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Summary of Contents for CENTENT CN0170
- Page 1 CN0170 2 AXIS MOTION CONTROLLER USER GUIDE...
- Page 2 This manual contains information for installing and operating the following Centent Company product: • CN0170 Motion Controller Centent and the Centent Company logo are trademarks of Centent Company. Other trademarks, tradenames, and service marks owned or registered by any other company and used in this manual are the property of their respective companies.
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Page 4: General Description
The CN0170 is a two axis programmable motion control computer for step motor systems. It is designed to operate with a host computer or as a stand- alone controller. When connected to a host PC or terminal the CN0170 serves as a peripheral device, receiving instructions and returning data via a standard RS-232 serial port. - Page 5 The CN0170 can also be operated by a dumb terminal or any program that can communicate in ASCII format. The CN0170 may be operated in any one of three modes. Mode 3 is the Operate Mode, where stored programs are executed. Mode 2 is the Program Mode for loading instructions into the program queue.
- Page 6 Operate Mode. Operating system commands are not normally loaded to the program queue. They direct the CN0170 at the operating system level and are executed immediately. Included are commands to select mode of operation, assign and select unit numbers, start and stop program operation, and set or query the real time clock.
- Page 7 Instructions are included for querying motor position, velocity, acceleration rate, acceleration profile, and ratio rate. By utilizing the joystick feature of the CN0170 in conjunction with the position query instructions, the host may implement a teach/learn scheme for motion control. Motors may be manually jogged to desired locations and the co- ordinates recorded by the host.
- Page 8 MOTOR DRIVE OPTIONS (INTERNAL) oscillator. Centent Company manufactures a line of step motor drives that are ideally suited to the CN0170. These include full and half step drives as well as 10 microstep and high resolution microstep drives.
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Page 9: Control Interface
The CN0162 is designed for motors rated from .1 to 14 amps per phase. For motors rated from .1 to 2 amps per phase, Centent offers the CN0124 half step motor drive. This is a very economical, compact (3" x 2" x .8") drive. Anti- resonance circuitry and opto-isolation are also featured in this drive. - Page 10 Two general purpose digital inputs and two general purpose digital outputs are also provided. These are the “Aux. Input” and “Aux. Output” connections on the Control Connector as designated on the cover of the CN0170. The status of the inputs is always available to the host on the serial interface.
- Page 11 1 DCD 5 CTS 8 CTS 6 DSR 6 DSR 7 GND. 5 GND. (D9) (D25) CENTENT CN0162 CN0170 (daisychain) 2 RxD TxD 14 20 CTS RTS 19 3 TxD RxD 16 CN0162 CURRENT SET TABLE 8 RTS CTS 13...
- Page 13 CN0170 MOTION CONTROLLER Centent step motor drivers are designed to operate 4, 6, and 8 wire motors in a low performance or a high performance configuration (a 4 wire motor is considered as high performance configuration). Please consult the driver's operating manual to determine the best configuration for your application.
- Page 14 The CN0170 Instruction Set is listed on page 12-15 for quick reference. For more explanation, consult the CN0170 OPERATING MANUAL. The CN0170 FULL WINDING OPE R AT ION - 6 WIRE MOT OR S...
- Page 15 CN0170 MOTION CONTROLLER CN0170 COMMAND SUMMARY MODE IMMEDIATE instruction executes when received M1\+ RTS prevents queue overflow M1\- message on queue overflow PROGRAM instruction loads to program queue OPERATE operates from program queue QUERY “what is the mode ?” (reply) where “n”...
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Page 16: Speed Control
CENTENT COMPANY CN0170 INSTRUCTION SUMMARY MOTOR POSITIONING INSTRUCTIONS (where shown for X; same for Y) HOME home single axis home both axis SPEED CONTROL run one motor CW direction run one motor CCW direction X++n (CW) where “n” is temp. velocity X--n (CCW) where “n”... - Page 17 CN0170 MOTION CONTROLLER MOTOR PARAMETER INSTRUCTIONS (where shown for X, same for Y) POSITION SET XP=n preset position to “n” POS. QUERY (reply is 4 byte hexidecimal value) (reply) “=” implies motor is at rest “+” implies motor moving CW “-”...
- Page 18 CENTENT COMPANY RATIO QUERY Y/X? (reply) Y/x=nn “nn” is 2 byte hexadecimal value JOYSTICK SEL. XJn where “n” = 1-7 DISABLE (or any motion command) BUSY/READY busy input active busy input inactive TRIGGERS POSITION prompt when motor in position disable position trigger VELOCITY prompt when motor at max.
- Page 20 RxD A BSY Y TxD B IN 1 IN 2 MOTOR DRIVE OPTIONS (INTERNAL) Y AXIS SERIAL CONTROL X AX IS 2 AXIS STEP MOTOR CENTENT CN0170 MOTION CONTROLLER SPECIFICATIONS PARAMETER MIN. MAX. UNITS Range 4,194,304 full steps POSITION Resolution...