PES-2403 User Manual > Introduction
2017-07-28 Sollae Systems page 1 of 26
Introduction
PES-2403
PES-2403, stepper motor controller, is a smart expansion board for PHPoC boards. With this board,
you can easily control various stepper motors.
Highlights of PES-2403
bi-polar stepper motor controller
input voltage: 4 ~ 18V [DC]
drive: full-step(two phases on), half-stepping
※ Caution: PES-2403 requires a PHPoC board which has a firmware 1.3.0 or higher version.
What is the Smart Expansion Board?
A smart expansion board has own devices and firmware unlike the other
expansion boards. This board communicate in a master-slave protocol through
the designated port. Two or more smart expansion boards can be connected to
one PHPoC board and each of them required to be setting a slave id.
PES-2403 User Manual > Dimension
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Dimension
Body
PES-2403 User Manual > Dimension
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with Terminal Block (T type)
with Terminal Block (S type)
※ Dimensions(unit : mm) may vary according to a method of measurement.
PES-2403 User Manual > Layout
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Layout
PES-2403 User Manual > Layout
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1. Stepper motor & Power port
Stepper motor & Power port is 1-by-6 terminal block with 5mm pitch.
label description
M1+, M1-, M2+, M2- connect to stepper motor
VM, GND connect to power
Connecting to a bipolar stepper motor
PES-2403 is a controller for bipolar stepper motors. An example of connection with a bipolar stepper
motor is as follows:
PES-2403 User Manual > Layout
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Connecting to a unipolar stepper motor
If you want to connect a unipolar stepper motor to PES-2403 refer to two examples below.
Supplying power
GND and VM are input port of supplying power(DC 4 ~ 18V) to run motors. Supplying power
through this port is positively necessary. Check the DC polarity when you input the power.
PES-2403 User Manual > Layout
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2. Digital input port
This port is used to connect limit switches and cannot be used for other purposes.
An example of connection with limit switches is as follows:
G means ground and all ground pins are connected each other
0, 1, 2 and 3 are the index number of input ports and all of them are pulled up
3. SLAVE ID Switch
A slave ID is used when PHPoC board identifies each smart expansion board. So, each smart
expansion board, which is connected to a PHPoC board, should have a unique slave ID. The slave ID
can be set one of the numbers from 1 to 14 by 4 DIP switches as follows:
PES-2403 User Manual > Layout
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4. LED
PES-2403 has 2 status LEDs. The one, on the top of the board, is connected to 3.3V and the other
one, on the bottom of the board is connected to 5V. The operations of both LEDs are the same and
they are as follows:
about ID setting
state operation
normal repeat On/Off in every second
abnormal blinks very quickly
about running motor
state operation
ready repeat On/Off in every second
running shortly turned on 4 times in every second
locked shortly turned off 4 times in every second
out of control off
PES-2403 User Manual > How to use
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How to Use
The steps for using PES-2403 are as follows.
1. Connect to a PHPoC board
PES-2403 cannot be used alone. Be sure to connect to PHPoC board.
2. Install Software (IDE)
PHPoC Debugger is a software which is used for configuring PHPoC products and developing
PHPoC script. It is required to install this software on your PC because PES-2403 must be controlled
by PHPoC.
Download PHPoC Debugger
PHPoC Manual Page
3. Use SPC Library and Sample Codes
The SPC library is for smart expansion boards such as PES-2403. This library makes it easy for you to
use smart expansion boards. Refer to the manual page of SPC library for more information.
SPC Library Manual Page
PES-2403 User Manual > How to use > Commands
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Commands
You can use spc_request_dev or spc_request_sys function when setting or using a smart expansion
board.
spc_request_dev($sid, $cmd)
spc_request_sys($sid, $cmd)
$sid: slave ID
$cmd: a command string for setting and controlling stepper motors
Common Commands of Smart Expansion Boards
Common commands can be used with spc_request_sys function and a list of the commands is as
follows:
Command Option Description
get did get a device ID
get uid get a unique ID
PES-2403 Commands
Dedicated commands for each smart expansion board can be used with spc_request_dev.
A list of dedicated commands for PES-2403 is as follows:
cmd arg1 arg2 arg3 arg4
set
mode
full - half - -
vref
stop (0~15) drive (0~15) -
lock (0~15) rsnc (low_pps) (high_pps)
speed (pps) - accel (accel) [decel] pos (-1000000000 ~ +1000000000) - -
get
state - - pos - - -
move step [speed] [accel] [decel]
goto
pos [spped] [accel] [decel]
sw(0~3) [speed] [accel] [decel]
stop [decel] - - -
eio
get (0~3) - -
set (0~3) mode
input
lock
※ (): mandatory, []: optional
PES-2403 User Manual > How to use > Settings
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Settings
A command set is for setting parameters which is related with controlling stepper motors.
Setting a drive mode
A command mode is for setting the drive mode.
"set mode (drive)"
You can input a drive mode to drive argument. PES-2403 provides two drive modes.
drive description
full Full-step(two phases on)
half Half-step
examples of setting drive modes
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "set mode half");
PES-2403 User Manual > How to use > Settings
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Current limiting
A command vref is for current limiting. This is necessary to control motors.
"set vref (state) (value)"
The argument state means one of three states which requires to set limiting current.
state description
stop the limiting current to keep the stop state
drive the limiting current to run motors
lock the limiting current to keep the lock state
The argument value means the amount of current and there are 16 levels from 0 to 15. If you set
this value to 5, PES-2403 limits the current of the specific state to 5 of 15.
examples of setting limiting current
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set vref lock 0");
Setting a resonance range
A command rsnc is for setting a resonance range.
"set rsnc (low_pps) (high_pps)"
The argument low_pps and high_pps mean the minimum and maximum values of the resonance
range, respectively. When the resonance range is set, PES-2403 controls at the speed set in high_pps
when the rotation speed falls within the resonance range.
an example of setting a resonance range
spc_request_dev($sid, "set rsnc 120 250");
PES-2403 User Manual > How to use > Settings
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Setting a speed
A command speed is for setting a speed. This command is available when you want to set a speed
in advance of controlling your motor.
"set speed (pps)"
The argument pps means a speed. The unit of this value is pps(pulse per second) and PES-2403
provides 20,000[pps] as its maximum speed. However, the actual maximum speed depends on the
type, voltage and loads of the stepper motor.
an example of setting a speed
spc_request_dev($sid, "set speed 400");
Setting acceleration and deceleration
A command accel is for setting acceleration and deceleration. This command is available when you
want to set acceleration and deceleration in advance of controlling your motor.
"set accel (accel) [decel]"
The argument accel and decel mean the acceleration and deceleration respectively. The acceleration
is a mandatory but the deceleration is an optional. If the deceleration is omitted, it is automatically
set to the same value of the acceleration. The unit of both is pps/s(pps per second) and PES-2403
provides 200,000[pps/s] as its maximum value.
examples of setting acceleration and deceleration
spc_request_dev($sid, "set accel 1000"); // the same result with "set accel 1000 1000"
spc_request_dev($sid, "set accel 1000 0");
spc_request_dev($sid, "set accel 0 1000");
PES-2403 User Manual > How to use > Settings
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Setting a counter position
A command pos is for setting a counter position. This command is valid only when controlling
stepper motor with goto and is not reflected when controlling with move.
"set pos (pos)"
The argument pos means a counter position. This value is a signed 32-bit integer and can have a
value between -1000000000(1 billion) and +1000000000.
an example of setting a counter position
spc_request_dev($sid, "set pos 400");
Setting digital input ports
A command eio set is for setting digital input ports.
"eio set (p) mode (mode)"
The argument p means id of digital input ports and it can be set to 0, 1, 2 or 3. The argument mode
means a type of the digital input port.
mode description
input normal input
lock control lock
examples of setting digital input ports: normal input
spc_request_dev($sid, "eio set 0 mode input");
spc_request_dev($sid, "eio set 1 mode input");
spc_request_dev($sid, "eio set 2 mode input");
spc_request_dev($sid, "eio set 3 mode input");
examples of setting digital input ports: control lock
spc_request_dev($sid, "eio set 0 mode lock");
spc_request_dev($sid, "eio set 1 mode lock");
spc_request_dev($sid, "eio set 2 mode lock");
spc_request_dev($sid, "eio set 3 mode lock");
PES-2403 User Manual > How to use > Getting States
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Getting States
A command get is for getting states of a stepper motor.
Getting operation states
A command state is for getting an operation state of a stepper motor.
"get state"
Return values of this command are as follows:
value state
0
stopped
1 control locked
otherwise running
an example of getting states of a stepper motor
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set speed 400");
spc_request_dev($sid, "set accel 800");
spc_request_dev($sid, "set rsnc 120 250");
$state = 0;
spc_request_dev($sid, "move 400");
while($state = (int)spc_request_dev($sid, "get state"))
{
echo "state: $state\r\n";
usleep(200000);
}
echo "state: $state\r\n";
?>
the output example
state: 3
state: 2
PES-2403 User Manual > How to use > Getting States
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state: 2
state: 2
state: 2
state: 2
state: 2
state: 0
Getting a counter position
A command pos is for getting a current counter position of a stepper motor.
"get pos"
an example of getting a counter position
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$pos = -400;
$sid = 1;
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set speed 400");
spc_request_dev($sid, "set accel 800");
spc_request_dev($sid, "set rsnc 120 250");
spc_request_dev($sid, "set pos $pos");
spc_request_dev($sid, "goto 400");
while((int)spc_request_dev($sid, "get state"))
{
$pos = (int)spc_request_dev($sid, "get pos");
echo "position: $pos\r\n";
usleep(200000);
}
?>
the output example
position: -315
position: -233
position: -151
position: -68
position: 14
position: 96
position: 178
PES-2403 User Manual > How to use > Getting States
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position: 260
position: 338
position: 392
Getting a state of digital input ports
A command eio get is for getting a state of digital input ports.
"eio get (p) input"
The argument p means an ID(0 ~ 3) of digital input ports. Return values of this command are as
follows:
value state
0
LOW
1 HIGH (default)
an example of getting states of digital input ports.
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
while(1)
{
echo spc_request_dev($sid, "eio get 0 input");
echo spc_request_dev($sid, "eio get 1 input");
echo spc_request_dev($sid, "eio get 2 input");
echo spc_request_dev($sid, "eio get 3 input");
echo "\r\n";
sleep(1);
}
?>
the output example
1111
0110
...omitted...
PES-2403 User Manual > How to use > Controlling by goto
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Controlling by goto
A command goto is for controlling a stepper motor based on the initial position, not the current
position of the motor.
This method can be used even when the motor is running.
"goto [sign](pos) [speed] [accel] [decel]"
※ Caution: there is no space between [sign] and (pos)
Descriptions of the arguments are as follows:
argument description mandatory/optional
sign direction, "+"(forward) or "-"(reverse) optional(default: "+")
pos target counter position mandatory
speed speed(unit: pps) optional
accel acceleration(unit: pps/s) optional
decel deceleration(unit: pps/s) optional
The argument pos is based on the initial position, not the current position of the counter.
If the decel(deceleration) is omitted, it is automatically set to the same value of the acceleration.
an example of using goto
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set rsnc 120 250");
spc_request_dev($sid, "set pos -400");
spc_request_dev($sid, "goto +400 200 0");
sleep(1);
spc_request_dev($sid, "goto -400 200 0");
sleep(1);
spc_request_dev($sid, "goto +400 200 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
?>
※ This command can be used even when stepper motor is in operation. Therefore, if a new goto
command is executed while the motor is running, it is executed immediately.
PES-2403 User Manual > How to use > Controlling by move
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Controlling by move
A command move is for controlling a stepper motor based on the current position of the motor.
This method is only available when the motor is stopped.
"move [sign](step) [speed] [accel] [decel]"
※ Caution: there is no space between [sign] and (step)
Descriptions of the arguments are as follows:
argument description mandatory/optional
sign direction, "+"(forward) or "-"(reverse) optional(default: "+")
step the number of steps to move mandatory
speed speed(unit: pps) optional
accel acceleration(unit: pps/s) optional
decel deceleration(unit: pps/s) optional
The argument step is based on the current position of the motor.
If the decel(deceleration) is omitted, it is automatically set to the same value of the acceleration.
an example of using move
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set rsnc 120 250");
spc_request_dev($sid, "move 800 400 800 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
sleep(1);
spc_request_dev($sid, "move -800 400 0 800");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
?>
※ This command can be used only when the stepper motor is stopped. So, as in the example above,
always program the move command to run after the motor is stopped.
PES-2403 User Manual > How to use > Stopping
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Stopping
A command stop is for stopping a stepper motor which is in operation.
"stop [decel]"
The argument decel means deceleration.
The unit is pps/s.
If the decel is omitted, the current deceleration is used.
an example of stopping a motor
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set rsnc 120 250");
// without stop command
spc_request_dev($sid, "move +800 200 200 200");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
sleep(1);
// with stop command
spc_request_dev($sid, "move +800 200 200 200");
sleep(1);
spc_request_dev($sid, "stop 200");
?>
PES-2403 User Manual > How to use > Settings the Initial Position
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Setting the Initial Position
By connecting a limit switch to the digital input port of the PES-2403, you can set the initial position
in a system that requires initial positioning. The procedure for setting is as follows.
Driving the motor1.
Drive the stepper motor to the direction of initial position when the system is started.
Stopping the motor2.
Stop the stepper motor once the limit switch is closed. You can stop the motor automatically
or manually.
stop automatically
stop manually
Setting the Initial Position3.
When the motor stops, check the current position of the counter referring to Check Status and
use it as the initial position.
PES-2403 User Manual > How to use > Settings the Initial Position > Stop automatically
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Stop automatically
A command goto ~ sw can be used to automatically stop the stepper motor operation when the
limit switch is closed.
If the motor stops by this command, the status value of the motor becomes the stopped status.
a format of the goto ~ sw command
"goto [dir]sw(id) [speed] [accel] [decel]"
※ Caution: there is no space between [dir] and sw(id)
argument description mandatory/optional
dir direction, "+"(forward) or "-"(reverse) optional(default: "+")
id ID of a digital input port, 0/1/2/3 mandatory
speed speed(unit: pps) optional
accel acceleration(unit: pps/s) optional
decel deceleration(unit: pps/s) optional
an example of stopping a motor automatically
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set mode full");
// rotate until digital input 0 is LOW
echo "find positive limit ...";
spc_request_dev($sid, "goto +sw0 400 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
echo "done\r\n";
sleep(1);
// rotate until digital input 1 is LOW
echo "find negative limit ...";
spc_request_dev($sid, "goto -sw1 400 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
echo "done\r\n";
PES-2403 User Manual > How to use > Settings the Initial Position > Stop automatically
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?>
the output example
find positive limit ...done
find negative limit ...done
PES-2403 User Manual > How to use > Settings the Initial Position > Stop manually
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Stop manually
A command stop can be used to manually stop the stepper motor operation when the limit switch is
closed.
At this time, a command eio get is used to detect the input of the limit switch.
an example of stopping a motor manually
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
$state = 0;
spc_request_dev($sid, "eio set 0 mode input");
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "goto 40000 400 1000");
while(1)
{
$state = (int)spc_request_dev($sid, "eio get 0 input");
if($state == 0)
break;
usleep(1);
}
spc_request_dev($sid, "stop");
?>
PES-2403 User Manual > How to use > Lock and unlock
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Lock and unlock
The control lock is a kind of physical protection function. This function is to connect a limit switch to
the digital input port and disable further control if the switch is closed. Therefore, the operating
range of the stepper motor can be limited.
Control lock
If the operation of the motor is stopped by the limit switch, the motor status is locked and no
further control is possible until the lock is released.
Setting the control lock
Set the input mode of the digital input port referring to Settings chapter.
Unlock
A command unlock is for releasing the state of control lock.
When you execute the unlock command, the motor status changes from the locked state to the
stopped state and the input mode of the digital input port is reset to the normal input mode from
the control lock mode.
That means you can control the motor normally after executing unlock.
an example of control lock
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set vref lock 8");
spc_request_dev($sid, "set mode full");
spc_request_dev($sid, "eio set 0 mode lock");
spc_request_dev($sid, "eio set 1 mode lock");
spc_request_dev($sid, "eio set 2 mode lock");
spc_request_dev($sid, "eio set 3 mode lock");
spc_request_dev($sid, "move 4000 400 4000");
while((int)spc_request_dev($sid, "get state") > 1)
usleep(1);
// state: 0 - stop, 1 - locked
PES-2403 User Manual > How to use > Lock and unlock
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echo "step_state ", spc_request_dev($sid, "get state"), "\r\n";
spc_request_dev($sid, "unlock");
// state: 0 - stop, 1 - locked
echo "step_state ", spc_request_dev($sid, "get state"), "\r\n";
?>
the output
step_state 1
step_state 0
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