RS V9141 Manual De Instrucciones página 5

Inputs and Outputs
Inputs
The four inputs make up a four bit binary number and each bit operates
electrically in precisely the same way as the limit switches, for
example:-
IP3 is analogous to LP0
VP3 is analogous to VLP1
IM3 is analogous to LM0
Where I3 is input 3 (MSB) and L0 is negative limit.
Outputs
The four outputs are also opto-isolated and also make up a four bit
number. They are presented in the form of a darlington pair open-
collector and emitter. For example:-
OP0 is the collector for output 0 (LSB)
OM0 is the emitter
A typical interface would be as in Figure 5.
The value of resistor depends on Vcc and type of input device, but for
TTL, 4k7 would suffice.
Software Control
RS-232 Port
The software commands are ASCII characters delivered over the RS-
232 device. The port should be set-up as follows:
BAUD
data bits
stop bits
parity
handshake
Baud Rate/Data Output Settings
As supplied the RS-232 is set up as 9600 baud, 8 data bits, 1 stop bit,
no parity XON-XOFF handshaking. This can be altered via links J1 to
J8 as follows:-
Baud Rate Links
19200 J1 On, J2, J3 Off
9600 J1, J2, J3 Off
4800 J1, J2 Off, J3 On
2400 J1, J3 Off, J2 On
1200 J1 Off, J2, J3 On
600 J1, J2 On, J3 Off
300 J1, J3 On, J2 Off
Other Links
On
J4 7 data bits
J5 2 stop bits
J6 Parity
J7 Odd Parity
J8 Not Used
Software Commands
The commands are ASCII characters from the host which must be
followed by either a LF, CR or CRLF.
The control board will respond to every command, even if it is not
understood. For every legitimate command the control board will return
a # after executing. Illegal commands are returned an E.
9600
8
1
none
XON/XOFF
Off
8 data bits
1 stop bit
No Parity
Even Parity
Command Summary
_A Returns motion status
_C n Set constant speed
_D n Set datum
_E n Set motor current
_F Force default parameters
_H Smooth stop
_I Read 4-bit input
_J jdss Set joystick parameters
_L n Enter/exit local mode
_M n Move n steps
_MA n Move absolute
_MC n Move at constant speed
_MCA n MA at constant speed
_MCL n MC to limit
_ML n Move to limit
_N n Add or delete newline (LF) (Hex 0a)
_O n Write n to 4-bit output
_P nnnn Set motor parameters
_Q Write parameters to EEROM
_R n Set microstep ratio
_RL Read limits
_RS Read remaining steps to go
_S Emergency stop
_T n Trigger on input #n
_W Request position
Note: _ denotes the axis number in daisy chained systems.
Commands in full
Software release 1.3
A Returns motor status: 0 inactive and 1 active.
C n Set constant speed for MC commands (62<n<60000).
D [n] If n is not specified, make current position the co-ordinate
zero. If n is specified, then change co-ordinate system so
current position is n.
E n Set motor current (0<=n<=15) approx 40*n mA.
Note: Do not exceed n=4 in continuous use unless a heatsink
is fitted.
High values are acceptable for short periods.
F Force default values for all parameters. At present
correspond to:
basesps = 1000
maxsps = 60000
acc_spss = 30000
dec_spss = 120000
csps = 150
current = 4
gear = 0
newline = 0
If the optional joystick is fitted, this is read on an 8-bit
A-D, giving values 0 to 255 centred on about 128.
The parameters are:
jitter = 4
deadband = 20
slowband = 10
sense = 0
H Smoothly halt the motor.
I Read the 4-bit input status (returns 0 to 15).
J Jitter deadband slowband sense.
Set joystick parameters (see above).
L n If n=1, then enter the manual/local mode. If n=0, then exit
manual/local mode. Only appropriate if a joystick
or a hand encoder is fitted.
V9141
these
the starting speed for M,MA
and ML commands
the top speed
the acceleration
the deceleration
constant speed for MC
and MCL commands
about 160mA
maximum 12800 steps/rev
with 1.8 deg motor
no newline (LF) after CR
allowable joystick noise
joystick deadband
slow motion band
joystick not reversed
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