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HARDWARE MANUAL

CN0170

TWO AXIS

MOTION CONTROLLER

3879 SOUTH MAIN STREE T 714-979-6491

SANTA ANA, CALIFORNIA 92707-5710 U.S.A.

0 M

P A N

Summary of Contents for CN0170

Page 1: ...HARDWARE MANUAL CN0170 TWO AXIS MOTION CONTROLLER 3879 SOUTH MAIN STREET 714 979 6491 SANTAANA CALIFORNIA 92707 5710 U S A 0 M P A N Y ...

Page 2: ......

Page 3: ...er Centent and the Centent Company logo are trademarks of Centent Company Other trademarks tradenames and service marks owned or registered by any other company and used in this manual are the property of their respective companies Copyright 2019 Centent Company 3879 South Main Street Santa Ana CA 97207 All Rights Reserved ...

Page 4: ...uts 9 STB Output 9 SPD Output 11 Run Output 12 Out 1 2 12 Inputs Digital 12 Hme Input 13 Flt Input 15 Bsy Input 15 In 1 2 15 Inputs Analog 16 Alg X Y 17 Alg 1 2 17 Power Supply 17 VDC 17 Ground 18 5VDC 18 Auxiliary Input Output Connector 18 Serial Connector 19 Serial Cable 20 Daisy chain configuration 20 D9 Host connections 20 Battery Replacement 20 Connector Pin Assignments Motor Connector 22 Ser...

Page 5: ...tors labeled X AXIS and Y AXIS They form the interface between the CN0170 and the motor drives The output signals from the axis connectors are STEP DIR and ISET IRET is the ground reference and is required only if ISET is used STEP pin 4 The STEP output connects to the step motor drive s STEP or PULSE input The output is 5 volts for a logical 1 and zero volts for a logical 0 The output can sink a ...

Page 6: ...ration speed and steps moved matches the programmed values However it is permissible to intentionally mismatch the step rate resolution with the drive in order to extend the operating range of the CN0170 C14 C15 AAA 1 5V AAA 1 5V X AXIS DRIVE OPTION BLOCK Y AXIS DRIVE OPTION BLOCK FULL STEP HALF STEP 10 uSTEP 125 uSTEP Figure 3 Step Resolution Jumper Block location To set the step rate resolution ...

Page 7: ...er dividends of the reference oscillator the step pulses will not be evenly distributed although the step rate will be exact This uneven pulse distribution or phase jitter is limited to less than 244 nano seconds from optimum step pulse placement The rate at which speed changes can be made is 256 times a second During acceleration or deceleration the relationship between speed and time is a stairc...

Page 8: ...ble only if the step motor drive has provisions for a current set input In many applications the torque required from the motor is substantially less when the motor is stationary By reducing the motor current during idle a dramatic decrease in motor and drive heating can be achieved The CN0170 waits a programmed period after a motor has stopped to activate the ISET output If the motor is commanded...

Page 9: ... the CN0170 For best noise immunity and reliable operation the step motor drives should be opto isolated To maintain this isolation do not terminate the GND lines to the motor drive or power supply When the CN0170 is used with motor drives that do not have opto isolated inputs the GND outputs are the signal return lines for the CN0170 STEP and DIR outputs CONNECTING CENTENT DRIVES TO THE CN0170 Th...

Page 10: ... the Operating Manual CN0162 Microstep Drive to determine the values for R1 and R2 If no standby is required or the CN0162 s standby is used it is not necessary to connect ISET and IRET to the CN0162 Figure 8 upper left right Use the CN0162 drive s standby Figure 8 upper right if a simple fixed time delay is sufficient If the programmable time delay feature of the CN0170 STANDBY is required use th...

Page 11: ...65 Figure 9 shows the CN0170 s STANDBY used for the free wheel option This is equivalent to the CN0162 configuration shown in the lower right example in Figure 8 The Standby trimpot on the CN0165 sets current standby Refer to the Operating Manual CN0165 Step Motor Drive to determine motor current settings and values for the R1 current set resistor The Centent CN0182 Servo Drive is compatible with ...

Page 12: ...or is off The circuit for a typical output is shown in Figure 11 The output driver is a 74LS374 octal D flop The D inputs connect to the CN0170 data buss while the Q outputs go to the control connector The 2 2K resistor pulls the outputs up to the 5 volt supply during a logical 1 output This enhances 5 Volt CMOS compatibility Figure 11 digital outputs The 220 ohm resistor limits the status indicat...

Page 13: ...the BSY input is not taken low before STB output goes inactive then a pending move will begin The BSY input will not go active low if it is not used the normal situation with handshake turned off Figure 12 Busy Ready If the BSY input is low when the STB output goes inactive the pending move will be held off while the BSY input remains active The timing diagram for the STB output is shown in Figure...

Page 14: ...chronization between a user s process and the CN0170 regardless of the speed of the process response time The timing relationship between STB and BSY is shown in Figure 13 Figure 13 Hardware Handshake timing diagram T1 The motor is moving STB is inactive and BSY is inactive T2 The motor is stopped STB is active and BSY is sampled If BSY is inactive repeat T2 T3 The BSY input is active the STB outp...

Page 15: ...user may turn the outputs on or off as needed independent of what the motor output is doing An OUT output is on when it is at zero volts and off when it is at 5 volts When it is on the output has a current sink capability of 12 milliamps The OUT indicator LED is illuminated when the output is on and off when the output is off The OUT output is updated 256 times a second The minimum on or off times...

Page 16: ...pin 4 The HME input is used in conjunction with the XH or YH instruction to calibrate the motor to a known physical location Most step motor applications are open loop the motor s position is inferred by adding or subtracting step pulses to the internal position register It is assumed the motor will take the steps sent to it If a motor fails to take a step or takes some extra ones the position reg...

Page 17: ...E switch 3 Is the motor on the HME switch If NO go to 2 4 Decelerate to a stop reverse direction 5 Accelerate away from the HME switch 6 Is the motor on the HME switch If YES go to 5 7 Decelerate to a stop reverse direction 8 Move towards the HME switch at Base Velocity If Base Velocity is zero the move will occur at a velocity of 0 25 steps per second the slowest possible rate 9 Is the motor on t...

Page 18: ...nfiguration all commands issued to the CN0170s will echo back to the host BSY X Y pin 15 pin 2 The BSY input when used in conjunction with the STB output synchronizes the CN0170 Motion Controller to an external process See the STB X Y section for a complete description The BSY input when active prevents the execution of a pending HOME Point to Point Linear Interpolation or Circular Interpolation i...

Page 19: ...n not to exceed these limits or damage may result The inputs appear as a 200 ohm resistor in series with a 0 01μf capacitor The user may select one of two analog conversion ranges The A D can have a zero to full range of 0 5 volts or a reduced range of 2 3 volts The reduced range makes the analog inputs directly compatible with potentiometric joysticks Figure 15 Range Option Header The Range Optio...

Page 20: ... by other electronic circuits such as op amps It is recommended that the source impedance not exceed 1000 ohms ALG 1 2 pin 23 pin 22 The ALG 1 and ALG 2 inputs are general purpose user inputs The digital value of these inputs may read the over the serial interface The input voltage range is from 0 5 VDC or 2 3 VDC The input sample rate is 32 times a second POWER SUPPLY The CN0170 requires a single...

Page 21: ...ply for a modest amount of external circuitry or devices The maximum current draw is 300 milliamps for any external load Care must be taken not to short the 5VDC output to any output pin or ground Failure to do so may result in damage to the CN0170 AUXILIARY INPUT OUTPUT CONNECTOR This connector is a 10x2 pin socket located inside the CN0170 It is necessary to remove the cover for access to this c...

Page 22: ...primary channel A connects to the host computer The secondary channel may be connected to channel A of another CN0170 if desired Up to 10 CN 0170 Motion Controllers may be connected in this daisy chain configuration providing a maximum of 20 axis of motion control The secondary B channel of the last CN0170 in the chain may pass data to other devices printer plotter etc This means the host computer...

Page 23: ...re 18 D25 RS232 connections e iagram in Figure 19 lete the serial interface If the host computer has a 9 pin serial connector refer to th d A D9 to D25 female cable must be fabricated to comp Figure 19 D9 RS232 connections the N0170 is powered down This equates to at least a year of battery life y oltage Any evidence of battery leakage requires immediate replacement BATTERY REPLACEMENT The CN0170 ...

Page 24: ... side and remove it The battery holder position is shown in Figure 20 If possible have power applied to the CN0170 during battery replacement If it is not possible the CN0170 will maintain the program and parameters for about 2 minutes Figure 20 Batteries Observe the correct polarity when inserting the new batteries in the battery holder 21 ...

Page 25: ...17 18 19 20 21 22 23 24 25 CONTROL INTERFACE FUNCTION IN 2 BSY Y FLT Y HME Y RUN Y SPD X RUN X OUT 1 ALG Y ALG X 5 VDC GND GND IN 1 BSY X FLT X HME X STB X SPD Y OUT 2 STB Y ALG 2 ALG 1 VDC VDC PIN 1 2 3 7 8 13 14 16 19 20 SERIAL INTERFACE FUNCTION SIGNAL GROUND RxD PORT A TxD PORT A SIGNAL GROUND RTS PORT A CTS PORT B TxD PORT B RxD PORT B RTS PORT B CTS PORT A ...

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