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, AAh, 55h;
(5)
| 1st byte | 2nd byte | 3rd byte | 4th byte | Description |
| 00h | 00h－X speed | Bit15~bit8 of | Bit7~bit0 of | Set speed of axis of X 、 |
(4)Command Set
function | Imperative form type | Functional description | Remarks | example |
Set the running speed | SXn; SYn; SZn; SLn; | X travels at speed n Y travels at speed n Z travels at speed n L travels at speed n | n=-4096~4095 speedV(Rotation/second)=n× 55/220 | SX100; SY-234; SZ1000; SL4095; |
Upload data | UX; UY; UZ; UL; US; UM; UH; | Upload X location data Upload Y location data Upload Zlocation data Upload L location data Upload Limit Data Upload Running Mode Data Upload Zero Data | Returns 9 bytes Returns 9 bytes Returns 9 bytes Returns 9 bytes Returns 1 bytes Returns 1 bytes Returns 1 bytes | UX; UY; UZ; UL; US; UM; UH; |
Setting up operation displacement | DXn; DYn; DZn; DLn; | X travel displacement n Y travel displacement n Z travel displacement n L travel displacement n | n=-230~230-1 Unit:Microstep 1Microstep＝360/12800degree＝0.028125degree | DX350; DY-9987; DZ-3456; DL100020; |
Set the Speed | MXn; MYn; MZn; MLn; | The maximum speed limit for X is n. The maximum speed limit for Y is n. The maximum speed limit for Z is n. The maximum speed limit for L is n.
| n=0~32767 speedV(Rotation/second)=n× 55/220 | MX2560; MY200; MZ1002;ML4096; |
Arbitrary velocity mode (See follow-up examples for illustrations) | NXn； NYn； NZn； NLn； | Prepare speed control data传，N is the number of periods. | n=0～682(OnlyX) n=0～341(Only useXY) n=0～170(XYZorXYZL) | NX50; NL120; |
LTn; | Download time data n | n=0～230 | LT100000; | |
LAn; | Download acceleration data n | n=-32767~32767 | LA256; | |
RXn; RYn; RZn; RLn; | X Repetition Number Y Repetition Number Z Repetition Number L Repetition Number(Repetition = Total Running Number-1) | n=0～65535 | RY132; RZ384; | |
TMn; | Start running at any speed
Cheng. N is the channel control value and the sum of the weighted values of the channels in arbitrary speed mode.
Definition: Participation in arbitrary speed mode, for example:
X-channel weighted value 1;
Y-channel weighted value 2;
Z-channel weighted value 4;
The weighted value of L-channel is 8.
The weighted value of non-participation is 0. | n=0~15 | TM1; (X Channel Running)
TM2; (Y Channel Running)
TM4; (Z channel operation)
TM8; (L channel operation)
TM10; (YL channel running)
TM3; (XY channel running)
TM7; (XYZ channel running)
TM15; (XYZL channel running)
TM0; (XYZL channel)
Put forward arbitrary speed mode) | |
ARn; | Read arbitrary speed mode data from SD card. | n=0~8192 | AR8; | |
ASn; | Save Arbitrary Speed Mode Data to SD Card | n=0~8192 | AS10; | |
Stop | PA; | Stop all operations immediately. |
* ××h： 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 AAh, 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 移to PC. Suppose current display is：
1234567 -5789123
7654321 -3219876
Sending synchronous command：
Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AAh, 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 AAh, 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;
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