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Zikodrive ZD10UART Series, Руководство по эксплуатации

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Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, 

UK,  HX7 5RW

 [email protected]

 

–

 

www.Zikodrive.com

 - +44 (0)333 123 1730

 

Shortlist of Commands  

 

 

Register    Name  

Notes  

DATA 
Size (Bits)  

Defaults

 

 

0x01

1

  

RUN_SPD  

Run at Speed  

17  

NA

 

 

0x02

2

  

RUN_STPS  

Run No. of Steps  

23  

NA

 

 

0x03

2

  

STOP  

Decelerate to STOP  

0  

NA

 

 

0x04

2

  

EMER_STOP  

Immediate STOP  

0  

NA

 

 

0x05

2

  

MOV_HOME  

Go to home position  

0  

NA

 

 

0x06  

RST_HOME  

Reset Home position  

0  

NA

 

 

0x07

2

  

MOVE_ABS  

Move to Absolute position  

22  

NA

 

 

0x08

2

  

MOV_HOME_RST  

Move Home then re-set on switch  

17  

NA

 

 

0x09  

RUN_CUR  

Running Current Setting  

8  

0x52

 

 

0x0A  

HOLD_CUR  

Holding Current Setting  

8  

0x00

 

 

0x0B  

ACC_CUR  

Acceleration Current Setting  

8  

0x52

 

 

0x0C  

DEC_CUR  

Deceleration Current Setting   

8  

0x52

 

 

0x0D  

ACC_VAL  

Acceleration Rate  

12  

0x085

 

 

0x0E  

DEC_VAL  

Deceleration Rate  

12  

0x085

 

 

0x0F  

SPD_RUN  

Set running Speed  

16  

0x09BA

 

 

0x10  

M_STEP  

Set MicroStep resolution  

4  

0x07

 

 

0x11  

READ_PAR  

Read Parameter   

8  

NA

 

 

 

 

1

 

0x00 sent after initial speed transition (either acceleration or deceleration period)

 

 

2

 

0x00 sent after the whole command is completed

 

 

 

 

 

 

 

 

 

 

Содержание ZD10UART Series

Страница 1: ...RS485 using the relevant Break Out Boards Run at a set speed Run Number of Microsteps Decelerate to Stop Emergency Stop Move to the Home position Reset Home Position Move to Absolute Position Move to...

Страница 2: ...Programming Manual 9 The UART Protocol 9 The ZikoDrive Protocol 9 Example 1 Basic Send 9 CheckSum formula 10 Command Complete 11 Example 2 Command Complete RUN_STPS 12 Example 3 Command Complete RUN_...

Страница 3: ...e 11 MOV_HOME_RST 22 Parameter Setup 23 Motor Current 23 Standard Mode Current formula 23 Example 12 Standard Mode Current Calculation 24 Precision Mode Current formula 24 Example 13 Precision Mode Cu...

Страница 4: ...34 READ_ _CUR formula for Standard Mode 34 Example 19 34 READ_RUN_CUR Standard Mode 34 READ_ _CUR formula for Precision Mode 35 Example 20 35 READ_ACC_CUR Precision Mode 35 READ_ACC DEC_VAL 0x11 0x07...

Страница 5: ...t 4B Top Land Country Business Park Cragg Vale Hebden Bridge West Yorkshire UK HX7 5RW enquiries Zikodrive com www Zikodrive com 44 0 333 123 1730 ACC DEC 41 ACC_VAL 41 DEC_VAL 41 RUN_SPD 42 M_STEP 42...

Страница 6: ...this may cause unrepairable damage to the Zikodrive ZD SERIES UART Motor Driver The max voltage recommended for any digital or analogue inputs is 5Vdc DO NOT APPLY Higher Voltage PWM as this will dama...

Страница 7: ...run at all As the ZD SERIES UART PCB is an absolute positioning Controller if the motor is traveling in the incorrect direction absolute positioning commands will not work Terminal Wire A2 Black A1 Gr...

Страница 8: ...from the ZD SERIES UART must be connected to the RX receiving of the Master Controller Connections for any serial Break Out Board RS485 RS232 Connecting to the Break Out Boards A Non inverting receiv...

Страница 9: ...None Bit order LSB first The ZikoDrive Protocol All commands must be sent with a two byte header one byte address code one byte register address code an x amount of data bytes and then followed with...

Страница 10: ...the data will be rejected CHECKSUM ADDRESS REGISTER DATA_MSB DATA_0 DATA_1 DATA_LSB XOR 0xFF 0xFF 1 The Address the required register and all the data bytes are added together 2 A command is run thro...

Страница 11: ...1730 On Power Up As the controller powers up there will be a serial command transmitted consisting of 5 bytes These bytes ensure that the serial protocol setup is correct and also inform the user of...

Страница 12: ...nd sent is a Speed command the 0x00 will be sent once the motor has reached the desired speed No additional commands will be accepted by the controller until the Complete command has been sent Example...

Страница 13: ...e com 44 0 333 123 1730 Example 3 Command Complete RUN_SPD From Master 0x7A 0x64 0x01 0x01 0x01 0x09 0xC4 0x2F From ZikoDrive 0x06 After RUN_SPD has completed Acceleration ONLY From ZikoDrive 0x00 0x7...

Страница 14: ...t Home position 0 NA 0x072 MOVE_ABS Move to Absolute position 22 NA 0x082 MOV_HOME_RST Move Home then re set on switch 17 NA 0x09 RUN_CUR Running Current Setting 8 0x52 0x0A HOLD_CUR Holding Current S...

Страница 15: ...using the current variables set in registers ACC_CUR and DEC_CUR The EMER_STOP has no deceleration where the STOP command will decelerate the motor smoothly to a STOP using the DEC_VAL The RUN_SPD co...

Страница 16: ...le Commands So for a required Speed of 120RPM 120 x 10 1 200 1 200 Decimal 0x04B0 in Hexadecimal RUN_SPD_MSB 0x04 RUNSPD_LSB 0xB0 From Master 0x7A 0x64 0x01 0x01 0x01 0x04 0xB0 0x48 From ZikoDrive 0x0...

Страница 17: ...Microstep value Byte_0 is an 8bit Byte that uses the LSB of the required Microstep value Byte_LSB is an 8bit Byte that uses the LSB of the required Microstep value The RUN_STPS command will accelerat...

Страница 18: ...S So M_STEP was set to 128 Microsteps Step there would be 25 600 steps per revolution So if we needed to rotate 16 2 revolutions we need 25600 x 16 2 414 720 Microsteps 414 720 Decimal 0x065400 Hexade...

Страница 19: ...ZikoDrive will apply the HOLD_CUR current to ensure the motor does not move from externally applied loads Running the STOP Command when the HOLD_CUR value 0x00 will put the driver into a high impedan...

Страница 20: ...MOV_HOME command will take the motor in either CW or CCW it will take the shortest path to the set home position The home position is the position the motor is in when the board powers up or the posit...

Страница 21: ...ion The MSB of the entire 22bits is used as a negative sign IE two s complement format So this means that if a step resolution of 16 Microsteps per step was used the absolute Max positive and negative...

Страница 22: ...quired speed set in the MSB and LSB bytes using the ACC_VAL and continue at this speed until a limit switch is triggered Once the limit switch has been triggered the driver will then re set the home p...

Страница 23: ...et too high there is high risk of unrepairable damage to all components involved The current set by the motor corresponds to the amount of torque the motor will have However may become less relevant a...

Страница 24: ...nt registers Vs is the supply voltage applied to the ZikoDrive controller Rm is the Motor Phase resistance can be found on the motor manufacturers datasheet Example 13 Precision Mode Current Calculati...

Страница 25: ...B ACC_CUR is the current used during motor acceleration Typically many applications have a larger static torque than running torque i e the amount of torque required to start is higher than the amount...

Страница 26: ...stepper motor positioning as if the deceleration was too quick the inertia of the rotor and motor load may not stop immediately and may overshoot Every time the DEC_VAL is implemented it assumes the...

Страница 27: ...urate as the other speed commands used in the RUN_SPD or MOV_HOME_RST commands and the speed should not be expected to be 100 accurate Example 15 SPD_RUN If we needed the nominal running speed of the...

Страница 28: ...OLD_CUR 0x00 IMPORTANT DO NOT CHANGE THE MICROSTEP RESOLUTION DURING ABSOLUTE POSITIONING SEQUENCE AS DOING SO WILL MAKE THE DRIVER LOSE POSITION VERY IMPORTANT IF THE MODE IS CHANGED FROM PRECISION M...

Страница 29: ...e Standard Mode operation is more resilient to stepper motor resonance and can therefore run motors through the dreaded resonance frequency range with a reduced potential for motor stall This mode is...

Страница 30: ...enquiries Zikodrive com www Zikodrive com 44 0 333 123 1730 Example 16 M_STEP If we are looking to run Precision mode 128 Microsteps step From table value 0x07 From Master 0x7A 0x64 0x01 0x10 0x07 0xE...

Страница 31: ...ter with the following layout READ_PAR register layout Register Address Parameter Address Name Return No of Bytes Notes READ_PAR 0x11 0x01 READ_SPD 2x8 Read Motor Speed 0x02 READ_POS 3x8 Read Absolute...

Страница 32: ...x7A 0x64 0x01 0x11 0x01 0xEC From ZikoDrive 0x7A 0x64 0xBB 0x01 0x09 0xBA 0x80 0x7A 0x64 Header ASCII code ZD 0xBB Device Address Set as 0xBB as default 0x01 Register Address READ_PAR 0x09 READ_SPD MS...

Страница 33: ...2 0xEA From ZikoDrive 0x7A 0x64 0xBB 0x02 0x0A 0x0B 0x0C 0x21 0x7A 0x64 Header ASCII code ZD 0xBB Device Address Set as 0xBB as default 0x02 Register Address READ_PAR 0x0A READ_SPD MSB 0x0B Read_SPD 0...

Страница 34: ...transformation formula IE the Standard and the Precision mode both use different formula to translate the values in the current registers into an understandable AMPERS reading READ_ _CUR formula for...

Страница 35: ...lied to the ZikoDrive controller Rm is the Motor Phase resistance can be found on the motor manufacturers datasheet Example 20 READ_ACC_CUR Precision Mode From Master 0x7A 0x64 0x01 0x11 0x05 0xE8 Fro...

Страница 36: ...alues of the acceleration and the deceleration registers The formula is as follows RPM sec2 ACC_VAL x 13 744 Example 21 READ_ACC_VAL From Master 0x7A 0x64 0x01 0x11 0x07 0xE6 From ZikoDrive 0x7A 0x64...

Страница 37: ...the Nominal Speed value used when one of the following commands are requested RUN_STPS MOV_HOME MOV_ABS Example 22 READ_SPD_RUN From Master 0x7A 0x64 0x01 0x11 0x09 0xE4 From ZikoDrive 0x7A 0x64 0xBB...

Страница 38: ...ue Mode Microstep Resolution 0x00 Precision Mode Full Step 0x01 Half Step 0x02 1 4 Step 0x03 1 8 Step 0x04 1 16 Step 0x05 1 32 Step 0x06 1 64 Step 0x07 1 128 Step 0x08 Standard Mode Full Step 0x09 Hal...

Страница 39: ...0x01 0x01 0x00 0x09 0xC4 0x30 Run 350RPM CW 0x7A 0x64 0x01 0x01 0x01 0x0D 0xAC 0x43 Run 350RPM CCW 0x7A 0x64 0x01 0x01 0x00 0x0D 0xAC 0x44 Run 500RPM CW 0x7A 0x64 0x01 0x01 0x01 0x13 0x88 0x61 Run 500...

Страница 40: ...0x01 0x04 0xFA HOME MOV_HOME 0x7A 0x64 0x01 0x05 0xF9 RST_HOME 0x7A 0x64 0x01 0x06 0xF8 MOV_HOME_RST 0x7A 0x64 0x01 0x08 0xF6 Current RUN_CUR RUN_CUR 8 0x7A 0x64 0x01 0x09 0x08 0xED RUN_CUR 12 0x7A 0...

Страница 41: ...0x29 0xCA ACC_CUR 82 0x7A 0x64 0x01 0x0B 0x52 0xA1 DEC_CUR DEC_CUR 1 0x7A 0x64 0x01 0x0C 0x01 0xF1 DEC_CUR 12 0x7A 0x64 0x01 0x0C 0x0C 0xE6 DEC_CUR 41 0x7A 0x64 0x01 0x0C 0x29 0xC9 DEC_CUR 82 0x7A 0x6...

Страница 42: ...0x7A 0x64 0x01 0x0F 0x0E 0x10 0xD1 M_STEP 1 16 Standard Mode 0x7A 0x64 0x01 0x10 0x0C 0xE2 1 127 Precision Mode 0x7A 0x64 0x01 0x10 0x07 0xE7 READ_PAR READ_SPD 0x7A 0x64 0x01 0x11 0x01 0xEC READ_POS 0...

Страница 43: ...and Country Business Park Cragg Vale Hebden Bridge West Yorkshire UK HX7 5RW enquiries Zikodrive com www Zikodrive com 44 0 333 123 1730 Document versions 15 10 18 New document formatted for V3 0 UART...

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