MOTKA MK-200 User manual

M
MK K- -2 20 00 0
U
Us se er r’ ’s s M Ma an nu ua al l
Revision 1.1
MOTKA LLP

Table of Contents
1
1. .Introduction............................................................................................................5
2
2. .Getting Started.......................................................................................................8
2.1. Connecting the Power Supply..........................................................................10
2.2. Connecting the Host.........................................................................................10
2.3. Selecting Servo or Stepper...............................................................................11
2.4. Connecting Servo Motor..................................................................................12
2.5. Connecting Stepper Motor...............................................................................14
2.6. Connecting the Limits......................................................................................14
2.7. Connecting the Home Indicator.......................................................................15
2.8. Testing Our Connections .................................................................................17
2.9. Design Examples .............................................................................................18
3
3. .Package Information............................................................................................22
4
4. .Software Tools.....................................................................................................24
5
5. .Command Basics .................................................................................................25
6
6. .Revision History ..................................................................................................26

3
List of Figures
Figure 1 – Elements of motion control.....................................................................5
Figure 2 – The MK-200 2-Axis Motion Controller Surface Mount Module.........6
Figure 3 - MK-200 pin layout.....................................................................................8
Figure 4 – Power supply scheme...........................................................................10
Figure 5 – UART-to-UART interface with host.....................................................11
Figure 6 – UART-to-RS232 interface with host....................................................11
Figure 7 – Connecting to a brushless servo motor to Axis A.............................13
Figure 8 – Connecting to a brushed servo motor to Axis A................................13
Figure 9 – Connecting to a stepper motor to Axis A............................................14
Figure 10 – Connecting to forward and reverse limits to Axis A........................15
Figure 11 – Connecting to home indicator............................................................16
Figure 12 – Home operation....................................................................................16
Figure 13 - MK-200 package outline......................................................................22
Figure 14 - Recommended PCB footprint.............................................................23

4
List of Tables
Table 1 – MK-200 pin definitions..............................................................................9
Table 2 - Document revision history.......................................................................26

5
1
1. . Introduction
This User Manual targets application developers. It provides complete
information on how to use the MK-200.
For information on programming and the complete list of command
references, please refer to the Command Reference manual.
MK-200 is a 2-Axis Motion Controller Surface Mount Module that facilitates
implementation of motion control applications with simplicity, shortens
time-to-market, and achieves optimal cost-effectiveness. It is suitable for
scientific, industrial automation, robotic applications and hobby.
MK-200 is a fully functional motion controller requiring only an external
amplifier to complete a position control application. It is driven by a host
through an asynchronous serial port (UART). Figure 1 shows the elements
of motion control application using MK-200. Its servo compensation uses
32-bit position error, as well as PID control engine with acceleration and
velocity limits for position control. A set of essential and simple-to-use
instructions is provided to control the motion application and monitor
ongoing performance.
Figure 1 – Elements of motion control
Processor MK-200 Driver
Power
Supply
Motor
Encoder
UART
PWM/Dir
CHA/CHB

6
Features
Supports up to 2 axes
Configurable to support step or servo motors
5V tolerant PWM/Pulse and Direction outputs per axis to ensure
compatible with commercially-of-the-shelf amplifiers
Two channels (CHA and CHB) incremental encoder quadrature
input per axis
Two directional (Forward and Reverse) limits per axis
One home indicator per axis
One UART interface port, configured at 115200 bps, to interface
with a host processor
Easy-to-use ASCII-based programming instructions
Small footprint (35 x 28.5 mm) with castellated terminals for ease of
integration onto PCB
Spacing between castellated terminals is 2.54 mm, which is
compatible to common prototyping and bread boards
+5 V operation
Figure 2 – The MK-200 2-Axis Motion Controller Surface Mount Module

7
Related documents
•Command Reference.
•MOTKA Motion Companion User’s Manual.

8
2
2. . Getting Started
The pins layout and definitions of MK-200 are shown in Figure 3 and Table
1 respectively.
To get started, we can either solder the MK-200 directly onto a prototyping
board or place the MK-200 onto a prototyping breadboard using header
pins and make sure the contact between the pins and the MK-200 are
reliable. The instructions illustrated from Section 2.1 through Section 2.8
represent a typical application.
Figure 3 - MK-200 pin layout
1
2
3
4
+5V
Gnd
Gnd
+5V
A
-
CHA
A
-
CHB
A
-
HM
A
-
FL
A
-
RL
A
-
DIR
A
-
PWM
STEPPER A
STEPPER B
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Tx
Rx
B
-
CHA
B
-
CHB
B
-
HM
B
-
FL
B
-
RL
B
-
DIR
B
-
PWM
5
6
7
8
9
10
11
12
13
14
28
27
26
25
24
23
22
21
20
19
18
17
16
15

9
Pins Pin Name Type
1
I/O Level
23
Function
1 +5V P - +5V supply
2 A-CHA I FT Axis A encoder input CHA
3 A-CHB I FT Axis A encoder input CHB
4 A-HM I FT,AL Axis A home indicator input
5 A-FL I FT,AL Axis A forward limit input
6 A-RL I FT,AL Axis A reverse limit input
7 A-DIR O FT Axis A direction output
8 A-PWM O FT Axis A PWM output
9 STEPPER A I FT,AL Axis A Stepper select
10 STEPPER B I FT,AL Axis A Stepper select
11 Reserved - - Reserved. Do not use.
12 Reserved - - Reserved. Do not use.
13 Reserved - - Reserved. Do not use.
14 Gnd P - Ground
15 Gnd P - Ground
16 Reserved - - Reserved. Do not use.
17 Reserved - - Reserved. Do not use.
18 Reserved - - Reserved. Do not use.
19 Rx - - UART Receive
20 Tx - - UART Transmit
21 B-PWM O FT Axis B PWM output
22 B-DIR O FT Axis B direction output
23 B-RL I FT,AL Axis B reverse limit input
24 B-FL I FT,AL Axis B forward limit input
25 B-HM I FT,AL Axis B home indicator input
26 B-CHB I FT Axis B encoder input CHB
27 B-CHA I FT Axis B encoder input CHA
28 +5V P - +5V supply
Table 1 – MK-200 pin definitions
1
P = Power, I = Input, O = Output
2
FT = Five voltage Tolerant
3
AL = Active Low

10
2.1.Connecting the Power Supply
The MK-200 requires a +5 V operating voltage. An embedded regulator is
used to supply the internal +3.3 V digital power. The +5 V pins must be
connected to a +5 V power supply with external decoupling capacitors
(one 100 nF ceramic capacitor for each +5 V) as shown Figure 4. The
decoupling capacitors shall be placed close to the +5V pins whenever
possible for best performance.
Figure 4 – Power supply scheme
2.2.Connecting the Host
A host is required to drive the MK-200 through the UART interface with the
following configurations:
Baud rate: 115200 bps
Data bit: 8
Stop bit: 1
Parity bit: None
Flow control: None
These configurations are not changeable.
The UART interface can be connected directly to another host processor
with a UART port (See Figure 5). If the MK-200 is to be connected to a
MK-200
+5V
Gnd
Gnd
+5V
100 nF
100 nF