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Geckodrive GM215 Скачать руководство пользователя страница 1

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GM215 MANUAL

STEP MOTOR DRIVE

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Содержание GM215

Страница 1: ...1 GM215 MANUAL STEP MOTOR DRIVE...

Страница 2: ...2 Respos 22 Move 23 Home 24 Jog 25 Speed Control 26 Position Adjust 27 Goto 28 Call 29 Return 30 Wait 30 If Then Else 31 Output 33 Compare 33 Example Code 34 Edit Mode 44 Download and setup GeckoMotio...

Страница 3: ...Sample Code 74 Jog 74 Speed Control 75 Position Adjust 76 Respos 77 Appendix E Error Code and Fuse Replacement 78 Appendix F Update Firmware 79 Appendix G Inputs and Outputs Interface 82 Mechanical S...

Страница 4: ...ns at speeds below 120 RPM caused by motor non linearity The PROFILE and ADJUST trimpots settings nulls these vibrations PROTECTION The GM215 is protected against motor to ground and motor to motor ou...

Страница 5: ...ontact or any other device in series with this wired connection A TERMINAL 3 A TERMINAL 4 Connect one motor phase winding to these terminals B TERMINAL 5 B TERMINAL 6 Connect the other motor phase win...

Страница 6: ...T 1 2 3 4 5 6 7 8 9 10 ON Analog SELF TEST 1 2 3 4 5 6 7 8 9 10 ON STEP DIR half step Motor Drive Mode 1 2 3 4 5 6 7 8 9 10 ON STEP DIR 10 microstep Motor Drive Mode 1 2 3 4 5 6 7 8 9 10 ON RUN Progra...

Страница 7: ...nual covers the GM215 when it s used as a conventional STP DIR input step motor drive Go to the GM215 MOTION CONTROLLER MANUAL if the GM215 is used as a motion controller and motor drive MOTOR CURRENT...

Страница 8: ...T MOTOR DRIVE MODE SW1 ON Select step motor drive mode operation In this mode the GM215 acts like a STEP DIRECTION motor drive and the internal motion controller isn t used STEP 2 SELECT MOTOR CURRENT...

Страница 9: ...vibration HALF STEP SW3 ON SW4 OFF Every step pulse will move a 1 8 degree motor 0 9 degrees The motor will move with 10 microstep smoothness to limit low speed vibration 10 MICROSTEP SW3 OFF SW4 ON...

Страница 10: ...estored if no step pulses have been sent while disabled DIRECTION TERMINAL 2 The state of this input determines the direction a motor will move when a step pulse is received The DIRECTION logic level...

Страница 11: ...rs the GM215 when it s used as a motion controller and motor drive Go to the GM215 STEP MOTOR DRIVE MANUAL if the GM215 is used as a conventional STP DIR input step motor drive SWITCH SETTINGS AND CON...

Страница 12: ...mmunications apply to it and which it can ignore X AXIS SW3 ON Y AXIS SW3 ON Z AXIS SW3 OFF W AXIS SW3 OFF SW4 ON SW4 OFF SW4 ON SW4 OFF STEP 4 SELECT OPERATION The Motion Controller has 2 operating m...

Страница 13: ...switch input if the HOME command is used See figure 6 IN 3 TERMINAL 3 This is a high speed opto isolated general purpose input A logic 1 signal turns the input ON The signal ground is the COMMON termi...

Страница 14: ...at precisely the same time and this requires that all GM215 s microprocessor clocks be phase locked to the master x axis clock Besides communication tasks the master x axis GM215 uses the RS 485 seria...

Страница 15: ...g command HOME a hardware connection is a must Default home switch input is IN2 When using command SPEED CONTROL it is possible to use two limit switches Default limit switches input are IN2 and IN3 F...

Страница 16: ...RESET button or switch to control the progress Without it master and slave drives in a multiple drives system cannot be synchronized well Default start reset input is IN1 Once applied a 5v all drives...

Страница 17: ...is in the EDIT PROGRAM mode SW1 SW2 OFF The GM215 must be connected to PC via its RS 485 interface while in the EDIT PROGRAM mode and the PC must be running the GeckoMotion application The commands ha...

Страница 18: ...0068 IF Z INPUT 2 IS OFF GOTO label_1 An IF command tests if the Z axis input 2 is off If true the program jumps to label_1 00069 NEXT COMMAND If false the program goes to the next command 00234 label...

Страница 19: ...CONFIGURE selects the CONFIG command 1 8 AMPS is the motor phase current setting 71 means reduce the motor phase current to 71 of the set AMPS value while the motor is stopped 2 5 SECONDS is the dela...

Страница 20: ...34 40 ________________________________________________________________________________________________________ LIMIT CW CONFIGURATION COMMAND Syntax a LIMIT CW n ENTER Operands a axis X or Y or Z or...

Страница 21: ...0 n 32767 Operation Sets the axis rate of acceleration Type The command settings are global Description This command sets the motor s rate of acceleration for every command that causes the motor move...

Страница 22: ...ity limit to 12 345 ENTER indicates the command is complete How to calculate motor max speed VEL full_step sec 0 3815 n 0 n 32767 Example x velocity 2000 motor max speed will be 0 3815 2000 763 full s...

Страница 23: ...n the counter clockwise direction 10 means move 10 increments of motion CCW from the present location ENTER indicates the command is complete The axis position is continuously compared to the limit va...

Страница 24: ...matic movement finishes the axis position register is cleared and current motor position is the origin of your system NOTES 1 Any point below the origin should be strictly avoided For example from the...

Страница 25: ...g commands that move the axis back into bounds are allowed If the ANALOG INPUT command includes the axis then TRIM4 is the JOG command input When TRIM4 is less than 25 the motor will travel CCW When T...

Страница 26: ...M5 and TRIM4 multiply the velocity value from 0 to 1 to set the CW and CCW velocities OPTIONAL SWITCH INPUTS use momentary switches only If limit switches are used IN2 is the CCW travel distance limit...

Страница 27: ...ommand Example X POSITION ADJUST 1000 ENTER X means X is the selected axis POSITION ADJUST means the POSITION ADJUST command 1000 means set the full scale range to 1 000 increments of motion ENTER ind...

Страница 28: ...o program a location named abcd indicates looping is required 8 means LOOP 8 TIMES through this command before going to the next program line after this command ENTER indicates the command entry is do...

Страница 29: ...L command function_name means the CALL function begins at a program location labeled as function_name ENTER indicates the command entry is done The following example shows how nested CALLs are used 00...

Страница 30: ...ted Note please see Example code on pages 34 40 and Sample code Appendix D on pages 74 77 ________________________________________________________________________________________________________ WAIT...

Страница 31: ...an IF THEN ELSE command Z means test a Z axis input or variable VEL means the axis current velocity Means test if velocity is greater than the COMPARE value vel_is_bigger is the GOTO label if the tes...

Страница 32: ...MMAND Continue with the program The following is a partial list of Boolean operations on 2 and 3 inputs using the IF command They are offered as a template to the user from which other not listed logi...

Страница 33: ...RS is the R S status Output2 of Z axis is set to reflect R S status W OUT 3 ER ENTER ER is the Error status Output3 of W axis is set to reflect ER status ______________________________________________...

Страница 34: ...igure 1 amps idle at 50 after 1 seconds x limit cw 12000000 x offset 1000 y_config y configure 1 5 amps idle at 50 after 1 seconds y limit cw 12000000 y offset 1000 start x acceleration 512 GO HOME AC...

Страница 35: ...12000000 y offset 1000 start x acceleration 512 GO HOME ACCELERATION x velocity 1000 GO HOME VELOCITY y acceleration 512 y velocity 1000 home x y X Y GO HOME SIMULTANEOUSLY vector axis are x y X Y AX...

Страница 36: ...re 1 amps idle at 50 after 1 seconds y limit cw 12000000 y offset 1000 start x acceleration 512 GO HOME ACCELERATION x velocity 1000 GO HOME VELOCITY y acceleration 512 y velocity 1000 home x y X Y GO...

Страница 37: ...tart x acceleration 512 GO HOME ACCELERATION x velocity 1000 GO HOME VELOCITY y acceleration 512 y velocity 1000 home x y X Y GO HOME SIMULTANEOUSLY vector axis are x y X Y AXIS VECTOR MOTION x accele...

Страница 38: ...OMMAND x configure 1 amps idle at 50 after 1 seconds x limit cw 12000000 x offset 1000 x acceleration 128 x velocity 8000 x speed control 1000 SPEED CONTROL MODE NEED HARDWARE LOGIC TO EXIT end goto e...

Страница 39: ...00 TRIM5 CAN CHANGE MOTOR POSITION end goto end INFINITE LOOP Please see more Sample code Appendix D on pages 74 77 EXAMPLE 9 USING RESPOS COMMAND IMPLEMENT AN INDEX FUNCTION x configure 1 amps idle a...

Страница 40: ...x limit cw 100000 x offset 1000 analog inputs to 0 NO AXIS USING ANALOG vector axis are 0 NO AXIS USING VECTOR x acceleration 64 RUN ACCELERATION x velocity 200 RUN VELOCITY x compare value 511 ABOUT...

Страница 41: ...s indicates another axis is to be included Y includes the Y axis SP means all included axis are listed 100 means the MOVING AVERAGE filter will use 100 samples ENTER means the command is complete The...

Страница 42: ...ultiple drives to perform tasks independently of other grouped axis EXAMPLE GROUP A IS X Y AXIS GROUP B IS Z W AXIS ENTER In this example the GROUP A user program might command the X Y axis motors to...

Страница 43: ...______________________________________________________________________________ ROTATE MISCELLANEOUS COMMAND ____________________________________________________________________________________________...

Страница 44: ...uble click gmotion py from Explorer in C Python2710 Scripts A shortcut can be created for gmotion py on the desktop Use run on the start menu browse to python exe gmotion py Start from command prompt...

Страница 45: ...window and GeckoMotion window description Figure 9 Python window Python window is used to display communication activities and status such as sent command feedback data error message etc To close thi...

Страница 46: ...g all communications Serial port Extra buttons Version Inputs 3 3 GeckoMotion window setup Set the Settings in tab pages as followings Target Select GM215 or GM215 1 for 3in 3out model select GM215 2...

Страница 47: ...other text editor For example Figure 11 How to create a new file 4 2 To save and rename a file In the menu click File and then select Save This will open Save GeckoMotion Source File window see Figur...

Страница 48: ...he file In the menu click File and then select Open This will open Open GeckoMotion Source File window Figure 13 Select the folder that contains the file In this example it is the folder Gmotion Test...

Страница 49: ...be printed Make sure the compilation is OK before going to the next steps 5 2 Run a program Double check the connection by clicking at Connect button under Device tap If the connection is good 1 READ...

Страница 50: ...r to the beginning of the program Line 1 of the program should be highlighted x configure 0 5 amps idle at 71 after 2 5 seconds Click Step or Next button under Control tap to execute the program one s...

Страница 51: ...oMotion window and set Log all communications to ON This will enable the feedback and print all sent commands and its feedback from GM215 on Python window Click Flash button to download the program to...

Страница 52: ...ulation window In this example X axis has its input 1 2 are turned on 9 Assembler Listing and Communication Protocol Assembler listing contains binary and source line of the program The binary is the...

Страница 53: ...04 00 00 03 04 00 goto loop 10 Using other Serial Communication Programs not GeckoMotion All other serial communication programs such as Hyperterminal RealTerm Serial Port Unitlity etc or user s own...

Страница 54: ...olled via query feedback Query Long command 08 00 should be sent continuously in a loop until its busy bit is cleared see QUERY_SHORT and QUERY_LONG commands in Appendix B For test purpose a delay tim...

Страница 55: ...5 5 Figure 21 Using Serial Port Utility for motor control...

Страница 56: ...rives to phase lock their clock oscillators to the MASTER drive s crystal controlled oscillator frequency This insures all SLAVE drives synchronize themselves to the MASTER drive s clock and execute t...

Страница 57: ...turns all attached axis status and X axis program counter only 8 QUERY_LONG 0x0008 Returns all attached axis full information 9 LOAD_PGM_COUNTER 0x0009 Loads the drive s program counter with a base va...

Страница 58: ...mple 1 A possible host RUN command line is IF Z IN 2 OFF GOTO label To execute this command line assume label 614 send 0x0004 the host UART sends 0x04 0x00 this is the special command RUN 0x0266 the h...

Страница 59: ...ription After successfully compiled user can download the program to the flash memory on board The PC should send 0x0005 first and then start to send the data stream See Appendix C or contact Geckodri...

Страница 60: ...4 bit 4 PC 12 bit 4 ANA 4 bit 3 ERR2 bit 3 TBD bit 3 PC 3 bit 3 PC 11 bit 3 ANA 3 bit 2 BSY RDY bit 2 TBD bit 2 PC 2 bit 2 PC 10 bit 2 ANA 2 bit 1 AXIS1 bit 1 GP1 bit 1 PC 1 bit 1 PC 9 bit 1 ANA 1 bi...

Страница 61: ...4000 Y 3000 W 5000 The host sends 0x0009 LOAD_PROGRAM_COUNTER command 0xA93C Program address for the following user command 0x0004 RUN command 0x0FA0 0x2180 User command X 4000 0x0BB8 0x6100 User comm...

Страница 62: ...e The command line counter must be incremented 2 3 or 4 times for 2 3 or 4 concatenated axis respectively to show the address of the next command Presently the flash memory supports a maximum of 65 53...

Страница 63: ...2000 L 000F X COORDINATE H 6000 L 00FF Y COORDINATE H A000 L 0FFF Z COORDINATE H C000 L FFFF W COORDINATE _____________________________________________________________________________________________...

Страница 64: ...00 L 0000 HOME X Y Z W ENTER H 2200 L 0000 X COORDINATE H 6200 L 0000 Y COORDINATE H A200 L 0000 Z COORDINATE H C200 L 0000 W COORDINATE _______________________________________________________________...

Страница 65: ..._______________________________________________________________________________________ IF THEN ELSE op code 0x05 PROGRAM FLOW COMMAND EXAMPLE IF X IN1 IS ON GOTO LOOP1 ENTER H 0520 L 000D if LOOP1 ad...

Страница 66: ...H 0611 L 0000 Y OUT 2 BR ENTER H 4622 L 0000 Z OUT 3 RS ENTER H 8633 L 0000 W OUT 1 ER ENTER H C614 L 0000 ____________________________________________________________________________________________...

Страница 67: ...EXAMPLE WAIT 0 255 SECONDS ENTER H 0800 L 00FF WAIT 1 234 SECONDS ENTER H 0800 L 04D2 WAIT 65 535 SECONDS ENTER H 0800 L FFFF __________________________________________________________________________...

Страница 68: ...ENTER H 0A01 L 0000 ANALOG INPUT X Y ENTER H 0A03 L 0000 ANALOG INPUT X Y Z W ENTER H 0A0F L 0000 _____________________________________________________________________________________________________...

Страница 69: ...55 ENTER H 0C00 L 00FF Y ACCELERATION 32767 ENTER H 4C00 L 7FFF ________________________________________________________________________________________________________ SPEED CONTROL op code 0x0D MOTI...

Страница 70: ...H 0E01 L 0000 Y CONFIG 1 5 AMPS IDLE AT 15 AFTER 1 5 SECONDS ENTER H 4E0F L 0F0F Z CONFIG 7 0 AMPS IDLE AT 99 AFTER 25 5 SECONDS ENTER H 8E46 L 63FF __________________________________________________...

Страница 71: ...IGURATION COMMAND EXAMPLE X POSITION ADJUST 255 ENTER H 1000 L 00FF Y POSITION ADJUST 32767 ENTER H 5000 L 7FFF ________________________________________________________________________________________...

Страница 72: ...RAM FLOW COMMAND EXAMPLE RETURN ENTER H 1200 L 0000 ________________________________________________________________________________________________________ ZERO OFFSET op code 0x13 CONFIGURATION COMM...

Страница 73: ...PARE VALUE 255 ENTER H 1400 L 00FF Y COMPARE VALUE 65535 ENTER H 5400 L FFFF Z COMPARE VALUE 16777215 ENTER H 94FF L FFFF ______________________________________________________________________________...

Страница 74: ...SWITCHES PRESSING 1 IF SW2 IS PRESSED THE MOTOR WILL JOG CW UNTIL ITS CW LIMIT 20000 2 IF SW3 IS PRESSED THE MOTOR WILL JOG CCW UNTIL CCW LIMIT 0 3 IF SW1 IS PRERSSED JOG COMMAND WILL BE TERMINATED AN...

Страница 75: ...LL CHANGE ITS DIRECTION TO CW 3 IF BOTH SW2 SW3 ARE PRERSSED THIS COMMAND WILL BE TERMINATED AND NEXT COMMAND WILL BE EXECUTED TEST2 TEST 2 ANALOG SPEED CONTROL TRIM4 TRIM5 WILL BE USED wait 2 0 secon...

Страница 76: ...ES SET IN xconfig SUBROUTINE call xconfig call subroutine to set up motion parameters x position adjust 2000 execute position adjust command AT THIS STEP THE MOTOR WILL MOVE TO A POSITION CORESSPONDIN...

Страница 77: ...subroutine to set up motion parameters x limit cw 10000 SET CW LIMIT x 9999 THIS COMMAND WILL BE EXECUTED BECAUSE MP IS UNDER THE LIMIT MP MOTOR POSITION respos x MOTOR POSITION AND ITS CW LIMIT WILL...

Страница 78: ...connection Code 5 RED GRN GRN RUN MODE IDLE wait for start signal at IN1 Code 6 RED GRN GRN PIC FPGA ERROR if not in Run Mode Idle Code 7 LED1 is RED no flashing DISABLED Step Dir or Motor Drive Mode...

Страница 79: ...ware can be updated in two different ways with or without GeckoMotion A WITH GECKOMOTION 1 Start GeckoMotion to get the main menu There is no need to establish a connection between GeckoMotion and the...

Страница 80: ...30LoaderGui exe from Explorer Use run on the start menu browse to ds30LoaderGui exe Start from command prompt Go to section C DS30 LOADER GUI to continue Figure 25 2 LINUX Run command mono ds30LoaderG...

Страница 81: ...KL402 see Fig 25 6 Set Baud rate to 19200 Port available port for RS485 communication with the GM215 7 Check yes Write flash checkbox and Write eeprom checkbox see Fig 25 8 Set Flow control to None UP...

Страница 82: ...8 2 APPENDIX G INPUTS and OUTPUTS INTERFACE Figure 26 Inputs Outputs Interface...

Страница 83: ...8 3 Figure 27 Mechanical Switch Interface...

Страница 84: ...8 4 Figure 28 Inductive Switch Interface...

Страница 85: ...8 5 Figure 29 Optical Switch Interface...

Страница 86: ...8 6 Figure 30 Hall Effect Switch Interface...

Страница 87: ...istance or the purchaser s product design GECKODRIVE INC does not warrant or represent that any license either express or implied is granted under any patent right copyright or other intellectual prop...

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