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V9141
Introduction
The control board is a self-contained, single axis, stepping motor
controller and drivecard, housed on a standard eurocard PCB.
It receives instructions via the RS-232 link (J10). A second channel (J9)
is used for daisy chaining.
There are manual control options using an analogue joystick and/or
digital potentiometer.
The user can specify one of 64 different "electronic gears". These
correspond to microstep/step ratios in the range 4-256 and differing
current decay characteristics. When used with a 1.8 degree step angle
motor, one can choose gears in the range 200-12800 steps per rev. The
maximum step frequency using the on-board driver frequency is 60kHz.
The board incorporates hardwired limit switch inputs.
The user may program the current (ie: torque) of the motor.
There are 4 optocoupled inputs and 4 optocoupled outputs.
Provision is made for a high current extender card where larger motors
are required or for use with an external drive.
Setup parameters may be stored in an EEROM.
Interconnections
Hard Wired Connections
The hard wired connections such as motor current, power inputs, limit
switches, inputs and outputs etc, are made via a standard
DIN41612AC edge connector.
DIN41612AC edge connector pin out
Motor winding 1 phase A
Motor winding 1 phase B
Motor winding 2 phase A
Motor winding 2 phase B
Motor power supply 40V*
Motor power supply 0V
No connection
Logic power supply 5V
Isolated Vp for inputs **
Limit input LP0
Limit voltage VLP0
Limit input LM0
Logic power supply 0V
Output OP2
Output OM2
Input IP2
Input voltage VP2
Input IM2
Output OP0
Output OM0
Input IP0
Input voltage VP0
Input IM0
Motor clock output (TTL)
Hand encoder input A
Additional 0V
Notes: * 40V maximum for motor power supply
** used only if total isolation is required, for convenience this
can be linked to your 5V rail.
4
RS Stock No.
C1 o o A1
C2 o---
o
A2
C3 o o A3
C4 o---
o
A4
C5 o o A5
C6 o---
o
A6
C7 o o A7
C8 o---
o
A8
C9 o o A9
C10 o---
o
A10
C11 o o A11
C12 o---
o
A12
C13 o
o A13
No connection
C14 o---
o
A14
C15 o
o A15
Joystick input (0-5V)
C16 o
o A16
Limit input LP1
C17 o
o A17
Limit voltage VLP1
C18 o
o A18
Limit input LM1
C19 o---
o
A19
C20 o o A20
Output OP3
C21 o o A21
Output OM3
C22 o o A22
Input IP3
C23 o o A23
Input voltage VP3
C24 o o A24
Input IP3
C25 o o A25
Output OP1
C26 o o A26
Output OM1
C27 o o A27
Input IP1
C28 o o A28
Input voltage VP1
C29 o o A29
Input IP1
C30 o o A30
Direction output (TTL)
C31 o o A31
Hand encoder input B
C32 o o A32
RS-232 Connections
The control board connects to the host computer via the RS-232
channel J10. The pin connections are as follows:-
718-846
Pin No.
1
2
3
4
5
6
Note 1. The control board will work quite normally should no
handshaking be implemented. However, this may not be true
for your host computer, therefore, take care with the wiring up
of DSR, RTS and CTS on your host.
Note 2. The control board responds to each command you send,
therefore, it is important to read these responses.
Manual Control
In addition to software commands for the control board, there is also a
manual control mode which will allow motion via a joystick or a hand
encoder, see commands L1 and L0.
Joystick control is invoked by connecting the joystick analogue voltage,
which must be between 0 and 5V, to the edge connector input A15.
Then when you enter manual mode from the host, control is passed to
the joystick.
Hand encoder motion is similarly invoked by connecting the two
quadrature pulse A and B of a hand encoder or digital potentiometer, to
pins C31 and A31 on the edge connector, and entering manual mode
from the host.
Limit Switch Inputs
The limit switch inputs can be configured in a variety of ways, the basic
limits signals are L1 (positive limit) and L0 (negative limit). They operate
through an opto-isolator for safety reasons. The main signals are
subdivided as:-
LP1
opto-isolator anode for L1
VLP1
voltage for opto-isolator (can be logic 5V)
LM1
opto-isolator cathode for L1
LP0
opto-isolator anode for L0
VLP
0 voltage for opto-isolator (can be logic 5V)
LM0
opto-isolator cathode for L0
Basic Configuration (MAKE-TO-STOP) (Figure 3)
This is the most basic and simplest limit switch configuration. It is used
for most applications but the user should be aware of the drawbacks.
1. This is a make-to-stop circuit which means that if there is a break
somewhere, a poor joint or connection, the motor will pass by the
limit switch and not stop.
2. Connecting VP and LM1 to the logic's power supply means that if the
limit switch is placed in a high voltage or electrically noisy area, there
is no protection for the sensitive electronics from HV spikes.
An isolated power supply for VP, LM1 and LM0 will remove the risk of
the damage outlined in point 2.
Alternative Configuration (BREAK-TO-STOP) (Figure 4)
This circuit removes the risks outlined in point 1 but not those of point
2. Furthermore, it does not cater for the condition of a damaged opto-
isolator.
Function
Transmit data (from control board)
Receive data (to control board)
Ready to send (from control board)
Clear to send (to control board)
Data terminal ready (from control board)
Ground
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