Motion MMI-8S User Manual
MMI-8S
MULTI-AXES MOTION SYSTEM
OPERATION AND INSTALLATION
MANUAL
WIN\MMIMAN1.WRI 02-02
SECTION 1: INTRODUCTION PAGE 2
SECTION 2: SR4 NETWORK CONTROL PAGE 6
SECTION 3: SMC STEP MOTION CONTROL PAGE 15
SECTION 4: MMI MECHANICAL ASSEMBLY PAGE 27
APPENDIX: QUICK REFERENCE GUIDE PAGE 35
INTRODUCTION
controller is independent. Each supports a home sensor, limit safety loop, and six bits of general
MMI Multi-Axes Motion Controllers provide control of up to eight step motors. Each motor
purpose I/O (input/output). In addition, up to eight MMI motion controllers can be "daisy-
chained" together with simple pin-to-pin DB9 serial cables for a total of 64 motors per serial port.
The MMI system consists of three major sub-assemblies: two SR4s (Serial Repeater 4-channel)
network communication controller cards; up to eight SMCs (Step Motion Controller) cards; and
the power supplies. The MMI system is packaged in a 19" format enclosure suitable for 19" rack
mount or free standing (bench-top) applications.
During operation, the SR4 net controllers send and receive commands from the host CPU using
the RS-232 communication port. There are 2 command sets; one for the Cybernetics CY233 net
controllers and the other for the Cybernetics CY545 (550) SMC motor controllers. The CY233
uses only 4 commands. The CY545 has 26 commands; refer to the CY545 Motion Controller
manual for details. The CY number refers to the model of microprocessor used in this system.
DANGER
will either be lost or jam (lock-up) the system. In some cases, the system may begin uncontrolled
CONTRARY TO POPULAR PRACTICE, IT IS BEST TO READ THIS MANUAL BEFORE ATTEMPTING
SUDDEN AND UNEXPECTED MOTION CAN OCCUR DUE TO
PROGRAMMING ERRORS. STAY CLEAR OF THE MOTORS.
WARNING
It is the user's responsibility to insure that commands are not sent to busy systems. The motion
systems can indicate they are busy but have no way to block incoming commmunications which
motion.
ATTENTION
TO OPERATE SYSTEM. IT WILL SAVE TIME AND PRODUCE BETTER, FASTER RESULTS.
SECTION 2: SR4 - Serial Repeater 4/channel Assembly
CONTENTS PAGE
Introduction 7
Hardware Configuration 8
Service Access 8
Table of ID and Status Codes 11
Displays & Controls 12
Mechanical Assembly 14
SR4 (CY 233) COMMAND SET SUMMARY
WRITE W Send commands to the motion system.
READ R Read status (busy) of the motion systems.
ECHO J Used to set SR-4s into pass-through mode.
ENTER < Carriage Return terminates commands.
INTRODUCTION
multiplexer. Each motor command string must start with a net controller address. The controller
In the MMI system, two SR4 controllers are used. Each can control up to four SMC systems.
During operation, a three byte net command (address), consisting of three bytes, is prefixed to a
motion control command string. When the selected SR4 detects its address, a serial path is
connected to the addressed SMC by a 1 to 4 serial data multiplexer. The motion command is
then passed to the SMC. The command terminator character (carriage return) resets the
address compares to the setting of the SR4 address switches in the MMI. The multiplex code
selects any combination of the four output paths to the SMCs. For example, one motor system,
at a time, is selected for setup commands and then up to four motors can be directed to execute
(Go) simultaneously. When requesting information from a SMC motor system, only one of the
eight can be selected.
When a motor system is performing an operation, its Busy signal is input to the SR4's status
register. To monitor the busy status of the SMCs, a Read command (address), again consisting
of three bytes, is sent to the net controller. The SR4 will return an ASCII character equal to a
binary number. This number indicates the status of all four SMCs. Refer to the net ID address
table in this manual.
The host to MMI serial port is wired with standard RS-232 (IBM type) DB-9 connectors. Each MMI
has two connectors. The first goes to the host computer and the second to the next MMI
controller in the daisy-chain. The last controller's second connector must terminated with the
"loop jumper" DB9 plug.
The MMI normally operates in standard RS-232 format using ASCII character mode at 1200 baud
which supports the EEPROM memorys on the motor cards. Optional baud rates up to 57K baud
are possible. Parity is none, 8 data bits, and 1 stop bit.
HARDWARE DESCRIPTION
Note: Do not attempt any procedure or remove any screws other than instructed; no user service
The MMI network control contains two CY233 SR4 cards, generally refered to as #0 and #1 which
is their binary address. Each card controls four SMC motor systems and includes status LEDs
and jumber posts (dip-clips) for setting its ID number. The cards are mounted to a single rail and
can be removed as a single unit as required during service.
is possible to the interior assemblies!
SERVICE ACCESS
Remove the top cover (see following procedure) and access the interior of the MMI only: (1) to
adjust the motor current (factory preset to 1 amp/coil); (2) to set the network address clips
(factory preset to #0 & #1); (3) to observe the network LED displays during programming; as
required.
TOP COVER REMOVAL PROCEDURE
(1) Remove only the four (4) corner 6/32 slotted-head screws holding the black,
top, cover; the cover edges will be retained by the front and rear panels.
(2) Pressing against the rear portion of the cover, at the raised bevel, with the thumbs,
slide the cover fully forward while keeping the cover edge under the lip of the front
panel. The rear lip of the cover will be exposed. Do not attempt to remove by sliding front
to rear.
(3) Using care not to bend the cover, lift up both rear corners of the cover slightly
above the rear panel. Pull the cover towards the rear and lift off.
(4) Replacement is the reverse of the above.
OPERATION
The CY233 microprocessor is used as an address controller for the multiplex system. When a
mode command, followed by a valid ID number, is received by the 233, the 233's address lines
select a multiplex channel. The remaining serial data (motion command string) is passed,
through the multiplexer, directly to the target device (motion system) until the detection of the
terminator charactor (carriage return) by the 233. After detecting the terminator, the 233 resets
the address lines and waits for the next mode command. If more than one controller is
connected to the serial network, invalid ID numbers and the serial data string are echoed to the
next controller down the line. If the ID is invaild for all controllers, the entire message will return
to the host CPU (echo invalid).
Note that contary to normal CY545 procedure, in a CY233 network system, all SMC motor control
commands MUST BE in LOWER case! All SR4 net commands must be in UPPER case! With that
said, it may be observed that the SMC's respond to upper case as well. Only during a query
responce will the SR4 repeaters strip off the upper case characters A to F which are seen as hex
control codes. This will not cause a malfunction but may be confusing to the user.
WRITE MODE
on the controller card. Valid ID numbers are from 0 to F hex (1 to 16 net controllers). The second
not program the motion system EEPROMS to respond with information without a query command
example, a motion is completed. In the MMI system, the status of all four CTS signals is available
A typical command would be: R0F<; if the response was N, the binary value would be 0010 (fixed)
In general, SR4 mode commands are prefixed to SMC motion commands which are then "passed
through" to the motion systems. Only two mode commands are used in this system, the write
(W) and the read (R). A write command consists of a mode character (W), an ID number (two hex
characters), a command string (motion system data string), and a terminator (carriage return).
The ID number consists of two characters; the first or high byte is the system ID. This identifies
an MMI net controller card. The system ID of a card is selected with the jumper switches located
or low byte selects any combination of the four channels within a controller. Valid channel
numbers are from 0 to F hex. Note that F selects no motor channels and is used only to send the
Status request to the CY233 and not the motion systems.
A typical example of a message to a SMC axes would be: W0Ep 1000<. This example directs
SMC axis E (motor #1) of SR4 #0 to move to position 1000.
The write command is also used to request information (query) from the motion systems. Only
one motion channel can be requested to return information at a time. In a typical motion system,
with a CY545 motion controller, the question mark (?) command is used to query the system. Do
first (slave mode only).
A typical command would be: W0E? p<. This requests motor 1 to return its current position.
READ MODE
A read command consists only of a mode character (R), the ID number (two hex characters; note
that the second character is always F), and a terminator (carriage return). The read command is
only used to read the status of the SMC motion systems from the SR4 net controller.
STATUS
When a motion system is busy, it can not respond, normally, to the host computer. The BUSY
(also refered to as the CTS or cleared-to-send) signal is used to hold off the host until, for
as a single ASCII character. This character is equal to a binary number consisting of two bytes.
The high byte is always 0010 (4 hex); the low byte consists of four bits; each bit indicates the
status of a channel's CTS signal. Remember that the motion system MUST be in the Hand-Shake
Mode (o 0a0h; lower case only) for the status function to be valid.
1110. Refer to Code Table.
ECHO MODE
A typical command would be J0F<; the 0 is the address of the first SR4 card and the F indicates a
Refering to the following table, note that the codes seem confusing in that they are not an orderly
In the MMI network system, with two network cards, it is necessary to engage the CY233 passÂthrough (echo-all) mode. This allows commands originating in a motion channel (SMC) to be
passed through successive SR4 cards down-stream in the network loop. A typical example is the
SMC system query commands. The J command format consists of a mode character (J), the ID
number (two hex characters; the second is always F), and the terminator (carriage return).
SR4 only message; J1F is the second card address. Each SR4 in the daisy-chain network must
be sent a J command during start-up procedure.
ID AND STATUS CODES
sequence of decimal numbers. They, in fact, are based on their hex-decimal values from 0 to F
(hex) . Also as the active selection signal is a LOW or 0 volts, the sequence is inverted. For
example, all devices selected is a 0 (zero) code or address; all bits are low. No devices selected
is F; all bits HI (+5 volts). Therefore, selection of the first device or E indicates 1 bit is LOW; all
others are HI. Note that the codes for the individual motor controllers are therefore E (motor #1),
D (motor #2), B (motor #3), and 7 (motor #4). The other codes allow selection of any combination
of motors. The BUSY codes correspond to these selections with the @ indicating all BUSY
followed by A to O (none busy) in decending order. Refer to PROGRAMMING section for
examples of code selection.
TABLE OF ID AND STATUS CODES
LED DISPLAYS
The displays are used with the test software program to verify and demonstrate correct operation
of the MMI. They are located on each SR4 card; inside the MMI.
L 1 OUT 1 INDICATES TRANSMIT DATA TO CHANNEL 1
L 2 OUT 2 " 2
L 3 OUT 3 " 3
L 4 OUT 4 " 4
L 5 OUT DATA INDICATES TRANSMIT DATA FROM HOST CPU
L 6 IN 1 INDICATES RECEIVE DATA TO HOST CPU 1
L 7 IN 2 " 2
L 8 IN 3 " 3
L 9 IN 4 " 4
L 10 AD 0 INDICATES MOTION CHANNEL ADDRESS 1
L 11 AD 1 " 2
L 12 AD 2 " 3
L 13 AD 3 " 4
ID JUMPER SWITCH
The ID jumper switch assigns the ID number to an SR4 card. The switch consists of 3 rows of 4
posts. The center row is jumpered high or low according to the required number. The rows are
labeled J2A (high posts), J2B (signal), and J2C (low posts). All posts must be jumpered. If
addition MMI units are used, their addresses must be set according to their position in the daisy
chain.
PROGRAMMING
The MMI is, in general, transparent to the connected motion systems and requires only that the
three byte address be pre-fixed to the existing commands.
The demonstration software furnished with the MMI is intended to exercise the entire unit and to
allow transmitting commands one at a time or in complete strings in order to verify operation of
the system or to create a complete simulation of the application. This software is a simple
terminal program whose listings contain important notes. All users should read the listing for
this general information about system operations. Refer to the sample program in the
Installation and Operation section of this manual.
SECTION 3: SMC - STEP MOTION CONTROLLER ASSEMBLY
ALSO REFER TO:
Cybernetic Micro Systems - CY 545 Step Motor Controller Manual
MMIDEMO program - Software Listings & Comments
CONTENTS PAGE
Introduction 17
Hardware Configuration 19
Displays & Controls 20
Installation & Test 21
Programming & Listings 25
Serial Cable Diagrams 26
CY 545 COMMAND SET SUMMARY
(In the MMI network system, all letter commands must be in lower case)
Command Function Note
A val 24 set position counter to At value Commands are lower case ASCII letters,
B bit # set or clear (/B) User Bit followed by a space, and a value if required.
C set Continuous stepping mode Values without a suffix are 0 to 255 max.
D val 16 Delay for value in milliseconds Values with 16 suffix are 65535 (64K) max.
E Enter commands to user mem Values with 24 suffix are 16777215 (16 Meg).
F val First (starting) speed of motor Add (byte count) is 64K max. Bit # is 0 to 7.
G motor Goes the number of steps
H bit # Home motor on bit #
I Initialize 545; software reset
J add Jump to address on mem page
L cnt add Loop to address for count value
N num 24 Number of steps; see Go
O mode set mOdes of CY controller
P val 24 moves to an absolute Position
Q Quit Enter commands to mem
R val set Ramp (top) speed of motor
S val Slope (acceleration) of F to R
T bit # add jump to add unTil Bit matches
W bit # Wait at add until Bit matches
X eXecute commands at Y add
Y add 16 set mem address counter to Y
Z cnt 16 add Zillion Loops to add for cnt value
0 (number) end of program or stop program
+ ( plus ) set CW direction for Go move
- ( minus ) set CCW direction for Go move
/ ( forslash ) negate prefix for /Bit commands
? command send back command val to host
"message" send back message to host
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