Zikodrive ZD10UART Series User manual

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
ZikoDrive ZD10UART Series Operating Manual
Introduction
OverView
This manual is intended to be used with the ZikoDrive ZD SERIES UART Motor controller running
standard firmware (1.1) and includes the following UART Commands that can also be used over
RS232 or RS485 using the relevant Break Out Boards:
•Run at set speed
•Run Number of Microsteps
•Decelerate to Stop
•Emergency Stop
•Move to Home position
•Reset Home Position
•Move to Absolute Position
•Move to Home input Limit Switch
•Setting STD motor Parameters including Running Current, Holding Current,
Acceleration/Deceleration Current, Acceleration/Deceleration Rates and Microstepping
resolution.
Specifications
•Up to 35Vdc.
•Up to 5A.
•Up to128 Microsteps/Step.
•Modular design, connects to many Break Out Boards that can provide options such as 4-
20mA, 0-10Vdc, Optically Isolated inputs etc...
•Over temperature protections and stall detection.
•Microprocessor controlled enabling exceptional positional accuracy.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Contents
Introduction ................................................................................................................................1
OverView............................................................................................................................. ......1
Specifications....................................................................................................................... ......1
Important NOTE:................................................................................................................. ......3
Components................................................................................................................................4
Board View.......................................................................................................................... ......4
Setting Up...................................................................................................................................5
Wiring Motor Phase Wires ........................................................................................ ................5
Power Wires......................................................................................................................... ......5
Connections to Box Header (UART)................................................................................... ......6
Connections to ZDPIRS (RS485 & RS232)........................................................................ ......6
Programming Manual.................................................................................................................7
The UART Protocol............................................................................................................. ......7
Protocol Setup...................................................................................................................... ......7
The ZikoDrive Protocol....................................................................................................... ......8
CheckSum formula.................................................................................................... ................9
Command Complete............................................................................................................ ......9
Shortlist of Commands........................................................................................................ ....11
Incremental Commands............................................................................................................12
RUN_SPD (0x01)................................................................................................................ ....12
RUN_SPD Formula................................................................................................... ..............13
RUN_STPS (0x02).............................................................................................................. ....14
RUN_STPS Formula................................................................................................. ..............15
General Commands ..................................................................................................................16
STOP (0x03)........................................................................................................................ ....16
EMER_STOP (0x04)........................................................................................................... ....16
Absolute Commands.................................................................................................................17
MOV_HOME (0x05) .......................................................................................................... ....17
RST_HOME (0x06) ............................................................................................................ ....17
MOV_ABS (0x07) .............................................................................................................. ....18
MOV_HOME_RST (0x08)................................................................................................. ....19
Parameter Setup........................................................................................................................20
Motor Current...................................................................................................................... ....20
Standard Mode Current formula:......................................................................................... ....21
Precision Mode Current formula:........................................................................................ ....21
RUN_CUR (0x09)..................................................................................................... ..............22
HOLD_CUR (0x0A) ................................................................................................. ..............22
ACC_CUR (0x0B) .................................................................................................... ..............22
DEC_CUR (0x0C)..................................................................................................... ..............22
ACC_VAL (0x0D)............................................................................................................... ....23
DEC_VAL(0x0E)................................................................................................................ ....23
SPD_RUN (0x0F)................................................................................................................ ....24
M_STEP (0x10)................................................................................................................... ....25
Precision Mode.........................................................................................................................25
Standard Mode..........................................................................................................................25
M_STEP register layout ...........................................................................................................26

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
READ_PAR (0x11) ..................................................................................................................27
READ_PAR register layout................................................................................................. ....27
READ_SPD (0x11 0x01) .................................................................................................... ....28
READ_POS (0x11 0x02) .................................................................................................... ....28
READ_***_CUR................................................................................................................ ....29
READ_***_CUR formula for Standard Mode ......................................................... ..............29
READ_***_CUR formula for Precision Mode: ....................................................... ..............30
READ_ACC/DEC_VAL (0x11 0x07/8).............................................................................. ....30
READ_SPD_RUN (0x11 0x09).......................................................................................... ....31
READ_M_STEP (0x11 0x0A)............................................................................................ ....32
Quick Commands.....................................................................................................................33
RUN_SPD ........................................................................................................................... ....33
RUN_STPS ......................................................................................................................... ....33
RUN_ABS .......................................................................................................................... ....33
STOP ................................................................................................................................... ....33
HOME ................................................................................................................................. ....34
Current ................................................................................................................................ ....34
RUN_CUR................................................................................................................. ..............34
HOL_CUR................................................................................................................. ..............34
ACC_CUR................................................................................................................. ..............34
DEC_CUR................................................................................................................. ..............34
ACC & DEC........................................................................................................................ ....35
ACC_VAL ................................................................................................................. ..............35
DEC_VAL ................................................................................................................. ..............35
RUN_SPD ........................................................................................................................... ....35
M_STEP .............................................................................................................................. ....35
READ_PAR......................................................................................................................... ....35
Important NOTE:
It is critically important to not exceed the recommended input voltages as this may cause un-
repairable damage to the ZikoDrive ZD SERIES UART Motor Driver. The max voltage recommended
for any digital or analogue inputs is 5Vdc. DO NOT APPLY Higher Voltage PWM as this will damage
the board.
All wires must be kept as short as possible to reduce EMC emissions from the motor phase cables
and to reduce noise on both the analogue and digital inputs. If you require more information
regarding good wiring practice please contact ZikoDrive [e-mail].

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Components
Board View

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Setting Up
Wiring Motor Phase Wires
Wire up the Motor phase wiring according to the motor manufactures data sheet. Below is a
common example of an off the shelf unit. Wiring up the motor phases incorrectly will not damage
the board, however it will affect the direction and performance of the motor and in some cases the
motor may not run at all. As the ZD SERIES UART PCB is an absolute positioning Controller, if the
motor is travelling in the incorrect direction absolute positioning commands will not work.
Terminal
Wire
A2
Black
A1
Green
B1
Blue
B2
Red
Power Wires
12-35Vdc must be applied to the board on the 2 Way terminal Block Marked GND & Vin. Although
the board is protected against reverse polarity, care should be taken to ensure the wires are not
reversed.
Note –Please ensure that the DC power supply has the proper current supply capability. Care
should be taken to ensure the DC supply is clean (keep wires as short as possible, and shield where
required).
Once all these connections are complete, the ZD SERIES UART can be powered up.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Connections to Box Header (UART)
GND is the common digital GND for the PCB. The RX and the TX pins must be switched with the
Master Controller. Ie, TX (transmitting) from the Master controller must be connected to the RX
(receiving) pin on the ZD SERIES UART. The TX (transmitting) from the ZD SERIES UART must be
connected to the RX (receiving) of the Master Controller.
Connections for any serial Break Out Board (RS485 & RS232)
Connecting to the Break Out Boards are simple.
A = Non-inverting receiver input and non-inverting driver output
B = Inverting receiver input and inverting driver output
GND = Ground
Note - If shielded cables are used between the Master Controller and the ZikoDrive please ensure
only one end of the shielding is grounded to ensure no Ground loops.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
Programming Manual
The UART Protocol
The protocol used is non-standard and derived by the ZikoDrive engineers to provide fast and
efficient data transfer.
The Data is transmitted and received in 8bit binary Bytes which in this manual we will displayed in a
Hexadecimal format. To easily transition between binary, decimal, and hexadecimal you can either
use the programmer mode on the PC calculator, or I find using this website very efficient
(https://www.mathsisfun.com/binary-decimal-hexadecimal-converter.html).
Protocol Setup
BAUD RATE = 9600
START BITS = One
STOP BITS = One
PARITY = None

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
The ZikoDrive Protocol
All commands must be sent with a two byte header, one byte address code, one byte register
address code, an “x” amount of data bytes and then followed with a CheckSum.
To ensure the correct data is being transferred, the protocol will send either a confirm (0x06) or a
reject (0x15) for a good, or a bad command. If the ZD SERIES UART has accepted the command, the
confirmation will then be sent to the Master Controller and then process the given command. If the
command was rejected, all data will be disregarded and a new command must be sent.
Example 1 –Basic Send
From Master 0x7A 0x64 0x01 0x03 0xFB
0x7A & 0x64 = Header, ASCII code ZD
0x01 = ZikoDrive Address, Set as 0x01 as default
0x03 = Register Address, STOP command
0xFB = CheckSum
Note –as this is a STOP command no DATA bytes are required.

ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
[e-mail] –www.ZikoDrive.com - [phone]
CheckSum formula
Each command sent to the ZikoDrive controller must be followed with a CheckSum byte or the data
will be rejected.
CHECKSUM = ((RS485_ADDRESS + REGISTER + DATA_MSB + DATA_0 + DATA_1 + DATA_LSB) XOR 0xFF) & 0xFF;
 The RS485 Address, the required register and all the data bytes are added together.
 Command is run through an XOR with 0xFF
 Command is then run through & with 0xFF
We have available a EXCEL spreadsheet to help calculate the CheckSum byte if required.
Please note that the Header and the CheckSum bytes are not included in the CheckSum Formula.
Command Complete
When particular commands are used that require time to perform (i.e., RUN_STPS) a 0x00
command is sent from the ZikoDrive to the Master Controller once the action has been completed.
If the command sent is a Speed command, the 0x00 will be sent once the motor has reached the
desired speed. No additional commands will be accepted by the controller until the Complete
command has been sent.
Example 2 –Command Complete (RUN_STPS)
From Master 0x7A 0x64 0x01 0x02 0x01 0x00 0x7D 0x00 0x7F
From ZikoDrive 0x06
//After RUN_STEPS has reached its final position//
From ZikoDrive 0x00
0x7A & 0x64 = Header, ASCII code ZD
0x01 = ZikoDrive Address, Set as 0x01 as default
0x02 = Register Address, RUN_STPS
0x01 = Direction
0x00 = Data_0 (No. of steps MSB)
0x7D = Data_1
0x00 = Data_2 (No. of steps LSB)
0x7F = CheckSum
DATA CORRECT UP TO HERE
Example 3 –Command Complete (RUN_SPD)