R325 Single Axis Controller/Driver User Manual

R325 Single Axis Controller/Driver User Manual
R325 Single Axis Controller/Driver
User Manual
And Commands Guide
Version 1.02
RMS Technologies
2533 N. Carson St. #4698, Carson City, NV 89706-0147
1-877-301-3609
[email protected]
www.rmsmotion.com
Thank you for purchasing the R325 Single-Axis Controller/Driver. This product is
warranted to be free of manufacturing defects for one (1) year from the date of
purchase.
PLEASE READ BEFORE USING
Before you start, you must have a suitable step motor, a DC power supply suitable
for the motor and a current resistor. The power supply voltage must be between 4
times and 20 times the motor's rated voltage.
DISCLAIMER
The information provided in this document is believed to be reliable. However, no
responsibility is assumed for any possible inaccuracies or omissions. Specifications
are subject to change without notice.
RMS Technologies reserves the right to make changes without further notice to any
products herein to improve reliability, function, or design. RMS Technologies does
not assume any liability arising out of the application or use of any product or circuit
described herein; neither does it convey any license under its patent rights, nor the
rights of others
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 2
Version 1.02
January 24, 2004
Table of Contents
1. FEATURES......................................................................................5
Optically Isolated Inputs and Output................................................................. 5
2. ELECTRICAL SPECIFICATIONS.......................................................6
3. OPERATING SPECIFICATIONS .......................................................6
4. COMMUNICATION SPECIFICATIONS..............................................6
5. MECHANICAL SPECIFICATIONS .....................................................7
Dimensions ..................................................................................................................7
6. PIN ASSIGNMENTS ........................................................................8
7. CONNECTION SPECIFICATIONS.....................................................8
Connecting the Power ....................................................................................... 9
HyperTerminal Configuration .......................................................................... 10
Setting the Current ......................................................................................... 11
Setting Step Resolution ................................................................................... 11
Saving the Configuration ................................................................................. 11
Connecting the Motor ...................................................................................... 11
Using the Plug-Ins to Configure the R325........................................................ 12
DIP Switch Run Current Settings ................................................................................ 12
DIP Switch Hold Current Settings ............................................................................... 12
DIP Switch Step Resolution Settings .......................................................................... 12
8. BASIC STEP AND DIRECTION OPERATION ...................................13
9. COMMAND TABLES.......................................................................14
Basic Configuration Commands ....................................................................... 14
Axis Configuration Commands......................................................................... 14
General Operation Commands ......................................................................... 14
10. COMMANDS ...............................................................................15
AC Acceleration ...............................................................................................
AP Absolute Position .......................................................................................
CP Current Position .........................................................................................
CV Current Velocity .........................................................................................
FR Firmware Revision......................................................................................
HA Home Axis .................................................................................................
HI Hold Current...............................................................................................
HT Hold Timeout .............................................................................................
LD Load Defaults .............................................................................................
MA My Address................................................................................................
MS Move Status...............................................................................................
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 3
Version 1.02
January 24, 2004
16
17
18
19
20
21
22
23
24
25
26
MV Minimum Velocity ......................................................................................
PF Percent Fast ...............................................................................................
PM Position Move ............................................................................................
RI Run Current ................................................................................................
RS Read Switches............................................................................................
SB Step Back ...................................................................................................
SD Save Data ..................................................................................................
SF Step Forward..............................................................................................
SM Stop Motion ...............................................................................................
SR Step Resolution..........................................................................................
SV Start Velocity .............................................................................................
TI Test Inputs .................................................................................................
VL Velocity Limit .............................................................................................
VM Velocity Move ............................................................................................
ZP Zero Position ..............................................................................................
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
11. RS485 Communication ..............................................................42
12. Troubleshooting ........................................................................44
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 4
Version 1.02
January 24, 2004
1. FEATURES
•
•
•
•
•
•
•
•
•
•
•
Single Axis Driver for Bipolar step motors
Operates from +12 to 48 VDC
Phase currents from 0.25 to 3.0 Amp Peak (2.7 Amp and above REQUIRES
an additional heatsink, make sure the temperature of the bracket
does not exceed 45° C)
Hold current reduction capability with adjustable current and timeout settings
Selectable Step Resolution from Full Step to 256x Microstepping
Has three optically isolated control inputs and one optically isolated control
output
Software configurable by the temporary use of a plug-in USB module and text
commands from HyperTerminal or any similar terminal emulation software.
Configuration Parameters stored in non-volatile memory.
Multiple module control through software assigned single character addresses
Built-in control routines for trapezoidal position and velocity moves
Absolute position can be tracked and reported in step resolution increments
Dip switches and a RS485 interface are built-in to the R325 Controller. A USB
connection can be used by using the USB485 Converter Card (sold separately).
Optically Isolated Inputs and Output
The default usage of the three optically isolated inputs is Step, Direction and Disable.
The assignment of Disable is fixed; however the other two inputs can be assigned to
other functions as part of software customization. For example one can be used for
Go-Resume and the other for Stop-Quit.
The normal usage of the single optically isolated output is to indicate motion by
sending a pulse every time a step is made.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 5
Version 1.02
January 24, 2004
2. ELECTRICAL SPECIFICATIONS
Supply Voltage:
Phase Current:
+12 to 48 VDC
0.25 to 3.0 Amps Peak (2.7 Amp and above REQUIRES an
additional heatsink, make sure the temperature of the
bracket does not exceed 45° C)
I/O Specifications
3x Optically Isolated Inputs (1 fixed)
1x Optically Isolated Output
3. OPERATING SPECIFICATIONS
Maximum Step Frequency:
2.5 MHz
Operating Temperature:
Automatic Motor Holding Current reduction available from 0.2 to 2.5 Amps
Logic Timing
Minimum Step Pulse Width
Minimum Step Low Time
Maximum Power-Down Recovery Time
200 nanoseconds
200 nanoseconds
20 milliseconds
4. COMMUNICATION SPECIFICATIONS
Address bytes in the RS485 commands allow multiple units (32 units max) to be
controlled from a single host port.
Interface Type
Baud Rate
# Bits per character
Parity
Stop Bit
Flow Control
RS485
57600 bits per second (bps)
8 data bits
None
2
None
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 6
Version 1.02
January 24, 2004
5. MECHANICAL SPECIFICATIONS
Size: 3.00” x 2.94” x 1.42”
Weight: 4.8 oz
Mounting: Four #6-32 screws, 2.42” x 2.45”
Plate: Aluminum, Hard Anodized
Dimensions
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 7
Version 1.02
January 24, 2004
6. PIN ASSIGNMENTS
A 12 pin pluggable terminal strip connector JP1 provides power and the step and
direction control functions for the module. All of these signals are optically isolated.
Open-collector drives are required to provide pulses for Step, levels for Direction,
and Disable. The common +ve supply can be +ve 5 to 30 VDC with respect to the
signal input; however if the supply is greater than 5 VDC then a resistor must be
inserted in series with each signal line to limit the current to 10 mA.
A separate three pin connector P3 is provided for the RS485 bus interface
P3 Configuration
Pin No
1
2
3
Function
A Input (+ve)
Ground
B Input (-ve)
7. CONNECTION SPECIFICATIONS
To begin using the R325, first determine how you will operate the unit: Driver Only,
or Simple Controller/Driver. When using the Driver Only portion of the R325, use
the dip switches for step resolution and current settings. When using the
Controller/Driver, setup must be made with an RS485 connection and
communication can take place using Windows HyperTerminal.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 8
Version 1.02
January 24, 2004
Using the R325 as a Driver Unit Only
If using the R325 as a Driver only, be sure to connect the power supply last.
Pin1: Connect Pin 1 to Pin 4 to use the internal +5VDC. By using the internal
+5VDC the I/O’s will no longer be optically isolated. If optical isolation is still
desired, use a separate +5VDC supply and connect the POSITIVE end of the supply
to Pin 1. The NEGATIVE end will connect with the NEGATIVE end of your pulse
generator.
Pin 2: Use a pulse generator or function generator to receive pulses into the R325.
Connect the POSTIVE end of the pulse generator to Pin 2. The NEGATIVE end will be
connected to the NEGATIVE end of the +5VDC supply if using a separate power
source. If using the internal +5VDC supply, connect the NEGATIVE end of the pulse
generator to Power GROUND.
Pin 3: To switch the direction of motor rotation, connect Pin 3 with Pin 11, Power
Ground. An open or closed connection to Power Ground will change the direction.
Pin 4: This is the internal +5VDC. Use this for testing purposes or if optical isolation
of the I/O’s is not desired.
Pin 5: To enable and disable the drive, connect Pin 5 with Pin 11, Power Ground. An
open or closed connection to Power Ground will enable and disable the drive,
respectively.
Pin 6: Phase A Motor Connection
Pin 7: Phase A Motor Connection
Pin 8: Phase B Motor Connection
Pin 9: Phase B Motor Connection
Pin 10: The Fault Output is not available for this version of the R325. Future
versions such as the R325I or R325IE will accommodate for the Fault Output
Pin 11: Connect the NEGATIVE of the Power Supply to this terminal.
Pin 12: Connect the POSITIVE of the Power Supply to this terminal. (+12 to 48VDC)
Connecting the Power
The R325 requires a supply voltage between 12-48 VDC. First, connect the positive
end of the power supply to positive terminal (Pin 12), and then connect the negative
of the power supply to the Ground (Pin 11) on the R325.
WARNING! Be careful not to reverse the polarity from the power supply to the
driver. Reversing the connection will destroy your driver and void the warranty.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 9
Version 1.02
January 24, 2004
HyperTerminal Configuration
If using the USB or RS485 plug-in modules, you will need to configure HyperTerminal
to properly communicate with the R325.
Please follow these steps to properly set up HyperTerminal:
1. Open a terminal from your PC by following these steps: Start Menu Æ
Programs Æ Accessories Æ Communications Æ HyperTerminal
2. Assign a name for your New Connection, “Click Ok”
3. Under “Connect using”, select the COM connection that corresponds to your
PC serial port (i.e. COM 1, COM 2, etc.) then click “OK”
4. Set your Port Settings to:
Bits per second: 57600
Data bits:
8
Parity:
None
Stop bits:
2
Flow control:
None
Click “OK”
5. Turn on local echo by going to: File Æ Properties Æ Settings tab Æ ASCII
Setup: Check the boxes for “Send line ends with line feeds” and “Echo Typed
Characters Locally.” These options will be useful when typing commands in
HyperTerminal. Click ‘OK”, Click “OK”
6. HyperTerminal is ready to send commands
The line turnaround from transmit to receive must be less than one character
interval (191 µS).
The command syntax is as follows:
#<Board Address><Command><Value><cr><lf>
The reply syntax is:
*<Board Address><Command> <Value><cr><lf>
Note: Not all commands will return a value.
Example
Setting the Run Current (RI) to 1500mA (1.5A)
#ARI1500
*ARI1500
//Sent Command
//Received Reply
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 10
Version 1.02
January 24, 2004
Setting the Current
There are two current settings on the R325.
1. Run Current (RI) – The peak current that the motor will be run at while in
motion. NOTE: 2.7 Amp and above REQUIRES an additional heatsink,
make sure the temperature of the bracket does not exceed 45° C
2. Hold Current (HI) – The current that the motor will receive when idle.
*The default board address of ‘A’ is used in all examples, please see “MA” command for more
detail on addresses.
Examples:
To set Run Current to 2000mA (2.0A):
#ARI2000
To set Hold Current to 300mA (0.3A):
#AHI300
Setting Step Resolution
The R325 is capable of full stepping or 2, 4, 8, 16,32, 64, 128, and 256
microstepping.
Example:
To set Step Resolution to 4x microstepping:
#ASR4
Saving the Configuration
In order to have these settings retained upon a power cycle, the data must be saved.
The command to store these settings is “SD” (Save Data).
Example:
To save settings:
#ASD
Connecting the Motor
WARNING! Make sure the power is OFF when connecting or disconnecting
motors from the R325. Damage will occur if the power is being supplied.
Please refer to your motor documentation for wiring color code.
Connect the corresponding Phase from the motor to the proper pin on the R325.
Using the R325
If using the R325 in Step/Direction mode, please proceed to Section 8 – Basic Step
and Direction Operation.
If using the R325 as a simple controller, please see the Command Tables in Section 9
and more detailed descriptions of the Commands in Section 10.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 11
Version 1.02
January 24, 2004
Using the Plug-Ins to Configure the R325
R325 DIP Switch Settings
When using the DIP Switch module, the R325 comes shipped with a jumper on Pins 7 & 8 on
JP2 which configures the R325 for DIP Switch operation.
Function
0.3A
0.4A
0.5A
0.6A
0.8A
1.0A
1.2A
1.4A
1.6A
1.8A
2.0A
2.2A
2.4A
2.6A
2.8A
3.0A
SW1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Run Current
SW2
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
SW3
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
SW4
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
WARNING: 2.7 Amp and above REQUIRES an additional heatsink, make sure the temperature of
the bracket does not exceed 45° C
Hold Current (Percent of Run Current)
Function
SW5
SW6
0%
ON
ON
33%
OFF
ON
66%
ON
OFF
100%
OFF
OFF
Function
Full Step*
2X
4X
8X
16X
32X
64X
128X
256X
SW7
OFF
ON
ON
ON
ON
ON
ON
ON
ON
Step Resolution
SW8
OFF
OFF
ON
OFF
ON
OFF
ON
OFF
ON
SW9
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
ON
SW10
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
*The power must be turned OFF when switching in and out of Full Step mode.
Notes:
1. An ‘ON’ switch generates a zero in the firmware.
2. All switches must be set to ‘OFF’ to set the Step Resolution by firmware. This is in
addition to installing the jumper on JP1 pins 9 and 10
3. Installing a jumper on JP1 pins 7 and 8 runs the factory test routine
4. Full Step is not implemented on the first prototypes
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 12
Version 1.02
January 24, 2004
8. BASIC STEP AND DIRECTION OPERATION
The four control signals Step, Direction, Disable, and Fault Out are optically isolated,
with a common positive connection (usually 5 VDC).
The common positive connection (Pin 1) is typically 5 VDC. Each of the inputs is set
to TRUE by supplying a signal level 5V below the common positive connection
powering the optical isolators. The input is set FALSE by putting the signal within 0.5
VDC below the common positive value.
Example: If 5 VDC is supplied to Pin 1 (common positive connection), TRUE is 0V,
and FALSE is any value between 4.5 VDC to 5 VDC.
For test purposes, and some applications where input isolation is not required, the
internal 5 VDC supply at Pin 4 of the I/O connector can be used as the common
positive connection, by linking pins 1 and 4 on the connector.
If this is done then each input is set TRUE by bringing the voltage level at the input
equal to, or more negative than the Power Supply negative connection at Pin 11.
With this arrangement Direction, Disable, and Fault Out control can be effected by
simple switch closure between the input and the power negative connection at Pin
11.
If the Step input is obtained from a Function Generator, then careful adjustment of
the Offset control is needed to ensure that the negative level of the input signal is
equal to, or more negative than, the power negative connection at Pin 11.
The minimum duration of the active (negative) Step input signal level is 400
nanoseconds and also this is the minimum for the inactive (positive) level. This limits
the maximum usable step rate to 2.5 Mhz.
The optimum operating arrangement (minimum power usage) is for a constant width
negative going pulse of 400 nanoseconds with the pulse interval varying with pulse
rate.
For test purposes, setting the Function Generator duty cycle to 50%, and just
varying frequency is satisfactory.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 13
Version 1.02
January 24, 2004
9. COMMAND TABLES
Basic Configuration Commands
Function
Load Defaults
Save Data
Module Address
Query/New
N
N
Q/N
Code
LD
SD
MA
Value
None
None
Numeric
Minimum
65 (A)
Maximum
90 (Z)
Default
65 (A)
Value
Numeric
Numeric
Numeric
Numeric
Numeric
Binary
Numeric
Numeric
Numeric
Numeric
None
Minimum
1
0
0
100
250
200
0
1
250
250
-
Maximum
256
3
3000
5000
50,000
3000
15
256
50,000
50,000
-
Default
50
TBD
300
5000
250
1000
16
1,000
15,000
-
Maximum
2147483647
2147483647
50,000
1
1
2000000000
50,000
Default
-
Axis Configuration Commands
Function
Acceleration
Current Decay
Hold Current
Hold Timeout
Min. Velocity
Run Current
Read Switches
Step Resolution
Start Velocity
Velocity Limit
Zero Position
Query/New
Q/N
Q/N
Q/N
Q/N
Q/N
Q/N
Q
Q/N
Q/N
Q/N
N
Code
AC
CD
HI
HT
MV
RI
RS
SR
SV
VL
ZP
General Operation Commands
Function
Absolute Position
Current Position
Current Velocity
Firmware Rev.
Home Axis
Move Status
Position Move
Step Back
Step Forward
Stop Motion
Velocity Move *
Query/New
N
Q/N
Q
Q
N
Q
N
N
N
N
Q
Code
AP
CP
CV
FR
HA
MS
PM
SB
SF
SM
VM
Value
Numeric
Numeric
Numeric
Numeric
Numeric
Numeric
Numeric
None
None
None
Numeric
Minimum
-2147483646
-2147483646
0
0
0
-2000000000
-50,000
* Velocity Moves in the range –249 to 249 are not legal except zero
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 14
Version 1.02
January 24, 2004
10. COMMANDS (Page per Command Listing)
Command Format is: #<Address><Command><value><CR><LF>
Response Format is: *<Address><Command><value><CR><LF>
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 15
Version 1.02
January 24, 2004
AC
Acceleration<value>
Initial Acceleration (1 to 255 steps/Sec ^2)
Command or Query.
Used to shape the acceleration and deceleration ramps of position moves, and the
rate of velocity change for velocity moves.
Does not affect any of the basic step and direction move operations
Command Example
#AAC10000<cr><lf> Sets acceleration to 100 PPS^2.
Default value is 50
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 16
Version 1.02
January 24, 2004
AP
Absolute Position<value>
Absolute Position +/–2,147,483,646
Command Only
Used to make an absolute position move (in step resolution units).
Command Example
#AAP1000<cr><lf> Moves to absolute position of 1000.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 17
Version 1.02
January 24, 2004
CP
Current Position<value>
Current Position +/–2,147,483,646
Command or Query.
Returns the absolute position of the axis if no value is passed. Valid after power
cycles if a Save Data Command is issued before power down. Can be used to set
current position value.
The units are steps at the current step resolution. (Value becomes invalid with step
resolution changes.)
The absolute position scale is set to zero by the Zero Position command (ZP) or the
execution of a Home Axis (HA) command.
Command Example
#ACP<cr><lf>
Returns the Current Position of the Motor
#ACP1000<cr><lf> Sets the Current Position to be 1000
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 18
Version 1.02
January 24, 2004
CV
Current Velocity
Query Only +/- 50,000
Only valid when a Position Move (PM) or Velocity Move (VM) is in progress.
Otherwise returns zero.
Command Example
#ACV<cr><lf>
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 19
Version 1.02
January 24, 2004
FR
Firmware Revision
Query Only
Returns 3 digit part code followed by 3 digit firmware revision value.
Command Example
#AFR<cr><lf>
Reply
*AFR325100 //R325 firmware revision 1.00
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 20
Version 1.02
January 24, 2004
HA
Home Axis<value>
Command Only, (0 = Forward, 1 = Reverse)
Causes the motor to move at the preset Start Velocity (SV) in the direction set by
the command value. Motion stops when the index input of the encoder goes TRUE
then stops and sets absolute position to zero. Motion can also stop by the entry of a
Stop Motion (SM) command.
Forward is defined as the direction the motor turns when the ‘Direction’ input (JP1-3)
is set TRUE, or there is no connection to this input.
Command Example
#AHA1<cr><lf> Motor turns in the Reverse direction.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 21
Version 1.02
January 24, 2004
HI
Hold Current<value>
Command or Query 0 to 3000
Reads or sets the motor Holding Current in 100 milliamps increments. The value
does not round.
Command Example
#AHI300<cr><lf> Sets the Hold Current to 300mA (0.3 Amp).
Default value is 300
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 22
Version 1.02
January 24, 2004
HT
Hold Timeout<value>
Command or Query 100 to 5000
Reads or sets the time interval in milliseconds after any motor movement, before the
motor current is changed from Run Current to Hold Current
Command Example
#AHT100<cr><lf> Sets the Hold Timeout to 100 mS.
Default value is 5000
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 23
Version 1.02
January 24, 2004
LD
Load Defaults
Command Only
Loads all of the unit Default parameter values. A save Data (SD) command must be
issued to have these values retained during a power cycle.
Command Example
#ALD<cr><lf> Loads all default values.
Default values are:
Module Address
Acceleration
Absolute Position
Current Decay
Hold Current
Hold Timeout
Minimum Velocity
Run Current
Step Resolution
Start Velocity
Velocity Limit
65 (A)
50
0
TBD
300 (0.3A)
5000
250
1000 (1.0A)
16
1000
15000
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 24
Version 1.02
January 24, 2004
MA
My Address<value>
Command or Query 65 to 90.
Reads or sets the unit address. The value read or entered is the decimal value of the
ASCII character designated as the unit address. (65 = ‘A’ and 90 = ‘Z’)
The change to a new address is immediate, in that the command response will use
the new address
Command Example
#AMA88<cr><lf> Sets the unit address to 88 (‘X’).
Default value is 65
Address
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
Value
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 25
Version 1.02
January 24, 2004
MS
Move Status
Query Only.
Reads Motion Status. Returns 0 for No Motion, 1 for Position Move, and 2 for Velocity
Move.
Command Example
#AMS<cr><lf> Queries the current status
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 26
Version 1.02
January 24, 2004
MV
Minimum Velocity<value>
Command or Query 250 to 50,000
Reads or sets the minimum velocity for both Position and Velocity command moves
The units are steps (at the current Step Resolution) per second
Command Example
#AMV500<cr><lf> Sets Minimum Velocity to 500 SPS
Default value is 250
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 27
Version 1.02
January 24, 2004
PF
Percent Fast Decay<value>
Command or Query 0, 1, or 2.
Allows the Damping Mode of the driver IC to be set.
0 = Fast Decay
1 = Mixed Mode 15%
2 = Mixed Mode 48%
The optimum setting will vary with motor inductance and step rate; however the
default ‘Mixed Mode’ setting will work well with almost all motors.
Command Example
#ACD1<cr><lf> Sets Mixed Mode Damping to 15%.
Default value is 2
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 28
Version 1.02
January 24, 2004
PM
Position Move<value>
Command Only +/-2,000,000,000
Causes a ‘Relative Motion’ Position Move, using an approximately trapezoidal profile.
The initial velocity is defined by ‘Start Velocity’ (SV), the profile ramp is defined by
‘Acceleration’ (AC), and the ‘Constant Velocity’ step rate by ‘Velocity Limit’ (VL).
‘Minimum Velocity’ (MV) is used to ensure that the deceleration ramp does not set
velocity to zero before the target position is reached.
It should be remembered that, while the ‘Position Move’ value defines the number of
steps to be made from the current position, the value returned by ‘Current Position’
(CP) both before and after a ‘Position Move’ are on an ‘Absolute’ step count scale.
CP readings can be used to determine PM values required to reach any given position
on the ‘Absolute’ step count scale.
Command Example
#APM1000<cr><lf> Makes a 1,000 step move from the Current Position.
Note: This command does not return a value.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 29
Version 1.02
January 24, 2004
RI
Run Current<value>
Command or Query 200 to 3000
Sets the motor Phase Current for any form of motion in milliamps.
200 = 200mA (0.2 Amp)
2500 = 2500mA (2.5 Amp)
The last two numbers of the value are not read.
250 = 200mA
2499 = 2400mA
The set ‘Run Current’ is maintained for a time set by ‘Hold Timeout’ (HT) before
dropping to the current set by ‘Hold Current’ (HI)
Command Example
#ARI1000<cr><lf> Sets the run current to 1000mA (1.0 Amp).
Default value is 1000
NOTE: 2.7 Amp and above REQUIRES an additional heatsink, make sure the
temperature of the bracket does not exceed 45° C
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 30
Version 1.02
January 24, 2004
RS
Read Switches
Query Only
Reads the TRUE (1) or FALSE (0) state of the three optically coupled inputs,
combined into a single three-bit value. This command is used to check the correct
operation of this interface.
The value order of the inputs is ‘Direction’, ‘Disable’, and ‘Step’; in descending order.
‘Direction’ has the value 4
‘Disable’ has the value 2
‘Step’ has the value 1
(100)
(010)
(001)
Command Example
#ARS<cr><lf> Reads the switch inputs.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 31
Version 1.02
January 24, 2004
SB
Step Back
Command Only
Makes a single step move at the current step resolution
Forward is defined as the direction the motor moves with the ‘Direction’ input in the
FALSE state, or with no connection. Backwards is thus the direction the motor moves
when the ‘Direction’ input is in the energized or TRUE state.
Command Example
#ASB<cr><lf> Moves one step back.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 32
Version 1.02
January 24, 2004
SD
Save Data
Command Only
This command causes a set of parameter values to be written to non-volatile
memory. On power up the last set of values written are set to be the parameter
initial values.
The parameters whose values are thus saved are:
My Address
Absolute Position
Velocity Limit
Minimum Velocity
Start Velocity
Acceleration
Hold Timeout
Step Resolution
Run Current
Hold Current
Percent Fast Decay
Command Example
#ASD<cr><lf> Saves Data.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 33
Version 1.02
January 24, 2004
SF
Step Forward
Command Only
Makes a single step move at the current step resolution
Forward is defined as the direction the motor moves with the ‘Direction’ input in the
FALSE state, or with no connection. Backwards is thus the direction the motor moves
when the ‘Direction’ input is in the energized or TRUE state.
Command Example
#ASF<cr><lf> Moves one step forward.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 34
Version 1.02
January 24, 2004
SM
Stop Motion
Command Only
This command can be used to affect an end to any Position Move or Velocity Move in
progress. It has no effect on motion produced by the Step and Direction inputs.
Command Example
#ASM<cr><lf> Stops any Position or Velocity move in progress.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 35
Version 1.02
January 24, 2004
SR
Step Resolution<value>
Command or Query 1, 2, 4, 8, 16,32, 64, 128, or 256
Reads or sets the current step resolution
Allowed values are:
256 for 256x
128 for 128x
64 for 64x
32 for 32x
16 for 16x
8 for 8x
4 for 4x
2 for 2x
1 for 1x
Command Example
#ASR4<cr><lf> Sets the step resolution to 4x.
Default value is 16
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 36
Version 1.02
January 24, 2004
SV
Start Velocity<value>
Command or Query 250 to 50,000
Reads or sets the velocity used for the first step in a position move in steps/sec.
Value based on motor performance.
Command Example
#ASV500<cr><lf> Sets Start Velocity to 500 PPS.
Default value is 1,000
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 37
Version 1.02
January 24, 2004
TI
Test Inputs
Query only
Step, Direction, and Disable.
Returns a value in decimal form.
The value order of the inputs is ‘Direction’, ‘Disable’, and ‘Step’; in descending order.
‘Direction’ has the value 4
‘Disable’ has the value 2
‘Step’ has the value 1
(100)
(010)
(001)
Command Example
#ATI<cr><lf> Reads the switch inputs.
Reply
*ATI3 // 3 = ‘011’
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 38
Version 1.02
January 24, 2004
VL
Velocity Limit<value>
Command or Query 250 to 50,000
Reads or sets the velocity used for Velocity Moves and the constant velocity portion
of a Position Move.
Command Example
#AVL5000<cr><lf> Sets the velocity limit to 5000 steps/sec.
Default value is 15,000
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 39
Version 1.02
January 24, 2004
VM
Velocity Move<value>
Command Only (250 to 50,000, -250 to -50,000, or 0)
The sign of the value determines the direction (positive for forward, and negative for
backward) in which the velocity move is made. The value sets the step rate in steps
per second at the current step resolution. Velocity cannot exceed Velocity Limit
The move begins at the set ‘Minimum Velocity’ (MV), with the speed ramping to the
command velocity at the rate set by ‘Acceleration’ (AC).
Changes to new velocity values from new VM commands, will also occur at the rate
set by ‘Acceleration’ (AC).
Command Example
#AVM1000<cr><lf> Starts a velocity move of 1000 steps per second.
Note: No value is returned. Zero velocity makes an abrupt stop
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 40
Version 1.02
January 24, 2004
ZP
Zero Position
Command Only
Sets the current value of the Absolute Position scale to zero
Command Example
#AZP<cr><lf> Sets Absolute Position to zero.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 41
Version 1.02
January 24, 2004
11. RS485 Communication
1. The Interface
The EIA specification RS485 defines an integrated circuit that is to be used to connect up to
32 nodes to a two-wire party line bus that does not exceed 4,000 ft. in length, and for use
with data rates up to 10M Baud.
The two-wire bus must be terminated at one-end for short wire runs and at both ends if the
runs exceed 20 ft. One of the two wires must be biased positive with respect to the other by
approximately 700 millivolts.
A single 5VDC supply can be used to power the interface IC, and this same supply can be
used to satisfy the bias and termination requirements. A 681 ohm 1% resistor is connected
between the +5VDC supply and the positive line. A second 681 ohm 1% resistor is connected
between ground and the negative line, and a 220 ohm 1% resistor is connected across the
two lines. The transceiver A terminal is connected to the negative line and the B terminals to
the positive line.
For wire runs over 20 ft, twisted pair cable with a characteristic impedance of approximately
100 to 200 ohms, and the far end of the run should be terminated by a 150 ohm resistor
across the line pair. For runs under 20ft almost any wire can be used.
2. The Protocol
One node on the bus is designated ‘Master’ and all other nodes on the bus ‘Slaves’. The
Master only initiates communication, and does so by sending a message that includes the
address of a specific Slave. All Slaves read the message, but only the addressed Slave
replies.
The outgoing message from the Master is ‘framed’ by always starting the message with the
‘#’ character (0x23) and ending with the linefeed character (0x0A). The reply from the Slave
is framed by always starting with the ‘*’ character (0x2A) and ending with the linefeed
character (0x0A).
The Slave address is the first character after the ‘#’ in the outgoing message, and the first
character after the ‘*’ in the reply. For ease of use RMS Technologies restricts the range of
address characters to the range of capital letters ‘A’ to ‘Z’, with ‘A’ being the default.
Again for ease of use RMS Technologies restricts the other characters in the message to
ASCII printable characters. This enables the default Windows terminal emulation program
HyperTerminal to be used for configuring and testing modules. However this restriction and
the restricted address range are not an official part of the protocol. Any of the 8 bit character
values other than the framing characters can be used for the address and as any other part
of the message.
3. Messages
Messages should be transmitted as a continuous character stream with less than a half
character time between characters.
Messages are classified as either ‘Commands’ or ‘Queries’. Commands instruct the
designated Slave to do something. Queries request the designated Slave to provide
information.
Apart from the leading ‘#’ being replaced by a ‘*’, the Slaves response to a Command should
be an exact copy of the command message. In the case of a Query the query message is
also echoed but the value or other requested information is added into the reply.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 42
Version 1.02
January 24, 2004
A one character time interval has to be allowed between outgoing and incoming messages,
to allow for line turn-around (Switching between Transmit and Receive). At 57,600 baud, one
character with 11 bits (one start, eight data, and two stop bits) transmits in 191 µS.
4. Validation
Commands are validated by comparing the content of the reply with the content of the
command message on a character by character basis.
Queries are partially validated in a similar manner but the information added by the Slave is
only subjected to credibility tests. When the information returned is deemed critical, repeating
the Query and comparing results can further validate communications.
5. S Message Format
A two-character command/query designator follows the single address character. Depending
on the nature of the command, the command designator may be followed by a numeric ASCII
character string. No separator characters are used, but a carriage return character (0x0D) is
inserted before the termination character in both the outgoing message and the reply.
6. Data Format
Data is transmitted at 57,600 Baud, with eight data bits, no parity, and two stop bits.
7. Recommended Interface Device
The RMS Technologies USB485 Converter Card converts the RS485 connection to a
standard USB connection (1.1 and 2.0 compatible).
8. HyperTerminal Operation
In addition to setting the data format to match that specified in section 6, two settings must be
made in the ASCII setup section. Check ‘Send Line Ends with Line Feeds’ and ‘Echo Typed
Characters Locally’.
When typing by hand line turn-around will occur between characters. This is normally not a
problem, but if you slowly increase the character transmission rate you will find errors
occurring, until you reach a rate where the line is held in the transmit mode for the whole of
the message. Using HyperTerminal’s file transfer system to send messages is not
recommended.
9. Reading Reply Messages
The message read function on the RS232 side of the interface, must make provision for
discarding any characters read that proceed the ‘*’ character. Line turn-around can commonly
generate false characters.
The function should have a time-out associated with waiting for a reply to allow for a nonoperational Slave node. The actual time required is system dependent, but 20mS is a
commonly used value.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 43
Version 1.02
January 24, 2004
12. Troubleshooting
R325 is not functioning correctly
Try putting the R325 into TEST mode by placing a jumper on Pins 9 & 10 of JP2. The
motor should twitch back and forth slightly if the R325 is functioning properly.
R325 not moving the motor (Step/Dip)
Verify that the 5V is being supplied to Pin 1.
RMS Technologies
R325 Single Axis Controller/Driver Manual
Page 44
Version 1.02
January 24, 2004
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement