Stepping Motor Controller User's manual - ILPhotonics.com

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Nov 14, 2013 (4 years and 1 month ago)

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1


The Micro
-
stepping Motor Controller


Contents
:

1

Product Description:

................................
................................
............

4

1.1

Introduction:

................................
................................
...........................

4

1.2

The Controller Functions:

................................
................................
.....

4

1.3

Specificati
ons:

................................
................................
.........................

5

1.4

The Computer RS
-
232 Interface:

................................
.........................

5

1.5

The Standard Package :

................................
................................
.........

6

2

Stepping Motor Motion Control:

................................
.......................

7

2.1

The Point To Point Movement:

................................
.............................

7

2.2

The Linear Interpolation Movement:

................................
..................

7

3

Front Panel Description:

................................
................................
.....

9

4

Rear Panel Description:

................................
................................
....

11

5

Initial Turn
-

On Test:

................................
................................
........

14

5.1

The Front Panel Buttons:

................................
................................
....

14

5.2

The Switch On Test:

................................
................................
.............

14

6

The Controller Main Program List :

................................
...............

17

7

The Program Description:

................................
................................

19

7.1

T
he Operation Program:

................................
................................
.....

19

7.1.1

Point To Point program:

................................
................................
.................

19

7.1.2

The Manurun Operation Program:

................................
...............................

21

7.1.3

The Linear Interpolation Program:

................................
...............................

23

7.1
.4

The Operation Demo Program:

................................
................................
.....

24

7.2

The Configuration Program:

................................
..............................

25

7.2.1

The PTOP Parameter Program:

................................
................................
....

26

7.2.2

The Stepping Phase Program:

................................
................................
........

28

7.
2.3

The Coordinate Program:

................................
................................
...............

30

7.2.4

The Interpolation Vector Speed Program:
................................
....................

32

7.3

The Save Program:

................................
................................
...............

34

7.4

The Load Program:

................................
................................
..............

35

7.5

The Reset
Program:

................................
................................
.............

36


2

7.6

The PC Connection Program:

................................
.............................

38

8

The RS232 Command Instructions:

................................
.................

45

8.1

The Format Of RS232 Command Instruction:

................................
.

45

8.2

The Echo
Strings :

................................
................................
................

46

8.3

The RS232 Command Instructions:

................................
...................

47

8.3.1

Guiding Instructions:

................................
................................
......................

48

8.3.2

Parameter Reset Instructions:

................................
................................
........

48

8.3.3

Parameter Settin
g Instructions:

................................
................................
.....

49

8.3.4

Operation Instructions:

................................
................................
...................

56

8.3.5

Inquiry Instructions:

................................
................................
.......................

61

8.4

Examples:

................................
................................
..............................

66

9

The Display Content List:

................................
................................
.

70

A

Problems:

................................
................................
............................

78

A.1

Initial Turn
-
on Problems:

................................
................................
....

78

A.2

Configuration Problems:

................................
................................
.....

78

A.3

Operation Problems:

................................
................................
............

80

A.4

PC Connection Probl
ems:

................................
................................
....

81

B

Appendix:

................................
................................
............................

84

B.1

The RS232 D
-
connector Diagram:

................................
......................

84

B.2

The Controller XYZ D
-
connector Diagram:

................................
.....

85




















3












































4

1

Product Description
:

1.1

Introduction
:



Full functional operation by front panel key pad control.




Full functional operation by Personal Computer via RS
-
232 interface.




Three axes Point To Point and Interpolation movement.




Limit switch protection and system grounded protection.





The system operation parameteres can be saved in
EEPROM
.




Customer application control software is also avaliable.





1.2

The Controller Functions
:



Three axes accelerate or deaccelera
te movement.




Three axes constant speed movement.




Limit switch protection and system grounded protection.





Origine resetting operation.




Realtime on the screen display the system movement condition.




Full functional operation by Perso
nal Computer via RS
-
232 interface to control the


plateforms.




One
-

touch emergency stop protection.




Three axes interpolation movement.




Three axes serial movement.


5




Totally 1
28

EEPROM system operation parameters saving blocks.





1.3

Specifications
:



Input voltage
:

110
AC
V/ 60Hz.




Output voltage : 24DCV.




Single axis maximum output current : 1.5 A/ Phase.




Pulse rate : 1 PPS TO 9999 PPS.

(PPS

:

Pulse Per Second
)




Clock drivers : 2 phase, 1
-
2 phase, W1
-
2 phase
, 2W1
-
2 phase.




driven current : bipolar constant current.




Three axes microstepping driving circuit.




Clockwise and Counterclockwise motor control.




Stepping motor manu control.





1.4

The Computer RS
-
232

Interface
:



B
audrate

: 9600
bps.




Start bit
:

1

b
it






Data bits : 8 bits





Stop bit : 1 bit





Parity : N




6





1.5

The Standard Package
:



Operation Manual.




Operation disc.



D
-
type connector stepping motors cables.




D
-
type connector RS
-
232 cable.


































7

2

Stepping Motor Motion Control
:

2.1

The Point To Point Movement
:



The Point To Point movement, is basically three axes plateform movement from one


coordinate to another new coordinate individually.





Each plateform moves from one to
another position via five steps : initial steps per second



accelerate


equi
-
steps per second

deaccelerate and stop.





The movement path is dependent on the operation parameters.




The Point To Point movement is suitable for path
-
free movement.




Each plateform will not come to the final target point at the same time.





2.2

The Linear Interpolation Movement
:



The Linear Interpolation movement, is basically three axes plateform movement from one


coordinate to another new coordinate at the sa
me time.




The Linear Interpolation movement, each operation parameter of axis is restricted by the


maximum interpolation vector speed.




Each plateform will come to the final target point at the same time.




Each axis will come to the target p
oint at the same time. The longer the path the faster the


speed.




The Linear Interpolation movement is suitable for linear path movement.




The Linear Interpolation movement, each operation parameters of axis is restricted by the


maximum int
erpolation vector speed. The vector speed must be carefully selected in order not


to enter any of the resornance frequency for three axes.




8












































9

3

Front Panel Description
:











10




F
ront

panel

functions
:





START

:

act
s

as "enter", "ok"
button
in programs.






PAUSE

:


act
s

as "pause", "quit", "exit", "shift"

button

in programs.






SELECTION:



*
SELECTION UP
:

act
s

as "forward" operation
button
in programs.


*
SELECTION

DOWN
:

act
s

as "ba
ckward" operation
button
in programs.






PHASE:


act
s

as "+/
-
", "clear"
button
in programs.






MODE:

act
s

as "
X
,

Y
,

Z
" selection
button
in programs.






1234567890:

act as number selection
button
in programs.





F1, F2, F3, F4, F5

:

act as
"forward/backward", "choose"
button
in programs.





F1(UP), F2(UP), F3(UP), F4(UP), F5(UP) : act as

"forward"
button
in programs.






F1(DOWN), F2(DOWN), F3(DOWN), F4(DOWN), F5(DOWN)
:




act as "backward"
button
in programs.





ALWAYS PRESS
"PAUSE" BUTTON TO STOP THE MACHINE FOR EMERGENCY


CONDITIONS.


















11

4

Rear Panel Description
:












12




Rear

panel

button

functions
:





X
-
AXIS CONNECTOR: D
-
type connector, connects the controller and the X
-
plateform.





Y
-
AXI
S CONNECTOR: D
-
type connector, connects the controller and the Y
-
plateform.





Z
-
AXIS CONNECTOR: D
-
type connector, connects the controller and the Z
-
plateform.





RS
-
232 CONNECTOR: D
-
type connector, connects the controller and the COMM port of



personal computer.





ON/OFF SWITCH: the power switch.





FUSE UNIT: use fuse with rating of 250V / 5A.





AC POWER UNIT: use AC power with 110V / 60Hz which has grounded protection.





COOLING FAN: the coolin
g fan of the controller, which will always on while power on.





SERIAL NUMBER
:
the version of the program software and the production serial no..






















13










































14

5

Initial Turn
-

On Test
:

5.1

The Front Panel But
tons:






START

:

act
s

as "enter", "ok"
button
in programs.






PAUSE

:


act
s

as "pause", "quit", "exit", "shift"

button

in programs.






SELECTION:



*
SELECTION UP
:

act
s

as "forward" operation
button
in programs.


*
SELECTION

DOWN
:

act
s

as "backward" operation
button
in programs.






PHASE:


act
s

as "+/
-
", "clear"
button
in programs.






MODE:

act
s

as "
X
,

Y
,

Z
" selection
button
in programs.






1234567890:

act as number selection
button
in programs.





F1, F2, F3, F4,
F5

:

act as "forward/backward", "choose"
button
in programs.





F1(UP), F2(UP), F3(UP), F4(UP), F5(UP) : act as

"forward"
button
in programs.






F1(DOWN), F2(DOWN), F3(DOWN), F4(DOWN), F5(DOWN)
:




act as "backward"
button
in programs.






ALWAYS PRESS "PAUSE" BUTTON TO STOP THE MACHINE FOR EMERGENCY


CONDITIONS.





5.2

The Switch On Test:



. T
urn on the back panel
ON
/
OFF

switch, the front panel screen will show:



The screen display:



" JUMP STAR CO. "


15


" STEPPING
MOTOR CONTROLLER "




The meanings:




S
how company name
.



and;



The screen display:



" THREE AXES STEPPING MOTOR CONTROLLER "



" 2001/ 01/ 10 , VERSION 1. 01 "






The meanings:





S
how
the versionof of the
software
.





2. T
he controller
program
will automatically examine the limit condition
s
,



and the
plateform

ground conditions.
I
f any of the limit switches has been


trig
ged, or if any of the
plateform w
ires has been connected to the ground,


the controller

program

will
stop here
.





The screen display:




" PLEASE TURN OFF THE POWER, "



" PLEASE CHECK LIMIT SWITCHES AND WIRES "




The meanings
:





T
he controller program will stop here.





3.

I
f the controller

program

stop, please turn off the power

and
check the limit


switches
. Do
be sure to let the limit switches untrigger.

C
heck the ground




condition of the
plateform

wires.

T
urn o
n the back panel
ON
/
OFF

switch
after


a careful examination.






4.

If the program still have problems, please contact your local distributor for management..





5. I
f the condition is ok. the controller

program
will show

the main program lis
t:


16




The screen display:



" SELECT: 1. OPERATION 2. CONFIGURATION "


" 3. SAVE 4. LOAD 5. RESET 6. UART PC "







































17

6

The Controller Main Program List
:



The screen display:



" SELECT: 1. OPERAT
ION 2. CONFIGURATION "


" 3. SAVE 4. LOAD 5. RESET 6. UART PC "



The meanings:



T
he controller contains six main programs:



1.

OPERATION
:


including four operations.



2.

CONFIGURATION
:

configurate operation parameteres.



3.

SAVE
:


save operation parameteres to the
EEPROM
.



4.

LOAD
:


load operation parameteres from the
EEPROM
.



5.

RESET
:

reset parameteres, and
doing
limit operation.



6.

UART

PC
:


controller
controlled by PC

via
RS
-
232 interface.




COMPUTER

RS
-
232
INTERFACE
:




a.

B
audrate

: 9600
bps.




b.


S
tart bit

: 1
.




c.


D
ata bit

: 8
.




d.


S
top bi

t: 1
.




e.


P
arity

:
N.
















18












































19

7

The Program Description
:

7.1

The Operation Program
:



I
f

press "1" button
in main program list
, it will enter
the OPERATION

program:



The screen display:



" OPERATION: 1. POINT TO POINT 2. MANURUN "


" 3. INTERPOLATION 4. DEMO "



The meanings:




T
he operation contains four main programs:



1.

POINT

TO

POINT
: point to point operation.



2.

MANURUN
: single axis 1, 10, 100 ,1000, 10000 steps operations.



3.

INTERPOLATION
: linear interpolation operation.



4.

DEMO
: three axes automatic demo program.




P
ress "PAU
SE" button will quit from the program.




7.1.1

P
oint
T
o
P
oint program
:




I
f press "1" button

in OPERATION list
, it will enter the
POINT TO POINT

program:



The screen display:



" PTOP: X: 000000 Y: 000000 Z: 000000 "


" DISP : 1.
000000 2. 000000 3. 000000 "




The meanings:




P
ress "PAUSE" button will quit from the program.





T
he upper row

of the screen

display
s

the coordinate of X, Y, Z axis.


20


(Note:

T
he coordinate value can not change from here,

please refer to



CONFIGURATION COORDINATE
program
.)




T
he lower row
of the screen
display
s

the displacements of X, Y, Z axis
.




T
he point to point operation will move the
plateforms

from one coordinate


to

new coo
rdinate

by

a
displacement

value indi
vidually.





H
ow to input the displacement value:


a. P
ress "1", "2", "3" button
to open
the displacement setting.



b. A

blinking cursor will show on the screen, press the
selection


nu
mber (1234567890)

to input the
new

value.



c. P
ress "
PHASE
" button to change the sign of
the
displacement value.



d. T
he "
PAUSE
" button act
s

as "shift" key in number selection.



e. P
ress "
START
" button
to

input the selected displ
acement value.




H
ow to
select

different combinations of axes:



a. P
ress "
MODE
" button will change
different

combinations of axes.



b. T
here are "
XYZ
", "
XY
", "
XZ
", "
YZ
", "
X
", "
Y
", "
Z
" seven combinations


in this program.




H
ow to move

the plateforms:



P
ress "SELECTION UP" button to move the plateforms.





H
ow to reverse
ly

move
the plateform
s

position
to
their

previous

one
:


a. P
ress "SELECTION DOWN" button to

reverse
ly move
the plateforms

position
.



b. T
he "
SELECTION DOWN" button
must immediately be pressed

after the



"SELECTION UP"

button was first been pressed.





H
ow to change the moving parameters of ax
es
:


P
lease refer to
CONFIGURATE PTOP PARAMETERS
program.




E
xample:




M
ove the
X

plateform from (000000) to (
-
111111)
,



move the
Z

plateform from (000000) to (
-
333333)
,


and
move them
reverse
ly
to
previous position
:


21



Solution:


a. P
ress "
MODE
" button twice to select combinations of
X

and
Z

axi
s.


b
.

P
ress "1" button to enter
X

axis displacement adjustment.


c
.

P
ress "3" button to enter
Z

axis displacement adjustment.


d
.

P
ress "SELECTION UP" button to move the
X
-
axis plateform to (
-
111111), and


then Z
-
axis
pla
teform

to (
-
333333)
.


e
.

P
ress "SELECTION DOWN" button
in order
to
r
eversely
move
the
Z
-
axis


plateform
, and then X
-
axis plateform to their previous position
.




7.1.2

The Manu
run

Operation Program
:



I
f press "
2
" button

in OPERATION list
, i
t will enter

the
MANURUN
program:



The screen display:



" X
-
AXIS COORDIN PHASE F1

F2 F3

F4 F5 "


" +000000


RESET 1

10


100

1K


10K "



The meanings:




The
MANURUN

operation will move the
plateform

to a displacement
value


which
by decimal

increasing
the position clockwise or counterclockwise
.




Press "
PAUSE
" button will quit from the program.




T
he upper row
of the screen
display
s

the informations of
a
xis.




T
he lower row display
s

the coordinate of axis

and the manu
-
steps
.




T
he

upper row button
F1, F2, F3, F4, F5

act

as

"FORWARD/BACKWARD"


in this programs.




The button functions are as follow:



a.
Press the "
PHASE
" button will reset the coordinate value to origin.



b.
F1(UP/DOWN):


Press "
UP
" button will move the
plateform

1 step c
lockwise
.



P
ress "
DOWN
" button will move the plateform 1 step
counterclockwise
.




c.
F
2
(UP/DOWN):


22



Press "
UP
" button will move the
plateform

1
0

step
s

c
lockwise
.



P
ress "
DOWN
" button will move the plateform 1
0

step
s

counterclockwise
.



d.
F
3
(UP/DOWN):



Press "
UP
" button will move the
plateform

1
00

step
s

c
lockwise
.



P
ress "
DOWN
" button will move the plateform 1
00

step
s

counterclockwise
.



e.
F
4
(UP/DOWN):



Press "
UP
" button will move the
plateform

1
K

step
s

c
lockwise
.


P
ress "
DOWN
" button will move the platef
orm 1
K

step
s

counterclockwise
.



f.
F
5
(UP/DOWN):



Press "
UP
" button will move the
plateform

1
0K

step
s

c
lockwise
.



P
ress "
DOWN
" button will move the plateform 1
0K

step
s

counterclockwise
.




How to change different operation axis:


Press "
MODE
" button will change the operation axis.




There are "
X
", "
Y
", "
Z
" three manu operations in this program.




How to move the
plateforms
:




Press "F1,

F2,

F3,

F4,

F5 UP/DOWN" b
utton to move the
plateforms
.




How to change the moving parameters of axis:


P
lease refer to
CONFIGURATE PTOP PARAMETERS
program.





Example:


Move the
Y

plateform

from
coordinate
(000000) to (
-
011111):



Solution:



a
.

P
ress "mode" button to select
Y

axis.




b
.

P
ress "
F
1
DOWN
" button
, move the plateform

to (
-
000001).


c
.

P
ress "F2 DOWN" button
, move the plateform

to (
-
000011).


d
.

P
ress "F3 DOWN" button
, move the plateform

to (
-
000111).



e
.

P
ress "F4 DOWN" button
, move the plateform

to (
-
001111).


f
.

P
ress "F5 DOWN" button
, move the plateform

to (
-
011111).





23

7.1.3

The Linear Interpolation Program
:


I
f press "
3
" button

in OPERATION list
, it will enter

the

INTERPOLATION progr
am
:



The screen display:



" INTER: X: 000000 Y: 000000 Z: 000000 "



" DISP : 1. 000000 2. 000000 3. 000000 "




The meanings:




P
ress "PAUSE" button will quit from the program.





T
he upper row

o
f the screen

display
s

the coordinate of X, Y, Z axis.


(Note:

T
he coordinate value can not change from here, please refer to


CONFIGURATION COORDINATE
program
.)




T
he lower row
of the screen
display
s

the displacements of X, Y,
Z axis
.




T
he
INTERPOLATION
operation will move the
plateforms

from one coordinate


to
new coordinate

by

a
displacement

value at the same time
.





H
ow to input the displacement value:


a. P
ress "1", "2", "3" button
to open
th
e displacement setting.



b. A

blinking cursor will show on the screen, press the
selection


number (1234567890)

to input the
new

value.



c. P
ress "
PHASE
" button to change the sign of
the
displacement value.



d. T
he "
PA
USE
" button act
s

as "shift" key in number selection.



e. P
ress "
START
" button
to

input the selected displacement value.




H
ow to
select

different combinations of axes:


a. P
ress "
MODE
" button will change
different

combinations of axes.



b. T
here are "
XYZ
", "
XY
", "
XZ
", "
YZ
"

four

combinations in this program.




H
ow to move the plateforms:



P
ress "S
ELECTION UP" button to move the plateforms.





H
ow to

reverse
ly

move
the plateform
s

position
to
their

previous

one
:


24


a. P
ress "SELECTION DOWN" button to reverse
ly move
the plateforms

position
.



b. T
he "SELECTION DOWN" button
must imm
ediately be pressed

after the


"SELECTION UP"

button was first been pressed.





H
ow to change the moving parameters of ax
es
:


P
lease refer to
CONFIGURATE
INTERPOLATION

VECTOR SPEED

program.




S
ome axes would move very slowly
due to the limitation of max. interpolation vector


speed
in this program.




E
xample:


M
ove the
X

plateform from (000000) to (+001111)
,


move the
Y

plateform from (000000) to (+002222)
,


move the
Z

plateform

from (000
000) to (+003333)

and
move them
revers
ely

to origin:



Solution:


a. P
ress "1" button to enter
X

axis displacement adjustment.



b. P
ress "2" button to enter
Y

axis displacement adjustment.



c. P
ress "3" button to enter
Z

axis disp
lacement adjustment.



d. P
ress "SELECTION UP" button to move the
plateforms
.



e. P
ress "SELECTION DOWN" button to
re
versely
move
the
plateforms
.




7.1.4

The

Operation
Demo
Program:


I
f press "
4
" button

in OPERATION list
, it will enter

the DEMO p
rogram:



The screen display:



" STEPPING MOTOR CONTROLLER "


" THREE AXES MOVEMENT DEMO PROGRAM "




The meanings:





P
ress

"PAUSE" button will quit from the program.




P
ress

"
START
" button will begin the demo prog
ram.




T
o

run
DEMO program please connect all three plateform
s

before

start the

program.




T
he

DEMO program including the following procedures:


25




a.
M
ove the plateform
s

by point to point

operation
from
X
-

axis
to
Z
-

axis
clockwisely



to limit position.



b.
M
ove the plateform
s by point to point

operation

to a pre
-
setting position from
X
-
axis



to

Z
-
axis individually.



c.
M
ove
all
the plateform
s

by
linearly interpolation to a pre
-
setting position.



d.
M
ove
all
the plateform
s by

linearly interpolation reversely to
their

starting position



as step c..



e.
M
ove the plateform
s

by point to point

operation

to a pre
-
setting position from
X
-
axis


to

Z
-
axis c
ounterclockw
isely.



f.
M
ove the plateform
s by point to point

operation

reversely to
their

starting position as


step

e. from
Z
-
axis

to
X
-

axis individually.



g.
C
yclic from step c. to f..





Notes: :


The stability of the wh
ole system could be selftesting by the DEMO program.





7.2

The Configuration Program:


I
f
in main program list
press "
2
" button, it will enter

the
CONFIGURATION

program:



The screen display:



" CONFIGURATE: 1. PTOP PARAMETERS 2. PHASE "


" 3. COORD. 4. INTERPOLATION VECTOR PPS "




The meanings:





T
he

CONFIGURATION contains four main programs:


1. PTOP PARAMETERS: configurate point to point operation parameters



2. PHASE: configurate stepping phase
of the stepping motor.



3. COORD.

: configurate coordinates.


26



4. INTERPOLATION

VECTOR PPS: configurate max
imum
interpolation pulses per


second.




P
ress

"PAUSE" button will quit from the program.




7.2.1

The P
TOP

Parameter Program:


I
f press "1" button

in CONFIGURATION list
, it will enter

th
e PTOP PARAMETERS


program :



The screen display:


" PTOP PARAMETERS: "


" 1. X
-
AXIS 2. Y
-
AXIS 3. Z
-
AXIS "



The meanings:




Press "PAUSE" button will quit from the program.




The PTOP PARAMETER program

including

the adjustment of X, Y, Z axis


point to point moving parameters.




The abbreviation meanings:


a. IPPS :
i
nitial pulses per second,
default

value = 1000.



b. STEP :
i
ncrement/decrement steps from IPPS to EPPS,

default

value = 0250.



c. EPPS :
e
qui
-

pulses per second,
default

value = 5000.



d. RST :
p
arameter reset.




The PTOP PARAMETERS will change the movement of the X, Y, Z plateform


individually.




How to select axi
s:


a. Press "1" button will enter the X
-
axis PTOP PARAMETERS adjustment.



The screen display:



" X
-
AXIS: 1. IPPS 2. STEP 3. EPPS 4. RST "


" 1000 0250 5000 "


27




The meaning
s:



* Press "PAUSE" button will quit from the program.




*
T
he upper row

of the screen

display
s

the abbrev
iation

of the parameters.




*
T
he lower row
of the screen
display
s

the
default

values of parameters
.



b. Pres
s "2" button will enter the Y
-
axis PTOP PARAMETERS adjustment.



The screen display:



"
Y
-
AXIS: 1. IPPS 2. STEP 3. EPPS 4. RST "


" 1000 0250 5000 "




The meanings:




* P
ress "PAUSE" button will quit from the program.




*
T
he upper row

of the screen

display
s

the abbrev
iation

of the parameters.




*
T
he lower row
of the screen
display
s

the
default

values of parameters
.



c. Press "3" button will
enter the Z
-
axis PTOP PARAMETERS adjustment.



The screen display:



"
Z
-
AXIS: 1. IPPS 2. STEP 3. EPPS 4. RST "


" 1000 0250 5000 "




The meanings:




* Press "PAUSE" butto
n will quit from the program.




*
T
he upper row

of the screen

display
s

the abbrev
iation

of the parameters.




*
T
he lower row
of the screen
display
s

the
default

values of parameters
.




How to adjust the parameters:


Press "1", "2", "3" button will enter the parameter adjustment program.


Press "4" button will reset all the parameters to
default

values.



The screen display:



" X
-
AXIS: 1. IPPS

2. STEP 3. EPPS 4. RST "


28


" 1000 0250 5000 "




The meanings:



* Press "1", "2", "3" button will enter the adjustment of the parameters.



*
A

blinking cursor will show on the screen,
press the
selection
number


(1234567890)

to input the
new

value.



*
T
he "
PAUSE
" button act
s

as "shift" key in number selection.



*
P
ress "
START
" button
to

input the new value.



* Notes
:


a. The EPPS value must la
rger than the IPPS value, or the program will not accept the


value.



b. The STEP value may not small than the difference between EPPS and IPPS value.



c. The program will not quit from here, when a wrong setting parameter has
been


inputting
.



d. Please do be careful to change the parameters, the parameters value must refer to the


stepping phase value. The higher value the stepping phase, the lower value the


parameters.




Example:


Set the Y
-
axis "EPPS" to "6500":



Solution:


a. Press "2" button to select Y
-

axis PTOP PARAMETERS program.


b. Press "3" buttone to enter "EPPS"parameter adjustment.


c. Press "6500" buttone to se
lect new "EPPS" parameter.


d. Press "START" button to input the value.


e. Press "PAUSE" button to quit from the program.




7.2.2

The Stepping Phase Program:


I
f press "
2
" button

in CONFIGURATION list
, it will enter

the PHASE program:



29



The screen display:



" PHASE: X: (F1) Y: (F2) Z: (F3) "


" 1600 SPR 1600 SPR 1600 SPR "



The meanings:




T
he

STEPPING PHASE program including:



The adjustment of
X, Y, Z

axis stepping phase moving parameters.




The upper row
of the screen
display
s

the informations of axis.




The lower row
of the screen
display
s

the phase of the correspondi
ng axis.




The abbreviation meanings:



SPR

: steps per revolution,
default

value

1600.




T
he

STEPPING PHASE including:


a.
0200 SPR

:

200
steps per revolution
.


b.
0400 SPR

:

400
steps per revolution
.


c.
0800 SPR

:

800
steps per revolution
.


d.
1600 SPR

: 1600
steps per revolution
.




T
he
F1(UP/DOWN), F2(UP/DOWN), F3(UP/DOWN)

act

as "UP/DOWN"
selection


button in this programs.



a.
F1(UP)

:


continuously p
ress "
U
P
" button will cyclically
increasing

the
X
-
axis
stepping
phase.



b.
F1(DOWN)

:


continuously p
ress "
DOWN
" button will cyclically

decreasing

the
X
-
axis
stepping


phase.



c.
F
2
(UP)

:


continuously p
ress "
UP
" b
utton will cyclically
increasing

the
Y
-
axis
stepping
phase.



d.
F
2
(DOWN)

:


continuously p
ress "
DOWN
" button will cyclically

decreasing

the
Y
-
axis
stepping


phase.



e.
F
3
(UP)

:


continuously p
ress "
UP
" but
ton will cyclically
increasing

the
Z
-
axis
stepping
phase.



f.
F
3
(DOWN)

:


continuously p
ress "
DOWN
" button will cyclically

decreasing

the
Z
-
axis
stepping


30


phase.




T
he "
PAUSE
" button do nothing in this program.





P
ress "
START
" button
to

input the new value.




Notes:



a.
Please be careful to change the stepping phase, the moving parameters

must refer to


the
stepping phase

value change.
T
he higher value the stepping

phase, the lower value



the

parameters.



b.
If the stepping phase has changed, the coordinate and the displacement

of the



cooresponding axis
will

change accordingly.




Example:


S
e
t the Z
-
axis "PHASE" to "0200":



Solution
:


a. Press "F3( UP)" button once to select "0200" phase.



Or;


b. Press "F3( DOWN)" button three times to sel
ect "0200" phase.




7.2.3

The Coordinate Program:


I
f press "
3
" button

in CONFIGURATION list
, it will enter

the COORDINATE p
rogram:



Note:


P
lease
do
be careful to change the coordinate value,
and please do not set
the ooresponding



origin at the limit switch position

where the trigged switch will osillate before they become


stable

.



The scre
en display:


" COORDINATE: "


" 1. X
-
AXIS 2. Y
-
AXIS 3. Z
-
AXIS "




The meanings:




Press "PAUSE" button will quit from the program.




The
COORDINATE

program including

the adjustment of X, Y, Z axis


31


coordinate val
ues
.




How to select axis:


a. Press "1", button will enter the X
-
axis
COORDINATE

adjustment.



The screen display:



" X: 1. COORDIN=> COORDIN 2. COORDIN RST"


" 000000 000000"



The m
eanings:



* Press "PAUSE" button will quit from the program.




*
T
he upper row

of the screen

display
s

the abbrev
iation

of the parameters.




*
T
he lower row
of the screen
display
s

the cooresponding

coordinate.




b
. Pr
ess "
2
", button will enter the
Y
-
axis
COORDINATE

adjustment.



The screen display:



" Y: 1. COORDIN=> COORDIN 2. COORDIN RST"


" 000000 000000"



The meanings:



* Press "PAUSE" button will
quit from the program.




*
T
he upper row

of the screen

display
s

the abbrev
iation

of the parameters.




*
T
he lower row
of the screen
display
s

the cooresponding

coordinate.




c
. Press "
3
", button will enter the
Z
-
axis
COORDINATE

adjustment.



The screen display:



" Z: 1. COORDIN=> COORDIN 2. COORDIN RST"


" 000000 000000"



The meanings:



* Press "PAUSE" button will quit from the program.




*
T
he upper ro
w

of the screen

display
s

the abbrev
iation

of the parameters.



32



*
T
he lower row
of the screen
display
s

the cooresponding

coordinate.




How to adjust the
coordinate value
:


Press "1" button will enter the
coordinate
adjustment progra
m.


Press "2" button will reset the coordinate to origin .



The screen display:



" X: 1. COORDIN=> COORDIN 2. COORDIN RST"


" 000000 000000"



The meanings:



* Press "1" button w
ill enter the
coordinate
adjustment program.



*
A

blinking cursor will show on the screen, press the
selection
number


(1234567890)

to input the

new
value.




* P
ress "
PHASE
" button to change the sign of coordinate value.



*
T
he "
PAUSE
" button act
s

as "shift" key in number selection.



*
P
ress "
START
" button
to

input the new value.



* Notes
:



P
lease
do
be careful to change the coordinate value, the cooresponding

position


of the movements wi
ll change

according to the the new value.




E
xamples:



S
et

the
X
-
axis
coordinate from "+123456" to "
-
654321":



Solution:


a.
P
ress

"1" button to select
X
-

axis coordinate proogram.


b.
P
ress

"PHASE" button to enter minus sign adjustment.


c.
P
ress

"654321" butto
n to enter coordinate adjustment.


d.
P
ress

"
START
" button to input the value.


e.
P
ress

"PAUSE" button to quit from the program.




7.2.4

The Interpolation

Vector Speed Program:


I
f press "
4
" button

in CONFIGURATION list
, it will enter

the

INTERPOLATION


33


VECTOR PULSES PER SECOND MAXIMUM VALUE program:



The screen display:




" INTERPOLATION VECTOR PPS MAX. VALUE "



" INPUT(1000 TO 9999): 2000"



The meanings:




The abbreviation meanings:


PPS :
p
ulses per second.





A

blinking cursor will show on the screen, press the
selection
number


(1234567890)

to input the

new
value.




T
he INTERPOLATION VECTOR SPEED MAX. VALUE
,

default

value =
2
000.




T
he INTERPOLATION VECTOR SPEED MAX. VALUE will change the linear




interpolation movement max
imum

pulses per second.





The Linear Interpolation movement, each operation parameter of axis is restricted by the


m
aximum interpolation vector speed.





Each axis will come to the target point at the same time. The longer the path the faster


the speed.




H
ow to adjust the value:


a.
T
he "
PAUSE
" button act
s

as "shift" key in number select
ion.



b.
P
ress "
START
" button
to

input the new value.




c.
A

blinking cursor will show on the screen, press the
selection
number


(1234567890)

to input the

new
value.



d. If a value smaller than 1000 is selected, then th
e program will




not accept the value, please input a suitable
value

again.



e. If a correct
value

has been selected, the program will back to:



The screen display:



" CONFIGURATE: 1. PTOP PARAMETERS 2. PHASE "


" 3. COORD. 4. INTERPOLATION VECTOR PPS "





34



7.3

The Save Program
:


I
f press "
3
" button

in main program list
, it will enter the SAVE program:




The screen display:



" SAVE RAM
MEMORY TO EEPROM MEMORY"


" INPUT(000 TO 127): 000 "



The meanings:




A

blinking cursor will show on the screen, press the
selection


number (1234567890)

to input the
new

value.




The"SAVE" program will save operation parameteres to the EEPROM.




There are 128 different blocks that could save operation paramet
ers.



T
he "
PAUSE
" button act
s

as "shift" key in number selection.




Press "number (1234567890)" button between 000 to 127.




P
ress "
START
" button
to

input the new value.



If a value larger than 127 is selected, then the controller program will no
t accept


the value, please input a suitable
value

again.




If a correct
value

has been selected, the program will back to:



The screen display:



" PRESS " START " TO START THE SAVE PROG. "


" PRESS " PAUSE " TO QUIT "



The me
anings:


a.

Press "
PAUSE
" button will quit from the program.



b. Press "START" button will actually save the operation parameters

to


the selected block.



c. When the work has been done:



35


The screen display:


" SAVE

RAM MEMORY TO EEPROM MEMORY "


" OK ! "



And the program will back to main list:



The screen display:



" SELECT: 1. OPERATION 2. CONFIGURATION "


" 3. SAVE 4. LOAD 5. RESET 6. UART PC "





7.4

The Load Program
:



I
f

press "
4
" button
in main program list
, it will enter the LOAD program:



The screen display:


" LOAD EEPROM MEMORY FROM RAM MEMORY "


" INPUT(000 TO 127): 000 "



The meanings:




A

blinking cursor will show on the screen, press th
e
selection


number (1234567890)

to input the
new

value.




The"LOAD" program will load operation parameteres from the EEPROM.




There are 128 different blocks that could load operation parameters.




T
he "
PAUSE
" button act
s

as "shift" key
in number selection.




P
ress "
START
" button
to

input the new value.




Press "number (1234567890)" button between 000 to 127.




If a value larger than 127 is selected, then the controller program will not accept


the value, please input a s
uitable
value

again.




If a correct
value

has been selected, the program will back to:



The screen display:



36


" PRESS " START " TO START THE
LOAD

PROG. "


" PRESS " PAUSE " TO QUIT "



The meanings:


a.

Press "
PAUSE
" button
will quit from the program.



b. Press "START" button will actually load the operation parameters from


the selected block.



c. When the work has been done:




The screen display:



" LOAD EEPROM MEMORY FROM RAM MEMORY "




" OK ! "



And the program will back to main list:



The screen display:



" SELECT: 1. OPERATION 2. CONFIGURATION "


" 3. SAVE 4. LOAD 5. RESET 6. UART PC "





7.5

The Reset Program
:



I
f press "
5
" button
in ma
in program list
, it will enter the RESET program
:



The screen display:


" 1. RESET ALL THE PARAMETERS "


" 2. MOVE ALL THE STAGES TO LIMIT "




The meanings:




Press "
PAUSE
" button will quit from the program.




The RESET contains tw
o main programs:



1. Reset all the paremeters.




2. Move the plateform to limit position.





I
f press "1" button

in
RESET

list
, it will enter the RESET ALL THE PARAMETERS


37


program:



The screen display:


" PRESS " START " TO RESET PAR
AMETERS, "



" PRESS " PAUSE " TO QUIT "



The meanings:



a. Press "PAUSE" button will quit from the program.



b.Press

"START" button will actually reset the operation parameters.



c. When the work has been done:



The s
creen display:


" 1. RESET ALL THE PARAMETERS "


" 2. MOVE ALL THE STAGES TO LIMIT "




I
f press "2" button

in
RESET

list
, it will enter the
MOVE ALL THE STAGES TO LIMIT


program:



The screen display:



" LIMIT: X: (F1) Y: ( F2 ) Z: ( F3 ) "


" CW/CCW CW/CCW CW/CCW "




The meanings:



a. Press
"
PAUSE
" button will quit from the program.



b. Press "F1 UP" button will move X
-

axis plateform to one limit by cw.



c. Press "F1 DOWN" button will move X
-

axis plateform to one limit by ccw.



d. Press "F2 UP" button will move Y
-

axis pla
teform to one limit by cw.



e. Press "F2 DOWN" button will move Y
-

axis plateform to one limit by ccw.



f. Press "F3 UP" button will move Z
-

axis plateform to one limit by cw.



g. Press "F3 DOWN" button will move Z
-

axis plateform to one
limit by ccw.




Examples:


Press "F1 UP" button will move X
-

axis plateform to the limit by cw.



38


Solution:



a. When the
plateform
is
moving
:





The screen display:






" LIMIT: X: (F1) Y:


( F2 ) Z:

( F3 )"






"
CWRUN CW/CCW CW/CCW CW/CCW "




b. If press "PAUSE" button

when the plateform is moving
, the controller will stop the


operation:




The screen display:




" LIMIT: X: (F1) Y:


( F2 ) Z:

( F3 )"



" CWSTP CW/CCW C
W/CCW CW/CCW "




c. When the work has been done:




The screen display:




" LIMIT: X: (F1) Y:


( F2 ) Z:

( F3 )"



" CWLIM CW/CCW CW/CCW CW/CCW "




Press "PAUSE" button will quit from the program.





7.6

The
PC

Connec
tion Program
:


Note:

The "
6
" program of the controller
main program
can be set to echo with display and sound


or echo without display and sound. Plesae specify the model when purchasing
.



I
f press "
6
" button
in main program list
, it will enter

th
e
PC TO STEPPING CONTROLLER


Program:



A.
Display type:



The screen display:



" PC TO STEPPING CONTROLLER PROGRAM "


" RECEIVE STRING = "



39


The meanings:



Double press "PAUSE" button will quit from the program.




The PC via RS
-
232
output

control string will show on the lower row of the screen.




The command instruction string must be ended as "$" character.




The
controller
input strings must us
e the ASCII of characteres with big font.




If the input string is correct, the controller program will echo one "beep" sound,

and echo


a "CMDOK" string to PC.




If the input string isn't correct
,

the controller program will echo double "bee
p" sound, and


echo a "CMDER" or "NUMER" string to PC.




ALWAYS PRESS "PAUSE" BUTTON TO STOP THE MACHINE FOR EMERGENCY


CONDITIONS.




The echo
string

from the controller could be the following:



a."CMDOK": the command is correct, and
the
program

will follow the instruction.



b."CMDER": the command is not correct, and the
program

will not follow the instruction.



c."NUMER": the command is correct, but the number is not correct, the
program

will not


follow the instr
uction.




PLEASE REFER TO RS
-
232 INSTRUCTION SETS FOR FURTHER DETAILS




Example
1:


Set the Z
-
axis coordinate to "
-
234890", the input string
must be

"COORZ

234890
$
",



totally 14 characteres

in the string

(big font, including a blank character).



Solution:


a.

If the input string isn't correct
such as "COO
RZ 234890$":




The screen display:




" PC TO STEPPING CONTROLLER PROGRAM "



" RECEIVE STRING =

ERROR"




The meanings:


* The

character

number is wrong,
the controller program will
display error and give



out
do
uble "beep" sound
.


* The controller will send
"CMDER"
string

to PC

via RS
-
232 interface
.


40




b.
If the input string isn't correct
such as "COORZ
-
23489A$"
:





The screen display:




" PC TO STEPPING CONTROLLER PROGRAM "



" RE
CEIVE STRING =

COORZ
-
23489A$"




The meanings:


* The

character

is wrong,
the controller program will
display the input string and give



out
double "beep" sound
.


* The controller will send
"CMDER"
string

to PC

via RS
-
232 in
terface
.





c.

If the input string is correct
such as "COORZ
-
234890$"
:





The screen display:




" PC TO STEPPING CONTROLLER PROGRAM "



" RECEIVE STRING =

COORZ
-
234890$"




The meanings:


* The

input string is corre
ct,
the controller program will
display the input string and give



out one

"beep" sound
. The controller will follow the input command at once.


* The controller will send
"CMD
OK
"
string

to PC

via RS
-
232 interface
.




Example
2:


Save the system parameters to block 99
, the input string
must be

"
SAVEB 099$
",



totally 1
0

characteres
in the string

(big font, including a blank character).



Solution:


a.

If the input string isn't correct
such as "SAVEB 99$":




The sc
reen display:




" PC TO STEPPING CONTROLLER PROGRAM "



" RECEIVE STRING =

ERROR"




The meanings:


* The

character

number is wrong,
the controller program will
display error and give



out
double "beep" sound
.


*

The controller will send
"CMDER"
string

to PC

via RS
-
232 interface
.



b.

If the input string isn't correct
such as "SAVEB 09B$":



The screen display:



41




" PC TO STEPPING CONTROLLER PROGRAM "




" RECEIVE STRING =

SAVEB 09B$"




The meanings:


* The

character

is wrong,
the controller program will
display the input string and give



out
double "beep" sound
.


* The controller will send
"CMDER"
string

to PC

via RS
-
232 interface
.



c.

If the input strin
g isn't correct
such as "SAVEB 990$":



The screen display:





" PC TO STEPPING CONTROLLER PROGRAM "




" RECEIVE STRING =

SAVEB 990$"



The meanings:


* The

character number is out of range and is wrong,
the controller pr
ogram will
display


the input string and give

out
double "beep" sound
.


* The controller will send
"
NUMER
"
string

to PC

via RS
-
232 interface
.



d.
If the input string is correct
such as "SAVEB 099$":



The screen display:





" PC TO STEPPING CONTROLLER PROGRAM "




" RECEIVE STRING =

SAVEB 099$"



The meanings:


* The

input string is correct,
the controller program will
display the input string and give



out one

"beep" sound
. The controller wi
ll follow the input command at once.


* The controller will send
"CMD
OK
"
string

to PC

via RS
-
232 interface
.





B. Without d
isplay type:



The screen display:



"

PC TO STEPPING CONTROLLER PROGRAM
"


"

DOUBLE PRESS PAUSE KEY TO EXIT
"



The meanings:



Double press "PAUSE" button will quit from the program.




The PC via RS
-
232
output

control string will show on the lower row of the screen.


42




The command instruction string must be ended as "$" character.




The
controll
er
input strings must use the ASCII of characteres with big font.




If the input string is correct, the controller program will echo a "CMDOK" string to PC.



If the input string isn't correct the controller program will echo a "CMDER" or "NUMER"



string to PC.




ALWAYS PRESS "PAUSE" BUTTON TO STOP THE MACHINE FOR EMERGENCY


CONDITIONS.




The echo from the controller could be the following:



a."CMDOK": the command is correct, and the controller will follow the instruction.



b."CM
DER": the command is not correct, and the controller will not follow the instruction.



c."NUMER": the command is correct, but the number is not correct, the controller will not


follow the instruction.



PLEASE REFER TO RS
-
232 INSTRU
CTION SETS FOR FURTHER DETAILS




Example
1:


Set the Z
-
axis coordinate to "
-
234890", the input string
must be

"COORZ

234890
$
",



totally 14 characteres (big font, including a blank character).



Solution:


a.

If the input string isn't correct
such as "COORZ 234890$":



The

character

number is wrong,
the controller program will

send
"CMDER"
string

to


PC

via RS
-
232 interface
.




b.
If the input string isn't correct
such as "COORZ
-
23489A$"
:



The

character

is wrong,
the controller program will
se
nd
"CMDER"
string

to PC

via


RS
-
232 interface
.





c.

If the input string is correct
such as "COORZ
-
234890$"
:



The

input string is correct,
the controller program will

follow the input command at once,


and the controller will se
nd
"CMD
OK
"
string

to PC

via RS
-
232 interface
.




Example
2:


Save the system parameters to block 099
, the input string
must be

"
SAVEB 099$
",



totally 1
0

characteres (big font, including a blank character).



43


Solution:


a.

If the input

string isn't correct
such as "SAVEB 99$":


The

character

number is wrong,
the controller program will
send
"CMDER"
string

to


PC

via RS
-
232 interface
.



b.

If the input string isn't correct
such as "SAVEB 09B$":


The

character

i
s wrong,
the controller program will

send
"CMDER"
string

to PC

via


RS
-
232 interface
.



c.

If the input string isn't correct
such as "SAVEB 990$":


The

character number is out of range and is wrong,
the controller program will

send



"
NUMER
"
string

to PC

via RS
-
232 interface
.



d.
If the input string is correct
such as "SAVEB 099$":


The

input string is correct,
the controller program will
follow the input command at once,


the controller will send
"CMD
OK
"
string

to PC

via RS
-
232 interface
.




























44












































45

8

The RS232 Command Instructions