ICP RS-M8194H Quick Start

ICP RS-M8194H is a high-performance, versatile motion controller that provides precise control for up to 4 axes. With built-in support for linear interpolation, circular interpolation, and various synchronous actions, it's perfect for a wide range of industrial automation applications.

PDF Download

Document

RS-M8194H

Motion Control Module

Quick Start Manual

(Version 3.1)

1 RS-M8194H Features ..........................................................2

2 Hardware Wiring ..................................................................3

3 Toolkit Installation ...............................................................6

4 Serial Communication Parameter Settings ......................7

5 RS-M8194H LED Description ...........................................10

6 Connect to RS-M8194H .................................................... 11

7 MODBUS Data Display ......................................................12

8 Initialization Table .............................................................13

9 IO Status Table ..................................................................14

10 Macro Programs .............................................................15

10.1

Editing Macro Programs ................................................... 15

10.2

Macro Program Download and Execution ...................... 18

11 Macro Program Demo ....................................................21

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

1 RS-M8194H Features

RS-M8194H is a RS-232/485/422 serial based 4-axis stepping/pulse-type motion controller and uses Modbus RTU as a communication protocol between master and slave. Any master device (PC, PAC, PLC, HMI) which supports Modbus RTU can exchange data with the RS-M8194H controller. This intelligent motion controller also has a variety of built in motion control functions, such as 2/3- axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/deceleration, various synchronous actions and automatic homing.

The EzMove utility is provided for configuring the RS-M8194H and assisting the user in writing macro programs and in getting familiar with the RS-M8194H and its motion commands. Furthermore it can be used for motion monitoring and tracking of the motion path.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

2 Hardware Wiring

 Power Connection

Connect the power supply +Vs (24 VDC) and GND pin to the RS-M8194H +Vs and IGND pin.

 Methods of connecting PC to RS-M8194H

There are three ways to establish a connection between PC and RS-M8194H:

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

a. RS-232:

CA-0910 is used to connect PC with the RS-M8194H. The Tx, Rx and GND pins of CA-0910 has to be connected to the Rx, Tx and GND ports of RS-M8194H marked with the red circle. b. RS-422 ：

Connecting PC to RS-M8194H via I-7561; the wiring is as show below:

Figure 1: Use i-7561 converter to connect the RS-M8194H (RS-422) to the PC

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

c. RS-485 ：

Connect PC to RS-M8194H via I-7561; the wiring is as show below:

Figure 2: Use i-7561 converter to connect the RS-M8194H(RS-485) to the PC

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

3 Toolkit Installation

Execute the RSM8194H_Vx_x_Setup.exe installation program which is on the product CD. Follow the prompts to complete the installation process. The default installation path is C:\ICPDAS\RS-M8194H\.

Installation folder \ICPDAS\RS-M8194H\

RS-M8194H (Vx.xx)

\Demo Programs \Demo description

Libraries

\Software Tools

\Manual

\Libraries

\EzMove_Utility

\EzMove_Utility \Demo

\OCX

\Language

RS-M8194H_Manual_vx.xx.pdf

RS-M8194H_QuickStart_vx.xx.pdf

EzMove Utility_vx.x.pdf

FAQ

VS2008 c++ example

 RS-M8194H firmware ；

X Y represent Ver. X .

Y o RM94H_ X Y .EXE o autoexec.bat

 i-8094H firmware: o i8094H.exe o autoexec.bat

Libraries for

 VS2008 c++

EzMove Utility

Macro Program (MP) examples

OCX for EzMove Utility

Language file for EzMove utility

RS-M8194H instruction manual

RS-M8194H quick start

EzMove instruction manual

FAQ

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

4 Serial Communication Parameter Settings

Execute the EzMove Utility, and click Menu [Setting] –> [RS-M8194H Setting] –>

[By COM Port] –> [Communication Configuration], to open the following window:

1. Power off the RS-M8194H.

2. Connect the RS-232 serial port of the PC to the RS-M8194H device by using the RS-232 cable (CA-0910). The Tx, Rx and GND pins of the

CA-0910 cable have to be connected to the corresponding Rx, Tx and

GND ports of COM1 of the RS-M8194H. The 9-pin, D-sub connector has to be plugged into the RS232 COM port of the desktop/laptop.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

3. Set the DIP-switch to “Init”, then power up the RS-M8194H.

4. Select on the configuration window the COM Port to which the

RS-M8194H is connected to and then click the Open button.

5. Click the Read Setting button to read the current serial configuration of the device.

6. Enter your new serial parameter setting.

7. Click the Write New Setting button to download the parameter setting to the RS-M8194H.

To restore the factory default setting just click Default Setting and Write

New Setting.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

8. Set the DIP-switch back to the “Run” position and power off/on the

RS-M8194H.

ATTENTION!!!

Remove the RS-232 cable (CA-0910) from the RS-M8194H after configuration to prevent the device to be affected by noises.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

5 RS-M8194H LED Description

Sys

LED description:

LED Status

Description

Device is switched on and firmware is running.

Flashing Device is switched on and firmware is not running.

Off Device is switched off.

Flashing Data is transmitted by the RS-M8194H via RS-232.

Off No data is sent by the RS-M8194H via RS-232.

Flashing The device is receiving data via RS-232.

NET

Off No data is being received.

Flashing Data transmitting.

Off No serial communication.

MOD

Flashing

Off

Module i-8094H is plugged into RS-M8194H device.

A module different than i-8094H is plugged into RS-M8194H device.

No module is plugged into the RS-M8194H device.

LED description of the i-8094H module:

 P is the power indicator,

 A is the FRnet indicator, and

 D is the pulse output indicator.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

6 Connect to RS-M8194H

For the first time connection click EzMove [menu] -> [Connect] -> [Connect To

Remote Device...]. Select the “RS-M8194H” tab in the dialog box as shown in

Figure 3 below. Choose the COM port setting of the RS-M8194H and press Open

to connect to the RS-M8194H. For disconnection, you can press Closed in the

“Connect” dialog box, or press the Connect/Disconnect Button on the Toolbar.

Figure 3: First time serial connection

After a successful connection the Utility saves all the connection data to a local file in the directory of the Utility. The next time it is only necessary to click the

Connect button on the main toolbar to establish a serial connection with the

RS-M8194H module.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

7 MODBUS Data Display

The MODBUS message window in the EzMove shows the request sent by PC and the response messages received from the RS-M8194H. The "Write Multiple

Register" tab displays messages of Function Code 16, and "Read Holding

Register" tab displays messages of Function Code 03.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

8 Initialization Table

The Initial Table includes all the commands which are required to initialize the motion chip after power on. It is important that the motion chip setting correspondents to the servo drive setting otherwise the system will not be able to function properly. The Initial Table interface provides an easy and convenient way to enter the initial parameters.

Click on [Menu] -> [Setting] -> [Initial Table], to open the Initial Table.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

9 IO Status Table

This interface displays the IO status of all the FRnet modules (128 DI and 128

DO), the daughter board and the motion chip state. The individual FRnet DO state can be set by clicking the corresponding DO button.

Click on the [menu] -> [Tools] -> [IO Status] to open the DIO Status table. Press

[Enable] / [Disable] to switch on/off the status polling timer.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

10 Macro Programs

10.1 Editing Macro Programs

EzMove provides a simple editor for writing and downloading macro programs to the RS-M8194H.

Figure 4: Main EzMove Utility

In the following, a rectangular trajectory in the X-Y plane is used as an example to demonstrate how to use the EzMove to download and run macro program.

This example does not require the RS-M8194H module to be connected to any motor drives. After setting up the connection between PC and RS-M8194H, Click

“Program Planning Area” (Batch / Macro) tab on the right-hand side ( Figure 4 ).

There are two ways to add a command to the editor: a. Use the "Command Prompt Menu" and "Command Parameter Setting":

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

Every Macro program has to start with the MP_CREATE command. The

following four steps ( Figure 5 ) show how to add this command to the Macro

program editor. Use the mouse to follow the steps in the sequence as indicated in the figure. The MP93 is the name of the macro program.

Figure 5: Adding a command to the Macro program editor b. Use the drop-down menu in the “Program Planning Area”.

After the MP_CREATE function, click on the next row in the “Function Name” field. Enter SET_MAX_V or choose the name from the drop-down menu to complete the function name part; then move the cursor to Var1 field and select

XYZU; move to Var2 field and enter 8000. The second statement is now complete.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

Follow the similar steps described above to complete the macro program definition in the following table:

Function Name Card No Var1 Var2

1 MP_CREATE

2 SET_MAX_V

3 NORMAL_SPEED

4 SET_V

5 SET_A

6 SET_SV

7 SET_AO

8 SET_LP

9 FIXED_MOVE

10 MP_STOP_WAIT

11 MP_TIMER

12 FIXED_MOVE

13 MP_STOP_WAIT

14 FIXED_MOVE

15 MP_STOP_WAIT

16 FIXED_MOVE

MP93

XYZU 8000

XYZU

XYZ

200

XYZ 1000

XYZ 20

XYZ

XYZU

2000

100

-100

Y 800

17 MP_STOP_WAIT

18 FIXED_MOVE

19 MP_STOP_WAIT

20 FIXED_MOVE

21 MP_STOP_WAIT

22 FIXED_MOVE

23 MP_STOP_WAIT

800

-800

24 MP_CLOSE 1

The macro program will take 23 lines where MP_CREATE statement defines the starting address and does not take memory space. According to the internal configuration of RS-M8194H, each MP has its own size limitation. The size limit of all MP programs can be displayed in the menu [Help] -> [FLine Table]. MP93 is capable of accommodating 32 function lines and is chosen for the example.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

10.2 Macro Program Download and Execution

Step 1: Download a macro program to the RS-M8194H

After connecting, users can press the toolbar Download button to download a macro program from the editor to the non-volatile memory of the i8094H. The program will not be executed after the download has finished.

Step 2: Display the motion path

Click on the [menu] -> [Tools] -> [Graph] to open the Graph window. On the “Axis Status Display Area”, users can set the polling time interval.

After pressing Enable the polling of motion status (e.g. encoder position) starts.

Figure 6: Polling timer setting

Step 3: Run the macro program

After pressing the toolbar Call MP Button, selecting a macro program number (e.g.MP93) and clicking the Send button the selected macro starts to execute.

Figure 7: Macro program execution call

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

Users can add an MP_CALL statement after MP_CLOSE command in the editor

to immediately execute the macro program after downloading ( Figure 8 ).

Figure 8: Macro program download and execution

Switch back to the Graph window, to monitor the motion path of the executing macro program. The above example is a square on the XY plane.

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

Execute commands one by one

When editing a Macro program, the function statements are shown on the screen. Users can execute either one of these statements by directly pressing the Send button.

For example, click on the second row ( Figure 9 ) containing the SET_MAX_V

command in the Macro editor to open the corresponding parameter input window. Press the Send button of the parameter input window to directly send the command to the RS-M8194H.

Figure 9: Single command execution

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

11 Macro Program Demo

The demo examples for the RS-M8194H are in the following folder:

C:\ICPDAS\RS-M8194H\API_Lib_Demo\Demo

The demo programs show how to write and download macro programs to the

RS-M8194H. After a macro program has been downloaded to the non-volatile memory of the i8094H module any Modbus RTU master (PLC, HMI, etc.) can call this macro program to execute. The demo program is written in Visual Basic

6.0.

In the following the download macro source code part of the Visual Basic 6.0 demo “RSM VB Demo” is being shown:

Private Sub cmdDownloadMP_Click() 'Step 2: download macro program lbl_Msg.Caption = "Downloading MP..."

DoEvents

'Download Macro Program to MP94

RSM_MP_CREATE handle, 1, MP94 'MP94 - Create is the start of MP downloading

RSM_MACRO_SET_MAX_V handle, 1, AXIS_XYZU, 8000 'set max velocity to be 8000 pps

RSM_MACRO_NORMAL_SPEED handle, 1, AXIS_XYZU, 0 'set speed profile,

'0 =>symmetric T curve

RSM_MACRO_SET_V handle, 1, AXIS_XYZ, 200 'set velocity to be 200 pps

RSM_MACRO_SET_A handle, 1, AXIS_XYZ, 1000 'set acc to be 1000 pps/sec

RSM_MACRO_SET_SV handle, 1, AXIS_XYZ, 20 'set start velocity to be 20 pps

RSM_MACRO_SET_AO handle, 1, AXIS_XYZ, 0 'set AO to be 0

RSM_MACRO_SET_LP handle, 1, AXIS_XYZU, 0 'set logical position to be 0

RSM_MACRO_FIXED_MOVE handle, 1, AXIS_Z, 100 'move Z axis 100 pulses

RSM_MACRO_STOP_WAIT handle, 1, AXIS_Z 'wait until Z axis stops

RSM_MACRO_TIMER handle, 1, 2000 'delay 2000 ms

RSM_MACRO_FIXED_MOVE handle, 1, AXIS_XY, 100 'move X,Y axes 100 pulses

RSM_MACRO_STOP_WAIT handle, 1, AXIS_XY 'wait until X,Y axes stop

RSM_MACRO_FIXED_MOVE handle, 1, AXIS_Z, -100 'move Z axis -100 pulses

RSM_MACRO_STOP_WAIT handle, 1, AXIS_Z ' wait until Z axis stops

RSM_MACRO_FIXED_MOVE handle, 1, AXIS_Y, 800 'move Y axis 800 pulses

RSM_MACRO_STOP_WAIT handle, 1, AXIS_Y ' wait until Y axis stops

RSM_MACRO_FIXED_MOVE handle, 1, AXIS_X, 800 'move X axis 800 pulses

RSM_MACRO_STOP_WAIT handle, 1, AXIS_X ' wait until X axis stops

RSM_MACRO_FIXED_MOVE handle, 1, AXIS_Y, -800 'move Y axis -800 pulses

RSM_MACRO_STOP_WAIT handle, 1, AXIS_Y ' wait until Y axis stops

RSM_MACRO_FIXED_MOVE handle, 1, AXIS_X, -800 'move X axis -800 pulses

RSM_MACRO_STOP_WAIT handle, 1, AXIS_X ' wait until X axis stops

RSM_MACRO_MP_CLOSE handle, 1 'end of MP94 lbl_Msg.Caption = "Complete download!"

End Sub

ICP DAS RS-M8194H Quick Start Guide

Version 3.1, 2015/06/08

Hello! I am an AI chatbot specifically trained to assist you with the ICP RS-M8194H Quick Start. I have thoroughly reviewed the document and can help you locate the exact information you need or explain the content in clear and simple terms. Whether you’re looking for guidance on specific features, troubleshooting steps, or general usage, feel free to ask your questions. The more details you provide about your concerns or needs, the more accurately and effectively I can assist you!

Assistant typing

Assistant terminated