RS-232/RS-485 Schrittmotorensteuerung für 2*Stepper

A product identical in contruction with CAN-Interface is to be found here ( -> RO-CAN-STEPPER2 - CAN stepper motor control for 2 * stepper motors)

RS-232/RS-485-interface

RS-232/RS-485-interface connection (galvanic isolated)

By using a 9 pin D-SUB connector the module will be connected to the PC or any other device using a serial interface.The module interface is galvanic isolated from connected devices by using an optocoupler.

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.

Configuration of the RS-232/RS-485 Module

A brand new serial module is delivered in RS-232 mode. To change this mode to RS-485, you just have to open the case and place some jumper. Detailed information can be found in the manual RO-Serie

RS-232/RS-485 parameter configuration

All serial parameter can be configured by a few DIP switches. Such as baudrate, module address, special-mode and other interface specifications. The special-mode allows you to set the module on constant values. This may be useful for a quick start-up and defect analysis.

RS-232 / RS-485-Interface
Power Supply	7V bis 24V DC (über zweipolige steckbare Schraubklemme)
Interface	RS-232/RS-485 (galvanic isolated using optocoupler) Connection by 9 pin. D-SUB socket One LED for each 3,3V and 5V Voltage feed Baud rate: 1,25 MBit - 300 Bit
Control-LED	RS-232/RS-485 -activity ERROR Input state change (only for digital outputs) Timeout (only for outputs) I/O Module access

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

Funktionsweise des Produktes

Controlling of our RS-232/RS-485 modules

Our RS-232/RS-485 modules can be controlled by two different ways.

1. The Windows driver library DELIB

The DELIB driver library allows a direct communication of our modules. You don't have to worry about the Handshake and the serial protocoll. The DELIB DLL assumes it for you!

2. You may program the controlling software by yourself

In our download area you can find a conform protocol. So our serial modules can be connected to small Linux computers or workstations for engineering, with RS-232/RS485 Interface.

Controlling by the DELIB driver library under Windows

The extensive but easy handling library is written for computer language, which responds to DLL's. Programming examples in source code for C, Delphi or Visual Basic can be found in our download area.

Examples for responsing our products with "C"

In the following example we show you in "C", how to access to our input modules in short time.

1. Step: Open the module

handle = DapiOpenModule(RO-SER,0); // Open serial module

2. Step: Reading of 16 digital inputs

data = DapiDIGet16(handle, 0); // Read the first 16 digital inputs

3. Step: Close the module

DapiCloseModule(handle); // Close the module

The function "DapiOpenModule" is used to open a special kind of module. Which module should be openend, is defined by the two parameters. The first parameter is for the "module ID". By the integrated "DELIB.H", you can also set this parameter to "RO-SER". So the driver library recognize, that a serial interface will be driven.

The second parameter assigns the module number. If only one module is connected to the pc, the module number is "0". Are there more than one module in the network, you have to set the correct number. The link to the according IP-address of the module can be configured by the "DELIB-Configuration Utility".

Testprogram with examples for digital inputs

Digital Input/Output Sample Testprogramm für Module

Digital Input/Output Sample Testprogramm für Module

Click to enlarge

With this program you can test our modules very easily. The digital input/output sample testprogram is easy to use and supports all of our measurement modules. The example above shows the test of a RO-USB-O32 input module.

Controlling by the open source ethernet protocol

If required, you can program your own controlling software. The according communication protocol is disclosed. The modules will be controlled by register. Therefore we designed an open source communication protocol, which allows to respond to the modules and excecute read/write commands. The manual "Serial Protocol" describes transmission and receiving frames, to communicate with our serial modules.

Overview about available DELIB-Functions

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