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OSM Manual

SWIFT 100 Motor Controller

Technical Manual

Edition 1.1

8 February, 2002

Geoff Jones

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Содержание SWIFT 100

Страница 1: ...tephen s Place Cambridge CB3 0JE Tel 44 0 1223 368000 Fax 44 0 1223 462800 http www cortexcontrollers com sales cortexcontrollers com OSM Manual SWIFT 100 Motor Controller Technical Manual Edition 1 1 8 February 2002 Geoff Jones ...

Страница 2: ...e 4 256 and differing current decay characteristics When used with a 1 8degree step angle motor one can choose gears in the range 200 12800 steps per rev The maximum step frequency using the on board driver frequency is 60KHz The board incorporates hardwired limit switch inputs The user may program the current ie torque of the motor There are 4 optocoupled inputs and 4 optocoupled outputs Provisio...

Страница 3: ...P0 C16 o o A16 Limit input LP1 Limit voltage VLP0 C17 o o A17 Limit voltage VLP1 Limit input LM0 C18 o o A18 Limit input LM1 Logic power supply 0V C19 o o A19 Output OP2 C20 o o A20 Output OP3 Output OM2 C21 o o A21 Output OM3 Input IP2 C22 o o A22 Input IP3 Input voltage VP2 C23 o o A23 Input voltage VP3 Input IM2 C24 o o A24 Input IP3 Output OP0 C25 o o A25 Output OP1 Output OM0 C26 o o A26 Outp...

Страница 4: ...follows J10 pin no function 1 transmit data from SWIFT 100 2 receive data to SWIFT 100 3 ready to send from SWIFT 100 4 clear to send to SWIFT 100 5 Data terminal ready from SWIFT 100 6 ground NOTE The OSM will work quite normally should no handshaking be implemented However this may not be true for your host computer therefore take care with the wiring up of DSR RTS and CTS on your host The OSM r...

Страница 5: ...als are subdivided as LP1 opto isolator anode for L1 VLP1 voltage for opto isolator can be logic 5V LM1 opto isolator cathode for L1 LP0 opto isolator anode for L0 VLP0 voltage for opto isolator can be logic 5V LM0 opto isolator cathode for L0 Basic Configuration MAKE TO STOP o VP logic 5V o LP1 o positive limit switch o VLP1 o o LM1 logic 0V This is the most basic and simplest limit switch config...

Страница 6: ...0 is negative limit Outputs The four outputs are also opto isolated and also make up a four bit number They are presented in the form of a darlington pair open collector and emitter For example OP0 is the collector for output 0 LSB OM0 is the emitter A typical interface would be Vcc pull up resistor o OP0 o o output o OM0 o ground The value of resistor depends on Vcc and type of input device but f...

Страница 7: ...ead 4 bit input _J jdss set joystick parameters _L n enter exit local mode _M n move n steps _MA n move absolute _MC n move at constant speed _MCA n MA at constant speed _MCL n MC to limit _ML n move to limit _N n add or delete newline LF 0x0a _O n write n to 4 bit output _P nnnn set motor parameters _Q write paramters to EEROM _R n set microstep ratio _RL read limits _RS read remaining steps to g...

Страница 8: ...peed for MC and MCL commands current 4 about 160mA gear 0 maximum 12800 steps rev with 1 8deg motor newline 0 no newline LF after CR If the optional joystick is fitted this is read on an 8 bit A D giving values 0 to 255 centred on about 128 The parameters are jitter 4 allowable joystick noise deadband 20 joystick deadband slowband 10 slow motion band sense 0 joystick not reversed H Smoothly halt t...

Страница 9: ... it is specified the deceleration may be different to acceleration Q Write the current parameter settings to EEROM R n Set the number of steps revolution See page 11 RL Read the limit switch status returns 1 0 or 1 RS Read steps still left in current move S Emergency stop with no deceleration T n Delay move till input n goes high If n is omitted then moves occur as soon as they are requested W Rep...

Страница 10: ...cial default table of your own 2 RL command ALWAYS stops the motors Use the _A command to see motor status then RL when A 0 3 J command is only appropriate when the ADC chip is fitted for use with a joystick An error will be reported otherwise 4 Q will only work if non volatile memory is fitted 12 Gear Ratio command R The standard eprom allows 16 gear ratios with different current decay characteri...

Страница 11: ...n fact N SWIFT 100 cards may be linked or daisy chained to form an N axis system A command prefixed with a number 1 is sent to the nth card in the system ie 2W Report the position of 2nd card 2M 10000 Move 10000 steps on the second card THIS SYNTAX SHOULD NOT BE USED IF NO 2nd CARD IS FITTED as the system would lock up waiting for a response from a non existent card Required Interconnections SWIFT...

Страница 12: ...RS232 9600 4800 2400 1200 600 300 19200 baud 8 7 data bits 1 2 stop bit on off parity odd even parity if on XON XOFF handshaking ...

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