3 axis controller

User manual

© 2002 Twintec

Twintec controller user manual

3 axis controller user manual

© 2002 Twintec

All rights reserved. No parts of this work can be reproduced in any form without a written permission of the author.

The products to who references are made in this manual can be trademark of the respective proprietary. The author assume no responsability for errors or omissions, or for damage caused by the usage of the informations contained in this document and by the usage of the products to who it refer. In no case the author can be responsible of damage caused directly or indirectly by this document.

Printed: novembre 2002 at Gravina di Catania Italy

Published by:

Twintec

Address:

Via Monti Arsi, 13

95030 Gravina di Catania IT

Tel. 39 95 7253415

Author:

Michele Ribaudo

Web site: http://www.twintec.it

e-mail: [email protected]

I

3 axis controller user manual

Contents

Introduction

I Introduction

II Hardware

III Software 8

Move . ... .... ... .... ... .... .... ... .... ... .... ... .... ... .... .... ... .... ... .... ... .... ... .... .... ... .... ... .... ... .... ... .... .... ... .... ... .... ... .... ... .... ... 8

0

2

3

IV Operation principles

Index

12

16

© 2002 Twintec

Introduction

1 Introduction

1.1

Controller manual

This manual, destinated to the controller users is divided in 4 sections to make more easy the arguments reading. We choose to not limit the manual to the simple thecnical description of the controller but to explain any argument, providing, where possible, examples and pictures than can give to the reader further informations for a correct use of the controller and a better understanding of it functionality.

2

Further informations can be found on our web site: http://www.twintec.it

Twintec di Ribaudo Michele

Via Monti Arsi, 13

95030 Gravina di Catania

ITALY

Tel. 39 95 7253415

© 2002 Twintec

3

2

3 axis controller user manual

Hardware

2.1

General description

3 axis controller

· Eurocard board 100X160 mm. connector DIN 96 poles.

· LED indicators for power, execution and error.

· Power supply 5V 200 mA.

· 3 AXIS interpolated.

· 2 serial port: Rs232 19200-38400 BPS. e RS 485 19200 a 38400.

· Communication protocol: RS232 Hardware Handshake via CTS-RTS..

· 8 user input CMOS 5V.

· 8 user output OPEN COLLECTOR max 100 mA.

· Inputs for HOME and LIMIT for all axis.

· STOP input.

· STOP with deceleration and acceleration at restart.

· CONTOURING with adjustable angle.

· Battery for data retention (6 month).

· Configuration buffer for startup.

· Input and output commands.

· Timing commands.

Drawing of the controller.

© 2002 Twintec

Led indicators descripition:

· PWR=POWER LED

· ERR=ERROR AND STOP LED

· STAT=STATUS LED

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Hardware 4

5 3 axis controller user manual

2.2

Connections description

In the following table the name of the signals.

VCC 5V supply.

GND Ground.

PULSE0

PULSE1

PULSE2

DIR0

DIR1

DIR2

Step output X

Step output Y

Step output Z

Direction output X

Direction output Y

Direction output Z

UI0.. UI7

UO0..UO7

UO Com.

User inputs.

User outputs.

Common snubber for outputs

HOME0

HOME1

HOME2

LIM0

LIM1

LIM2

Home input X.

Home inputY.

Home input Z.

Limit Input X.

Limit input Y.

Limit input Z.

RXD

TXD

CTS

RTS

Data input rs232

Data output rs232

Clear to send rs232

Request to send 232

ANA1

ANA2 Analogic input 0-5V

Analogic input 0-5V

PULSE3

DIR3 Step output (optional).

Direction output (optional).

The following table show the drawing of the connector front view and the coresponding pin and signal.

© 2002 Twintec

a4 a3 a2 a1 a8 a7 a6 a5 a16 a15 a14 a13 a12 a11 a10 a9 a25 a24 a23 a22 a21 a20 a19 a18 a17 a32 a31 a30 a29 a28 a27 a26

Here the serial connector.

Connettore DB9 RS 232 and the RS 485 connector

RS 485 connector

GND

LIM0

STOP

LIM2

CTS

TXD

RXD

UI7

UI2

Dir 0

Pulse0

GND

GND

UO2

UO5

UO Com.

GND

VCC

VCC b4 b3 b2 b1 b8 b7 b6 b5 b16 b15 b14 b13 b12 b11 b10 b9 b25 b24 b23 b22 b21 b20 b19 b18 b17 b32 b31 b30 b29 b28 b27 b26

2 RXD

3 TXD

4-----6

5 GND

7 CTS

8 RTS

Hardware 6

GND

ANA 1

LIM 1

HOME1

RTS

UI1

UI5

GND

GND

Dir 1

Pulse1

GND

UO1

UO4

UO7

GND

VCC

VCC c4 c3 c2 c1 c8 c7 c6 c5 c16 c15 c14 c13 c12 c11 c10 c9 c25 c24 c23 c22 c21 c20 c19 c18 c17 c32 c31 c30 c29 c28 c27 c26

UO0

UO3

UO6

GND

VCC

VCC

GND

ANA2

HOME0

HOME2

UI0

UI6

UI3

UI4

GND

Dir 2

Pulse2

GND

Pulse3

Dir3

Related signals

Data receive (PC)

Data transmit (PC)

Shortened (DTR DSR)

Ground

Clear to send (PC)

Request to send (PC)

Related signals

1 GROUND

2 BUS A

3 BUS B

© 2002 Twintec

7 3 axis controller user manual

2.3

Electrical characteristics

Power supply: 5V 200 mA max.

Input home and limits: Normaly closed CMOS 5 V with pull-up da 10 KOhm.

User input: pull-up 10KOhm.

User output: Open collector max 100 mA.

Step and dir output: Open collector without pull-up.

Ouput IC: ULN2803;

Input IC: 74HC244;

2.4

Status indicators

The LED indicators are three:

1.

GREEN LED: indicate the power is on.

2.

RED LED: Have three states:

· OFF: nessun errore.

· FLASHING: The STOP is Pressed.

· ON: A limit have benn reached.

3.

YELLOW LED: have two states:

· 1 sec. Flashing: The controller is in the stand-by state.

· 1/2 sec. flashing: The controller is executing commands.

2.5

Accessory

2.5.1

Controller connector

This board allow the connection of the controller with detachable connectors. It comprise a

5V stabilized power so the input can be 9~15 V cc.. On the back there is a LED that indicate the power presence and is possible to add a DB9 connector whenever the one on the controller will result in an unfavorable position.

Power supply 9~15 V CC. 200 mA.

© 2002 Twintec

Hardware

Nota: Not all the signals are disponible on that connector

Signals present:

UO common

UO 0..3

UI 0..3

PULSE 0,1,2

DIR 0,1,2

LIM 0,1,2

STOP

HOME 0,1,2

GND

VCC

ANA 1,2

3 Software

3.1

Command syntax

All commands are of two characters and a list of parameters delimited by a comma, the command terminator is the semi-colon ";".

MC100,100,100;

Spaced are discarded by the controller.

MC 100, 100, 100;

The interpreter is case insensitive; mc 100,100,100;

Follow the description of the commands, the syntax, limits and error condition.

3.2

List of commands

3.2.1

Move

Syntax: MV X,Y,Z;

Purpose: Move the axis at the specified position with acceleration and deceleration.

Parameters: X,Y and Z.

Example: MV 100, 100, 400;

Limits: 8388608÷ -8388608

Errors: Missing parrameter, parameter out of limit.

Note: The position are in step and are absolute.

3.2.2

Move contour

Syntax: MC X,Y,Z;

Purpose: Move the axis at the specified position inside a path. If the angle between the vector and the previous one is greater than the angle of contour the controller will decelerate if in move and then accelerate to begin this position motion

8

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9 3 axis controller user manual

( see the paragraph for the vector execution

).

Parameters: X,Y e Z.

Example: MC 100, 100, 400;

Limits: 8388608÷ -8388608

Errors: Missing parrameter, parameter out of limit.

Note: The position are in step and are absolute.

3.2.3

Set the contour angle

Syntax: SI A;

Purpose: Set the contour angle (

see the paragraph for the vector execution

).

Parameters: A. Contour angle in degree;

Example: SI 25;

Limits: 0-360;

Errors: Missing parrameter, parameter out of limit.

3.2.4

Set the speed

Syntax: SV V;

Purpose: Set the speed for the next vectors (see paragraph Speed and acceleration

).

Parameters: V. Speed in cm/s.

Example: SV 2.5;

Limits: 1.2-20;

Errors: Missing parrameter, parameter out of limit.

3.2.5

Set the acceleration

Syntax: SA A;

Purpose: Set the acceleration in cm/s² (see paragraph Speed and acceleration

).

Parameters: A. acceleration in cm/s².

Example: SA 5.5;

Limits: 1.2-40;

Errors: Missing parrameter, parameter out of limit.

© 2002 Twintec

Software 10

3.2.6

Activate output

Syntax: EO bit,value;

Purpose: Set the user output at the specified value.

Parameters: bit: number 0..7, value 0-1.

Example: EO 7,1;

Limits: 0..7, 0-1;

Errors: Missing parrameter, parameter out of limit.

3.2.7

Wait an input

Syntax: WI bit,valore;

Purpose: Wait a specified value on a user input bit.

Parameters: bit: number 0..7, value 0-1.

Example: WI 7,1;

Limits: 0..7, 0-1;

Errors: Missing parrameter, parameter out of limit.

3.2.8

Wait a time

Syntax: EW tempo;

Purpose: Wait for the specified time in ms.

Parameters: time in ms.

Example: EW 1000; wait a second

Limits: 10-65536;

Errors: Missing parrameter, parameter out of limit.

3.2.9

Execute home

Syntax: EH x,y,z;

Purpose: Bring the axis at the home position seeking the specified switch. At the end of the command the internal position is 0,0,0.

Parameters: x,y,z. 0 mean no seek 1 mean seek the switch.

Example: EH 1,1,0; Seek the home switch for the x and y axis.

Limits: 0-1;

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11 3 axis controller user manual

Errors: Missing parrameter, parameter out of limit.

3.2.10 Set the position

Syntax: SP x,y,z;

Purpose: Set the logical position without making any move.

Parameters: x,y,z.

Example: SP 1000,1000,0;

Limits:

Errors: Missing parrameter, parameter out of limit, command received in excecution phase.

Note: This command have to be executed carefully, the command will be refused if the controller is excecuting vectors.

3.2.11 Configure

Syntax: CF tipo, p1[, p2][, p2];

These commands are for configuration that are retained even when the controller power is not present.

Configure HOME:

Syntax: CF 1,x,y,z;

Purpose: Set how the controller search the Home switch at the reset.

Parameters: x,y,z.

Default value: 0,0,0;

Example: CF1,0,0;

Limits: 0-1;

Note: This command have no immediate effect, but it configure the controller to seek or not the home switch at the reset. If we send the command CF 1,1,1,0; at the next reset the controller will seek the switch that are set to one.

Configure Axis resolution:

Syntax: CF 2,x,y,z;

Purpose: Set the axis resolution for the three axis in step/mm.

Parameters: x,y,z.

Default value: 40,40,40;

Example: CF2,40,40,80;

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Limits: 1-400;

Note: this command have effect on the speed calculation.

Configure Home Speed:

Syntax: CF 3,f;

Purpose: Set the home frequency.

Parameters: f: frequency.

Valore predefinito: 1000;

Example: CF2500;

Limits: 100-10000;

4 Operation principles

This chapter describe the operation principle of a positioning system.

4.1

General Principles

Block diagram of a positioning system:

Software 12

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13 3 axis controller user manual

The controller is the headt of a positioning system. It perform the following tasks:

· Generate the direction signals and step frequencies to the drivers to move the motors at the desired position.

· Activate the outputs.

· Wait a status at an input.

· Perform the timing between two command.

· Transmit informations about the position and the status.

· Acquire the Stop status.

· Acquire the Limits status.

· Seek the Home switch to put the axis in this position.

The actions above mentioned can be performed by comunicating, trhough the serial PC line, with defined commands than will be executed by the controller in the sequence that are been transmitted. In the controller there is a receive buffer that allow the same to execute work of hours without interruptions. The communication handshake is managed by the CTS and RTS control signals.

4.2

Communication

The communication with the controller is established with RS232: the line parameters are:

Bit:8

Stop bit: 1

Parity: None

Baud rate: 19200 bps.

The cable to use is a simple direct MF DB9.

The flow control signals are RTS and CTS. Note: in absence of those signals an overwriting of the buffer can occur with severe consequence for the correct excecution.

The RS 485 is optional and is reserved for future or custom usages.

4.3

Speed and acceleration

The speed, in a system composed by three axis is done with the following formula: here V is the speed and vx,vy, vx are the component speeds.The

controller calculate the component speeds for any axis to make the final desired speed that can be set with the SVv; command where v is the speed in cm/s

The acceleration of a system is the variation of the velocity with the time, this parameter is set in cm/s² in the controller.

The controller have two command for the setting of these parameters, read the

© 2002 Twintec

Operation principles

paragraphs set the speed e set the acceleration

for a detailed esplanation of these commands.

When the controller have to move at a defined position it start to send pulse with an increasing frequency until it reach the final speed and continue with this speed until it reach the position calculated for the deceleration. The following diagram show how the curve of the velocity for a single vector assume a trapeziodal form. The vertical axis represent the speed and the orizontal the time.

14 triangle.

If the length of the vector is too small to reach the final velocity the form of the curve is a

1,2

1

0,8

0,6

0,4

0,2

0

2

1,8

1,6

1,4

0 0,1 0,2 0,3 0,4

The correct setting of these two parameters (speed and acceleration) allow to reache optimal performances relating the speed and the positioning accuracy. It is necessary to consider the kind of work to execute before set these two parameters. The step loss can be a consequence of the incorrect setting of a speed or an acceleration. It is a good practice to refer with the caracteristics of the motor to find the correct values.

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15 3 axis controller user manual

4.4

Vector's execution

To explain how the controller perform the axis positioning it is necessary to introduce the concept of a vector and the path.

In the following diagram we can see a path composed of 4 vectors. To make that path we have to send to the controller 4 position command. We suppose that the controller start from the position 0.0.0 and all vectors are on the same level so the Z value is 0.

List of commands: Position diagram

MC20,20,0;

MC40,30,0;

MC60,90,0;

MC80,20,0;

If the contouring angle is set to 23° (default value) the execution of that path is done with 3 accelerations and 3 decelerations. This because the angle between the first and the second vector is less than 23° while the angle between the second and the third vector and between the third and the fourth is greater than 23°.

The sequence will be the following:

1.

accelerate from the 0,0,0 position until reach the final speed.

2.

reach the position 20,20,0 and it continue in the direction of the 40,30,0 position

3.

decelerate until it reach teh 40,30,0 position.

4.

accelerate in the direction of the 60,90,0 position

5.

decelerate until it reache the 60,90,0 position

6.

accelerate in the direction of the 80,20,0 position

7.

decelerate until it reach the final position 80,20,0 f we want to execute the move with an acceleration and a deceleration every vector independently of the angle we have to use the MV command instead of the MC one.

© 2002 Twintec

Index

- A acceleration 9 acceleration setting 9 angle 9 axis resolution 11

- C characteristics 7 communications 13 configuration 11 configure 11 connection 7 connection description 5 connections 5 connector 7 contour angle 9 controller signals 5

- E execute home 10

- G general description 3 general principles 12 green led 7

- H home 10

- I indicators 7 input 10 input wait 10

Introduction 2

- L led 7

- M -

Move 8

Move contour 8

- O output 10 output setting 10

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- P position 11 position set 11 principle 12

- R red led 7

- S signals 5 speed 9 speed and acceleration 13 speed setting 9 syntax 8

- T timing 10 timing wait 10

- V vectors execution 15

- Y yellow led 7

Index 16

17 3 axis controller user manual

NOTE

© 2002 Twintec