RMS R101 User Manual And Commands Manual Download Page 12

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RMS Technologies

Page 12

Version 1.20

R101 Single Axis Driver/Indexer Manual

May 31, 2005

9. COMMAND TABLES

Basic Configuration Commands

Function

Query/New Code Value

Minimum

Maximum

Default

Load Defaults

None

Save Data

None

Module Address

Q/N

Numeric

65 (A)

90 (Z)

65 (A)

Axis Configuration Commands

Function

Query/New Code Value

Minimum

Maximum

Default

Acceleration

Q/N

Numeric

256

Hold Current

Q/N

Numeric

2500

300

Hold Timeout

Q/N

Numeric

100

5000

Min. Velocity

Q/N

Numeric

250

15,000

250

Percent Fast

Q/N

Numeric

Run Current

Q/N

Binary

200

2500

1000

Read Switches

Numeric

Step Resolution

Q/N

Numeric

Start Velocity

Q/N

Numeric

250

15,000

1,000

Velocity Limit

Q/N

Numeric

250

15,000

Zero Position

None

General Operation Commands

Function

Query/New Code Value

Minimum

Maximum

Default

Absolute Position N

Numeric

-2147483646

2147483647

Current Position

Q/N

Numeric

-2147483646

2147483647

Current Velocity

Numeric

15,000

Firmware Rev.

Numeric

Home Axis

Numeric

Move Status

Numeric

Position Move

Numeric

-32,766

32,737

Step Back

None

Step Forward

None

Stop Motion

None

Velocity Move *

Numeric

-15,000

15,000

* Velocity Moves in the range –249 to 249 are not legal except zero

Summary of Contents for R101

Page 1: ...R101 Single Axis Driver Indexer User Manual And Commands Guide Version 1 20 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 ...

Page 2: ...ORE 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 The current set resistor may be a Watt 5 part DISCLAIMER The information provided in this document is believed to be reliable However no responsibility is assumed for any possible inacc...

Page 3: ...tion 8 Setting the Current 9 Setting Step Resolution 9 Saving the Configuration 9 Connecting the Motor 10 8 BASIC STEP AND DIRECTION OPERATION 11 9 COMMAND TABLES 12 Basic Configuration Commands 12 Axis Configuration Commands 12 General Operation Commands 12 10 COMMANDS 13 AC Acceleration 14 AP Absolute Position 15 CP Current Position 16 CV Current Velocity 17 FR Firmware Revision 18 HA Home Axis ...

Page 4: ...river Indexer Manual May 31 2005 SB Step Back 30 SD Save Data 31 SF Step Forward 32 SM Stop Motion 33 SR Step Resolution 34 SV Start Velocity 35 VL Velocity Limit 36 VM Velocity Move 37 ZP Zero Position 38 11 RS485 Communication 39 12 Troubleshooting FAQ 41 ...

Page 5: ...r power recycling capabilities The R101 is a Step and Direction driver for bipolar step motors Limited controller functions are provided that allow trapezoidal profile position moves and ramped velocity moves to be made Provision is made to reduce motor current when just holding in a fixed position after a preset time The module can be configured and controlled via a simple RS485 communications bu...

Page 6: ... Minimum Step Pulse Width 33 microseconds Minimum Step Low Time 33 microseconds Maximum Power Down Recovery Time 20 milliseconds Communication Specifications Address bytes in the RS485 commands allow multiple units 26 units max to be controlled from a single host port Interface Type RS485 Baud Rate 57600 bits per second bps Bits per character 8 data bits Parity None Stop Bit 2 Flow Control None 4 ...

Page 7: ... 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 JP1 Configuration Pin No Function 1 Common ve External 2 Step in 3 Direction in 4 5 VDC Internal 5 Disable in 6 Motor A out 7 Motor A out 8 Motor B out 9 Motor B out 10 Zero Set in 11 Power Ground 1...

Page 8: ...rom the power supply to the driver Reversing the connection will destroy your driver and void the warranty HyperTerminal Configuration 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...

Page 9: ...e 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 R101 is capable of full stepping or 2x 4x and 8x microstepping Example To set Step Resolution to 4x microstepping ASR4 Saving the Configuration...

Page 10: ...ower 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 R101 Using the R101 If using the R101 in Step Direction mode please proceed to Section 8 Basic Step and Direction Operation If using the R101 as a simple controller please see the Command Tables in Section 9 and more detailed descriptions of ...

Page 11: ... 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 Zero Set 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 Generat...

Page 12: ...2 1 Run Current Q N RI Binary 200 2500 1000 Read Switches Q RS Numeric 0 15 Step Resolution Q N SR Numeric 1 8 8 Start Velocity Q N SV Numeric 250 15 000 1 000 Velocity Limit Q N VL Numeric 250 15 000 15 000 Zero Position N ZP None General Operation Commands Function Query New Code Value Minimum Maximum Default Absolute Position N AP Numeric 2147483646 2147483647 Current Position Q N CP Numeric 21...

Page 13: ...ne Feed respectively These are NOT characters to be typed in For direct keyboard users these values are executed when the Return key is pressed For programmers a Carriage Return and Line Feed also known as a New Line command needs to be executed after each command To query a command use the following format Query Format Address Command CR LF Response Format Address value CR LF Example Queries the ...

Page 14: ...eration 1 to 32767 steps Sec 2 10 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 ...

Page 15: ...n 1 20 R101 Single Axis Driver Indexer Manual May 31 2005 AP Absolute Position value Absolute Position 2 147 483 646 Command Only Used to make an absolute position move Command Example AAP1000 cr lf Moves to absolute position of 1000 ...

Page 16: ... 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 ...

Page 17: ...17 Version 1 20 R101 Single Axis Driver Indexer Manual May 31 2005 CV Current Velocity Query Only 15 000 Only valid when a position move PM or velocity move VM is in progress Otherwise returns zero Command Example ACV cr lf ...

Page 18: ...Page 18 Version 1 20 R101 Single Axis Driver Indexer Manual May 31 2005 FR Firmware Revision Query Only Returns product and firmware revision numbers Command Example AFR cr lf Reply AFR101100 R101 firmware revision 1 00 ...

Page 19: ... the preset Start Velocity SV in the direction set by the command value Motion stops by either the Other input JP1 10 being set TRUE or 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 FALSE or there is no connection to this input Command Example AHA1 cr lf Motor turns in the Reverse direction ...

Page 20: ... Driver Indexer Manual May 31 2005 HI Hold Current value Command or Query 0 to 2500 Reads or sets the motor Holding Current The value is the current in Amps times ten Command Example AHI300 cr lf Sets the Hold Current to 300mA 0 3 Amp Default value is 300 ...

Page 21: ...1 2005 HT Hold Timeout value Command or Query 100 to 5 000 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 ...

Page 22: ...arameter 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 My Address 65 A Absolute Position 0 Step Resolution 8 Run Current 10 1 0A Hold Current 3 0 3A Hold Timeout 5 000 Velocity Limit 15 000 Minimum Velocity 250 Start Velocity 1 000 ...

Page 23: ... 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 Value A 65 B 66 C 67 D 68 E 69 F 70 G 71 H 72 I 73 J 74 K 75 L 76 M 77 N 78 O 79 P 80 Q 81 R 82 S 83 T 84 U 85 V 86 W 87 X 88 Y 89 Z 90 ...

Page 24: ...rsion 1 20 R101 Single Axis Driver Indexer Manual May 31 2005 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 ...

Page 25: ...2005 MV Minimum Velocity value Command or Query 250 to 15 000 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 ...

Page 26: ...nd or Query 0 1 or 2 Allows the Damping Mode of the driver IC to be set 0 Fast Decay 1 Mixed Mode 2 Slow Decay 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 APF1 cr lf Sets Mixed Mode Damping Default value is 1 ...

Page 27: ... 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 val...

Page 28: ...0 to 2500 Sets the motor Phase Current for any form of motion in 100mA increments 200 200mA 0 2 Amp 2500 2500mA 2 5 Amp 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 Amp Default value is 1000 ...

Page 29: ...oupled inputs combined into a single four bit value This command is used to check the correct operation of this interface The value order of the inputs is Zero Set Disable Direction and Step in descending order Zero Set has the value 8 1000 Direction has the value 4 0100 Disable has the value 2 0010 Step has the value 1 0001 Command Example ARS cr lf Reads the switch inputs ...

Page 30: ... 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 ...

Page 31: ...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 ...

Page 32: ... 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 ...

Page 33: ...l May 31 2005 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 ...

Page 34: ... SR Step Resolution value Command or Query 1 2 4 or 8 Reads or sets the current step resolution Allowed values are 8 for 8x microstepping 4 for 4x microstepping 2 for 2x microstepping 1 for Full step Command Example ASR4 cr lf Sets the step resolution to 4x microstepping Default value is 8 ...

Page 35: ...dexer Manual May 31 2005 SV Start Velocity value Command or Query 250 to 15 000 Reads or sets the velocity used for the first step in a position move Value based on motor performance Command Example ASV500 cr lf Sets Start Velocity to 500 PPS Default value is 1 000 ...

Page 36: ...ver Indexer Manual May 31 2005 VL Velocity Limit value Command or Query 250 to 15 000 Reads or sets the velocity used for the constant velocity portion of a position move Command Example AVL5000 cr lf Sets the velocity limit to 5000 PPS Default value is 15 000 ...

Page 37: ...e 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...

Page 38: ...age 38 Version 1 20 R101 Single Axis Driver Indexer Manual May 31 2005 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 ...

Page 39: ...s 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 ch...

Page 40: ...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 ...

Page 41: ... 20 R101 Single Axis Driver Indexer Manual May 31 2005 12 Troubleshooting FAQ R101 is not functioning correctly Try putting the R101 into TEST mode by placing a jumper on Pins 9 10 of JP2 The Motor should twitch back and forth slightly ...

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