Cytron UC00A User`s manual
Contents
1. H A small green LED to indicate status of power If power is connected and voltage selector is selected correctly this LED will light ON I Voltage selector to select either Single Supply Mode or Dual Supply Mode for the power source J A 2510 6 ways connector to power source and or host Please refer to chapter 5 Hardware installation for details Created by Cytron Technologies Sdn Bhd All Rights Reserved 9 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 5 INSTALLATION HARDWARE 5 1 Connecting Driver to a Stepper Motor Most unipolar stepper motor comes with 5 or 6 wires As shown in the following left figure there will be 2 wires 1 and 2 which act as the common terminal for coil a and coil b If these 2 wires 1 and 2 are not used it will become bipolar stepper motor as shown in figure on the right Unipolar stepper motor Bipolar stepper motor Before connection can be made please determine the correct wiring for stepper motor In general 2 phase stepper motors can have 4 5 or 6 wire leads not including any optional encoder lines The best solution is to obtain the pin out from the motor manufacturer If user does not have access to the pin out then the following procedure will help in determine wiring of the 2 phases stepper motor Some stepper motors have a motor case ground that can be tied to the ground of the system It is usually a black wire and it will add one a2. Label Function Label Function A Heat sink with fan F Push button to reset SD02B Connector to stepper motor G Push button to test SD02B C n a H Small green LED as VCC indicator D Manufacturing test point I Voltage selector E UART communication J Connector to Host Signal A A heat sink with fan to dissipate the heat generated by SD02B B A2510 6 ways connector for user to connect particular stepper motor Please solder the wire properly by referring to chapter 5 Hardware Installation C 4 yellow LEDs acting as indicator for stepper motor coil These LEDs will indicate which coil is being powered at a moment D Manufacturing test point for SD02B The header pin is not soldered since it is meant for production test point Please DO NOT connect or shorted any of these pins E UART communication between SD02B and microcontroller circuit or PC s Serial Communication Interface SCI Created by Cytron Technologies Sdn Bhd All Rights Reserved 8 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B F A push button acting as reset button to SD02B If this button is pressed SD02B will be reset to initial stage Please DO NOT pressed this button during operation G A push button to activate self test on SDO2B When it is pressed and hold SD02B will start to drive stepper motor If power supply is connected and voltage selector is selected correctly LEDs at C will illuminate sequentially
3. b Figure below shows the setup of SD02B to a stepper motor ow a jo E nt ne a e Reset CytronS www cytron com my c To interface with a computer simply connect UCOOA 4 pin connector to SD02B and the USB end to PC as shown in the following figure Please note that the TX and RX pins between SD02B and UCOOA are cross connected Connect to PC Laptop Created by Cytron Technologies Sdn Bhd All Rights Reserved 17 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B d Please refer to documents named USB Driver Installation Guide included in UCOOA package for driver installation e After plugged in UCOOA to computer and installed the driver user is ready to test the functionality of SD02B using SD02B GUI 5 5 Enable and Disable the driver As stated in the Absolute Maximum Rating in chapter 3 Product Specification and Limitations the current consumed may raises up to 2 53A at certain situation In order to save power user is advised to turn off the motor whenever it is possible For controlling SD02B using signal input pins providing a low logic OV to EN pin allows user to shut off the driver and get into power saving mode When stepper motor is idle it can be in stall state provide torque and draw current or off state free do not draw current By default this pin is disabled For controlling SD02B through UART the OFF com
4. 2 stop stepper motor Set New Baudrate Reset Track Stepper motor will brake when encoder reach the Control Panel ae Set Acceleration value ON OFF Initial Speed 20 GO BRAKE and OoOo Ma s l et acceleration for CW CCW for Final Speed 100 stepper motor User may stepper motor a accelerate or de Accel Rate 80 EJ accelerate stepper motor Accelerate Set speed for stepper motor Micro Stepping STATUS Disable or enable micro None 171 stepping User may choose micro stepping types Micro Stepping Note The encoder value and the actual distance will depend on the diameter of the wheel For example if user use 1 10 micro stepping with motor 1 8 per step it needs 360 0 18 2000 steps for 1 full 360 rotation If the diameter of the wheel is 5cm so the distance for stepper motor to travel in 1 full 360 rotation is 2m 5cm 2 15 71cm Means if we track encoder by sending 2000 to SD02B it will stop the motor when it traveled 15 71cm For wheel with different size and stepper motor with different resolution step the distance for the wheel to travel is different at 2000 encoder value User need to calculate own encoder value by referring to the formulae given above Created by Cytron Technologies Sdn Bhd All Rights Reserved 22 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B 6 2 Sample Program for PIC18F4520 Driving stepper motor is common necessity in mos
5. To begin users have to choose either Vin or Vmotor power supply at voltage selector Then connect Vmotor and or Vin and Gnd to power supply at a voltage according to the specification of the stepper motor used and make sure the voltage is within the voltage range of SD02B Vmotor and or Vin Please refer to section 3 Product Specification and Limitations for details d Power up the microcontroller board and SD02B Once the power is supplied to SD02B the 3mm green LED should light ON e The hardware interface for SD02B to microcontroller is ready However in order to control stepper motor from microcontroller user is required to write a program for the microcontroller to send commands through its UART according to SD02B UART protocol f User may refer to PIC18F4520 sample program provided to control two SD02B thus two stepper motors through one hardware UART and one software UART using Microchip MPLAB C18 C Compiler Libraries Since most midrange PICs only have one hardware UART so one software UART is used for the second UART interface This sample code shows how to generate an additional UART using software approach Created by Cytron Technologies Sdn Bhd All Rights Reserved 15 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 5 4 2 Connecting SD02B to Computer Another concern in controlling stepper motor using a computer is the hard work needed to get started However with SD02B interfa
6. Type Application From C Documents and Settings Joliza Desktop Always ask before opening this file publisher You should only run software from publishers you trust x This file does not have a valid digital signature that verifies its How can decide what software to run 3 Ifthe program is unable to be executed the latest INET Framework may be needed to be installed It is downloadable from Microsoft official website Created by Cytron Technologies Sdn Bhd All Rights Reserved 19 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual SD02B 4 After Run is clicked a window will pop out following figure show the window ET SDO2B GUI ver1 0 Request Encoder 9600 v Acquire Encoder CONNECT Track Encoder 255 f Set New Baudrate Control Panel Reset Track Set Acceleration ON Initial Speed 20 Final Speed 100 Cw Accel Rate Set Speed Accelerate Micro Stepping STATUS None 1 1 Micro Stepping 5 Before any setup can be done please ensure hardware installation of SD02B is being setup correctly and power to stepper motor is connected If you are using UCOOA UCOO0A s driver must be installed 6 After hardware installation choose the COM Ports Normally the extra virtual COM port will be the largest number port after driver installation Select it The default baudrate for SD02B is 9600 7 Click the Connect button and SD02B GUI will show CO
7. refer to the source code and modify it or write a new program to create own GUI for own application The GUI is written with Microsoft Visual Basic 2008 Express Edition Any version older than this may not be able to open the project file If it is the case user needs to install the newer version or recreate the VB net project in older version Created by Cytron Technologies Sdn Bhd All Rights Reserved 25 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 7 2 Using SD02B with microcontroller This section will show the example of using PIC18F4520 as host to control two SD02Bs through UART interface The sample program is based on SK40B startup kit This sample program is developed for PIC18F4520 If user uses different PIC microcontroller user may need to modify the sample program based on that particular microcontroller by referring to its datasheet released by Microchip Technology Inc This sample program will control 2 SD02B through 1 X hardware UART and 1 X software UART a Since the sample program will control 2 SD02B so two SD02Bs are used Other devices are 1 x SK40B 2 x stepper motor b Setup SK40B with PIC18F4520 Created by Cytron Technologies Sdn Bhd All Rights Reserved 26 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B c Load 18F sample program hex to PIC18F4520 using UICOOA User may refer to UICOOA user s manual on how to load progra
8. that if you are using PR7 to control SD02B the voltage selector for SD02B should select Vmotor because the Vcc pin for PR7 only supplies 5V to Vin This is lower than the minimum voltage required for Vin which is 8V Please refer to chapter 3 Product Specification and Limitations for details The link to PR7 DIY Project is http www cytron com my PR7 asp Direction and EN pin can be connected to any digital I O of PIC16F877A However both these pins must be configured as output from the controller Created by Cytron Technologies Sdn Bhd All Rights Reserved 12 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 5 3 Connecting to Switches without microcontroller User may also use switches to generate pulses and control the direction of stepper motor Here is an example of SD02B connected to switches FAN amp HEAT SINK U VCC 1 3 IN na OUT 6 cl to 25V 1 3 5V 10uF LM7805 Above figure shows the sample connection using switches to control SD02B and drive a stepper motor S1 act as pulses generator S2 will control the direction of stepper motor while S3 will disable SD02B if pressed Created by Cytron Technologies Sdn Bhd All Rights Reserved 13 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 5 4 Connecting to Microcontroller through UART A new feature for SD02B is the UART interface for easier communication between a h
9. ART communication Fear not Sample source code for UART control is provided in both VB net and PIC C language e Support up to 2A per phase Smoother stepper motor rotation with 2 5 10 micro stepping feature Able to drive stepper motor from 3V to 40V 8V to 24V compatible for driver circuit supply voltage 5V logic level compatible inputs Maximum speed up to 1000 steps per second or 1K Hz pulses Enable Disable pin for low power consumption mode Heat sink with fan for fast thermal release Created by Cytron Technologies Sdn Bhd All Rights Reserved 1 Cytr on 5 ROBOT HEAD to TOE eee CCC Product User s Manual S0026 1 1 System Overview SD02B is the enhanced version from SD02A One of the additional features for SD02B compare to SD02A is the UART interface UART is provided in SD02B for easier communication between user s circuit microcontroller and SD02B Besides user s circuit computer PC or Laptop is ready be used for UART communication with SD02B By using UART function in SD02B user is able to have more extensive control of the motor driver and stepper motor User can leave most part of the motor control algorithm to SD02B and let it takes care of the encoder supervisory job It saves much software resources on the host For example by sending some commands SD02B is able to accelerate the stepper motor from the specified initial speed to final speed at desired acceleration rate While the stepper motor is
10. Cytron gt SD02B 2A Stepper Motor Driver User s Manual V1 0 Feb 2008 Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications No representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or otherwise Use of Cytron Technologies s products as critical components in life support systems is not authorized except with express written approval by Cytron Technologies No licenses are conveyed implicitly or otherwise under any intellectual property rights C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B Index 1 Introduction and Overview 1 1 0 Introduction of SD02B l 1 1 System Overview 2 1 2 General Description 3 2 Packaging List 4 3 Product Specification and Limitations 5 4 Board Layout 8 5 Installation hardware 10 5 1 Connecting Driver to a Stepper Motor 10 5 2 Connecting to microcontroller using Signal Input Pin 12 5 3 Connecting to switches without microcontroller 13 5 4 Connecting to microcontroller through UART 14 5 4 1 Connecting SD02B to controller 14 5 4 2 Connecting SD02B to computer 16 5 5 Enable and Disable
11. Mxx is connected Created by Cytron Technologies Sdn Bhd All Rights Reserved 20 Cytron 5 Technologie CONNECT button has changed to DISCONNECT Click this button to disconnect the motor EZ SD02B GUI ver1 0 COM Ports COM18 9600 DISCONNECT COM18 is connected Set New Baudrate Control Panel Micro Stepping None 1 1 Micro Stepping run brake the motor ROBOT HEAD to TOE Product User s Manual SD02B Request Encoder Acquire Encoder Track Encoder 255 Set Acceleration Initial Speed 20 Final Speed 100 Accel Rate 80 Accelerate STATUS Now SD02B GUI is ready to control the stepper motor using SD02B User may on off set the stepping speed change direction reset track request the encoder value number of steps accelerate the stepper motor from a specified initial speed to a final speed at desired acceleration rate and choose among 2 5 10 microstepping mode or non microstepping mode using this GUI Created by Cytron Technologies Sdn Bhd All Rights Reserved 21 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B SD02B GUI Description EZ SD02B GUI ver1 0 Request Encoder COM Ports h Show current Select COM port encoder value Select baudrate Acquire Encoder Click this button to DISCONNECT Track Encod rac ncoder connect COM18 is connected n Set encoder value to
12. Single Supply Mode Vmotor will supplies power to both stepper motor and SD02B circuit Although SD02B provides protection against wrong polarity for this input user must ensure the voltage and polarity of connection are correct before providing the power so that SD02B can function correctly GND System Ground Common ground for both logic operation and stepper motor power source PULSE Stepping Pulse Input Pin Input to drive the stepper motor This pin is TTL CMOS logic 5V and OV Each pulse logic change from 0 to 1 will drive the stepper motor 1 step SD02B has 2 5 10 micro stepping DIR Stepper Motor Rotating Direction Input Pin Input for stepper motor to rotate CW clockwise or CCW counterclockwise This pin is TTL CMOS logic 5V and OV The direction is depends on the connection sequence of stepper motor wires to SD02B For example DIR 0V gt CW DIR 5V gt CCW EN Stepper Driver Enable Pin Input pin to enable SD02B This pin is TTL CMOS logic SV and OV 5V will enable the motor driver further hold the shaft of stepper motor while OV will disable the motor driver and release the shaft of the stepper motor By default the driver is disabled for power saving Vin Circuit Supply Voltage Vin is another power source for SD02B If users choose Vin as power source for circuit in Dual Supply Mode Vin will supplies power to SD02B circuit and Vmotor will suppli
13. W counterclockwise by looking at the motor shaft If it is in the opposite direction switch either phase X and X or Y and Y effectively reversing directions d In case the stepper come with five coil wires then each phase share the same common wire SD02B will only drive 2 coils which are la to 1b and 2a to 2b Following pictures show typical connection from SD02B to Unipolar and Bipolar stepper motors io 7 B gt C a ers Test Reset Cytron www cytron com my 5 Unipolar Stepper motor 6 wires i it Bipolar Stepper motor 4 wires Created by Cytron Technologies Sdn Bhd All Rights Reserved 11 Cytron 5 Technologie ROBOT HEAD to TOE Product User s Manual SD02B 5 2 Connecting to Microcontroller using Signal Input Pins Typical application would require a microcontroller to generate pulses and control the direction Following figure shows an example of SD02B connected to microcontroller The above example shows that the PULSE pin is being connected to RC2 of PIC16F877A SD02B Vmotor RD1 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 PICI6F877A FAN amp HEATSINK This pin has the function to generate pulses using Compare mode Please refer to source code of PR7 from Cytron Technologies website for details of using Compare mode Please note
14. accelerating the host may take care of other routines In order to know the stepper motor has been accelerated to the final speed the host can send another command to check the status of SD02B Besides host can brake the stepper motor at the desired step by just sending a command together with a 16 bit encoder value send in two 8 bit values to SD02B and let it counts the steps for you Please refer to section 7 3 SD02B UART Protocol for the UART commands and descriptions Created by Cytron Technologies Sdn Bhd All Rights Reserved 2 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B 1 2 General Description Driving stepper motor is common necessity in most robotic project A stepper motor is a brushless synchronous electric motor that can drive a full rotation into a large number of steps Stepper motor is ideally suited for precision control This motor can operate in forward reverse with controllable speed from a microcontroller through a transistor driver circuit There are various kinds of stepper motor Some example are variable reluctant stepper motor permanent magnet stepper motor bipolar unipolar stepper motor bifilar stepper motor and hybrid stepper motor For more description of stepper motor user is advice to refer to Wikipedia at http en wikipedia org wiki Stepper_motor This driver SD02B is to drive stepper motor in bipolar method SD02B is designed to drive stepper in 2 5 or 10 micro step
15. cing with a computer is as easy as 1 2 3 Normally user will need to develop a RS232 level shifter for communication to serial port This generates extra work Furthermore laptop and computer nowadays have phase out the serial port and replaced it with USB With these reasons an USB to UART converter UCOOA have been developed by Cytron Technologies Simply plug SD02B to UCOOA and USB port of computer PC or Laptop install the driver for the first time only and it will create a virtual COM port in your computer and is ready to communicate with SD02B User may refer to UCOOA User s Manual for hardware and software installation So no extra work is needed to control SD02B using a computer And of cause you may connect more than one UCOOA to your computer and control more than one SD02B at the same time A Graphical User s Interface GUI comes together with the source code is provided for user to implement stepper motor control using a computer a To begin users have to choose either Vin or Vmotor power supply at voltage selector Then connect Vmotor and or Vin and Gnd to power source Please refer to chapter 3 Product Specification and Limitations for details Figure below shows that SD02B is connected to a 12V Sealed Lead Acid battery and Vmotor is choosen as the power source Created by Cytron Technologies Sdn Bhd All Rights Reserved 16 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B
16. ck SD02B GULexe to start control stepper motor Before the SD02B GUI is able to control stepper motor on SD02B connection must be made Click on COM port choose the last COM port click connect 2 SD02B GUI ver1 0 Request Encoder Acquire Encoder Track Encoder DISCONNECT COM18 is connected Set New Baudrate 255 Reset Track Set Acceleration Initial Speed 20 Final Speed 100 a v a v a v Accel Rate 80 Status Micro Stepping SUITE None 1 1 Micro Stepping Created by Cytron Technologies Sdn Bhd All Rights Reserved 24 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B d Once the status is connected user is free to control stepper motor using SD02B e If you wish to communicate at higher baudrate you may select the desired baudrate from the list and click on Set New Baudrate button This will change the baudrate at both the GUI and SD02B Press Reset button on SD02B will change the baudrate to its default value which is 9600 f By using SD02B GUI user may on off the motor run brake the motor set the stepping speed change direction reset track request the encoder value number of steps accelerate the stepper motor from a specified initial speed to a final speed at desired acceleration rate and choose among 2 5 10 microstepping mode or non microstepping mode g Since the GUI VB net source code is provided user can
17. d by SD02B will be compared to determine which value is greater than the other one If initial speed lt final speed SD02B will perform acceleration and if initial speed gt final speed SD02B will perform deacceleration For acceleration rate 1 is the slowest rate and 255 is the fastest rate This means when SD02B received as acceleration rate stepper motor will accelerate deaccelerate very slow and if 255 is received as the acceleration rate stepper motor will accelerate deaccelerate very fast Created by Cytron Technologies Sdn Bhd All Rights Reserved 32 Cytr on ROBOT HEAD to TOE Technologie Product User s Manual SD02B Request Encoder Value a Host sends command E 1 byte to SD02B to request encoder value Encoder value is the number of steps upon reset b After sent command to request encoder value SD02B will send 1 byte for higher 8 bits current encoder value and another 1 byte for lower 8 bits current encoder value to the host For example host receives 110101102 for higher 8 bits current encoder value and 01110110 for lower current encoder value 1 1 0 J1 Jo J1 J1 1 Receive higher 8 bits 0 11 11 11 10 1 11 10 2 4 Receive lower 8 bits c To get higher 8 bits in 16 bits current encoder value save the higher 8 bits into a 16 bits variable and rotate shift 8 times Save the first received 8 bits in 16 bits variable shift 1 time shift 2 t
18. dditional wire to the overall count 4 coil wires 1 casing ground 5 wires total e Ifthe stepper has four coil wires a Each of the two phases X and Y should have the same resistance when measured with a multi meter When measuring the resistance across one wire from each of the two phases between X and Y the resistance should be infinite because the circuit is open Locate the two pairs of wires that represent the two phases and both pairs of wires will have similar internal resistance b Connect each phase to SD02B and ignore the polarity for now User has a 50 chance of guessing right c Press Test button on SD02B to rotate the motor It should rotate in CCW counterclockwise by looking at the motor shaft If the motor rotates in the wrong direction switch either phase X and X or Y and Y effectively reversing directions e Ifthe stepper has six coil wires then each phase has a center tap wire a The center tap wire should have half the internal resistance of the full phase The easiest option is to use a multimeter to find the two pairs of wires that have the maximum resistance Created by Cytron Technologies Sdn Bhd All Rights Reserved 10 C yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual SD02B b Connect each phase to the SD02B and ignore the polarity for now User has a 50 chance of guessing right c Press Test button on SD02B The stepper motor should rotate in CC
19. drate for SD02B is 9600 However user can define new baudrate for UART communication after the host and SD02B is connected at 9600 Host needs to send U to set new baudrate for communication with SDO2B The standard baudrates for SD02B are 9600bps 19200bps 38400bps and 57600bps After sent the first command host has to send the 8 bit value to SD02B according to the explanation below The values are the multipliers for 9600 1 kk 9600bps 9600bps 2 k 9600bps 19200bps 4k 9600bps 38400bps 6 k 9600bps 57600bps Send this 8 bit value to SD02B to set the new desired baudrate However it is possible for user to operate SD02B at a baudrate other than the standard baudrates given but the success of the attempt is not guaranteed For example you can try to send 3 to SD02B to get the baudrate of 9600 x 3 28800bps Request current status a Host sends C to request current status for On Off Go Brake CW CCW micro stepping and acceleration Host will receive 1 byte current status From the 8 bit 1byte received only the lower 6 bits is used to indicate the current status The status bits and its definition are shown below 7 6 5 4 3 2 1 0 0 0 0 0 0 141 send command C to request current status 7 6 5 4 3 2 1 0 0 0 1 1 1 0 140 receive byte but current status is lower 6 bits 0 Off 0 deacceleration 1 On 1 acceleration 0 Brake 0 Accelera
20. e is micro 1 byte 1 no micro stepping 2 1 2 stepping 2nd byte send micro stepping 5 1 5 micro stepping 10 1 10 micro stepping Set new baudrate for communication with 13 S D E Created by Cytron Technologies Sdn Bhd All Rights Reserved 31 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B On Off Run Brake CW CCW and Reset Encoder Value Host sends 1 byte command to SD02B to On Off Run Brake CW CCW and reset encoder value Set Stepper Motor Speed a b Host sends S to SD02B to set stepper motor s speed After sent the first command host need to send 8 bit speed value to SD02B The speed value is from 1 to 255 If SD02B receives 0 the speed is assumed as 1 However the speed for each stepper motor is different It is depend on the resolution step of stepper motor Accelerate stepper motor a Host needs to send a packet of data Each packet consists of 4 bytes The data need to be sent 1 byte by 1 byte i 1 byte Send command A ii 2 byte Send initial speed iii 3 byte Send final speed iv 4 byte Send acceleration rate After sent A host needs to send 1 byte of initial speed followed by 1 byte of final speed and 1 byte of acceleration rate All initial speed final speed and acceleration rate range from 1 to 255 If SD02B receive 0 the speed is assumed as 1 Initial speed and final speed receive
21. es power to stepper motor Although SD02B provides protection against wrong polarity for this input user need to ensure the voltage and polarity of connection are correct before providing the power so that SD02B can function correctly Single Supply Mode and Dual Supply Mode are designed to support stepper motor with wider range of supplies If the stepper motor being used is rated between 8 to 20V Single Supply Mode can be used If the stepper motor is rated below 8V or above 20V Dual Supply Mode must be chosen However stepper motor with ratings beyond 3 to 40V is not support in any mode Please refer to Absolute Maximum Rating tables in the next page for further information Created by Cytron Technologies Sdn Bhd All Rights Reserved 5 Cytr on ROBOT HEAD to TOE Technologie Product User s Manual SD02B UART Pins Function Description Label Definition Function This is SD02B s UART receive pin It should be RX pte bev interfaced to 5V logic UART It should be connected Receive Pin A M to host s transmit pin This is SD02B s UART transmit pin It should be TX pee u oa interfaced to 5V logic UART It should be connected Transmit Pin i to host s receive pin Common ground for both logic operation and also GND System Ground stepper power source NC Not Connected Leave this pin disconnected a Maximum Rating Parameters Parameters Ma Typical Unit D Max
22. imes shift 3 times shift 4 times shift 5 times shift 6 times shift 7 times shift 8 times Higher 8 bits c After rotated shifted to the left for 8 times user will get first received 8 bits at the 8 most significant bits MSB x don t care Created by Cytron Technologies Sdn Bhd All Rights Reserved 33 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B d AND the 16 bits variable with OxFF00 11010110XXXXXXXX AND 1111111100000000 1101011000000000 e After received higher 8 bits encoder value host will receive the lower 8 bits encoder value from SD02B Save the lower 8 bits encoder value to another 16 bits variable f AND the 16 bits variable with OxOOFF XXXXXXXX011101102 AND 00000000111111112 000000000011101102 g To get 16 bits encoder value Exclusive OR the two 16 bits variables and store it to a 16 bits variable Encoder value 11010110000000002 XOR 0000000001110110 1101011001110110 54902 16 bits encoder value Track encoder value a Host needs to send command 3 bytes of commands to SD02B to track encoder value When the steps counted are equal to the value sent by host SD02B will brake the stepper motor i 1 byte Send command T to track encoder and brake motor ii 2 byte Send higher 8 bits encoder value iii 3 byte Send lower 8 bits encoder value b 2 byte and 3 byte sent to SD02B are 16 bits encoder value for encoder
23. imum Output Current continuous e 2 Case Case Operating Temperature Te Temperature Tc re Storage Temperature Tsr tate This maximum rating is general specification for SD02B Single Supply Mode Vmotor 4 Vmoror voae fff s recm a on Dual Supply Mode Vmotor amp Vin a fe rras Cid wm o Ps Feomoccune s fo gt ncm if we on Single Supply Mode Vmotor Vmotor supplies power to both stepper motor and SD02B circuit Dual Supply Mode Vmotor and Vin Vmotor supplies power to stepper motor and Vin supplies power to SD02B circuit Created by Cytron Technologies Sdn Bhd All Rights Reserved 6 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B Single Supply Mode and Dual Supply Mode Voltage Selector is provided to choose either Single Supply Mode Vmotor or Dual Supply Mode Vmotor and Vin If user selects Vmotor Vmotor will supply power to both stepper motor and SD02B circuit Otherwise if Vin is selected Vmotor will supply power to stepper motor and Vin will supply power to SD02B circuit SIA f nll a 4 GND Vin oss Voltage selector motor evn Created by Cytron Technologies Sdn Bhd All Rights Reserved 7 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 4 BOARD LAYOUT pra C ce 9 gt D l D Reset VEY O www cytron com my amp
24. ion to counter clockwise Send lt lt gt bei send aor a Request encoder value which is the istbyte send 01000101 eo z number of steps upon reset max 65535 E p Send lt E gt Received lt Higher 8 AUNE le t ilis 3rd byte Lower 8 bits bit gt lt Lower 8 bit gt Reset encoder value Send lt R gt istbyte send 01010010 Track encoder value and brake the motor at istbyte send 01010100 U the value given Send lt T gt lt Higher 8 2nd byte send Higher 8 bits bit gt lt Lower 8 bit gt 3rd byte send Lower 8 bits 5 Set stepper motor s speed Send istbyte send 01010011 lt S gt lt Speed gt and byte send speed 1 byte 1 255 Accelerate the stepper motor from an initial 2nd byte send Initial speed 1 byte 1 255 01000110 01001111 G Bo lt A wo ery speed to a final speed at an acceleration i rate Send lt A gt lt Initial Speed gt lt Final ard byte send Final speed 1 byte 1 255 Speed gt lt Acceleration Rate gt 4th byte PEERS n a Slowest o fastes Came sna room es u 1 byte 1 9600bps 2 19200 4 38400 6 57600 Request current status for ON OFF istbyte send 1000011 C GO BRAKE CWCCW Micro stepping Accelerating and 2nd byte receive status byte lower 6 bits Acceleration Deacceleration To select normal stepping mode or micro 14 M stepping mode Default mod
25. m into a PIC User may use other programmer to load the program Connect to UICOOA e Es NORA AIR oo _ JE eee my i Boe s ye SE EO Connect to power source rrrTrrrititi iit iiityy gt O m NM d For communication between these two SD02Bs and SK40B the following connections are required i First SD02B RX to SK40B RC6 TX ii First SD02B TX to SK40B RC7 RX iii Second SD02B RX to SK40B RB4 TX iv Second SD02B TX to SK40B RB5 RX v Both SD02B GND to SK40B GND Created by Cytron Technologies Sdn Bhd All Rights Reserved 27 Technologie Cytr on gt ROBOT HEAD to TOE ETON ooo Produet User s Manual S0028 SD02B a ae Vimotor GND Stepper FAN amp HEAT SINK J SD02B a Ny Vmotor GND FAN amp HFAT SINK 0 1 40 2 39 3 38 4 3 Software UART 6 35 7 34 8 oO 33 9 32 10 31 ll 30 gt 12 29 Ss 28 27 15 26 is 3 Hardware UART 18 23 19 22 20 21 SK40B Sample connection to control 2 SD02B using software and hardware UART Created by Cytron Technologies Sdn Bhd All Rights Reserved 28 Cytron 5 Technologie ROBOT HEAD to TOE Product User s Manual SD02B Select Vmotor using the mini jumper at SD02B s voltage selector To supply power to SD02B user has to connect SD02B Vmotor to SK40B positive power supply pin and GND to SK40B negative power supply pin In this ca
26. mand will do the same job Just send an F to SD02B and it will turn off the motor and get into power saving mode Please refer to section 7 3 SD02B UART Protocol for details Created by Cytron Technologies Sdn Bhd All Rights Reserved 18 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 6 INSTALLATION SOFTWARE There are 2 options of sample software being provided for SD02B The simplest way is to use the sample GUI program which can be run without the need to be installed on the computer while another option is the sample program for PIC18F4520 to control two stepper motors through two SD02Bs 6 1 Sample Program for Computer To ease user in using SD02B Cytron Technologies has developed a SD02B GUI using VB net for user to control SD02B from computer through a COM Port If your computer doesn t have a COM Port you may use Cytron s UCO0A USB to UART Converter for the interfacing between SD02B and your computer s USB port The following steps will guide user to run SD02B GUI and use it 1 Extract the zipped filed named SD02B GUl zip This file can be downloaded from Cytron website www cytron com my 2 Double click on SD02B GULexe to run the SD02B GUI The window shown as below may prompt out click Run Open File Security Warning The publisher could not be verified Are you sure you want to run this software a Name SD02B GUI exe Publisher Unknown Publisher
27. motor is also needed Please refer to section 5 4 for example connection of SD02B to microcontroller through UART interface f Power indicator LED on SD02B will turn ON when power is supply to microcontroller board g Please refer to 18F4520 dual uart sample c for details on method to send receive command to SD02B h User must install MPLAB and C18 Compiler if user wants to modify and compile this sample program The free MPLAB and C18 Compiler for PIC18 MCU can be obtained from Microchip official website Created by Cytron Technologies Sdn Bhd All Rights Reserved 23 C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 7 GETTING STARTED Please refer to PR7 DIY project from Cytron website for details example of using SDO2B This DIY project also shows the method to write a program to control SD02B through the Signal Input pins on SD02B The link to PR7 DIY project is http www cytron com my PR7 as This section will show how to get started with SD02B and connect to UART communication 1 example is using SD02B with computer and 2 example is using SD02B with microcontroller 7 1 Using SD02B with computer After installation of SD02B GUI and UCOOA driver user is ready to use SD02B with computer laptop a Setup SD02B according to steps in 5 4 2 Connect UCOOA to SD02B another end of UCOOA to PC b Power up SD02B When power is connected power indicator LED will turn ON c Cli
28. ost user s circuit or PC and SD02B By using the UART control user can on off run brake and change motor rotation direction in a simple commands Beside that user can request for encoder value tracks the encoder value and brakes the motor at desired steps count accelerate the motor from a specified initial speed to a final speed at desired acceleration rate Here is an example connection of SD02B to Microchip PIC16F877A through UART 5 4 1 Connecting SD02B to Microcontroller For microcontroller to interface with SD02B only 3 connections are needed They are TTL UART Universal Asynchronous Receiver and Transmitter transmit TX and receive RX pins together with the system ground Gnd FAN amp HEATSINK PICI6F877A Created by Cytron Technologies Sdn Bhd All Rights Reserved 14 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B a Sample schematic on above shows a PIC16F877A interface to SD02B No restriction to what type or brand of microcontroller can be used as long as it has UART peripheral b User needs to connect the RX and TX pin to microcontroller These two pins should be cross connected to microcontroller In other words RX on SD02B should be connected to microcontroller s transmitter pin TX while TX on SD02B should be connected to microcontroller s receiver pin RX For details connection please refer to sample schematic above c
29. s This will offer smoother rotation of the stepper motor Of course the step angle will depend on the specification of stepper motor being drive As an example if the stepper motor being drive is 1 8 per step and use 1 10 micro stepping the smallest step 1 pulse is 0 18 This will offer much better resolution step Created by Cytron Technologies Sdn Bhd All Rights Reserved 3 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 2 PACKAGING LIST Please check the parts and components according to the packing list If there are any parts missing please contact us at sales cytron com my immediately a a 4 S f es e SSS i e Reset Cytron 5 www cytron com my SD02B comes with e 1x SD02B board with every component is soldered properly and tested before board is shipped e 16x 2510 iron pin e 2x 2510 06 female connector e 1x 2510 04 female connector e User s Manual and sample source codes in VB net and PIC C language can be downloaded from www cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved 4 Cytron 5 Technologie ROBOT HEAD to TOE Product User s Manual SD02B 3 PRODUCT SPECIFICATION AND LIMITATIONS Signal Input Pins Function Description Label Definition Function Vmotor Motor Supply Voltage Vmotor is one of SD02B power sources If users choose Vmotor as power source for circuit in
30. se we use a 12V Sealed Lead Acid battery to supply SK40B Once power is ON power indicator LED on both SK40B and SD02B will turn ON e iA a F R ee Sr tinge J waw Cyron com my f pog e RAS TE S 2 eA Y z T E T En Motas a i O BrT B gt Cae iit TE E bd 8 OO Fao SK40B 2 Created by Cytron Technologies Sdn Bhd All Rights Reserved 29 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B f Next connect the stepper motors to SD02Bs g Now press the SW on SK40B to test the program Every time the switch is pressed SK40B sends some commands to either one SD02B or both SD02Bs Please refer to sample program 18F4520 dual uart sample c file for the description Created by Cytron Technologies Sdn Bhd All Rights Reserved 30 G yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 7 3 SD02B UART Protocol If you are using the UART protocol to control SD02B both computer and microcontroller are actually sending serial command to SD02B This section explains the protocol for send receive commands F Turn off the stepper motor Send lt F gt Turn on the stepper motor Send lt O gt Run the stepper motor Send lt G gt 01000111 Brake the stepper motor Send lt B gt 01000010 eee Ca Set ee motor direction to clockwise 1st byte mien Send lt gt gt Set stepper motor direct
31. t robotic project based on the embedded system which uses microcontroller Considering this reason Cytron Technologies has also developed the sample source code for PIC18F microcontroller using MPLAB C18 C Compiler This sample program is developed for PICI18F4520 If user uses different PIC microcontroller user may need to modify the sample program based on that particular microcontroller by referring to its datasheet released by Microchip Technology Inc The sample program will control two SD02Bs Since this PIC only has one hardware UART we have to generate another additional UART using software approach to control the second SDO2B a The sample program can be downloaded from Cytron website www cytron com my in SD02B product page b Extract the file named Dual UART sample program zip c There are 4 files available for the user 18F sample program mcp MPLAB project file 18F sample program mcw MPLAB workspace file 18F4520 dual uart sample c source code in C language and 18F sample program hex HEX file For immediate testing user may load 18F sample program hex to PIC18F4520 and plug into microcontroller board which was being completed in step c d The sample program is based on SK40B startup kit We will discuss about how to control two SD02Bs and two stepper motor using a SK40B through UART interface e Ensure the hardware interface for microcontroller to SD02B is setup properly Besides the power for stepper
32. te deactivated 1 Go 1 Accelerate activated 0 CW 0 micro stepping activated 1 CCW 1 micro stepping deactivated Created by Cytron Technologies Sdn Bhd All Rights Reserved 36 Cytron 5 ROBOT HEAD to TOE Technologie 1 10 1 5 or 1 2 Micro stepping and Non micro steppin a Host needs to send M and followed by 1 byte value which indicates the stepping mode to SD02B Any values other than the given ones will be ignored by SD02B no micro stepping 1 2 micro stepping 1 5 micro stepping 1 10 micro stepping Send this 8 bit value to SD02B to choose the stepping mode b 1 10 micro stepping means every step of the stepper motor is further divided into 10 micro steps For a stepper motor with 1 8 step 1 micro step will rotate the motor shaft 1 8 10 0 18 if 1 10 micro stepping mode is chosen It is goes the same for 1 5 and 1 2 micro stepping Non micro stepping mode will step the motor shaft at its original value which is 1 8 Created by Cytron Technologies Sdn Bhd All Rights Reserved 37 Technologie Product User s Manual SD02B C yer on gt ROBOT HEAD to TOE 8 WARRANTY gt Product warranty is valid for 6 months gt Warranty only applies to manufacturing defect gt Damage caused by miss use is not covered under warranty gt Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan 1A Taman Universiti 81300 Sk
33. the driver 18 6 Installation software 19 6 1 Sample Program for Computer 19 6 2 Sample Program for PIC18F4520 23 7 Getting Started 24 7 1 Using SD02B with computer 24 7 2 Using SD02B with microcontroller 26 7 3 SD02B UART Protocol 31 8 Warranty 38 Created by Cytron Technologies Sdn Bhd All Right Reserved C yer on gt ROBOT HEAD to TOE Technologie Product User s Manual SD02B 1 INTRODUCTION AND OVERVIEW 1 0 Introduction of SD02B SD02B is the enhanced version from SD02A SD02B is designed to drive unipolar or bipolar stepper motor The board incorporates most of the components of the typical applications With minimum interface the board is ready to Plug and Play Simply add in power and a few push buttons this driver is ready to drive unipolar or bipolar stepper motor SD02B will actually drive stepper motor in bipolar method However since unipolar stepper motor can also be used as bi polar stepper motor thus this driver can be used to drive both unipolar and bipolar stepper motor This stepper motor driver has been designed with capabilities and features of e New Now comes with UART interface for easier communication between the user s circuit or PC and SD02B By using the new UART control user can On Off Run Brake and change motor s rotation direction Set motor speed Request for encoder value Track an encoder value and brake the motor Set new baud rate for the driver v Not familiar with U
34. tracking number of steps to go before SD02B brakes the stepper motor For example if user wants stepper motor to brake when encoder value equals to 54902 Host needs to send this value 11010110011101102 to SD02B Higher 8 bits is to be sent before the lower 8 bits encoder value Higher 8 bits encoder value Lower 8 bits encoder value 16 bits encoder value Created by Cytron Technologies Sdn Bhd All Rights Reserved 34 ROBOT HEAD to TOE Cytron 5 Technologie Product User s Manual SD02B c To get higher 8 bits rotate shift the 16 bits value 8 times to the right fot fifi opi fi o Enana i To oT Ti fo shift 1 times shift 2 times shift 3 times shift 4 times shift 5 times shift 6 times shift 7 times shift 8 times d After rotated shifted 8 times AND the value with OxOOFF and save it into an 8 bits variable 0111011011010110 AND 0000000011111111 00000000110101102 11010110 higher 8 bits d To get lower 8 bits AND the same 16 bits encoder value with OxO0FF and save it into another 8 bits variable 11010110011101102 AND 00000000111111112 0000000001110110 011101102 lower 8 bits e Send T to SD02B first Then send the higher 8 bits followed by the lower 8 bits Created by Cytron Technologies Sdn Bhd All Rights Reserved 35 C yer on ROBOT HEAD to TOE Technologie Product User s Manual SD02B Set UART Baudrate a The default bau
35. udai Johor Malaysia Tel 607 521 3178 Fax 607 521 1861 URL www cytron com my Email support cytron com my sales cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved 38
Download Pdf Manuals
Related Search