br de ea ERE ahve oo eR e een de eg 65 V1 10 Double Speed Characteristics eee 65 DECAY COMO m ER 65 Serial Adapter SUMMA Veis 66 ADVANCED MICRO SYSTEMS INC HARDWARE Introduction Thank you for using a DCB 274 Stepper Motor Driver Controller from ADVANCED MICRO SYSTEMS INC This unit is designed to provide years of reliable accurate and cost effective
7. Immediate Program 2 Mnemonic Data 1 Data 2 Result Name b 0 255 Speed Threshold None b lower case B Fast and Slow Decay 36 The DCB 274 has been designed to add both Slow and Fast decay When there is no motion stopped the decay will always be slow The threshold defines a motor speed where slow decay changes to fast decay during acceleration and switches back to slow decay during deceleration The threshold will occur at an RPM where step resolution is taken into account Threshold Value Y SPS 1 8 SPS Because the step rate is actually measured the decay detection functions for external step pulse input Slow decay provides smooth operation with reduced resonance s at slow to medium speeds Fast decay will generally enhance high speed operation at speeds above 200 300 RPM The actual settings usually must be determined empirically see Addendum About Step Motor Current and tailored to the specific design ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Multiple variables that interact include Operating step speed range e Step resolution e Motor size and characteristics Load inertia and load damping affects e Supply voltage e Motor current setting Acceleration and deceleration rates Once the optimal settings are determined they will apply to future production provided all remains constant Command Function Type NV Bytes Clear and Restore NV Memory Immediate N A C Mnemonic Data 1 Data 2 Result
8. Increase the current gradually until reliable operation is obtained Then increase the current equally by 10 to 20 In any of these adjustments monitor motor temperature and insure that excessive heating does not occur Larger motors require more time for temperature to stabilize When a low hold current and short run cycle is used heating effects are reduced Optimum amperage is the lowest current where the application indexing is reliable Sometimes higher currents still below the motor ratings will decrease reliability ADVANCED MICRO SYSTEMS INC ADDENDUM Application Notes V1 10 Double Speed Characteristics The X2 speed Version 1 10 introduces several new characteristics 1 Step rates in excess of 36K steps per second 2 Faster command execution 3 Intelligent current decay control 4 Redirect ports 4 and 5 to Step and Direction outputs mode command 5 Redirect port 4 as a moving output mode command Note that the minimum step rate is now 40 SPS Slower step rates are obtained using the D divide command The I V and M commands now have a range of 40 to 36 000 SPS Values entered below 40 SPS will be limited to approximately 40 SPS Values above 36 000 SPS are accepted and the SPS will increase to a 42 000 SPS ceiling and the acceleration ramp will become non contiguous As with all models the top speed is reduced when trip points are introduced The best resolution is generally 1 4 step default
9. JOG The returned number is converted to an 8 bit byte each bit represents the state of the specified data This command is normally used external from the controller s non volatile program Example JO The result from this command would be in decimal format indicating what 1 O port is active 54 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Index in Plus Direction Immediate Program 4 f Mnemonic Data 1 Data 2 Result Name n Steps 0 16 777 215 None None Index in Plus Direction Step in the positive direction for the specified step count The motor will ramp up slew and then ramp down per the previously set parameters The range is 0 to 16 777 215 The position counter will overflow at 8 388 607 The motion sequence is 1 Wait until any previous motion is finished 2 Energize the motor winding as required 3 Start stepping at the rate of the initial velocity T 4 Accelerate using a profile defined by the fixed table that approximates straight line acceleration and a slope set by the K command 5 Accelerate until the slew speed as specified by the V command is attained 6 Motion continues at the slew speed until the deceleration point is reached 7 Decelerate determined by the second K value to a stop completing the index 8 If another index is not commanded for the settling period power down the motor if auto power down is enabled The DCB 274
10. One master host computer can address a device axis with a command The single packet of up to 15 ASCII characters begins with a single character corresponding to the axis name and terminated with a single line feed character Handshake is necessary and is based on each transmitted character being echoed Prior to the terminating LF character numbers representing data such as position or limit status will be received The protocol is similar to other manufactures but is different enough to prevent co mingling of other manufactures devices Party Line Connect AXIS n COMFUTER TERMINATOR RS 422 Party Line Party line hardware requires three components 1 A serial adapter RS 232 to RS 422 2 A cable s and 3 A terminator supplied with adapter Cable Specifications Although 8 conductor with 8 contact RJ 45 connectors at each end flat telephone cable has been successfully used in the past the recommended interconnect cable for party line use is UTP 24 AWG twisted pair category 5 network cables now available as standard from AMS The older telephone cable is suitable for RS 232 or lab work Device Axis Connection Each motor controller has two RJ 45 connectors for party line All signals except the 5 volt power are connected in common The 5 volt is isolated to prevent back feeding power supply voltage to any individual axis with the AC switched off or power removed Thus itis IMPORTANT that
11. Pending command is delayed until the completion phase is complete This interval is called the PENDING PERIOD During this PENDING PERIOD the only input accepted is the one character interrupt abort command limit switches soft stop input and hard stop ESCape External indication of PENDING PERIOD end execution and result cycle of the pending instruction is the carriage RETURN or Line Feed in the party line mode The GO command is regarded as a command that has a continuous pending Instructions Queued period 27 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE 28 Interrupt Commands Interrupt commands are single character commands that will interrupt the operation in process as follows Abort Any action command may be terminated using the ESCape character Resulting Action Command line input Clear input buffer Exit without inserting END Terminate all motion HARD STOP Terminate execution Hard Stop If more then one process is active then ALL are aborted Abort is Global all axis halt Soft Stop O The Soft Stop can be either a command Immediate mode or a single character interrupt Program mode The Soft Stop operates only when motion resulting from action commands or instructions is taking place Soft Stop Interrupt After velocity deceleration the process is terminated Resulting Action Pending period Decelerate and cancel pending instruction Decelerate then terminate
12. repeatedly programming the EEPROM Then use the GO from address command to execute the sub groups in the required sequence Note Use the SAVE command sparingly The SMC 27X2 parameters are set so quickly even in SERIAL mode that you should let the host download them Changing parameters should NOT be done by writing directly to EEPROM The SMC 27X2 won t recognize that it was changed and may over write them Use the commands available to set parameters Reading on the other hand is non taxing on the EEPROM The DIVIDE factor is readable at 229 OES hex Trying to read and write Initial and Slew velocities from the EEPROM will be confusing as they are stored as timer reload values Use the EXAMINE command X in SERIAL mode Memory Map The following locations are accessible through the NV memory read write commands Description 22 4 Internal initial status byte Do NOT modify 7 8 8 2 0 3 3 High speed jog value B Name EA ECRIRE Committed only when specific command is being used otherwise used as general purpose storage Locations 247 thru 255 are protected from the Clear command Most of the data contained in these locations is in binary and should not be tinkered with If a valid command exists at location 1600 through 2047 it will be executed on power up 31 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Default Table The following default values are written to NV memory after
13. If sign on does not occur a Verify all connections b Insure that the SIN 8 or SIN 10 is in the single mode c Check your comport set up 4 Striking the ENTER CR key should result in an echo of characters further indicating communication is established In single mode you can do a number of useful things Assign name character not necessary if using daisy chain e Tweaking speed and acceleration parameters Experimenting with commands Development of program sequences e Storing motion sequences for non hosted applications Note Single axis mode should never be used in a computer or PLC hosted applications If the design has a single axis then the daisy chain method can be used with either RS 232 or RS422 Single axis functions are suited for programming using the keyboard with visual screen feedback Examine Command The Examine command X lt CR gt will display a set of parameter values that were last stored into non volatile memory These parameters may be modified using the appropriate commands then stored in non volatile memory as the new defaults X K 5 5 I 802 V 10370 D 1 b 30 s 4 n A Where K Ramp up ramp down I Initial velocity V Slew velocity D Divide factor b Decay Threshold s Slow decay now 14 Step Resolution n Axis name The values shown assume there are no input connections or special modes such as inverted limit switches Some Rules 1 The command line may
14. at constant velocity function The motor will ramp up or down to a constant velocity Motion will continue at the given speed until a new velocity is entered The specified slew speed is in steps per second Ramp parameters may be modified prior to each velocity command allowing different ramp slopes The direction is specified by the sign preceding the velocity The SMC 27X2 has the capability of decelerating from full speed in one direction then accelerating to full speed in the opposite direction with this single command Motion may be terminated by 1 The M 0 command 2 Soft stop command or interrupt 3 Abort ESC interrupt without deceleration The default initial velocity is used at the first invocation of the command The following commands modify effective speeds and resolutions 4 Divide 5 Ramp factor 6 Step Resolution An example of this command within a program in conjunction with the Loop on Port and Soft Stop commands is as follows PO Enter program mode M2000 Move ata constant step rate of 2000 SPS L00 Loop to memory address location 0 until port 1 is low Decelerate and stop program execution P Exit program mode ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Set Origin Immediate Program 4 O Mnemonic Data 1 Data 2 Result Name O Position 8 388 607 None None O Set Origin This command sets the internal 24 bit position counter to the specified value Zer
15. be edited using backspace as characters are typed 2 The line may be canceled using lt ESC gt 3 The command line is limited to 15 characters 4 Only one command may be entered per line 5 A space is optional between the command and first number 6 A space or comma must be used to separate two parameter commands Although not necessary it is desirable to have a motor connected to the driver This provides gratifying feedback Reference Hardware Section for specific motor connections The motor characteristics should match the drive capability If the motor refuses to move in response to an index like 1000 steps the control parameters may not be correct This stalling manifests itself in partial movements of the motor shaft and audible sounds Insure that the load is not too heavy Tweaking parameters like motor current velocities I and V and ramp slope K can usually coax the motor to action ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE Axis Name Assignment Whenever the application is controlled via a host computer the proper protocol handshake MUST be used Either the programmer must write the necessary serial echoed character by character software driver or implement a SIN 10 for the proper handshake In any case a unique name must be assigned and stored in the NV memory EVEN A SINGLE ONE AXIS SYSTEM REQUIRES PARTY LINE OR DAISY CHAIN PROTOCOL AMS software searches for axis names starting with
16. be required to provide smoother acceleration characteristics Example Assume that the desired running speed is 12 000 full steps per second 3600 RPM The speed V can be set to 24 000 SPS with D 2 Thus SPS motor V D or 24000 2 212 000 SPS With the D 2 divider the full output speed range is approximately 20 to 20 000 SPS See Default Table This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter program mode V 10000 Change the slew velocity to 10000 SPS P Exit program mode 50 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Wait n Milliseconds Immediate Program Mnemonic Data 1 Data 2 Result Name W n 10 ms 0 65 535 None None W Wait The controller will remain in an idle state for the specified time The Wait command if issued while indexing as a result of an R or F command timing will NOT start until the motion has completed Wait until motion complete Using this command with zero time can provide an alternate method of determining motion If issued while running at constant velocity the time out will occur without waiting for motion to cease High speed step operation during Wait commands will increase the delay time by as much as 14 times the normal value The result will NOT be available until the delay is c
17. be useful to use an ammeter circuit This will verify winding currents and proper drive circuit operation Use the Y command to increase the current from zero to the correct amount 1 to 100 of full scale With a 4 amp drive Y 25 50 equals 1 amp hold current and 2 amps run current Dual Ammeter Circuit Stepper Motor iC MDA 990 3 TYP atv ax A i gt AN Phase A Phase B Driver Outputs K 4 AMP DC Meter WP ADVANCED MICRO SYSTEMS INC HARDWARE Do s Don ts and Important Notes NEVER connect or disconnect motor wires while power is supplied When using a 6 lead motor be sure to insulate isolate unused wires The physical direction of the motor with respect to the direction input will depend on the connection of the motor windings To reverse the direction of the motor with respect to the direction input switch the wires on phase 1 or phase 2 of the outputs LIVE CONNECTING DISCONNECTING MOTORS WILL CAUSE DAMAGE THAT IS NOT COVERED BY WARRANTY Serial Interface J2 J3 Two RJ 45 connectors provide a loop through connection facilitating multiple axis systems This mini drop network allows for a single ASCII character name to be assigned and stored in the integral non volatile memory of each axis during the setup procedure Comment Not used Power Gnd Data in Data out Data out Comment Not used Power Gnd Data in Data out Data out Data in Not use
18. execution During PENDING PERIODS that are a result of multiple Constant Velocity commands inter speed ramping deceleration will be delayed until the previous ramp to speed has been completed Jog Speeds Homing Jog input and home speed is a special case of the constant velocity command Inter speed ramping is used if the programmed jog speeds are above the initial velocity Homing does NOT employ a deceleration ramp on reaching the home sensor Note In any mode jogging and command reception are mutually exclusive That is a command canNOT be loaded while jogging and jogging canNOT be performed until the last command is complete A command starts with the reception of the first command character Command Cycle Examples Index Cvcle Resulting From R Commands ABORT SCF STOP RZSULT EX CU ION s ENI BY TEMPE FTICN ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE Queued Index Cycle Resulting From R Commands LU MOT TOP ENTERAS ENTRV IMMANT VM7 z1I UN Y 1 MEINS IVE Fa LYA IN ANZ REDD Constant Velocity Cycle Resulting From M Command AADAT RESULT PXPI EIN NIR SOMP ETION Constant Velocity Cycle From 2nd M Command ATUE ER CICN SONT NLES UAT VFL SITY A RSACIIEN sive Sit Na SOFT SE XEL TE AN et E NIKY de ENTAY Execution Times The time for a complete cycle between command entry and result is variable depending on numbe
19. on port 3 W60 Wait 600milliseconds A6 Turn on port 2 and 3 W10 Wait 100ms A0 Turn off all ports P0 Exit program mode Note the actual ports usable for output is determined by the hardware design AMS products generally define ports 4 and 5 as outputs 35 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Mnemonic Data 1 Data 2 Result Command Function Type NV Bytes Set Jog Speeds Default Immediate Program 3 Name B n1 n2 Slow Speed 0 255 High Speed 0 255 None B Set Jog Speeds These two numbers represent the speeds to use for jog inputs The first is usually a lower speed The second number is used when the high speed jog pin J1 9 is held low The values are multiplied by 30 to determine the actual step rate in FULL steps per second The controller automatically scales the step rates to maintain a constant shaft RPM when the microstep resolution is changed Setting values of 0 will disable the jog Speeds are divided by the D value The power up settings are stored in NV memory This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enters program mode BOO Disable jog switches 100000 Move 100000 in the plus direction WO Wait until move is complete B 30 100 Re enable jog switches P Exit program mode Function Type NV Bytes Set Slow or Fast Decay Default
20. one E in this example Once the names are assigned after every reset the communications is same as party line protocol NV Memory Programming 24 The above examples were samples of immediate commands The following is a sample sequence used to store a sequence in the non volatile memory Note that when programming the sequence is immediately written to non volatile memory without any additional action required to save it This example starts at location 0 of NV memory Other segments can reside at any free location Enter Remark PO lt CR gt Place in Program mode Insert instructions at location 00 Address 0 O0 lt CR gt Set Origin to zero 1 R10000 lt CR gt Move 10 000 steps in the direction relative to Origin 6 W 0 lt CR gt Wait until complete 9 R 10000 lt CR gt Move 10 000 steps in the direction relative to Origin 14 W00 lt CR gt Wait until complete 17 J1 3 lt CR gt Jump to address 1 3 times 21 R500 lt CR gt Move 500 steps in the direction relative to Origin 26 PO CR End Program Now list the stored program Q CR Query command Verify the Program The controller will respond with 0 O 1 R 10000 00 6 W 0 9 R 10000 00 14 WwW 0 17 J 1 3 21 R 500 00 26 Execute the Program Enter Remark G0 1 lt CR gt Programs start executing at location zero If the Trace option is on it will display each instruction prior to execution Note This same program can also be triggered by pu
21. program that was started via the G command or hardware GO input The Terminate command may be used to individually ABORT a single axis in multiple axis systems when the global ESC command is not appropriate Program Example PO 00 Set Origin To Zero 11 400 Initial SPS 4T 1000 128 Set a Trip 9M 5000 Start Motion 121 1000 Change Initial SPS 15V 1000 Slew 18G 18 Wait 21P 0 End Program Flag P 128 Trip Routine Start 128 2000 Decelerate and Index 133 W 0 Wait 136Z Show Position 138 axis name Abort Program where axis name is the selected axis to terminate 140P 0 End Program Flag S Save Code at 128 Issue GO The sequence will complete and show the position that the number of extra steps is due to decelerate ramp plus a few steps of overhead The overstep difference is repeatable Command Function Type NV na Name Controller None A N Mnemonic Data 1 Data 2 Result None None None N Name Axis Response to the single character Ctrl N 14 decimal OE hex is immediate This command must be executed with one axis attached otherwise a bus conflict will occur and all axes may receive the same name On entry of the Ctrl N the controller responds with name Type the desired name the character will be stored in NV memory and the DCB 274 is ready to enter party line mode 57 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Restart in Party Line Mode None N A A P Mne
22. signal voltage swings The brief descriptions here are those relevant to AMS product communications and do not include DTR DSR CTS RTS etc RS 232 Introduced in 1962 RS 232 has been widely used throughout the industry This single ended transmission is useful only for short distances The connector is either a 9 or 25 pin D connector RS 232 includes a 3 wire interface using RXD TXD and ground Typical voltage swings are 12 volts to 12 volts The relatively high impedance and low speed limit both baud rates and wire length In non hostile environments and limited distance communications it will operate with 0 to 5 volt swing RS 232 can operate with one serial driver and one serial receiver at a maximum of 20k baud For serious designs even with one axis we recommend the RS 422 mode of operation Stand alone Operation All AMS controllers include non volatile memory to hold program sequences that once inserted can be triggered at power up via a switch closure or pulse input Since the purpose of the serial interface in this application is only to enable insertion of the command sequences RS 232 is adequate RS 422 RS 422 is a newer transmission system that incorporates a 2 wire per signal differential standard that is faster and useful at up to 400 feet at IM baud or 4 000 feet at 100K baud This 5 wire signal full duplex interface includes RX RX TX TX and Ground This system is capable of driving up to 32 re
23. the Clear C 1 command SS gt Ramp Slope K 5 Decay threshold b Jog Speeds B Trip Point T Mode H PLC Off Limit Polarity Auto Position Readout Z of A Name after reset Unchanged User Programs 0 191 Turbo Ham The SMC 27X2 has a small dedicated memory area called Turbo Ram There are 64 bytes which reside between address location 128 and 192 Instructions written here during program mode use real internal 32 RAM rather than EEPROM in order to achieve these advantages 1 Very fast execution EEPROM access time is 1 Ms or more per byte 2 No wear and tear on the EEPROM 3 The trip service routine executes at address 160 Macros may be downloaded directly into this area and executed as frequently as desired Programs in this area are stored in corresponding NV memory and down loaded at power up making an effective shadow RAM Command behavior between address locations128 and 192 Q List from RAM P Program to RAM S Copy to EEPROM Write to EEPROM Read from EEPROM C1 Clear EEPROM reload register ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Format Description n uid Mnemonic Data 1 Data 2 Result Range Range Where Command Keystroke Function Functional description of command Immediate Direct execution Program Executable in stored program Global All axis present Default Initial parameter setting Hardware Auxiliary I
24. the interconnecting cables travel from the output connector on right of one axis to the input connector of the next axis on left Two terminating resistors are used on the last differential line receiver The serial adapter contains one resistor and a terminator plug is supplied to be used on the LAST axis in the Party bus 17 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE AMS offers two adapters to facilitate party line connect models SIN 8 and SIN 10 The SIN 10 costs slightly more but is so powerful that the software programming is simplified Some operating systems Windows 2000 are close to impossible to program properly SIN 8 Serial Adapter The SIN 8 RS 232 to RS 422 serial data converter is used with party line network designs Any number between one and thirty two axes can be connected in a mini drop network system RS 422 485 BUS DROP AXIS 1 AXIS N SERAL INPUT SERIAL QU 7L7 SERIA N LT S RAL DL IPJI BIN B 32 732 22 22 AJA Et VCELLE ANI CABLE PN 7 nE VOTES OMITT D IN RGUNNEG TERV NATOR AESLIRZD FER IQ AVOID UWEA SHAR NG CARH SHRI QU L OF IF AGI 3 WEEN AXIS WHEN 0w R po y AXIS A TERM TO ONE IS 2 T OFF RS 422 485 BUS drop The bi directional adapter is powered from the AMS controller A switch is provided to select the single axis mode in order to assign the required axis name character The serial communication requires a character by character handshake protocol that may not be p
25. using internal supply J5 Output Signals Ports 4 Out and 5 open drain with 100k pull up s to VIO Clamp diodes are required for inductive loads Output Signals Outputs Pors 4and5 07 233 Wde OuputCumentGin 2 Amp Environmental Storage 45 to 85 Degrees C Operating 0to 55 Degrees C Humidity 0 to 95 non condensing Physical Size in 5 2 x 4 13 x 1 4 Weight 8 OZ 13 ADVANCED MICRO SYSTEMS INC HARDWARE Physical Dimensions Heat sink mounting bracket SLOTS ACCOMODATE 10 32 MOUNTING HARDWARE NOTE ALLOW 0 5 INCH CLEARANCE ON ALL CONNECTORS FOR EXTERNAL WIRING 14 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE Overview This Application covers the serial communication design for ADVANCED MICRO SYSTEMS INC AMS intelligent control products These products include complete packaged systems OEM boards sub assemblies and I C s The basic design has remained constant over 20 years All AMS products are based on the same core micro controller family which contain two way serial communication using the standard ASCII characters used in virtually all computers Only two signals are used TXD transmitted data and RXD received data The hardware interface for the two signals is one of two industry standards either RS 232 or RS 422 These standards describe the physical wire layout and
26. 1 Times 0 255 None J Jump to Address a n 1 times This loop command allows repetition of a sequence up to 255 times The address specified MUST be a valid instruction address and is usable only within a pro gram This instruction may NOT be nested because only one jump counter is available for use at any given time This command may be implemented within a program Following is an example PO Enter program mode 1000 Move in the plus direction 1000 steps J03 Go to and run command at location 0 4 times P Exit program mode Command Function Type NV Bytes Set Ramp Slope Time Default Immediate Program 3 K Mnemonic Data 1 Data 2 Name K n1 n2 Accel 0 255 Decel 0 255 K Ramp Slope Specify the ramp acceleration and deceleration time The K command is used to adjust the ramp slope during the motor acceleration or deceleration An internal lookup table defines the profile or shape of the acceleration deceleration curve Depending on the values of initial and slew velocities a number of discrete velocities are used to define the acceleration or deceleration of the motor armature rotation The K value determines how many steps are made at each step rate point on the acceleration curve during ramping Higher K values will increase the dwell time at each discrete point on the acceleration ramp Lower values of K will increase the acceleration rate A value of 0 will eliminate any ramping In practical applicatio
27. 27X2 Software Non Volatile Memory Details eese nennen nnne nnn nnne nnns nnne nennen nns 31 Memon Map orresc da AREA Aid R Ea add ad aid 31 Default To c 32 TUDO Ham A do ou io nn t diit o taii im nins 32 Command Format Description assesses eene nnne nn trennt renean nr nn nn nnn 33 Software Commands ESC Global Abort e rx tex e on ad onu X Eo v Ha ete genera eee 33 Q SOft STO i tei pe tid A T Dun TRE ID TU HH DD qu OPERAE ER ERR HERR 33 AC ROS E 34 A Port Head White 1 e oe e e eese aes etas quae ER dale xr e REPRE b uo E RE RAPERE eu aan RR 34 B Set Jog Speeds is oc t ea dr d e ERR Y NY nb sie elie 36 b lower case B Fast and Slow Decay ooooicccccnniccccconcccconnoncnccnnanonccnnannncnnnannnnnnnannncnnnanencnnnananes 36 C Clear and Restore NV Memory eene nnne nnn trennt nennt 37 D Divide Speeds t Pe ipe e dr lane RR d PARE LUE Gb Ree ee tees RARE ee HERR RARE IMS 37 F Find HOM a es ete els et i te eee vn 38 G GO bok E 38 H Step Resolution i c are oe c 40 I Initial Velocity anie e ate i e e Lids tha bs ee db Ro ARE euo tg Lodo e e ease 40 i lower case I Restart Special Trip esses nennen nnne nnne nnns 41 J Jump to Address a n1 ti S ccccccececceneeeeeecene teen cen eeeeee nennen nnne s nne nnns enne rh nn enne nn
28. 4 on 2 2000 Rotate motor 2000 steps in the plus direction 6 PO Exit program mode 49 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE 2 Write program to location 100 P100 Enter program mode at address 100 100 A129 Read port states 102 AO Turn port 4 off 104 PO Exit program mode 3 Set Trip Point In dumb terminal mode enter T1000 100 This tells the controller to run the program located at address 100 when the step position is 1000 4 Run program Enter the G command Port 4 will turn on and the motor will start moving When the motor position is at 1000 the program will vector to address 100 and run that sequence The number 8 signifying port 4 will appear on the screen Function Type NV Bytes Set Final Slew Velocity in SPS Default Immediate Program 3 V Mnemonic Data 1 Data 2 Result Name V n SPS 40 gt 36 000 None None V Set Slew Speed This is the maximum speed to be used after acceleration from the initial velocity The maximum speed will be limited by the motor capability and or power driver circuitry The final output velocity is divided by the value of D This value is independent of constant velocity M jog B or home F speeds and is used when indexing absolute or relative R commands If full or half step mode is chosen the acceleration time may become to fast for larger motors This is due to the high speed SMC27X2 microprocessor A D 2 pre scale divider may
29. 55 Values Read NV Memory The user may display any byte of the 2047 byte extemal NV memory The address specifies the desired location to access At addresses 128 191 the NV memory is always Read not the RAM The data contained at the specified location is output as a decimal value This command is normally used external from the controller s non volatile program Example 020 The result from this command would be 20 sequential bytes starting at location 0 and finishing at location 19 Command Function Type NV 2 Read Limits Hardware Immediate Program Mnemonic Data 1 Data 2 i Name None Status Read Limits Hardware This command allows the user to examine the status of the various switch inputs The result will contain the state of the limit switch inputs and current phase outputs in binary values as follows Decimal value 128 64 32 16 8 J4 2 l Bitpositions 7 fe s Ja Js J2 Jr Jo Where La Limit a switch Lb Limit b switch Hm Home switch 32 low input P0 5 Ports 1 5 see A command 1 Read other inputs This command reads other inputs some of which can be used by external applications under the condition that the SMC 27X2 does not use them For instance if the jog speeds are set to zero the three jog inputs could be used as general purpose inputs Decimal value 128 64 32 16 8 4 2 l pBitposBun 7 e J5 J4 3 20 r jo JOG2
30. 8 volts is applied to an input the drive current will be about 0 7 mA per signal The threshold voltage will increase as each 28 volt signal is applied approaching 8 5 volts when all are high The preferred input drive method is open collector drain transistor or switch to common GND PLC Mode Sourcing Inputs When PLC jumpers pins 2 and 3 are installed the pull up resistors are transformed to pull down resistors Activating an input is accomplished by asserting a voltage exceeding Y VIO on the given input When these inputs are held low the logic sense is inverted For proper operation a mode command must be entered and stored in NV memory Use the 1 lower case L command to configure the inputs The 1 9 command will invert all of the inputs The 1 8 command will invert all but the limit switch inputs The 1 command defines several configurations Please refer to the command section for details These inputs can withstand in excess of 28 volts The default threshold will remain at 2 3 volts unless an external VIO is supplied A higher VIO i e 24 volts from a PLC with 24 volt drivers would increase the logic threshold to 12 volts providing better noise immunity ADVANCED MICRO SYSTEMS INC HARDWARE 5 Internal Power Supply Comparator CPU gt To other comparators Connector Typical User Input Circuit Step Direction Ports 1 2 3 4 used as an input Jog 3 Limits Home Go and Soft Stop
31. A B C etc While X Y or Z might be more descriptive it can take a longer time to scan Recommended names are as follows Recommended Names Upper case A through Z Lower case a through z Non valid Names Y sc RT 2887 22 p pe ge Assign the axis name 1 Reset the controller to cycle power 5 volts or enter control C C Type the single case sensitive name character once only Follow the name with a SPACE BAR The sign on message will appear Enter the X CR command The name will show at the end of the echoed line Issue the S lt CR gt store command saves name in NV memory Reset as in step one Sign on with the space character Use the X lt CR gt command to verify the proper name 9 M 9 t BU The name is now stored in the NV memory Note The controller will accept any character as a name including control characters Two common error characters show up as either a space or C heart symbol In either case reset and do it over The unit is ready to operate in the current single axis mode or be switched over to party line mode It is suggested that the operator use single mode first to become familiar with command input The single axis mode can be used with any dumb terminal device and is not dependant on using the AMS software Simple Command Examples The single axis mode can be used to familiarize the designer with some commands 1 Issue the command R 1000 CR The motor should move
32. DCB 274 USERS GUIDE AMS 2 Townsend West Nashua NH 03063 www stepc ontrol com ADVANCED MICRO SYSTEMS INC DCB 274 USERS MANUAL Table of Contents Hardware e ojo Vier ijo AA O pees 1 Product OVerviBW 1 o dre be t a eerta dx A ater Hired eed ul Set anaes deg 2 Required Hardware for Operation esses eene nan cr nnne nennen nennen nnn nnne nnns 3 Assembly Drawing idc es e tent e ao tage eh e a dene Sesh xe ded ba ARE D AE C AER dene EM Eae ARS eek 3 Out of the Box QUICK Start ono 4 LEO Gonnections JT JE 1 rei dle eee iad deat abord etr ade M ect dad dg aao HE RE AR Hoe EE ERR 7 Encoder Input Option JT vir 10 Power Supply and Motor Connection J5 esses esee 11 Baud Rate Jumpers B1 B2 sessi essen nennen nnne ENEA TETE ENEE sse nnns nnn nnns 12 SPOCIHICAUONS EET 13 Serial Interface DAE EE EEO a E dd 15 AS 232 HarmlWatre su ime uero ite eges EAAS NTARE AE ONENESS 15 RS 422 Party Line Hardware eiiis essen nahen nnn hne rn nine nhanh nennen nn ann 17 Serial Communications Overview eee e enean nnne nn nnns 20 Serial Communications Software esses enne nnne nnne nnne nnns 20 Daisy Chain Stam Up iine er bod ia RR ve e B b ted A de Bs 23 NV Memory Programming oriire oee reirei aek nnne nennen nn rn nns ener nnne ne nnns ener 24 Party Line and Daisy Chain Line Commands sss eene nennen nnne nnns 25 SMC
33. It provides smoother operation with diminished resonances and is a good match with the acceleration ramp Full and Half Step Recommendations The acceleration ramp profile is slightly modified over previous designs to accommodate the increased dynamic range Consequently the number of acceleration points that would be used with full and half stepping are reduced from previous low speed versions This may manifest itself in a tendency to stall during ramp up Using the command D2 divide all rates by 2 may provide a smoother acceleration deceleration To obtain an equal shaft RPM your specified speeds must be doubled i e V 5000 becomes V 10000 Other D values can be used as long as the V SPS value is in range This technique produces a longer ramp slope thus allowing the K command values to be reduced FAQ Q When I set the SPS values the X command reads back a different value A The SMC27X2 controller uses integer values for determining the time per step Decay Control Fast decay mode regulates motor current by varying the duty cycle and applying full negative DC bus voltage to the motor windings when OFF Applying full DC bus voltage in this manner causes the motor winding current to change at a rapid rate hence fast decay The fast decay mode of operation permits better current regulation but increases motor heating due to the higher current transients Slow decay mode also regulates motor current by var
34. Name a d Option Flags None lower case L Option Flags IMPORTANT DO NOT CHANGE JUMPERS WITH POWER APPLIED This command configures several options primarily relating to input output operating modes and defining external hardware Several options invert the sense of input signals If appropriate jumpers or input signal inversion is not matched to the selected option s then the system may lock up or motion can be inhibited Flags and Numbers Several commands use on off flags to enable or disable some feature The data supplied is in decimal ranging between 0 and 255 The corresponding binary bits are called flags There are 8 flags each equaling binary values of 1 2 4 8 16 32 64 128 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Two or more flags can be specified for multiple options i e flag 1 flag 8 9 So command 9 will invert limits and set PLC mode When reading flags the host software must convert decimal to binary to evaluate the results Option table Flag pit Function Note 1 O Invert limits Both inputs must be held low to allow a move s f3 PLC mode Inverts all input signals Set PLC jumper Inform the controller that port 4 is an input Based on JP1 JP2 Soften limit with decelerate K AA E Reserved Readback Read out the values pun An S save command must be used to preserve the settings Default with CLEAR all zero Limit Polarity Fl
35. Name I n SPS 40 36 000 None None I Initial Velocity This parameter sets the initial velocity in steps per second This is the first speed used at the beginning of acceleration It must be slow enough that the motor can start without loosing steps stalling As with all velocity parameters the initial velocity is divided by the divide factor D Using the examine X command displays updated velocities The initial velocity applies to 1 All index commands R 2 First execute in constant velocity 3 Decelerate to 0 in constant velocity or soft stop 4 Final phase in home command if hone speed is above initial velocity See Default Table in the beginning of this section This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter program mode 1100 Change the initial velocity to 100 SPS P Exit program mode 40 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Restart Special Trip Default Program 5 Mnemonic Data 1 Data 2 Next Trip Name i n Position 8 388 607 Port 0 63 i lower case 1 Restart Special Trip See lower case k command Actual values are determined by the hardware configuration Command Function Type NV Bytes Jump to Address Program 4 J Mnemonic Data 1 Data 2 Result Name J a n Address 0 2047 N
36. None L Loop on Port 44 Loop on Port will test the specified input port for the required condition c If the port is NOT at the required level then the program will jump to the specified address If the address is to a previous instruction then the program will loop until it becomes the specified level The program will then continue to the next step The PLC mode inverts the input high low definitions Input ports are available as follows CA ee A The SMC 27X2 can view all ports as inputs and outputs restricted by contention with external hard ware Any output port can be modified then subsequently used in conjunction with the L G 2048 or A129 read command The SMC 27X2 has an additional feature of implementing a wait till function The standard loop tests the condition every 2 3ms If the unique address is 2048 the controller executes a tight loop at this instruction monitoring the specified condition When the condition is met program execution continues This feature is helpful in situations where the condition may be of short duration This command is usable only in NV memory program execution Following is an example of this command PO Enter program mode L04 Stay at location 0 until port 3 is low then go to next command in program 1000 Move 1000 steps in the plus direction P Exit program mode Function Type NV Bytes Hardware Options Default Immediate Program 2 Mnemonic Data 1 Data 2 Result
37. O NV Bytes Storage requirements in program Mnemonic Single character prefix used in multi axis protocol prefixed by axis name assignment in party line mode Data 1 Affected parameters Range Valid numerical range of parameter s Data 2 Same as Data 1 as required Result Information returned as a result of command execution or examination Note a comma separates two parameters Command Function Type NV Bytes Terminate Operation Immediate N A ESC Mnemonic Data 1 Data 2 Result Name Esc Char None None Echo ESC Global Abort Terminate any active operation and cause the controller to revert to the idle state waiting for a new command Output drivers or ports are NOT affected Stepping and position counter update will cease immediately without deceleration The lack of deceleration can cause mechanical overshoot The controller will echo a character This command may not be used within the non volatile program memory Command Function Type NV Bytes Soft Stop Immediate Program Mnemonic Data 1 Data 2 Result Name None None None Soft Stop If moving decelerate immediately to a stop using ramp parameters If running a program when this command is entered the program will terminate after deceleration The soft stop may be embedded in a program without causing termination 33 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE An example of this command within a program in conjunction with the Lo
38. RRENT HOLD o 100 frun oro s JO Je z pmPLAYPOSITION coNT INUE Jo ief Program address ranges are 0 192 256 2047 2048 is used as a special case 128 192 is high speed shadow RAM 59 ADVANCED MICRO SYSTEMS INC ADDENDUM ASCII Character Code 60 cu Char pee Hex Code pee Hex cmar Dec mex Char Dee Hex cnar be jo foo for v 2 la je o j je m fe o for sow s je fa fa for je a s e jm je js w fe je je os je Lc Po je fos erx s s lo le je fe jo je je Lo e joe o sor s afs je ju r Je a Lm Po os os ino s os a je as fe ror Jes e e o jo jack s 26 e v as fr ro Je t Ps je for sa o In je fe ros je e m e jo ss o js fo Iv je n ro je n a Po je foo fur far D In je fr jus jo jr Es fe juo jon fur o za fo se Juny jue Jon y x u vr a foe fo us jas k jn om Jk a Po qm foc ee fas poc oe fac fe ms foc r jm Po fis foo fee e oo In jam 109 e m Ew e qu foe 50 as oe vs oe o juo je jm Lo js for x far je r or fo jm je jo Le Po jue 10 we e fo fo js s fe n p Lo jm u oer o jm ls jo s o jus jm ju Ew e qum 19 o o x lo 6 2 n Ju m e Ls jw fis oes sr ju ls jm ss fs jus fo Lv a jm fu je v fa foe oe fr us qm
39. a program Following is an example PO Enter program mode D 10 Change the divider to 10 P Exit program mode Command Function Type NV Bytes Unused 2 E Mnemonic Result Name E n None Unused See Y command 37 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Function Type NV Bytes Find Home Immediate Program 3 F Mnemonic Data 1 Data 2 Result Name F n d SPS 40 36 000 Direction 0 1 None F Find Home The special Home algorithm is intended to eliminate mechanical hysteresis typically found in many switches encoders and is generally present in the form of system mechanical backlash The SMC 27X2 microprocessor implements an intelligent homing algorithm whereby home is always approached from the same direction based on the initial logic state of the Home switch and the value 0 or 1 assigned to the d direction byte Normally Open Home Switch The Find Home step velocity using a normally open Home switch actuation from logic high to low is programmable over the entire slew velocity available from 40 36 000 SPS Once the Home switch is encountered the system inertia typically overshoots the exact switch transition point so that the controller changes the direction signal and shifts the step speed down to the J initial parameter velocity This direction reversal and speed reduction continues until the exact Home switch actuation point is reached and the Homing function is complete Normal
40. ag 1 The input levels on the travel limit sensors are inverted allowing source type sensors such as hall effect devices to be used This command cannot swap the limit directions When this bit is set motor travel in either direction is inhibited unless the appropriate limit inputs are forced low The PLC mode will invert the logic levels sourcing input necessary to trigger a limit Example 1 Invert the limit software 19 PLC invert limit software and input logic Make Step and Direction Outputs Flag 2 This option converts port 4 to a step output and port 5 to a direction output These signals can be directed to slave driver s to control additional motors if required The step outputs are short negative going pulses Port 4 logic must be configured JP1 JP2 as an output The step and direction outputs can be a very powerful feature as it allows the user to send step pulses and a direction bit to a stand alone driver moving it at the same rate and direction Conflicts Flags 4 and 16 must be off Moving Output Flag 4 This flag converts output P5 into a moving status signal While motion is active port 5 will be at zero volt level Several axes may be wire or ed together to form an any axis moving signal Conflicts Flag 2 is not allowed PLC Mode Flag 8 This option tells the controller that all inputs are inverted and to compensate accordingly The PLC jumper MUST be installed This jumper reconfigures the
41. al 5 volt supply via a diode Any external load must be limited to several mA You may apply an external higher VIO voltage if appropriate to the application The input signal thresholds will be approximately 2 of VIO or 2 3 volts The threshold is the same independent of PLC or normal mode Input Ports All inputs incorporate 10k resistors that may be set as pull up to the VIO voltage or pull down to ground as defined by the three pin PLC jumper When the jumper is in the PLC position pins 2 and 3 installed the resistors pull down and maintain a zero volt level on the inputs All these inputs will withstand 28 volts DC even if a lower VIO voltage is used The possible inputs include J1 ports P1 P2 P3 and P4 selectable Jogs 3 Step and Direction and J4 Home Limits 2 Go and Soft Stop VIO becomes especially important where outputs drive high voltage devices Standard Mode Sinking Inputs When the PLC jumper is in the standard mode position pins land 2 installed the resistors act as pull up to the VIO supply Depending on your mode software commands to invert the signals using the I lower case L command may be required for proper operation In the standard mode the 10k pull up resistor will become a pull down resistor as the input signal exceeds 4 6 volts When the voltage does exceeds 4 6 volts it will cause a pull down affect because of the internal resistance divider Example When 2
42. arameters b Check the RJ 45 connectors cable ground continuity 3 GO SS conflict message appears on screen a Make sure the three pin PLC jumper is in the standard mode pins 1 and 2 installed ADVANCED MICRO SYSTEMS INC HARDWARE After Sign on Enter X lt CR gt The parameters are displayed The last characters displayed will be n followed by the axis name character usually A To change the name 1 Turn off power allow discharge 2 Turn on power 3 Depress the desired name key for instance B 4 Depress the SPACE BAR The DCB 274 will sign on 5 Enter X lt CR gt The new name B is displayed 6 Issue the S lt CR gt save command The name is stored in memory 7 Depress Ctrl C key soft reset followed by the SPACE BAR Sign on occurs 8 Enter X lt CR gt to double check the name Connect the Motor Set the motor current off especially if your motor is small and low current model using the Y command Y Q CR windings off S CR store settings in NV memory Turn off the power and allow plenty of time to discharge any capacitor Use voltmeter if necessary Phase J5 Pin Signal Phase J5Pin Signal 1A Winding 1 ia 6 Windingl Before plugging into J5 insure using a ohm meter that there is a low resistance from pin 5 to 6 anda similar resistance between pins 3 and 4 There should NOT be a low resistance between pins 4 and 5 It may
43. axis System RS232 RS422 serial adapter multi axis System Intelligent serial adapter Windows 2000 NT ie eee pin home limit mating connector included 1 Axs BCM 6 pin mating motor connector included 12 pin mating I O connector included Interconnect cable Cat5 3 ft Terminator plug included with SIN 8 or SIN 10 Assembly Drawing IH uL E BAUD RATE BS SELECT Aof le SH Er B RN4 L OPREL 012 NH USA aom tac OJO zar i ul4 s lt Uu I o OI PLC PORT4 CONFIGURE dm n ua a It 1m PI P2 P3 M4 PS 6 5 J IS J ST DIR Hm La Lh bo Ss On Vio G UM PZb P2a Pib Pla 0100000000000 ix dir 000 LIOOO pe zi zi a no nBPIi OS20 40 2 Ze 2888s o8ages oO 90822 53 E ae O naaa r gt gs i 1 MOTOR tc Pa 3 N Unless otherwise specified clamp diodes D 1 and D 2 are not installed Refer to Output Ports further on in this section for more information ADVANCED MICRO SYSTEMS INC HARDWARE Out of the Box Quick Start The DCB 274 is supplied with mating motor power supply and I O connectors The SIN n chosen serial adapter is supplied with a mating cable and terminator if required Equipment Check List 1 A computer with available serial port 2 Installed serial communications software such as Hyper term EASI ProComm etc EASI works with DOS 3 A DCB 274 4 A SIN n serial adapter SIN 10 recommended 5 A 24 to 40Vdc p
44. bly looks like a telephone connector to the mating connector J2 Party Line Serial Input on the AMS device 3 Install a terminator plug TERM 1 into J3 Party Line Serial Output of the last axis The controller will work without a terminator plug however reliability may be compromised based on the environment noise and length of the interconnect cables 4 Apply power to the device Reference Hardware Section 5 Install the diskette and type EASI lt CR gt at the prompt At the opening screen enter n if you are operating from a monochrome terminal or hit the ENTER key for color Use the arrow keys to select COMI or COM2 COMI is the default setting Follow the same procedure to select the correct baud rate 9600 BPS is the default setting Sign On Single axis mode must be used for name assignment Any terminal software including EASI dumb terminal can be used When using a SIN 8 make sure that the RED switch on the side of the connector is in the single S line mode When using a SIN 10 make sure the party line switch S8 is in the off position 1 Start easi exe 2 Select the DUMB TERMINAL mode A blank window will appear 21 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE 22 3 Strike the SPACE BAR key The controller should sign on with the software version number Vx xx If not enter a C Reset and strike the SPACE BAR key again The reset message is generated by easi exe not the axis output
45. cant bits are zero and with 3 the motion is stopped Output from Host X LF Response from named controller X xx LF Output from Host Y LF Response from named controller Y yy LF Read Position Input from Host X Z LF Response from named controller X Z 1000 LF Note Response is the position data requested from axis X The handshake must be character by character confirmation Example the 1000 command Host sends X host waits for X echo Host sends host waits for echo Host sends 1 host waits for 1 echo Host sends 0 host waits for 0 echo Host sends 0 host waits for 0 echo Host sends 0 host waits for 0 echo Host sends LF host waits for L echo Example Read Position Host sends X host waits for X echo Host sends Z host waits for Z echo Host sends LF host waits for LF echo While waiting for the LF the host receives the 1000 data and stores it into the position value ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE Anatomy of Instruction Execution This information is intended to familiarize the programmer with the internal operations involved in executing a command For each MOTION command there are four cycles Entry Execution Result and Completion Other commands have three cycles Entry Execution and Result In the idle state the controller contin
46. ceivers motor control axis on a single drop bus Voltage swings are 0 to 5 volts While not recommended the RS 422 line receivers will withstand RS 232 levels RS 232 receivers work with the lower 5 volt swing permitting both single ended and differential operation RS 232 Hardware There are two ways to configure AMS RS 232 products The basic connection is single axis mode with a straight RS 232 connection using a SIN 7 serial adapter SIN 7 SIN 9 RS 232 Serial Adapter The SIN 7 is a DB 25 to RJ 45 adapter for single axis RS 232 communication applications The SIN 9 is a 9 pin version These converters facilitate connection between a standard computer D connector output and AMS RJ 45 connector inputs Features include Connects computer or terminal to axis e Standard 25 pin or 9 pin connector for COM port Passive no power required 15 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE 2 TXD RS 232 3 Rxp CO 4 RX Computer 5 lors lan MVG DB 25 4 7 GND been 2 GND 6 DST 20 DTR Single axis RS 232 connection using AMS SIN 7 adapter The other method called daisy chain is for multi axis applications and is NOT recommended by AMS Daisy chain is accomplished by interconnecting one or more axis in series Here the TXD output of the first axis is connected to the RXD input of the next axis etc with the last axis TXD connected to the RXD of the computer AMS R5 232 contro
47. ction is made to the center tap 6 Wire Motor Half Copper or 50 Winding The maximum speed can be increased by using Y the coil To do this connect the driver between the center tap and one end of the winding The tradeoff is a loss of torque The RMS current is the manufacturer s unipolar amperage rating with the same wattage per phase Often a 6 wire design is being upgraded or the size features availability or cost dictate the 6 wire motor Some characteristics can make the motor impossible to use Many motors are rated at voltages in excess of 5 volts This means that 10 volts is necessary in the series 100 copper configuration 6 Wire Half Copper Aside from having excessive inductance proper chopper operation dictates operation from voltage sources much higher than the motor rating The minimum recommended value for VMM DC supply is 2 times the winding rating the higher the better until excessive heating occurs or insulation breakdown The Empirical Method for Fine Tuning Your System The empirical method is the best approach for fine tuning the system and can should be used for all AMS products When the best values are determined they can be used in future production providing tolerances are sufficiently close In this sequence index commands must be executed at the actual worst case operating speeds and conditions 1 Gradually reduce the current until operation becomes erratic or undesirable 2
48. d Enable party line or single Data in Power for serial adapter Enable party line or single All signals on J2 and J3 are interconnected the 5 volt power is only supplied to J2 7 The 5 volts is intended to power an AMS serial adapter There are three types of serial adaptors available 1 SIN 7 DB 25 SIN 9 DB 9 These are passive adapters that allow a basic RS 232 interconnect suitable for single axis usage Party line is not possible with the SIN 7 or SIN 9 Daisy chain protocol is possible but not recommended 2 SIN 8 DB 25 includes an RS 232 to RS 422 converter A switch selects single or party line mode for up to 32 axes includes terminator plug Proper handshake must be implemented in your computer for successful party line operation 3 SIN 10 DB 9 is a microprocessor based adaptor that features a dual UART RS 232 to RS 422 converter at different baud rates and character buffers The necessary handshake is built in thus the sometimes expensive and time consuming software interface is avoided The serial communications is full duplex at 9600 baud Operation at special 470k baud is possible If you have not chosen the SIN 10 the proper handshake MUST be implemented in the host computer to avoid loss of characters This protocol is echoed characters If your operating system or application software is not capable of character by character transmission a SIN 10 is probably necessary If system production cost i
49. dvantages A host computer must have proper software that performs the rigorous handshake protocol The software development can be expensive or impossible to implement in some operating systems SIN 10 recommended for new designs The SIN 10 contains a microcomputer that performs all the handshake protocol and much more Even a single axis design will benefit from the software development timesavings
50. e Command Function Type NV Bytes Next Trip Point Port Output Default Program 5 k Mnemonic Data 1 Data 2 Next Trip Name k n Position 8 388 607 Port 0 63 k lower case K Trip Output Value 42 Actual values are determined by the hardware configuration The latency described in use of the T command can be avoided via use of the i and k both lower case commands Both of these commands implement a trip mode similar to the T command but there actions are performed in real time The best way to illustrate the power of these commands is with an example Enter as follows PO Start programming mode 0 O 0 Set position to zero 9 6000 Index 6000 steps 13 WO Force wait till index complete 16 PO End program P 128 Program RAM commands ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE 128 k 400 0 Set new trip at 400 and turn ports off 133 k 600 16 Set new trip at 600 and turn port 5 on 138 12008 Reset origin RAM 128 port 4 on 143 PO End program S Save the shadow RAM program GO Execute program Failure to store the program in shadow memory will result in loss of all commands between 128 and 192 Once they are stored they will automatically reload with every reset The following example further describes the program sequence Address Description 0 O 0 The position counter is reset to zero 4 k 200 8 The initialize command k is first used to initialize the real time seq
51. e e Lu fs jm fis max s os s jus ss o Ju jos u Lv fe jm 16 ow s s e juo ss v jus 16 v w e qm im em s v lor v fw jus jm jw Lx a fis cam ss s fa jo ss x wo 18 o Ew Po fas o few o o o 9 fy fim jm y bz e ju n sup s sr o sajz juo alo jy fe jm im ese s or oe t jus Jm e Es Po qm fic ies eo se fe o sh Jm feh y a jm m fos a os so j jus mp m fe qs fe es e js foe oe jue e de fos for Jos fo or fo H jw m ADVANCED MICRO SYSTEMS INC ADDENDUM About Step Motor Current There is much confusion regarding the operation of step motors Depending on your application the step motor offers several advantages over servo motor designs including lower cost and simplicity The step or stepper or stepping motor is a digital synchronous motor with a pre designed number of steps per revolution The most common motor has 200 full steps per revolution Simple driver electronics can subdivide these steps into Y step or more complex microsteps Step Motor Characteristics The positional repeatability of each full or half step is very close to exact While microsteps are repeatable they tend to be somewhat non linear The torque is maximum at zero speed The motor shaft RPM exactly correlates with the steps per second Torque decreases with speed eventually to zero or a sta
52. ection must be held for gt 10 microseconds after the rising step edge Motion commands will conflict with these inputs The maximum step rate is 16 000 pulses per second ONAN iU L2 Higher step rates may be possible on some products Contact AMS for details 10 ADVANCED MICRO SYSTEMS INC HARDWARE Step and Direction Inputs J1 A 10k pull up resistor allows open collector circuits to be used The inputs will withstand in excess of 24 volts i6 Ground common with the power supply input Step pulse input The recommended step input is a negative going pulse 5 volt TTL or CMOS Encoder Inputs J1 Optional encoder circuitry can be specified with the DCB 274 E option With this option the step input pins 11 and 12 change to industry standard quadrature A and B inputs The quadrature clocks derived from optical or magnetic encoders when applied to the A and B inputs are converted to step and direction signals The number of steps per encoder revolution is equal to four times the number of slots on the encoder The motor will directly follow any changes in the encoder position Note If the encoder produces steps too fast the step motor can stall if it is physically unable to follow the abrupt changes in rate and or direction A 10k pull up resistor allows open collector circuits to be used The inputs will withstand in excess of 24 volts i6 Ground common with the power supply input low current requiremen
53. epping at the rate of the initial velocity D 5 Accelerate using a profile defined by the fixed table that approximates straight line acceleration and a slope set by the K command 6 The acceleration continues until the slew speed as specified by the V command is attained 7 Motion continues at the slew speed until the deceleration point is reached 8 Decelerate determined by the second K value to a stop completing the index 9 If another index is not commanded for the settling period power down the motor if auto power down is enabled This command may be implemented within a program It is very useful when used in conjunction with the Origin command Following is an example PO Enter program mode O Set origin and counter to 0 R 1000 Move to position 1000 relative to 0 P Exit program mode 48 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Save Parameters to NV Memory Immediate 1 S Mnemonic Data 1 Data 2 Result Name S None None None S Save The following parameters are saved in the NV memory and will be recalled as defaults during power on reset 1 NV memory addresses 128 through 191 shadow RAM 2 Initial velocity I 3 Slew velocity V 4 Divide factor D 5 Ramp slope K 6 Jog speeds B 7 Resolution mode H 8 Auto power down E 9 Limit polarity I 10 Name for party line use 11 Trip point settings All of these parameters are saved as a b
54. gs of the 8 wire motor has the following specifications Current 1 amps Resistance 2 0 ohm each of 4 coils Voltage 2 0 volts Inductance 4 4 mH The power per winding is PR or 2 x 2x 1 4 watts O x 4 coils 16 watts total for this motor A Basic 8 Wire Motor These values correspond closely with a NEMA size 23 4 wire motor designs These following examples will configure the basic 8 wire motor into four real life connections 4 Wire Parallel The high speed model implements parallel coil connection Two coils connected in parallel result in the following for each of the two phases Parallel Resistance 1 ohms Parallel Inductance 2 2 mH Current 2 83 amps 8 watts phase Watts per phase 8 x 2 phases 16 watts total 4 Wire Parallel B 4 Wire Series Changing to a series design we have two pairs of two coils connected in series Each has Series Resistance 4 ohms Inductance 17 5 mH The rated current is now 1 amps 4 Volts Watts per phase 8 x 2 phases 16 watts total Note that the series inductance is FOUR times the parallel design Inductance limits the obtainable speed since the time constant limits the amount of flux hence torque when step to step time is short 4 Wire Series 63 ADVANCED MICRO SYSTEMS INC ADDENDUM 64 C Adapting Available 6 Wire Motors A 6 wire motor is equivalent to the 4 wire series motor In practice the two coil ends are connected while no conne
55. hey are less reliable communication speeds are slower and troubleshooting is difficult The only advantage is that the name can be dynamically assigned by the host computer on power up sequence and the computer protocol can be implemented with the lowest cost RS 232 adapters Serial adapters used SIN 7 or SIN 9 At start up 1 The host computer emits axis 1 name receives ending axis name 1 Serial Communications Software Today s computers are mostly a derivative of the IBM PC Almost all of these computers include at least one serial RS 232 connection For those without COM ports low cost serial cards are available For many years PC s have used DOS as the basic operating software In recent years however Windows has replaced DOS in many applications So the system designer must make choices about the application requirements 20 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE Operating systems like Windows NT and Windows 2000 prevent programmers from direct access of the hardware The programmer is forced into passing instructions via mail boxes to perform I O functions a slow and inefficient process Baud Rate AMS has introduced a number of motion control products over the last 20 years The software for serial communications has remained essentially unchanged Depending upon the controller I C and hardware design different baud rates are possible The DCB 274 supports 9600 38 4k and with the SIN 10 serial adap
56. igher speed with reduction of torque Note NEVER connect or disconnect the motor when the power is ON Wait at least two minutes after turning off the power before connecting or disconnecting the motor This will allow proper dissipation of voltage from the unit Failure to do so may cause damage and void the warranty Baud Rate Jumpers B1 B2 12 Jumpers B land B2 determine the baud rate Standard UART properties are no parity 8 data bits 1 stop bit w y s o o 0 on v y lox J 0 000 ADVANCED MICRO SYSTEMS INC HARDWARE Specifications Electrical Output Current maximum 4 0 Amps Chopping Frequency 20kHz Supply Voltage 024 to 40 Vde Motor Step Resolution 1 8 1 4 1 2 Full Wave Non Volatile Memory 2k Bytes Position Counter 08 388 007 Baud Rate eene 9600 470k Serial Interface cen RS 422 4 Wire Full Duplex High Input Voltage 2 28 de Line Input Current 08 1 m PartySelect 3 25 36 Vide External Terminator 2 Om Threshold J1 Input Signals Ports 1 2 3 P4 In Jog 1 Jog 2 Jog Speed Step and Direction J4 Input Signals Limits Home Go and Soft Stop VIOSupply 3 7 46 83 V e Threshold 23 VIO vd InputVoltage 03 Ve VIO 4 6 volts
57. ign Although the DCB 274 and supporting documentation were designed to simplify the installation and on going operation of your equipment we recognize that the integration of motion control often requires answers to many complex issues Please feel free to take advantage of our technical expertise in this area by calling one of our support personnel to discuss your application at 603 882 1447 Limitations or Exceptions for the DCB 274 The SMC 27X2 micro controller used on the DCB 274 has capabilities or functions that vary from product to product Therefore some topics in this manual include descriptions of commands or hardware that may not be pertinent to the DCB 274 such as Serial interface While it is possible to use a simple 3 wire RS 232 design the DCB 274 is designed for a 5 volt differential RS 422 implementation only Current controls The hold and run currents are adjusted with a software command Y that allows automatic hold current setback Encoder input The Encoder input option allows quadrature digital inputs to be converted to step and direction for jogging or shuttle control For encoder feedback or closed loop control AMS offers it s MAX series products Encoder feedback is not possible with the DCB 274 Moving signal Some AMS products have a moving signal available on the serial connector The signals from all axes are combined to provide an any moving signal Determination of moving s
58. ine if a function is complete Editing features are NOT supported in daisy chain or party line operation Note the commands Control C and ESCape do NOT require the use of and will NOT be qualified by a name prefix All devices will respond 25 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE 26 The party line sequence can be sent using the dumb terminal Caution must be used because any typo s cannot be corrected with a backspace as is possible in the single axis mode You must cancel with the ESCape and start over Remember ESC is a global abort character Party Line Startup The programmer can verify the presence of the axis on power up by 1 Sending a linefeed lt If gt character 2 Sending a good name character 3 Waiting for echo of same name 4 Sending a 1f 5 Repeating 2 thru 5 for each axis in system Command Example The following example assumes two controllers are connected with name assignments of X and Y The characters are echoed back to the host as a handshake function The host awaits each individual character Timeout routines should be used to prevent processor hang up Index 1000 steps for axis X Output from Host X 100 0 LF Response from named controller X 1000 LF Index 500 steps for axis Y Output from Host Y 5 Response from named controller x Read Motion Status The returned decimal value xx yy represents the motion status When both least signifi
59. input hardware with pull down rather than pull ups The inputs will read zero volts A positive voltage must be applied to any of the affected inputs such as GO to trigger the true condition If both GO and Soft Stop are true at power up then a conflict message single mode is displayed and flag 8 will be temporally set to prevent a latch up condition 45 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Port 4 Input Flag 16 This flag informs the controller that Port 4 is to be used as an input Jumpers JP1 and JP2 must be set accordingly The commands read inputs A129 branch G 2048 and loop L n will use this input port Conflicts Flag 2 and Flag 4 outputs are not permitted Example turn on 3 options 25 14 8 16 invert limits PLC mode port 4 input In general a miss installed jumper will not cause damage other than a dysfunction Gentle Limit Flag 32 Preliminary not fully tested When a limit input is activated the motion presumably high speed will decelerate to zero based on the deceleration value defined by the K command This means that there will be some travel overshoot The mechanical design should take this into account Command Function Type NV Bytes Move at Constant Velocity Immediate Program 3 M Mnemonic Data 1 Data 2 Result Name M SPS 40 36 000 None None M Move at a Constant Velocity 46 The or sign determines direction during the move
60. is factory set with the following program example PO Enter program mode 1001 Move 1001 steps in the plus direction W 100 Wait 100 milliseconds 1000 Move 1000 steps in the minus direction W 100 Wait 100 milliseconds Z0 Display step position G00 Go to location 0 and run stored program P Exit program mode Function Type NV Bytes Index in Minus Direction Immediate Program 4 Mnemonic Data 1 Data 2 Result Name n Steps 0 16 777 215 None None Index in Minus Direction Same as command only in the opposite direction 55 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Read Moving Status Immediate Program 1 A Mnemonic Data 1 Data 2 Result Name None None Status A Read Moving Status The host may use this command to determine the current moving status that exists within the SMC 27X2 A non zero value indicates moving This command is normally used external from the controller s non volatile program The command would look like The result from this command would be a decimal number Any number other than 0 indicates the controller is moving Command Function Type NV Bytes Write to NV Memory Immediate N A Mnemonic Data 1 Data 2 Name a d Address 0 2047 Data 0 255 Write to NV Memory This command allows the programmer to modify any location in the memory The command being changed must be done so in decimal format Special step seque
61. ld current at 096 and Run current at 8096 of maximum The 4 amp drive would be set for 3 2 amps peak Note Refer to About Step Motor Current in the Addendum for more detail on setting the proper motor current Command Function Type NV Bytes Read and Display Current Position Immediate 1 Z Mnemonic Data 1 Result Name Z Readout Mode 0 1 Position Z Read Position During motor move commands the value will change depending on the direction of travel The counter is programmable by the O command The SMC 27X2 has the option of continuous readout via the serial interface The Z 1 command enables this operation Any change in position causes the position data to be sent to the serial output The readout is terminated by a carriage return only The readout mode will be defaulted as On if a SAVE command is issued This mode is only practical using single axis protocol The controller is factory set with the following program example PO Enter program mode 1001 Move 1001 steps in the plus direction W 100 Wait 100 milliseconds 1000 Move 1000 steps in the minus direction W 100 Wait 100 milliseconds Z0 Display step position G00 Go to location 0 and run stored program P Exit program mode 5 3 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Read NV Memory Immediate N A Mnemonic Data 1 Data 2 Result Displayed Name Address 0 2047 Sequential Bytes 0 2
62. ll condition Resonance at certain speeds can cause undesired stalls or erratic operation There is little difference between today s step motor and the first generation of 60 years ago The magnetic materials and torque have been improved yet it remains a simple reliable workhorse of industrial motion control Over time most improvements have been made to the drive and control electronics 1 e microstep solid state components with higher voltage current and switching speeds One insatiable hunger of a step motor is torque output at higher speeds Winding inductance is the villain that limits speed As the windings are switched on the magnetic flux must be built up from curent flow in the windings producing mechanical torque Higher step rates reduce the time available for flux to buildup and average current flow is reduced AM23 210 3 4A RMS MOTOR 1000 10000 100000 half steps sec Note The DCB 274 is rated for 40 volts only This reduced current results in reduced torque The rate of current change depends on the voltage applied across it High voltage applied across the coil will shorten the time constant Today s systems strive for low inductance motors and high voltage supplies The above curves show the increased speed that might be obtained with higher supply voltages up to 160Vdc At standstill the average motor voltage is regulated to approximately 3Vdc 61 ADVANCED MICRO SYSTEMS INC ADDENDUM 6 2 A cu
63. ller X RS 232 Computer DB 25 AMS RS 232 controller Y 20 DTR RS 232 Daisy Chain connection Advantages of this configuration include 1 Dynamic addressing the axis address is assigned at each initialization and do not have to be pre assigned or stored in NV memory 2 Lowest cost because RS 232 adapters are passive without any electronics Disadvantages 1 RS 232 is less reliable than RS 422 and is more susceptible to noise 2 Multiple axis RS 232 configurations are difficult to analyze 3 Complex wiring A single axis RS 232 system will operate well and is easy to implement Multiple axis daisy chained systems are not recommended The AMS demo program EAST does support daisy chain and single axis RS 232 mode 1 6 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE RS 422 Party Line Hardware AMS Party Line communication is an RS 422 design that uses RS 485 rated circuits This interconnect is comparable to a LAN configuration The hybrid design merges the best of both EIA specifications and maintains compatibility with EIA RS 422 and features e Multi drop serial bus Full duplex connection receive data is one pair of wires and transmitted data a second pair e Zero to five volt differential signals for high speed and robust noise rejection over long distances Data speeds from 100K to10M Baud Up to 32 controllers from one COM port Cable network length to 1200 Meters 4000 ft
64. lock from the working registers in the SMC 27X2 Frequent use of this command should be avoided as memory longevity may be affected Command Function Type NV Bytes Set and Enable Trip Point Default Program 4 T Mnemonic Data 1 Data 2 Result Name T n Position 8 388 607 Address 0 255 None T Trip Point During motion operations the position counter is continuously updated If the trip point function is enabled the position is continuously compared to the programmed trip position When equality is detected a trip event will be triggered If a program is running a call or Go Sub will be made to the specified address between and 255 Programs located at the specified address can perform almost any function including turning on off ports and setting new trip points A trip point cannot be reentered i e when executing a trip subroutine and a new trip is set as part of the routine the new trip cannot be triggered until the end of the first trip routine Routines located between 128 and 192 will execute faster because of the Shadow RAM feature Trip service routines should not contain index wait or time consuming instructions Disable To turn off the trip function use 0 zero as the address parameter The trip is not currently usable in the encoder mode The following is an example all commands are followed by a lt CR gt 1 Write program to location 0 zero PO Enter program mode at address 0 0 A8 Turn port
65. lsing the Go input and the program can be terminated at any time by hitting the ESCape key ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE Edit Program Example It is desired to change instruction number 21 from 500 steps to 5 000 steps Enter Remark P21 lt CR gt Edit instruction 21 R5000 Move 5 000 steps in the direction relative to Origin ESCape Terminates Edit mode Note Caution should be exercised when making Program Edits in dumb terminal mode due to variations in command byte length that may effect subsequent command address locations and possible corruption of non volatile memory storage It is recommended that application programs be developed using the menu driven program Party Line selection in the EASI diskette which includes a sophisticated Editor and Compiler Party Line and Daisy Chain Line Commands Note If a SIN 10 is used in the intelligent mode then the following rules will not apply because the SIN 10 will perform the necessary handshake The SMC series controllers incorporate a buffered UART input capable of receiving and holding ONE character at a time The controller must read this character before another one is received otherwise the UART will be over run resulting in missed character errors The handshake method used is a simple echo of the received character The host computer MUST ALWAYS wait for the echo Fixes such as insertion of delays between characters may seem
66. ly Closed Home Switch The Find Home step velocity using a normally closed Home switch actuation from logic low to high will always be the I initial velocity parameter setting Once the Home switch is actuated all motion ceases and the Homing function is complete The following table illustrates the possible combinations of switch motion sa Home Switch Direction of Motion Normally Open HightoLow 0 Negative Normally Closed Low to High 0 Positive Normally Open High to Low Normally Closed Low to High This command may be implemented within a program Following is an example PO Enter program mode F10001 Find the home switch in the 1 direction at a step rate of 1000 SPS P Exit program mode Command Function Type NV Bytes Execute Program Immediate Program 3 G Mnemonic Data 1 Data 2 Name G a t 0 192 256 2048 Trace 0 1 G Go The Go command is used to execute a user programmed sequence starting at location a Most programs will start at 0 however you may wish to start at another address The address MUST begin at a stored instruction address i e go to data produces unpredictable results 38 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE If t is a one the TRACE mode is turned on A display of the current step being executed is produced while the program is running The list format is the same as that of the Q command The TRACE mode will be in effec
67. might be necessary to run one motor winding at full current while the other is run at approximately 1 3 of that current Motor Choice The discussion here relates to bipolar chopper motors Internally standard motors have 4 windings resulting in a total of 8 wire leads Motor manufacturers supply various configurations c s unipolar cumbersome and untidy Lr IM E speed possible Parallel higher speed with lowered torque programmable phase sequencing Determining the Current Value Question What is the right current value Answer The minimum value to operate reliably As the step motor current is reduced below the rated current the torque output is reduced and eventually the motor will stall The ideal current setting minimizes heating of motor and electronics increases reliability and reduces power supply requirements Motors run more quietly and resonance effects can be reduced One drawback from low current operation is that some microstep size linearity may be reduced but full or half step accuracy is not adversely affected ADVANCED MICRO SYSTEMS INC ADDENDUM AMPS and Wire Count and Power The rated current is specified based on the rated power input watts of a given motor A Basic 8 Wire Motor While never actually used as 8 individual coils virtually all permanent magnet motors have 4 internal coils All common configurations can be constructed from the 8 wire motor Let us assume that each of 4 windin
68. monic Data 1 Data 2 Result P None None None P Party Line Mode Response to the single character Ctrl P 16 decimal 10 hex is immediate This control character restarts the controller in party line mode One or up to 32 controllers may be connected The C or cycle power command is used to restart in single controller space to sign on mode AMS SIN 11 Serial Adapter If you are using a SIN 11 serial adapter from AMS the amp command must be used to initiate party line operation On receipt of the amp command the SIN 11 automatically transmits the P character within the party line startup routine See the serial communication section for more information 58 ADVANCED MICRO SYSTEMS INC ADDENDUM Command Summar MNEMONIC COMMAND DATA RANGE DATA2 RANGE2 NV p 1 P INDEX IN DIRECTION STEPS i 16777215 4 Joje INDEX IN DIRECTION STEPS 1 16777215 4 leje ESC ABORT TERMINATE o ef e sorrsror 1 d Jeje c soFTWARERESEET READNVMEMORY ADDRES 02047 NUMBER 025 Jef WRITE TO NV MEMORY ADDRES 0204 DATA 025 Jef READLIMITVHARDWARE LIMHW Jo Jeje READMOVNGSTATU j 9 J N_ NAME CONTROLLER ef ENTERPARTYLINEMODE 9 SELECTIVETERMNATE
69. motion control As with all AMS products the DCB 274 is backed by over two decades of manufacturing excellence and a commitment to quality and support that guarantees your satisfaction This manual will assist you in optimizing the performance of your system Its purpose is to provide access to information that will facilitate a reliable and trouble free installation The manual is organized into the following sections Section 1 Hardware Section is a description of the physical product i e connections physical and electrical characteristics and a quick start guide to get you up and running Section 2 Serial Interface Section 2 defines all AMS serial communication protocols and highlights the specific protocol and hardware required for single and multi axis operation Section 3 SMC 27X2 Software Commands Section 3 details the software instructions and related parameters of the SMC 27X2 micro controller that powers the DCB 274 Section 4 Addendum Pertinent schematics charts etc are contained in Section 4 In addition to the Users Manual a PC AT compatible systems integration diskette EASI is supplied This powerful programming tool is an easy to use menu driven utility file with on line help screens and available source code Microsoft C Used together the Users Manual and EASI diskette will enable you to quickly take advantage of the advanced programming features and system capabilities inherent in the system des
70. n Current Default Immediate Program Mnemonic Data 1 Data 2 Result Name Y Hold 0 100 Run 0 100 Y Hold and Run Current This command allows specifying the Hold and Run values of motor current per phase between 0 and 100 with a resolution of 1 The value 100 represents a maximum of 4 amps per phase The switching between Hold and Run values is automatic whenever a motion function is executed Current reduction to the Hold value is automatic and occurs when stationary A settling time nominally 1 second is inserted after each move is completed The maximum current is limited to a value that will not consume more than the 100VA and is available from your power supply 52 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE The following procedure is used to access the independently programmable Hold and Run current feature 1 Issue the Y command to program the desired current values Entering Y10 80 yields a 10 Hold current and 80 Run current 2 Issue an S Save command The values are now stored in non volatile memory On receipt of an index or other motion command the control circuits are incremented to the 80 boost while moving is in process On completion of motion and settling time delay the current is automatically reduced to the 10 Hold current level Quiet Mode To access the Current Disable feature use the following current setup procedure Enter Result Y00 80 Initiates current program mode sets Ho
71. nces may be entered and all initialization constants may be changed Reference Memory Map in the beginning of this section for specific locations The life expectancy of the NV memory may be affected by this command This command complements the Read NV Memory command Addresses 128 191 in the NV memory are always written to not the RAM This is a very powerful command and care must be taken not to overwrite other needed sections of the nonvolatile program The example of this command is as follows AMS controllers are factory set with the following program example PO Enter program mode 1001 Move 1001 steps in the plus direction W 100 Wait 100 milliseconds 1000 Move 1000 steps in the minus direction W 100 Wait 100 milliseconds Z0 Display step position G00 Go to location 0 and run stored program P Exit program mode Let s say you wish to change the G 0 0 section of the program to the soft stop command When you query the program it shows the G command at location 16 The decimal value for the command is 0 So to change the G 0 0 command to a soft stop you would enter the following command line 1160 56 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Function Type NV Bytes Terminate Program Immediate 2 Mnemonic Data 1 Data 2 Result Status Name i Byte Selective Termination This command pipend vertical dash key Shift can be placed at a point to terminate equivalent to ABORT the
72. ne or two user outputs are available They will withstand in excess of 30 Vdc and will sink over 1 amp to a low voltage when turned on In the off state after reset and power up they have a weak pull up resistor to VIO ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE The PLC option flag 8 has no affect on the output behavior Port 4 as an output as shipped 1 Install JPland JP2 in off storage position 2 Insure that P4 input option flag 32 I command is off Port 4 is controlled by the A 8 flag 8 command and read back with the A 129 command The step pulse is output to P4 when the step direction out option flag 2 is set Port 5 is an output only It is turned on with A 16 command flag 16 Setting option flag 4 will convert P4 to a moving status output Pot Fiag Por Flag How Reading the port data A 129 provides the following result information Cause Standard Mode Cause PLC Mode Low input present on port 1 High input present on port 1 Low input present on port 2 High input present on port 2 8 Lowinputpresentonport4 High input present on port 4 Flags are the binary weight of the decimal value 0 1 2 4 8 16 32 64 and 128 for an 8 bit number Programming Example The following example program shows how to turn on an output port Some uses for this could be illuminating an LED to signal a sequence is complete or to operate a valve PO Enter program mode A4 Turn
73. ns it is typically easier to decelerate a system rather than accelerate a system The separate decelerate parameter feature is a valuable time saver when compared to systems with fixed acceleration deceleration times 41 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE The following two examples are of ramped indexes each 2000 steps with I 400 V 5000 but different K values K50 5 and K5 5 Blow V 50551 Slew V 5000 Dwell 50 steps Dwell 5 stupa at cach pont Deuel steps ad cach polri ie SS Initial Velacity 31 410 SPS Dacal staps wl esch paint VFI QCITY IN SPS Init ipl Vuluxify 17400 45 TRAVFI DISTANCE IN STEPS Note The default value of K is 5 Accel 5 Decel To modify the ramp slope it is always necessary to enter two 2 data values from 0 to 255 corresponding to the desired slope for motor acceleration vs deceleration The value of K can be proportionally changed if the microstep resolution H command or Divide Speed D command is increased The K command can be issued 1 As part of a setup 2 In an application program 3 As User defined defaults at reset This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter the program mode K 100 50 Change the acceleration ramp to 100 and the deceleration ramp to 50 P Exit program mod
74. ns 41 K Ramp Slope aset oet iie dert d LER Le RE EYE HR E YRXR RE RREDR vised MERERI tein dba iE 41 k lower case K Trip Output Value eesissssesiisssseseieies nennen nennen nnns nne rhet rre ne rr nnn nn 42 L Loop On Port i ud ee teenie ni MX RYE S YE VERE qui 44 lower case L Option Flags sessssesissssseeeseieeen nennen nennen nnns nennen nares nnns enn nnne 44 M Move at a Constant Velocity esses nnne nnne nnne nennen nnns sena nnne nnne 46 O Set Origin udin eerte tee dee i exo ates ane aah ee e eH P RR RE aes aae RAP abe Ges 47 P Program Moda neern irin ed e ue i vaa du MER e i ad ee dn eee 47 Q LEist Program tiet rated ond Ett dar ee b d ated i do iet e Hl d ted and dacs a e ug 48 R Index Relative to Origin isses nennen nne 48 c r LE 49 ADVANCED MICRO SYSTEMS INC DCB 274 USERS MANUAL Addenum E Trip Point scientist once 49 V Set Slew A ep re eo wpa lage Ne ko nane ARRA ea REPE MERE lade habs Ween 50 W Wait eee 51 w lower case W Pre energize sess hne Een rete anne tena hne 51 PESCE 52 Y Hold and Run G rrent ase tees cereo aet a eth doa e d I Eee o D AE euge Ran a 52 Z Read Position eor a n dude a Veen tan vae an Yu e M aa 53
75. o position for the RELATIVE mode is 0000 Signed numbers are used Hardware reset clears to 0000 The position counter is incremented or decremented for all motion commands During any index the position counter is used only for trip value comparison This counter may be changed without affecting the distance of travel in process This command may be implemented within a program It is very useful when used in conjunction with the Find Home and Relative Positioning commands Following is an example PO Enter program mode F10001 Find the Home switch in the 1 direction at a step rate of 1000 SPS O Set origin and counter to 0 R 1000 Move to position 1000 relative to 0 P Exit program mode Command Function Type NV Bytes Program Mode On Off Immediate N A p Mnemonic Data 1 Data 2 Result Name P a Address 0 2047 None None P Program Mode The P command is always used in pairs The first P initiates the program mode at the specified address Once in this mode all commands and data are directed into the NV memory for future execution Entering the second P command will terminate the PROGRAM mode and then insert an end of program marker OFFh in the stored program The controller will then return to the COMMAND mode The program mode may also be terminated with the ESCape character causing immediate return to the COMMAND mode without inserting the end of program marker This is useful for editing sec
76. omplete The following example program makes a move waits for motion to complete then turns on an output port Some uses for this could be illuminating a LED signaling a sequence is complete or operating a valve PO Enter program mode 1000 Move 1000 steps in the plus direction WO Wait for move to finish A8 Turn on port 4 W 500 Wait SOmilliseconds A0 Turn off port PO Exit program mode Command Function Type NV Bytes Wait n Milliseconds Immediate Program 3 W Mnemonic Data 1 Data 2 Result Name w n 10 ms 0 255 None None W lower case W Pre energize The w command is a pre energize command that can insure that motor current has built up when a step command is executed while in the holding current state This parameter is useful under certain conditions and should be zero off if possible The following conditions might require pre energize time 1 Automatic current setback E command is in effect 2 If the delay between consecutive motion commands exceeds 1 second 3 If the initial speed T command specified is too high 4 If the acceleration requirements are excessive When the auto current setback is used motor current will be reduced after approximately one second of idle time When a new motion command R M F etc is executed the windings are re energized almost instantly with the first motor step Thus the motor must rapidly change from a relaxed position
77. op on Port command as explained later is PO Enter program mode M 2000 Move at a constant step rate of 2000 SPS L00 Loop to memory address location 0 until port 1 is low Decelerate and stop program execution P Exit program mode Command Function Type LE Reset Controller None Mnemonic Data 1 Data 2 Result Name C None None None C Reset Resets controller to power up condition waiting for start sequence It is analogous to Ctrl Alt Delete reboot the computer All outputs are set high defaults are reloaded from NV memory and position is set to zero This command may not be used within the non volatile program memory This does not modify the NV memory values Command Function Type NV Bytes Read Write to Ports Immediate Program 2 2 34 A Mnemonic Data 1 Data 2 Result Name A n 0 129 None Port Data A Port Read Write This command controls the user input output ports Inputs The A129 command will read a value between 0 and 7 or 0 and 15 if port 4 is configured as an input Output ports are not read Ports 1 2 and 3 flags 1 2 and 4 are input ports only The PLC option flag 8 inverts the sense of these inputs Refer to I lower case L command for option flag information Port 4 is configurable as either an input or output with jumpers Port 4 defined as Port 4 as an input 1 Install JPland JP2 2 Insure that P4 input option flag 32 l command is on Outputs O
78. ower supply with adequate output power 6 A compatible stepper motor 7 A DC Amp meter with bridge rectifier circuit 8 A cooling fan or heat sink as necessary The DCB 274 will operate at voltages of 12Vdc minimum but it is not recommended due to the lower performance and higher power supply amperage demand Preliminary Settings SIN 7 or 9 non configurable or SIN 8 place red selector switch in S single position or SIN 10 all 8 switches in off position towards DB 9 connector DCB 274 Remove any baud rate jumpers Basic Set up 1 Connect the SIN n adapter to serial input J2 of DCB 274 with RJ 45 cable 2 Connect the SIN n DB 25 9 end of the serial adapter to the computer RS 232 serial port 3 Connect your power supply to the power connector J5 J5 pin 1 is negative GND J5 pin 2 is positive VMM Improper power connection will destroy the electronics GND is also connected to the base plate Motor connection is not necessary at this time Configure Serial Communications Full duplex 9600 baud no parity 8 data bits 1 stop bit Note CR is the enter key Apply Power Less than 0 1 amp is drawn for metered supplies Depress the SPACE BAR key and the DCB 274 should sign on Troubles 1 Nothing happens a Check connections b Check for correct COM port c Check switches d Inspect RJ 45 connectors for bent contacts 2 Garbage characters appear a Verify baud rate and serial p
79. per is in the STD mode pins 1 and 2 a low is defined as a voltage above 2 VIO no connect A high is less than 1 VIO GND When the PLC jumper is in the PLC mode pins 2 and 3 the inputs are inverted A low is defined as zero volts no connect a high is a voltage above 2 VIO mode jumper Commands located in address space between 129 191 will execute much faster 39 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Set Step Size Resolution Default Immediate Program 2 H Mnemonic Data 1 Data 2 Result Name H n 0 5 None None H Step Resolution This command selects step size resolution The SMC 27X2 has an internal lookup table of up to 32 bytes corresponding to 1 8 step This specifies which table is to be used Each time this command is executed the values are reset to step 1 and the armature is repositioned to the start phase Initial and final velocities may require appropriate changes The H command sets the phase switching sequence Steps per rev Sequence H Command 1 8 deg Motor Remark This command is generally implemented during the initial customer default parameter assignment However it may be implemented and changed within a program Following is an example PO Enter program mode H1 Change the resolution to step P Exit program mode Command Function Type NV Bytes Set Initial Velocity Default Immediate Program 3 Mnemonic Data 1 Data 2 Result
80. r of data bytes command type and motion in process One receipt of the line feed most commands execute in less than one millisecond The exceptions are LV SPS CO Reset defaults Times will vary depending on product The EASI program has a benchmark feature that can be used to determine times 29 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Non Volatile Memory Details The SMC 27X2 uses the X24C16 a 2048 byte EEPROM A worst case of 4 bytes per instruction yields a capacity of 500 commands These devices are rated to retain data for 100 years As with all EEPROMS the number of times it may be re programmed is limited Each time a cell is written a small number of electrons are trapped in the dielectric After many write cycles the dielectric becomes less effective and the cell cannot retain its charge The write life cycle endurance rating is constantly being improved At this time a life in excess of 1 million cycles is available To extend the life of the EEPROM in your device it is necessary to be aware of which commands of the SMC 27X2 perform writes to the EEPROM and eliminate those which are not needed For example the RESTORE command C 0 will retrieve the parameters from the EEPROM without doing a write If the INITIALIZE command C 1 was chosen the first 256 BYTES of EEPROM are written If you require a sequence of motions to be done without host attention break up the motions into sub groups rather than
81. ractical with all computer operating systems RS 422 PARTY LINE OUT SIN 8 RS 232 to RS 422 converter 18 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE SIN 10 Intelligent Serial Adapter The SIN 10 is an intelligent serial line converter that simplifies application software development and improves overall performance Dual independent UARTS COM ports permit spooling commands at rates between 1200 and 115k baud Specific operating instructions are contained in the SIN 10 Users Guide The SIN 10 has a built in microprocessor that offers a number of features e Emulating the SIN 8 e Diagnostic LED s Numerous Input baud rates Output party line baud rates including the special 470k baud rate DB 9 serial input connector RJ 45 party line connector e e 5 volt powered from controller 250 character buffers for multiple commands per line Because the SIN 10 eliminates the need for special echoed character software it can be used in Windows applications where either the machine or software is slow and or the operating system prevents direct programming of input or output instructions RS 232 DATA LEDS PARTY DATA LEDS om Or cv 0 E le o DO party SELECT i256 CHAR PARTY LINE DATA BAUD AND MODE SWITCH SIN 10 intelligent serial line converter There are several commands that the SIN 10 can execute including Scan for axis present required initialization and Wait until motion comple
82. rrent sense circuit is used to switch off the current when it reaches the set value hence the motor power is regulated These chopper circuits operate at speeds above 20khz well above hearing limits The following is an abstract from Control of Stepping Motors a Tutorial linked from www stepcontrol com by Douglas W Jones University of Iowa Department of Computer Science http www cs uiowa edu jones step index html Small stepping motors such as those used for head positioning on floppy disk drives are usually driven at alow DC voltage and the current through the motor windings is usually limited by the internal resistance of the winding High torque motors on the other hand are frequently built with very low resistance windings when driven by any reasonable supply voltage these motors typically require external current limiting circuitry There is good reason to run a stepping motor at a supply voltage above that needed to push the maximum rated current through the motor windings Running a motor at higher voltages leads to a faster rise in the current through the windings when they are turned on and this in turn leads to a higher cutoff speed for the motor and higher torques at speeds above the cutoff Microstepping where the control system positions the motor rotor between half steps also requires external current limiting circuitry For example to position the rotor 1 4 of the way from one step to another it
83. s the priority the additional system programming effort to implement a SIN 7 8 or 9 may be cost effective A complete description of the serial interface specifications and operation is contained in Section 2 Serial Interface ADVANCED MICRO SYSTEMS INC HARDWARE Multi axis Serial Interface Connection SERIAL BLC 51 XX INTERFACE INTERCONNECT ADAPTER CABLE 1 0 Connections J1 J4 The DCB 274 has a robust set of input and output signals Two connectors J1 and J4 provide dedicated inputs and outputs Five user defined signals are also provided All inputs can withstand voltages in excess of 28 volts Two high voltage high current outputs are available to drive solenoids relays motors etc Fourteen input signals can be configured as either sourcing or PLC inputs Thus many controllers sensors that provide true outputs are easily adaptable qu 1 000000000000 Port Power common 45v og Psy P Ve logiepowr Jog gt mp Direction or Encoder B Note Outputs are 5 volt logic with 10k pull up to 5 volts 6 8 9 J4 Used with the F ind home command Inhibits motion in direction only Inhibits motion in direction only Goinput Star stored program sequence at ovation 0d 7 ADVANCED MICRO SYSTEMS INC HARDWARE Pin 7 VIO Reference Input This signal defines the input and output voltage range A default voltage of 4 6 volts is derived from the intern
84. t until the program execution terminates or until an embedded Go without the trace attribute is encountered The address range is 2047 depending on NV memory capacity Address locations between 225 and 255 are reserved for parameter storage and may not be used in programs The SMC 27X2 also features a special case for the Go instruction The controller is factory set with the following program example PO Enter program mode 1001 Move 1001 steps in the plus direction W 100 Wait 100 milliseconds 1000 Move 1000 steps in the minus direction W 100 Wait 100 milliseconds Z0 Display step position G00 Go to location 0 and run stored program P Exit program mode Special case Go If the address is specified as 2048 above the last NV memory address the SMC 27X2 will read the input ports then branch to an address based on the state of input ports 1 through 4 In such case each state of the input ports acts as a go switch To prevent any confusion to the controller each address should have a program associated with it even if it is simply G 2048 0 to go back into the branch to mode The target address starts at the second page of program memory starting at address 256 with 16 character byte intervals This instruction is analogous to on PORT go to Address of Input Port State Go to The physical input ports are internally inverted as part of the address computation When the PLC jum
85. tatus on the DCB 274 is better done using the Read Moving Status command For applications requiring this type of signal a mode using the small 1 command is available to allow port 4 to become a hard ware moving output ADVANCED MICRO SYSTEMS INC HARDWARE Product Overview The DCB 274 combines efficient bi polar chopper Driver circuitry with AMS new powerful SMC 27X2 Micro controller on a single heat sink mounted board to operate small to mid size stepping motors It is designed for low cost O E M applications yet includes many enhanced operating features found in products costing much more Features e Programmable hold and run currents Selectable PLC sourcing input mode All inputs withstand gt 28 volts e 2x2 amp outputs e SMC27X2 intelligent controller up to 40 000 SPS e Single 24 to 45 volt power supply input Full 1 2 1 4 1 8 microstep resolution 2k bytes of non volatile memory Limit Home Go and Stop inputs Step Direction and Jog inputs Encoder input option e Serial communication 1 32 axes 4 0 amp phase max chopper drive output Programmable acceleration and deceleration ramp Constant velocity commands Heat sink mounted and mating connectors included ADVANCED MICRO SYSTEMS INC HARDWARE Required Hardware for Operation axis DCB274 DriverControllerBoard 1 System User defined _ 2410 40Vde powersupply__ Axis RS 232 serial adapter single
86. te 1 or all axis A typical command string to a X Y Z system could be X 1000 Y 1000 Z 1000 9W XZ YZ ZZ This would cause all three axes to move the specified number of steps wait until motion is stopped then read back the three positions Other Party Line Signals In addition to the serial data bus wires several other signals exist in the AMS party line interconnect 1 GND pin 2 Ground is common for all devices axis All power supply commons are connected to prevent high common mode voltages Please note that the power common is generally connected to the case return 2 5 Volts pin 7 is available to power the serial adapter SIN 8 or SIN 10 from the first axis 3 MVG Not available in this product Software pooling must be used to query motion Note The SIN 10 determines motion via special SIN 10 instructions 19 ADVANCED MICRO SYSTEMS INC SERIAL INTERFACE 4 Party Select pin 8 Each axis tests this input after reset power up or in response to a C command to determine either single or party line mode Single mode ONLY one axis connected is used for debug programming for stand alone use or assignment of party line name The SIN 8 has a switch to manually select party line P or Single S mode The SIN 10 is selectable via host commands or a built in mode switch Serial Communications Overview There are three methods protocols used to send and receive command and data from an AMS controller axis
87. ter a fast 470k baud The standard default baud rate for all AMS products is factory set to 9600 baud Serial data format is 8 bits 1 start bit 1 stop bit and no parity the default for most PC s EASI Software To assist with the implementation of your project AMS offers a software program called EASI This software has evolved over a 20 year period and will operate under DOS Windows 95 and Windows 98 as a DOS application With a SIN 7 SIN 9 and SIN 8 adapter EASI will function running under DOS Windows 95 Windows 98 It is reported that Windows ME and NT are also compatible EASI does have limitations especially with Windows 2000 The GUI operation pull down menus party line is NOT compatible with Windows 2000 and is limited to DUMB Terminal operation in this mode SIN 10 The SIN 10 serial adapter can function in an intelligent mode or emulate a SIN 8 for test purposes When in the SIN 8 mode full GUI is possible with any of the above mentioned operating systems but you will be defeating the purpose of the powerful SIN 10 capabilities In addition to EASI almost any communication program such as ProComm or Hyper Terminal can also perform the dumb terminal operation provided the necessary character filter is configured Serial Interface Using EASI 1 Attach the D connector end of the serial adapter to either COM1 or COM2 of your PC AT compatible computer 2 Connect the other end of the cable assem
88. tions of the program without requiring that all commands be re entered More than one program may exist at different addresses These commands can than be executed via the G address command There are special address ranges that are assigned to various functions 128 191 Fast shadow RAM 256 511 G 2048 command 1600 47 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes List Program Immediate N A Q Mnemonic Data 1 Result Name Q a Address 0 2047 Listing Q List Program Note Use in dumb terminal single line mode List program stored in non volatile memory using the format Address Instruction Value 1 Value 2 The values will be displayed only if applicable to the particular instruction type Twenty instructions are displayed at a time Use the lt CR gt key to list up to 20 more commands without pause ESC quits and any other key single steps the listing Command Function Type NV Bytes Index Relative to Origin Immediate Program 4 R Mnemonic Data 1 Data 2 Result Name R n Position 8 388 607 None None R Index Relative to Origin Move with ramping relative to the 0 origin The target position has a range of 8 388 607 steps from the 0 origin The motion sequence is 1 Wait until any previous motion is finished 2 Read the current position then calculate the distance to the new target position 3 Energize the motor winding 4 Start st
89. to the next step This pre energize insures a delay after turn on The delay is not used if the setback timeout from a prior motion is not timed out That is the motor current is still at 10096 The drawback is that this function can introduce a substantial start delay 51 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE The controller will remain in an idle state for the specified time The Wait command if issued while indexing as a result of an R or F command timing will NOT start until the motion has completed NV default 0 The following example program pre energizes the controller to the run current then makes a move PO Enter program mode w 25 Pre energize the controller for 250 milliseconds 1000 Move 1000 steps in the plus direction PO Exit program mode Command Function Type NV Bytes Examine Settings Immediate N A Mnemonic Data 1 Data 2 Result Display None None Setting X Examine The Examine command produces two different responses depending on the mode of operation When NOT in the multi axis mode non daisy chain or party line the display is as follows X K 5 5 I 400 V 5016 D 1 n C Where K Ramp up ramp down I Initial velocity V Slew velocity D Divide factor V5 Resolution mode n Axis name In the multi axis daisy chain or party line mode the data is returned in the following format mm LF mm model 26 Command Function Type NV Bytes Program Hold and Ru
90. to work but will ultimately fail Beware that many PLC manufacturers do not provide the serial software flexibility required for your application to make the proper communication The SIN 10 adapter provides handshaking functions and other features to make life simpler and reduce software development time Some Rules 1 The first character of a command MUST be the name character assigned to the axis 2 The command line terminator MUST be a Line Feed character 3 The name must be preceded by an LF presumably the terminator for the previous command i e lt LF gt n xxxxxxx LP Note An LF can be generated using a Ctrl Enter key combination on a PC The first Line Feed resets the command buffer for all axes The controller then tests the character immediately following a Line Feed If this character matches the assigned name the axis will interpret the following characters up to 12 as an input command If the axis does NOT detect a proper name and command then the data is simply echoed back to the terminal The designated controller re issues the Line Feed after processing the command If the command is of the type that results in a data output such as Z then the data result will be inserted before the Line Feed The Line Feed does NOT indicate that a move or other time consuming command is finished but only initiated The terminal can interrogate the motion status using the appropriate command to determ
91. ts Power Supply and Motor Connection J5 Connector J5 provides the power supply input and motor phase drive outputs The recommended power supply is an unregulated DC design with voltage and current ratings appropriate for the driver The on board 5 volt is for logic power For maximum motor speed performance the motor should have a low voltage higher current low inductance and the power supply voltage as high as possible NEVER exceeding the DCB 274 input ratings 6 PHO Phael A 11 ADVANCED MICRO SYSTEMS INC HARDWARE High Torque High Speed High Speed SON Jy PH 0 M LN j PH 1 o p PH 2 p PH 3 VMM Power Power Power GND GND GND GND Bipolar Series Bipolar Parallel Bipolar 50 Copper FIGA FIGB FIG C Typical Wiring Diagrams for Step Motors Fig A Series winding for higher torque and lower current The inductance is 4 times that of the parallel mode reducing the maximum obtainable speed Fig B Parallel winding for better high speed performance but requires higher drive current A 4 wire motor is the same as an 8 wire motor but it is connected in either parallel or series internally Some motors can be rewired at the factory Fig C A 6 wire motor is a variation of the 8 wire series configuration where the center taps are available The 6 wire motor can be used in series mode but cannot be connected in parallel A compromised 50 copper connection can be used producing h
92. ually tests for jog go or command input The following describes each operation that takes place on receipt of a command Cycle 1 Entry A Serial command and data information is placed in a command line buffer as received Editing is permitted in SINGLE axis mode ESCape aborts operation and returns to idle state A carriage RETURN Line Feed for Daisy Chain terminates the entry cycle and initiates execution Cycle 2 Execution The command is processed In the case of two consecutive action commands execution will be delayed until any previous completion cycle has been completed Cycle 3 Result The result cycle outputs any numerical result required by the command i e the position The result type is signed numerical data preceded by space padding and followed by a Carriage Return and Line Feed If the result does NOT produce numeric data then the Carriage Return Line Feed output indicates execution is complete Cycle 4 Completion The completion phase is required for any Action command cycle The following are Action commands Completion Cycle GO Until last instruction is complete Until full index is complete During the completion cycle except for GO any non action command such as Read Position may be executed The controller has the capability to queue up another action command during the completion cycle resulting from a preceding action command The execution and result cycle of this
93. uence Assume that the command k 200 8 is executed at the beginning of the program The following actions take place 1 Port 4 is set on per data2 see the A command 2 The first trip position is set per Datal 200 3 A special trip program counter PC is set to 128 9 6000 Now the 6000 index command is started When the position matches 200 the command located at 128 is checked for either a t or sett 128 k 200 0 The k changes the trip position to 400 and turns all output ports off high logic voltage This is executed while at the exact 400 position The program counter is advanced to 133 133 k 600 16 This is executed like the previous 128 new trip 600 ports 4 and are turned on and the program counter set to 138 138 i 200 8 The restart command performs the same actions as the initial k 200 8 command Port 4 is turned on the trip is set to 200 and program counter is reset to 128 ONE IMPORTANT ADDITIONAL ACTION is performed The position counter is reset to ZERO and causes the repeat of trips 200 400 and 600 Notes 1 The physical motor travel will be 6000 steps even though the position counter has been reset 10 times 2 The cycle will repeat 10 times 3 The position counter ends up at zero 43 ADVANCED MICRO SYSTEMS INC SMC 27X2 SOFTWARE Command Function Type NV Bytes Loop on Port Program 3 L Mnemonic Data 2 Result Name L a c Condition 0 9
94. with the 12 lower case L command Port 4 becomes a step pulse output The output signal can be redefined as a moving output with the 1 4 lower case L command The moving output is useful in designs where a PLC or computer cannot interrogate motion status using serial communications the preferred method The FET transistor ratings are RDSon 065 ohm VDS 55 volts and ID 17 amps because the FET transistors are not heat sunk never draw more than 3 amps Damage caused from miss application of these devices is not covered by warranty External DC Output Pin SMC 26 Microprocessor Buffer Mosfet Typical Output Circuit The default off condition is non conducting 5 volts when a port is turned on such as the A 16 command The output will conduct to zero volts Ground at up to the rated current of 16 mA DC Encoder Input Option J1 This option does not support Encoder Feedback The DCB 274 is available with step and direction or encoder inputs Depending on the option either step and direction or optional encoder phase A and phase B can be used Several features and cautions must be observed 1 The position counter will follow the input step direction or A B inputs The limit switches function with direction sensitivity The minimum pulse low time is 7 microseconds Stepping occurs on the rising edge of the pulse The direction must be setup prior to the rising step edge Dir
95. ying the duty cycle but instead shorts the motor windings when OFF i e zero volts vs maximum DC bus voltage The slow decay mode of operation permits higher currents higher torque at lower speeds with less motor heating but also exhibits poor low current regulation 65 ADVANCED MICRO SYSTEMS INC ADDENDUM Serial Adapter Summary 6 6 AMS offers several serial adapters These are used to connect a standard computer RS 232 D connector to the serial I O on AMS controllers axis Four model SIN n adapters are currently available as follows SIN 7 SIN 9 not recommended for multi axis applications These are the lowest cost adapters They are passive without electronics and are suitable for use with only one axis at any given time Most new products employ a RS 422 interface While RS 422 specifications differ from RS 232 these adapters will generally work over short cable runs For more than one axis party line operation is not supported with these adapters However the original AMS daisy chain protocol can be used The SIN 7 has a standard 25 pin serial connect The SIN 9 has a standard 9 pin serial connect SIN 8 This adapter contains the proper RS 232 to RS 422 electronics powered from the AMS controller It is reliable over long distances and supports party line operation for 1 to 32 controllers A mechanical switch is used to place the controllers into either single or party line mode Disa

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