A product identical in contruction with USB interface may be found here ( -> RO-USB-STEPPER2 - USB stepping motor control for 2 * stepper)

CAN-Interface

Transfer rate

The CAN-bus may have a length of up to 10 km! The selectable transfer rates are 1 Mbit/s, 500 Kbit/s, 250 Kbit/s, 125 Kbit/s, 100 Kbit/s, 50 Kbit/s, 20 Kbit/s or 10 Kbit/s. The transfer rate is configurable by software or by DIP-switches.

CAN-Interface connection (galvanically isolated)

The CAN-interface connection is realized by a 9 pin D-SUB socket connector. The galvanically isolated CAN interface ensures a protection against connected CAN devices by using optocouplers.

CAN-Addressing

The CAN-interface is configurable in three different ways.

Special mode

The usage of this mode is to set the CAN-interface quickly to default values. This is helpfull for a quick and easy setup and facilitates an error analysis or an initial operation.

Software mode

The software mode is to fully setup the module using an included software. It is possible to set up:

• Transfer rate
• CAN 2.0A (11 bit-addressing, "base frame format") oder CAN 2.0B (29 bit-addressing, "extended frame format ")
• CAN-interface address
• Response-Modul-Address (responses are sent to this address)

DIP-switch mode

The DIP-switch mode is to manually configure the CAN-interface using DIP-switches. The DIP-switch configuration may be read out using the DELIB-Configuration Utility. A configuration-check is therefore easy and simple.

Connector

Easy to maintain connector system

The plug and socket consist of a multipoint socket connector and a multipin connector with a throw-off lever. Plug-in and plug-out is easy as well as rewiring the terminal strip. The wire connection itself is realized with a screwless connector system. A tool is included with each module.

Stepper motor control for 2 steppers

Many configurable parameters

• Start frequency [Hz]
• Stop frequency [Hz]
• Maximum stepping frequency [Hz]
• Step frequency for GoPosition [Hz]
• Step frequency for GoReferenz [Hz]
• Acceleration slope [Hz/10ms]
• Deceleration slope [Hz/10ms]
• Phase current 0..1,5A [1mA]
• Hold current 0..1,5A [1mA]
• Hold time 0..unlimited [ms]
• Status_LED Funktion
• Step mode (full-, half-, quarter-, eighth - or sixteenth step)
• Mode of the end switch (stop with/without deceleration slope)

Multiple axis control

By interconnecting up to 4 stepping motor-interfaces, it is possible to realize a multiple axis control (positioning control) with up to 8 axis. The generation of the motor frequency is effected by a singular source, assuring a synchronized speed of the motors. Each axis can be removed from the multiple axis configuration or reconfigured and thus running independently (this option is planned for 1st quarter 2010).

Description of each parameter

Start frequency

When start-up driving the motor from standstill, the motor is immediately operated at start frequency.

Stop frequency

If stopping the motor, the motor is decelerated to the stop frequency and then directly stopped.

Acceleration slope

If the motor's frequency setpoint is above the actual motor frequency, then the motor frequency is raised every 10ms until the speed setpoint is reached.

Deceleration slope

If the motor's setpoint frequency is below the actual motor's frequency, then the motor frequency is reduced every 10 ms until the speed setpoint is reached.

Maximum stepping frequency

The actual motor frequency may be raised up to the maximum stepping frequency. The stepping motor won't be operated at higher frequencies.

Phase current

The PWM-controlled motor winding is connected to the supply voltage. The pulse width is thereby regulated in a manner to reach the adjusted phase current. The phase current can reach up to 1,5 A and is adjustable in resolution steps of 1 mA.

Hold phase current

When the motor comes to rest, the phase current is reduced to the hold phase current. This avoids overheating the motor. The hold phase current can reach up to 1,5 A and is adjustable in resolution steps of 1 mA.

Hold time for phase current

If the motor comes to rest, the hold time for phase current stays active for an adjusted hold time. After that time, the motor current is switched off. This avoids overheating the motor. Setting the hold time to its maximum value results in deactivating the current switch off.

Mode end switch

Closing any end switch results in an immediate motor stop (optionally with or without deceleration slope). From there on, operating the motor can only be moved in the inverse direction until the end switch is released. The motor won't move, if both end switches are closed.

Example of an alignment of end switches:
End switch1 actual stepper position end switch2
------> positive direction

The end switch 1 is on the left side, while the end switch 2 is on the right side. The actual position is in the middle. If driving in positive direction, the stepper position moves towards the end switch 2.
It is only possible to drive in the negative direction (towards end switch 1), if end switch 2 closes. Similar for the end switch 1.

Reference switch

The reference switch is to drive to a reference position. The reference switch can also be electrically connected to an end switch. Using the command GoToRef, the stepper will be driven to this position. With the command, the direction may be choosen to which the motor will begin to move. If the reference switch closes, the stepper will be slowly moved out of the reference switch and then be stopped. After that, the stepper will do an offset move. This is to avoid having the stepper at a switching threshold of the reference switch and do a continous toggle of the reference switch state. This is now the reference position. In dependency of the clearposition parameter, the postion is now set to 0 or remains unchanged. The reference move is secured by a timout. If the reference position is not reached during the timeout, then the movement is stopped. The command is only executed, if the motor is enabled and doesn't move.

Example of the alignment of the end switch and reference switch
End1 ref1 actual stepper position Ref2 End2
------> positive direction

Move to reference switch 1:
In this example, the reference switch 1 is to be reached within 20 seconds at 3000 Hz (in mode full step), thus driving in negative direction. After reaching the right edge of the reference (the reference switch is just opening), the stepper must drive 160 microsteps (referred to 1/16 microsteps) in the positie direction. After that the actual postion is to be set to 0.

Activity_LED function

The Activity_LED has a fixed function. While receiving a command, the Activity_LED illuminates. 10 ms after finishing the execution of the command, the illumination stops.

Status_LED functions

The Status_LED may have different functions:

• Stand still display: The Status_LED illuminates if the stepper stands still
• Movement display: The Status_LED illuminates if the stepper moves
• End switch1: The Status_LED illuminates if the end switch1 is closed
• End switch2: The Status_LED illuminates if the end switch2 is closed
• Reference switch1: The Status_LED illuminates if the Reference switch1 is closed
• Reference switch2: The Status_LED illuminates if the Reference switch2 is closed
• End position: The Status_LED illuminates if arriving to the end switch
• Stepper command is in execution
• Stepper power supply is to low

Stepper position

The stepper position as SDWORD (32 bit) is always specified in 1/16 microsteps. In dependency of the step mode, the lower bits of the stepper position will be ignored.

CAN-Addressing

The CAN-interface is configurable in three different ways. These are the Special-mode, the Softwaremode and the DIP switch mode.

Special mode

The usage of this mode is, to set the CAN-interface quickly and easily to default values. This is helpful for a quick and easy setup and facilitates an error analysis or an initial operation.

Software mode

The software mode is to fully setup the module, using an included software. It is possible to set up:

• Transfer rate
• CAN 2.0A (11 bit-addressing, "base frame format") oder CAN 2.0B (29 bit-addressing, "extended frame format ")
• CAN-interface address
• Response-Modul-Address (responses are sent to this address)

Software to configure the CAN-interface

Software to configure the CAN-interface

Click to enlarge

With this software, it is not only possible to store or load the stored configuration values, but also to see the actual set up values of the module. An error analysis is thus greatly facilitated.

DIP-switch mode

The DIP-switch mode is to manually configure the CAN-interface by using DIP-switches. The DIP-switch configuration may be read out, using the DELIB-Configuration Utility. A configuration-check is therefore easy and simple.

CAN-Interface Power Supply 7V to 24V DC (by a double-pole pluggable screw clamp) Interface CAN (galvanically isolated using optocoupler) 9 pin D-SUB socket connector CAN 2.0A or CAN 2.0B Transfer rate: 1 Mbit/s, 500 Kbit/s, 250 Kbit/s, 125 Kbit/s, 100 Kbit/s, 50 Kbit/s, 20 Kbit/s or 10 Kbit/s One LED for each 3,3V and 5V voltage feed Control-LED CAN activity ERROR Change of state (only for digital inputs) Timeout shutdown (only for outputs) Access to I/O module Stepper-Motor-Module Interface Microstepper motor control for 2 phase bipolar stepper motors Overtemperature switch off Phase current limitation PWM-controlled phase current adjustment Pinout 10 pin connector(each motor) Motor suply voltage (12-40V) GND Phase1 plus Phase1 minus Phase2 plus Phase2 minus End switch 1 End switch 2 Reference switch 1 Reference switch 2 Inputs 2 End switches 2 Reference switches Outputs Phase current: 1,5A, Phase current digitally adjustable up to 1,5A in 1 mA resolution, that way low power motors are also operatable Stepping mode: full, half, 1/4, 1/8 or 1/16 General Operating temperature +10°C...+50°C

Controlling of the CAN modules

Accessing to the RO-CAN modules over the CAN- interface happens by the following ways.

Automatic Sending Mode

The modules are able to send CAN packets automatically in a definded time interval. The time interval can reach from millisecond to second. The following picture shows a packet, which will be sent to the CAN-address 1234.

Automatic Receiving Mode

An automatic receiving on four different CAN-addresses can be configured individually. Also you can define, if the received CAN datas should be given out to relays or D/A converters. The following picture shows a packet, whose datas are sent to the CAN address 543.

A timeout protection switches the relays or D/A outputs, in failure, automatically of.

Also the user can activate a timeout protection. If the RO-CAN module cannot receive any CAN packets after a defined time interval, the module disables all outputs and set the D/A outputs to 0V.

DEDITEC CAN Addressingmode

A special CAN protocol, which have been developed by us, allows registry control to all functions of our modules. So are BYTE-, WORD- and LONG- accesses possible. A registry- and protocol description can be found in our download area.

Configuration by a graphic Windows configuration software

All CAN-addresses, CAN-speed and packet options can be set up from the user, over a special Configuration Utility for the RO-CAN serie. The configuration works over a free serial interface of a PC. Predefined CAN-addresses and several modes are adjustable by DIP switches.

Software-updates and start-up of the RO-CAN modules

Further to the delivered Windows driver library, the RO-CAN modules can be tested and updated with newer firmware. Over graphical testprograms, the modules can be tested and configured (without using the CAN-interface). So you can do test measurements and check the electrical wirings. Are all settings configured, the module can be connected to the CAN-interface.

CAN Configuration Utility - RX

CAN Configuration Utility - RX

Click to enlarge

CAN Configuration Utility - TX

CAN Configuration Utility - TX

Click to enlarge

Plug connection

Screwless plug connectors

All input and output connectors have a practical, screwless terminal block. An mechanic ejection guarantees a very quick module change without any special tools. Wire connection happens with screwdriver or an included plastic pin. (s. pic.1)

Pic1:

Connection example of a RO-Module

		RO-MODULE
		Step 1: Push the plastic tool into the small notch at the side of the terminal block, to open the clamp contacts for the wire connection.
		Step 2: When you are looking into the wire hole, you can see, that the clamp contacts have been opened. The end of the wire should be bared 5-7mm. Now put it as deep as possible into the opened hole.
		Step 3: After that, pull the plastic tool out of the notch. The clamp is closed again now.
		Step 4: After correct connecting, pull out the wiring by hand isn't no more possible

Manuals

Datasheets

Driver / Programs

Downloads

Demo-Software