REVISION DATE: 07/05/06 DCB-274 USERS GUIDE Nashua, NH 03063 www.stepcontrol.
REVISION DATE: 07/05/06
ADVANCED MICRO SYSTEMS, INC. DCB-274 USERS MANUAL Table of Contents Hardware Introduction............................................................................................................................. 1 Product Overview..................................................................................................................... 2 Required Hardware for Operation............................................................................................... 3 Assembly Drawing............
ADVANCED MICRO SYSTEMS, INC. DCB-274 USERS MANUAL T (Trip Point)......................................................................................................................... 49 V (Set Slew Speed) ............................................................................................................... 50 W (Wait)............................................................................................................................... 51 w (lower case W; Pre-energize)..................
ADVANCED MICRO SYSTEMS, INC. HARDWARE Introduction Thank you for using a DCB-274 Stepper Motor Driver/Controller from ADVANCED MICRO SYSTEMS, INC. This unit is designed to provide years of reliable, accurate and cost-effective motion control. As with all AMS products, the DCB-274 is backed by over two decades of manufacturing excellence and a commitment to quality and support that guarantees your satisfaction. This manual will assist you in optimizing the performance of your system.
ADVANCED MICRO SYSTEMS, INC. HARDWARE Product Overview The DCB-274 combines efficient bi-polar chopper Driver circuitry with AMS’ new, powerful SMC-27X2 Micro-controller on a single, heat sink mounted board, to operate small to mid-size stepping motors. It is designed for low cost O.E.M.
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ADVANCED MICRO SYSTEMS, INC. HARDWARE Out of the Box – Quick Start The DCB-274 is supplied with mating motor, power supply and I/O connectors. The SIN-(n) (chosen serial adapter) is supplied with a mating cable and terminator, if required. Equipment Check List 1. A computer with available serial port. 2. Installed serial communications software such as Hyper term, EASI, ProComm, etc. (EASI works with DOS). 3. A DCB-274. 4. A SIN-(n) serial adapter (SIN-10 recommended). 5.
ADVANCED MICRO SYSTEMS, INC. HARDWARE After Sign-on Enter X The parameters are displayed. The last characters displayed will be “n= “ followed by the axis “name” character, usually “A.” To change the name: 1. Turn off power, allow discharge. 2. Turn on power. 3. Depress the desired “name” key, for instance “B.” 4. Depress the SPACE BAR. The DCB-274 will sign-on. 5. Enter X. The new name “B” is displayed. 6. Issue the S (save command). The name is stored in memory. 7.
ADVANCED MICRO SYSTEMS, INC. HARDWARE “Do’s, Don’ts and Important Notes” • • • NEVER connect or disconnect motor wires while power is supplied. When using a 6 lead motor be sure to insulate/isolate unused wires. The physical direction of the motor with respect to the direction input will depend on the connection of the motor windings. To reverse the direction of the motor with respect to the direction input, switch the wires on phase 1 or phase 2 of the outputs.
ADVANCED MICRO SYSTEMS, INC. HARDWARE Multi-axis Serial Interface Connection BLC-51-XX INTERCONNECT CABLE SERIAL INTERFACE ADAPTER SERIAL IN SERIAL OUT TERMINATOR PLUG J2, J3 Pin 1 SIN-8 OR SIN-10 DCB-274 #1 DCB-274 #”N” I.O. Connections (J1, J4) The DCB-274 has a robust set of input and output signals. Two connectors (J1 and J4) provide dedicated inputs and outputs. Five user-defined signals are also provided. All inputs can withstand voltages in excess of +28 volts.
ADVANCED MICRO SYSTEMS, INC. HARDWARE Pin 7 - VIO Reference Input This signal defines the input and output voltage range. A “default” voltage of 4.6 volts is derived from the internal +5-volt supply, via a diode. Any external load must be limited to several mA. You may apply an external, higher “VIO” voltage, if appropriate to the application. The input signal thresholds will be approximately ½ of VIO or 2.3 volts. The threshold is the same, independent of PLC or “normal” mode.
ADVANCED MICRO SYSTEMS, INC. HARDWARE +5 Internal Power Supply 5V Pin 4.6 - 30 Vdc VIO VIO Pin 10k + PLC Signal VIO/2 STD CPU 10k 1 2 3 STD Signal Comparator 10k Input Pin PLC To other comparators GND Pin Connector Typical User Input Circuit (Step, Direction, Ports 1, 2, 3, 4 (used as an input), Jog (3), Limits, Home, Go and Soft Stop) Output Ports Two user output ports are provided on the DCB-274 with a power FET output circuit capable of sinking up to 2 amps DC.
ADVANCED MICRO SYSTEMS, INC. HARDWARE As an output (as shipped) the signal can be redefined as a stepping pulse output with the “l 2” (lower case L) command. This also defines P5 as a direction output signal. Port 5 Port 5 is an output port/driver, rated at 2-amps. The output signal can be redefined as a direction output with the “l 2” (lower case L) command. Port 4 becomes a step pulse output. The output signal can be redefined as a moving output with the “l 4” (lower case L) command.
ADVANCED MICRO SYSTEMS, INC. HARDWARE Step and Direction Inputs (J1) A 10k pull-up resistor allows open-collector circuits to be used. The inputs will withstand in excess of 24 volts. Pin 6 11 12 Signal Ground, common with the power supply input Step pulse input Direction input The recommended step input is a negative going pulse 5 volt TTL or CMOS. Encoder Inputs (J1) Optional encoder circuitry can be specified with the DCB-274-E option.
ADVANCED MICRO SYSTEMS, INC. HARDWARE High Torque 6 5 PH-2 4 PH-3 3 VMM 2 GND 1 PH-0 PH-1 + Power - GND Bipolar Series FIG A High Speed 6 5 4 3 2 1 + Power - GND Bipolar Parallel FIG B High Speed 6 5 4 3 2 1 + Power - GND Bipolar 50% Copper FIG C Typical Wiring Diagrams for Step Motors Fig. A: Series winding for higher torque and lower current. The inductance is 4 times that of the parallel mode, reducing the maximum obtainable speed. Fig.
ADVANCED MICRO SYSTEMS, INC. HARDWARE Specifications Electrical Output Current (maximum)………………. Chopping Frequency...................…………... Supply Voltage............................…….……. Motor Step Resolution..............……………. Non-Volatile Memory.............……………... Position Counter..........................………….. Baud Rate..................................…….……... Serial Interface……………………………... Signals RX, TX High Input Voltage Line Input Current Party Select External Terminator *Threshold 4.
ADVANCED MICRO SYSTEMS, INC. HARDWARE Physical Dimensions Heat sink mounting bracket 0.75 0.22 2.50 4.13 12 PIN I/O SERIAL IN SERIAL OUT 0.75 7 PIN 1/O PWR / MTR 4.70 5.20 1.38 0.75 SLOTS ACCOMODATE 10-32 MOUNTING HARDWARE NOTE: ALLOW 0.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE Overview This Application covers the serial communication design for ADVANCED MICRO SYSTEMS, INC. (AMS) intelligent control products. These products include complete packaged systems, OEM boards, subassemblies, and I.C.’s. The basic design has remained constant over 20 years. All AMS products are based on the same core micro-controller family, which contain two-way serial communication using the standard ASCII characters used in virtually all computers.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE SIN-7 RS-232 Computer DB-25 2 3 5 1,7 TXD RXD CTS GND 3 TX4 RX1 MVG 2 GND 6 DST 20 DTR Single axis, RS-232 connection using AMS SIN-7 adapter The other method, called “daisy chain,” is for multi-axis applications and is NOT recommended by AMS. Daisy chain is accomplished by interconnecting one or more axis in “series.” Here, the TXD output of the first axis is connected to the RXD input of the next axis, etc.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE RS-422 (Party Line) Hardware AMS “Party Line” communication is an RS-422 design that uses RS-485 rated circuits. This interconnect is comparable to a LAN configuration. The hybrid design merges the best of both EIA specifications and maintains compatibility with EIA RS-422 and features: • Multi drop serial bus • Full duplex connection; receive data is one pair of wires and transmitted data a second pair.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE AMS offers two adapters to facilitate party line connect; models SIN-8 and SIN-10. The SIN-10 costs slightly more but is so powerful that the software programming is simplified. Some operating systems (Windows 2000) are close to impossible to program properly. SIN-8 Serial Adapter The SIN-8, RS-232 to RS-422 serial data converter, is used with party line network designs. Any number between one and thirty-two axes can be connected in a mini-drop network system.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE SIN-10 Intelligent Serial Adapter The SIN-10 is an intelligent serial line converter that simplifies application software development and improves overall performance. Dual, independent UARTS (COM ports) permit spooling commands at rates between 1200 and 115k baud. Specific operating instructions are contained in the SIN-10 Users Guide.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE 4. Party Select (pin 8). Each axis tests this input after reset (power up or in response to a ^C command) to determine either single or party line mode. Single mode (ONLY one axis connected) is used for debug, programming for stand-alone use or assignment of party line “name”. The SIN-8 has a switch to manually select party line (P) or Single (S) mode. The SIN-10 is selectable via host commands or a built in mode switch.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE Operating systems like Windows NT and Windows 2000 prevent programmers from direct access of the hardware. The programmer is forced into passing instructions via “mail-boxes” to perform I/O functions, a slow and inefficient process. Baud Rate AMS has introduced a number of motion control products over the last 20+ years. The software for serial communications has remained essentially unchanged. Depending upon the controller I.C.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE 3. Strike the SPACE BAR key. The controller should sign on with the software version number Vx.xx. If not, enter a (^C) (Reset) and strike the SPACE BAR key again. The “reset” message is generated by easi.exe, not the axis output. If sign-on does not occur: a. Verify all connections. b. Insure that the SIN-8 or SIN-10 is in the “single” mode. c. Check your comport set-up. .. 4.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE Axis Name Assignment Whenever the application is controlled via a “host” computer the proper protocol (handshake) MUST be used. Either the programmer must write the necessary serial, echoed character-by-character software (driver), or implement a SIN-10 for the proper handshake. In any case a unique name must be assigned and stored in the NV memory. EVEN A SINGLE, ONE AXIS SYSTEM REQUIRES PARTY LINE OR DAISY CHAIN PROTOCOL.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE The initial input sequence MUST be a Line Feed (LF) character followed by a valid “name” character in the standard ASCII collation sequence. Once the recognized sequence is received, the controller will assume the name until a hardware reset is made. The first axis in the string will output the Line Feed character followed by the next higher ASCII character in the character set. This sequence continues until all axes have assigned names.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE Edit Program Example: It is desired to change instruction number 21 from 500 steps to 5,000 steps: Enter Remark P21 Edit instruction 21. R5000 Move 5,000 steps in the “+” direction, relative to Origin. “ESCape” Terminates Edit mode.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE The party line sequence can be sent using the dumb terminal. Caution must be used because any typo’s cannot be corrected with a backspace, as is possible in the single axis mode. You must cancel with the ESCape and start over. Remember ESC is a global abort character. Party Line Startup The programmer can verify the presence of the axis on power up by: 1. Sending a linefeed character. 2. Sending a good “name” character. 3. Waiting for echo of same name. 4.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE Anatomy of Instruction Execution This information is intended to familiarize the programmer with the internal operations involved in executing a command. For each MOTION command there are four cycles; Entry, Execution, Result, and Completion. Other commands have three cycles; Entry, Execution and Result. In the idle state the controller continually tests for jog, go, or command input.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE Interrupt Commands Interrupt commands are single character commands that will interrupt the operation in process as follows: Abort Any action command may be terminated using the ESCape character. Process Command line input Program mode Action command Program execution Resulting Action Clear input buffer. Exit without inserting “END”. Terminate all motion (HARD STOP). Terminate execution, Hard Stop. If more then one process is active then ALL are aborted.
ADVANCED MICRO SYSTEMS, INC. SERIAL INTERFACE Queued Index Cycle Resulting From +, -, R Commands Constant Velocity Cycle Resulting From M Command Constant Velocity Cycle From 2nd M Command Execution Times The time for a complete cycle between command entry and result is variable, depending on number of data bytes, command type, and motion in process. One receipt of the line feed, most commands execute in less than one millisecond.
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ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE Non-Volatile Memory Details The SMC-27X2 uses the X24C16, a 2048 byte EEPROM. A worst case of 4 bytes per instruction yields a capacity of 500 commands. These devices are rated to retain data for 100 years. As with all EEPROMS, the number of times it may be re-programmed is limited. Each time a cell is written a small number of electrons are trapped in the dielectric.
ADVANCED MICRO SYSTEMS, INC.
ADVANCED MICRO SYSTEMS, INC.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE An example of this command within a program in conjunction with the Loop on Port command as explained later is: P0 M 2000 L0 0 @ P Command ^C Enter program mode. Move at a constant step rate of 2000 SPS. Loop to memory address location 0 until port 1 is low. Decelerate and stop program execution. Exit program mode.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE The PLC option flag 8 has no affect on the output behavior. Port 4 as an output (as shipped): 1. Install JP1and JP2 in off (storage) position. 2. Insure that P4 input option flag 32 (“l” command) is off. Port 4 is controlled by the “A 8” (flag 8) command and read back with the A 129 command. The step pulse is output to P4 when the step/direction out (option flag 2) is set. Port 5 is an output only. It is turned on with “A 16” command (flag 16).
ADVANCED MICRO SYSTEMS, INC. Command B SMC-27X2 SOFTWARE Function Type NV Bytes Set Jog Speeds Default, Immediate, Program 3 Mnemonic Data 1 Data 2 Result (Name) B (n1, n2) Slow Speed (0-255) High Speed (0-255) None B (Set Jog Speeds) These two numbers represent the speeds to use for jog inputs. The first is usually a lower speed. The second number is used when the high-speed jog (pin J1-9) is held low.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE Multiple variables that interact include: • Operating step speed range • Step resolution • Motor size and characteristics • Load inertia and load damping affects • Supply voltage • Motor current setting • Acceleration and deceleration rates Once the optimal settings are determined, they will apply to future production, provided all remains constant.
ADVANCED MICRO SYSTEMS, INC. Command F SMC-27X2 SOFTWARE Function Type NV Bytes Find Home Immediate, Program 3 Mnemonic Data 1 Data 2 Result (Name) F (n, d) SPS (40-36,000) Direction (0,1) None F (Find Home) The special Home algorithm is intended to eliminate mechanical hysteresis typically found in many switches, encoders and is generally present in the form of system mechanical backlash.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE If “t” is a one, the TRACE mode is turned on. A display of the current step being executed is produced while the program is running. The list format is the same as that of the “Q” command The TRACE mode will be in effect until the program execution terminates or until an embedded ‘Go’ without the trace attribute is encountered. The address range is 2047, depending on NV memory capacity.
ADVANCED MICRO SYSTEMS, INC. Command H SMC-27X2 SOFTWARE Function Type NV Bytes Set Step Size Resolution Default, Immediate, Program 2 Mnemonic Data 1 Data 2 Result (Name) H (n) 0-5 None None H (Step Resolution) This command selects step size resolution. The SMC-27X2 has an internal lookup table of up to 32 bytes corresponding to 1/8 step. This specifies which table is to be used.
ADVANCED MICRO SYSTEMS, INC. Command i SMC-27X2 SOFTWARE Function Type NV Bytes Restart Special Trip Default, Program 5 Mnemonic (Name) i (n) Data 1 Next Trip Position ±8,388,607 Data 2 Result Port (0-63)* None i (lower case I; Restart Special Trip ) See lower case “k” command. *Actual values are determined by the hardware configuration.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE The following two examples are of ramped indexes, each 2000 steps with I=400, V=5000, but different “K” values; K50 5 and K5 5: Note: The default value of "K" is 5 (Accel), 5 (Decel). To modify the ramp slope it is always necessary to enter two (2) data values (from 0 to 255), corresponding to the desired slope for motor acceleration vs. deceleration.
ADVANCED MICRO SYSTEMS, INC. 128 133 138 143 S G0 k 400 0 k 600 16 i 200 8 P0 SMC-27X2 SOFTWARE Set new trip at 400 and turn ports off. Set new trip at 600 and turn port 5 on. Reset origin, RAM=128, port 4 on. End program. Save the shadow RAM program. Execute program. Failure to store the program in shadow memory will result in loss of all commands between 128 and 192. Once they are stored, they will automatically reload with every reset.
ADVANCED MICRO SYSTEMS, INC. Command L SMC-27X2 SOFTWARE Function Type NV Bytes Loop on Port Program 3 Mnemonic Data 1 Data 2 Result (Name) L (a, c) 0-2048 Condition (0-9) None L (Loop on Port) Loop on Port will test the specified input port for the required condition (c). If the port is NOT at the required level then the program will jump to the specified address. If the address is to a previous instruction then the program will loop until it becomes the specified level.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE Two or more flags can be specified for multiple options, i.e., flag 1 + flag 8= 9. So, command “l 9” will invert limits and set PLC mode. When reading flags, the host software must convert decimal to binary to evaluate the results. Option table Flag Bit 1 0 2 1 4 2 8 3 16 4 32 5 64 6 128 7 Invert limits Step/dir out Moving PLC mode P4 input Gentle limit Reserved Read back Function Both inputs must be held low to allow a move.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE Port 4 Input (Flag 16) This flag informs the controller that Port 4 is to be used as an input. Jumpers JP1 and JP2 must be set accordingly. The commands; read inputs (A129), branch (G 2048) and loop (L n) will use this input port. Conflicts - Flag 2 and Flag 4 (outputs) are not permitted. Example- turn on 3 options: “l 25” = 1+8+16 = (invert limits) + (PLC mode) + (port 4 = input).
ADVANCED MICRO SYSTEMS, INC. Command O SMC-27X2 SOFTWARE Function Type NV Bytes Set Origin Immediate, Program 4 Mnemonic Data 1 Data 2 Result (Name) O Position (±8,388,607) None None O (Set Origin) This command sets the internal 24-bit position counter to the specified value. Zero position for the RELATIVE mode is “0000.” Signed numbers are used. Hardware reset clears to “0000.” The position counter is incremented or decremented for all motion commands.
ADVANCED MICRO SYSTEMS, INC. Command Q SMC-27X2 SOFTWARE Function Type NV Bytes List Program Immediate N/A Mnemonic Data 1 Data 2 Result (Name) Q (a) Address (0-2047) None Listing Q (List Program) (Note: Use in dumb terminal, single line mode). List program stored in non-volatile memory using the format: Address Instruction Value 1 Value 2 The values will be displayed only if applicable to the particular instruction type. Twenty instructions are displayed at a time.
ADVANCED MICRO SYSTEMS, INC. Command S SMC-27X2 SOFTWARE Function Type NV Bytes Save Parameters to NV Memory Immediate 1 Mnemonic Data 1 Data 2 Result (Name) S None None None S (Save) The following parameters are saved in the NV memory and will be recalled as defaults during power-on reset: 1. NV memory addresses 128 through 191 (shadow RAM) 2. Initial velocity (I) 3. Slew velocity (V) 4. Divide factor (D) 5. Ramp slope (K) 6. Jog speeds (B) 7. Resolution mode (H) 8. Auto power down (E) 9.
ADVANCED MICRO SYSTEMS, INC. 2. Write program to location 100. P100 100 A129 102 A0 104 P0 SMC-27X2 SOFTWARE Enter program mode at address 100. Read port states. Turn port 4 off. Exit program mode. 3. Set Trip Point. In “dumb terminal” mode enter T1000 100. This tells the controller to run the program located at address 100 when the step position is 1000. 4. Run program. Enter the “G” command. Port 4 will turn on and the motor will start moving.
ADVANCED MICRO SYSTEMS, INC. Command W SMC-27X2 SOFTWARE Function Type NV Bytes Wait (n) Milliseconds Immediate, Program 3 Mnemonic Data 1 Data 2 Result (Name) W (n) 10 ms. (0-65,535) None None W (Wait) The controller will remain in an idle state for the specified time. The Wait command, if issued while indexing (as a result of an R, +, -, or F command), timing will NOT start until the motion has completed.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE The controller will remain in an idle state for the specified time. The Wait command, if issued while indexing (as a result of an R, +, -, or F command), timing will NOT start until the motion has completed. NV default =0 The following example program pre-energizes the controller to the run current then makes a move. P0 Enter program mode. w 25 Pre-energize the controller for 250 milliseconds. + 1000 Move 1000 steps in the plus direction.
ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE The following procedure is used to access the independently programmable "Hold" and "Run" current feature: 1. Issue the "Y" command to program the desired current values. Entering Y10 80 yields a 10% Hold current and 80% Run current. 2. Issue an "S" (Save) command. The values are now stored in non-volatile memory. On receipt of an index or other motion command, the control circuits are incremented to the 80% boost, while moving is in process.
ADVANCED MICRO SYSTEMS, INC. Command [ SMC-27X2 SOFTWARE Function Type NV Bytes Read NV Memory Immediate N/A Mnemonic Data 1 Data 2 (Name) [ Address (0-2047) Sequential Bytes (0-255) Result Displayed Values [(Read NV Memory) The user may display any byte of the 2047 byte external NV memory. The address specifies the desired location to access. At addresses 128-191 the NV memory is always Read (not the RAM). The data contained at the specified location is output as a decimal value.
ADVANCED MICRO SYSTEMS, INC. Command + SMC-27X2 SOFTWARE Function Type NV Bytes Index in Plus Direction Immediate, Program 4 Mnemonic Data 1 Data 2 Result (Name) + (n) Steps (0-16,777,215) None None + (Index in Plus Direction) Step in the positive direction for the specified step count. The motor will ramp up, slew, and then ramp down per the previously set parameters. The range is 0 to 16,777,215. The position counter will overflow at 8,388,607. The motion sequence is: 1.
ADVANCED MICRO SYSTEMS, INC. Command ^ SMC-27X2 SOFTWARE Function Type NV Bytes Read Moving Status Immediate, Program 1 Mnemonic Data 1 Data 2 Result (Name) ^ None None Status ^ (Read Moving Status) The host may use this command to determine the current moving status that exists within the SMC-27X2. A non-zero value indicates moving. This command is normally used external from the controller’s non-volatile program.
ADVANCED MICRO SYSTEMS, INC. Command SMC-27X2 SOFTWARE Function Type NV Bytes Terminate Program Immediate 2 Mnemonic Data 1 Data 2 (Name) Result Status Byte | (Selective Termination) This command (pipend: vertical dash key-Shift \) can be placed at a point to terminate (equivalent to ABORT) the program that was started via the "G" command or hardware GO input.
ADVANCED MICRO SYSTEMS, INC. Command ^P SMC-27X2 SOFTWARE Function Type NV Bytes Restart in Party Line Mode None N/A Mnemonic Data 1 Data 2 Result ^P None None None ^P (Party Line Mode) Response to the single character “Ctrl P” (16 decimal, 10 hex) is immediate. This control character restarts the controller in party line mode. One, or up to 32 controllers may be connected. The “^C” (or cycle power) command is used to restart in single controller (space to sign-on) mode.
ADVANCED MICRO SYSTEMS, INC.
ADVANCED MICRO SYSTEMS, INC.
ADVANCED MICRO SYSTEMS, INC. ADDENDUM About Step Motor Current There is much confusion regarding the operation of step motors. Depending on your application, the step motor offers several advantages over servo motor designs, including lower cost and simplicity. The step (or stepper, or stepping) motor is a digital “synchronous” motor with a pre-designed number of “steps” per revolution. The most common motor has 200 full steps per revolution.
ADVANCED MICRO SYSTEMS, INC. ADDENDUM A current sense circuit is used to switch off the current when it reaches the set value; hence the motor power is regulated. These “chopper“ circuits operate at speeds above 20khz, well above hearing limits. The following is an abstract from “Control of Stepping Motors, a Tutorial” (linked from www.stepcontrol.com) by Douglas W. Jones, University of Iowa Department of Computer Science. http://www.cs.uiowa.edu/~jones/step/index.html.
ADVANCED MICRO SYSTEMS, INC. ADDENDUM AMPS and Wire Count and Power The rated current is specified based on the rated power input (watts) of a given motor. A. Basic 8 Wire Motor While never actually used as 8 individual coils, virtually all permanent magnet motors have 4 internal coils. All common configurations can be constructed from the 8-wire motor. Let us assume that each of 4 windings of the 8-wire motor has the following specifications: Current = 1 amps Resistance =2.
ADVANCED MICRO SYSTEMS, INC. ADDENDUM C: Adapting Available 6 Wire Motors A 6-wire motor is equivalent to the 4-wire series motor. 1B In practice the two coil ends are connected, while no connection is made to the center tap. 2B 2A 1A 6 Wire Motor Half Copper or 50% Winding The maximum speed can be increased by using ½ the coil. To do this, connect the driver between the center tap and one end of the winding.
ADVANCED MICRO SYSTEMS, INC. ADDENDUM Application Notes V1.10 Double Speed Characteristics The X2 speed (Version 1.10) introduces several new characteristics: 1. Step rates in excess of 36K steps per second. 2. Faster command execution. 3. Intelligent current decay control. 4. Redirect ports 4 and 5 to Step and Direction outputs (mode command). 5. Redirect port 4 as a moving output (mode command). Note that the minimum step rate is now 40 SPS. Slower step rates are obtained using the “D” (divide) command.
ADVANCED MICRO SYSTEMS, INC. ADDENDUM Serial Adapter Summary AMS offers several serial adapters. These are used to connect a standard computer RS-232 “D” connector to the serial I/O on AMS controllers (axis). Four, model SIN-“n” adapters are currently available, as follows. SIN-7, SIN-9 (not recommended for multi-axis applications) These are the lowest cost adapters. They are passive (without electronics) and are suitable for use with only one axis at any given time.
