RS V9141 Manual De Instrucciones página 6

V9141
M n Move n steps with acceleration (n<2000000000).
MA n Move to position n with acceleration.
MC n Move n steps at constant speed (see command C).
MCA n Move to position n at constant speed.
MCL n Move to limit in direction n at constant speed where
(n= -1,0,1).
ML n Move to limit in direction n with acceleration.
N n If n=1 add a newline (LF) (Hex 0A) to the normal line
terminator of carriage return (Hex 0D)."n=0" is the default of
no newline.
Do not attempt to set n 1 on any card other than the first
card as this would result in incorrect communications
between the cards.
O n Output 4-bit value to optocouplers (0<=n<=15).
P Basesps maxsps accel_spss [decel_spss].
Set base speed, maximum speed and acceleration for
accelerated motion. When it is specified the deceleration may
be different to acceleration.
Q Write the current parameter settings to EEROM
R n Set the number of steps/revolution.
RL Read the limit switch status: returns -1, 0 or 1.
RS Read steps still left in current move.
S Emergency stop with no deceleration.
T n Delay move till input #n goes high. If n is omitted then moves
occur as soon as they are requested.
W Report the current position as a number of steps.
Special Commands
? Returns information on the current parameters of the card.
The units of motion commands are steps, steps/sec and
steps/sec/sec.
All commands return a single line response (which may be
null), followed by a prompt of #\r if the command was valid or
E\r in the case of error.
The user's program must wait until it has received the
prompt before issuing the new command.
If n=1 (add newline) then \r above is expanded to \r\n
ie: carriage return (Hex 0D) followed by linefeed (Hex 0A).
Further error processing commands:
EL Get length of the error message (no terminator).
EM Returns the error message.
EN Returns the error number.
EC Toggles the echoing of the command input and is intended for
initial debugging of communications with a single card. It
must not be issued to the slave cards in daisy chained
systems as intercard communication would fail.
Important Notes:
1. F command forces the default values shown unless you have a
special default table of your own.
2. RL command ALWAYS stops the motors. Use the _A command to
see motor status, then RL when A = 0.
3. Q will only work if non-volatile memory is fitted.
6
Gear Ratio, Command R
The eprom allows 16 gear ratios with different current decay
characteristics.
Command µsteps Steps/Rev
/step 1.8 motor
R0 256
R1 250
R2 200
R3 160
R4 144
R5 100
R6 80
R7 72
R8 60
R9 50
R10 40
R11 36
R12 30
R13 20
R14 8
R15 4
These gears have a SLOW current decay which gives less ripple and
less switching noise.
This pattern is repeated 4 times with progressively faster current decay.
FAST current decay may work better at high speeds.
R0 ->R15 slow current decay
R16->R31
R32->R47
R48->R63 fast current decay
Note: After changing gears the position will be indeterminated to one
step.
Daisy Chaining
To daisy chain simply connect J9 of your first control board to J10 of
your second. Any command with the prefix 2 will now be passed to the
second control board.
In fact N control board cards may be linked or daisy chained to form an
N axis system.
A command prefixed with a number >1 is sent to the nth card in the
system ie:
2W Report the position of 2nd card.
2M 10000 Move 10000 steps on the second card.
This syntax should not be used if no 2nd card is fitted as the
system would lock up waiting for a response from a non-existent card.
Required Interconnections
Control Board #1
J10 pin no.
1
2
3
4
5
6
Technical Specification
Motor d.c. ________________________________________40V max
Logic d.c. ____________________________________________5V
General input ________________Four opto-isolated inputs 5->15V.
General output ________________Four opto-isolated outputs 10mA.
Limits ________________________Opto-isolated active high or low.
Motor current __________________________Up to 600mA/phase,
4-256 usteps/step __________(200-12800 steps/rev with 1.8 motor),
RS-232 ______________9600/4800/2400/1200/600/300/19200 baud
RS Components shall not be liable for any liability or loss of any nature (howsoever
caused and whether or not due to RS Components' negligence) which may result
from the use of any information provided in RS technical literature.
Steps/Rev Remarks
7.5 motor
12800 3072 Finest division
12500 3000
10000 2400
8000 1920
7200 1728
5000 1200
4000 960
3600 864
3000 720
2500 600
2000 480
1800 432
1500 360
1000 240
400 96 Half step mode
200 48 Full step mode
Control Board #2
J9 pin no.
2
1
4
3
Not connected
6
63Hz->60kHz.
8/7 data bits 1/2 stop bit,
on/off parity odd/even parity (if on)
XON-XOFF handshaking