MOTKA MK-200 Manuel utilisateur
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Revision 1.1
MOTKA LLP
Table of Contents
1
1.
.Introduction............................................................................................................5
2
2.
.Getting Started.......................................................................................................8
2.1. Connecting the Power Supply..........................................................................10
2.2. Connecting the Host.........................................................................................10
2.3. Selecting Servo or Stepper...............................................................................11
2.4. Connecting Servo Motor..................................................................................12
2.5. Connecting Stepper Motor...............................................................................14
2.6. Connecting the Limits......................................................................................14
2.7. Connecting the Home Indicator.......................................................................15
2.8. Testing Our Connections .................................................................................17
2.9. Design Examples .............................................................................................18
3
3.
.Package Information............................................................................................22
4
4.
.Software Tools.....................................................................................................24
5
5.
.Command Basics .................................................................................................25
6
6.
.Revision History ..................................................................................................26
3
List of Figures
Figure 1 – Elements of motion control.....................................................................5
Figure 2 – The MK-200 2-Axis Motion Controller Surface Mount Module.........6
Figure 3 - MK-200 pin layout.....................................................................................8
Figure 4 – Power supply scheme...........................................................................10
Figure 5 – UART-to-UART interface with host.....................................................11
Figure 6 – UART-to-RS232 interface with host....................................................11
Figure 7 – Connecting to a brushless servo motor to Axis A.............................13
Figure 8 – Connecting to a brushed servo motor to Axis A................................13
Figure 9 – Connecting to a stepper motor to Axis A............................................14
Figure 10 – Connecting to forward and reverse limits to Axis A........................15
Figure 11 – Connecting to home indicator............................................................16
Figure 12 – Home operation....................................................................................16
Figure 13 - MK-200 package outline......................................................................22
Figure 14 - Recommended PCB footprint.............................................................23
4
List of Tables
Table 1 – MK-200 pin definitions..............................................................................9
Table 2 - Document revision history.......................................................................26
5
1
1.
.
Introduction
This User Manual targets application developers. It provides complete
information on how to use the MK-200.
For information on programming and the complete list of command
references, please refer to the Command Reference manual.
MK-200 is a 2-Axis Motion Controller Surface Mount Module that facilitates
implementation of motion control applications with simplicity, shortens
time-to-market, and achieves optimal cost-effectiveness. It is suitable for
scientific, industrial automation, robotic applications and hobby.
MK-200 is a fully functional motion controller requiring only an external
amplifier to complete a position control application. It is driven by a host
through an asynchronous serial port (UART). Figure 1 shows the elements
of motion control application using MK-200. Its servo compensation uses
32-bit position error, as well as PID control engine with acceleration and
velocity limits for position control. A set of essential and simple-to-use
instructions is provided to control the motion application and monitor
ongoing performance.
Figure 1 – Elements of motion control
Processor MK-200 Driver
Power
Supply
Motor
Encoder
UART
PWM/Dir
CHA/CHB
6
Features
Supports up to 2 axes
Configurable to support step or servo motors
5V tolerant PWM/Pulse and Direction outputs per axis to ensure
compatible with commercially-of-the-shelf amplifiers
Two channels (CHA and CHB) incremental encoder quadrature
input per axis
Two directional (Forward and Reverse) limits per axis
One home indicator per axis
One UART interface port, configured at 115200 bps, to interface
with a host processor
Easy-to-use ASCII-based programming instructions
Small footprint (35 x 28.5 mm) with castellated terminals for ease of
integration onto PCB
Spacing between castellated terminals is 2.54 mm, which is
compatible to common prototyping and bread boards
+5 V operation
Figure 2 – The MK-200 2-Axis Motion Controller Surface Mount Module
7
Related documents
•Command Reference.
•MOTKA Motion Companion User’s Manual.
8
2
2.
.
Getting Started
The pins layout and definitions of MK-200 are shown in Figure 3 and Table
1 respectively.
To get started, we can either solder the MK-200 directly onto a prototyping
board or place the MK-200 onto a prototyping breadboard using header
pins and make sure the contact between the pins and the MK-200 are
reliable. The instructions illustrated from Section 2.1 through Section 2.8
represent a typical application.
Figure 3 - MK-200 pin layout
1
2
3
4
+5V
Gnd
Gnd
+5V
A
-
CHA
A
-
CHB
A
-
HM
A
-
FL
A
-
RL
A
-
DIR
A
-
PWM
STEPPER A
STEPPER B
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Tx
Rx
B
-
CHA
B
-
CHB
B
-
HM
B
-
FL
B
-
RL
B
-
DIR
B
-
PWM
5
6
7
8
9
10
11
12
13
14
28
27
26
25
24
23
22
21
20
19
18
17
16
15
9
Pins Pin Name Type
1
I/O Level
23
Function
1 +5V P - +5V supply
2 A-CHA I FT Axis A encoder input CHA
3 A-CHB I FT Axis A encoder input CHB
4 A-HM I FT,AL Axis A home indicator input
5 A-FL I FT,AL Axis A forward limit input
6 A-RL I FT,AL Axis A reverse limit input
7 A-DIR O FT Axis A direction output
8 A-PWM O FT Axis A PWM output
9 STEPPER A I FT,AL Axis A Stepper select
10 STEPPER B I FT,AL Axis A Stepper select
11 Reserved - - Reserved. Do not use.
12 Reserved - - Reserved. Do not use.
13 Reserved - - Reserved. Do not use.
14 Gnd P - Ground
15 Gnd P - Ground
16 Reserved - - Reserved. Do not use.
17 Reserved - - Reserved. Do not use.
18 Reserved - - Reserved. Do not use.
19 Rx - - UART Receive
20 Tx - - UART Transmit
21 B-PWM O FT Axis B PWM output
22 B-DIR O FT Axis B direction output
23 B-RL I FT,AL Axis B reverse limit input
24 B-FL I FT,AL Axis B forward limit input
25 B-HM I FT,AL Axis B home indicator input
26 B-CHB I FT Axis B encoder input CHB
27 B-CHA I FT Axis B encoder input CHA
28 +5V P - +5V supply
Table 1 – MK-200 pin definitions
1
P = Power, I = Input, O = Output
2
FT = Five voltage Tolerant
3
AL = Active Low
10
2.1.Connecting the Power Supply
The MK-200 requires a +5 V operating voltage. An embedded regulator is
used to supply the internal +3.3 V digital power. The +5 V pins must be
connected to a +5 V power supply with external decoupling capacitors
(one 100 nF ceramic capacitor for each +5 V) as shown Figure 4. The
decoupling capacitors shall be placed close to the +5V pins whenever
possible for best performance.
Figure 4 – Power supply scheme
2.2.Connecting the Host
A host is required to drive the MK-200 through the UART interface with the
following configurations:
Baud rate: 115200 bps
Data bit: 8
Stop bit: 1
Parity bit: None
Flow control: None
These configurations are not changeable.
The UART interface can be connected directly to another host processor
with a UART port (See Figure 5). If the MK-200 is to be connected to a
MK-200
+5V
Gnd
Gnd
+5V
100 nF
100 nF
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