Beruflich Dokumente
Kultur Dokumente
for DC-Micromotors
Series MCDC 2805
Instruction Manual
Table of Contents
General Information
Data Sheet
First Steps
11
11
11
12
12
13
14
15
15
19
20
21
21
21
22
23
24
25
Additional Modes
26
26
28
29
29
30
30
31
31
32
32
34
Technical Information
36
36
Overtemperature Protection
37
Undervoltage Supervision
37
Overvoltage Protection
37
Appendix
38
38
39
40
47
Factory Configuration
51
General Information
Programming
General Information
Area of Application
Options
Connections
Supply Side:
No.
V1
V2
V3
V4
V5
V6
V7
V8
Function
RS-232 TXD
RS-232 RXD
Analog GND
Fault Output
Analog Input
+24V
GND
Input No. 3
SUB-D Connector:
No.
2
3
5
Function
RS-232 RXD
RS-232 TXD
GND
Motor Side:
No.
M1
M2
M3
M4
M5
M6
M7
M8
Function
Input No. 5
Input No. 4
Channel A
Channel B
VCC (+5V)
Signal GND
MOTOR+
MOTOR-
Data Sheet
General Specifications
Supply Voltage
PWM Switching Frequency
Efficiency
Max. Continuous Current
Max. Peak Current
Current Consumption in the Electronics
UB
fPWM
Icont
Imax
Iel
Velocity Range
12 ... 28
62,5
95
5
10
0,06
V DC
kHz
%
A
A
A
10 ... 30 000
rpm
VCC
ICC
5
60
V DC
mA
Input Resistance
Voltage Signal
Slope of the Curve
PWM Signal
Frequency Range
Pulse Duty Ratio 50%
Pulse Duty Ratio <50%
Pulse Duty Ration >50%
fmax
18
10
10002)
low 0...0,5 / high 4...30
100 ... 2000
0
left turning
right turning
100
k
V
rpm/V
V
Hz
rpm
Open collector
No Error
Programmed as an input
max. UB / 30mA
Switched to GND
low 0...0,5 / high 4...UB
Logic Level
Encoder Input
Logic Level
Max. Frequency
V
kHz
Port
Memory for Programs
RS-232
Serial EEPROM
9600 (1200,2400,4800,19200)
7936
Baud
Bytes
0 ... +70
25 ... +85
C
C
Weight
110
Step Frequency
Fault Output (Input No. 2)
1) Can be set over the RS-232 port. (Factory configuration: Command Analog Velocity)
2) Preset value. Can be changed over the RS-232 port.
kHz
Fault Output
RS-232 Connections
Input No. 3
The third input is a digtal input and can be used
to evaluate homing points or as a control input
for program sequences.
First Steps
In general:
Setting the Fault Output as an Input: Use the
command REFIN or DIRIN and then EEPSAV
before a signal is interfaced with the FaultPin.
+ 24V DC
2,7k
LED
V6
V4
UB
Fault
Output
Protection:
Overtemperature Undervoltage
Current Limit
10V
GND
V5 Analog
Input
V3
AGND
Overvoltage
+
_
nact
V8 Input 3
RS-232
Interface
PC TXD
PC RXD
GND
V2 RXD
V1 TXD
Evaluation
Input 3
Motor+ M7
MOSFET
Power
Amplifier
PWM
Ua Generator
ncom PI-Speed
Controller
Motor- M8
Speed
Calculation
RS-232
Communication
and Configurations
Module
I t - Current
Limiting
VCC M5
+5V
2,2k M3
Ch B
M4
Iact
RS
Microcontroller
GND
V7
Diagram 1:
Velocity control with command velocity from the analog input.
2,2k
Ch A
5V- Regulator
(t) Armature
Position
Calculation
Signal GND M6
DC-Motor
Encoder
+ 24V DC
1k
2,7k
LED
V4
10k
V6
2,7k
LED
V4
4,7k
V6
UB
10k
V5 Analog
Input
V3
AGND
+
_
UB
ncom
V5 Analog
Input
V3
AGND
V2 RXD
10k
V2 RXD
V1
TXD
20V
4,7k
GND
V1
+
_
ncom
TXD
GND
V7
V7
Diagram 2
Diagram 3
10
Example:
9600 Baud
8 data bits
1 stop bit
No Parity
GST [enter]
Example:
Request the actual postion (POS-Command)
Enter: POS [CR]
Answer: 50000 [CR] [LF]
This means that the motor is now at position
50000.
11
Saving Configurations
Parameters and configurations
can be saved in an on board
EEPROM chip.
That means that saved programs and configurations are
not lost in case of a loss of
power. Upon connection to the
supply voltage the motor runs
under the setup saved in the
EEPROM.
To save parameters in the
EEPROM use the ASCII
Command EEPSAV.
Important:
Setup can be lost in the case of a loss of power during
programming.
Comments about the command table:
Commands that are marked in the instruction manual with a *)
will be saved with the EEPSAV command.
Command Function
BAUD *) Select Baud Rate
Description
Sets the baud rate
for the RS-232 port
Example
BAUD9600
12
Command
NODEADR *)
GNODEADR
Function
Define Node
Address
Get Node
Address
Description
Defines the node address
from 0 to 255
Calls up node address
at the host
Example
NODEADR5
GNODEADR
13
Description
ANSW0 ... automatic answering
deactivated
ANSW1 ... automatic answering active
Example
ANSW1
Command Function
ENCRES*) Load Encoder
Resolution
GENCRES
Get Encoder
Resolution
Description
Sends the encoder resolution
to the Controller.
Value Range: 0 to 65535
(4 x pulses/revolution)
Calls up the encoder
resolution
Example
ENCRES2048
GENCRES
2048
14
Command
SOR *)
Function
Description
Example
Source for Sources for the Velocity
SOR1
Velocity
SOR 0: Command velocity at the
RS-232 port
SOR 1: Command velocity with a
voltage at the analog input
SOR2: Command velocity with a
PWM signal at the analog input.
GSP
Function
Load
Maximum
Speed
Get
Maximum
Speed
Description
Loads new maximum velocity.
Arguement in rpm (from 0 to 30000).
Settings apply to all modes.
Calls up maximum speed.
Example
SP4000
GSP
2500
Function
Minimum
Velocity
Get
Minimum
Velocity
15
Description
Sets the minimum speed
Example
MV100
GMV 0
Description
Sets the minimum analog voltage.
Example
MAV500
GMAV
25
nCom
SP
MV
-MAV
MAV
-MV
16
10V Uin
Description
Example
Armature rotates left with positive
ADL
voltage at the analog input
Armature rotates right with positive ADR
voltage at the analog input
Rotation Right
Rotation Stop
Rotation Left
The commands SP, MV, MAV, ADL, and ADR can also be used in
this mode.
c.) Command Velocity at the RS-232 Port
Command
Function
V *)
Select Velocity
Mode
GV
Get Velocity
Description
Activates velocity control mode
and rotates with the given value.
Calls up the command velocity
Example
V2000
GV 500
V500 [enter]
EEPSAV [enter]
Now the motor will always start with the saved velocity.
17
Setting an Acceleration
Command
AC *)
GAC
Function
Description
Load Command Loads a new value
Acceleration
for acceleration.
Arguement in Rev/s2
Get
Calls up current
Acceleration
acceleration value
Example
AC100
GAC 1000
Function
Direction
Input
Description
Sets the fault output to
function as a direction of
rotation input. (also activates
the limit switch function)
Example
DIRIN
18
I *)
GPOR
GI
Function
Load
Proportional
Term
Load Integral
Term
Get Proportional
Term
Get Integral
Term
Description
Loads controller amplification
(values: 0-255)
Example
POR20
GI 20
Instructions:
1.) Set output configuration
SOR0 [enter]
Sets Source for Command Velocity: RS-232
POR 8 [enter]
Proportional Term = 8 (example)
I20 [enter]
Integral Term = 20 (example)
V1000 [enter]
Sets Velocity to 1/3 of Maximum
Application Speed (only an example value)
AC10000 [enter] Sets Acceleration to Maximum Application
Value (only an example value)
2.) Raise the Proportional Term
POR 13 [enter]
Proportional Term = 13
(Step Width 5, smaller later)
3.) Velocity Jump
V2000 [enter]
5.) Repeat steps 2-4 until the controller becomes unstable. Then
reduce the Proportional Term until the stabilty is achieved.
6.) Repeat steps 2-5 with the Integral Term.
19
Position Control
The following Command Sequence is necessary to switch from Speed Control Mode (factory setting)
to Positioning Mode:
SOR0 [enter]
LR0 [enter]
M [enter]
Positioning commands:
Command
M *)
LA
LR
SP *)
AC *)
Function
Initiate Motion
Load Absolute
Position
Load Relative Position
Load Maximum Speed
NP
Load Command
Acceleration
Notify Position
NV
Notify Velocity
Description
Activates positioning mode and starts positioning
Loads the new value for the absolute position.
Arguement: 1000 indicates 1 revolution.
Loads a new relative position
Loads a new maximum velocity.
Arguement: rpm from 0 to 30000
Loads a new value for acceleration.
Arguement: Rev/s2 from 0 to 30000
A p will appear on the screen when the motor
has rotated beyond a given position.
A v will appear when a given velocity has been
achieved.
Example
M
LA100000
LR5000
SP4000
AC100
NP10000
asynch p
NV5000
asynch v
+ 24V DC
2,7k
LED
V6
V4
UB
Fault
Output
Protection:
Overtemperature Undervoltage
Example:
Limit Switch
10k
Current Limit
V8 Input 3
V5 Analog
+
V3 Input
RS-232
Interface
PC TXD
PC RXD
GND
AGND
V2 RXD
V1 TXD
Overvoltage
Command
Position
Ua
nact
Evaluation
Input 3
Evaluation
Limit Switch
Motor+ M7
MOSFET
Power
Amplifier
PWM
Generator
Motor- M8
(t)
RS-232
Communication
and Configurations
Module
Armature
Position
Calculation
I t - Current
Limiting
Ch A
Ch B
M4
Iact
RS
Microcontroller
GND
V7
20
2,2k
VCC M5
+5V
2,2k M3
5V- Regulator
Speed
Calculation
Signal GND M6
DC-Motor
Encoder
Position Control
Either:
a.) LA40000 [enter] Sets command position
to Absolute Position 40000
Start:
LA[POS3]
AC[AC1]
SP[SP1]
M
Or:
b.) LR10000 [enter] Adds 10000 to the
current Command Position
3.) Start Positioning Sequence
M [enter] Depending upon the choice of
a.) or b.) from step 2.) the positioning
sequence will start from either 40000 or
current command position +10000. The
motor will turn to this position with the
given acceleration and maximum velocity.
a.)
AC[AC2]
NV[V2]
M
b.)
AC[AC1]
NP[POS1]
M
c.)
SP[SP2]
AC[AC3]
NP[POS2]
M
d.)
AC[AC4]
NP[POS3]
M
Velocity
SP1
V2
SP2
V1
Trapezoidal
Profile
b.)
c.)
POS1
AC2
AC1
AC4
d.)
POS2
a.)
POS3
21
Time
Allocation:
Name of Limit Switch
and Input Address
Analog Input
Fault Pin
Input No. 3
Input
Number
1
2
3
Binary
Number
0
1
2
1
2
4
Answer
Symbol
h
f
t
HA3 ...Activate Home Arming at both the Fault Pin and the
Analog Input
HA4 ... Activate Home Arming at Input 3
HA5 ... Activate Home Arming at Input 3 and the Analog Input
HA6 ... Activate Home Arming at Input 3 and the Fault Pin
HA7 ... Activate Home Arming at all limit switches
The command table describes only what a 1 and a zero mean at
the appropriate binary point.
Function
Description
Example
Reference Input Sets the Fault Output to
REFIN
function as a limit switch input.
Error Output
Switches to Fault
ERROUT
Output mode
Important: The Fault Pin input function is only active if the REFIN
is activated. (Save setups with the EEPSAV command !)
22
Function
Description
Example
Hard Polarity Sets the trigger edge and polarity
HP3
of the limit switches.
1: Rising edge active and logic level to High
0: Falling edge active and logic level to Low
Default Settings: HP7 ... all inputs triggered on the rising edge.
Function
Home
Arming
HL
Hard Limit
HN
Hard Notify
Description
When edge triggers, the position
is set to 0.
1: activate
0: deactivate
When edge triggers, the motor stops
1: activate
0: deactivate
When edge triggers, the motor
sends a symbol
1: activate
0: deactivate
Example
HA1
HL3
HN2
asynch f
23
Programmable Homing
Sequence
The programmable homing
sequence has the following
advantages:
When programmed the
sequence can be called up at
any time with a single
command.
When upon activation, the
limit switch is already active,
the motor will first run out
of the switch.
The homing sequence can be
set as the first action upon
activation. This makes it
possible to run positioning
sequences even when the
motor is not connected at
the RS-232 port.
The homing sequence runs
at the programmed velocity
(HOSP). The direction of
rotation is set with the sign
in the HOSP command.
Description
Saves homing sequence to the
intermediate memory. Actions
that are defined with the HL,HN,
and HA commands will be saved.
Example
CAHOSEQ
POHOSEQ1
GOHOSEQ
HOSP100
GHOSP
100
24
Command
HB *)
Function
Hard
Blocking
HD *)
Hard
Direction
Description
Example
Activates or deactivates hard blocking HB3
at a given limit switch.
1: activate
0: deactivate
Sets which direction will be blocked. HD2
1: Blocked right
0: Blocked left
The logic level (high, low) of the limit switch is set with the HP
command.
The hard blocking function can be simultaneously active with the
other limit switch commands.
25
Additional Modes
Command
Function
Description
CONTMOD*) Continuous Switches motor back to
Mode
Continuous Mode from any
of the additional modes.
GMOD
Get Mode Calls up current mode:
D ... Default (normal) Mode
S ... Stepper Motor Mode
A... Analog Positioning Mode
V ... Voltage Regulator Mode
I IxR speed control mode
Example
CONTOMOD
GMOD
D
+ 24V DC
V6
Right / Left
Fault
V4 Output
Direction of Rotation
UB
Evaluation
Direction
GND
Protection:
Overtemperature Undervoltage
Current Limit
Overvoltage
DIRIN
Frequency
Input
GND
V5 Analog
Input +
_
V3
AGND
V8 Input 3
RS-232
Interface
PC TXD
PC RXD
GND
V2 RXD
V1 TXD
Command
Position
Calculation
Motor+ M7
MOSFET
Power
Amplifier
PWM
Ua Generator
Motor- M8
Ch A
2,2k VCC M5
+5V
2,2k M3
Ch B
M4
5V- Regulator
Speed
Calculation
(t)
Evaluation
Input 3
RS-232
Communication
and Configurations
Module
Armature
Position
Calculation
I t - Current
Limiting
Iact
RS
Microcontroller
GND
V7
26
Signal GND M6
DC-Motor
Encoder
Additional Modes
STW
STN
Command Function
STEPMOD*) Stepper
Motor
Mode
STW *)
Load Step
Width
STN *)
Load Step
Number
GSTW
Very efficient
GSTN
Input:
Maximum input frequency: 100 kHz
Level: low 0 ... 0.5 V / high 4 ... 30 V
This mode makes true-position speed control
possible and allows the user to set the ratio of
input frequency to rpm with the step width and
step number commands.
Get Step
Width
Get Step
Number
Description
Example
Switches to
STEPMOD
Stepper
Motor Mode
Sends the step
STW1
width to the motor
Loads the number STN1000
of steps per
revolution
Calls up the
GSTW
current step width 1
Calls up current
GSTN
step number
1000
Revolutions
Pulses
27
Additional Modes
Command
APCMOD *)
LL *)
Function
Analog Position
Control Mode
Load Position
Range Limits
Description
Switches to analog
positioning mode
Loads position limit:
Provides the maximum
position at the maximum
analog voltage of 10V.
Example
APCMOD
LL10000
+ 24V DC
V6
Example:
Limit Switch
10k
Fault
V4 Output
UB
Evaluation
Limit Switch
Protection:
Overtemperature Undervoltage
Current Limit
Overvoltage
REFIN
10V
GND
V5 Analog
+
Input
_
V3
AGND
Command
Position
Calculation
V8 Input 3
RS-232
Interface
PC TXD
PC RXD
GND
V2 RXD
V1 TXD
Evaluation
Input 3
RS-232
Communication
and Configurations
Module
Motor+ M7
MOSFET
Power
Amplifier
PWM
Ua Generator
Motor- M8
(t)
I t - Current
Limiting
VCC M5
+5V
2,2k M3
Ch B
M4
Iact
RS
Microcontroller
GND
V7
28
2,2k
Ch A
5V- Regulator
Armature
Position
Calculation
Signal GND M6
DC-Motor
Encoder
Additional Modes
Function
IxR Mode
Load Motor
Resistance
Load Speed
constant (kn)
Get Motor
Resistance
Get Speed
Constant
Description
Switches to IxR Speed Control Mode
Loads the motor resistance (value given in catalog)
in: mOhm
Loads the speed constant (value given in the catalog)
in: rpm/V
Calls up the motor resistance
Calls up the speed constant of the motor
Example
IXRMOD
RM2500
KN223
GRM
2500
GKN
223
Command Function
Description
Example
VOLTMOD*) Set Voltage Activates voltage VOLTMOD
Mode
regulator mode
29
Function
Load Deviation
GDEV
Get Deviation
Description
Loads the allowable degree
of deviation of the actual
to the command speed value.
Calls up the programmed
degree of deviation
Example
DEV500
GDEV
200
30
Function
Delayed Current
Error
GDCE
Get Delayed
Current Error
Description
Example
Delayed activation of the
DCE100
error display for current
limiting, over voltage
protection, and deviation error.
Given in 1/100th seconds.
Calls up the delayed current GDCE
error value
200
Function
Digital Output
CO *)
Clear Output
SO *)
Set Output
Description
Programs the error output
as a digital output.
The output is set to logic
level LOW
Sets digital output
to logic level LOW
Sets digital output
to logic level HIGH
31
Example
DIGOUT
CO
SO
Description
Defines the beginning of a program.
All commands given there after will
be sent directly to the EEPROM.
(Important: Do not cut the supply
power to the Controller during
programming). The command END
defines the end of the program.
All commands given after the END
will be immediately carried out by
the Controller.
Calls up the program sequence
at the host PC.
GPROGSEQ Get
Program
Sequence
ENPROG *) Enable
Starts the program. This command
Program can also be saved with the EEPSAV
command and the program will then
run directly after turning the power
to the Controller on.
DIPROG *) Disable
Deactivates the program.
Program
Example
PROGSEQ
LA1000
NP1000
M
END
GPROGSEQ
<Program>
ENPROG
DIPROG
32
When the following commands are used the current program is interrupted until a certain criteria is
fulfilled:
NP
... Notify Position ... The program is interrupted at next M-Command until a certain
position is achieved
HN
...Hard Notify
The program is interrupted at GOHOSEQ-Commands or at next Mor V-Command until the limiter switch has been reached
NV
...Notify Velocity
Function
Delay
TIMEOUT
Timeout
JMP
Jump
JPH
Jump if Hard
Input Activated
Jump if Fault
Input Activated
JPF
JPT
JPD
JPE
SETx
GETx
DxJNZ
ERI
Jump if Third
Input Activated
Jump if Input D
Activated
Jump if Input E
Activated
Set Variable x
Get Variable x
Decrement x,
Jump if not Zero
Error Interrupt
Description
Stops the sequence for a period of time defined with:
Arguement: in 1/100th of a second
Range: 0 to 65535
The motor waits a defined period of time when notify
commands are being carried out and then the sequence
will continue.
Arguement: 1/100th of a second.
Range: 0 to 65535
An answer of o at the RS-232 host means that the notify
requirements were not met.
The command can also be programmed with the RS-232
Jumps to a given address. The command can
also be used with the RS-232.
Jump to a given address if the analog input is
active (HP command defines the polarity.)
Jumps to a given address when the Fault Pin Input
is active. (The HP command defines the polarity)
Fault Pin must already be configured as an input (REFIN)
Jump to a given address if the third input is active
(HP command defines the polarity.)
Jump to a given address if the input No. 4 is active
Example
Delay 100
JPE34
SETA10
GETA
123
DBJNZ8
33
TIMEOUT5
asynch o
JMP5
JPH3
JPF4
JPT53
JPD12
ERI5
RETI
Return Error
Interrupt
DIERI
Disable Error
Interrupt
Call Subroutine
Return from
Subroutine
CALL
RET
Define Address
RETI
DIERI
CALL17
RET
A37
NP
JMP1
Example:
The DxJNZ commands serve to create programming loops with predefined numbers of runs.
PROGSEQ
A1
JMP1
A2
LA10000
NP
M
JMP1
A3
END
LA-10000
34
In General
After a program has been run and is complete
(and without a JMP command at the end) the
motor sends an n to the RS-232 if the ANSW1
is set.
To create a continuous loop, for example for
stand-alone applications, a JMP command at the
end of the program is necessary.
Memory Size: 7936 Bytes
35
Technical Information
Imax
ILimit
Icont
IMotor
Tcritical
TModel
Time
Several Loads
Time
36
Technical Information
Undervoltage Supervision
If the supply voltage falls below 10 V the motor
deactivates and an error is shown at the fault
output (LED goes dark). The electronics remain
active. When the supply voltage rises above 11 V
the motor will reactivate.
Overvoltage Protection
If the motor is driven as a generator it produces
energie. Normally, voltage sources are not
capable of reabsorbing this added energie.
For this reason the supply voltage on the
Motion Controller increases and depending
on the speed of the motor this can lead to a
voltage value above the Controllers specified
limits.
Overtemperature Protection
The Motion Controller will automatically shut
down if the temperature in the Power MOSFETs
increases beyond the predefined peak value.
The following criteria must be fulfilled in order
to reactivate the motor:
37
Appendix
Electromagnetic
Compatability (EMC)
EMC emissions according to the range defined by VDE 0839 part 81-2
(EN50081-2)
EMC immunity according to VDE 0839 part 82-2 (EN50082-2):
Electrostatic discharges of 4 kV (through contact) and 8 kV
(through air) according to VDE 0847 part 4-2 (EN61000-4-2)
HF-fields according to VDE 0847 part 4-3 (EN61000-4-3)
Fast transients according to VDE 0847 part 4-4 (EN61000-4-4)
Cable bourne HF-currents according to VDE 0847 part 4-6
(EN61000-4-6)
The forementioned requirements are met when the following
conditions are fulfilled:
Operation according to the instruction manual and given
system data
The supply cables should be wound through a ferrite tube,
at least one winding, for example, through a Kitagawa
R1-16-28-7, nearly to the controller
Use of shielded motor supply cables (if cable length is more
than 30 cm)
All components are grounded
38
Appendix
39
Appendix
Function
Disable Drive
Enable Drive
Select BAUD Rate
Define Node Address
Get Node Address
Load Encoder
Resolution
Get Encoder Resolution
Asynchronus Answer
On/Off
Load Position
Range Limits
APL *)
Activate (Deactivate)
Position Limits
GPL
GNL
RN *)
EEPSAV
Save to EEPROM
FCONFIG
Factory Configuration
Description
Deactivates the motor (Power Stage)
Activates the motor (Power Stage)
Sets the baud rate for the RS-232 port.
Defines the node address anywhere form 0 to 255.
Calls up the node address.
Sends the encoder resolution to the Controller.
Value Range: 0 to 65535 (4 x pulses/revolution)
Calls up the given encoder resolution
ANSW0... no automatic answers.
ANSW1... activate automatic answering
Loads position range limits. The motor will
not pass these limits in positioning mode.
Positive values give the upper limit and
negative values the lower limit.
APL1: Activate position limits even while in
speed control and stepper motor mode
APL0: Deactivate Limits (default)
Calls up the upper positioning limit at the RS-232.
Calls up the lower positioning limit at the RS-232.
Resets the parameter at the node address to the
original settings (current, acceleration, controller
parameters, maximum speed, position limits etc.)
Saves the actual parameters and configurations
to the EEPROM. The settings remain saved even
when the supply voltage is turned off. Upon
the next power on the setting are recalled.
All configurations and values will return to
the factory default values. The motor will
then deactivate. It can be reactivated by
turning the power on again.
40
Example
DI
EN
BAUD9600
NODEADR5
GNODEADR 5
ENCRES2048
GENCRES 2048
ANSW1
LL2000000
LL-5000000
APL1
GPL 60000000
GNL 30000000
RN
EEPSAV
FCONFIG
Appendix
Function
Initiate Motion
Load Absolute
Position
Load Relative Postion
Select Velocity Mode
GV
NP
Get Velocity
Notify Position
NV
Notify Velocity
NPOFF
NVOFF
Description
Activates positioning mode and starts positioning
Loads new absolute position.
Arguement: encoder resolution 4 times/rev.
Loads a new relative position
Activates velocity control mode and rotates
with the given value.
Calls up command velocity
Motor sends a p to the host terminal when the
given position has been passed.
No arguement: p is sent when target position is reached.
When the motor reaches the given velocity it
transmits a v to the host.
Deactivates a given Notify Position Command
that has not yet been carried out.
Deactivates a given Notify Velocity Command
that has not yet been carried out.
Example
M
LA100000
LR5000
V2000
GV 500
NP10000
asynch p
NV5000
asynch v
NPOFF
NVOFF
Function
Minimum Velocity
Get Minimum Velocity
Minimum
Analog Voltage
Get Minimum
Analog Voltage
Analog Direction
Left
Analog Direction
Left
Source For Velocity
Description
Sets the minimum speed in rpm
Calls up the minimum velocity on the host terminal
Sets the minimum analog voltage
Example
MV100
GMV 0
MAV500
Function
Define Home Position
HP *)
Hard Polarity
Description
Example
With no Arguement: Sets the actual position to 0
HO
With Arguement: Sets actual position to the given value
Sets the trigger edge and the polarity for the limiter switches: HP3
1**): rising edge and high level
0**): falling edge and low level
41
Appendix
Function
Home Arming
HL
Hard Limit
HN
Hard Notify
CAHOSEQ *)
Capture Homing
Sequence
POHOSEQ *)
Power On
Homing Sequence
GOHOSEQ
Go Homing Sequence
HOSP *)
GHOSP
HB *)
HD *)
Hard Direction
HS
Hard Status
GAHS
Get Actual
Homing Status
GHSC
Get Homing
Sequence
Configuration
Description
At an edge the position value will be set to 0
1**): activate
0**): deactivate
At an edge the motor will stop
1**): activate
0**): deactivate
At an edge a symbol will be sent to the host over the RS-232.
1**): activate
0**): deactivate
Saves homing sequence to the intermediate
memory. Actions that are defined with the HL,HN,
and HA commands will be saved.
Activate the homing sequence upon turning
the motor on.
1**): activate
0**): deactivate
Executes the programmed homing sequence
without regard to the current mode.
Loads the homing speed.
Range: -30000 to 30000 rpm
Calls up the homing speed at the RS-232
Activates the hard blocking function for the given
limit switch
1**): activate
0**): deactivate
Sets the direction to be blocked.
1**): right rotation blocked
0**): left rotation blocked
A number 1-7 indicating which limit switch/es
has/have activated. (binary code)
5 numbers with values between 0 and 7 are sent to
the host over the RS-232. They indicate the status of
the homing switches.
1. HA value
2. HL value
3. HN value
4. HB value
5. HD value
3 numbers with values between 0 and 7 are sent
to the host over the RS-232. They indicate the
settings of the homing sequence.
1. HA value
2. HL value
3. HN value
42
Example
HA1
HL3
HN2
asynch f
CAHOSEQ
POHOSEQ1
GOHOSEQ
HOSP100
GHOSP 100
HB3
HD2
HS 3
GAHS
33300
GHSC 220
Appendix
Function
Load Maximum
Speed
GSP
AC *)
GAC
POR *)
GPOR
I *)
GI
LPC *)
GPC
LCC *)
GCC
Description
Loads a new maximum velocity.
Arguement in rpm. Range: 0 to 30000
For use in all modes.
Calls up actual maximum velocity.
Load new acceleration.
Arguement in Rev/s2 (Range: 0 to 30000)
Calls up acceleration
Load controller amplification (Range: 0 to 255)
Calls up the controller amplification
Load integral term. (Range: 0 to 255)
Calls up integral term
Loads peak current limit
Range: 0 to 12000 mA
Calls up peak current
Loads continuous current limit
Range: 0 to 12000 mA
Calls up continuous current
Example
SP4000
GSP 10000
AC100
GAC 500
POR8
GPOR 8
I20
GI 20
LPC8000
GPC 8000
LCC2800
GCC 2800
Function
Continuous Mode
STEPMOD *)
STW *)
STN *)
GSTW
GSTN
APCMOD *)
Steppermotor Mode
Load Step Width
Load Step Number
Get Step Width
Get Step Number
Analog Position
Control
Set Voltage Mode
IxR Mode
Load Motor
Resistance
Load Speed
constant (kn)
Get Motor Resistance
Get Speed Constant
Get Mode
VOLTMOD *)
IXRMOD *)
RM *)
KN *)
GRM
GKN
GMOD
Description
Switches from the present further mode back to
continuous operating mode.
(Communication over the RS-232)
Switches to stepper motor mode.
Sends a step width to the motor.
Send a step number to the motor
Calls up step width
Calls up step number
Switches to analog positioning mode
Switches to voltage regulator mode.
Switches to IxR Speed Control Mode
Loads the motor resistance (value given in catalog)
in: mOhm
Loads the speed constant (value given in the catalog)
in: rpm/V
Calls up the motor resistance
Calls up the speed constant of the motor
Calls up the present mode.
D ... normal operating mode
S ... stepper motor mode
A ... analog positioning mode
V ... voltage regulator mode
I IxR speed control mode
43
Example
CONTMOD
STEPMOD
STW1
STN1000
GSTW 1
GSTN 1000
APCMOD
VOLTMOD
IXRMOD
RM2500
KN223
GRM 2500
GKN 223
GMOD D
Appendix
Function
Direction Input
REFIN *)
ERROUT *)
DIGOUT *)
Reference Input
Error Output
Digital Output
CO *)
SO *)
DCE *)
Clear Output
Set Output
Delayed Current Error
GDCE
DEV *)
Get Delayed
Current Error
Load Deviation
GDEV
Get Deviation
Description
Programs the fault output as a direction of rotation
input. (The limiter switch is also thereby activated)
Programs the fault pin as a limit switch
Switches to error ouput mode.
Programs the fault output as a digital output.
The level is automatically low upon activation.
Sets digital output level to low.
Sets digital output level to high.
Delayed activation of the error display for current
limiting, over voltage protection, and deviation
error. Given in 1/100th seconds.
Calls up the delayed current error value
Loads the allowable degree of deviation of the
actual to the command speed value.
Calls up the programmed degree of deviation
Example
DIRIN
REFIN
ERROUT
DIGOUT
CO
SO
DCE100
GDCE
200
DEV500
GDEV
200
Function
Program Sequence
GPROGSEQ
ENPROG *)
Get Program
Sequence
Enable Program
DIPROG *)
Disable Program
Description
Defines the beginning of a program. All commands
given thereafter will be sent directly to the EEPROM.
(Important: Do not cut the supply power to the motor
during programming). The command END defines
the end of the program. All commands given after
the END will be immediately carried out by the motor.
Calls up the program sequence at the host PC.
Starts the program. This command can also be saved
with the EEPSAV command and the program will
then run directly after turning the power to
the motor on.
Deactivates the program.
44
Example
PROGSEQ
LA1000
NP1000
M
END
GPROGSEQ
<Program>
ENPROG
DIPROG
Appendix
Function
Get Actual Position
Get N
Get Current Limit
Get Real Current
Get Temperature
Get Version
Notify Error
GST
Get Status
GFS
GAST
Description
Example
Calls up the actual position
POS 500000
Calls up the actual speed
GN 4000
Calls up the actual current limit value
GCL 2800
Calls up the actual current
GRC 2000
Calls up the actual temperature of the motor casing.
TEM 35
Calls up the version the software in use.
VER ...305008..
In the event of an error the host will be signalled.
NE1 asynch r
NE1: activate. (Sends an r to the host terminal)
NE0: deactivate
Calls up the actual status (7 Bits)
GST 0101011
From left to right:
Bit0: 1 ... Position controller active
0 ... Velocity controller active
Bit1: 1 ... Velocity is analog or PWM
0 ... Velocity given at the RS-232
Bit2: 1 ... Velocity is PWM (Bit1=1)
0 ... Velocity is analog (Bit1=1)
Bit3: 1 ... Drive enabled
0 ... Drive disabled
Bit4: 1 ... Command position has been reached
0 ... Command position has not yet been reached.
Bit5: 1 ... Positive edge at limit switch is active
0 ... Negative edge at limit switch is active
Bit6: 1 ... Limiter switch set to high level
0 ... Limiter switch set to low level
Calls up the fault status. (4 Bits)
GFS 0000
0 ... No Error 1 ... Error
From left to right:
Bit 0: Overtemperature
Bit 1: Current Limiting
Bit 2: Undervoltage
Bit 3: Overvoltage
Calls up the actual status at the host RS-232 (4 Bits)
GAST 1100
From left to right:
Bit 0: 1 ... Limit switch 2 at high level
0 ... Limit switch 2 at low level
Bit 1: 1 ... Limit switch 3 at high level
0 ... Limit switch 3 at low level
Bit 2: 1 ... Direction of rotation right by positive values
0 ... Direction of rotation left by positive values
Bit 3: 1 ... Power On Homing Sequence is running
0 ... Power On Homing Sequence has ended
45
Appendix
Function
Get Special
Configuration Set
GES
Get
Enhanced
Status
Description
Example
Calls up configuration at the host RS-232 (8 Bits)
GSCS 00000001
From left to right:
Bit 0: 1 ... Power On Homing Sequence is active
0 ... Power On Homing Sequence is inactive
Bit 1: 1 ... Fault Pin is an input
0 ... Fault Pin is an output
Bit 2: 1 ... Pulse output at fault pin (Bit1=0)
0 ... Error signal at fault pin (Bit1=0)
Bit 3: 1 ... Bit1=1: Fault pin is a direction of rotation input
Bit1=0: Fault pin is a digital output
0 ... Bit1=1: Fault pin is limit switch input 2
Bit1=0: Fault pin is not a digital output
Bit 4: 1 ... Rising edge at limit switch 2 is active
0 ... Falling edge at limit switch 2 is active
Bit 5: 1 ... Rising edge at limit switch 3 is active
0 ... Falling edge at limit switch 3 is active
Bit 6: 1 ... Program sequence is active
0 ... Program sequence is inactive
Bit 7: 1 ... Automatic answe ring is active
0 ... Automatic answering is inactive
Send 5 status Bits to the RS-232 port.
GES 00001
From left to right:
Bit 0: 1 ... Input 4 logic level HIGH
0 ... Input 4 logic level LOW
Bit 1: 1 ... Input 5 logic level HIGH
0 ... Input 5 logic level LOW
Bit 2: 1 ... Analog command current active
0 ... No analog command current
Bit 3: 1 ... Position limits in all modes active
0 ... Position limits only in positioning mode active
Bit 4: 1 ... Deviation error is given
0 ... No deviation error is given
46
Appendix
SOR0
REFIN
Velocity Control:
Command value received as a PWM signal at
the analog input.
HP3
Goals:
HB3
HD1
LPC3000
LCC1000
V0
EEPSAV
SOR2
AC500
SP5000
POR30
Position Control
I15
Goals:
Position control
Limit acceleration to 300 Rev/s2
Velocity Control:
Command value received at the RS-232 port.
Goals:
Velocity control at the RS-232 port.
Two active limiter switches (high level active)
cannot be passed.
Set peak current to 3 A and continuous
current 1 A
47
Appendix
HL2
HP0
POR25
I8
SOR0
LA0
EEPSAV
HP0
Step Width: 3
STW3
STN557
REFIN
HA2
48
Appendix
LPC500
Configuration:
SOR0
Motion stop
NP
TIMEOUT500 After 5 seconds delay the
program will start even if the
given position has not yet been
reached.
HA1
HL1
V0
HN1
CAHOSEQ
LR0
JMP1
A5
ENPROG
SETA1000
Define variable A
ANSW0
No asynchronus answering
LR20480
EEPSAV
Save configuration
NP
HOSP200
HP1
A6
Program:
DELAY100
A1
JMP1
Continuous loop
LR-10240
A2
NP
GOHOSEQ
DELAY50
JMP1
DAJNZ6
A3
JMP1
LA0
Commentary:
NP
Start positioning
JMP1
A4
49
Appendix
Program:
Sequence Controlled by the Digital Input
Program:
Goals:
HP3
A1
A2
REFIN
HP1
LR10240
NP
HA1
HL1
JPF3
LR0
JPF2
A3
Configuration:
SOR0
5 revolutions forward
DELAY50
JPF1
HN1
LA0
CAHOSEQ
POHOSEQ1
HOSP-200
HP1
ENPROG
ANSW0
No asynchronus answering
EEPSAV
Saves configuration
NP0
M
JMP1
Commentary:
After programming is complete the RS-232
connection is no longer necessary.
The program is started with a short pulse at
the digital input and interrupted with a long
pulse.
50
Appendix
RN
Factory Configuration
The commands in the factory configuration are
as follows:
EN
Drive is active
V0
Command speed 0
SOR1
ADR
HP7
ERROUT
CONTMOD
Normal mode
HB0
No hard blocking
HD0
HA0
HL0
HN0
CAHOSEQ
POHOSEQ0
HOSP100
ANSW1
Asynchronus answering is
active
DIPROG
BAUD9600
NODEADR0
Commentary:
The command FCONFIG will restore the factory
settings with the exception of the LPC8000,
LCC2800, LL 600000000 and LL 600000000.
51