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Appendix A

Homing Algorithm in Detail

The “Z” command is used to move the motor to a known position by seeking a home sensor.
When issued, the motor will turn toward the 0 position until the home opto-sensor is interrupted.
If the home sensor is already interrupted, the motor will back off of the sensor in the opposite
direction and then come back in until the home sensor is re-interrupted. The motor position
counter is set to zero. The homing motion is done at the current speed “V”. The maximum
number of steps allowed to go towards home without encountering the sensor is defined by the
Z command operand (n) + 400 steps. The maximum number of steps away from home (while
sensor is cut) is 10000 steps.

To set up the home flags:

First ensure that a positive move e.g. /1P100R moves away from home and the home flag. If
motor does not go away from home, flip the connections to only one of the windings of the
stepper.

The Default condition expects the output of the Home flag to be low when away from the home
sensor (as is the case in an opto). If the Home flag is high when away from the home sensor
(as in the case of a “Normally Open” switch) then issue the command /1f1R to reverse the
polarity that is expected of the home flag.

Issue the command e.g. /1Z100000R or /1f1Z100000R as necessary.

Homing should be done at a slow speed, especially if homing to a narrow Index pulse on an
encoder, which may be missed at high speeds.

The home opto sensor and flag should be set up to be unambiguous, i.e. when motor is all the
way at one end of travel, the flag should interrupt the home opto sensor. When at other end of
travel, the flag should not interrupt the home opto sensor. There should only be one High to Low
transition possible in the whole range of travel. A Homing routine can be done to either an opto
sensor (N1 Mode) or to an Index Pulse (N2 Mode).

The Main axis homes to opto1 (input #3). This opto is also the lower limit.
The Main axis uses opto 2 (input #4) as its upper limit.

Note that limits are engaged by the command “/1n2R “ (lower case “n”). The default (n0) mode
does not check the limits when moving.

Default “f” mode (f0) expects the inputs to be Low when the axis is away from the limits/home.
The command “/1f1R” reverses this.

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Summary of Contents for Accuriss 57 Series

Page 1: ... USA57 Revision 1 2 Accuriss 57 Series Integrated Motor Drive Control System USA57 USER S MANUAL ...

Page 2: ...ithout notice and should not be construed as a commitment by USAutomation USAutomation assumes no responsibility or liability for any errors or inaccuracies that may appear herein Except as permitted by such license no part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical recording or otherwise without the prior wri...

Page 3: ...e Curves 10 Accuriss Communications 12 Starter Kit 12 Command Set Table 14 Programming Examples 75 Appendix A 80 Homing Algorithm in Detail 80 Appendix B 83 Device Response Packet 83 Command Response Modification 86 Appendix C 87 Heat Dissipation 87 Appendix D 88 Step Loss Detection using an Opto sensor 88 Appendix E 89 Position Correction Mode and Overload Report Mode 89 Appendix F 95 Appendix G ...

Page 4: ...USA57 Revision 1 2 4 Appendix I 101 Appendix J 103 ...

Page 5: ...USA57 Revision 1 2 5 Revision Notes Rev Description Date 1 0 Version 1 released 6 14 10 1 1 Changes to text to correct errors 6 18 10 1 2 Update part number update error correction 7 26 10 ...

Page 6: ...ory will be examined and tested for failure mode and cause USAutomation Customer Service will contact the customer with the repair cost if the required repair is out of warranty Unpacking Carefully remove the USA57 from its shipping box and inspect the unit for any evidence of shipping damage Report any damage immediately to USAutomation Please save the shipping box for damage inspection or its us...

Page 7: ...USA57 Revision 1 2 7 Part Number Configuration The part number for the Microstage USA57 is determined as follows ...

Page 8: ...und V Black 2 Output 1 White Brown 3 Direction DIR Input White Yellow 4 Opto isolated STEP DIR 5VDC Power Input White Red 5 Input 2 Violet 6 Internal Power for Opto sensors Orange 7 Input 3 Gray 8 RS485 A Yellow 9 12 to 40 VDC V Red 10 Output 2 White Black 11 STEP Input White Orange 12 Signal Ground Blue 13 Input 1 Brown 14 Input 4 Green 15 RS485 B White 16 N C ...

Page 9: ...USA57 The Accuriss 57 has 0 250 in diameter shaft for mounting the load see dimensions page Care should be used in isolating the motor bearing from thrust and axial loads It is not advisable to couple loads to the Accuriss shaft with a solid coupling as that may impose radial loads on the motor bearings which will shorten the life of the motor A flexible coupling such as those made by Helical www ...

Page 10: ...e hybrid step motor Full torque will be available from the motor when used with a drive which has a rated output of at least 2 0 amps per phase Here are representative speed torque curves for the two different lengths of motors available Individual applications may differ in motor performance ...

Page 11: ...USA57 Revision 1 2 11 ...

Page 12: ...ol is the Accuriss Terminal software which is available as a no charge download from our web site or it is included in our Starter Kit Communication Specifications Electrical Characteristics In conformance with EIA 485 Use a twisted pair cable TIA EIA 568B CAT5e or higher is recommended and keep the total wiring distance including extension to 50 m 164 ft or less Baud rate Selectable from 9570 bps...

Page 13: ...at are in the communication buffer CR tells Accuriss that the command string is complete and causes the command s to be executed since the R was included in the command string Example 2 Command string 1 1A2000A0 CR Command string 2 1R CR For command string 1 is the start of character Lets Accuriss know that a command string is coming 1 is the device address This is preset at the factory The first ...

Page 14: ...ip next command and branch on condition 30 s Program Control Store program to address 31 e Program Control Execute stored program 32 R Program Control Run command string 33 X Program Control Repeat running of command string 34 m System Control Set maximum current while moving 35 h System Control Set maximum hold current 36 p Program Control Send string to terminal 37 j System Control Set microstep...

Page 15: ...ystem Control Encoder to microstep resolution ratio 60 au System Control Overload detection retry limit 61 x System Control Fine position integration period 62 ac System Control Fine position final error range 63 u System Control Recovery retries 64 T System Status Terminate current command 65 0 System Status Return current position 66 2 System Status Return current maximum speed 67 4 System Statu...

Page 16: ...he absolute position has already been reached Example 1A1000R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory A1000 Instructs motor to move to an absolute position of positive 1000 steps from the 0 zero position R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that t...

Page 17: ...n will be the speed last set by the V velocity command Note An endless move can be terminated by the T command Example 1P1000R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory P1000 Instructs motor to move to a position 1000 steps in the positive direction from its current position R Instructs Accuriss to run the c...

Page 18: ...on will be the speed last set by the V velocity command Note An endless move can be terminated by the T command Example 1D1000R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory D1000 Instructs motor to move to a position 1000 steps in the negative direction from its current position R Instructs Accuriss to run the ...

Page 19: ...the home flags First ensure that a positive move e g 1P100R moves away from home and the home flag If motor does not go away from home flip the connections to only one of the windings of the stepper The Default condition expects the output of the Home flag to be low when away from the home sensor as is the case in an opto If the Home flag is high when away from the home sensor as in the case of a ...

Page 20: ... this is preset at the factory Z1000 Instructs motor to move toward a zero position a maximum of 1000 steps R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string ...

Page 21: ...0R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory z1000 Sets the current position to positive 1000 steps R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command ...

Page 22: ...mmand sets the home flag polarity The default value is 0 zero Example 1f1R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory f1 Sets the home flag position sensor to Normally closed R Instructs Accuriss to run the command that it has just receive CR Tells Accuriss that the command string is complete and causes the c...

Page 23: ...tive Note this command should only be used once after the power is on Example 1F1R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory F1 Sets the direction to rotate toward home to positive R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is comp...

Page 24: ...p per full step of the motor Note If the encoder ratio command aE is set the units of velocity change to encoder counts per second Example 1V1570R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory V1570 Sets maximum velocity to 1 revolution per second For a 200 step rev motor and a microstep resolution of 1 8th R In...

Page 25: ...ale with the encoder ratio aE Example 1L1000R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory L1000 Sets acceleration to 1000 microsteps sec2 R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed si...

Page 26: ...s the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory B1000 Sets jog distance to 1000 microsteps R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string ...

Page 27: ...preset at the factory g Informs Accuriss a loop is beginning P1000 Move 1000 steps in positive direction M1000 Wait 1000 milliseconds D1000 Move 1000 steps in negative direction M1000 Wait 1000 milliseconds G10 Repeat all commands between the G10 command and the g command loop 10 times R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command...

Page 28: ...000M500G10R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory g Informs Accuriss a loop is beginning P1000 Move 1000 steps in positive direction M1000 Wait 1000 milliseconds D1000 Move 1000 steps in negative direction M1000 Wait 1000 milliseconds G10 Repeat all commands between the G10 command and the g command loop...

Page 29: ...input 1 switch 1 02 Wait for low input 2 switch 2 12 Wait for high input 2 switch 2 03 Wait for low input 3 switch 3 13 Wait for high input 3 switch 3 04 Wait for low input 4 switch 4 14 Wait for high input 4 switch 4 Example 1gH01P1000G10R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory g Informs Accuriss a loop ...

Page 30: ...truction if input 2 switch 2 is high 03 Skip next instruction if input 3 switch 3 is low 13 Skip next instruction if input 3 switch 3 is high 04 Skip next instruction if input 4 switch 4 is low 14 Skip next instruction if input 4 switch 4 is high Example 1gS02P1000G10R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the facto...

Page 31: ...Example 1s1gP1000M1000G10R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory s1 Tells Accuriss to store the command string that follows to storage location 1 g Informs Accuriss a loop is beginning P1000 Move 1000 steps in positive direction M1000 Wait 1000 msec G10 Loop 10 times R Instructs Accuriss to run the comma...

Page 32: ...tring maximum are allowed Example 1e1R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory e1 Instructs Accuriss to execute the command string in storage location 1 R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the comman...

Page 33: ...ution buffer Example 1R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory R Instructs Accuriss to run the command that is currently in the buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string ...

Page 34: ...rrently in the execution buffer Example 1X CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory X Repeats all of previous string still in buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string ...

Page 35: ...R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory m15 Informs Accuriss to set run current at 15 of maximum 7 amps 0 05 amps R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is includ...

Page 36: ...motor from overheating Example 1h50R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory h50 Informs Accuriss to set hold current at 50 of maximum 7 amps 0 35 amps R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command...

Page 37: ... is preset at the factory g Informs Accuriss a loop is beginning A1000 Instructs the motor to move to move to an absolute position of 1000 p345 Instructs Accuriss to send the numeric string 345 to the host each time the command string is looped repeated A0 Instructs the motor to move to move to an absolute position of 0 G0 Repeat all of the commands between the G0 command and the g command indefin...

Page 38: ... step rev 256 microsteps 51200 steps per rev Example 1j256R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory j256 Informs Accuriss to set 256 microsteps per full step R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the c...

Page 39: ...h No Index Home to opto sensor Description Sets the potentiometer position feedback input mode Example 1N2R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory N2 Informs Accuriss to set the encoder mode to use the Index channel R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Ac...

Page 40: ... motor while an input switch is closed at a velocity set by the V command Note Moves below zero position are possible If this is undesirable use the z command to define a zero position that insures that a number underflow will not occur Bit 3 1n8R Enables Position Correction mode See Appendix E Bit 4 1n16R Enabled Overload Report Mode See Appendix E Bit 5 1n32R Enable Step And Direction Mode if 1 ...

Page 41: ...ll any move if switch 1 is pushed See also d command Bit 15 1n32768R When Set this bit will kill any move if switch 2 is pushed See also d command Bit 16 1n65536R When Set potentiometer on Opto 2 input will set velocity Joystick Mode See Appendix F Example 1n4R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory n Inf...

Page 42: ...ain unchanged at 1 2 Software V 6 998 Example 1an16384R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory an16384 Informs Accuriss to switch the limit switches to inputs 1 2 R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes...

Page 43: ...hich is executed on power up Example 1b19200R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory b19200 Sets the baud rate to 19200 bps R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R ...

Page 44: ...his command can be executed while the motor is running Try values very near 1500 for example 1470 Example 1o1470R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory o1470 Sets the microstep waveform correction factor to 1470 R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accur...

Page 45: ... next command Example 1M10000R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory M10000 Sets wait time of 10000 msec 10 seconds R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is incl...

Page 46: ...f 5073 was chosen to avoid inadvertent resets Example 1ar5073R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory ar5073 Performs a reset of the Accuriss R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be ex...

Page 47: ...master after this delay time has passed Example 1aP30R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory aP30 Sets the Accuriss response delay to set 30 msec R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to ...

Page 48: ...ec Example 1d10R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory d10 Sets the debounce time to 10 50 sec 500 sec R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the c...

Page 49: ...amount K and then go back By always approaching from the same direction the positioning will be more repeatable Example 1K7R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory K7 Informs Accuriss to go past the final position 7 extra microsteps prior to reaching the final position R Instructs Accuriss to run the comm...

Page 50: ...e valid as the motion passes through the zero position Example 1aA51200R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory aA51200 Sets the oscillation distance to 51200 microsteps in each direction R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command stri...

Page 51: ...0 1024 65536 Example 1aW51200R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory aW200 Sets the oscillation frequency to 200 20000 1024 65536 0 059 hz R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be exec...

Page 52: ... Turn the system outputs ON or OFF Enter as a 2 bit binary value Example 1J3R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory J3 Turns both driver outputs ON R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command t...

Page 53: ...t character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory aa Requests the value of the four Accuriss ADC inputs R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Response to...

Page 54: ...e threshold allows the H Halt command and S Skip next command commands to work as a variable analog input value which essentially allows the program to act upon an analog level This can be used for example to regulate pressure to a given level by turning a motor on off at a given voltage Note Be sure to include leading zeros if required to ensure that all threshold values are 5 digits plus the lea...

Page 55: ... character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory at Requests the value of the four Accuriss ADC input threshold values R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command str...

Page 56: ...sition command See Appendix F Example 1ao500R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory ao500 Sets the potentiometer position offset value to 500 R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be e...

Page 57: ...ion command See Appendix F Example 1am512R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory am512 Sets the potentiometer value multiplier to 512 R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed ...

Page 58: ... command is issued to cause the motor to move See Appendix F Example 1ad25R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory ad25 Sets the dead band value to 25 microsteps R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes ...

Page 59: ...r has been stalled See Appendix E Encoder Quadrature Count encoder counts rev 4 For example a stepping motor is hooked up to a 400 line encoder Therefore aC 400 x 4 1570 quadrature encoder counts Note The microstep resolution must be set to the divide by 256 value j256 in order for correct operation of the feedback mode Example 1aC100R CR Is the start character Lets Accuriss know that a command st...

Page 60: ...o a 400 line encoder that has 1570 quadrature encoder counts Therefore aE 200x256 400x4 x 1000 32000 Note The microstep resolution must be set to the divide by 256 value j256 in order for correct operation of the feedback mode Example 1aE32000R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory aE32000 Sets the encod...

Page 61: ...Error 9 See Appendix E Note The microstep resolution must be set to the divide by 256 value j256 in order for correct operation of the feedback mode Example 1au25R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory au25 Sets the move retry value to 25 retries R Instructs Accuriss to run the command s that are in the ...

Page 62: ...faster corrections but can lead to instability See Appendix E Note The microstep resolution must be set to the divide by 256 value j256 in order for correct operation of the feedback mode Example 1x15R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory x15 Sets the fine position correction integration period value to...

Page 63: ... encoder counts rev 4 For example a stepping motor is hooked up to a 400 line encoder Therefore aC 400 x 4 1570 quadrature encoder counts Note The microstep resolution must be set to the divide by 256 value j256 in order for correct operation of the feedback mode Example 1ac25R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at ...

Page 64: ...t be set to the divide by 256 value j256 in order for correct operation of the feedback mode Example 1u5R CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory u5 Sets the error recovery script retry value to 5 attempts R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that...

Page 65: ... command or loop Example 1T CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory T Terminates the current command string CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string ...

Page 66: ...ange 0 Description Returns the current position of the commanded motor Example 1 0 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory 0 Report current commanded position CR Tells Accuriss that the command string is complete ...

Page 67: ...iption Returns the current Slew Max speed for Position mode of the commanded motor Example 1 2 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory 2 Report current running speed CR Tells Accuriss that the command string is complete ...

Page 68: ...bit binary format 0 to15 of the commanded motor Input Contribution to 4 response if active Switch 1 1 Switch 2 2 Opto 1 4 Opto 2 8 Example 1 4 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory 4 Report current input status CR Tells Accuriss that the command string is complete ...

Page 69: ...ps per full step Description Returns the current microstep size of the commanded motor Example 1 6 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory 6 Report the current microstep size CR Tells Accuriss that the command string is complete ...

Page 70: ...escription Erases all commands in the EEPROM of the commanded motor Example 1 9 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory 9 Erases the system s EEPROM CR Tells Accuriss that the command string is complete ...

Page 71: ...N A Description Requests the second encoder n 0 or step direction n 32 input count value Example 1 10 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory 10 Requests the second encoder or step direction input count CR Tells Accuriss that the command string is complete ...

Page 72: ...ge None Description Requests firmware version of the commanded motor Example 1 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory Requests firmware revision CR Tells Accuriss that the command string is complete ...

Page 73: ...ress 0 and the status byte Bit 5 of the status byte is set when the Accuriss is ready to accept commands It is cleared when the Accuriss is busy The least significant four bits of the status byte contain the completion code Errors in OpCode will be returned immediately when errors in Operand range will be returned only when the next command is issued See Appendix B Example 1Q CR Is the start chara...

Page 74: ...tion Returns the currently executing command string Example 1 CR Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory Returns the command string currently be executed CR Tells Accuriss that the command string is complete ...

Page 75: ... error is made typically hit enter and type it all in again what was typed in will be overwritten as long as the R command at the end was not present Example 2 Loop absolute moves with a wait in between 1gA1000M500A0M500G10R CR This breaks down to Is the start character Lets Accuriss know that a command string will follow 1 Is the device address this is preset at the factory g Indicates the start ...

Page 76: ...t 10 times R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Note program 0 is always executed on power up if we had used storage location 0 instead of storage location 2 in the above example then this program would execute automatica...

Page 77: ...ns ON both driver outputs M500 Wait 500 msec J0 Turn OFF both driver outputs M500 Wait 500 msec G10 Will make all commands between here and starting location of the small g repeat 10 times H Waits for a switch 2 closure Switch 2 is automatically selected since no number was specified Z10000 Home the stepping motor to opto 1 Maximum steps allowed to find opto 1 10000 steps A1000 Move to absolute po...

Page 78: ...Absolute position 1000 g Start an inner loop block A100 Go to Absolute position 100 A10 Go to Absolute position 10 G10 Repeat inner loop block 10 times End of Inner Loop G100 Repeat outer loop block 100 times End of outer loop R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed si...

Page 79: ...ction if input 3 is High e1 Execute Jump to command string in storage location 1 G0 End of loop block infinite loop since value is 0 R Instructs Accuriss to run the command s that are in the communication buffer CR Tells Accuriss that the command string is complete and causes the command to be executed since an R is included in the command string Stored command string 1 1s1gA0A100S03e0G0R CR This ...

Page 80: ...om the home sensor as is the case in an opto If the Home flag is high when away from the home sensor as in the case of a Normally Open switch then issue the command 1f1R to reverse the polarity that is expected of the home flag Issue the command e g 1Z100000R or 1f1Z100000R as necessary Homing should be done at a slow speed especially if homing to a narrow Index pulse on an encoder which may be mi...

Page 81: ... not be followed if a 4 step inaccuracy in Home position is acceptable To eliminate the home position ambiguity first issue the Z command allow the motor to home Then move 2 full steps in any direction now mechanically move the flag edge or sensor such that it trips in the middle of the sensor by adjusting it while watching the status LED on the board which shows the status of the home sensor This...

Page 82: ...op It is possible to send the motor against a hard stop and then force the position counter to zero or some other value as necessary The command string 1z0R zeros the position counter The command string 1z333R will set the position to 333 etc ...

Page 83: ...ays Set Bit5 Ready Bit Set when Accuriss is ready to accept a command Bit4 Reserved Bits 3 thru 0 form an error code from 0 15 0 No Error 1 InitError 2 Bad Command illegal command was sent 3 Bad Operand Out of range operand value 4 N A 5 Communications Error Internal communications error 6 N A 7 Not Initialized Controller was not initialized before attempting a move 8 N A 9 Overload Error Physical...

Page 84: ... receives these responses must continuously parse for 0 and take the response from the bytes that follow the 0 The first Character that comes back may be corrupted due to line turn around transients and should not be used as a timing mark ...

Page 85: ...er case C or lower case c depending on if the device is busy or not Example Overload Error Response Note that the Upper Nibble only typically takes on values of 4 or 6 Hex An overload error has response has 7 in the lower Nibble So the response is 47 Hex or 67 Hex which corresponds to ASCII character upper case I or lower case i depending on if the device is busy or not Example Response to command...

Page 86: ...e device to include device address and other parameters such as current position 1Q1 CR will modify every subsequent response to include the device address 1Q2 CR will modify every subsequent response to include the current position If more than one command is used then both parameters will be reported back with a comma delimited response ...

Page 87: ... ambient care must be taken when the drive is used in high duty cycle and or high current applications For conservative operation it is recommended that the duty cycle be reduced linearly from 100 duty at 50 of rated current to 25 duty at 100 of rated current Duty cycle means the percentage of the time that the drive is moving the load averaged over 5 minutes Conservatively the maximum continuous ...

Page 88: ...on which the flag gets cut by issuing D1 commands followed by 1 4 commands to read back the opto Let s call this value i This only needs to be done once during initial setup 4 Execute the move sequence for which step loss detection is needed 5 Issue a command to go back to absolute position Y 1 6 Check the opto it should not be cut read opto back with the 1 4 command 7 Now issue a command to go to...

Page 89: ...Accuriss will work with either feedback method Setting Up Encoder Feedback 1 Set the encoder ratio aE NOTE the encoder ratio should be changed when at the zero position for best performance Encoder Ratio microsteps rev divided by quadrature encoder counts rev x 1000 The encoder ratio must preferably be a whole number after the multiply by 1000 If this is not a whole number see discussion further d...

Page 90: ...EXACT value that represents ratio 10 Issue a 1aE32000R command or whichever exact number represents the encoder ratio 2 Optional Set the error in quadrature encoder counts allowed before a correction is issued E g 1aC50R default is 50 3 Optional Set the Overload Timeout Value This is the number of retries allowed under a stall condition E g 1au10000R default is 100 4 Enable the feedback mode 1 Zer...

Page 91: ...wn to zero if desired but it may take time to settle depending on system stiction and backlash especially if the encoder is decoupled from the motor The integration algorithm runs at the hold current value and this may need to be adjusted to a reasonably high number depending on the load It is also best to run at a hold current equal to the move current so that the motor does not relax and move to...

Page 92: ... external commands will then be accepted It is important to set the coarse deadband reckoning aC value to a reasonable number for example 50 or else the drive will always be attempting to correct Other Notes When position correction mode is enabled 1n8R the drive will keep retrying any stalled moves until the number of au retries are exhausted and will NOT halt any strings or loops upon detection ...

Page 93: ...is tracking the commanded trajectory If the encoder is not following the commanded trajectory within the error specified by ac a number of retries given by the au command are executed When an overload condition is detected retry counter has exceeded the au value it will be reported back as an upper or lower case I Error 9 when the status is queried This status can be used by an external computer t...

Page 94: ... the 5th retry the motor will execute stored program 13 and will attempt to send a 1202 on the 485 bus Then the feedback turns on and 5 more tries are made If the motor is held stalled the 1202 will be sent 32 times followed by a 1201 as the final recovery script stored program 12 is run Typical reasons that the following error is too great m value current set too low L value acceleration set too ...

Page 95: ... Accuriss has a default threshold value of 6144 1 24V It is possible for example to regulate pressure by turning a pump on or off depending on an analog value read back by designating the threshold of the One Zero call as the regulation point E g 1at308000gS03P1000G0R A potentiometer can be wired to the Accuriss and its position read back via the 1 aa CR command Note that the supply provided which...

Page 96: ...mand the velocity of the motor The value read back on potentiometer 2 from 0 16368 is multiplied by the multiplier am and then divided by 256 The motor uses this number just as if it had been commanded by a V command 1 Enter a 1n65536R to enter velocity mode Once in this mode a 1z0R command will set zero velocity to the current position on the potentiometer 2 Enter a 1P0 command to start an endles...

Page 97: ... on encoder feedback mode first Operation in potentiometer position feedback mode is identical to encoder feedback mode except that the potentiometer acts as an encoder which generates positions between 0 and 16386 The command 1N3R designates Potentiometer 1 as the encoder in place of the quadrature encoder To use this mode 1 Wire a 500 ohm linear taper potentiometer to the Potentiometer 1 positio...

Page 98: ...OTE To start feedback at a non zero potentiometer position read the current potentiometer value position with 1 aa say it s 2345 then issue a 1z2345N3n8R command Example V6 7 1aM1z0aC50h40m40au100aE32000V1000N3n8R Example V6 99 with fine position correction 1aM1z0aC50ac10x10h40m40au100aE32000L100N3n8R NOTE See Appendix E for parameter explanations To exit this mode type 1n0R followed by 1T ...

Page 99: ...e Entering a 1aA51200R command sets the number of microsteps the motor will move in each direction during an oscillating sinusoidal move Any changes in this value will become valid as the motion passes through the zero position The frequency of the oscillating motion is set by the aW command Example Entering a 1aW1000R command sets frequency to be f X 20000 1024 65536 where X is 1000 in this examp...

Page 100: ...tart the move A 1V10000 CR command will change the velocity while moving A 1A0 CR command will make the drive automatically decelerate and then head back to the zero position For example a P200 command if issued while moving will cause the motor to go 200 steps from the current position not the original final target The following commands can be changed on the fly A Absolute position P Index motio...

Page 101: ...Following Mode In this mode the motor takes the count from the secondary encoder and uses this count as a commanded position The count can come in from another A B quadrature style encoder or from step and direction pulses 1 Select A B mode or step and direction mode using 1n32R etc 2 Turn on Motor Slave to Encoder2 by issuing 1n64R Examples A 1n96R 96 32 64 command enables step and direction mode...

Page 102: ...USA57 Revision 1 2 102 Encoders must have 0 2V Low to 4V High swing at the input of the connector ...

Page 103: ...are simultaneously turned on by the 1n2R command The default setting of the Accuriss expects the optos to be low when not on the limit This polarity can be changed by issuing a 1f1R command for example when normally open switches are used for limits NOTE normally closed switches are better for limits since any disconnect of the wires will shut down the motion When n2 mode is engaged the motor will...

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