Corvus
Corvus
high resolution positioning controller
Manual
Version 1.6
Manual
Corvus
Contents
About this documentation ................................................................6
Symbols in this documentation...............................................7
Chapter -1- Introduction ...................................................................8
Presentation of the controller ........................................................9
Function survey ..............................................................................11
Chapter -2- Installation .....................................................................13
Safety notice.....................................................................................14
Declaration by the manufacturer....................................................15
Mains supply ....................................................................................16
Universal input voltage ...........................................................16
Mains protection .....................................................................16
Motor connection.............................................................................17
Axes designation ....................................................................17
Motor types.............................................................................17
Motor characteristics ..............................................................18
Commands for the motor adaptation ......................................18
Measures for system resonances...........................................19
Motor cable.............................................................................20
Endswitches .....................................................................................21
Endswitch inputs.....................................................................21
Endswitch functions................................................................21
Endswitch types......................................................................22
Configuration for PNP/NPN/opener/closer .............................22
Endswitch wiring.....................................................................23
Joystick mode ..................................................................................24
General remarks.....................................................................24
Axes assignment ....................................................................24
Configuration of the controller for the joystick mode ..............25
Important notices for the joystick mode ..................................25
Programmed mode ..........................................................................26
Setting-up operation of the RS-232 connection............................27
Important notices ....................................................................27
RS-232 interface configuration ...............................................28
Content
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Manual
Corvus
Configuration of the baudrate .................................................28
Closed-loop / terminal or host mode, .....................................28
Test of the RS-232 connection ...............................................29
Connection with the hyperterminal .........................................30
Configurations of the hyperterminal for the RS-232 interface 31
Programming via the ethernet interface ........................................33
Notices for the setting-up operation........................................33
Testing the ethernet connection .............................................34
Ethernet connection with the hyperterminal ...........................35
Chapter -3- Functions........................................................................36
LED-diagnostics display ................................................................37
Functions of the LED-displays................................................38
Push-button A and B ..............................................................40
Endswitch functions .......................................................................41
Working range and coordinate system ...................................41
Endswitch inputs.....................................................................41
Programmed endswitch movement ..............................................42
Programmed endswitch movement in detail...........................43
Endswitch movement to the cal-endswitch.............................44
Endswitch movement to the rm-endswitch .............................44
Endswitch movement with the joystick ........................................45
Endswitch movement with the joystick in detail......................45
Working range and coordinate system ...................................45
Notices for the endswitch move..............................................46
Endswitch wiring ............................................................................47
Positioning with the joystick .........................................................48
Joystick button speed .............................................................48
Configuration of the joystick ...................................................48
Notices for the joystick mode..................................................49
Programmed positioning ...............................................................50
Venus-1 syntax and examples ...............................................51
Axes interpolation ...................................................................52
Velocity and acceleration........................................................52
Velocity profile of a linear acceleration function .....................53
Movement profile of short distances.......................................53
Movement profile of a sin²-acceleration function ....................54
Digital inputs / outputs ...................................................................55
Input circuit .............................................................................55
Output circuit ..........................................................................56
Content
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Corvus
Configuration switch ......................................................................57
Input / Output functions .................................................................58
Produce an output signal........................................................58
Read an input signal...............................................................58
Limitation of movement ..........................................................58
Safety device ...................................................................................59
Switching off the motor ...........................................................59
Relay ......................................................................................60
Output voltage module ...................................................................61
Function description: ..............................................................61
User output voltages ......................................................................62
Closed-loop function ......................................................................63
Supported measuring systems ...............................................64
A/B quadrature measuring input.............................................64
SIN/COS interface 12 bit / 16 bit ............................................64
Firmware update .............................................................................65
Chapter -4- Interfaces ........................................................................66
Interfaces concept ...........................................................................67
Communication with Terminal or Host Mode..........................68
Configuration of Terminal or Host Mode.................................69
RS-232 Interface ..............................................................................70
RS-232 interface configuration ...............................................70
Baudrate .................................................................................70
Ethernet interface ...........................................................................71
General informations about Ethernet......................................71
Topology.................................................................................71
TCP / IP ..................................................................................73
Hardware address (MAC-address).........................................74
IP-address ..............................................................................75
Sub Mask................................................................................75
Port-address ...........................................................................76
Corvus Ethernet data summary .............................................76
Chapter -5- Device concept ............................................................77
Components of the controller.........................................................78
Case variants..........................................................................79
Table top housing TT..............................................................80
Cabinet mounting case CM ....................................................81
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Corvus
19" Rack 2 U / 3U ...................................................................82
Controller and motor driver electronic ....................................83
Parts of the board ..................................................................83
Diagnostic Display ..................................................................84
Power supply ..........................................................................85
Operation system and firmware..............................................86
Chapter -6- Technical data ..............................................................87
Overview ..........................................................................................88
Chapter -7- Connectors ....................................................................90
Motor connector ..............................................................................91
Motor wiring ....................................................................................92
Stepper motor with 2-phases..................................................92
Stepper motor with 3-phases..................................................92
RS-232 programming interface.......................................................93
RS-232 service interface .................................................................94
Ethernet interface ............................................................................95
Joystick input...................................................................................96
Encoder input ..................................................................................97
Sin/cos 1Vss input ..........................................................................98
Digital input / output .......................................................................99
Safety device ...................................................................................100
Content
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Manual
Corvus
About this documentation
This documentation is written for the positioning controller
Corvus.
Therein all technical data and functions are described.
Information about the IEEE-488 interface and the operation of
the Touch Terminal is available in a separate documentation.
The English version of Venus-1 is in preparation and not
added to this documentation.
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Manual
Corvus
Symbols in this documentation
To clarify the content following symbols are used.
Symbol
Description
Warning.
The informations must be
observed strictly
Hint.
Option
This function can be released with
a release code.
Option
This function must be installed from
the factory personal or experts.
Venus-1
Venus-1 command
Table 1. Symbols
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Manual
Corvus
Chapter 1
Introduction
Introduction
8
Manual
Corvus
Presentation of the controller
Number of axes
Corvus is a complete stepping motor controller for alternatively 2 or 3 axes and torques up to 1.5 Nm.
Power concept
The controller is offered in several power classes. The power
concept "distributed power" provides the opportunity to focus
the power output on one axis and with it the advantage that
bigger stepping motors can also be controlled with the lowest
Corvus power class (50W).
Motor controlling concept
With 48V motor voltage Corvus produces enough torque, also
at a high number of motor revolutions.
In comparison with the traditional stepping motor controller
technology, the motors connected to Corvus cause clearly
less power dissipation and as a result of that they remain
colder.
Resolution, velocity, acceleration
The elaborated controller technology enables a very lownoise positioning and at the same time an extremely high
stepping resolution. In the programmable mode an endposition resolution of 1nm is achieved, the minimum step increment is 15.26nm. The resolution in the joystick mode is
23.2fm (femtometer).
Due to the high computing power Corvus has a high speed
and acceleration dynamic. The minimum speed amounts to
15.26nm/s, the controller tops 45 revolutions/s.
For all axes Corvus offers linear- or sin²-acceleration. The
sin²-acceleration function is indispensable for the controller
technology of vibration sensitive systems which demand a
highly dynamic positioning.
Introduction
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Manual
Corvus
Closed Loop function
The closed-loop mode enables the monitored and controlled
positioning for the highest precision demanded. Corvus supports optic and magnetic length measuring systems.
Hardware
The complete control logic is space-saving placed on one circuit board, including the power unit.
A 32-bit processor with 133 Mhz has the control and its power
capacity is supported by a real-time operating system. With a
8-Mbyte flash store, 2-Mbyte SRAM and up to 32-Mbyte
DRAM, Corvus offers a hardware platform in which the future
is integrated.
Communication interfaces
The communication concept is also progressive. Corvus has
several interfaces. A RS-232 interface with up to 115 kbaud,
a CAN-bus interface, an IEEE-interface and as a peculiarity a
10 Mbit ethernet interface with TCP/IP stack.
The ethernet interface enables the intranet network of an arbitrary number of controller and is the door for the remote control via internet.
Diagnostic
Support for the service offers the LED-diagnostics system.
20 light-emitting diodes inform the user about the momentary
operating state of the controller.
Operation, Programming, Update an Upgrade, Software tools
For the position display and the operation without any PC or
terminal, the controller can be equipped with a touch-display.
The program controlled operation works via the approved interpreter language Venus-1.
Corvus is nearly 100% software compatible with the predecessor controller multicontrol, mc-compact or mc-3000.
The update of the firmware can be executed on site. That way
the controller can always be kept up to date. With the possibility to release functions subsequently, Corvus grows with
the standard.
In support of the software developer an API is available. API
signifies "application programming interface" and permits the
use of a specified amount of system functions of the controller.
Introduction
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Manual
Corvus
Function survey
Functions
• Axes 1,2
• Axis 3
• Phase current: until 2.5A
• Velocity: until 45 U/s
• Resolution: > 15,26nm
• Power classes: 50W, 100W, 500W
• Joystick operation
• Host controlled Venus-1 command language
• Terminal operation
• Error correction 1D
• sin²- acceleration (s-curve)
• Closed Loop operation digital Encoder input
• Closed Loop operation sin/cos 1Vss input
• Digital I/O, 3 Inputs / 3 Outputs
• Digital I/O 8 Inputs / 8 Output
• Analog I/O
• 24V switched power output for motor break circuits
• Motor enable/disable for each axis
• Display with touch function
• Firmware update via RS-232
• RS-232 Interface until 115kBaud
• CAN-Bus Interface
• IEEE-Interface (GBIP)
• Ethernet Interface with TCP/IP Stack on Board
Standard / Option
• Standard
• Option / Code
• Standard
• Standard
• Standard
• 50W Standard
• Standard
• Standard
• Standard
• Standard
• Standard
• Option / Code
• Option / Hardware
• Option / Code
• Additional Hardware
• On request
• Option / Hardware
• Option / Hardware
• Option / Hardware
• Standard
• Standard
• Option / Hardware
• Option / Hardware
• Option / Code
Table 2. Function survey
Standard:
Standard configuration
Option / Code:
Can be released with code
Option / Hardware: Hardware modification or additional hardware modules
Introduction
11
Fan (depends on power)
Joystick input
Mains 90-250V
Touch Terminal input
Digital input/output
Fuse
Mains switch
Safety device
Mains (90-250V)
5
9
1
6
5
Joystick
5
1
8
1
8
9
15
Axis-3
- Motor connector
- Endswitch input
- Temperature input
1
8
9
15
Axis-2
9
15
5
Axis-1
1
6
1
9
6
6
Enc. Axis-2
Enc. Axis-3
RS232 / Service
6
Input / Output
1
9
1
9
6
CAN / DPY
5
9
1
6
5
1
9
Safety device
5
1
9
6
5
9
RS232 / Host
L1
Enc. Axis-1
on
1
Ethernet
NPN/PNP
2
L1
3 4 5 6 7 8 9 10
Configuration
L2
L2
Closed Loop inputs
RS422 Quadratur
or
sin/cos 1Vss
RS-232
programming
interface
Ethernet
programming
interface
Configuration
- Baudrate
- Host/Terminal
- Open loop /closed loop
NPN / PNP setting
for endswitches
Manual
Corvus
Chapter 2
Installation
Installation
13
Manual
Corvus
Safety notice
The controller is developed, produced, checked and documented in consideration of the relevant standards.
If it is used according to regulations, there are no dangers for
persons and things.
Use according to regulations implies that the device is solely
used in the way that is described in here and that the stated
safety advices are followed.
Installation
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Manual
Corvus
Declaration by the manufacturer
The company
ITK Dr. Kassen GmbH
Beim Eberacker 3
D-35633 Lahnau
declares, that the product:
Corvus
Positioning controller
meets following standards or is compliant:
Safety requirements:
IEC1010-1, EN61010-1
Emission standards:
DIN/VDE 0871 curve B
EMV: IEC 801, EN50081, EN50082-1
Lahnau, January 2002
Director
Installation
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Manual
Corvus
Mains supply
Universal input voltage
Corvus is in each offered model always ready for mains connection. For the setting-up operation the case has not to be
opened.
The integrated power supply unit has a wide range voltage input which adapts itself automatically to the input voltage
range of 90-250V.
Mains protection
A safety fuse in the mains connector protects the controller.
The protection is accessible from the outside.
Mains switch
Fuse
Mains connector
Mains (90-250V)
Installation
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Manual
Corvus
Motor connection
Axes designation
The axes designation is axis-1, axis-2 and axis-3. They consciously were not designated as x-y-z coordinates, be-cause
this assignment is determined by the application.
Axis-1 and axis-2 belong to the standard equipment of the device.
For the joystick there is the following determination:
Axis-1
X
Axis-2
Y
Axis-3
Z
Motor types
The motors are connected to the motor connections axis-1 to
axis-3.
Two-phase or three-phase stepping motors for bipolar controller technology are supported.
"Motor connection and endswitch" on page 95.
Mains (90-250V)
5
9
1
6
5
5
1
9
15
Axis-3
1
8
9
15
Axis-2
9
15
Axis-1
1
6
6
5
1
9
6
6
Enc. Axis-2
Enc. Axis-3
1
8
1
9
Input / Output
1
9
RS232 / Service
8
6
CAN / DPY
5
9
1
6
5
1
9
Joystick
5
9
RS232 / Host
Safety device
5
1
9
6
Enc. Axis-1
on
L1
1
L2
2 3 4 5 6 7 8 9 10
Ethernet NPN/PNP Configuration
Figure 3: Corvus motor connection
Installation
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Manual
Corvus
Motor characteristics
The typical motor characteristics are the holding torque, the
step angle, the maximum phase current, the poles and the inductivity. The torque is dependent on the number of revolutions per minute and has to be taken from the motor characteristic line.
Recommended values:
Phase current
Inductivity
Polepairs
step angle
1,2A - 2.5A
0.8mH - 4mH
25/50/
100
3.6° / 1.8° /
0.9°
Commands for the motor adaptation
The adaptation of the controller to the motors is done via the
programming interface.
The following Venus-1 commands are therefor concerned:
setu motmin
The motor setting command umotmin
affects the phase current when the
motor is holding.
As a result it determines holding torque
and power consumption.
setu motg rad
The motor setting command umotgrad
determines the phase current and
torque during the motor is moving.
set p ol ep air s
Adapts controller to polepairs of the
different motor types.
0.9° Hybridmotor polepairs = 100
1.8° Hybridmotor polepairs = 50
You’ll find further comments on this commands in the manual
Venus-1 command language.
Installation
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Manual
Corvus
Measures for system resonances
The combination of a motor and other drive components form
a typical spring-mass-system.
If the normal damping of the mechanics is insufficient it can
lead under inauspicious circumstances to resonance appearances. In the last resort the stepping motor jerks to a stop with
a wailing sound.
An effective countermeasure are resonance absorbing elements which are for example installed on the extended motor
shaft.
For exacting position tasks we always recommend the use of
this damping measure.
A cause for resonances are often overdimensioned motors. In
this case it can make sense to reduce the torque via the motor
parameter resp. by choosing a more suitable motor.
Figure 4: Motor damper
Installation
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Manual
Corvus
Motor cable
Motor cables are by request produced by us according to customized demands.
If the motor cable is in-house produced, cable cross-section,
cable length and shielding have to be considered.
The cable cross-section has to be adapted to the phase current. The cable cross-section should be calculated based on
the maximum phase current per motor phase.
For cables longer than 4 meters it can be necessary to adapt
cable losses by a modified configuration of the motor parameters setumotmin and setumotgrad or to make up for
these losses by an enlarged cross-section.
For the EMC-compatible fitting of the cable a total shielding is
prescribed whereby the cable shield is connected to the case.
The DSUB-15 motor connector should have a metal case.
The fasten nuts of the DSUB connectors of the controller
have an UNC4-40 thread.
An incorrect wiring of the motor connection can result in
a defect of the controller.
Figure 5: Shielded motor cable with metal connector housing
Installation
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Manual
Corvus
Endswitches
Endswitch inputs
For each axis there are respectively two endswitch inputs
available.
The endswitch connections are situated in the respective motor connector. The switch inputs are designated due to their
function as cal-endswitch input or as rm-endswitch input.
The endswitch functions supported by Corvus are linked to
these inputs; no other function can be assigned to them.
Endswitch functions
There are the following endswitch functions:
• move to the cal-endswitch (Venus-1 command c al)
The controller positions towards negative position values until
the cal-endswitch is reached.
• move to the rm-endswitch (Venus-1 command rm)
The controller positions towards positive position values until
the rm-endswitch is reached.
Installation
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Manual
Corvus
Endswitch types
Corvus supports the following endswitch types:
• mechanic switches (opener /closer)
• inductive proximity switches NPN / PNP
• photo sensors
For the supply of electronic switches, 5V and 12V are available in the motor connector.
See "User output voltage" on page 63.
Configuration for PNP/NPN/opener/closer
With the changeover switch on the back of the controller Corvus is configured to the NPN or PNP endswitch type.
NPN/PNP
• NPN = the endswitch closes or opens towards ground
• PNP = the endswitch closes or opens to VCC
The function opener or closer is determined with the Venus-1
command se ts w and is saved with s ave.
Installation
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Manual
Corvus
Endswitch wiring
Endswitch
13
NPN/PNP
14
15
cal-endswitch input
rm-endswitch input
GND
Figure 6: NPN endswitch wiring
Endswitch
NPN/PNP
VCC
13
cal-endswitch input
VCC
14
rm-endswitch input
6 (7) VCC
Figure 7: PNP endswitch wiring
Installation
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Manual
Corvus
Joystick mode
General remarks
+Y
-X
Z
+X
-Y
In the joystick mode the positioning is executed independent
from a host control unit.
The turning or the deflection of the joystick enables a sensitive and high resolvent positioning of the motors.
The joystick can in addition be equipped with a touch-terminal. In doing so there is the possibility to display the position
of all axes and to execute further operation functions.
1
6
5
9
Joystick
Figure 8: FJ Joystick with Speed buttons
Axes assignment
Installation
Joystick
Axes assignment
X
Axis-1
Y
Axis-2
Z
Axis-3
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Manual
Corvus
Configuration of the controller for the joystick mode
The following configurations have to be executed for the joystick mode:
•
•
•
•
determining the joystick velocity
determining the button-speed
determining the joystick acceleration
switching on the joystick mode
So that the made configurations also remain valid after
switching off the controller, these parameters have to be
saved.
t
ne
32
-2 ther
RS
E
is
is
is
Ax -Ax -Ax
Z
XY
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Display of the joystick function
Important notices for the joystick mode
• The joystick has to be connected when the controller
is switched on.
• The joystick may not be deflected when the controller
is switched on.
• For safety reasons an active joystick is always
switched off after a "programmed move" and has to be
switched on again afterwards.
Installation
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Manual
Corvus
Programmed mode
For the program controlled operation a control unit (host)
has to be connected. The operation can work via the following
interfaces:
• RS-232 interface
• Ethernet interface
• IEEE-interface
Command language is named Venus-1.
The function of these commands is described in the second
part of this manual.
Installation
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Manual
Corvus
Setting-up operation of the RS-232 connection
Important notices
• The delivered cable should preferably be used. The
correct wiring has to be minded if it is in-house produced.
• See "RS-232 / host interface" on page 96.
• The interface configurations of the control unit have to
correspond accurately with the configurations of Corvus.
• If there are problems you have to check if so-called
interface adapters, which possibly have falsified the
wiring, have been set in.
• The interface of the control unit may not be occupied
by other active programs.
• The configuration of the RS-232 operation mode, host
mode or terminal mode, has to be adapted to the application. See "DIP-Switch configuration".
• The closed-loop mode should not be activated at first
setting-up operation. See "DIP-switch configuration".
• For the test of the RS-232 connection the diagnostics
display RX/TX on the front should be used.
Installation
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Manual
Corvus
RS-232 interface configuration
•
•
•
•
Data bits
Stop bits
Parity
Handshake
•
•
•
•
•
• Baudrate
8
1
no
no
*9600,19200, 57600,115200
* Factory setting
Configuration of the baudrate
ON
DIP
ON
1 2 3 4 5 6 7 8 9 10
OFF
Dip-Switch 1
• OFF
• OFF
• ON
• ON
Dip-Switch 2
• OFF
• ON
• OFF
• ON
Configuration
Baudrate
• 9600
• 19200
• 57600
• 115200
Closed-loop / terminal or host mode,
ON
DIP
ON
1 2 3 4 5 6 7 8 9 10
OFF
Installation
Configuration
Dip-Switch 3
• ON
• OFF
Function
• Closed Loop active
• Closed Loop off
Dip-Switch 6
• ON
• OFF
Function
• Terminal Mode after power on
• Host Mode after power on
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Manual
Corvus
Test of the RS-232 connection
Some test measures which shall help to execute the function
test of the RS-232 connection are explained below.
• Testing via the LED-diagnostics display
While receiving and transmitting ASCII signs via the RS-232
interface the displays RxD resp. TxD flash. It must be pointed
out that during the transmission of few data the display possibly only flashes short. An attentive observation is therefore
necessary.
• Testing the transmission with the command res et
If the connection between host and controller works, the controller is restarted with reset. Thereby the diagnostics display
is visibly switched off shortly and there is an audible signal at
the same time.
• Testing with WinPos
WinPos LT is added for free to each controller and is qualified
for getting to know all functions of the controller. A test of the
RS-232 connection is automatically executed during the connection establishment.
The most important configurations in WinPos:
•
•
•
•
•
•
•
Installation
connecting the controller with the PC
configuring host mode
switching on the controller
starting WinPos
configuring interface and baudrate
"connecting" WinPos
opening Venus command line and testing commands
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Manual
Corvus
Connection with the hyperterminal
A terminal connection via the RS-232 interface or the ethernet
interface can be established with the program hyperterminal.
The controller therefor has to be switched into the terminal
mode. See "Closed-loop / terminal or host mode" on page 24.
A complete operation of the controller via the Venus-1 command input is possible with that program.
This program is therefore not only suited for the test of the interface connection but is also suited for operating and configuring the controller with simple means which are available for
everybody.
The program hyperterminal is added to the windows versions
95/98/NT and is normally to be found under:
Start>programs>accessories>communication
You can also get the product for free under the following address:
http://www.hilgraeve.com/products/index.html#Hyper Terminal Private Edition.
You have to pay attention to the licence agreements.
Installation
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Manual
Corvus
Configurations of the hyperterminal for the RS-232 interface
Start
Programs
Accessories
Communication
HyperTrm.exe
• Start Hyperterminal.exe.
• Determining the name of the configuration in which
the configurations shall be saved. Example: Corvus.ht
•
•
•
•
•
indicating the used interface.
making interface configurations.
closing and saving the session.
switching off Corvus and setting DIP-switch to terminal mode.
• opening hyperterminal with the saved configurations,
for example: Corvus.ht.
• switching on the controller. After that a screen mask
with position display and command input line is automatically transmitted via the controller to the terminal.
(Continuation see next page)
Installation
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Manual
Corvus
• the commands are entered in the input line according
to the requirements of the Venus-1 manual and are
executed with <enter>.
•
•
•
Changes in the interface configurations of the terminal program are only adopted if the program is offline.
The configuration local echo is not necessary, the sign echo
is transmitted by the controller.
Installation
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Manual
Corvus
Programming via the ethernet interface
The ethernet interface is an optional function of the controller.
The extension is possible per a release code. The command
language Venus-1 is also used for the programming and the
effect of terminal and host mode is valid as well.
Notices for the setting-up operation
To operate the controller via the ethernet, the following requirements have to be fulfilled:
• The option ethernet has to be released.
Testing with Venus-1 command g et op t io ns.
• Connection to an existing network via a hub or directly
with a network card.
• Determining an IP-address and saving in the controller. Subnetmask is 255.255.255.0
•
• The program for the operation of the controller has to
be configured to the protocol "telnet".
• Checking the interface activity.
(Attention: you’ll also have a display if the function is
not released)
• Testing the connection with the function "ping".
See following page.
is
is
is
Ax -Ax -Ax
Z
XY
t
ne
32
-2 ther
RS
E
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Displays the activity of ethernet
traffic.
Installation
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Manual
Corvus
Testing the ethernet connection
To test the connection of the controller with the network, Windows offers the test function "ping".
It is normally used to check the performance of a network connection and can also be used as a fundamental function test.
This function is executed as follows:
Start > programs > accessories > prompt
The command "ping" and the IP-address of the controller are
entered in the input line.
Example:
Subnetmask: 255.255.255.0
ping 141.51.14.38
If the connection works, the controller delivers the answer below.
Installation
34
Manual
Corvus
Ethernet connection with the hyperterminal
Hyperterminal supports in addition to the RS-232 protocol
also TCP/IP and is for this reason qualified for operating Corvus via the ethernet interface.
Instead of the Com interface the IP-address of the controller
has to be indicated here.
The further operation does not differ from the RS-232 connection.
Installation
35
Manual
Corvus
Chapter 3
Functions
Functions
36
Manual
Corvus
LED-diagnostics display
By dint of the diagnostics display at the front, important configurations and operation states of the controller can be surveyed at a glance.
Active states are displayed by shining LEDs. Blinking displays
give additional tips which are explained in the function explanations.
xis xis xis
X-A Y-A Z-A
Functions
2 et
-23 ern
RS Eth
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
37
Manual
Corvus
Ax
i
Ax s-1
is
Ax -2
is
-3
Functions of the LED-displays
Axis enabled
Display of the configuration se taxis.
The display flashes if the axis is switched on. The display
blinks if the function of the axes is restricted by outside influences.
Closed-Loop
Display of the configuration se tclo op .
The display flashes if the closed-loop function is switched on.
The display blinks if a target window has been activated and
the position is outside of the target window.
Endswitch
Display of the endswitch function.
The display flashes if the endswitch is activated.
Manual
Display of the configuration j oy s t ic k.
The display flashes if the joystick is switched on.
TxD
Display of the RS-232 data transmission.
The display flashes if Corvus transmits data.
Rx
Display of the RS-232 data transmission.
The display flashes if Corvus receives data.
Connect
Display of the ethernet data connection.
The display flashes if there is an ethernet connection.
Attention:
The display also flashes if the ethernet interface is not released.
Activity
Display of the ethernet data traffic.
Here is not only displayed the data traffic of the controller but
the whole network traffic.
Functions
38
Manual
Corvus
Error
Error display.
The display flashes if an error has occurred.
The error code can be read with the command gme or g e.
Stopped
Status of the command execution.
The display flashes if the command interpreter is ready to receive a new command.
This display is switched off in the joystick mode.
USER LED1
The display can be switched on and off with push-button A. If
the LED is switched on, status bit D2 is produced.
See command sta tu s.
USER LED2
(no function)
Functions
39
Manual
Corvus
Push-button A and B
Push-button A and push-button B offer switch functions which
can be used for controlling purposes in coaction with the application software.
Presently only push-button A is supported.
The switch state of push-button A is displayed from the outside by User LED1. The evaluation by the application software is done via the command statu s .
Remark:
Push-button A is compatible to the function key "online" like
it was used for the controller MultiControl-2000.
xis xis xis
X-A Y-A Z-A
Functions
2 et
-23 ern
RS Eth
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
40
Manual
Corvus
Endswitch functions
Working range and coordinate system
As a basis for the positioning, each controller needs a coordinate origin and for safety reasons the information of the maximum working range within which the positioning can take
place.
The in Corvus implemented endswitch functions calculate the
origin and the maximum working range and save those for
the period of the operation.
The working range is defined by hard- or soft limits.
The hard limits are endswitches, soft limits are limitations
which can be determined program technically.
The endswitches can be registered programmed by command or manually with the joystick.
For safety reasons the coordinate origin and the determined
maximum movement range get lost while switching off the
controller and have to be recalculated resp. programmed after a restart.
Endswitch inputs
Corvus supports two endswitches per motor axis. The endswitch connections are in the respective motor connector.
These switch inputs are designated due to their function as
cal- or rm- endswitch input.
The endswitch functions are dedicated to these inputs. See
"endswitches" on page 17.
Functions
41
Manual
Corvus
Programmed endswitch movement
With the commands cal and rm a synchron positioning of all
active axes to their endswitches is started. The activation of
the axes is done with the command s etaxis.
Synchron means that the axes are started simultaneously
and are driven in the endswitches.
As soon as all endswitches are activated, the axes are again
driven simultaneously out of the endswitches. Therewith the
endswitch movement is completed.
The endswitch movement can be aborted with the command
Ctrl+c . During the endswitch movement the interpreter is
blocked for all further commands.
A position reply message during the endswitch movement is
only received in terminal mode. See manual Venus-1.
During the endswitch movement no other commands except
the abort command Ctrl+c can be executed.
The controller can continue to receive data and saves these
in the command FIFO. These commands are executed when
the endswitch movement is completed.
Functions
42
Manual
Corvus
Programmed endswitch movement in detail
The fundamental procedure of the programmed endswitch
movement is described below.
The endswitch movement is divided in at least two successive
positionings:
1. The controller positions until the endswitch is activated and
stops immediately.
The endswitch diagnostics LED flashes.
2. The controller positions again out of the endswitch until this
one is inactive.
The endswitch diagnostics LED extinguishes.
+
3. With the command s etcalswdist an additional distance
to the endswitches can be determined.
The endswitches are always outside of the working range and
are not again activated by the controller in the regular mode.
With the command ge tl i m i t the registered coordinates are
read.
cal-switch
(home)
rm-switch
(range)
lower limit
upper limit
Run out area
Distance to endswitch
Functions
working area
43
Manual
Corvus
Endswitch movement to the cal-endswitch
+
0
The controller positions all active axes towards negative position values. At the end of the cal-endswitch movement the
position is set to zero and the origin is firstly determined there.
The positioning of coordinates less than zero is no longer
possible. The origin can be changed subsequently with the
command se tp os.
Endswitch movement to the rm-endswitch
+
100
-
The controller positions all active axes towards positive position values. The position at the end of the rm-endswitch
movement is the maximum movement range for the controller. A positioning beyond this point is no longer possible. The
limit can subsequently be minimized with the command s et li mi t.
The coordinate configurations are not saved for safety reasons and have to be recalculated after each restart.
Functions
44
Manual
Corvus
Endswitch movement with the joystick
By the use of the manual positioning with the joystick, the
endswitches can also be detected. The procedure resembles
the programmed endswitch movement.
Endswitch movement with the joystick in detail
The controller is positioned with the joystick in the endswitch
until this one is activated. After that it is positioned out of the
endswitch until this one is again inactive.
The position before the endswitch is registered as the movement limit and can neither in the manual nor in the programmed mode be run over afterwards.
Working range and coordinate system
In opposition to the programmed endswitch movement, the
controller does not determine an origin during the manual
endswitch movement.
The point of origin could be given here already before the
endswitch movement by the command.
If an origin is not determined before the manual endswitch
move, the mechanic position at switching on the controller is
the origin.
A reassignment of the coordinate origin is subsequently possible.
-24
cal
Functions
0
+123
rm
45
Manual
Corvus
Notices for the endswitch move
• To calculate the working range and to determine the
coordinate system, the origin has to be calculated first
(cal). After that the maximum movement range (rm).
• The velocity for the movement to the endswitch has to
be chosen that way that within the deceleration distance there will not be a collision with the mechanics.
This is first of all valid for the endswitch movement
with the joystick.
• To achieve a good reproducibility of the limits, the
velocity for the move out of the endswitch should be
chosen as small as possible.
• During the endswitch move the command interpreter
is blocked for all commands except the abort command Ctrl+c.
A position reply message is only received in terminal
mode.
• For safety reasons the movement range and the configurations of the coordinate system are not saved.
They have to be recalculated and determined after
each restart.
Functions
46
Manual
Corvus
Endswitch wiring
With the changeover switch at the back of the controller, Corvus is configured to NPN- or PNP- endswitch type.
• NPN = the endswitch closes or opens towards ground
• PNP = the endswitch closes or opens to VCC
The function opener or closer is determined with the Venus-1
command se ts w and is saved with s ave.
Endschalter
13
NPN/PNP
14
15
cal-Endschalter
rm-Endschalter
GND
Endschalter
VCC
13
NPN/PNP
cal-Endschaltereingang
VCC
14
rm-Endschaltereingang
6 (7) VCC
Functions
47
Manual
Corvus
Positioning with the joystick
The joystick mode allows a very sensitive positioning of all
axes via a joystick.
The movement is velocity controlled and is produced by the
deflection of the joystick.
The larger the deflection the higher the velocity. In joystick
mode the axes can be moved independently. It does not exist
an interdependence of the axes in this mode like it exists in
the programmed mode.
The position resolution with the joystick is enormous.
The internal calculation works with 32 bit and reaches thereby
a resolution of theoretically 23.2 fm (femtometer)!
Joystick button speed
With the two paralleled push buttons of the joystick, a freely
definable second joystick velocity can be activated.
This velocity is valid as long as one of these push buttons is
pushed.
Configuration of the joystick
Functions
Command
Description
setjoyspeed
maximum joystick velocity
setjoybspeed
maximum joystick velocity if button is
pressed
setmanaccel
manual acceleration
48
Manual
Corvus
Notices for the joystick mode
• During the phase of switching on the controller, the
zero position of each axis of the joystick is checked.
The joystick may not be deflected during this time. If
there is a zero position outside of an internally determined tolerance window, the manual mode for the relevant axis is switched off.
• The zero position is also checked when the joystick
shall be switched on during the running mode.
• If the joystick is disconnected during a manual positioning, the axes are immediately stopped. The joystick mode remains active.
• During the programmed positioning the joystick mode
is switched off for safety reasons. It has to be
switched on again afterwards.
Functions
49
Manual
Corvus
Programmed positioning
The programmed positioning is run via the RS-232 interface
or the ethernet interface. The command language is Venus-1.
The principle of software control is easy:
There are reading and writing commands. Writing commands
execute the activities, the configuration resp. the current state
is checked with reading commands.
An automatic status reply message can be received by a
combination of commands.
During a positioning, the status, the position and the error
storage can be read out at the same time.
In the manual Venus-1 the possibilities of programming are
described in detail.
Functions
50
Manual
Corvus
Venus-1 syntax and examples
The following command groups are distinguished:
•
•
•
•
system commands
configuration commands
positioning commands
status commands
System commands
save parameters:
sav e
restart controller:
res et
Configuration commands
[parameter] _ [axis index] _ [command] _
Example: switching on the 2nd axis
1 2 setax is
Positioning commands
[axis 1] [axis 2] [axis 3] move
Example:
Positioning all three axes to the coordinates below (absolute
move)
1.204 4.01 3 .4 mo ve
Status commands
System status:
st
Status of the digital inputs:
ge ti n
Functions
51
Manual
Corvus
Axes interpolation
In the programmed positioning the axes are linear interpolated, i.e., a so-called vector move is executed.
In doing so the involved axes are synchronized that way that
the phase of acceleration and the phase of deceleration are
equal.
A cross table with the axes x and y executes thereby a
straight movement.
Velocity and acceleration
The indication of the velocity and the acceleration always refers to the axis with the longest moving distance. It is also
called the limiting axis.
The velocity of the other axes v is a result of the ratio of the
moving distance of these axes to the moving distance of the
limiting axis slim
s
v = --------- Þ v lim
s lim
The acceleration of the other axes is a result of their maximum velocities.
Functions
52
Manual
Corvus
Velocity profile of a linear acceleration function
The movement profile of a programmed move which is produced with a linear acceleration function has the form of a trapezium. The area under the curve corresponds to the covered
distance s and the pitch of the curve corresponds to the acceleration a .
See v/t graph below.
• 1 = accelerated move
• 2 = continuos move
• 3 = decelerated move
Movement profile of short distances
The graph below shows the positioning of a short distance. It
can not always be guaranteed here that the axis reaches its
maximum velocity.
The movement profile has the form of a isosceles triangle.
Functions
53
Manual
Corvus
Movement profile of a sin²-acceleration function
For the sin²-acceleration the torque is not provided abruptly
but in form of a sine curve. A very soft start and deceleration
of the motor is achieved with it.
As the acceleration is raised in the lower to average speed
range it does not lead to an extension of the positioning process.
Functions
54
Manual
Corvus
Digital inputs / outputs
5
1
9
6
Input / Output
Option
For individual controlling tasks and special tasks, Corvus has
three digital inputs and three digital outputs. These are fed to
a 9pol DSUB connector at the front panel.
The input / output functions are supported by the Venus-1
commands setout, getout, getin and g et i nf u nc.
Input circuit
The input voltage range of the digital inputs lies between 0
and 24V.
The inputs are optically isolated but not DC-isolated.
Input
0-24V
DGND
DGND
Technical data:
Functions
Input voltage
Identified as
0-2V
0
3 - 24 V
1
55
Manual
Corvus
Output circuit
The output driver has a darlington circuit with open-collector
output which is also qualified for switching inductive loads.
The current carrying capacity of the outputs is 500 mA.
Vcc
5V - 35V
SPNG
Load
Output
The total current of all outputs should never
exceed 1000 mA.
Functions
56
Manual
Corvus
Configuration switch
ON
1
2
DIP
3 4 5 6 7
8 9 10
Configuration
Switch
Function
1
• RS-232 Baudrate
2
• RS-232 Baudrate
3
• Closed Loop On/OFF
4
• no function
5
• no function
6
• Host Mode / Terminal Mode
7
• no function
8
• no function
9
• no function
10
• no function
TABLE 9. Configuration switch functions
Setting
NPN/PNP
Function
NPN
• NPN function of endswitches is assumed
• All inputs are closed to GND if active.
PNP
• PNP function of endswitches is assumed
• All inputs are switched to VCC if active.
TABLE 10. Endswitch setting with hardware switch NPN/PNP
Functions
57
Manual
Corvus
Input / Output functions
In the following the functions which can be realised with the
digital in- or outputs are described.
Produce an output signal
The command s et ou t switches a signal to the outputs Dout1
- Dout2.
Read an input signal
The command ge tin reads the binary state of the data inputs
Din1 - Din3.
Limitation of movement
Via an externally produced signal at the digital inputs Din1Din3 it is possible to block selected axes completely or to restrict their moving range depending on the direction.
The function is activated with the Venus-1 command
s et in f un c.
Functions
58
Manual
Corvus
Safety device
1
6
5
9
Safety device
Option
The interface "safety device" enables switching off the motor
power stage. In addition there are two floating connections of
a relay which can be used for a safety circuit or other controlling tasks.
Switching off the motor
Switching off the motor affects the hardware of the motor
power stage and is independent from the software.
You can switch off the power stage of each single axis. In doing so the signal switches all motor phases of an axis in the
high-impedance state.
A switch off is reported as a machine error. See Venus-1 command gme.
Switching on the motors again is only possible by a restart of
the controller or with the command re set .
The inputs are optically isolated but not DC-isolated.
Enable 1,2,3
0-24V
DGND
DGND
Technical data:
Functions
Input voltage
Status of motor driver
0-2V
Motor driver is disabled
3 - 24 V
Motor driver is active
59
Manual
Corvus
Relay
The floating contact is closed 2 seconds after switching on the
controller.
The contact opens while switching off the controller or if the
command re set is executed.
Safety device
Relais Output
Functions
60
Manual
Corvus
Output voltage module
5
1
9
6
24V / 0.5A
Option
With the output voltage module Corvus delivers a floating 24V
output voltage which is switched via the Venus-1 command
seto ut .
This function can be used for example for the holding voltage
of a motor brake.
The maximum output current is 0.5A.
Function description:
After switching on the controller, the voltage module is disconnected and 0V is applied to the output.
The output voltage is switched on by the command
1 1 setou t and is switched off by 0 1 seto ut . The status
query is done by g et o ut.
The voltage is also switched off with the command res et .
If the switched voltage is used for controlling a motor brake it
is the job of the user to check if therewith a safe operation can
be guaranteed.
Functions
61
Manual
Corvus
User output voltages
For the power supply of external devices, Corvus provides the
user-voltages +5V and +12V. These voltages are saved with
their nominal current.
The safety elements are self-resetable fuse, i.e., the electric
circuit is closed again after removing the overload and after a
convalescence.
Technical data:
User voltage
Max. output current
5V
1A
12V
0.3A
Option
If more power output is needed for the supply of external devices, this is available by an add-on DC-DC module.
Functions
62
Manual
Corvus
Closed-loop function
The function closed-loop enables the operation of the axes in
closed-loop.
At this a position registered by a measuring system is delivered to the controller and is used for the calculation of the position.
Depending on the measuring system there are some advantages for the stepping motor positioning:
•
•
•
•
•
•
safety by step monitoring
increasing the repeatability
improvement of the absolute accuracy
load compensation during the move and a standstill
improved controlling behavior
support of fast and highly precise positioning procedures by the "in-window" function
• measuring function realisable
Connections
The connection of the measuring systems is on the back of
the controller. The connections are labeled with Enc.Axis-1,
Enc.Axis-2 and Enc.Axis-3.
Mains (90-250V)
5
9
1
6
5
5
1
9
15
Axis-3
1
8
9
15
Axis-2
9
15
Axis-1
1
6
6
5
1
9
6
6
Enc. Axis-2
Enc. Axis-3
1
8
1
9
Input / Output
1
9
RS232 / Service
8
6
CAN / DPY
5
9
1
6
5
1
9
Joystick
5
9
RS232 / Host
Safety device
5
1
9
6
Enc. Axis-1
on
1
2
L1
3 4
5 6 7 8 9 10
Ethernet NPN/PNP Configuration
L2
Figure 11: Closed loop inputs are shown
Functions
63
Manual
Corvus
Supported measuring systems
Corvus supports the following measuring systems:
• A/B quadrature with RS422 signal output
• sin/cos, 1Vss
A/B quadrature measuring input
Option
The A/B quadrature interface supports differential RS422
measuring signals with reference signal.
This function is supported by the Venus-1 commands
setclfac to r, s etref, s etclpa ra, r efmo ve and s et cloo p .
Technical data:
Input signals
RS422 Standard
Reference mark
Supported
Max input frequency
10 Mhz
SIN/COS interface 12 bit / 16 bit
Option
The SIN/COS interface is an independent module which has
been developed for the evaluation of very fast positioning signals.
The module is equipped with a very fast signal processor that
executes the data acquisition and the interpolation of the
measuring data.
The options 12-bit and 16-bit are available.
For the closed-loop positioning, for each axis is respectively
one module needed.
Technical data:
Input signals
1Vss, differential
Reference mark
Supported
Max. input frequency
Resolution
Functions
12 Bit or 16Bit
64
Manual
Corvus
Firmware update
The software of each device is called firmware. It checks all
internal functions of the controller.
By dint of a service program, which can be operated easily,
the firmware of the controller can be updated with low effort
via the service interface and it is not necessary to open the
device for that.
The firmware update offers the following advantages:
• augmentation of the availability by the easy update on
site.
• older devices stand to benefit from the further development by this update.
• problems in the firmware can be fast eliminated.
Mains (90-250V)
1
6
5
9
5
1
6
5
9
5
1
9
15
Axis-3
Functions
1
8
9
15
Axis-2
9
15
Axis-1
5
1
6
1
9
6
6
Enc. Axis-2
Enc. Axis-3
1
8
6
Input / Output
1
9
1
9
6
CAN / DPY
RS232 / Service
8
5
1
9
Joystick
5
9
RS232 / Host
Safety device
5
1
9
6
Enc. Axis-1
on
1
2
L1
3
4
5 6
7
8 9 10
Ethernet NPN/PNP Configuration
L2
65
Manual
Corvus
Chapter 4
Interfaces
Interfaces
66
Manual
Corvus
Interfaces concept
Corvus has the following programming interfaces:
• RS-232
• Ethernet
• IEEE Interface
If more interfaces are available, they can be used at the same
time. Data reply messages are always transmitted to the interface from which the data query came.
The IEEE-488 interface is realized with an additional hardware. The description of this interface function is made in a
separate documentation.
Ethernet
Ethernet
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Axis enabled
A
B
HUB
HUB
2 net
RS-23 Ether
X-Axis Y-Axis Z-Axis
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
X-Axis Y-Axis Z-Axis
32 net
RS-2 Ether
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
RS-232
s s s
X-Axi Y-Axi Z-Axi
Ethernet
X-Axis Y-Axis Z-Axis
HUB
2 net
RS-23 Ether
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Axis enabled
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
2 net
RS-23 Ether
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Axis enabled
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
RS-232
RS-232
X-Axis Y-Axis Z-Axis
32 net
RS-2 Ether
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
Figure 12: Corvus network topology
Interfaces
67
Manual
Corvus
Communication with Terminal or Host Mode
For communication via RS-232, Ethernet and IEEE-488 Terminal mode or Host mode can be selected.
In the terminal mode Corvus sends automatically data to the
host for example a screen mask with position display and
Venus-1 command entry.
In the host mode the controller is sending data only if these
are queried.
See to “Connection with the hyperterminal” on page 30.
Figure 13: Screen shot of Microsoft Hyperterminal
Interfaces
68
Manual
Corvus
Configuration of Terminal or Host Mode
The setting terminal or host mode is defined either with
DIP-Switch 6 or with the Venus-1 command
0 mod e / 1 mo de .
DIP
ON
1 2 3 4 5 6 7 8 9 10
Configuration
Figure 14: DIP-Switch 6 defines Terminal or Host mode
Dip-Switch 6
Function
ON
Terminal Mode
OFF
Host Mode
The setting of the DIP-Switch is dominant.
That means, a stored setting could be overwritten with the
Dip-Switch setting.
Interfaces
69
Manual
Corvus
RS-232 Interface
The RS-232 interface is the standard programming interface
of Corvus.
The transmitting rate is variable in four steps and is configured with DIP-Switches which are at the rear of the controller.
RS-232 interface configuration
.
Data bits
8
Stop bits
1
Parity
no
Protocol
no
Baudrate
Dip-Switch1
Dip-Switch 2
Baudrate
OFF
OFF
9600
OFF
ON
19200
ON
OFF
57600
ON
ON
115200
DIP
ON
1 2 3 4 5 6 7 8 9 10
Configuration
Figure 15: DIP-Switch
Interfaces
70
Manual
Corvus
Ethernet interface
Option
Corvus can be enlarged with a 10-base Ethernet interface, so
that the programming is possible via a network.
Each Corvus has a network connection, so that the functionality can be activated later.
The Venus-1 command geto pti on s checks the released
functions.
General informations about Ethernet
Ethernet is a widely spread and producer independent technology with which data can be transmitted with a velocity of
10 Mbits/s or 100 Mbits/s in Local Area Network (LAN).
Topology
The specification allows different network topologies of which
tree and ring topology are shown below:
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
HUB
HUB
2 net
RS-23 Ether
X-Axis Y-Axis Z-Axis
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
X-Axis Y-Axis Z-Axis
X-Axis Y-Axis Z-Axis
32 net
RS-2 Ether
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
2 net
RS-23 Ether
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
X-Axis Y-Axis Z-Axis
HUB
2 net
RS-23 Ether
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Axis enabled
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
xis
X-Axis Y- A Z-Axis
2 net
RS-23 Ether
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Axis enabled
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
Figure 16: Ethernet network topology with Corvus
Interfaces
71
Manual
Corvus
2 et
RS-23Ethern
X-Axis Y-Axis Z-Axis
Axisenabled
TxD
Error
Cl osed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activi ty
User LED-2
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
2 et
RS-23Ethern
X-AxisY-Axis Z-Axis
Axisenabled
TxD
Error
Closed Loop
RxD
Endswitch
Manual
Connect
Stopped
User LED-1
Activ ity
User LED-2
X = 0. 0099
Y = 3.9852
Z = 100.024
A
B
Corvus
2 et
RS-23Ethern
X-Axis Y-Axis Z-Axis
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
X-Axis Y-Axis Z-Axis
2 net
RS-23Ether
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
Axis enabled
A
B
X = 0. 0099
Y = 3.9852
Z = 100.024
Corvus
Figure 17: Ethernet loop topology with Corvus
Interfaces
72
Manual
Corvus
TCP / IP
Corvus Ethernet interface supports the protocol layers TCP
and IP. They are also known as the so-called TCP/IP stack.
Corvus is equipped with the interface of the modern communication technology which has penetrated into all areas of
technology and is without doubt part of the industry standard.
The hardware of this technology is cheep and well-tested.
This interface is part of all modern software products in the
area of data communication or will be part of them in future.
The advantage of that is a complete compatibility between
hard- and software products. This leads to a considerable improvement of productivity.
The TCP/IP- protocol uses a number of well-known applications which are normally known as the terms below:
•
•
•
•
Interfaces
ftp
telnet
e-mail
http
73
Manual
Corvus
Hardware address (MAC-address)
Each device in a network which can independently produce
data packets needs an unmistakable hardware-address, the
so-called MAC-address (Media Acces Control-address).
This address is centrally administered to guarantee that it is
only one time distributed worldwide.
MAC-address is programmed in the controller and can not be
changed.
The address format consists of 6 byte in Hex-code, divided by
a colon.
Example: 00:08:63:01:A2:B3
The Ethernet hardware address of each Corvus can clearly
be identified.
The Venus-1 command ge tm acad r reads out this address.
Interfaces
74
Manual
Corvus
IP-address
If data packets shall be clearly addressed, in the internal network or in the internet, there is another address needed, the
IP-address.
Like each telephone-connection can worldwide be clearly
identified by its local area code number and telephone number, each device which is connected to a network can also
clearly be addressed from the outside.
This address format consists of four numbers between 0 and
255 which are divided by a full stop.
Example: 134.109.72.64
Any IP-address can be stored in Corvus. It is written with the
Venus-1 command setipadr and save, the command getipadr reads it back.
Factory setting is: 192.168.128.41
Example: 190 170 12 23 setipadr
The digits are divided by space!
It depends on the address structure of the respective network,
which IP-address can be assigned for Corvus and it should be
assigned by the responsible network administrator.
Sub Mask
Submask adress = 255.255.255.0
At the moment not adjustable.
Interfaces
75
Manual
Corvus
Port-address
The IP-address is not the only information that you need to
claim the services of a network participant. Different services
can be offered via the TCP/IP-protocol (and that is why it is so
widely spread).
The distant computer has to be advised about what the querying computer wants. That happens via the so-called ports.
A query is always put to a fixed port number.
By that the distant computer knows what is requested and it
can pass the query on to the appropriate program.
This detail is normally hidden for the user, as he mostly works
with a fixed program which only claims a fixed service of other
computers. Without knowing it he has chosen the port address by choosing the program for using the service and the
program knows then, which port address offers the service.
Corvus supports port 23 and with it the service telnet.
Corvus Ethernet data summary
Interfaces
Connector
RJ45
Data
10 MBit/s
Protocol
TCP/IP
IP adress
arbitrary
MAC
Hardware
Submask adress
255.255.255.0
Port
23
76
Manual
Corvus
Chapter 5
Device concept
Device concept
77
Manual
Corvus
Components of the controller
The controller consists of the following components:
•
•
•
•
•
Device concept
Case
Controller and Motor driver electronic
Diagnostics display
Power supply
Operating system and firmware
78
Manual
Corvus
Case variants
The modular composition of the controller makes possible a
flexible case concept which allows different models.
The following case variants are offered as standard.
• Table top housing TT
• Cabinet mounted CM
• 19" Rack, 2U / 3U
Custom specific changes are possible.
Device concept
79
Manual
Corvus
Table top housing TT
Chromated aluminum table housing with anodized front and
back, is additionally equipped with a durable cover.
Punched side plates make the passive ventilation possible.
High performance devices receive an fan. Display variants
are possible.
2 et
-23 ern
RS Eth
xis xis xis
X-A Y-A Z-A
X = 0. 0099
Y = 3.9852
Z = 100.024
A
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
B
Corvus
Figure 18: Front view of Corvus TT
245 mm
Mains (90-250V)
5
5
9
1
6
Joystick
80 mm
5
9
15
Axis-3
1
8
9
15
Axis-2
9
15
Axis-1
1
6
6
5
1
9
6
6
Enc. Axis-2
Enc. Axis-3
1
8
1
9
Input / Output
1
9
RS232 / Service
1
8
5
6
CAN / DPY
5
9
1
6
1
9
Safety device
5
1
9
Enc. Axis-1
5
9
RS232 / Host
6
on
1
Ethernet
NPN/PNP
2
L1
3 4 5 6 7 8 9 10
Configuration
L2
Depth: 310 mm
Figure 19: Rear view of Corvus TT
Device concept
80
Manual
Corvus
Cabinet mounting case CM
This case is designed for the assembly in a cabinet.
It is equipped with a larger front panel for mounting possibilities. Other mounting designs are also possible.
270.00 mm
1
6
5
9
5
65.65 mm
5
1
1
8
9
15
Axis-3
Axis-2
1
9
15
Axis-1
1
6
6
5
1
9
6
6
Enc. Axis-2
Enc. Axis-3
8
9
15
1
9
Input / Output
1
9
RS232 / Service
8
5
6
CAN / DPY
5
9
1
6
1
9
Joystick
Safety device
5
1
9
6
Enc. Axis-1
5
9
RS232 / Host
on
1 2 3 4 5 6 7 8 9 10
Ethernet
46.40 mm
Mains (90-250V)
NPN/PNP
Configuration
L1
L2
Tiefe: 300mm
Figure 20: Rear view of Corvus CM
Device concept
81
Manual
Corvus
19" Rack 2 U / 3U
Chromated aluminum table housing with anodized front and
back panel. The mounting plates are at the front side.
3 U version is not shown.
Ax
is-1
Ax
is-2
Ax
is-3
RS
-2
3
Eth 2
ern
et
483 mm
Axis enabled
Closed-Loop
TxD
RxD
Power
Error
Stopped
Endswitch
Connect
User LED1
Manual
Activity
User LED2
A
12 . 0 4 1 9 5 9 mm
B
18 . 0 4 1 9 8 2 mm
23 . 0 4 1 9 8 9 mm
Corvus
84.5 mm
high resolution positioning controller
depth = 301mm
Figure 21: Front view of Corvus 19", 2U
427 mm
1
6
5
5
9
8
1
8
9
15
5
Axis-3
Axis-2
9
15
Axis-1
1
6
6
5
1
9
6
6
Enc. Axis-2
Enc. Axis-3
1
1
9
Input / Output
1
9
8
9
15
5
6
CAN / DPY
5
9
RS232 / Service
1
1
9
Joystick
1
6
Safety device
5
1
9
RS232 / Host
6
Enc. Axis-1
5
9
on
1
Ethernet
NPN/PNP
2
L1
3 4 5 6 7
8 9 10
Configuration
L2
Figure 22: Rear view of Corvus 19", 2U
Device concept
82
Manual
Corvus
Controller and motor driver electronic
The Corvus board is high integrated and equipped with the
most modern components. Control part and motor-stages are
accommodated on one board.
4
1
3
2
4
1
3
2
4
3
1
2
2
1
1
1
2
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
3
4
5
6
7
8
9
10
Figure 23. Corvus electronic board
Parts of the board
•
•
•
•
•
•
•
CPU (133 Mhz)
Dual Port Bus
Flash Memory
DRAM Memory
SRAM Memory
Ethernet Interface
CAN-Bus Interface
• SPI-Interface
Device concept
•
•
•
•
•
•
•
RS-232 Interface
Analog- / Digital conversion
Closed Loop RS422 Interface
Input/Output
Temperature measurement
Power distribution
Motor current sensing
• Motor driver circuit
83
Manual
Corvus
Diagnostic Display
The display- and operate-element at the front is part of the
standard equipment of Corvus.
The most important operation states of the controller are
shown with 20 LEDs.
Two buttons allow manual input functions.
is
is
is
Ax -Ax -Ax
Z
XY
t
ne
32
-2 her
RS Et
Axis enabled
TxD
Error
Closed Loop
RxD
Stopped
Endswitch
Connect
User LED-1
Manual
Activity
User LED-2
A
B
Figure 24. Diagnostic display
Device concept
84
Manual
Corvus
Power supply
Corvus is able to support varying stepper motors with different power classes. Adjustment is also made with the power
supply. Standard equipment is 50W.
In the following table all Corvus power classes and case variants are summarized.
Power
•
•
•
•
•
50 W
100W
150 W
240 W
500 W
Case variants
•
•
•
•
•
TT, CM, 19" (2U/3U)
TT, CM, 19" (2U/3U
19" (2U, 3U)
19" (3U)
19" (3U)
Fan
•
•
•
•
•
no
yes
yes
yes
yes
TT = Table top, CM= cabinet mounted,
19"= Rack 2U or 3 U
Device concept
85
Manual
Corvus
Operation system and firmware
Corvus is equipped with a real-time operating system.
This concept allows an extremely fast reaction time of the
software and has built up a solid basis for a high-end controller which can combine high resolution positioning, a highly
developed communication and efficient special functions.
Device concept
86
Manual
Corvus
Chapter 6
Technical data
Technical data
87
Manual
Corvus
Overview
Number of axes
• 2 or 3
Phase current
• until 2,5A
velocity max.
velocity min.
• 45 rounds/ s
• 15.26 nm/s
acceleration max.
acceleration min.
• 1m/s²
• 15.26 nm/s²
Motor Power
•
•
•
•
Supported motors
• Stepper motor, 2-Phases or 3-Phases, bipolar,
Programming
• ASCII commands Venus-1
• Windows user interface
• Software library (dll)
Resolution in programming mode
• 15.26 nm
Resolution in Joystick
mode
• 23.7 fm (femto meter)
Positioning modes
• Absolute, relative, vector, error correction
Acceleration modes
• linear (trapezoid), sin² (s-curve)
Closed Loop
• sin/cos 1Vss or RS422 quadrature
Processor
• 32 Bit Risc Processor
Operating system
• Real-time operating system
Motor driver
• Digital MOS-FET
Communication
•
•
•
•
Technical data
48V/ 50W (Standard)
48V/ 75W
48V/ 100W
48V/ 500W (only with 2U or 3 U Rack)
RS-232 Host or Terminal until 115kBaud.
Ethernet, 10BaseT with TCP/IP Stack
CAN-Bus
IEEE-488
88
Manual
Corvus
Inputs / Outputs
•
•
•
•
•
•
3 x endswitch inputs
3 x Digital inputs
3 x Digital outputs
2 x Analog inputs 0-10V
2 x Analog outputs 0-1V
3 x Temperature inputs (-25°C until 100°C)
Output power
•
•
•
•
+5V, 1000 mA
+12V, 300 mA
+24V, switchable as motor break (option)
+48V, Power output (option)
Digital inputs for position
measurement.
• 3 x RS422 Quadrature (option)
• Reference mark supported
• Input frequency 10 Mhz.
Analog inputs for position measurement
• 3x sin/cos 1Vss (option)
• Reference mark supported
• Input frequency
Safety functions
• Motor disable (option)
• Relay contacts (option)
Display with touch terminal
• Graphic-Display with terminal function
• User menu, 10 key input (option)
Input keys
• 2
Diagnostic display
• 20 LED
Accessories
• Joystick, 2 with 3 axes
• Joystick with graphic display / Terminal function
• Handwheel
Functions
• Soft trigger out (option)
• Real-time trigger out (option)
Case variants
• Table top
• Cabinet mounted
• Rack
Power supply
• 90-250V (wide range input)
Standards
• IEC 1010-1, EN61010-1, EN55011
EN50082-1
Technical data
89
Manual
Corvus
Chapter 7
Connectors
90
Manual
Corvus
Motor connector
.
1
8
Pin
Name
Description
1
Ph 1A / U
Motor phase 1 A
2
Ph 1B / W
Motor phase 1 B
3
Ph 2A /
Motor phase 2 A
4
Ph 2B
Motor phase 2 B
5
Ref
Reference switch
6
User +5V
User power supply
7
User +12V
User power supply
8
Temp In
Temperature input
9
Ph 1A /
U
Motor phase 1 A -> (Pin 1)
10
Ph 1B /
W
Motor phase 1 B -> (Pin 2)
11
Ph 2A /
V
Motor phase 2 A -> (Pin 3)
12
Ph 2B
Motor phase 2 B -> (Pin 4)
13
cal
Endswitch input cal
(lower limit)
14
rm
Endswitch input rm
(upper limit)
15
GND
Ground
9
15
Axis-
V
TABLE 25. Motor connector of one axis
Connectors
91
Manual
Corvus
Motor wiring
The adjustment to the different motor types is accomplished
with the following Venus-1 commands:
•
•
•
•
setp has es
set u m ot m i n
setu motg rad
set p ol ep ai r s
Stepper motor with 2-phases
PH1A
PH2A
PH1B
PH2B
Stepper motor with 3-phases
Connectors
92
Manual
Corvus
RS-232 programming interface
This interface is used for the standard programming mode
T
1
6
5
9
RS232 / Host
Pin
Name
Function
1
nc
nc
2
RxD
Corvus data input
3
TxD
Corvus data output
4
DTR
Connected with Pin6
5
GND
GND
6
DSR
Connected with Pin4
7
RTS
8
CTS
9
TABLE 26. RS-232 programming interface
The RS-232 interface is working without flow control.
The handshake signals RTS and CTS are not supported.
DTR and DSR are internal connected.
Connectors
93
Manual
Corvus
RS-232 service interface
This interface is used for the firmware update.
1
6
5
9
RS232 / Host
Pin
Name
Function
1
nc
nc
2
RxD
Corvus Data input
3
TxD
Corvus Data output
4
DTR
Connected with Pin6
5
GND
6
DSR
Connected with Pin4
7
8
9
TABLE 27. RS-232 service interface
Connectors
94
Manual
Corvus
Ethernet interface
Ethernet
Pin
Name
Function
1
TxD+
Corvus data output
2
TxD-
Corvus data output
3
RxD+
Corvus data input
RxD-
Corvus data input
4
5
6
7
8
9
TABLE 28. Ethernet interface
Connectors
95
Manual
Corvus
Joystick input
1
6
5
9
Joystick
Pin
Name
Function
1
Axis-1 (X)
Analog input 0-3.3V
2
Axis-2 (Y)
Analog input 0-3.3V
3
Axis-3 (Z)
Analog input 0-3.3V
Joystick enable
Enable input
GND = enable
5
+5V (User)
User output
6
SW
Joystick Button
7
GND
GND
8
AGND
analog GND
9
3.3V (analog)
Power
4
TABLE 29. Joystick input
Connectors
96
Manual
Corvus
Encoder input
Used for Closed Loop control via digital encoders
1
6
Enc.
5
9
Pin
Name
Function
1
Ua 1
Channel A (positive)
2
Ua 2
Channel B (positive)
3
Ua 0
Reference (positive)
4
DGND
GND
5
+5V (User)
User output
6
Ua 1-
Channel A (negative)
7
Ua 2-
Channel B (negative)
8
Ua 0-
Reference (negative)
9
Error
Encoder error
TABLE 30. Encoder input
Connectors
97
Manual
Corvus
Sin/cos 1Vss input
Used for Closed Loop control with analog measurement
systems
1
6
Enc.
5
9
Pin
Name
Function
1
+5V analog
Analog Vcc
2
Event
Event
3
Ua 1 +
sin +
4
Ua 1 -
sin -
5
Ua 2 +
cos +
6
Ua 2 -
cos -
7
Ua 0 +
Reference (positive)
8
Ua 0 -
Reference (negative)
9
AGND
Analog ground
TABLE 31. Sin/cos 1Vss input
Connectors
98
Manual
Corvus
Digital input / output
1
6
5
9
Input / Output
Pin
Name
Function
1
DGND
Digital GND
2
Input 2
Input 2
3
User +5V
User output
4
Output 2
Output 2
5
SPNG
SPNG
6
Input 1
Input 1
(0-24V)
7
Input 3
Input 3
(0-24V)
8
Output 3
Output 3
(0-24V)
9
Output 1
Output 1
(0-24V)
(0-24V)
(0-24V)
TABLE 32. Digital input / output
Connectors
99
Manual
Corvus
Safety device
1
6
5
9
Safety device
Pin
Name
Function
1
REL1
Relay Pin1
2
DGND
Digital GND
3
User +5V
User output
4
Enable 3
Enable axis-3
5
Enable 1
Enable axis-1
6
REL2
Relay Pin2
7
User GND
GND
8
Enable 2
Enable axis-2
9
User +12V
User output
TABLE 33. Safety device connector
If the safety connector is not installed the motor axis
are enabled internally.
Connectors
100
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