User manual Version: 25/6/2016
PoStep60 user manual Please read the following notes 1. All information included in this document is current as of the date this document is issued. Such information, however, is subject to change without any prior notice. 2. PoLabs does not assume any liability for infringement of patents, copyrights, or other intellectual property rights of third parties by or arising from the use of PoLabs products or technical information described in this document.
PoStep60 user manual Contents 1 Introduction..................................................................................................................................... 6 1.1 General symbols for this instructions...................................................................................... 6 2 Description ...................................................................................................................................... 6 3 PoStep60 features ..........................
PoStep60 user manual 8.1 I2C address ............................................................................................................................ 25 8.2 PoStep60 I2C protocol ........................................................................................................... 25 8.2.1 Master write .................................................................................................................. 25 8.2.2 Master read .......................................................
PoStep60 user manual 11.1.4 11.1.5 11.1.6 11.1.7 11.1.8 11.1.9 11.1.10 5 Liability .......................................................................................................................... 34 Fitness for purpose ........................................................................................................ 34 Mission Critical applications .......................................................................................... 34 Viruses .........................................
PoStep60 user manual 1 Introduction This manual contains information required to configure over an USB and run the PoStep60 driver. Please read the manual carefully to avoid damage to the driver. This section covers the instrument general description, instrument specifications and characteristics. 1.1 General symbols for this instructions A few symbols are used throughout this manual that you should be aware of in order to complete certain tasks safely and completely.
PoStep60 user manual 4 Connection diagram 4.1 Board use requirements To properly operate the PoStep60 driver using external controller following connections need to be setup: step, direction and enable inputs; 10-50 VDC power supply, connected bipolar stepper motor before applying power. CAUTION! Please make sure bipolar stepper motor is connected before applying power. 4.2 Connection and setting 1. Mount PoStep60 driver firmly to a stable surface.
PoStep60 user manual 4.3 PoStep pinout 4.4 Stepper motor connection 4.4.1 10 pin IDC connector pinout Pin 1 3 5 Function Enable (inverted, 0=enable, 1=disable) Direction Step Fault feedback (OC, 1=driver OK, 0=fault detected)* +5V external supply voltage GND 7 9 2, 4, 6, 8, 10 *Fault feedback signal is an open-colector signal. External pull-up resistor is needed to function properly (please see Figure 2).
PoStep60 user manual 4.4.2 Stepper motor connections CAUTION! To avoid malfunctions please make sure the phase winds are connected correctly. Resistance between leads of different phases is usually > 100kΩ. Resistance between leads of the same phase is usually < 100Ω. NOTE! Simple method of finding correct pairs of each winding wires is as follows (before proceeding none of the motor wires should be connected): take two random wires and short circuit them. Try rotating the stepper axis.
PoStep60 user manual The advantage of using series winding is that lower power drives may be used. For example a unipolar motor rated for 4.0A/phase running in series requires only 2.0A/phase to achieve the same torque. The disadvantage of this method is that it raises motor inductance, which in turn, slows motor coil charging time. Since proper torque is reached only when the coil has charged to the required level, the longer it takes to charge, the longer until full torque is achieved.
PoStep60 user manual 4.5 DC motor connection 4.5.1 6 pin PWM connector pinout Pin 1 2 3 4 5 6 Function End Switch PWM BIN2 PWM BIN1 PWM AIN2 (inverted) PWM AIN1 (inverted) GND 2 1 4 3 6 5 All PWM connector input pins has on board pull-up resistors. The pins can be either open-collector toward GND or push-pull driven. For input limiting values please refer to Section 6 - Technical specifications. NOTE! PWM AIN1 and PWM AIN2 inputs are inverted. 4.5.
PoStep60 user manual 4.6 PoStep LEDs There are five LEDs on the PoStep board showing status. LED PWR VM STATUS FAULT Status LED is on when PoStep is connected to a PC over USB or power supply is connected LED is on when power supply is connected Indicates various driver states LED is on when driver fault occurred. To see the fault cause the PoStep has to be connected to a PC and application running LED is on when motor stall is detected in hardware. STALL 4.6.
PoStep60 user manual 5 Installation PoStep60 is USB HID compliant device and as such require no additional drivers for operation. To operate the device user software installation is necessary on a target system. NOTE! - The program can’t start because MSVCR100.dll is missing from your computer. If application fails to start showing above message most likely “Microsoft Visual C++ 2010 Redistributable Package” has to be downloaded from MS pages and installed prior running PoStep60 application.
PoStep60 user manual 7 User application User application enables various interactions with PoStep60 driver. The application enables setting of all the vital driver parameters including driver current (active, idle, and overheated values), microstepping value, driver name for later recognition, and advanced control setting values. Moreover, the application includes basic driving capabilities for stepper motors as well as two DC motors.
PoStep60 user manual 7. Driver control mode displays current driver control mode NOTE! Driver real-time values are only available when driver is in application mode. In bootloader mode all driver features are disabled. 7.1.1 PoStep driver status 1: PoStep application version info 2: Power supply voltage 4: Driver temperature 3: Driver status Figure 6: PoStep driver status section Figure 6 notes: 1. 2. 3. 4. PoStep application version info – please check for latest update of PoStep application.
PoStep60 user manual BIN2 – Motor 2 PWM control BIN2 when in DC motor control mode End switch – end switch input status Set the driver to default driver control mode Figure 7: Input statuses Figure 8: Driver control modes 7.1.1.3 Driver control modes Driver control mode section displays current mode of the driver - Figure 8. Default (ext Step/Dir) – this is the driver default state which enables Step/direction control using external controller.
PoStep60 user manual 4: Step mode 12: Enable/disable DC motor mode 1: Driver configuration selection drop box 6: Driver settings manipulation 13: Enable/disable BINx buttons mode 14: Enable/disable BINx buttons mode 3: Idle current value 7: Load/save configuration setting from/to file 2: Full scale current value 15: Set I2C address 5: Overheating temperature limit and reduced current value 9: Enable/disable advanced driver setup mode 8: Device custom name 11: Reset faults button 10: Detailed fault
PoStep60 user manual 7. Setting files – enables loading/saving driver configuration settings from/to file a. Load settings from file – load driver configuration settings previously saved. b. Save settings to file – save currently set configuration to specified file. 8. Device custom name – displays or change driver custom name a. Read custom name – reads driver name b. Write custom name – writes and stores driver name 9.
PoStep60 user manual 7.4 Step control The application enables simple internal control of step/dir pins. It allows a test of basic driving capabilities of the PoStep60 driver. 5: Manual speed set 3: Stop 2: Max speed dial 4: Auto update 6: Auto stop 1: Speed slider Figure 11: Step control controls 1. Speed slider – use this slider to set step speed. Please note the maximum value is limited by “Max speed” value. 2.
PoStep60 user manual 7: Upper limit 1: Trajectory chart 6: Position slider 15: BINx driver mode settings tab 16: Auto run driver mode settings tab 2: Motion profile parameters 3: Required position 4: Actual speed and position 8: Lower limit 9: Navigation buttons 10: Auto update 11: Increment settings 5: End switch enable and wiring type 14: Set values manually 13: Set zero 5: Clear chart button 12: Stop button Figure 12: Position control controls 1.
PoStep60 user manual 12. Stop button – stops position movement immediately (no deceleration profile applied) NOTE! If driver is used in combination with external controller or BOB please make sure to stop the application Position control control by pressing button “Stop”. This way external controller takes over control of the step/dir pins again. 13. 14. 15. 16.
PoStep60 user manual 1: Enable/disable mode 2: Invert direction of 5: Max speed value applies at power up 3: Requested speed slider 4: Requested speed input and actual speed value Figure 14: Speed / Auto run control settings 1. Enable Auto run – when checked driver is in Auto run control mode 2. Invert direction – Inverts direction of stepper movement 3. Requested speed slider – Use the slider to set requested speed. Maximum speed value is limited by “Max speed” 4.
PoStep60 user manual 1. Enable DC motor control – enables and disables DC motor control. NOTE! Enabling or disabling DC motor control puts driver into stand-by to prevent sudden movement of motor or accidental overheating of stepped motor winding. 2. 3. 4. 5. 6. 7. 8.
PoStep60 user manual 7.8 Firmware update Application automatically checks for PoStep60 driver firmware version and advises when update needed. If by any chance automatic firmware update fails a manual update is possible. Please select “Firmware” tab and manually reset PoStep60driver to enter boot mode ie. when “Full update” button is enabled. Trigger update by pressing “Full update” and wait for finished update. After update the driver automatically resets and enters normal mode.
PoStep60 user manual 8 PoStep60 I2C protocol specification PoStep60 has implemented I2C communication connection which enables setup and read most of the driver configuration parameters and statuses. I2C pins are located on PoExtension connector (please see Figure 1). Pin 1 2 5 6 3, 4, 7, 8, 9, 10 Function 5V GND SCL – I2C clock pin SDA – I2C data pin NC – not connected 10 9 8 7 6 5 4 3 2 1 8.
PoStep60 user manual 8.2.2 Master read Before read operation we shall always perform a Master write operation providing command for read operation. After command is provided the Master read can be performed. In the Master read operation PoStep response with multiple bytes of data. The data has to be properly interpreted by the master. STOP I2C ADDRESS R/W=1 A BYTE0 A BYTE1 A … BYTEn A END From Master to PoStep driver From PoStep driver to Master 8.3 PoStep60 I2C commands 8.3.
PoStep60 user manual 8.3.5 0x0A – Read HW/FW info First Master writes 0x0A command (no data bytes are needed). In a next step Master reads 5 bytes of data where meaning of byte is described in a table below. BYTE 0 1 2 3 4 Info 0x41 – driver ID HW version major release HW version minor release FW version major release FW version minor release 8.3.6 0x10 – Read voltage To read PoStep supply voltage first Master writes 0x10 command (no data bytes are needed). In a next step Master reads two bytes of data.
PoStep60 user manual 8.3.10 0x14 – Read driver mode First Master writes 0x14 command (no data bytes are needed). In a next step Master reads one byte of data. Read value represents driver mode: Mode value 1 2 3 4 5 6 Mode Default mode – external control Step control DC motor control Position control BINx buttons Auto run mode NOTE! Driver mode is read only value for I2C communication and can only be set by using USB connection and PoStep60 application! 8.3.
PoStep60 user manual 8.3.15 0x24 – Read temperature limit To read temperature limit first Master writes 0x24 command (no data bytes are needed). In a next step Master reads one byte of data. Calculated temperature is: Temperature/ºC = BYTE0 8.3.16 0x25 – Read faults First Master writes 0x25 command (no data bytes are needed). In a next step Master reads one byte of data. Each bit in the read byte represents one fault. 0 represents no faults and 1 represents fault occurred.
PoStep60 user manual 8.3.19 0x32 – Set overheat current Master writes 0x32 command followed by two bytes of data. BYTE0 and BYTE1 are calculated using same algorithm as in subsection 8.3.17 0x30 – Set full scale current. 8.3.20 0x33 – Set step mode Master writes 0x33 command followed by one byte of data – BYTE0. BYTE0 relates to step mode as follows: Mode BYTE0 Full step 0 Half step 1 1/4 step 2 1/8 step 3 1/16 step 4 1/32 step 5 1/64 step 6 1/128 step 7 1/256 step 8 Other values are ignored. 8.3.
PoStep60 user manual 8.3.27 0x43 – Read deceleration To read PoStep deceleration first Master writes 0x43 command (no data bytes are needed). In a next step Master reads two bytes of data. Calculated deceleration is: deceleration/steps/s2 = BYTE1 * 256 + BYTE0 = BYTE1 << 8 | BYTE0 8.3.28 0x44 – Read current speed To read PoStep current speed first Master writes 0x44 command (no data bytes are needed). In a next step Master reads two bytes of data.
PoStep60 user manual 8.3.35 0x54 – Set requested speed NOTE! Set speed and invert direction settings are applicable only when driver is in Auto run/Speed mode. To enable Speed mode control over I2C set driver mode to Auto run mode (8.3.4 0x05 – Set driver mode0x05 – Set driver mode) or enable Speed mode within PoStep application and write values to driver (standalone mode). Master writes 0x54 command followed by two bytes of data where: MSB Requested speed (16 bit) BYTE1 LSB BYTE0 8.3.
PoStep60 user manual 9 Errata information Auto run invert direction set cannot be applied over I2C. Driver update is needed to a software version 0x0109 or above. o Affected: All drivers with a software version above 0x0107 and bellow 0x0109. I2C communication fails from time to time. Driver update is needed to a software version 0x0105 or above. o Affected: All drivers with a software version bellow 0x0105. Predriver Fault bug causing faulty driver failure status.
PoStep60 user manual 11 Grant of license The material contained in this release is licensed, not sold. PoLabs grants a license to the person who installs this software, subject to the conditions listed below. 11.1.1 Access The licensee agrees to allow access to this software only to persons who have been informed of and agree to abide by these conditions. 11.1.2 Usage The software in this release is for use only with PoLabs products or with data collected using PoLabs products. 11.1.
