KZ-100 Motion Controller

KZ-100 Motion Controller

Motor controller and computer communication using RS232 interface
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Product Details

Programming Instructions of step motor controller

(P004)

1. Motor controller and computer communication using RS232 interface;

2.RS232 interface protocol: 57600 baud rate, no parity, 8 data bits, 1 stop

bit;

3. Each byte transfer method: The computer sends 1 byte, then wait the

motor controller to send back 0Dh(13) to computer to insure the motor

controller has received the byte, Each instruction is consisted of 4 bytes.

4.Send synchronization instruction “55h, 55h, AAh, 55h” before sending

controlling instruction.

5.Instructions:Each instruction is consisted of 4 bytes, as following:

 

Features

Command form

formula

Function Description

Remarks

Example

Set the running speed

SXn;

SYn;

SZn;

SLn;

at a speed of n traveling

at a speed of n traveling

at a speed of n traveling

at a speed of n traveling

n=-4096~4095

Velocity of (rpm sec ) = n-× . 5 . 5 /2 20 is

SX100;

Y -234;

SZ1000;

SL4095;

upload data

UX;

Y ;

UZ;

UL;

US;

UM;

UH;

The transmissionposition data

The transmissionposition data

The transmissionposition data

The transfer Lposition data

Upload limit data

Upload run mode data

Upload zero data

Return back to 9bytes

Return back to 9bytes

Return back to 9bytes

Return back to 9bytes

Return back to the 1 -byte *

Return back to the 1 -byte *

Return back to the 1 -byte *

UX;

Y ;

UZ;

UL;

US;

UM;

UH;

Set the running displacement

DXn;

DYn;

DZn;

DLn;

travels bit shiftn

traveling bitshift n

traveling bitshift n

traveling bitshift n

n=-2 30 ~2 30 -1

Unit: Microstep.

microstep =360/12 80 0degrees = 0.02812degrees.

DX350;

Y -9987;

DZ-3456; DL100020;

Set the maximum speed

MXn;

MYn;

MZn;

MLn;

maximum speed limit is n

maximum speed limit is n

maximum speed limit is n

maximum speed limit is n

n=0~32767

Velocity of (rpm sec ) = n-× . 5 . 5 /2 20 is

MX2560;

MY200;

MZ1002ML4096 ;

Arbitrary speed mode

(Description see belowContinued Example)

NXn ;

NYn ;

NZn ;

NLn ;

Preparation speedof the controlsystem data at

Pass, is the number of time periods.

n=0 to 682 ( only)

= 0 n- ~ 341 ( onlywith the XY) n-= 0~ 170. (the XY the Z or XYZL)

NX50;

NL120;

L Tn;

When the transfer length number data n

n=0 to 2 30

L T100000;

LAn;

Number downstream acceleration data n

n=-32767~32767

LA256;

RXn;

R Yn;

RZn;

RLn;

repetitions

repetitions

repetitions

repetitions

Repetitions = Total run time number - 1)

n=0 to 65535

R Y132;

RZ384;

 


TMn;

Start operationline any meaning speed over

Cheng is the value of the control channel , at the lower speed mode of any weighting values and the channel.

Definitions: As any participation rateof mode:

channel weightingvalue 1 ;

channel weightingvalue 2 ;

channel weightingvalue 4 ;

channel weightingvalue 8 ;

Is not involved in the weighted valueis 0 ;

n=0~15

TM1; (X channeltransport

Line )

TM2; (Ychannels runline )

TM4; (Z throughchannel running)

TM8; (L throughchannel running)

TM10; (YL -passchannel operation )

TM3; (XYchanneloperation )

TM7; (XYZthrough channelrunning )

TM15; (XYZLthrough channel running )

TM0; (XYZL channel

Release any speed mode of formula )

ARn;

Read any speed from the SD card

Mode data.

n=0~8192

AR8;

ASn;

Save any speed mode Number of data

To the S D card

n=0~8192

AS10;

stop

P A;

Stop all runs immediately.



*For details, see the example below.


××h:Can be any value of 8 bits,but can not be omitted。
h: Hexadecimal 

The uploaded data format: The motor controller send 36 bytes to

computer:

1st byte is position information:

if :

bit0=0, X reached minimum;

bit0=1, X not reached minimum;

bit1=0, X reached maximum;

bit1=1, X not reached maximum;

bit2=0, Y reached minimum;

bit2=1, not reached minimum;

bit3=0, reached maximum;

bit3=1, not reached maximum;

bit4~bit7,not used;

2nd~9th byte:ASCII value of X position,if X= 4356278,then:

20h,34h,33h,35h,36h,32h,37h,38h;

10th~17th byte:ASCII value of Y position,if Y=-5789123,then:

2Dh,37h,38h,39h,31h,32h,33h;

18th~36th byte:Not used.

PDV Controller.exe software panel using manual

1 run: PDV Controller.exe, get the following display:

HTB15yfQQVXXXXclXpXXq6xXFXXXi.jpg

2. Motor: The software can control 4 motors, but P004 version only need

control X and Y motor. Thus, the set X,Y is enough.

3. Speed: Use the mouse to drag the corresponding slider, the motor will

rotation; Drag to right, motor runs forward; Left drag motor reverses;

Farther from the middle point, the faster the motor runs. Release the

mouse, the slider automatically return to the middle point, the motor

stops;

4. Shift Distance: Moving distance of the motor, Using with“Scale”, their

product is the number of micro steps for a motor (1 microstep =

1/12800round). After the completion of the two settings click “Go”

button;

5. Scale: Scale coefficients, It can use to convert a distance/angle to

number of micro steps.

For example: if you need the stage to move 25mm, the stage uses the

motor to rotate the screw rod drive, screw thread pitch 2mm, the " Shift

Distance " is set to 25, "Scale" is set to 6400;

“25” means 25mm; “6400” means “6400 microsteps/mm”; because the

stage movement of every 1mm, the screw rod to rotate 1mm / (2mm/

circle) = 0.5 round, motor runs a half circle x 12800 micro steps / circle =

6400 micro steps.

6. Status: show the relative position of the motor, check the " update", It

will update continuously to show the latest value, otherwise will not

update. The value is number of microsteps.

7.Communication Port: RS232 serial port used to communicate with the

controller.

8. Save: save the set data.

9.Recall: recall the stored data.

10. Exit: exit the software panel.


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