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KZ-100 Motion controller
Shipped from overseas, takes 15-25 workdays.
Shipped from overseas, takes 15-25 workdays.
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1,General
The mobile stage controller/driver is used for driving 2-phase stepper motor. It can drive 4 motors independently at most. You can use its controlling stick to make motors run/stop manually. It also can be controlled by a PC through RS232 interface.
2,Connection
(1) X -DIR:Connect this port to X direction stepper motor of mobile stage using a DB9(female)-DB9(male) cable. Connection/Disconnection only when POWER OFF!
(2) Y -DIR:Connect this port to Y direction stepper motor of mobile stage
using a DB9(female)-DB9(male) cable. Connection/Disconnection Only when POWER OFF!
(3) Z -DIR:Connect this port to Z direction stepper motor of mobile stage using a DB9(female)-DB9(male) cable.Connection/Disconnection only when POWER OFF!
(4) L -DIR:Connect this port to L direction stepper motor of mobile
stage using a DB9(female) - DB9(male) cable.
Connection/Disconnection only when POWER OFF!
(5) RS232:RS232 port, Connecting to RS232 port of PC.
(6) DC18V3A(Power Supply):Using AC adapter in accessory.
3,Programming
(1) The mobile stage controller/driver communicates with PC using interface of RS232;
(2) RS232 prototype:Baud rates 57600,no parity,8data bits,1stop bits;
(3) Method:PC sends 1 byte to the mobile stage controller/driver, then waits for the mobile stage controller/driver sending back a byte of 0Dh(ASCII of Return), until now the PC can send next byte to the mobile stage controller/driver. Repeat former procedure to finish a 4-byte-command.
(4) Send a synchronous command before sending programming command.
The synchronous command is: 55h, 55h, AA h, 55h;
(5)
01h-Y speed 02h-Z speed 03h-L speed | speed | speed | Y , Z , L , value between-512 to +511, using 16bits signed hexadecimal. | ||||
01h | ××h* | ××h* | ××h* | Upload forward/backward limit signal bits and position value of axis of X,Y,Z, L. The definition of uploaded data are describe in the following example. | |||
04h | Bit23~bit16 value of distance | of X | Bit15~bit8 value of distance | of X | Bit7~bit0 value of distance | of X | Set X axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 , using 24 bits of signed hexadecimal. , 1microstep=1/12800 round of stepper motor. |
05h | Bit23~bit16 value of distance | of Y | Bit15~bit8 value of distance | of Y | Bit7~bit0 value of distance | of Y | Set Y axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 , using 24 bits of signed hexadecimal. , 1microstep=1/12800 round of stepper motor. |
06h | Bit23~bit16 value of distance | of Z | Bit15~bit8 value of distance | of Z | Bit7~bit0 value of distance | of Z | Set Z axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 , using 24 bits of signed hexadecimal. , 1microstep=1/12800 round of stepper motor. |
07h | Bit23~bit16 value of distance | of L | Bit15~bit8 value of distance | of L | Bit7~bit0 value of distance | of L | Set L axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 , |
Programming command.Each programming command is composed of 4 bytes,described in following table:
using 24 bits of signed hexadecimal. , 1microstep=1/12800 round of stepper motor. |
Byte of any value of, but it can not be omitted .
(6) Example 1: Set X axis motor speed value to 280.
Sending synchronous command:
Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AA h, waiting 0Dh; Sending 55h, waiting 0Dh;
Sending programming command: Sending 00h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 01h, waiting 0Dh; Sending 18h, waiting 0Dh;
(7) Example 2: Upload position value and forward/backward limit bits to PC. Suppose current display is:
1234567 -5789123
7654321 -3219876
Sending synchronous command:
Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AA h, waiting 0Dh; Sending 55h, waiting 0Dh;
Sending programming command: Sending 01h, waiting 0Dh;
Sending ××h (Any value, NO omitted.), waiting 0Dh; Sending ××h (Any value, NO omitted.), waiting 0Dh; Sending ××h (Any value, NO omitted.), waiting 0Dh;
PC receiving 33 bytes from the mobile stage controller/driver:
1st byte:
bit0=0, X reached backward limit position; bit0=1, X not reached backward limit position; bit1=0, X reached forward limit position; bit1=1, X not reached forward limit position;
bit2=0, Y reached backward limit position; bit2=1, Y not reached backward limit position; bit3=0, Y reached forward limit position; bit3=1, Y not reached forward limit position; bit4=0, Z reached backward limit position; bit4=1, Z not reached backward limit position; bit5=0, Z reached forward limit position; bit5=1, Z not reached forward limit position; bit6=0, L reached backward limit position; bit6=1, L not reached backward limit position; bit7=0, L reached forward limit position; bit7=1, L not reached forward limit position;
2nd ~9th byte: X position value in ASCII.
In the example X= 1234567, so it is: 20h,31h,32h,33h,34h,35h,36h,37h;
10th ~17th byte: Y position value in ASCII.
In the example Y=-5789123, so it is: 2Dh,35h,37h,38h,39h,31h,32h,33h;
18th ~25th byte: Z position value in ASCII.
In the example Z= 7654321, so it is: 20h,37h,36h,35h,34h,33h,32h,31h;
26th~33rd byte:L position value in ASCII.
In the example L=-3219876, so it is: 2Dh,33h,32h,31h,39h,38h,37h,36h;
(8) Example 3: Set Y axis motor to go 100 micro steps(1 micro step=1/12800 round).
Sending synchronous command:
Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AA h, waiting 0Dh; Sending 55h, waiting 0Dh;
Sending programming command: Sending 05h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 64h, waiting 0Dh;
Shipped from overseas, takes 15-25 workdays.
Shipped from overseas, takes 15-25 workdays.
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