PD-109

High power stepper motor motion system You will need • • • • • Your PD-109 stepper motor controller and driver module Interface (RS232 or RS485) with cables and maybe converter supplied. Step / Direction generator (+5V /0V output) DC Power supply in the range 24V to 48V TMCL-IDE program, PC • • • • • Precautions V1.01, 24-October-2007 Do not reverse the power supply polarity – module could be destroyed! Do not connect or disconnect the motor while powered Do not mix up connections or short-circuit pins Avoid bundling IO wires with motor power wires, as this may cause noise pickup from the motor. Do not exceed the maximum power supply of 55V. Starting up: 1. Start with power supply OFF. Step / Direction Generator Dir GND rotating direction +5V 0V +5V 0V Decelleration 2. 3. 4. 5. 6. Interfaces: Either use RS232 directly from PC or RS485 with a converter (add termination network and set telegram pause time if necessary). See the figure on the right for pinning. Tie IF_select to GND to use RS485, leave open for RS232. Connect power supply to TMCM-109 Turn power ON. The LED of the module lights and the motor is powered (standby current flows) but in standstill. If this does not occur switch power OFF and check your connections and power supply. Start the TMCL IDE program (see other side of the sheet how to configure the connection and use the IDE). Type following into the open window: //A simple example for using TMCL and the TMCL-IDE SAP 4, 0, 100 //Set the maximum speed Loop: MVP ABS, 0, 15000 //Move to position 15000 WAIT POS, 0, 0 WAIT TICKS, 0, 200 MVP ABS, 0, 0 //Move back to position 0 WAIT POS, 0, 0 WAIT TICKS, 0, 100 JA Loop //Infinite Loop Step GND GND constant velocity 6 1 RS232 to RS485 -+ Power Supply 12..30V + 3 7. 8. 9. Click the “Assemble” icon, then click the “Download” icon to download the code to the TMCM-110. Click the “Run” icon. The downloaded program will now be executed Click stop button and start “TMCL Direct Mode” to issue following commands: • ROR rotate right, Motor 0, value 500 Click Execute The motor is rotating now. • MST motor stop, Motor 0 Click Execute Connect a step / direction generator and try different velocities and directions. Note that some TMCL parameters influence this operation like microstep resolution. null modem cable First steps are made. For other commands of the PD-109 refer to next page and the PD-109 Manual. Wiring note: The PD-109 has screw terminal connectors only. These allow very easy connection of all in- and outputs. RS232 (Jack) 5 32 Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG GND +5V StopL StopR GPI GPO RXD TXD IF_select GND GPO Shutdown Step In Dir In OC_GND RS485RS485+ RS485RS485+ GND GND +VM 2 1 www.trinamic.com TMCL IDE: 1. Make sure the COM port you intend to use is not blocked by an other program. 2. Open TMCL IDE (available at TechLibCD and www.trinamic.com) by clicking TMCL.exe. 5. Write a program code into the white field and save it with File/Save. Download Stop Assemble Run 3. Choose Setup and Options… and then the connection tab. 4. Choose COM port and type in parameters shown above (baudrate 9600). Click OK. 6. Click “Assemble” first, then “Download” and “Run” button to start the program. "Direct Mode" 7. Stop all running programs by clicking “Stop button” and start “Direct Mode”. 8. If communication is established the PD-109 is automatically detected. Issue a command by choosing Instruction, Type, Motor, Value and press Execute to send it to the PD-109. Following commands can be included into a program or used in “Direct Mode”. There are motion (ROR, ROL, MST, MVP) and SAP (Set Axis Parameter) commands to set motion and control parameters. GAP delivers their actual value. Instr. Type Value Description ROR (don´t care) 0..2047 Rotate right ROR , ROL (don´t care) 0..2047 Rotate left ROL , MST (don´t care) Motor stop MST , MVP ABS|REL|COORD 23 bit Move to pos. MVP , , SAP 2 23 bit Actual pos. 4 0..2047 Max speed 5 0..2047 Max accell. 6 0..1500 Max current 7 0..1500 Standby curr. 140 0..6 Microstep res. SAP ,, Sets motion and control parameters GAP , GAP Gives actual values of SAP parameters For full instruction set and further description refer to TMCL-Reference at TechLibCD or www.trinamic.com. Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG Commands: Troubleshooting: If communication is not established: • Check if the LED of the PD-109 lights. If not check your power supply. • Try to start “Direct Mode” and see if the PD-109 is detected automatically. If not close window. • Check if you are using the right COM port and it is not used by another program. • Check your connection settings, default: 9600 baud and address 1. • Check your interface connection to PD-109. • Termination and telegram pause time OK ? • Refer to PD-109 manual or Trinamic discussion group. If motor does not respond: • Usually it is a problem with the communication described above. • If you are using a TMCL program try a movement command in “Direct Mode” to see if there is a problem with your program. • Check the motor connection. And power LED of the module. • Restore factory settings to cancel all settings modified by user by issuing instruction 137. www.trinamic.com