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MOTKA MK-200 Скачать руководство пользователя страница 5

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Introduction

This User Manual targets application developers. It provides complete

information on how to use the MK-200.

For information on programming and the complete list of command

references, please refer to the Command Reference manual.

MK-200 is a 2-Axis Motion Controller Surface Mount Module that facilitates

implementation of motion control applications with simplicity, shortens

time-to-market, and achieves optimal cost-effectiveness. It is suitable for

scientific, industrial automation, robotic applications and hobby.

MK-200 is a fully functional motion controller requiring only an external

amplifier to complete a position control application. It is driven by a host

through an asynchronous serial port (UART). Figure 1 shows the elements

of motion control application using MK-200. Its servo compensation uses

32-bit position error, as well as PID control engine with acceleration and

velocity limits for position control. A set of essential and simple-to-use

instructions is provided to control the motion application and monitor

ongoing performance.

Figure 1 – Elements of motion control

Processor

MK-200

Driver

Power

Supply

Motor

Encoder

UART

PWM/Dir

CHA/CHB

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Содержание MK-200

Страница 1: ...M MK K 2 20 00 0 U Us se er r s s M Ma an nu ua al l Revision 1 1 MOTKA LLP ...

Страница 2: ...st 10 2 3 Selecting Servo or Stepper 11 2 4 Connecting Servo Motor 12 2 5 Connecting Stepper Motor 14 2 6 Connecting the Limits 14 2 7 Connecting the Home Indicator 15 2 8 Testing Our Connections 17 2 9 Design Examples 18 3 3 Package Information 22 4 4 Software Tools 24 5 5 Command Basics 25 6 6 Revision History 26 ...

Страница 3: ... 11 Figure 6 UART to RS232 interface with host 11 Figure 7 Connecting to a brushless servo motor to Axis A 13 Figure 8 Connecting to a brushed servo motor to Axis A 13 Figure 9 Connecting to a stepper motor to Axis A 14 Figure 10 Connecting to forward and reverse limits to Axis A 15 Figure 11 Connecting to home indicator 16 Figure 12 Home operation 16 Figure 13 MK 200 package outline 22 Figure 14 ...

Страница 4: ...4 List of Tables Table 1 MK 200 pin definitions 9 Table 2 Document revision history 26 ...

Страница 5: ...rial automation robotic applications and hobby MK 200 is a fully functional motion controller requiring only an external amplifier to complete a position control application It is driven by a host through an asynchronous serial port UART Figure 1 shows the elements of motion control application using MK 200 Its servo compensation uses 32 bit position error as well as PID control engine with accele...

Страница 6: ...onal Forward and Reverse limits per axis One home indicator per axis One UART interface port configured at 115200 bps to interface with a host processor Easy to use ASCII based programming instructions Small footprint 35 x 28 5 mm with castellated terminals for ease of integration onto PCB Spacing between castellated terminals is 2 54 mm which is compatible to common prototyping and bread boards 5...

Страница 7: ...7 Related documents Command Reference MOTKA Motion Companion User s Manual ...

Страница 8: ...ader pins and make sure the contact between the pins and the MK 200 are reliable The instructions illustrated from Section 2 1 through Section 2 8 represent a typical application Figure 3 MK 200 pin layout 1 2 3 4 5V Gnd Gnd 5V A CHA A CHB A HM A FL A RL A DIR A PWM STEPPER A STEPPER B Reserved Reserved Reserved Reserved Reserved Reserved Tx Rx B CHA B CHB B HM B FL B RL B DIR B PWM 5 6 7 8 9 10 1...

Страница 9: ...Do not use 12 Reserved Reserved Do not use 13 Reserved Reserved Do not use 14 Gnd P Ground 15 Gnd P Ground 16 Reserved Reserved Do not use 17 Reserved Reserved Do not use 18 Reserved Reserved Do not use 19 Rx UART Receive 20 Tx UART Transmit 21 B PWM O FT Axis B PWM output 22 B DIR O FT Axis B direction output 23 B RL I FT AL Axis B reverse limit input 24 B FL I FT AL Axis B forward limit input 25...

Страница 10: ...tors shall be placed close to the 5V pins whenever possible for best performance Figure 4 Power supply scheme 2 2 Connecting the Host A host is required to drive the MK 200 through the UART interface with the following configurations Baud rate 115200 bps Data bit 8 Stop bit 1 Parity bit None Flow control None These configurations are not changeable The UART interface can be connected directly to a...

Страница 11: ...servo or stepper motor depending on the Stepper Select input Stepper A and Stepper B Both axes of MK 200 are by default configured to operate with servo motors If stepper motors are used in an application simply pull the respective Stepper Select input Stepper A and Stepper B of the axis to ground It is important to note that the MK 200 reads these inputs only once upon power up Any change of conf...

Страница 12: ...th PWM and Direction mode It also supports standard 2 channel encoders with CHA and CHB outputs All PWM and Direction outputs as well as CHA and CHB inputs are 5 V tolerant If amplifiers and encoders used in an application utilise other operating voltage other than 5 V level shifter must be used to match these voltages Figure 7 and Figure 8 show the typical connections of a brushless and brushed s...

Страница 13: ...L 1 HALL 2 HALL 3 Motor C MK 200 Stepper A Encoder Brushless Motor CHA A Dir A PWM A CHA Amplifier B A Dir PWM A CHB Gnd CHB Gnd unconnected must have common ground C HALL 2 HALL 1 HALL 3 MK 200 Stepper A Encoder Brushed Motor Motor CHA A Dir A PWM A CHA Amplifier M M Dir PWM A CHB Gnd Motor CHB Gnd unconnected must have common ground ...

Страница 14: ...onal limits per axis which can be used to prevent collision due to over travelling Leave these limits unconnected inactive if we do not wish to use them Both Forward and Reverse limits are active low If the Forward Limit FL is active it inhibits the forward motion immediately If the Reverse Limit RL is active it inhibits the reverse motion immediately After a limit has been activated further motio...

Страница 15: ...e MK 200 comes with one Home indicator HM per axis Home indicators are designed to provide mechanical reference points for a motion control application A transition in the state of the home indicator alerts the controller that a reference point is reached by a moving part in a motion control system These inputs are active low and can be used with external sensors such as slot sensor as depicted in...

Страница 16: ...gure 12 the MH instruction searches in the forward DIR is logic 0 direction Once the HM input is active logic 0 it toggles the Direction bit and reduces the speed of search and hence reverses the motion at a lower speed This motion continues until the HM input is inactive and the home operation is complete Figure 11 Connecting to home indicator Figure 12 Home operation MK 200 A HM Gnd 5V 10K 10K P...

Страница 17: ...our tests please refer to the Command Reference for complete set of instructions and explanations The first instruction is to check for Motor Type MT The response of 1 indicates that MK 200 has configured Axis A to operate in servo mode Before we can move the motor it must be enabled by sending the Servo Enable SE instruction to Axis A We get the first position GP and MK 200 responses with zero We...

Страница 18: ...6 0x0D Terminate it with a Carriage Return char Kd 5 KD 2 Set Differential gain for Axis A Kd 4 0x0D Terminate it with a Carriage Return char query 5 KP Query for KP query 4 0x0D Terminate it with a Carriage Return char readBuf 10 Container for reply port send Kp sizeof Kp Send KP to controller port send Ki sizeof Ki Send KI to controller port send Kd sizeof Kd Send KD to controller port send quer...

Страница 19: ...L sizeof AL Set acceleration limit port send DL sizeof DL Set deceleration limit port send SE sizeof SE Enable motor port send MR sizeof MR Move motor Example 3 Profiled Move of Multiple Axes In this example both Axis A and B move independently at the same time CSerial port If port open 2 115200 Open serial port and configured to baud 115200 bps char SE 8 SE T T Servo enable for Axis A and B SL 7 ...

Страница 20: ...t and configured to baud 115200 bps char query 7 GP Get position A and B axes query 6 0x0D Terminate with Carriage Return char readBuf 10 Container for reply char posA 5 Buffer for Axis A position char posB 5 Buffer for Axis B position int i 0 port send query sizeof query Query for position Once controller received the command it will reply the positions port read readBuf sizeof readBuf Read the p...

Страница 21: ...tion MC 14 0x0D Terminate with Carriage Return char AL 18 AL 100000 300000 Acceleration AL 17 0x0D Terminate with Carriage Return char DL 16 DL 50000 50000 deceleration DL 15 0x0D Terminate with Carriage Return char HT 8 HT T T Halt HT 7 0x0D Terminate with Carriage Return port send AL sizeof AL Set acceleration limits port send DL sizeof DL Set deceleration limits port send SE sizeof SE Enable mo...

Страница 22: ...s designed to match commercially off the shelve prototyping board with 2 54 mm pitch Figure 13 and Figure 14 show the mechanical dimensions of MK 200 and its recommended PCB footprint All dimensions are in mm Figure 13 MK 200 package outline ...

Страница 23: ...23 Figure 14 Recommended PCB footprint ...

Страница 24: ...he MOTKA Motion Companion can be downloaded from our official website This tool is designed to help user to learn and use all the supported motion controllers developed by MOTKA Please refer to the MOTKA Motion Companion User s Manual for details ...

Страница 25: ...25 5 5 Command Basics A list of essential straight forward commands is developed to support fundamental motion control needs Please refer to the Command Reference for details ...

Страница 26: ...26 6 6 Revision History Date Revision Changes 09 April 2015 1 0 Initial release 18 Feb 2016 1 1 Added Section 2 9 Design Examples Table 2 Document revision history ...

Страница 27: ...27 ...

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