WOBIT SIC184 User manual

P.P.H. WObit E.K.J. Ober s.c.
62-045 Pniewy, Dęborzyce 16
tel.[phone], fax.[phone]
e-mail: [e-mail]
www.wobit.com.pl
SIC184
Manual
Stepper motor servo controller

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Manual -SIC184 –27.10.2014 –v.1.1
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Contains
1.Safety and assembly rules.................................................................................................................................... 3
1.1.Safety rules ................................................................................................................................................... 3
1.2 Assembly recommendation .......................................................................................................................... 3
2.Main characteristic of the driver.......................................................................................................................... 4
2.1.1 SIC184 driver as simple and cost-effective solution at controlling of stepper motor ........................... 4
2.1.2 SIC184 driver –independent and synchronous operation of up to 16 motors simultaneously............ 5
2.1.3. SIC184 driver –controlling from external devices by Modbus protocol .............................................. 6
2.1.4 SIC184 driver- indexer for high-current stepper motor driver .............................................................. 6
2.1.5. SIC184 driver –easy and intuitive programming .......................................................................................... 7
2.2. Features: .......................................................................................................................................................... 8
2.3.Connectors and controlling lamps description. ................................................................................................ 9
2.4 Power supply .......................................................................................................................................... 10
2.5 Stepper motor................................................................................................................................................. 11
2.6 RS485 connector ............................................................................................................................................. 12
2.6.1. Driver communication in Modbus-RTU protocol.................................................................................... 13
2.6.2. Communication between SIC184 drives at internal protocol ..................................................................... 13
2.6.2 Communication between SIC184 controllers in internal protocol............................................................... 14
2.7 USB connector................................................................................................................................................. 15
2.8 Transistor outputs ........................................................................................................................................... 16
2.9. Inputs ............................................................................................................................................................. 16
2.10. Encoder ........................................................................................................................................................ 17
3. Configuration and description of controlling SIC184 ........................................................................................ 18
3.1 Exemplary connection of the driver................................................................................................................ 18
3.2 Motor motion parameters .............................................................................................................................. 19
3.3 Driver configuration by SIC184-KONFIGURATOR program ............................................................................. 19
3.3.1 Setting of step division and motor current ......................................................................................... 20
3.3.2. Setting of default motion parameters................................................................................................ 21
3.3.3 Encoder settings .................................................................................................................................. 21
3.3.4. Defining initial and final motion position. Homing............................................................................. 21
3.3.5 Diagnostics and controlling ................................................................................................................. 23
3.3.6 Configuration of RS485 Modbus-RTU interface .................................................................................. 23
3.3.7. Driver programming by motion commands ...................................................................................... 23
3.3.8. Update driver firmware ..................................................................................................................... 24
4. Technical parameters........................................................................................................................................ 25

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Manual -SIC184 –27.10.2014 –v.1.1
page 3
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 without any responsibilities within the meaning of the commercial law. 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.
1.Safety and assembly rules
1.1.Safety rules
Prior to first start-up of the device please refer to this manual;
Prior to first start-up of the device please make sure all cables are correctly connected,
Provide appropriate working conditions, in compliance with the device specifications (e.g.:
power supply voltage, temperature, maximum current consumption).
Before making any modifications to wiring connections, disconnect the power supply
voltage.
1.2 Assembly recommendation
In environments with unknown noise levels, it is recommended to follow measures described below
to prevent any possible interruptions of the device operation:
Ground or reset metal rails, on which are mounted instruments,
Do not power devices on the same line as the device without a corresponding high power
line filters;
Please use screening of the supply, driver and signal cables, with the ground for the screen
should be connected only on one side, as close to the device;
For motor power supply please use twisted pair cables, and if possible use a ferrite bead
assumed on the wire;
Please avoid of leading control cables (Signal) parallel or in close to electrical and power
wires;
Please avoid proximity to devices that generate high levels of electromagnetic interferences
and/or pulse (high-power loads, the burden of the phase or power control group).

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Manual -SIC184 –27.10.2014 –v.1.1
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2.Main characteristic of the driver
SIC 184 is a programmable stepper motor driver with controlling current up to 4A. Except power
stage has also an indexer and trajectory generator, which enables precisely define position, velocity
and acceleration of motor motion. Programmed controller can perform program consist in 300
motion commend. Additionally controller can cooperate with incremental encoder, which allows for
better control of stepper motor position.
Except start/ stop inputs SIC 184 device has also 2 universal inputs, 2 outputs and dedicated inputs
based motor position. It allows completely eliminate PLC driver in some applications.
2.1.1 SIC184 driver as simple and cost-effective solution at controlling of stepper motor
SIC 184 Stepper motor servo controller allows to replace PLC controller and a stepper motor
driver in range of 0,2..0,4A.
Intuitive software in English facilitate programming of motion commands even by
inexperienced user.
The controller provides recording up to 300 motion command, which allows to execution
even complex motions. Additional digital inputs and outputs enable controlling of external
devices.

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Manual -SIC184 –27.10.2014 –v.1.1
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SIC184 enables direct conversion motion parameters to rps and rps2 which facilitate
programming, also economical motor power management, by configurable current
reduction.
2.1.2 SIC184 driver –independent and synchronous operation of up to 16 motors
simultaneously.
-SIC184 controllers can cooperate depending on each other in multi-master and master-slave
modes, depends on programming way. On account to that there is a possibility of
interdependent operation up to 16 modules simultaneously, which enables complex
interdependent motion trajectories. Controllers communicate to each other by internal
protocol on RS485.

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Manual -SIC184 –27.10.2014 –v.1.1
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2.1.3. SIC184 driver –controlling from external devices by Modbus protocol
-SIC184 controller can communicate with external devices by RS485 bus in Modbus-RTU
protocol, operating then as slave device. Possibility of independent addressing in range 1..16
provides simultaneous controlling of up to 16 stepper motors from devices such PLC drivers,
HMI panels or other master Modbus RTU devices.
2.1.4 SIC184 driver- indexer for high-current stepper motor driver
-SIC184 driver has additional output for external power driver of stepper motor in
STEP/DIVISION standard, which allows for controlling of motors with higher current, or for
simultaneous controlling of several motors.

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Manual -SIC184 –27.10.2014 –v.1.1
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2.1.5. SIC184 driver –easy and intuitive programming
SIC184 -KONFIGURATOR software –fast configuration and diagnostics by USB connector
-USB connector provides connection of the driver directly to PC. Free of charge SIC-
KONFIGURATOR software provides configuration and a fast diagnostics of the driver
(controlling input/output signals, online operation of the driver etc.) and direct generate of
motion command (position/ velocity). This software enables also programming the driver by
motion command created in ML-PROG environment.
ML-PROG software –creating of motion programs and possibility of simultaneous programming
up to 16 drivers by RS485 interface.
-SIC184 drives operate at common RS485 bus can be programmed simultaneously by ML-
PROG program and USB_RS485 converter. It enables easy creating interdependent motor
motion programs multi-master or master-slave type.

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Manual -SIC184 –27.10.2014 –v.1.1
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2.2. Features:
Integrated power stage up to 4A and step division up to 1/64,
Possibility of fluent regulation of motor current and current reduction,
Programmable motion trajectory generator (position, velocity, acceleration) with indexer
(possibility of programming up to 300 motion command),
Possibility of cooperation with any incremental encoder,
2 universal inputs (3..24V) and 2 transistor outputs 1A/30VDC,
USB interface for configuration, programming and diagnosing of controller + intuitive
configurable software (SIC184 –CONFIGURATOR),
RS485 MODBIS-RTU interface for communication between controllers or controlling form
MASTER controller, e.g. PLC driver, HMI panel,
Intuitive software in Polish for programming of motion module.

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Manual -SIC184 –27.10.2014 –v.1.1
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2.3.Connectors and controlling lamps description.
Diode
Description
D1
D2
D3
D4
Signaling diodes
Signaling of driver
power supply
Turn off/blinking-error/ overvoltage of
the driver
Turn on –driver is ready for operation
Blinking –RS485 communication
Turned off- the program is stopped
Blinking- the program is withhold
Turned on –the program is started
D1, D2, D3, D4 are turned on while the driver is actualizing the software.

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Manual -SIC184 –27.10.2014 –v.1.1
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Number
Description
Annotations
Communication (RS485)
Default communication parameters
Baud rate: 57600bps, Bits:8, Stop bit:
1, parity: none,
Modbus Address:1, Internal address: 0
1
RS485 B
2
RS485 A
Universal outputs
Transistor outputs, max current: 1A/
30VDC
3
Outputs ground
4
Output Out1
5
Output Out2
6
V+
Power supply
Power supply 12..36 VDC, max current
consumption: 4A –depends on voltage
supply and set power of the driver
7
Power supply –(GND)
8
Power supply –(GND)
9
Power supply - +(V+)
Inputs
All inputs are optically insulated.
Input is active if between COM(-)
clamp and particular input will given a
signal min +3V (max +24VDC)
Input filtration: 10ms (a minimal time,
while signal must be given on
particular input to activate it)
10
START –input starting the program
11
STOP –input stopping the program
12
IN1 –universal input 1
13
IN2 –universal input 2
14
HOME1 –homing input 1
15
HOME2 –homing input 2
16
COM –common signal for inputs
17
GND –ground
Encoder
Maximal current consumption of
encoder(+5V) power supply clamp can
reach 300mA.
For encoders supplied by 12..24 VDC
voltage should be used an external
power supply. Maximal input voltage
on A and B clamps against (-) is 24V.
18
Power supply of the encoder (-)
19
B signal
20
A signal
21
22
Power supply of the encoder (+5V)
Output on external power driver
Input signals –low state : 0V, high
state: +5V,
CLK signal: pulse width: 20 µs, max
signal frequency: 38kHz.
23
CLK –step signal
24
DIR –direction signal
25
ENABLE –activation signal
26
GND - ground
Stepper motor
27
/B
28
B
29
/A
30
A
Tab.1. Description of driver connectors.
2.4 Power supply

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For driver power supply it is recommended to use a non-stabilized power supply with output voltage
in range +12..+36V. The power supply must receive return energy of the motor, which is provided by
output capacitors with capacity bigger than 4700µF.
A minimal current efficiency of power supply should be match according to formula below:
Izas= 12/Uzas*Ister
Where: Izas-a minimal current efficiency of power supply, Uzas –voltage supply, Ister- set driver
current.
Exemplary values of minimal current efficiency used power supply :
Motor current [A]
Power supply[V]
1
2
3
4
12
1A
2A
3A
4A
24
0,5A
1A
2A
3A
36
0,4A
0,8A
1,5A
2,5A
Warning!
Opposite polarity or exceeding of max voltage supply can cause damage of
the driver.
To small output capacitors or none capacitors can damage the driver or
cause incorrect operation, while operation of the driver with high voltage
and a big motor, which operates dynamic (sudden decreasing velocity of
the motor).
It is recommended to use electrolytic capacitors 1000µF at max driver
currents and max rotational velocity (>2 rps).
2.5 Stepper motor
Motor should be connect to the driver by 4-pin cable. To reduce noise it is recommended to use
twisted cable (A with /A, B with /B), preferably shielded. In case of unipolar motors (with 6 or 8
derivation cables) you should connect them according to examples below.

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Manual -SIC184 –27.10.2014 –v.1.1
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CAUTION!
Never disconnect motor from driver while its operation. It can cause damage
of the driver.
2.6 RS485 connector
SIC184 driver is equipped in RS485 interface. It can be used for:
Programming of the driver using RS485-USB converter and ML-PRG software,
Communication between SIC184 divers while synchronic operation,
Controlling from external device by Modbus-RTU protocol.
Default transmission parameters:
Baud rate 38400 bps, bits: 8, stop bit: 1, parity: none,
Modbus address: 1 (for Modbus-RTU communication)
Internal address : 0 (for communication and programming by ML-PROG
Transmission parameters can be configured by SIC184-KONFIGURATOR software:
Baud rate : 9600, 19200, 38400, 57600, 115200 bps
Modbus address: 1-16

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CAUTION!
To provide communication with ML-PROG program, baud rate for ML-PROG
and SIC184 programs must be the same.
2.6.1. Driver communication in Modbus-RTU protocol
SIC184 driver can operate as slave device in Modbus-RTU communication. While operating as slave
device, which can be controlled by motion commands by record of proper registers.
Detailed description of registers is located at SIC184-protocol_MODBUS.plf documentation.
SIC184-KONFIGURATOR software is used for earlier transmission of proper driver slave address and
configuration of baud rate (chapter Configuration of Modbus-RTU interface).
It is possible to address up to 16 drivers (addresses 1-16).
Picture 2. Example of motors controlling by Modbus-RTU Protocol
2.6.2. Communication between SIC184 drives at internal protocol
SIC184 driver can communicate through its own protocol by RS485. This protocol allows for
programming one and/or many drivers on common RS485 bus by ML-PROG software as well as
communication between drivers, while earlier recorded motion program.
By sending proper commands from one to another driver, you can accomplish controlling on
MASTER-SLAVE principle (one master driver, others –slave), or MULTIMASTER (no defined master
driver).
Communication between drivers is described more detailed at Manual of ML-PROG software.

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For earlier assigning proper slave address of the driver and baud rate configuration you can use SIC-
KONFIGURATOR software (chapter Configuration of RS485 Modbus-RTU interface).
It is possible to address up to 16 drivers (1-16).
Picture2. Example of motor controlling through Modbus RTU protocol.
2.6.2 Communication between SIC184 controllers in internal protocol
SIC184 driver can communicate by its internal protocol through RS485. This protocol allows
programming of one and/or many drivers on common RS485 bus by ML-PROG software as well as
communication between drivers, while earlier recorded motion program.
By sending proper commands from one driver to another you can accomplish master-slave
controlling (one master controller, others –slave), or multimaster (no defined master controller).
Communication between drivers is described more detailed at Manual of ML-PROG software.

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Picture3. Communication between modules by RS485.
2.7 USB connector
USB connector is used for communication between driver and
SIC-KONFIGURATOR software. After connecting driver to PC you
don’t have to install drivers. Detailed description of SIC-
KONFIGURATOR software is located at “Driver configuration by
SIC-KONFUGURATOR” chapter.

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Manual -SIC184 –27.10.2014 –v.1.1
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CAUTION!
While driver operation with high currents and voltages it is recommended to
disconnect USB connector from PC or to use opt insulated HUBs between
computer and controller.
2.8 Transistor outputs
SIC184 has two transistor outputs with load up to 1 A. Scheme of outputs is shown on picture below.
On clamp no. 6(+) is available voltage supply of the driver, which can be used for activation of
external circuits.
Picture 4. Internal construction and way of connection external devices to transistor outputs.
2.9. Inputs
The device has 6 opt insulated inputs.
-Start and Stop inputs for activation and deactivation of the program.
-Home1 and Home2 inputs for determine of edge motion position and based position
(Home1).
-Multipurpose inputs In1 and In2 used by ML-PROG software
High status for input is giving a voltage in range of 5..24 V by at least 10 ms.

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Picture 5. Exemplary way of connection and
controlling opt insulated inputs supplied from
external source.
Picture 6. Example of using 5V voltage (22 pin)
for controlling of inputs.
2.10. Encoder
SIC184 controller has quadrature input for connection of position sensor, which could be :
-Incremental encoder couple directly with stepper motor shaft,
-Incremental encoder mounted indirectly e.g. with gearbox of stepper motor,
-Magnetic linear sensor mounted on executed element powered by stepper motor.
Encoder, which cooperate with stepper motor provides better control of motor position and protects
against loosing of position (steps) by motor in case of its overvoltage or unexpected stop.
Max. frequency of encoder input: 50kHz
Encoder resolution: from 16 (4 bit) up to 4092 (12 bit) pulses per revolution or mm.
Depends on encode type it should be connected according to scheme below:
Picture7. Connection of encoder 5 V TTL type.
Picture 8. Connection of encoder 24V Push-Pull

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CAUTION!
Due to noise, which can be generated by operating stepper motor it is
recommended to use encoder wit shielded cable. Encoder should be
connected from controller side to GND.
For configuring encoder and for control of correct the connection is designed tab Encoder In SIC184-
KONFIGURATOR software (chapter: encoder settings).
3. Configuration and description of controlling SIC184
3.1 Exemplary connection of the driver
Picture 9. Exemplary scheme of connection external devices
Detailed description and way of connection particular external elements is described in chapters:
-Power supply
-Stepper motor
-RS485 connector
-USB connector
-Transistor outputs
-Inputs
-Encoder

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3.2 Motor motion parameters
SIC184 allows to controlling of driver operation in velocity and position modes.
Velocity mode cause setting of set velocity Vmax [rps]. Motor starts with Vmin [rps] velocity.
Increasing or decreasing of motor rotation up to set value is made by set Amax [rps2] acceleration
parameter.
Position mode causes setting of set number of rotation [revolutions]. Motor starts with minimal
velocity Vmin [rps]. It accelerate and decelerate with Amax [rps2] acceleration. While operation
motor does not exceed Vmax [rps] velocity.
Velocity and position can be set with fraction values.
Picture 10. Motor motion parameters.
Exemplary for motion parameters Vmin: 0,01; Vmax: 1; Amax: 1 and set position –10 revolutions,
motor will speed up to 1rps velocity at 1 sec. time, will made next 8 revolutions, then will slow down
to 0rps velocity at 1 sec.
3.3 Driver configuration by SIC184-KONFIGURATOR program
For configuration of SIC184 drives is designed SIC184-KONFIGURATOR program, which allows to:
-Set default parameters of motor motion (minimal and maximal velocity, acceleration)
-Set parameters of power controller (step division, maximal current, current reduction)
-Testing of set motion parameters (set velocity, position), set based position
-Inputs and outputs diagnostics
-Encoder configuration (activated, deactivated, resolution, testing of encoder connection)

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-Configuration and diagnostics of MODBUS interface (baudrate, slave no.)
-Programming of the driver by motion scripts *.mlp created in ML-PROG program.
-Actualization of internal driver software.
Driver should be connected with PC by USB cable A-B type. Installation of drivers is not necessary
(except driver software actualization mode). SIC184-KONFIGURATOR program should automatically
connect with driver after connecting to USB socket and turning on power supply of the driver.
Requirements of operation system for SIC184-KONFIGURATOR program:
- Executive system: Windows XP, Windows Vista, Windows 7, 32-bit, 64-bit (software actualization
only for 32-bit version)
- Processor 1 GHz, RAM memory –256 Mb
3.3.1 Setting of step division and motor current
SIC184-KONFIGURATOR -> Tab Default settings
- Motor current should be set in dependence on
used stepper motor. Setting to high current for
weaker motor cause its quicker heating or
damage.
- Automatic current reduction cause automatic
reduction of the current to set value, while
motor is not operating.
- Step division of built-in power driver provides
division of standard step (200 steps/motor
revolution) for smaller parts, which provides
smoother motion and more precision
positioning. For example selecting 1/16 division
allows to set stepper motor shaft with accuracy
1/200/16=0,000 3125 revolution.