CENTENT CN0170 Manuel utilisateur

HARDWARE MANUAL

CN0170

TWO AXIS

MOTION CONTROLLER

3879 SOUTH MAIN STREET 714-979-6491

SANTAANA, CALIFORNIA 92707-5710 U.S.A.

0 M P A N Y

This manual contains information for installing and operating the

following Centent Company product:

•CN0170 Motion Controller

Centent and the Centent Company logo are trademarks of Centent

Company. Other trademarks, tradenames, and service marks owned

or registered by any other company and used in this manual are the

property of their respective companies.

3879 South Main Street

Santa Ana, CA 97207

CENTENT MOTION CONTROLLER

CONTENTS

Connectors ......................................................................................... 1

X-Axis, Y-Axis Connector.................................................................... 2

Step Output..................................................................................... 2

Dir Output ....................................................................................... 4

ISet Output...................................................................................... 5

+5VDC ............................................................................................ 6

Gnd................................................................................................. 6

Connecting Centent Step Motor Drives............................................ 6

CN0142, CN0143, CN0152, CN0153.......................................... 6

CN0162 ....................................................................................... 7

CN0165 ....................................................................................... 8

CN0182 ....................................................................................... 8

Control Connector .............................................................................. 9

Outputs........................................................................................... 9

STB Output.................................................................................. 9

SPD Output................................................................................ 11

Run Output................................................................................ 12

Out 1,2 ...................................................................................... 12

Inputs, Digital ............................................................................... 12

Hme Input.................................................................................. 13

Flt Input ..................................................................................... 15

Bsy Input................................................................................... 15

In 1,2 ......................................................................................... 15

Inputs, Analog............................................................................... 16

Alg X,Y ...................................................................................... 17

Alg 1,2....................................................................................... 17

Power Supply................................................................................ 17

+VDC ......................................................................................... 17

Ground ...................................................................................... 18

+5VDC ....................................................................................... 18

Auxiliary Input/Output Connector.................................................... 18

Serial Connector............................................................................... 19

Serial Cable .................................................................................. 20

Daisy-chain configuration ............................................................. 20

D9 Host connections ..................................................................... 20

Battery Replacement........................................................................ 20

Connector Pin-Assignments

Motor Connector............................................................................ 22

Serial Connector ........................................................................... 22

Control Connector ......................................................................... 22

CONNECTORS:

CN0170 HARDWARE MANUAL

All inputs, outputs and power supply connections pass through four "D"

type connectors located on the top edge of the CN0170. These connectors

are arranged according to function, consisting of two motor drive

connectors, a serial interface connector and a machine control/power

supply connector. Centent Company can provide an optional serial

interface cable to connect the CN0170 to an IBM compatible personal

computer. The customer must supply the mating socket connectors and

cables for motor and control connections, and serial connections if more

than one CN0170 is "daisy-chained" together. The connector locations are

shown in Figure 1.

Figure 1

X-AXIS, Y-AXIS CONNECTOR:

The motor drive connectors are D9 plug connectors labeled "X-AXIS" and

"Y-AXIS". They form the interface between the CN0170 and the motor

drives. The output signals from the axis connectors are STEP, DIR and

ISET. IRET is the ground reference and is required only if ISET is used.

STEP: (pin 4)

The STEP output connects to the step motor drive's STEP or PULSE input.

The output is 5 volts for a logical '1' and zero volts for a logical '0'. The

output can sink a maximum current of 50 milliamps at a logical '0' state.

The output is TTL and 5V CMOS compatible. In most instances it is also

directly compatible with opto-isolated step motor drive inputs. The STEP

pulse rate is user selectable to x1, x2, x10 and x125 of the CN0170's

programmed full-step rate. This maintains the same programmed motor

shaft speed when using full-step, half-step, 10 microstep and 125

microstep drives respectively. Drives with other resolutions may be used,

however the motor parameters must be reprogrammed accordingly. The

CENTENT MOTION CONTROLLER

STEP output circuit is shown in Figure 2. The Motor Drive Option jumper

block is used to select the appropriate step rate resolution. Each axis has

its own 4-position jumper block.

The CN0170's cover must be removed to

access these option jumper blocks. To

accomplish this, remove the four screws

located on the bottom of the control,

then lift the cover up at the LED

Indicator side. Figure 2,

Step Resolution Jumper

See Figure 3 for jumper block location.

Normally the step rate resolution should match the step motor drive being

used. This means the motor's rate of acceleration, speed and steps moved

matches the programmed values. However, it is permissible to intentionally

mismatch the step rate resolution with the drive in order to extend the

operating range of the CN0170.

C14 C15

"AAA"

(1.5V) "AAA"

(1.5V)

X-AXIS DRIVE OPTION BLOCK Y-AXIS DRIVE OPTION BLOCK

FULL STEP

HALF STEP

10 uSTEP

125 uSTEP

Figure 3, Step Resolution Jumper Block location

To set the step rate resolution, remove the shorting bar from the jumper

block and replace it as shown in Figure 3. Do not jumper the pins in any

other manner except as shown. Do not operate without a jumper, as no

output on STEP will occur.

The axis jumper blocks may be set to the same or different step rate

resolutions. For instance, the X-AXIS may be set to 125 microsteps while

the Y-AXIS is set to the full-step resolution.

CN0170 HARDWARE MANUAL

The STEP output pulse timing is shown in Figure 4.

Figure 4

The CN0170 uses a step rate generator circuit to generate a frequency

proportional to a 16-bit command. Consequently, all 65,536 possible

speeds are evenly distributed over the speed range. An incremental change

in speed command word produces the same speed change on either ends

of the speed range.

FULL-STEP HALF-STEP

10 μSTEP 125 μSTEP

MAX STEP (KHz) 16.38375 32.7675 163.8375 2047.9688

MIN STEP (Hz) 0.25 0.50 2.50 31.25

DUTY CYCLE (T2/T1) 0.50 0.20 0.20 0.50

MIN ACCEL. (Hz/SEC.) 64 128 640 8000

TOTAL STEPS (MEG) 4.194304 8.388608 41.94304 524.288

The step rate generator circuit is digital and uses a 4.096 MHz crystal

oscillator reference from which all step rates are derived. For those step

rates that are not exact integer dividends of the reference oscillator, the

step pulses will not be evenly distributed although the step rate will be

exact. This uneven pulse distribution, or phase jitter, is limited to less than

244 nano-seconds from optimum step pulse placement.

The rate at which speed changes can be made is 256 times a second.

During acceleration or deceleration, the relationship between speed and

time is a staircase function rather than a continuous or monotonic

function. This means speed changes are made at the beginning of each

1/256 of a second and then speed remains constant for the remainder of

the period; approximately 0.0039 seconds (1/256 sec.).

DIR: (pin 5)

The DIR output connects to the step

motor drive's direction input. This output

provides a 5 volt output logical '1' that the

drive interprets as a counter-clockwise

command. A zero volt output constitutes a

logical '0' and represents a clockwise

command. The "CW/CCW" indicator LED

(light emitting diode) lights for a clockwise

direction.

Figure 5, DIR output

CENTENT MOTION CONTROLLER

The step motor drive should run the motor in the direction indicated by the

"CW/CCW" indicator LED. If the direction is the opposite of this, it can be

reversed by switching the step motor's phase leads.

The DIR output can sink 50 milliamps when in the logical '0' state. It is

compatible with TTL and 5 volt CMOS logic. It is also directly compatible

with opto-isolated step motor drive inputs. The DIR output driver is shown

in Figure 5.

ISET: (pin 2)

The ISET output, in conjunction with the IRET (pin 1), is used as an option

to set the step motor current to a lower, stand-by level while the motor is

at rest. This is possible only if the step motor drive has provisions for a

current set input. In many applications the torque required from the motor

is substantially less when the motor is stationary. By reducing the motor

current during idle, a dramatic decrease in motor and drive heating can be

achieved.

The CN0170 waits a programmed period after a motor has stopped to

activate the ISET output. If the motor is commanded to move before this

time delay elapses, the timer is reset and the ISET output does not

activate.

When the ISET output is active, the

"STANDBY PWR" indicator LED lights. The

ISET output and "STANDBY PWR"

indicator turn off 4 milliseconds before

step pulses are sent to the drive. This

delay permits the motor current to rise to

its normal operating level before a move

begins. The ISET output circuit is shown

in Figure 6.

Figure 6, ISET output

CN0170 HARDWARE MANUAL

5 VDC: (pin 3)

The 5 VDC output is provided to act as a power supply for STEP and DIR

opto-isolators on step motor drives that feature isolated inputs. The 5 VDC

line should connect to the opto-isolator LED anodes. Depending on the

step motor drive, these may be individual inputs, or they may be tied in

common to a single input. Current then flows from the 5 VDC output,

through the opto-isolator LED and current limit resistor, and into the

STEP or DIR output on the CN0170.

GND: (pins 6-9)

The ground pins on the connector outputs are arranged so they alternate

with the signal pins if a ribbon cable is used to connect the CN0170 to the

step motor drives. This attenuates cross-talk and provides shielding for the

signal lines. It is also useful if the motor drives are a substantial distance

from the CN0170.

For best noise immunity and reliable operation, the step motor drives

should be opto-isolated. To maintain this isolation, do not terminate the

GND lines to the motor drive or power supply.

When the CN0170 is used with motor drives that do not have opto-isolated

inputs, the GND outputs are the signal return lines for the CN0170 STEP

and DIR outputs.

CONNECTING CENTENT DRIVES TO THE CN0170:

The CN0170 interfaces directly to Centent CN0124, CN0142, CN0143,

CN0152, CN0153, CN0162 and CN0165 step motor drives. The CN0170

also interfaces directly to the Centent CN0182 servo drive.

Figure 7

Figure 7 provides connection diagrams for CN0142, CN0143, CN0152 and

CN0153 step motor drives with and without the STANDBY function. R1 is

the current set resistor and R2 is the STANDBY resistor. R2 may be

replaced with a wire jumper if motor current is off during standby. This

allows the motor to "freewheel" with no holding torque evident. R2 is not

used and ISET or IRET are not connected if current standby is not

required.

CENTENT MOTION CONTROLLER

Please refer to the Operating Manual, CN0140 & CN0150 Series Step

Motor Drives for a detailed discussion of motor current setting and the

method of calculating the values for R1 and R2.

Figure 8, Current Standby - CN0162

The CN0162 Step Motor Drive has an automatic standby output that may

be used in place of or in addition to the CN0170 STANDBY.

Figure 8 shows the possible configurations for connecting the CN0162 to

the CN0170. R1 is the current set resistor and R2 is the STANDBY

resistor. Refer to the Operating Manual, CN0162 Microstep Drive to

determine the values for R1 and R2.

If no standby is required or the CN0162's standby is used, it is not

necessary to connect ISET and IRET to the CN0162 (Figure 8, upper left &

right). Use the CN0162 drive's standby (Figure 8, upper right) if a simple,

fixed time delay is sufficient. If the programmable time delay feature of the

CN0170 STANDBY is required, use the configuration in

Figure 8, lower left. The CN0162's standby may be combined with the

CN0170's STANDBY to provide three operating current levels. As shown in

Figure 8, lower right, the CN0162 provides the normal motor standby while

the STANDBY from the CN0170 allows a zero torque, "free-wheel"

condition, under program control.

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