Trinamic MONOPACK 2 User Manual

Download

MONOPACK 2

Manual

Version: 1.04

Jan 29th, 2010

Trinamic Motion Control GmbH & Co KG

Sternstraße 67

D - 20357 Hamburg, Germany

http://www.trinamic.com

Monopack 2 Manual V1.04 2

Version

Date

Author

Remarks

1.00

2-Nov-05

Initial version

1.01

18-Aug-06

Added firmware update information

1.01

21-Aug-06

Added Monopack LT frequency incompatibility information

1.02

16-May-2007

Added Mixed Decay information (chapter 4.2.5)

1.03

15-Feb-08

Added V2.0 info

1.04

29-Jan-10

Declaration of Conformity added

Table of Contents

1 Introduction ................................................................................................................................................................... 5

1.1 Brief Description .................................................................................................................................................. 5

1.2 Technical Data ...................................................................................................................................................... 5

2 Connecting the Monopack 2 ..................................................................................................................................... 6

2.1 Pin Assignments .................................................................................................................................................. 6

2.2 Connecting the Motor ........................................................................................................................................ 6

2.3 Stop Switches and Reference Switches........................................................................................................ 7

2.3.1 Linear vs. Circular Drives ........................................................................................................................ 7

2.4 Incremental Encoder .......................................................................................................................................... 7

2.5 Power Supply ....................................................................................................................................................... 7

2.6 The RS232 interface ............................................................................................................................................ 7

2.7 The 25 pin Sub-D Socket ................................................................................................................................... 8

2.7.1 CAN and RS485 Interface ........................................................................................................................ 8

2.7.2 The Step/Direction Interface .................................................................................................................. 8

2.7.3 The Alarm Input ........................................................................................................................................ 8

2.7.4 The Alarm Output ..................................................................................................................................... 8

2.7.5 The Incremental Encoder Output ......................................................................................................... 8

2.7.6 The Stop Switch Outputs ....................................................................................................................... 8

2.8 The Step/Direction input socket...................................................................................................................... 9

2.9 The hexadecimal Switch.................................................................................................................................... 9

2.10 The DIP switches ................................................................................................................................................ 9

3 Controlling the Monopack 2 .................................................................................................................................... 10

3.1 Step/Direction Mode ......................................................................................................................................... 10

3.2 Binary Command Mode ................................................................................................................................... 10

3.2.1 Format of the Data Telegrams............................................................................................................ 10

3.2.2 Unit Addresses ......................................................................................................................................... 10

3.2.3 Parameter Storage .................................................................................................................................. 10

3.3 Monopack LT (ASCII) Command Mode ....................................................................................................... 11

4 Binary Command Reference .................................................................................................................................... 12

4.1 Parameter Storage Control ............................................................................................................................. 12

4.2 Motor Parameters .............................................................................................................................................. 12

4.2.1 Current Limit ($10) .................................................................................................................................. 12

4.2.2 Current Control ($11) ............................................................................................................................. 12

4.2.3 Get Current Control Settings ($53) .................................................................................................... 13

4.2.4 Frequency Range ($12) .......................................................................................................................... 13

4.2.5 Microstep Resolution, Waveform and Mixed Decay ($17) ........................................................... 13

4.3 Driving .................................................................................................................................................................. 14

4.3.1 About the Parameters ........................................................................................................................... 14

4.3.2 Velocity and Maximum Acceleration ($14) ...................................................................................... 14

4.3.3 Bow Value ($63) ...................................................................................................................................... 15

4.3.4 Get Acceleration and Velocity Settings ($52) ................................................................................. 15

Monopack 2 Manual V1.04 3

4.3.5 Get actual Position ($20) ...................................................................................................................... 15

4.3.6 Get actual Acceleration and Velocity ($21) ...................................................................................... 15

4.3.7 Drive a Ramp ($23) ................................................................................................................................. 16

4.3.8 Constant Rotation ($25) ........................................................................................................................ 16

4.3.9 Reset Position ($27) ............................................................................................................................... 16

4.3.10 Soft Stop ($2A) ........................................................................................................................................ 16

4.3.11 Emergency Stop ($2B) ........................................................................................................................... 16

4.4 Stop and Reference Switches ........................................................................................................................ 17

4.4.1 Switch Mode ($54) .................................................................................................................................. 17

4.4.2 Deceleration at Stop Switches ($57) ................................................................................................. 17

4.4.3 Reference Search ($22) .......................................................................................................................... 17

4.4.4 Reference Search Velocity ($16).......................................................................................................... 18

4.4.5 Travel Check Tolerance ($59) ............................................................................................................... 18

4.4.6 Number of Microsteps per Revolution ($15) ................................................................................... 18

4.4.7 Get the State of the Stop Switches ($30) ........................................................................................ 18

4.5 Incremental Encoder ........................................................................................................................................ 19

4.5.1 About Incremental Encoders ............................................................................................................... 19

4.5.2 Encoder Configuration ($70) ................................................................................................................ 19

4.5.3 Encoder Counter ($71) ........................................................................................................................... 20

4.5.4 Encoder Holding Register ($72) .......................................................................................................... 20

4.5.5 Deviation Alarm ($73) ............................................................................................................................ 20

4.5.6 Configure Automatic Position Correction ($58) ............................................................................. 20

4.5.7 PID Controller Configuration ($6A, $6B, $6C, $6D, $6F) .............................................................. 21

4.6 Alarms and Errors ............................................................................................................................................. 22

4.6.1 Alarm Mode ($51) ................................................................................................................................... 22

4.6.2 Reset Alarm Output ($74) ..................................................................................................................... 22

4.7 Other Settings .................................................................................................................................................... 22

4.7.1 Enter Step/Direction Mode ($50) ........................................................................................................ 22

4.7.2 Set CAN receive ID and RS485 ID ($55) ........................................................................................... 22

4.7.3 Set CAN send ID ($56) ........................................................................................................................... 23

4.7.4 Set CAN Baud Rate ($C0) ...................................................................................................................... 23

4.7.5 Get Version Number ($43) .................................................................................................................... 23

4.7.6 Hardware Reset ($CC) ............................................................................................................................ 23

4.8 Factory Default Settings ($DD) ...................................................................................................................... 23

5 Monopack LT Command Reference ....................................................................................................................... 24

5.1 Interface selection ............................................................................................................................................ 24

5.2 Command overview ......................................................................................................................................... 24

5.2.1 Set the pre-divider.................................................................................................................................. 25

5.2.2 Set microstep resolution ...................................................................................................................... 25

5.2.3 Acceleration setting ............................................................................................................................... 25

5.2.4 Bow setting .............................................................................................................................................. 25

5.2.5 Velocity setting ........................................................................................................................................ 25

5.2.6 Direction setting ..................................................................................................................................... 25

5.2.7 Drive with fixed velocity ...................................................................................................................... 25

5.2.8 Soft stop .................................................................................................................................................... 25

5.2.9 Hard stop .................................................................................................................................................. 26

5.2.10 Set target position or relative distance ........................................................................................... 26

5.2.11 Drive to target position ........................................................................................................................ 26

5.2.12 Relative move .......................................................................................................................................... 26

5.2.13 Set motor standby current ................................................................................................................... 26

5.2.14 Set motor run current ........................................................................................................................... 26

5.2.15 Set motor acceleration current ........................................................................................................... 26

5.2.16 Set mixed decay mode ......................................................................................................................... 27

5.2.17 Automatic reference search ................................................................................................................. 27

5.2.18 Find reference switch position ........................................................................................................... 27

5.2.19 Set stop switch mode ........................................................................................................................... 27

5.2.20 Change actual position ......................................................................................................................... 27

5.2.21 Query actual position ............................................................................................................................ 27

Monopack 2 Manual V1.04 4

5.2.22 Query actual velocity ............................................................................................................................. 28

5.2.23 Query status of stop switches ............................................................................................................ 28

5.2.24 Query TMC453 FIFO filling.................................................................................................................... 28

5.2.25 Step/Direction mode selection ........................................................................................................... 28

5.2.26 Display actual ADC values .................................................................................................................... 28

5.2.27 Write all parameters to the EEPROM ................................................................................................ 28

5.2.28 Enable or disable the EEPROM ............................................................................................................ 28

5.2.29 Choose interface and set RS485 delay ............................................................................................. 28

5.2.30 Set the RS485 address........................................................................................................................... 29

5.3 Help screen ......................................................................................................................................................... 29

5.4 Messages sent by the device ......................................................................................................................... 29

6 The Monopack PC Software ..................................................................................................................................... 30

6.1 Using the Program ............................................................................................................................................ 30

6.2 Firmware update / Reset to factory default .............................................................................................. 30

7 Application Notes ....................................................................................................................................................... 31

7.1 Making a simple RS232 to RS485 Converter ............................................................................................. 31

7.2 Setting the Maximum Current ....................................................................................................................... 31

7.3 Using the “ic485-I” RS232 to RS485 Converter ......................................................................................... 32

7.4 Choosing Plugs for the Monopack ............................................................................................................... 32

8 Declaration of Conformity ....................................................................................................................................... 33

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.

Trinamic Motion Control GmbH & Co KG, Germany 2005 All rights reserved. No part of the contents of this book may be reproduced or transmitted in any form or by any means without the written permission of the publisher. Information given in this data-sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use. Specifications are subject to change without notice.

Monopack 2 Manual V1.04 5

1 Introduction

1.1 Brief Description

The Monopack 2 is an intelligent easy-to-use stepper motor driver for two-phase bipolar stepper motors with up to 5A coil current. It comes in a small and robust housing and provides a high motor power and dynamics. It can be controlled via CAN bus, an RS485, RS232 or a Step/Direction interface and provides the functionality for either remote controlled or stand alone applications. Its optional encoder feedback and a number of protection features makes this drives very dependant and reliable. The Monopack 2 can do up to 406 microsteps and needs a power supply of 12-48 Volts. A Windows 95/98/ME/NT/2000/XP based PC software is supplied to explore the possibilities of the Monopack 2. To use this software, the Monopack just has to be connected to the PC via its RS232 interface.

The Monopack 2 replaces the Trinamic products “Monopack” and “Monopack LT” which have been discontinued. It

is fully compatible with the Monopack and offers most features of the Monopack LT. A DIP switch allows to select

either “Monopack” or “Monopack LT” mode. Also the maximum motor current can be either 2.5A like in the old

Monopack and Monopack LT or, in the extended mode, 5A. This can also be selected by a DIP switch. From version V2.0 on the Monopack 2 is RoHS conform.

1.2 Technical Data

Features and operational ratings

Ramp profile

S-curve, controlled by a TMC 453

Step type

Microstepping resolution from 1 to 64 or 100.8, 202.125 or 406.5

Power supply

12V - 48 V DC

Motor current

Maximum 5A peak coil current in extended mode or 2.5A in compatible mode

Motor type

Bipolar 2-phase stepper motor

Encoder type

Two channel incremental encoder with optional zero channel and 5V outputs

Inputs

Two stop switches (left and right), one reference switch, one differential alarm input

Outputs

One differential alarm output, one differential encoder output (channel A, B and Null)

Temperature range

0-70°C

Dimensions

132mm x 130mm x 45mm (without plugs)

Electrical data of the stop switch, reference switch and encoder inputs

Integrated pull up resistor

10k to internal +5V

Logic level low

0.0V..+1.3V

Logic level high

+3.3V..+5.0V

Continus protection voltage

-8V..+13V

Short time protection voltage

-24V..+24V

Electrical data of the differential inputs:

Common-mode input voltage

-7V to +12V

Differential input voltage

±6V

Electrical data of the differential outputs:

Differential output voltage

1.7V

Interfaces

RS232

9600 or 19200 baud, 8 data bits, 1 stop bit, no parity bit

Rs485

9600 or 19200 baud, 8 data bits, 1 stop bit, no parity bit, 100 Ohms termination selectable

CAN

CAN 2.0B, 125, 250, 500 kbit/s or 1Mbit/s, 100 Ohms termination selectable

Step-/ Direction

Differential interface

Monopack 2 Manual V1.04 6

2 Connecting the Monopack 2

2.1 Pin Assignments

The connectors of the Monopack 2 and their pin assignments are shown in Figure 2.1.

Max 45VDC

+ -

Address

CAN/

RS485

8 1

MONOPACK 2

CAN/RS485 Termination

ON = RS485

ON = CAN

OFF

ON = Monopack LT mode

ON = Upgrade firmware

OFF= max. 2.5A,

ON=max. 5A

1 13

14 25

CANL/RS485-

CANH/RS485+

EnCHB-

EnCHB+

StopL-

StopL+

AlarmIN-

AlarmIN+

MC1-

MC1+

DIR-

DIR+

GND

EnCHN-

EnCHN+

EnCHA-

EnCHA+

StopR-

StopR+

AlarmOUT-

AlarmOUT+

MC0-

MC0+

STEP-

STEP+

Encoder

+5V A B N GND

SYNC

Stop Switch

R GND L GND

Motor max. 3A A1 A2 B1 B2

RS232

1 5

6 9

2=TxD 3=RxD

5=GND

+5V

STEP -

STEP+

GND

DIR-

DIR+

Figure 2.1: Connectors and pin assignments

2.2 Connecting the Motor

Connect one phase coil to the “A1” and “A2” connectors and the other phase coil to the “B1 ” and “B2” connectors.

Attention: Do not connect or disconnect the motor while the Monopack 2 is powered on as this could damage the power drivers! When using the stop switches, the motor must be connected so that the traveler moves towards the stop switch

connected to the “Stop Switch R” input when the velocity is positive and towards the stop switch connected to the “Stop Switch L” input when the velocity is negative. Change the polarity of one of the coils if this should not

be the case. Otherwise, some functions of the Monopack 2 can not operate correctly (especially the stop switches and the reference search algorithm).

Monopack 2 Manual V1.04 7

2.3 Stop Switches and Reference Switches

For stop and reference switches, only openers can be used. The stop and reference switch inputs can be used in different ways:

Two stop switches and a separate reference switch: Connect the left stop switch to the “Stop Switch L”

input and the right stop switch to the “Stop Switch R” input. Connect the reference switch to the “Ref IN” input.

One stop switch and a separate reference switch: Connect the stop switch to the desired stop switch

input and the other stop switch input permanently to ground.

Combining the reference switch with one stop switch: Connect one switch to the reference switch

input and to the desired stop switch input, as shown in Figure 2.1. If only one stop switch is to be used connect the other stop switch input to ground.

2.3.1 Linear vs. Circular Drives

In a linear drive (Figure 2.2), the traveler moves between two end points. It is not necessarily driven by a linear stepper motor. In most cases, stop switches are used at the end points, and also a reference switch is used for finding the reference point. The reference switch can also be combined with one of the end switches (as shown in Figure 2.1).

Right Stop

Switch

Traveller

Left Stop

Switch

Reference

Switch

Negative Direction

Positive

Direction

Figure 2.2: A linear drive

In a circular drive (Figure 2.3), the traveler moves around. There are no end points, and for that reason there are also no stop switches. So the stop switch inputs are disabled in circular mode. A reference switch can be used for finding the reference point.

Traveller

Reference

Switch

Figure 2.3: A circular drive

2.4 Incremental Encoder

Connect the two channels of the incremental encoder to the inputs “A” and “B”. An optional null channel can be connected to the “N” input. The incremental encoder connector also provides a 5V power supply.

2.5 Power Supply

The voltage should be between 12 and 48 Volts to operate and must not exceed 49V. When using a regulated power supply, set the current limit higher than the maximum motor current.

2.6 The RS232 interface

The 9-pin Sub-D socket provides the RS232 interface. This interface can be used in Monopack mode as well as in Monopack LT mode. The pin assignments are as follows:

Signal name

TxD

RxD

GND

RS232

1 5

6 9

2=TxD 3=RxD

5=GND

Monopack 2 Manual V1.04 8

2.7 The 25 pin Sub-D Socket

This socket contains the RS485 interface, the CAN interface, the STEP/DIRECTION interface and the alarm input and output. The signals of the incremental encoder input and the stop switch inputs are output here as differential signals. The following subsections describe those interfaces.

2.7.1 CAN and RS485 Interface

For the CAN and the RS485 interface, the same pins are used. So the interface which shall be used must be selected via the DIP switches:

To use the CAN interface, set switch 1 and 2 to ON and

switch 3 and 4 to OFF position.

To use the RS485 interface, set switch 1 and 2 to OFF and

switch 3 and 4 to ON position. The termination of both interfaces (120 Ohms) can be switched on and off with switch 6. Switch 5 is not used. Attention: Changing between RS485 and CAN interface requires a hardware reset (by powering off for a short time).

2.7.2 The Step/Direction Interface

The Step/Direction interface uses differential signals. After powering on, the Monopack is in Step/Direction mode so that the Step/Direction interface is usable. After getting the first RS485 or CAN command the Monopack leaves the Step/Direction mode and enters the command mode where the Step/Direction interface can not be used. It is possible to switch back to Step/Direction mode by a command. The motor current control inputs MC0 and MC1 also belong to the Step/Direction interface. Using these inputs, the motor current can be controlled by hardware in three steps (please see also section 4.2.1):

MC0

MC1

Motor current

0 0 1/3 of configured maximum current

1 0 2/3 of configured maximum current

0 1 2/3 of configured maximum current

1 1 Configured maximum current

In contrast to the old Monopack, these motor current settings can also be controlled by software (please see section 4.2.1). The step and direction inputs are also provided on the Step/Direction input socket. These are internally connected to the step/direction inputs of the 25-pin socket.

2.7.3 The Alarm Input

The alarm input is a differential input which can be used to stop the motor in case of emergency. To connect a key to this input, simply connect it between AlarmIN+ and +5V (from the incremental encoder connector) and connect the AlarmIN- input to ground.

2.7.4 The Alarm Output

This differential output is set high in case of an alarm or error condition. Alarm and error conditions can be cleared by command $74 (s. 4.6.2).

2.7.5 The Incremental Encoder Output

The incremental encoder outputs (EnchA+/-, EnchB+/-, EnchN+/-) provide the encoder signals from the encoder input (s. 2.4) converted to differential signals.

2.7.6 The Stop Switch Outputs

The stop switch outputs (StopL+/- and StopR+/-) provide the signals from the stop switch inputs (s. 2.3) converted to differential signals.

1 13

14 25

CANL/RS485-

CANH/RS485+

EnCHB-

EnCHB+

StopL-

StopL+

AlarmIN-

AlarmIN+

MC1-

MC1+

DIR-

DIR+

GND

EnCHN-

EnCHN+

EnCHA-

EnCHA+

StopR-

StopR+

AlarmOUT-

AlarmOUT+

MC0-

MC0+

STEP-

STEP+

Monopack 2 Manual V1.04 9

2.8 The Step/Direction input socket

The Step/Direction input socket provides the same differential step/direction inputs as the 25-pin Sub-D socket. It is electrically identical with those inputs.

2.9 The hexadecimal Switch

This switch is used to set the LSN of the CAN receive identifier and the RS485 address. If the switch is set to zero, the CAN receive identifier and the RS485 address will be reset to 1 and the CAN send identifier will be reset to 2 (please see also section 3.2.2, 4.7.2 and 4.7.3). The position of the hexadecimal switch is only read after a hardware reset. So it is required to power off the unit when changing the hexadecimal switch setting.

2.10 The DIP switches

The DIP switches allow selecting the interface that is to be used and the operating mode. They have the following functions:

Switch

Function

OFF: Use RS485 interface; ON: Use CAN interface

OFF: Use CAN interface; ON: Use RS485 interface

OFF: Use Monopack 2 (binary) command set (compatible with old Monopack) ON: Use Monopack LT (ASCII) command set (compatible with old Monopack LT)

OFF: normal operation ON: perform a firmware upgrade

OFF: No bus termination ON: 100 Ohms RS485/CAN bus termination

OFF: Maximum current is 2.5A (compatible with Monopack / Monopack LT) ON: Maximum current is 5.7A

Please note that switches 5 and 6 are only read after a hardware reset. So it is necessary to power off the unit when changing the settings of switch 5 or 6.

Monopack 2 Manual V1.04 10

3 Controlling the Monopack 2

3.1 Step/Direction Mode

Right after powering on, the device works as a step/direction power module. After getting the first command via the RS232 interface, the RS485 interface or the CAN interface, it switches from step/direction mode to command mode. It is possible to switch back to step/direction mode using command $50.

3.2 Binary Command Mode

The binary command mode is selected when DIP switch #6 is in its “off” position. This mode is compatible with the old “Monopack”, with some extensions. In the binary command mode the Monopack 2 expects data telegrams

via the RS232 interface, the RS485 interface or the CAN interface. With those interfaces the following parameters can be used:

RS485 interface

19200 baud 8 data bits, no parity bit, 1 stop bit

RS232 interface

19200 baud 8 data bits, no parity bit, 1 stop bit

CAN interface

125, 250, 500 or 1000 kbit/s Default: 250 kbit/s

3.2.1 Format of the Data Telegrams

Every data telegram consists of one command byte and seven parameter bytes. Unused parameter bytes must be set to zero. It is not allowed to leave out unused parameter bytes. In RS485 mode, every data telegram is preceded by an address byte which contains the RS485 address of the unit. In CAN mode the identifier field of the CAN telegram is used to address the unit. So the format of every Monopack data telegram is as follows:

Address (in RS485 mode only)

Command

Some commands also send back a data telegram of the same format as answer.

3.2.2 Unit Addresses

In RS485 mode, the LSN of the address can be set by the hexadecimal switch. The MSN can be set using command $55 (s. 4.7.2). In CAN mode, the LSN of the CAN receive ID is set by the hexadecimal switch. The rest of the CAN receive ID can be set using command $55. The CAN send ID is set using command $56 (s. 0). The CAN baud rate can be set using command $C0 (s. 4.7.4).

If the hexadecimal switch is set to zero the RS485 address and the CAN receive ID will be reset to 1. The CAN send ID will be reset to 2.

3.2.3 Parameter Storage

Most of the parameters which can be set by the commands can be stored in an EEPROM. This makes it possible that the Monopack is configured only once and can then be used without having to reconfigure it every time it is powered on again. In firmware versions prior to 2.05, the EEPROM values are always changed whenever a parameter changing command is given. From version 2.05 on, this can be controlled, so that parameters can also be changed temporarily without affecting the values stored in the EEPROM and the parameters can also be read back. These features are controlled by the P0 byte of the command. Please see section 4.1 for further explanation.

Monopack 2 Manual V1.04 11

3.3 Monopack LT (ASCII) Command Mode

The Monopak LT compatible command mode is selected when DIP switch #6 is in its “on” position. This command set is compatible with the old “Monopack LT” command set. In LT mode, the communication with the Monopack 2

can either take place via the RS232 interface or via the RS485 interface. The CAN interface can not be used in LT mode. The baud rate is 9600 bps.

Attention: The Monopack 2 uses a higher clock frequency than the Monopack LT. Thus the velocity and

acceleration settings do not give identical results. To be compatible with the settings required by the Monopack LT, please multiply your velocity and acceleration settings by 0.691.

+ 23 hidden pages

Trinamic MONOPACK 2 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual