MicroPAP Easy Motion SD-808 User manual

SD808 -USER MANUAL
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Change Management
Information about document
VERSION
DESCRIPTION
DATE
APPROVAL
1
Initial version
2012/04/30
2012/05/03
2
Protocol version
2012/06/03
2012/06/03
3
Controller and application revision
2014/07/02
2014/07/17
4
Enable mode suppression, application
of track numbers and activation
2016/06/03
2016/06/05
4.1
Format
2016/06/03
2016/06/05
4.2
Format
2016/06/19
2016/06/19
4.3
English translation
2017/06/03
2017/06/07
5
Better explanation of track mode
2016/09/19
2016/09/19
5.1
Connection drawings of serial and
track mode.
2018/05/30
2018/06/01
NAME
DATE
SIGNATURE
AUTHOR
Mario Aliaga
2012/04/30
REVISION
Fermín Alarcón
2012/05/02
APPROVAL
Jesús Caum
2012/05/03

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Index
1Presentation ..................................................................... 5
2Initial Precautions ............................................................ 6
3Connections .................................................................... 7
4Power Supply ................................................................. 10
5Motors............................................................................. 10
5.1 Motor current...................................................................................11
5.2 Temperature Control ......................................................................12
5.3 Limit Switch......................................................................................12
6Operation Modes .......................................................... 13
6.1 Serial mode .....................................................................................13
6.2 Track mode .....................................................................................13
7Communications........................................................... 13
7.1Driver Configuration........................................................................14
7.2 Motion Command ..........................................................................15
7.3 Dynamic State Request ..................................................................16
7.4 Static State Request ........................................................................17
7.5 Tracks Settings.................................................................................18
8Speed Profile.................................................................. 20
8.1 Speed Limits ....................................................................................21
9Communication Example ............................................ 22
9.1 Control Frame .................................................................................22
9.2 Configuration Frame.......................................................................23
10 Software ......................................................................... 25
10.1 Communications ............................................................................27
10.2 Configuration ..................................................................................28
10.3 Serial ................................................................................................30
10.4 Track ................................................................................................32

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11 Specifications ................................................................ 34
11.1 Electrical Values .............................................................................34
11.2 Mechanical Dimensions.................................................................35

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1Presentation
Thank you for purchasing the new MICROPAP EASY MOTION SD-808 driver.
SD-808 is a circuit designed for the operation of bipolar step motors with serial
RS-485 communication.
Main Features:
RS-485 asynchronous serial port galvanically isolated.
Serial mode of up to 32 devices connected in bus.
Movements in complete steps (8 micro steps), 1/2, 1/16, 1/32 or 1/64.
24-byte control frames (ASCII)
Execution of improved speed profiles.
Wide range of power supplies (24 -72 VDC).
Programmable phase current by means of PC software
Maximum current adjustment 8A phase in 40mA increments.
Setting of current standstill at 15, 40, 55 and 75% of the predefined maximum
current value.
Sinusoidal current control with harmonic suppression.
Input for End / Stop in switch mode or PNP with auxiliary power.
Opto-coupled auxiliary inputs.
Protections: temperature and voltage.
Plug connectors.
DIN rail mounting (optional).
MicroPaP products have a 1 year warranty against any
defects in manufacture. Furthermore, for the first 15 days,
MicroPaP guarantees the reimbursement of the purchase
price if the equipment is damaged or does not meet your
expectations.

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2Initial Precautions
Make sure you read the information on motor current adjustment and motor connection
method with special wiring configurations carefully.
Make sure that the power supply has enough power.
Choose wires with a suitable section, without pre-tinning or with pressed tips
and as short as possible.
Be sure to configure the motor characteristics before using the controller.
A USB-RS485 converter is required, microPaP can supply this as an option.
When the driver is starting up, wait until the green LED is turned on and the
red LED is permanently switched off so that the device is in working condition.
Before connecting the equipment to a RS-485 bus, all the
required parameters for its correct operation must be
configured in point-to-point mode. Remember 120 ohm
resistors on two bus end points!

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3Connections
The SD-808 has plug-in terminals of different pitch (to minimize connection errors) for
communication signals, auxiliary input, limit switches and power connectors.
Figure 1 Serial mode connections

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Figure 2 Track mode connections

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CONNECTOR
PIN
SIGNAL
PWR
1
+ V (Supply voltage)
2
GND_P (Ground) (*)
MOTOR
1
Phase B (Connect to the extreme 1 of first motor coil)
2
Phase /B (Connect to the extreme 2 of first motor coil)
3
Phase A (Connect to the extreme 1 of second motor coil)
4
Phase /A (Connect to the extreme 2 of second motor coil)
ANG_IN
1
+12V (Auxiliary power supply 12VDC)
2
ANG (Analog input or track activation)
3
FC (Switch Limit)
4
GND_P (Negative) (*)
OPT_IN
1
IN1 (Optocoupled auxiliary input 1)
2
IN2 (Optocoupled auxiliary input 2)
3
IN3 (Optocoupled auxiliary input 3)
4
IN4 (Optocoupled auxiliary input 4)
5
GND_OP (negative optocoupled inputs) (*)
RS485 (**)
1
+5V
2
A
3
B
4
GND_485 (negative) (*)
LEDS
RED
Flashes at driver’s initialization time. Turn-on during movements
GREEN
Permanent active indicating power and operation of the driver
(*) Las masas del controlador no son comunes.
(**) Precisa de una alimentación externa

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4Power Supply
The voltage of the driver’s power supply must be between 24VDC and 72VDC, with a
maximum current of 8A.
The value of the right voltage to power a stepper motor depends on the desired high
maximum speed performance. Increasing the voltage of the driver’s power supply
allows to increase the maximum speed of the motor without loss of steps.




5Motors
Motors with 4, 6 or 8 wires can be used. The 8-wire motors can be connected in series
or parallel allowing double the torque in the parallel connection.
Figure 3 4-wire connection
Figure 4 6-wire connection
Placing outside this allowable power supply voltage rank for
the driver means that the driver protections will activate and
disconnect the power elements.

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Figure 5 8-wire serial connection
Figure 6 Parallel 8-wire connection




5.1 Motor current
The adjustment of the maximum current provided by the controller must be selected
at the peak rated motor current (Inominal * 1.41) in order to avoid overheating in its
windings which would shorten its life.
The motor current must be set in the controller before the first use. The configuration
is done through the demo program (available free at http://www.micropap.com) and
a USB-RS485 converter.
The current can be adjusted from 400mA up to 8A by 40mA increments. This way,
maximum performance from the motor is ensured.
It is very important not to disconnect/connect the motor
with the controller supplied.
Check the connections before turning on the power!

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5.2 Temperature Control
The driver self-protects against excessive current demands and associated
temperature risings. The driver includes a heat sink designed to cool the parts of the
circuit which, under normal operation, are subject to heating. For its proper
ventilation, the driver must be maintained vertically.
5.3 Limit Switch
The driver has an input to connect a mechanical Switch Limit or PNP output Switch
Limit. The following figures show the possible connection modes on the terminals 1 (+
12v) and 3 (FC) of the connector ANG_IN.
Figure 7 Switch Limit (FC) Connection Modes
The polarity of the Switch Limit inputs can be changed by customer request.
The driver must be placed vertically to improve cooling
through the heat sink.
In systems with a lot of electrical noise we strongly
recommend not to use an open circuit limit switch (option 1)

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6Operation Modes
The SD-808 driver allows you to work in two different modes:
6.1 Serial mode
In this mode, the movements are made by sending a serial frame from a control device
or PC. Serial communication can be point-to-point or through bus connection of several
drivers.
6.2 Track mode
This mode allows the user to store in the internal memory of the driver up to ten
movements that have been previously configured. Once stored, they can be selected
individually depending on the status of the auxiliary inputs (Figure 2).
This mode is very useful when using the driver in a system with simple and repetitive
movements in totally autonomous mode, since it avoids having to make serial
communications.
For activate desired track its necessary to select a binary code on the inputs IN1 - IN4
in accordance with the track number to be executed and connect the 12V output to
the ANG on the same connector to start the selected track (Figure 2).
The desired stored movement will continuosly executed while the signal on the input
ANG will be present, acting as a “security mushrom”.
7Communications
Communications work according to the EIA standard RS-485 at 19200 baud, 8 bits of
data, 1 bit of START and 1 bit of STOP. It allows sending the control frames to the
driver according to the protocol described in the following tables.
MicroPaP commercializes a device adapter of USB port (PC) to port RS-485 (Figure 1).

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7.1 Driver Configuration
The configuration of the driver is done through a point-to-point connection and with
initial device identifier 0x30.
The configuration allows to vary, among other parameters, the device identifier, the
maximum current level and the working mode of the device.
Frame format sent to the driver:
Nº
byte
Description
Possible values
Error
0
Device identifier
0x30 (initial), 0x31, 0x32,
0x33,... 0x4F
1
Program of functional parameters in
internal memory
81D=0x51=Q
113D=0x71=q
2
Current level
(400mA →8A) / 40mA
0x30 + current level
(0 a 200)
120D=0x78=x
3
Working mode
S = 0x53 (Serial)
T = 0x54 (Track)
P = 0x50 (Special)
4
New identifier in Serial mode
0x30, 0x31, 0x32,... 0x4F
5
Reserved
0x30
6
Carry Return
0x0D
Response from the driver:
Nº byte
Description
Possible values
0
Device identifier
0x30, 0x31, 0x32, ..., 0x4F
1
Response identifier to parameters programming
81D = 0x51 = Q
2
Current level
0x30 + current level
(0 a 200)
3
Working mode
0x53, 0x54, 0x50

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4
Device identifier for acting in serial RS-485 mode
0x30, 0x31, 0x32, ..., 0x4F
5
Reserved
0x30
6
Reserved
0x30
7
Carry Return
0x0D
7.2 Motion Command
Frame format sent to the driver:
NºByte
Description
Possible Value
Error
0
Device identifier
0x30, 0x31, 0x32, 0x33,... 0x4F
1
Movement command
identifier
77D = 0x4D = M
m=109D=0x6D
2
Number of movement steps
Units (0x30,…,0x39)
x=120D=0x78
3
Tens (0x30,…,0x39)
4
Hundreds (0x30,…,0x39)
5
Thousands (0x30,…,0x39)
6
Tens of thousands (0x30,…,0x39)
7
Hundreds of thousands
(0x30,…,0x39)
8
Direction of the rotation /
Reset accumulated
setpoint
Right = R (0x52)
Left = L (0x4C)
9
Number of steps of the
acceleration slope
Units (0x30,…,0x39)
10
Tens (0x30,…,0x39)
11
Hundreds (0x30,…,0x39)
12
Number of steps for the
deceleration slope
Units (0x30,…,0x39)
13
Tens (0x30,…,0x39)
14
Hundreds (0x30,…,0x39)
15
Speed setpoint in RPM
(0 to 999). (belong to a speed
1 to 1000 rpm)
Units (0x30,…,0x39)
16
Tens (0x30,…,0x39)
17
Hundreds (0x30,…,0x39)

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18
Microsteps selector and
motor type
200 steps motor
0x31 = ½ steps
0x32 = 8
0x33 = 16
0x34 = 32
0x35 = 64
400 steps motor
0x41 = ½ steps
0x42 = 8
0x43 = 16
0x44 = 32
0x45 = 64
19
STOP current (holding
torque)
0x30 = 15 %
0x31 = 40 %
0x32 = 55 %
0x33 = 75 %
20
Test for Switch Limit
(PNP input type)
0x30 = No test for FC
0x31 = Test for FC
21
Continuous movement
0x30 = Disabled
0x31 = Enabled
22
Final movement response
0x30 = Without response
0x31 = With response
23
Carry Return
0x0D
Response from the driver:
Nº Byte
Description
Possible values
0
Device identifier
0x30, 0x31, 0x32, 0x33,... 0x4F
1
Command movement identifier
77 = 0x4D = M
2
Error or result
ACK=0x06 (Correct communication)
NACK=0x15 (Communication error)
121= 0x79=y (FC reached)
122=0x7A=z (Movement finished)
3
Carry Return
0x0D
7.3 Dynamic State Request
Frame format sent to the driver:
Nº byte
Description
Possible values
Error

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0
Device identifier
0x31, 0x32, 0x33,... 0x4F
1
Dynamic status request
D=68D=0x44
d=100D=0x64
2
Carry Return
0x0D
Response from the driver:
Nº byte
Description
Possible values
0
Device identifier
0x31, 0x32, 0x33,... 0x4F
1
Dynamic status request identifier
(RAM)
D=68D=0x44
2
Motor state
0x30 = Stop
0x31 = Motor in motion
3
System error (0x00 + error)
LSB bit = Voltage under the
minimum
Bit 1 = Voltage max. exceeded
Bit 2 = Temp. max exceeded
4
Real time temperature
0x30 + Temperature (0 to 200)
5
Real time voltage
0x30 + Voltage (0 to 200)
6
Switch Limit status
0x30 = Un-triggered
0x31 = Triggered
7
Carry Return
0x0D
7.4 Static State Request
Frame format sent to the driver:
Nº
byte
Description
Possible
values
Error
0
Static status request (EEPROM) after error
indicating fault
S=83D=0x53
s=115D=0x73
1
Carry Return
0x0D
Response from the driver:

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Nº byte
Description
Possible values
0
Dynamic status request identifier
S=83D=0x53
1
Maximum temperature reached
0x30 + Temperature (0 to 200)
2
Maximum voltage reached
0x30 + Voltage (0 to 200)
3
Programmed current level
0x30 + Current level (0 to 200)
4
Device Mode
S = 0x53 (Serial)
T = 0x54 (Track)
P = 0x50 (Special)
5
Device identifier
0x30 (initial setup)
6
Hardware serial number (0 →99999)
Units (0x30,…,0x39)
7
Tens (0x30,…,0x39)
8
Hundreds (0x30,…,0x39)
9
Thousands (0x30,…,0x39)
10
Tens of thousands (0x30,…,0x39)
11
Software identifier = ( 0 →207)
0x30 + Software identifier
12
Software serial number = ( 0 →207)
0x30 + Software serial number
13
Carry Return
0x0D
7.5 Tracks Settings
The programming of tracks can only be done through a point-to-point connection with
the driver.
Tracks configuration frame format sent to the driver
Nº byte
Description
Possible values
Error
0
Tracks’ programming
T=84D=0x54
t=116D=0x74
1
Action to execute
R = 0x52 (read)
W = 0x57 (write)
E = 0x45 (delete)
x=120D=0x78

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2
Track to read / write / delete
0x30 = Track 0
0x31 = Track 2
…
0x39 = Track 9
6
Carry Return
0x0D
Response to the configuration frame from the driver (The answer is the data stored in
the internal memory):
Nº
Byte
Description
Possible values
0
Tracks’ programming
T = 84D = 0x54
1
Track number
0x31, 0x32… 0x39
2
Number of steps (movement)
Units (0x30,…,0x39)
3
Tens (0x30,…,0x39)
4
Hundreds (0x30,…,0x39)
5
Thousands (0x30,…,0x39)
6
Tens of thousands (0x30,…,0x39)
7
Hundreds of thousands
(0x30,…,0x39)
8
Direction of the rotation / Reset
accumulated setpoint
Right = R (0x52)
Left = L (0x4C)
9
Number of steps of the acceleration slope
Units (0x30,…,0x39)
10
Tens (0x30,…,0x39)
11
Hundreds (0x30,…,0x39)
12
Number of steps for the deceleration slope
Units (0x30,…,0x39)
13
Tens (0x30,…,0x39)
14
Hundreds (0x30,…,0x39)
15
Speed setpoint in RPM
(0 to 999). (belong to a velocity 1 to 1000 rpm)
Units (0x30,…,0x39)
16
Tens (0x30,…,0x39)
17
Hundreds (0x30,…,0x39)

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18
Microsteps selector and motor type
200 steps motor
0x31 = ½ step
0x32 = 8
0x33 = 16
0x34 = 32
0x35 = 64
400 steps motor
0x41 = ½ step
0x42 = 8
0x43 = 16
0x44 = 32
0x45 = 64
19
STOP current (holding torque)
0x30 = 15 %
0x31 = 40 %
0x32 = 55 %
0x33 = 75 %
20
Test Switch Limit
(input PNP type)
0x30 = No test for FC
0x31 = Test for FC
21
Continuous movement
0x30 = Disabled
0x31 = Enabled
22
Final movement response
0x30 = Without response
0x31 = With response
23
Carry Return
0x0D
8Speed Profile
The motion that the controller can execute follows a speed profile as shown in Figure
7. In this figure, the control points can be observed and in the definition table of the
communication protocol the bytes that define those points.
A speed profile is a way of defining the behaviour of the motor along a movement
originated from a PC (or PLC) command. Generally it improves the speed performance
as it allows to define ramps of acceleration and breaking.
The SD-808 driver allows an acceleration and deceleration (braking) ramp of up to 1000
steps in each of them and a total movement of 1000000 steps.