MOTKA MK-200C User manual

M
MK K- -2 20 00 0C C
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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..................................................................................11
2.5. Connecting Stepper Motor...............................................................................13
2.6. Connecting the Limits......................................................................................14
2.7. Connecting the Home Indicator.......................................................................15
2.8. Testing Our Connections .................................................................................16
2.9. Design Examples .............................................................................................17
3
3. .Package Information............................................................................................22
4
4. .Software Tools.....................................................................................................23
5
5. .Command Basics .................................................................................................24
6
6. .Revision History ..................................................................................................25

3
List of Figures
Figure 1 – Elements of motion control.....................................................................5
Figure 2 – The MK-200C 2-Axis Motion Controller................................................6
Figure 3 - MK-200C ....................................................................................................8
Figure 4 – Power supply scheme...........................................................................10
Figure 5 – RS-232C-to-RS232C interface with host ...........................................11
Figure 6 – Connecting to a brushless servo motor to MK-200C .......................12
Figure 7 – Connecting to a brushed servo motor to MK-200C..........................13
Figure 8 – Connecting to a stepper motor to MK-200C......................................13
Figure 9 – Connecting to forward and reverse limits to MK-200C....................15
Figure 10 – Connecting to home indicator............................................................16
Figure 11 – Home operation....................................................................................16
Figure 12: MK-200C package outline....................................................................22

4
List of Tables
Table 1 – MK-200C terminal definitions..................................................................9
Table 2 - Document revision history.......................................................................25

5
1
1. . Introduction
This User Manual targets application developers. It provides complete
information on how to use the MK-200C.
For information on programming and the complete list of command
references, please refer to the Command Reference manual.
MK-200C is a 2-Axis Motion Controller 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-200C 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 (RS-232C). Figure 1 shows the
elements of motion control application using MK-200C. 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
Host MK-200C Driver
Power
Supply
Motor
Encoder
RS
-
232C
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 RS-232C interface port, configured at 115200 bps, to interface
with a host computer
Easy-to-use ASCII-based programming instructions
Small footprint (116.2 x 62.9 x 24.18 mm) with screw terminals for
ease of integration and maintenance
Lightweight with only 150 gram
+5 V operation and typical current consumption of 300 mA.
Figure 2 – The MK-200C 2-Axis Motion Controller

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

8
2
2. . Getting Started
The terminal layout and definitions of MK-200C are shown in Figure 3 and
Table 1 respectively.
The instructions illustrated from Section 2.1 through Section 2.8 represent
a typical application.
Figure 3 - MK-200C
Gnd
Gnd
Gnd
CHA
CHB
HM
FL
RL
DIR
PWM
Fault
Gnd
PWM
+5V
Gnd
CHA
CHB
HM
FL
RL
DIR

9
Group Terminal
Name
Type
1
I/O Level
23
Function
Gnd P - Ground
CHA I FT Axis-A Encoder input CHA
CHB I FT Axis-A Encode input CHB
HM I FT,AL Axis-A Home indicator input
FL I FT,AL Axis-A Forward limit input
RL I FT,AL Axis-A Reverse limit input
DIR O FT Axis-A Direction output
AXIS A
PWM O FT Axis-A PWM output
Gnd P - Ground
CHA I FT Axis-B Encoder input CHA
CHB I FT Axis-B Encode input CHB
HM I FT,AL Axis-B Home indicator input
FL I FT,AL Axis-B Forward limit input
RL I FT,AL Axis-B Reverse limit input
DIR O FT Axis-B Direction output
AXIS B
PWM O FT Axis-B PWM output
AXIS A I FT,AL Axis A Stepper selectStepper
Select AXIS B I FT,AL Axis B Stepper select
+5V P - +5V supply
Gnd P - Ground
Power
In Fault I FT,AL Reserved. Do not use.
Rx - - Receive
Tx - - Transmit
RS-232
Gnd P - Ground
Table 1 – MK-200C terminal 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-200C requires a +5 V operating voltage. It is highly recommended
to separate the power supply used for the MK-200C and the motor
amplifiers to eliminate noise interference.
Figure 4 – Power supply scheme
2.2.Connecting the Host
A host is required to drive the MK-200C through the RS-232C 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 RS-232C interface can be connected directly to a host computer with
a RS-232C port (See Figure 5).
Power Supply MK-200C
+5V
Fault
Gnd
Gnd
+5V
Fault