TPM STP-M112 Manuel utilisateur

TPM

STP-M112A/B Quick Start

Stepper Driver

STP-M112 User Manual

Version: V1.4 2015D25

To properly use the product, read this manual thoroughly is necessary.

Part No.: 81-00STP10-010

TPM

STP-M112A/B Quick Start

Revision History

Date Revision Description

2015/02/09

1.0

Document creation.

2015/05/21 1.1 Rotary Switch revision.

2015/07/8 1.2 LED Indicators.

2015/10/30 1.3 Add LED status description.

Add RS1 description.

2015/12/25

1.4

Add Connector information

TPM

STP-M112A/B Quick Start

The product, including the product itself, the accessories, the software, the manual and the software

description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted,

transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except

the documentation kept by the purchaser for backup purposes.

The names of products and corporations appearing in this manual may or may not be registered trademarks,

and may or may not have copyrights of their respective companies. These names should be used only for

identification or explanation, and to the owners’benefit, should not be infringed without any intention.

The product’s name and version number are both printed on the product itself. Released manual visions for

each product design are represented by the digit before and after the period of the manual vision number.

Manual updates are represented by the third digit in the manual vision number.

Trademark

MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered

trademarks of Microsoft.

BCB (Borland C++ Builder) is registered trademark of Borland.

Other product names mentioned herein are used for identification purposes only and may be trademarks

and/or registered trademarks of their respective companies.

TPM

STP-M112A/B Quick Start

Electrical safely

To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating

the system.

When adding or removing devices to or from the system, ensure that the power cables for the devices are

unplugged before the signal cables are connected. Disconnect all power cables from the existing system

before you add a device.

Before connecting or removing signal cables from motherboard, ensure that all power cables are

unplugged.

Seek professional assistance before using an adapter or extension card. These devices could interrupt the

grounding circuit.

Make sure that your power supply is set to the voltage available in your area.

If the power supply is broken, contact a qualified service technician or your retailer.

Operational safely

Please carefully read all the manuals that came with the package, before installing the new device.

Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect

and damage, contact the dealer immediately.

To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and

circuitry.

Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may

become wet.

If you encounter technical problems with the product, contact a qualified service technician or the dealer.

TPM

STP-M112A/B Quick Start

Contents

CONTENTS .................................................................................................................................................................................. 5

1. INTRODUCTION ...................................................................................................................................................................... 6

1.1. PRECAUTIONS .............................................................................................................................................................................. 6

1.1.1. Safety precautions.................................................................................................................................................. 6

1.1.2. Handling precautions ............................................................................................................................................. 6

1.2. FEATURES.................................................................................................................................................................................... 7

1.2.1. Motionnet Communications................................................................................................................................... 7

1.2.2. Motion control ....................................................................................................................................................... 9

1.2.3. Motor driver......................................................................................................................................................... 12

1.3. SPECIFICATIONS.......................................................................................................................................................................... 13

1.3.1. Serial communications......................................................................................................................................... 13

1.3.2. Motion Control .................................................................................................................................................... 14

1.3.3. Motor Driving Operations.................................................................................................................................... 15

1.3.4. Others................................................................................................................................................................... 16

2. HARDWARE SPECIFICATIONS ................................................................................................................................................ 17

2.1. MECHANICAL DIMENSIONS .......................................................................................................................................................... 17

2.2. I/O INTERFACES ......................................................................................................................................................................... 18

2.2.1. Dip Switches........................................................................................................................................................ 19

2.2.2. LED Indicators..................................................................................................................................................... 20

2.2.3. Motionnet Rings .................................................................................................................................................. 21

2.2.4. Motionnet Status LED ......................................................................................................................................... 21

2.2.5. RS1 – Rotary Switch for Decay Power................................................................................................................ 22

2.2.6. RS2 – Rotary Switch for Stop Power................................................................................................................... 22

2.2.7. RS3 – Rotary Switch for Run Power ................................................................................................................... 22

2.2.8. RS4 – Rotary Switch for Microstep Setting......................................................................................................... 23

2.2.9. DB-15 I/O Interface............................................................................................................................................. 23

2.2.10. Motor Connector................................................................................................................................................ 24

2.2.11. Power Input........................................................................................................................................................ 25

2.2.12. Encoder Source.................................................................................................................................................. 25

2.2.13. Wiring Diagram ................................................................................................................................................. 26

2.3. APPLICATION ARCHITECTURE ........................................................................................................................................................ 28

TPM

STP-M112A/B Quick Start

1. Introduction

STP-M112 is a 2-phase high speed Motionnet interfaced stepping motor driver. Encoder support and high

precision position drive simplifies the control of motion.

1.1. Precautions

1.1.1. Safety precautions

When you operate a stepper motor, you must take the utmost care to keep people from entering the zone in

which components are being moved by the motor. In addition, provide an emergency stop mechanism to stop

the motor operation instantly if a person is in danger.

1.1.2. Handling precautions

Inputting power

Do not connect or disconnect connectors and signal lines while this board or peripheral circuits are

supplied with power.

Static electricity

This board uses a CMOS device. Therefore this board must be stored in a package in which it was

shipped until you actually use it, in order to prevent damage from static electricity.

Switch settings

This board is equipped with switches to set details for serial communications and input/outputs. Be sure

to shut off the power supply to the board before changing these switches.

Connections to electrically noisy devices

Interference from excessively noisy devices or from power surges on the power and I/O circuits may

cause the board to malfunction. To connect to a device, which may generate electrical noise, we

recommend taking countermeasures, such as attaching a protective circuit to the input/output circuits.

However, it is best not to share the same power supply with noise generating sources.

TPM

STP-M112A/B Quick Start

1.2. Features

STP-M112 has two types by encoder feedback.

STP-M112A – with encoder (counter) support

STP-M112B – without encoder (counter) support

1.2.1. Motionnet Communications

Motionnet is a high-speed serial communication system. This serial communication system is a complete

system affording remote operation of emulating a CPU and handling CPU message communications by

serial communication at transfer speeds of 20 Mbps as well as I/O control.

STP-M111 is equipped with G9103B, which is one of the motion control LSIs in Motionnet.

G9103B can perform all of the pulse-train input controls such as constant speed operation, linear

acceleration/deceleration, S-curve acceleration/deceleration, as well as a preset positioning operation, and an

origin return operation, which are required by motion controls.

Two-axis circular interpolation or linear interpolation of maximum 32 axes among each motor can be

achieved.

TPM

STP-M112A/B Quick Start

Data transfer speed

Maximum is 20 Mbps. Default speed is 10Mbps.

Cyclic communication time and transfer cycle

Cyclic communication time

Maximum 15.1 µs/ unit (Data transfer speed: 20 Mbps)

Cyclic data transfer cycle

Maximum 0.97 ms / when connected to 64 local devices (Data transfer speed 20 Mbps)

(As the number of devices connected grows smaller, the transfer speed gets proportionally faster.)

Data communication time

Max. 19.3 µs

(When writing a 4-byte feed amount instruction to the feed amount register in the G9103B)

Number of devices that can be connected

Maximum 32 devices / line

Connection method

Multi-drop connections using LAN cables

Serial communication types

Three types of communication are available.

PULSERVO

Circular

interpolation

Linear

interpolation

(Center device G9001A)

STP-M112

Master

TPM

STP-M112A/B Quick Start

1) System communication

By polling the Motionnet line, the number of local devices that are connected, the device numbers, device

types, and I/O port allocation status can all be checked.

2) Cyclic communication

The system starts communication with the local device that has the lowest device number. When the

communication cycle reaches the device with the highest device number, the system starts over again,

communicating with the device that has the lowest device number. The process of communicating with

all active devices, from the lowest to the highest device, is one cycle. The system repeats this

communication cycle endlessly.

The primary status conditions (such as the pulse output status) and general input/output data control of

the G9103B is handled using cyclic communications.

3) Data communication

This type of communication is used to read and write data between a PCL device and a CPU emulation

device. Data is written into a FIFO buffer in the central device, and then a send command is issued. These

communications are sent and received automatically, during the interrupt driven cyclic communications.

Data communications are used to send operation commands and register data to a G9103B.

Communication error detection

Errors can be detected by adding CRC numbers to the serial communication frames.

1.2.2. Motion control

Command pulse output

Support Pulse / Dir mode.

Interrupt signal output

This driver can send a variety of interrupt requests to the central board using cyclic communications.

Acceleration/deceleration control

Both linear and S-curve acceleration/deceleration is available. The S-curve acceleration/deceleration also

allows use of linear acceleration/deceleration parts.

Speed override

The speed can be changed during any operation in all the modes.

Overriding the target position

The target position (feed amount) can be changed during positioning using the positioning mode function.

When a feed operation has already passed the new target position, the motor will decelerate and stop

(stop immediately when performing a constant speed operation), and start to feed in the opposite

TPM

STP-M112A/B Quick Start

direction.

A variety of counter circuits (STP-M112A only)

The following three counters are available.

Counter Use Count input

COUNTER1

28-bit counter for controlling the specified position

Output pulse

COUNTER2 28-bit counter for controlling the mechanical set position Output pulse, EA/EB input

COUNTER3 16-bit counter for controlling differences between the

specified position and the actual machine position. Or,

16-bit general-purpose counter with a synchronous signal

output function.

Output pulse, EA/EB input

Outputs pulses at 1/4096 of

the reference clock, EA/EB

input

You can reset any of the counters with a command.

And, you latch the counter data with a command or by supplying an ORG signal.

Comparator (STP-M112A only)

The driver has three comparator circuits, which allow it to compare between preset values and internal

counter values.

Select from COUNTER 1 (specified position counter), COUNTER 2 (mechanical position counter), or

COUNTER 3 (general-purpose and difference counter) to make comparisons.

In addition, comparator 1 and 2 can also be used as software limit counters (+SL, -SL).

Software limit function

You can set software limits using the comparator 2 circuit.

When the motor operation enters the software limit range, the motor immediately stops or decelerates and

stops. Then, it can only be driven in the reverse direction.

Backlash correction

The driver has a backlash correction function.

The backlash correction function corrects feed amount each time the feed direction changes.

Synchronization signal output function

The driver can output pulse signals at a specified rate for a specified interval.

Vibration restriction function

Preset a control constant and this function adds 2 pulses each to both forward and reverse rotations that

occur just before stopping the motor.

This function reduces the mechanical shock that can occur on the motor axis when it is stopped.

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