MOTKA MK-200C Скачать руководство пользователя страница 14 | Manualshive

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MOTKA MK-200C Скачать руководство пользователя страница 14

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2.6. Connecting the Limits

There are two directional 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 motion in the

direction of the limit will not be possible until the state of the limit returns

back to inactive state. This usually involves physically moving the

mechanisms or moving the motor in the opposite direction via instruction

set.

Figure 9 depicts the connection of standard slot sensors to these limits.

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Содержание MK-200C

Страница 1: ...M MK K 2 20 00 0C C 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 11 2 5 Connecting Stepper Motor 13 2 6 Connecting the Limits 14 2 7 Connecting the Home Indicator 15 2 8 Testing Our Connections 16 2 9 Design Examples 17 3 3 Package Information 22 4 4 Software Tools 23 5 5 Command Basics 24 6 6 Revision History 25 ...

Страница 3: ...o RS232C interface with host 11 Figure 6 Connecting to a brushless servo motor to MK 200C 12 Figure 7 Connecting to a brushed servo motor to MK 200C 13 Figure 8 Connecting to a stepper motor to MK 200C 13 Figure 9 Connecting to forward and reverse limits to MK 200C 15 Figure 10 Connecting to home indicator 16 Figure 11 Home operation 16 Figure 12 MK 200C package outline 22 ...

Страница 4: ...4 List of Tables Table 1 MK 200C terminal definitions 9 Table 2 Document revision history 25 ...

Страница 5: ...tion robotic applications and hobby MK 200C 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 RS 232C Figure 1 shows the elements of motion control application using MK 200C Its servo compensation uses 32 bit position error as well as PID control engine with acceleration...

Страница 6: ...per axis Two directional Forward and Reverse limits per axis One home indicator per axis One RS 232C interface port configured at 115200 bps to interface with a host computer Easy to use ASCII based programming instructions Small footprint 116 2 x 62 9 x 24 18 mm with screw terminals for ease of integration and maintenance Lightweight with only 150 gram 5 V operation and typical current consumptio...

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

Страница 8: ...ons of MK 200C are shown in Figure 3 and Table 1 respectively The instructions illustrated from Section 2 1 through Section 2 8 represent a typical application Figure 3 MK 200C Gnd Gnd Gnd CHA CHB HM FL RL DIR PWM Fault Gnd PWM 5V Gnd CHA CHB HM FL RL DIR ...

Страница 9: ...Encoder input CHA CHB I FT Axis B Encode input CHB HM I FT AL Axis B Home indicator input FL I FT AL Axis B Forward limit input RL I FT AL Axis B Reverse limit input DIR O FT Axis B Direction output AXIS B PWM O FT Axis B PWM output AXIS A I FT AL Axis A Stepper select Stepper Select AXIS B I FT AL Axis B Stepper select 5V P 5V supply Gnd P Ground Power In Fault I FT AL Reserved Do not use Rx Rece...

Страница 10: ...ure 4 Power supply scheme 2 2 Connecting the Host A host is required to drive the MK 200C through the RS 232C 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 RS 232C interface can be connected directly to a host computer with a RS 232C port See Figure 5 Power Supply MK 200C 5V Fault...

Страница 11: ...mply remove the respective jumper It is important to note that the MK 200C reads these inputs only once upon power up Any change of configuration to these inputs will not be registered until the next power up 2 4 Connecting Servo Motor MK 200C supports standard dc servo motor amplifiers operate with PWM and Direction mode It also supports standard 2 channel encoders with CHA and CHB outputs All PW...

Страница 12: ... respectively The jumper of STEPPER SEL for the respective axis must be removed Figure 6 Connecting to a brushless servo motor to MK 200C Motor A Motor B HALL 1 HALL 2 HALL 3 Motor C MK 200C Encoder Brushless Motor CHA Dir PWM CHA Amplifier B A Dir PWM CHB Gnd CHB Gnd must have common ground C HALL 2 HALL 1 HALL 3 ...

Страница 13: ...oes not support encoder inputs CHA and CHB Figure 8 shows the typical connection of stepper motor to an MK 200C s axis The jumper of STEPPER SEL for the respective axis must be inserted Figure 8 Connecting to a stepper motor to MK 200C MK 200C Stepper Motor A Dir PWM Amplifier A A Dir PWM A B B B B MK 200C Encoder Brushed Motor Motor CHA Dir PWM CHA Amplifier M M Dir PWM CHB Gnd Motor CHB Gnd must...

Страница 14: ...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 motion in the direction of the limit will not be possible until the state of the limit returns back to inactive state This usually involves physically moving the mechanisms or moving the motor in the opposite direction via instructi...

Страница 15: ...nsition 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 Figure 10 Home operation is initiated by the Move Home MH instruction MH instruction accepts both direction and speed of search Refer to Command Reference f...

Страница 16: ... 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 10 Connecting to home indicator Figure 11 Home operation 2 8 Testing Our Connections Having connected all the necessary circuitry described in the above sections we can start testing our application by sending a couple of MK 200C HM Gnd 5V 10K 10K PW...

Страница 17: ...s configured Axis A to operate in servo mode Next we disable Acceleration Limit AL by setting it to zero 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 200C responses with zero We move the motor by 10 000 counts relative to current position Depending on the tuning of PID parameters KP KI and KD with respect t...

Страница 18: ... 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 query sizeof query Query for KP port read readBuf sizeof readBuf KP is stored in readBuf Example 2 Profiled Move In this example Axis B moves a d...

Страница 19: ... 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 0x0D Terminate with Carriage Return char SL 15 SL 30000 5000 Speed limits SL 14 0x0D Terminate with Carriage Return char AL 17 AL 100000 80000 Acceleration limits AL 16 ...

Страница 20: ...r 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 positions Positions replied contained in readBuf are separated by 0x0D Read position of Axis A while readBuf i 0x0D posA i readBuf i i Read position of...

Страница 21: ...urn 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 motors port send MC sizeof MC Move motors wai...

Страница 22: ...22 3 3 Package Information Figure 12 MK 200C package outline ...

Страница 23: ... tool the 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 for details ...

Страница 24: ...24 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 25: ...25 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 26: ...26 ...

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