WOBIT MIC488 User manual

P.P.H. WObit E.K.J. Ober s.c.
62-045 Pniewy, Dęborzyce 16
tel. [phone], fax. [phone]
e-mail: [email protected]
www.wobit.com.pl
MIC488
USER MANUAL
Programmable motion
trajectory controller for 4 axis

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User manual MIC488 –16.07.2015r. v.1.25
page 2
Thank you for selecting our product!
This instruction will help you at correct service and accurate exploitation of described device.
Information included in this instruction were prepared with high attention by our specialists and is description of the product. Based on the
information should not be inferred a certain features or suitability for a particular application. This information does not release the user
from the obligation of own judgment and verification. P.P.H. WObit E.K.J. Ober s.c. reserves the right to make changes without prior notice.
Please read instructions below carefully and adhere to its recommendation
Please pay special attention to the following characters:
CAUTION!
Not adhere to instruction can cause damage or impede the use of hardware or software.
CAUTION!
The warranty does not cover mechanical or electrical damages caused by overvoltage, short circuit and fault
or break down caused by defective exploitation of the user/purchaser.

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User manual MIC488 –16.07.2015r. v.1.25
page 3
Contents
1. Safety and assembly rules............................................................................................................................................................4
1.1 Safety rules.......................................................................................................................................................................................4
1.2 Assembly recommendation..............................................................................................................................................................4
2. Device description .......................................................................................................................................................................5
2.1 Designation ......................................................................................................................................................................................5
2.2 Functions..........................................................................................................................................................................................6
3. Equipment description.................................................................................................................................................................7
3.1 Connectors and indicating lamps layout ..........................................................................................................................................7
3.2 Power supply....................................................................................................................................................................................8
3.3 Universal inputs IN1…IN8.................................................................................................................................................................8
3.4 Universal inputs IN9…IN22 / for encoders .......................................................................................................................................8
3.5 Universal outputs OUT1…OUT8 .......................................................................................................................................................9
3.6 Outputs for M1…M4......................................................................................................................................................................10
3.7 Connection example.......................................................................................................................................................................10
4. Software MIC488-PC..................................................................................................................................................................11
4.1 Connection MIC488 with PC via USB..............................................................................................................................................11
4.2 Program description.......................................................................................................................................................................12
5. Driver configuration...................................................................................................................................................................13
5.1 Initial information –motion parameters........................................................................................................................................13
5.2 Drives configuration .......................................................................................................................................................................14
5.2.1 Homing and motion limiting mode............................................................................................................................................16
5.2.2. Position control with encoder ...................................................................................................................................................17
5.2.3. Configuration example ..............................................................................................................................................................17
5.2.4. Control of drive status ...............................................................................................................................................................19
5.3. Digital inputs configuration ............................................................................................................................................................19
5.4. Analog inputs configuration ...........................................................................................................................................................20
5.5. RS232/RS485 communication configuration..................................................................................................................................20
6. Manual control and diagnostics .................................................................................................................................................21
6.1 Drives manual control ....................................................................................................................................................................21
6.2. Diagnostics .....................................................................................................................................................................................22
6.3 Errors signalization .........................................................................................................................................................................22
7. Driver programming ..................................................................................................................................................................23
7.1 Introduction ...................................................................................................................................................................................23
7.2. WBCprog program description.......................................................................................................................................................24
7.2.1 Main window..................................................................................................................................................................................24
7.2.2 Saving and opening a project .........................................................................................................................................................25
7.2.3 Quick commands menu ........................................................................................................................................................25
7.2.4 Position table .................................................................................................................................................................................26
7.2.5 Sending file to the driver................................................................................................................................................................26
7.2.6 Running and testing of the program ..............................................................................................................................................27
7.3. WBL language description..............................................................................................................................................................28
8. Program example in WBCprog ...................................................................................................................................................30
8.1 Use of inputs / outputs...................................................................................................................................................................30
8.2. Read out of analog inputs (0-10V)..................................................................................................................................................31
8.3. Control of drives.............................................................................................................................................................................31
8.3.1 Linear interpolation........................................................................................................................................................................32
8.3.2 Circular interpolation .....................................................................................................................................................................33
8.4. Readout / Save of encoder position ...............................................................................................................................................34
8.5. Timers.............................................................................................................................................................................................35
8.6. Mathematical operations and variable ..........................................................................................................................................35
8.7 Interrupts .......................................................................................................................................................................................35
8.8 Program example ...........................................................................................................................................................................36
9List of commands and registers..................................................................................................................................................37
7MODBUS communication ..........................................................................................................................................................39
8Record of changes......................................................................................................................................................................39
9Technical parameters.................................................................................................................................................................40
10 Declaration of conformity..........................................................................................................................................................42

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User manual MIC488 –16.07.2015r. v.1.25
page 4
1. Safety and assembly rules
1.1 Safety rules
Prior to first start-up of the device please refer to this manual and keep it for further use.
Provide appropriate working conditions in compliance with the device specification ( e.g.: power supply
voltage, temperature, maximum current consumption).
Protect inside of the device from any liquids or elements –it can cause electric shock and damage of the
device.
Basic features which knowledge and use will provide safe use consonant with its designation will be
demonstrate on the device or in this manual.
The device with its parts is manufactured in way to provide its safe mounting and connection.
The device is designed and manufactured as to conform to the principles of protection against the threats
mentioned above provided that the device is used in a manner consistent with its purpose and that it is
properly maintained.
The device can cause interference of sensitive radio and television devices in nearby.
1.2 Assembly recommendation
It is recommended to follow measures described below to prevent any possible interruptions of the device
operation:
Do not power the driver on the same line as the device without a corresponding high power line filters
(drivers/servo motors).
Minimize influence of external interference.
To minimize noises please use screening of the supply, sensor and signal cables or use twisted pair cables
(separate kink for A and B phase). It is recommended to use a ferrite bead assumed on the motor wire in
close to the driver.
Please avoid leading signal cables (CLK, DIR, EN) parallel or in close to electrical and power wire of the
motor; signal cables should be possibly short.

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User manual MIC488 –16.07.2015r. v.1.25
page 5
2. Device description
2.1 Designation
MIC488 is a programmable 4-axle driver. Its main function is to control 4 stepper or servo motors in CLK/DIR
mode.
The controller allows to connect incremental encoder for master position control. Except of universal I/O and two
0-10 V inputs the driver is equipped with RS232, RS485 interfaces operating in MODBUS (slave) protocol which
enables connection with e.g. HMI panels.
Dedicated software allows easy configuration of motors motion trajectory and to create programs for control of
driver, outputs and respond on inputs state or values of communications variable. Creation of motion programs is
made intuitively by text commands.
MIC488 can replace a traditional programmable driver (PLC) in applications where precise control of several
drives is required.
Features:
Control of up to 4 drives by CLK –DIRECTION –ENABLE outputs
Linear and circular interpolation
Possibility of execution of motion programs from driver memory (6 programs x 1000 commands)
20 digital inputs (8 opt insulated)
Option of connection up to 4 incremental encoders for master position control
8 transistor outputs
2 analog inputs 0-10 V
2 COM ports (RS232, RS485)
MODBUS-RTU communication
USB connector for programming

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User manual MIC488 –16.07.2015r. v.1.25
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Power supply 12…26 VDC, current consumption 50 mA@24 V
Intuitive software for driver configuration and programming
2.2 Functions
Main function of MIC488 driver is control of 4 drives in CLK/DIR mode. The controller is generating motion
trajectory which includes ramp (acceleration, constant velocity, braking) to achieve smooth motion without lose
of position.
It is also possible to connect encoders for master control of motor position and for its correction by elimination
errors of motor positioning. It is useful in case of control of stepper motors which sometimes can lose position.
Encoder also gives information of mechanical stop of the drive.
MIC488 is equipped with universal inputs and outputs useful for motion program execution for controlling and
responding for signal from external devices.
Drives control:
Precise control of up to 4 drives
Automatic conversion of motion units from pulses into e.g. mm.
Control of motion ramp (acceleration, constant velocity, braking).
Set velocity mode (absolute or relative).
Set position mode (absolute or relative).
Homing mode based on proximity sensors/ encoder.
Master position control mode with use of encoder.
Control of external devices by digital outputs
Respond on external signals:
Digital inputs for signals from proximity sensors, encoders and controlling signals.
Communication by MODBUS-RTU protocol for direct control of driver and driver functions and access
to memory used by programs.
Readout pulses from encoders.
Programs execution form driver memory:
Option of programming up to 6 independent programs consisting of 1000 commands each.
Option of programming up to 8 independent „data banks” including 225 defined positions for each of
4 drives.
Simple commands executing free motion functions of selected drive.
Function of time delay, waiting for inputs, jumps and conditions.
Option of condition nesting.
Mathematic functions (addition, subtraction, multiplication, division).
Floating point support.
Access to user memory by MODBUS registers.
Programming of the driver is made by MIC488-PC application which allows to:
Configuration of selected drives.
Manual motion setting for driver.
Fast position setting for driver (JOG mode).
Readout of drive operation state, current position and velocity.
Preview of driver inputs/outputs.
Preview of value in user MODBUS registers.
Adding of current drive position to position table.
Creating motion programs and its testing (preview of currently executed program line).

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User manual MIC488 –16.07.2015r. v.1.25
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3. Equipment description
3.1 Connectors and indicating lamps layout
Picture. 1 Description of connectors and indicating lamps MIC488 driver.
No.
Name
Description
1
RX
Data receiving
RS232 Interface
2
TX
Transmitting
3
GN
Ground
4
A
Signal +
RS485 Interface
5
B
Signal -
6
GN
Ground
Analog inputs
7
5V
Output +5V (max. 100mA)
8, 9
A1,A2
Analog inputs 0…10V
10…17
I1..I8
Universal inputs IN1…IN8
Inputs IN1..IN9
18, 19
M-
Ground for inputs IN1..IN8
20…27
O1..O8
Transistor outputs (max. 200mA/output)
28, 29, 30
GND (GN)
Ground
Driver power supply
31
VDC+
Power supply 12…26 VDC
32, 37, 42, 47
+5
Encoder power supply output +5V (max. 75mA/output)
Power supply and
encoder inputs
ENC1..ENC4
33, 38, 43, 48
GN
Ground
34
C (IN9)
Input of encoder C channel 1 / IN9 input
35
B (IN10)
Input of encoder B channel 1 / IN10 input
36
A (IN11)
Input of encoder A channel 1 / IN11 input
…
52, 56, 60, 64
GN
Ground
Driver control
outputs M1..M4
53, 57, 61, 65
EN
Output of driver operations enable signal (ENABLE)
54, 58, 62, 66
DIR
Output of direction signal (DIR)
55, 59, 64, 67
CLK
Output of step signal (CLK)
POWER
Signalization of driver power supply
RUN
Signalization of program execution from driver
memory
COM
Signalization of MODBUS communication
ERROR
Signalization of driver error

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User manual MIC488 –16.07.2015r. v.1.25
page 8
3.2 Power supply
Driver power supply
Driver can be supplied by 12…26 V DC voltage. For 24 V voltage supply current consumption is about 50 mA.
Power supply should be connect to VDC+ clamps and GND (31, 30).
In case of use transistor outputs you should take in consideration current consumption for outputs.
CAUTION!
Driver power supply should be independent from drives power supply. Additionally at using servo drives
supplied from the same grid you should equip it in proper supply filters to eliminate noises that can
influence on motor operation.
Output +5V
Driver facilitate +5 V voltage which can be used for supplying encoders (TTL type) or external potentiometers
connected to AIN1/AIN2 inputs. Maximal current consumption for all +5 V outputs can’t exceed 400 mA.
CAUTION!
Do not clench +5V outputs with ground (GND/GN) or power supply. It can cause damage of the driver.
Please avoid leading cables with +5V signal near to other signals causing noises.
3.3 Universal inputs IN1…IN8
Universal opt insulated inputs IN1…IN8 allows connection of external controlling signals or signals from proximity
sensors for M1…M4 drives. Input is activated by 24 V voltage (min. 5 V, max. 26 V). Common signal (negative) for
IN1...IN8 inputs is M- inputs (18,19 clamps).
Picture. 2 Opt insulated inputs (IN1 … IN8)
Parameters:
Opt insulation
High state: 24 VDC (min 5 V, max. 26 V)
Low state: < 2 VDC
3.4 Universal inputs IN9…IN22 / for encoders
IN9…IN22 inputs can be used as universal inputs or for encoders (for connection with incremental encoders).
Inputs have no insulation, common signal (negative) is ground of driver power supply GND (GN). Additionally next
to inputs are located voltage outputs +5 V which can be used for direct supply of encoders TTL 5 V type.

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User manual MIC488 –16.07.2015r. v.1.25
page 9
Picture. 3 Example of controlling external inputs by 24 V
signals.
Picture. 4 Example of controlling of inputs with use of +5 V voltage.
Picture. 5 Example of connection encoder with
outputs TTL type.
Picture. 6 Example of connection of
encoder with outputs Push-Pull type.
Picture. 7 Example of connection
encoder with outputs
OC type.
If controlling of drive with position control (from encoder) isn’t operate correctly (e.g. drive pass set
position) please exchange A and B signals of encoder.
3.5 Universal outputs OUT1…OUT8
Universal outputs OUT1…OUT8 allows control of external executive elements which current consumption not
exceed 200 mA. Outputs in active state give driver voltage supply VDC+. Common signal for outputs is driver
supply ground GND (28, 29, 30, 31 clamps).

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User manual MIC488 –16.07.2015r. v.1.25
page 10
Picture. 8 Outputs OUT1..OUT8
Parameters:
transistor outputs OC type (open collector)
load 200 mA/output
protection from inductive load
protection from overload/ short circuit (>300 mA)
high state: voltage supply VDC+
CAUTION!
Outputs are equipped with overload and short circuit protection which is activated after exceeding 300 mA
current by some of outputs. Activation of protection cause turning off of all outputs and lighting red diode
OUT ERROR. To restore output operations please remove reason of overload and reset the device.
3.6 Outputs for M1…M4
Outputs M1…M4 (signals: EN –enable, DIR –direction, CLK –step) are used for control of stepper motors or servo
drives in CLK-DIR mode. Cables shouldn’t be lead in nearby of motor cables or supply cables. It is recommended
to shield cables.
Picture. 9 Outputs M1..M4 for drives control
Parameters:
High state 5 V, low state 0 V, max. 20 mA
CLK signal (step) –max. frequency 64 kHz, pulse width 10 µs
3.7 Connection example
On picture below is presented signals connection example to MIC488. The driver is controlling one M1 drive. Hash
mark indicates optional connection of incremental encoder for additional position control (for M1 drive encoder
should be connected to ENC1 encoder channel).
Furthermore was used two inputs IN1 and IN2 for driver limit signal (KL and KR) and one OUT3 output for
activation of an external circuit (e.g. signalizing lamp, relay etc.).