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Sollae Systems PES-2403 User Manual

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Introduction
PES-2403
PES-2403, stepper motor controller, is a smart expansion board for PHPoC boards. With this board,
you can easily control various stepper motors.
Highlights of PES-2403
bi-polar stepper motor controller
input voltage: 4 ~ 18V [DC]
drive: full-step(two phases on), half-stepping
※ Caution: PES-2403 requires a PHPoC board which has a firmware 1.3.0 or higher version.
What is the Smart Expansion Board?
A smart expansion board has own devices and firmware unlike the other
expansion boards. This board communicate in a master-slave protocol through
the designated port. Two or more smart expansion boards can be connected to
one PHPoC board and each of them required to be setting a slave id.
2017-07-28
Sollae Systems
PES-2403 User Manual > Introduction
page 1 of 26

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Summary of Contents for Sollae Systems PES-2403

  • Page 1 PES-2403 User Manual > Introduction Introduction PES-2403 PES-2403, stepper motor controller, is a smart expansion board for PHPoC boards. With this board, you can easily control various stepper motors. Highlights of PES-2403 bi-polar stepper motor controller input voltage: 4 ~ 18V [DC] drive: full-step(two phases on), half-stepping ※...
  • Page 2 PES-2403 User Manual > Dimension Dimension Body 2017-07-28 Sollae Systems page 2 of 26...
  • Page 3 PES-2403 User Manual > Dimension with Terminal Block (T type) with Terminal Block (S type) ※ Dimensions(unit : mm) may vary according to a method of measurement. 2017-07-28 Sollae Systems page 3 of 26...
  • Page 4 PES-2403 User Manual > Layout Layout 2017-07-28 Sollae Systems page 4 of 26...
  • Page 5 VM, GND connect to power Connecting to a bipolar stepper motor PES-2403 is a controller for bipolar stepper motors. An example of connection with a bipolar stepper motor is as follows: 2017-07-28 Sollae Systems page 5 of 26...
  • Page 6 PES-2403 User Manual > Layout Connecting to a unipolar stepper motor If you want to connect a unipolar stepper motor to PES-2403 refer to two examples below. Supplying power GND and VM are input port of supplying power(DC 4 ~ 18V) to run motors. Supplying power through this port is positively necessary.

  • Page 7: Digital Input Port

    PES-2403 User Manual > Layout 2. Digital input port This port is used to connect limit switches and cannot be used for other purposes. An example of connection with limit switches is as follows: G means ground and all ground pins are connected each other 0, 1, 2 and 3 are the index number of input ports and all of them are pulled up 3.
  • Page 8 4. LED PES-2403 has 2 status LEDs. The one, on the top of the board, is connected to 3.3V and the other one, on the bottom of the board is connected to 5V. The operations of both LEDs are the same and...

  • Page 9: How To Use

    3. Use SPC Library and Sample Codes The SPC library is for smart expansion boards such as PES-2403. This library makes it easy for you to use smart expansion boards. Refer to the manual page of SPC library for more information.
  • Page 10 Option Description get a device ID get a unique ID PES-2403 Commands Dedicated commands for each smart expansion board can be used with spc_request_dev. A list of dedicated commands for PES-2403 is as follows: arg1 arg2 arg3 arg4 full mode...
  • Page 11 A command set is for setting parameters which is related with controlling stepper motors. Setting a drive mode A command mode is for setting the drive mode. "set mode (drive)" You can input a drive mode to drive argument. PES-2403 provides two drive modes. drive description full...

  • Page 12: Current Limiting

    The argument value means the amount of current and there are 16 levels from 0 to 15. If you set this value to 5, PES-2403 limits the current of the specific state to 5 of 15. examples of setting limiting current spc_request_dev($sid, "set vref stop 2");...

  • Page 13: Setting A Speed

    If the deceleration is omitted, it is automatically set to the same value of the acceleration. The unit of both is pps/s(pps per second) and PES-2403 provides 200,000[pps/s] as its maximum value.
  • Page 14 PES-2403 User Manual > How to use > Settings Setting a counter position A command pos is for setting a counter position. This command is valid only when controlling stepper motor with goto and is not reflected when controlling with move.
  • Page 15 PES-2403 User Manual > How to use > Getting States Getting States A command get is for getting states of a stepper motor. Getting operation states A command state is for getting an operation state of a stepper motor. "get state"...
  • Page 16 PES-2403 User Manual > How to use > Getting States state: 2 state: 2 state: 2 state: 2 state: 2 state: 0 Getting a counter position A command pos is for getting a current counter position of a stepper motor.
  • Page 17 PES-2403 User Manual > How to use > Getting States position: 260 position: 338 position: 392 Getting a state of digital input ports A command eio get is for getting a state of digital input ports. "eio get (p) input"...
  • Page 18 PES-2403 User Manual > How to use > Controlling by goto Controlling by goto A command goto is for controlling a stepper motor based on the initial position, not the current position of the motor. This method can be used even when the motor is running.
  • Page 19 PES-2403 User Manual > How to use > Controlling by move Controlling by move A command move is for controlling a stepper motor based on the current position of the motor. This method is only available when the motor is stopped.
  • Page 20 PES-2403 User Manual > How to use > Stopping Stopping A command stop is for stopping a stepper motor which is in operation. "stop [decel]" The argument decel means deceleration. The unit is pps/s. If the decel is omitted, the current deceleration is used.
  • Page 21 PES-2403 User Manual > How to use > Settings the Initial Position Setting the Initial Position By connecting a limit switch to the digital input port of the PES-2403, you can set the initial position in a system that requires initial positioning. The procedure for setting is as follows.
  • Page 22 PES-2403 User Manual > How to use > Settings the Initial Position > Stop automatically Stop automatically A command goto ~ sw can be used to automatically stop the stepper motor operation when the limit switch is closed. If the motor stops by this command, the status value of the motor becomes the stopped status.
  • Page 23 PES-2403 User Manual > How to use > Settings the Initial Position > Stop automatically ?> the output example find positive limit ...done find negative limit ...done 2017-07-28 Sollae Systems page 23 of 26...
  • Page 24 PES-2403 User Manual > How to use > Settings the Initial Position > Stop manually Stop manually A command stop can be used to manually stop the stepper motor operation when the limit switch is closed. At this time, a command eio get is used to detect the input of the limit switch.

  • Page 25: Lock And Unlock

    PES-2403 User Manual > How to use > Lock and unlock Lock and unlock The control lock is a kind of physical protection function. This function is to connect a limit switch to the digital input port and disable further control if the switch is closed. Therefore, the operating range of the stepper motor can be limited.
  • Page 26 PES-2403 User Manual > How to use > Lock and unlock echo "step_state ", spc_request_dev($sid, "get state"), "\r\n"; spc_request_dev($sid, "unlock"); // state: 0 - stop, 1 - locked echo "step_state ", spc_request_dev($sid, "get state"), "\r\n"; ?> the output step_state 1...